JPH11145700A - Apparatus for recognizing attitude of electronic parts and apparatus for mounting electronic parts using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus for recognizing the attitude of electronic parts and an apparatus for mounting electronic parts which enable large electronic parts to be mounted speedily and precisely concerning an apparatus for recognizing the attitude of electronic parts which detects the attitude of electronic parts held by an adsorption chuck. SOLUTION: An apparatus is provided with a mounting head 5 having a suction nozzle with scatterers 3 formed of an orange material which absorbs blue light radiated by a blue light emitting diode 15 and scatters light radiated by a halogen light source 7, thereby when a small electronic part is sucked, the light radiated by the halogen light source 7 is scattered by the scatterers 3, and a shadow image against the background of the scattered light is captured by an image-capture camera 20, and when a large electronic part is sucked, a reflected image due to the light radiated by the blue light emitting diode 15 is captured by an image-capture camera 21, which recognizes the attitude of the electronic parts.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used in conjunction with an electronic component mounting apparatus for mounting an electronic component on a substrate, and is used for recognizing a state, a rotation angle and a position of the electronic component sucked and held by a suction head. The present invention relates to a component posture recognition device and an electronic component mounting device using the same.

[0002]

2. Description of the Related Art The structure of a conventional electronic component mounting apparatus for mounting electronic components on a substrate will be described with reference to FIG.

In FIG. 31, reference numeral 52 denotes an electronic component supply unit;
Reference numeral 53 denotes a suction conveyance unit, 54 denotes a substrate positioning unit, 55 denotes a supply-side substrate conveyance unit, and 56 denotes a discharge-side substrate conveyance unit. The substrate positioning unit 54 is mainly configured by an XY table, receives the substrate 57 from the supply-side substrate transfer unit 55,
The mounting positions of the electronic parts on the board 57 are sequentially positioned at the work points. After mounting all the required electronic components, the board positioning unit 54 delivers the board 57 to the discharge-side board transport unit 56. The electronic component supply unit 52 is configured by arranging a plurality of electronic component supply units 58 on a movable support that moves linearly. The suction conveyance section 53 is configured such that the mounting heads 5 each having five suction nozzles 2 are arranged at equal intervals on a peripheral portion of a rotary index table 59, and the suction nozzle 2 moves the work station with the rotation of the rotary index table 59. Orbit sequentially. The suction nozzle 2 located on the outermost side of the rotary index table 59 in the component suction station 60 and the component mounting station 64
Descends and picks up the electronic component from the electronic component supply unit 58 and mounts the electronic component on the board 57.

A work station between the component suction station 60 and the component mounting station 64 has a mounting angle selection station 61 for rotating the suction nozzle 2 which has picked up the electronic component to a predetermined mounting angle, and an electronic component for the suction nozzle 2. An electronic component posture recognition device incorporated in the component recognition station 62 for recognizing the rotation angle and the position, and the suction nozzle 2 based on the recognition result of the electronic component posture recognition device.
An angle correction station 63 is disposed which is rotated in the θ direction and corrects a shift in the rotation angle of the electronic component.

[0005] The displacement of the electronic component with respect to the suction nozzle 2 is corrected by correcting the positioning position of the substrate 57 of the substrate positioning section 54 at the component mounting station 64 based on the recognition result.

Next, the configuration of an electronic component posture recognition device incorporated in the component recognition station 62 is shown in FIGS.

In FIGS. 32 and 33, 1A is a small electronic component, 1B is a large electronic component, 2 is these electronic components 1A, 1B
Nozzle, a mounting head having a plurality of suction nozzles 2, 3 a red or white scatterer attached to the suction nozzle 2, 20 a small-field image capturing camera, 21 a large-field image The capture camera 10 is a lens unit for irradiating the scatterer 3 attached to the suction nozzle 2 holding the small electronic component 1A with light from the optical fiber 9, and the 65 is irradiating the lower surface of the large electronic component 1B with light. The red light emitting diode 66 covers the background of the large electronic component 1B including the scatterer 3 to prevent a reflected light image other than the large electronic component 1B from being captured by the large-field image capturing camera 21. It is a reflection shutter member. When the small electronic component 1A is sucked by the suction nozzle 2 as shown in FIG. 32, the irradiation light from the lens unit 10 is scattered by the scatterer 3, and the shadow image shielded by the small electronic component 1A is reduced. The outline of the electronic component 1A is recognized by capturing the image with the image capturing camera 20 for visual field and performing image processing.

When the large-sized electronic component 1B having the lead 27 on the side face is sucked by the suction nozzle 2 as shown in FIG. 33, the non-reflective shutter member 66 is closed so as to sandwich the suction nozzle 2 from both sides. To close the background of the large electronic component 1B. Then, the reflected light image of the lower surface of the large electronic component 1B by the irradiation light from the red light emitting diode 65 is reflected on the mirror 3
6. The lead 27 of the large electronic component 1B is recognized by performing captured image processing by the large-field image capturing camera 21 via the prism 37 and the mirror 47.

Similarly, in the case of a small electronic component smaller than the outer diameter of the suction nozzle 2, the external shape of the component can be recognized by the reflected light image, and the leads or external shapes of the electronic component from small to large can be recognized by the above method. However, based on the result, it is used for correcting the electronic component mounting position, determining a defective electronic component, and the like.

[0010]

However, in the above-mentioned conventional structure, as shown in FIG. 33, another suction nozzle 2A is placed above a large electronic component 1B having a lead 27 held by the suction nozzle 2 on its side surface. , 2B, the light radiated toward the lower surface of the large electronic component 1B is scattered and reflected by the scatterers 3A, 3B. As shown in (brightness distribution of the reflected light image formed by the reflected light), the external shape of the lead 27 of the large electronic component 1B and the threshold value of the luminance of the scatterers 3A and 3B cannot be obtained, and the lead 27
There is a problem that the external shape cannot be recognized. As a solution to this problem, an open / close shutter mechanism using a non-reflective shutter member 66 is provided so that the suction nozzle 2 that suctions and holds the large electronic component 1B is sandwiched from a predetermined direction. By closing the non-reflective shutter member 66 and covering the background of the large electronic component 1B, the light beam irradiated on the lower surface of the large electronic component 1B is reflected only by the lead 27, and as a result, the luminance of the lead 27 and the background is reduced. Although the threshold value can be taken, the shutter mechanism has a timing from the completion of the positioning of the suction nozzle 2 that suctions and holds the large electronic component 1B to the start of imaging of the large electronic component 1B. The non-reflective shutter member 6 is provided between the timing after the completion of the imaging of the large electronic component 1B and the start of the movement of the suction nozzle 2.
6 needs time to open and close, so large electronic components 1B
However, there is a problem that it is difficult to realize a high-speed mounting of the above.

The present invention solves such a conventional problem,
It is an object of the present invention to provide an electronic component posture recognition device that can recognize small to large electronic components in a short time with a simple configuration and enable high-speed and high-precision electronic component mounting, and an electronic component mounting device using the same. Is what you do.

[0012]

In order to solve this problem, an electronic component attitude recognition apparatus according to the present invention comprises an orange scatterer that reflects or scatters light attached to a portion other than a suction portion of a suction nozzle; A second light source that emits a blue light beam toward the electronic component held by the nozzle, a first light source that emits a light beam toward an orange scatterer attached to the suction nozzle that holds the electronic component, and First light source and second light source
A control unit for switching between the light sources, and when the second light source is used, a reflected light image of a light beam applied to the electronic component is imaged. When the first light source is used, the orange scatterer is used. In this configuration, a shadow image of the electronic component is captured using the scattered body of the irradiated light as background light, and the state of the electronic component held by the suction nozzle and the holding state are inspected.

With this configuration, high-speed and high-precision attitude recognition of the electronic component and mounting of the electronic component using the same are achieved.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 of the present invention is directed to an orange scatterer that reflects or scatters light attached to a portion of a suction nozzle for holding an electronic component except for a suction portion. A first light source that irradiates a light beam toward the scatterer serving as a background of the electronic component sucked and held by the suction nozzle, and a second light source that emits a blue light beam to the electronic component sucked and held by the suction nozzle A control unit that independently operates the first light source and the second light source;
When the light source is used, a shadow image with the scattered light of the light beam irradiated on the scatterer as background light is used. When the second light source is used, the reflection of the light beam irradiated on the electronic component is used. An electronic component posture recognition device that inspects the electronic components sucked and held by the suction nozzle and the holding state by the light image, and scatters the light rays without having a shutter mechanism that covers the background of the large electronic components. The absorption and absorption by the body can reduce the scattering and reflection thereat, so that the lead of a large electronic component can be recognized at higher speed.

According to a second aspect of the present invention, the second light source is constituted by four walls having an angle so as to spread upward, and a plurality of light emitting elements are arranged on each of the four walls. The electronic component attitude recognition device has the function of uniformly irradiating the lower surface of a large electronic component.

According to a third aspect of the present invention, there is provided the electronic component posture recognition apparatus according to the first aspect, wherein the second light source is formed in an inverted conical ring shape, and a plurality of light emitting elements are arranged on an inner peripheral surface thereof. Therefore, even in the case of a large-sized rectangular electronic component, it has an effect of uniformly irradiating a light beam on the lower surface thereof regardless of the holding rotation angle.

According to a fourth aspect of the present invention, the third light source irradiates the electronic component with a blue light beam from a lower surface at a position where the irradiation distance is longer than the irradiation distance from the second light source to the electronic component. An electronic component attitude recognition device according to any one of claims 1 to 3, wherein the electronic component attitude recognition device is capable of irradiating the lower surface of the electronic component with blue light even when the lower surface of the electronic component has large irregularities. Has an action.

According to a fifth aspect of the present invention, the arrangement of the third light source is outside the viewing angle of the camera constituting the recognition unit.
According to the electronic component posture recognition apparatus described above, unnecessary incident light from the third light source toward the camera can be prevented.

According to a sixth aspect of the present invention, there is provided the electronic component posture recognition apparatus according to the fifth aspect, wherein the third light source is provided in a part of a light path from the electronic component to the small-field image capturing camera. In addition, unnecessary incident light from the third light source toward the camera can be prevented, and the electronic component attitude recognition device can be downsized.

According to a seventh aspect of the present invention, a plurality of light emitting elements are disposed below the electronic component held by the suction nozzle and the third light source is inclined between the plurality of light emitting elements and the electronic component. 5. The electronic component posture recognition device according to claim 4, comprising a half mirror arranged in a vertical direction, and a diffusion plate arranged between the half mirror and the plurality of light emitting elements.
Since blue light can be emitted from directly below the electronic component, even when the lower surface of the electronic component has large irregularities, the blue light can be more efficiently applied to the concave portion on the lower surface.

According to an eighth aspect of the present invention, there is provided the electronic device according to the seventh aspect, wherein the third light source is constituted by a plurality of light emitting elements arranged on a plurality of steps provided along the lower surface of the half mirror. The component posture recognition device has a function of efficiently diffusing blue light emitted from the plurality of light emitting elements by the diffusion plate and uniformly irradiating the lower surface of the electronic component with the blue light.

According to a ninth aspect of the present invention, for each light source group in which the third light source is arranged on a plurality of steps, the third light source is proportional to the distance between the electronic component sucked and held by the suction nozzle and the light source group. 9. The electronic component posture recognition device according to claim 8, further comprising an adjusting unit for supplying a current having a value, wherein the illuminance of the blue light emitted by the plurality of light sources reaching the electronic component through the diffusion plate. Has the effect of making it more uniform.

According to a tenth aspect of the present invention, there is provided the electronic device according to any one of the first to ninth aspects, wherein a third light source switching unit is provided in association with the switching state of the first and second light sources. This is a component posture recognition device, which has the function of selecting a recognition light source according to the form of the component and improving the component recognition rate.

The eleventh aspect of the present invention is the first aspect of the present invention.
0, wherein the electronic component posture recognition device is provided with an illuminance adjustment unit that adjusts the illuminance of each of the first and second light sources. Is applied to obtain an optimal shadow image or reflected light image, whereby the component recognition rate can be improved.

According to a twelfth aspect of the present invention, there is provided an electronic component supply unit for supplying an electronic component, and the electronic component supplied from the electronic component supply unit is picked up by a component suction station and positioned at the component mounting station. A position and a rotation angle of the electronic component held by the suction transfer unit with respect to the suction transfer unit are recognized at a component recognition station disposed between the component suction station and the component mounting station. Electronic component attitude recognition device, and an electronic component held by the suction conveyance unit based on a recognition result by the electronic component attitude recognition device at an angle correction station disposed between the component recognition station and the component mounting station. The angle is corrected to a predetermined angle by the angle correction mechanism and the component mounting station Transfer, a board positioning unit that holds and positions the board on which the electronic component is mounted, and a configuration that corrects the positioning position of the board held by the board positioning unit based on the recognition result by the electronic component attitude recognition device, 12. The electronic component posture recognition device according to claim 1, wherein
An electronic component mounting apparatus using the electronic component attitude recognition device according to any one of the above, has an effect that various electronic components from small to large can be mounted at high speed and with high accuracy.

(Embodiment 1) Hereinafter, an electronic component posture recognition apparatus according to Embodiment 1 of the present invention will be described with reference to the drawings.

The basic configuration of the electronic component mounting apparatus equipped with the electronic component attitude recognition device according to the first embodiment of the present invention is the same as that of the conventional electronic component mounting apparatus described with reference to FIG. Therefore, a detailed description is omitted, and an electronic component posture recognition apparatus according to the first embodiment of the present invention, which is a different part, will be described with reference to FIGS.

In FIG. 1, reference numeral 1 denotes an electronic component, 2 denotes a suction nozzle for sucking and holding the electronic component 1, and 3 denotes a scatterer mounted above the suction nozzle 2, and the lower surface thereof is as shown in FIG. It is formed of an orange substance 4 having a characteristic of low reflectance to blue light. Reference numeral 5 denotes a mounting head having five suction nozzles 2, and the suction nozzles 2 are evenly arranged on the lower edge of the mounting head.

Reference numeral 6 denotes a halogen lamp, 7 denotes a halogen light source which is a first light source, 8 denotes a light beam emitting port for emitting a light beam emitted from the halogen light source, and 9 denotes a light source for suppressing the attenuation of the light beam and below the scatterer 3. The optical fiber 10 that transmits the light to the disposed lens unit 10 condenses the light beam and scatters the light.
Lens unit 11 for irradiating the halogen light source 7
Is a light-shielding mechanism which is located between the light irradiation port 8 and the halogen lamp 6 and includes a solenoid 12 and a light-shielding plate 13 attached to the solenoid 12. When an input signal from an external device is in an on state, the solenoid The light emitted from the halogen lamp 6 is irradiated with the light emitted from the halogen lamp 6 without driving the solenoid 12 when the solenoid 12 is in an off state.

Reference numeral 14 denotes an output unit A for outputting a voltage signal for driving the light shielding mechanism 11, reference numeral 15 denotes a blue light emitting diode which is a second light source for irradiating a blue light beam toward the lower surface of the electronic component 1, and reference numeral 16 denotes this blue light emitting diode. The output units B and 17 for outputting a voltage signal for switching between the irradiation state and the extinguishing state of the blue light by turning on or off the voltage signal supplied to the light emitting diode 15 are output units A14 and A14 in accordance with a command from a CPU described later. And a sequencer 18 for controlling the switching of the voltage signal output from the output unit B16 to the ON state or the OFF state. The sequencer 18 issues a command to select a light source and a camera according to the type of the electronic component 1 sucked. A CPU 19 for taking out a shadow image or reflected light image of the electronic component 1 and transmitting the reflected light;
Reference numerals 0 and 21 denote image capturing cameras for capturing a shadow image or a reflected light image reflected and transmitted by the lens barrel 19, reference numeral 20 denotes a small-field image capturing camera, and reference numeral 21 denotes a large-field image capturing camera.

Next, a method of recognizing the outer shape of the electronic component 1 will be specifically described with reference to FIGS. First, a method for recognizing the outer shape of a small electronic component 1A using a shadow image will be described with reference to FIGS.

When the suction nozzle 2 holds the small electronic component 1A by suction as shown in FIG. 3, the recognition unit control circuit (not shown) controls the small-field image capturing camera 20 in accordance with a command from the CPU 18. And the sequencer 17 turns off the voltage signal output from the output unit A14, the output unit B1
The blue light-emitting diode 15 is turned off by turning off the voltage signal output from the optical signal 6, and the light emitted from the halogen lamp 6 is transmitted through the optical fiber 9 with the light irradiation port 8 opened without driving the light shielding mechanism 11. The light beam is transmitted and condensed by the lens unit 10 attached to the end of the optical fiber 9 and irradiated to the scatterer 3.

The characteristics of the scatterer 3 will now be described in detail. As shown in FIG. 4, the reflectance 23 of the orange substance 4 attached to the lower surface of the scatterer with respect to the light wavelength 22 emitted from the halogen lamp 6 is the same as that of the prior art. It has the property of scattering light having a luminance of about 1.3 times or more as compared with the reflectivity 24 of a red substance used as a scatterer in the technology.

Therefore, as shown in FIG. 5, the brightness of the portion (shadow image 25) of the small electronic component 1A sucked and held by the suction nozzle 2 is low with the light scattered by the scatterer 3 as a background, Since the scatterer 3 has a high luminance, the former and the latter have a luminance threshold value. The shadow image 25 is reflected and transmitted by the lens barrel 19 and the small-field image capturing camera 20 is transmitted.
By performing the binarization process, the external shape of the small electronic component 1A can be recognized.

Next, a method of recognizing the outer shape of a large electronic component 1B having a lead on the side surface using a reflected light image will be described with reference to FIGS. 6, 7 and 8.

As shown in FIG. 6, when the suction nozzle 2 suctions and holds the large electronic component 1B, the recognition unit control circuit (not shown) selects the image capturing camera 21 for a large visual field in accordance with a command from the CPU 18. Then, the sequencer 17 turns on the voltage signal output from the output unit A14 and turns on the voltage signal output from the output unit B16, thereby irradiating the large-sized electronic component 1B with a blue light.
The fifth group is turned on, the light shielding mechanism 11 is driven, the light beam irradiation port 8 is closed, and the light beam emitted from the halogen lamp 6 toward the scatterer 3A is blocked.

The characteristics of the scatterer 3 will now be described in detail. The orange substance 4 attached to the lower surface of the scatterer 3 receives the blue light emitted from the blue light emitting diode 15, as shown in FIG. Blue light wavelength 26 and orange substance 4
There is almost no wavelength band that can be reflected in the light wavelength 23 that can be reflected, that is, it has almost no characteristic of scattering and reflecting the light wavelength.

Therefore, as shown in FIG. 8, the suction nozzles 2A, 2B arranged on both sides of the suction nozzle 2 above the lead 27 of the large electronic component 1B sucked and held by the suction nozzle 2.
Although the scatterers 3A and 3B are attached to the scatterers 3A and 3B, the blue light emitted toward the scatterers 3A and 3B is not scattered and reflected by the scatterers 3A and 3B, and the brightness there is low. The former and latter luminance thresholds can be taken because the intensity is strongly reflected and the luminance here becomes high (however, the orange substance 4 is attached to the lower surface of all the scatterers including the scatterers 3A and 3B) .).

Accordingly, the reflected light image obtained by being reflected by the lead 27 is reflected and transmitted by the lens barrel 19, captured by the image capturing camera 21 for a large field of view, and subjected to shading processing of 128 gradations, thereby increasing the size. The outer shape of the lead 27 on the side surface of the electronic component 1B can be recognized.

It should be noted that the external shape of a PLCC or the like, which is a large electronic component having leads on the lower surface, can be similarly recognized.

The scatterer 3 can be realized not only in the form shown in FIG. 2 but also in a polygonal or elliptical lower surface, and the space between the scatterer fixing portion and the lower surface of the scatterer is narrowed in the first embodiment. However, as shown in FIG. 9, this can be realized also in the scatterer 3D which is not narrowed.

In the first embodiment, the color of the scatterer is not limited to orange, but may be lemon yellow, orange yellow, or the like having a low reflectance with respect to the light emitted from the blue light emitting diode 15. Can be realized similarly.

In the first embodiment, if the blue light emitting diode 15 having a smaller spectral half width of the blue light is used, the reflection of the blue light by the scatterer 3 can be further reduced.

The output section A14 has a function of adjusting the voltage applied to the halogen light source 7 as the first light source. Similarly, the output section B16 adjusts the voltage applied to the blue light emitting diode 15 as the second light source. May be provided.
With such a configuration, it is possible to adjust the illuminance of the halogen light source 7 or the blue light emitting diode 15 and obtain an optimal shadow image or reflected light image according to the shape and type of the electronic component.

(Embodiment 2) Hereinafter, Embodiment 2 of the present invention will be described with reference to the drawings.

In the second embodiment, the blue light emitting diode 15 as the second light source in the first embodiment is used.
Since the arrangement and characteristics of are described in detail, the other parts are the same as those in the first embodiment. Only the different parts will be described with reference to FIGS. 10 and 11, and the description of the other parts will be omitted. Omitted.

FIG. 10 is a plan view and a partially cutaway side view showing the arrangement of the blue light emitting diodes 15 in the second embodiment. In FIG.
Four circuit boards 15 provided with a degree angle are blue light emitting diodes, and seven are mounted on the upper surface of the circuit board 28 in the first stage, six are mounted in the second stage, and The second-stage blue light-emitting diodes 15 are respectively arranged and fixed below the center of the adjacent blue light-emitting diodes 15.

Next, the characteristics of the blue light emitted from the blue light emitting diode 15 arranged as described above toward the lower surface of the electronic component 1 are shown in FIG.
(However, this characteristic is obtained under the condition that a predetermined distance is set between the lower surface of the electronic component 1 and the blue light emitting diode 15).

In FIG. 11, reference numeral 29 denotes the field of view of the camera, reference numeral 30 denotes an illuminance contour line connecting points where the illuminance of the light beam emitted from the blue light emitting diode is equal, and reference numeral 31 denotes a portion where the illuminance of the light beam is uniform. The rectangular illuminance uniform area 31 located at the center of the camera field of view 29 has the highest illuminance, and the illuminance decreases as approaching the edge of the camera field of view 29.

Therefore, when the electronic component 1 sucked and held by the suction nozzle 2 is within the uniform illuminance area 31, the lower surface thereof is evenly irradiated with blue light, and a stable reflected light image of the electronic component 1 is obtained. Can be.

It is to be noted that, irrespective of the configuration shown in FIG. 10, the number, the number of steps, and the arrangement method of the blue light emitting diodes 15 can take various forms according to the light source mounting space and the required illuminance. Further, similar characteristics can be obtained by using a surface light emitter.

Embodiment 3 Hereinafter, Embodiment 3 of the present invention will be described with reference to the drawings.

In the third embodiment, the blue light emitting diode 15 which is the second light source in the first embodiment is used.
Since the arrangement form and characteristics of are described in detail, the other parts are the same as those of the first embodiment. Therefore, only different parts will be described with reference to FIGS. 12 and 13, and the description of the other parts will be omitted. Omitted.

FIG. 12 is a plan view and a partially cutaway side view showing an arrangement of the blue light emitting diode 15 in the third embodiment. In FIG. 12, reference numeral 32 denotes an inverted cone having an inclined surface having a predetermined angle. The light emitting element fixing base 15 formed in a shape is a blue light emitting diode, and the first to third stages are arranged from above the inner peripheral surface of the light emitting element fixing base 32 downward.
Sixteen light-emitting diodes 15 are mounted on the respective stages, and the blue light-emitting diodes 15 at the lower stage are arranged and attached below the center of the adjacent blue light-emitting diode 15 at a predetermined stage.

Next, the characteristics of the blue light emitted from the blue light emitting diode 15 arranged in this way toward the lower surface of the electronic component 1 are shown in FIG.
(However, this characteristic is obtained under the condition that a predetermined distance is set between the lower surface of the electronic component 1 and the blue light emitting diode 15).

In FIG. 13, reference numeral 29 denotes a camera field of view, 30 denotes an illuminance contour, and 31 denotes an area of uniform illuminance.
9 indicates that the circular illuminance uniform area 31 located at the center of the illuminance has the highest illuminance, and the illuminance decreases as approaching the edge of the camera visual field 29.

Therefore, when the electronic component 1 sucked and held by the suction nozzle 2 is accommodated in the uniform illuminance area 31, the lower surface thereof is evenly irradiated with the blue light, and a stable reflected light image can be obtained. Further, if this form is used, the uniform illuminance area 31 has a circular shape, so that the blue light can be uniformly emitted regardless of the rotation angle of the electronic component held by suction.

It should be noted that, irrespective of the configuration shown in FIG. 13, the number of blue light-emitting diodes 15, the number of stages, and the arrangement method can take various forms according to the light source mounting space and the required illuminance.

(Embodiment 4) Hereinafter, Embodiment 4 of the present invention will be described with reference to the drawings.

Note that, in the fourth embodiment, the position where the irradiation distance is longer than the irradiation distance from the second light source formed by the blue light emitting diode 15 in the first embodiment to the electronic component 1 is set. A third component formed by a blue light emitting diode 15 for irradiating a blue light beam from below on the component.
Since the configuration of the electronic component attitude recognition device of the first embodiment is the same as that of the first embodiment except for the point that the light source is provided, only different portions will be described with reference to FIGS. 14 to 17. The description of the other parts is omitted.

In FIG. 14, 1A is a small electronic component,
Is a dust-proof cover glass, and 34 is the blue light-emitting diode 15 of the first embodiment shown in FIG. 10 or FIG.
Is a third light source 35 formed in the form shown in FIG. 10 or FIG. 12 formed by the blue light emitting diode 15 and mounted below the second light source. The light beam to be irradiated has an irradiation angle larger than that of the second light source 34 and is arranged at a position not blocked by the second light source. Further, it is assumed that the third light source 35 is disposed outside the field of view of the imaging camera. 36 is a mirror, 37 is a prism having an action of dividing incident light into straight light and upward vertical light at a predetermined ratio, 20 is a small-field image capturing camera, 1
Reference numeral 9 denotes a lens barrel for transmitting light beams from the image capturing port to the small-field camera (how to fix the second light source 34 and the third light source 35 is not shown).

As shown in FIG. 14, when the small electronic component 1A is suction-held by the suction nozzle 2, the blue light 3 from the blue light-emitting diode 15 in the second light source 34 is used.
The external light image of the small electronic component 1A is captured by the small-field image capturing camera 20 via the dustproof cover glass 33, the mirror 36, and the prism 37, and the reflected light image of the lower surface of the small electronic component 1A by the 8A is processed. recognize.
The small electronic component 1A has a rounded outer portion like a capacitor component, and the unevenness on the lower surface thereof is a blue ray 38A.
15 (representing the brightness distribution of the reflected light image formed by the reflected light), the brightness is increased only near the outer shape of the electrode of the small electronic component 1A as shown in FIG.

If the small electronic component 1A has a flat outer shape like a resistance component and only the electrode lower surface has irregularities larger than the wavelength of the blue light beam 38A, FIG. (Representing the brightness distribution of the reflected light image to be reflected), the brightness at the lower surface of the electrode 39 of the small electronic component 1A is slightly lower, and the brightness at the lower surface excluding the electrode 39 is highest. I have.

Therefore, by turning on the voltage signal output from the output section B16, the second light source 34 and the third light source 35 are simultaneously turned on as shown in FIG.
By simultaneously irradiating A with the blue light beam 38A and the blue light beam 38B, the light from the third light source 35 is applied to the portion of the lower surface of the large electronic component 1A where the brightness level is low only by the light from the second light source 34. As shown in FIG. 17 (representing the luminance distribution of the reflected light image formed by the reflected light), the amount of light reflected by the lower surface is increased, so that a small In the background 40 excluding the component 1A, the luminance is low, the light is reflected most strongly on the entire lower surface of the small electronic component 1A, and the luminance here is the highest. Needless to say, also in the fourth embodiment, the suction nozzle 2
In the case where a large component is sucked and held, the same operation and effect as in the first embodiment can be obtained.

Accordingly, the reflected light image obtained by being reflected by the entire lower surface of the small electronic component 1A is reflected and transmitted by the lens barrel 19 and captured by the small-field image capturing camera 20.
Small electronic component 1 by performing 128-level gradation processing
The outer shape of A can be recognized.

Embodiment 5 Hereinafter, Embodiment 5 of the present invention will be described with reference to the drawings.

In the fifth embodiment, the position at which the third light source formed by the blue light emitting diode 15 in the fourth embodiment is provided is different. To be the same as the configuration of the device,
Only different parts will be described with reference to FIGS. 18 to 21, and description of the other parts will be omitted.

In FIGS. 18 and 19, 1A is a small electronic component, 33 is a dust-proof cover glass, 34 is a second light source,
6 is a mirror, 37 is a prism, 20 is a small-field image capturing camera, 21 is a large-field image capturing camera, FIG.
9, 35B is located between the mirror 36 and the prism 37.
Reference numeral 35A denotes a third light source disposed between the prism 37 and the small-field image capturing camera 20 and outside the field of view of the small-field image capturing camera 20 and the large-field image capturing camera 21.

As shown in FIGS. 18 and 19, the suction nozzle 2
When the small electronic component 1A is attracted to the small electronic component 1A, the second light source 34 irradiates the lower surface of the small electronic component 1A with the blue light beam 38A, and the third light sources 35A and 35B face the lower surface of the small electronic component 1A. Blue light 38C, 38D can be emitted through the prism 37 and the mirror 36. By performing the above, the same operation and effect as those of the fourth embodiment can be obtained.

Therefore, as shown in FIG. 17, the luminance is low in the background 40 of the small electronic component 1A, and the small electronic component 1A
Is reflected most strongly on the entire lower surface and the luminance here increases, so that the former and latter luminance thresholds can be taken.

The form of the third light sources 35A and 35B will be described with reference to FIGS. FIG. 20, FIG.
In the blue light emitting diode 15, the first row of light sources 41 and the second row of light sources 42 are vertically fixed to the circuit board 28,
The outer and inner circumferences are surrounded by an outer wall 43 and an inner wall 44, and the inside of the inner wall 44 is a camera view 29.

Further, there is also a mode in which the third light sources 35A and 35B do not have the first row of light sources 41.

Embodiment 6 Hereinafter, Embodiment 6 of the present invention will be described with reference to the drawings.

In the sixth embodiment, the position where the third light source formed by the blue light emitting diode 15 in the fourth and fifth embodiments is provided is different from that of the fourth and fifth embodiments. Since the configuration is the same as that of the electronic component posture recognition device, only different portions will be described with reference to FIGS. 22 to 25, and description of the other portions will be omitted.

22 and 23, 1C is a large-sized electronic component having leads on the lower surface, 33 is a dust-proof cover glass,
Reference numeral 34 denotes a second light source (not shown in FIGS. 18 and 19).
, 46A and 46B are diffusion plates, 47 is a mirror, 37 is a prism, 20 is a small-field image capturing camera, 21 is a large-field image capturing camera, and 35C is disposed below the half mirror 45. A third light source,
46A and 46B are a half mirror 45 and a third light source 35C.
22, a diffusion plate is arranged in parallel with the half mirror 45 in FIG. 22, and in FIG. 23 in parallel with the third light source 35C.

The configuration of the third light source 35C will be described with reference to FIG. In FIG. 24, reference numeral 28 denotes a circuit board, and reference numeral 15 denotes a blue light emitting diode which is arranged on the circuit board 28 in a grid pattern and fixed so that light beams can be emitted upward.

As shown in FIGS. 22 and 23, the suction nozzle 2
When the large electronic component 1C is attracted to the large electronic component 1C, the second light source 34 emits blue light 38A on the lower surface of the large electronic component 1C.
(Not shown), and the third light source 35C can emit blue light rays 38E and 38F toward the lower surface of the large electronic component 1C via the diffusion plates 46A and 46B and the half mirror 45. With this configuration, the same operation and effect as those of the first embodiment can be obtained.
It is possible to uniformly irradiate the lower surface of a large electronic component such as a GA having leads and electrodes on the lower surface.

Therefore, as shown in FIG. 25 (representing the luminance distribution of the reflected light image formed by the reflected light), the portion of the large electronic component 1C having the leads 27 on the lower surface except the leads 27 and the background 40 are different from each other. The reflection of the blue light ray 38F is reduced, and the blue light ray 38F is reflected most strongly by the solder-plated lead 27 on the lower surface of the large-sized electronic component 1C.

Therefore, the reflected light image reflected by the lead 27 is reflected and transmitted by the lens barrel 19, captured by the image capturing camera 21 for a large field of view, and subjected to shading processing of 128 gradations, thereby increasing the size. The outer shape of the lead 27 on the side surface of the electronic component 1B can be recognized.

(Embodiment 7) Hereinafter, Embodiment 7 of the present invention will be described with reference to the drawings.

The seventh embodiment differs from the sixth embodiment only in the form and arrangement of the third light source formed by the blue light emitting diode 15 in the sixth embodiment. Since the configuration is the same as that of the posture recognition device, only different portions will be described with reference to FIGS. 26 and 27, and description of the other portions will be omitted.

In FIG. 26, 1C is a large electronic component having a lead on the lower surface, 33 is a dust-proof cover glass, 34 is a second light source (not shown, but the same as FIGS. 18 and 19), 4
5 is a half mirror, 47 is a mirror, 37 is a prism, 2
Reference numeral 0 denotes a small-field image capturing camera, 21 denotes a large-field image capturing camera, 35D denotes a third light source disposed below the half mirror 45, and 46A denotes a half mirror 45.
And a third light source 35D and a diffusion plate disposed in parallel with the half mirror 45.

The configuration of the third light source 35D will be described with reference to FIG. In FIG. 27, 32A is a half mirror 4.
A light emitting element fixing base formed in a step-like manner in parallel with 5, 15
Are blue light-emitting diodes arranged in a line on each step of the light-emitting element fixing base 32A and fixed so that light beams can be emitted upward.

As shown in FIG. 26, when the large-sized electronic component 1C is sucked by the suction nozzle 2, the second light source 34
(Not shown) is a blue light ray 38 on the lower surface of the large electronic component 1C.
A (not shown), and the third light source 35D can irradiate the blue light beam 38F toward the lower surface of the large electronic component 1C via the diffusion plate 46A and the half mirror 45. With this configuration, the same operation and effect as those of the sixth embodiment can be obtained, and further, a large-sized electronic component 1C having leads and electrodes on the lower surface such as PLCC, BGA, etc.
Can be uniformly illuminated.

Embodiment 8 Hereinafter, Embodiment 8 of the present invention will be described with reference to the drawings.

The eighth embodiment differs from the seventh embodiment in the current supply mode supplied to the third light source formed by the blue light emitting diode 15 in the seventh embodiment. Since the configuration is the same as that of the component posture recognition device, only different portions will be described with reference to FIGS. 28 and 29, and description of the other portions will be omitted.

FIG. 28 shows one form of the third illumination.
The number of stages is 48A to 48H, and eight blue light-emitting diodes are arranged in one stage.

The third light source form shown in FIG. 28 will be described with reference to FIG. In FIG. 28, reference numeral 49A denotes a blue light emitting diode 1 arranged in a first stage 48A located closest to the electronic component 1 sucked and held by the suction nozzle 2.
The first light source group 49B, which is composed of the first light source 5 and the second light source group 48B
, The second light source group 49C at the third stage 48C
Light source group, and similarly 49H indicate blue light emitting diodes 15 respectively arranged in the eighth stage 48H located farthest from the electronic component 1, and FIG. 29 shows circuits 50A to 50H corresponding to the light source group. The current limiting resistors R1 to R8 for adjusting the current value are provided at the preceding stage. This resistance value

[0089]

(Equation 1)

The first stage 48A-
The current flowing through the circuits 1 to 8 of the blue light emitting diode 15 arranged at the eighth stage 48H, that is, 50A to 50H is represented by A1.
~ A8

[0091]

(Equation 2)

A current having a magnitude satisfying the following relationship flows through each circuit. Therefore, the illuminance of the light beam emitted from the blue light emitting diode 15 arranged in the first stage 48A becomes the smallest, and the illuminance of the light beam emitted from the blue light emitting diode 15 becomes larger as the light sequentially goes down to the next stage. By setting the resistance value to a required value in this manner, the illuminance of the light beam illuminating the electronic component 1 can be made more uniform on the lower surface of the electronic component 1.

If the current limiting resistors R1 to R8 are volume resistors, the current can be easily adjusted.

In FIG. 29, the blue light-emitting diodes 15 of the circuit 1 (50A) are divided into four and connected in parallel, but this is due to the limitation of the power supply voltage. If there is, eight blue light emitting diodes 15 may be connected in series.

Embodiment 9 Hereinafter, Embodiment 9 of the present invention will be described with reference to the drawings.

The ninth embodiment differs from the fourth to seventh embodiments in that a switching unit for individually switching the first light source, the second light source, and the third light source is provided. Is the same as the configuration of the electronic component posture recognition apparatus according to the fourth to seventh embodiments, and only different parts are shown in FIG.
And the description of the other parts will be omitted.

In FIG. 30, reference numeral 14 denotes an output section A for outputting a voltage signal for driving the light shielding mechanism 11 for shielding the halogen light source, and a blue light emitting diode 15 for irradiating a blue light beam toward the lower surface of the electronic component 1. An output unit B that outputs a voltage signal that switches between an irradiation state and a light-off state of a blue light beam by turning a voltage signal supplied to the second light source 34 on or off,
Reference numeral 35 denotes a third light source formed by the blue light-emitting diode 15, and reference numeral 51 denotes a state in which a voltage signal supplied to the third light source 35 is turned on or off, thereby switching between a blue light irradiation state and a light-off state. The output units C and 17 that output the voltage signal are output units A1 and A1 in accordance with a command from a CPU described later.
4. A sequencer for controlling the ON / OFF state of the voltage signal output from the output unit B16 and the output unit C51. The sequencer 18 issues a light source and camera selection command according to the type of the electronic component 1 sucked to the sequencer 17 and the recognition unit. A CPU 19 for sending to a control circuit (not shown), a lens barrel 19 for taking in a shadow image or a reflected light image of the electronic component 1 and transmitting the reflected light;
Reference numerals 20 and 21 denote image capturing cameras for capturing a shadow image or a reflected light image reflected and transmitted by the lens barrel 19, reference numeral 20 denotes a small-field image capturing camera, and reference numeral 21 denotes a large-field image capturing camera. With the above-described configuration, an optimal light source can be selected according to various configurations of the small electronic component 1A to the large electronic components 1B and 1C.

[0098]

As described above, in the electronic component posture recognition apparatus for detecting the state and the posture of the electronic component by using the electronic component recognition mechanism using the shadow image and the reflected light image of the electronic component, Large-sized electronic components by configuring the optical system by applying the characteristic that the blue light radiated toward the electronic components on the orange scatterer attached to the suction nozzle that holds the suction is reduced on the lower surface of the scatterers. A non-reflective shutter member driving mechanism that sandwiches the suction nozzle in a predetermined direction at the component recognition station at the component recognition station and covers the background of the large electronic component, and the time required to open and close it, are not required. It is possible to provide an electronic component posture recognition device and an electronic component mounting device that enable accurate mounting.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a configuration of an electronic component posture recognition device according to a first embodiment of the present invention.

FIG. 2 is a side view and a bottom view showing a configuration of a scatterer according to the first embodiment.

FIG. 3 is a perspective view showing a work of recognizing the external shape of the small electronic component according to the first embodiment;

FIG. 4 is a reflectance characteristic diagram of the scatterer for the light emitted from the halogen lamp in the first embodiment.

FIG. 5 is a conceptual diagram showing a shadow image of a small electronic component and its brightness distribution obtained when the scatterer according to the first embodiment is used.

FIG. 6 is a perspective view showing a work for recognizing the outer shape of the lead of the large-sized electronic component according to the first embodiment;

FIG. 7 is a characteristic diagram showing a reflectance characteristic of the scatterer for the blue light in the first embodiment.

FIG. 8 is a conceptual diagram showing a reflected light image of a large electronic component and its luminance distribution obtained when the scatterer according to the first embodiment is used.

FIGS. 9A and 9B are a side view and a bottom view showing a configuration of a scatterer of another embodiment in the first embodiment.

FIGS. 10A and 10B are a plan view and a partially cutaway side view showing a configuration of a first light source according to a second embodiment of the present invention.

FIG. 11 is a conceptual diagram showing an illuminance distribution obtained when the first light source according to the second embodiment is used.

12A and 12B are a plan view and a partially cutaway side view showing a configuration of a first light source according to a third embodiment of the present invention.

FIG. 13 is a conceptual diagram showing an illuminance distribution obtained when the first light source according to the third embodiment is used.

FIG. 14 is a side view showing a configuration of an electronic component posture recognition device provided with a third light source according to a fourth embodiment of the present invention and an outline recognition operation of small electronic components.

FIG. 15 is a conceptual diagram showing a reflected light image of a small electronic component having a rounded outer shape and a brightness distribution thereof obtained in the fourth embodiment (when only the second light source is used).

FIG. 16 is a conceptual diagram showing a reflected light image of a small electronic component having a horizontal external part and a luminance distribution thereof obtained in Embodiment 4 (when only the second light source is used).

FIG. 17 is a sectional view of the fourth embodiment (the second light source and the third light source;
Conceptual diagram showing a reflected light image of a small electronic component obtained when the light source is used in combination and a luminance distribution thereof

FIG. 18 shows a configuration of an electronic component posture recognition device and a small electronic component according to a fifth embodiment of the present invention (where a third light source is provided between a prism serving as an optical image transmission path and a small-field image capturing camera). Side view showing outline recognition work

FIG. 19 is a side view showing a configuration of an electronic component posture recognition apparatus according to the fifth embodiment (where a third light source is provided between a mirror and a prism serving as an optical image transmission path) and an external shape recognition operation of small electronic components.

FIGS. 20A and 20B are a plan view and a partially cutaway side view showing a configuration of a third light source according to the fifth embodiment.

FIG. 21 is a plan view and a partially cutaway side view showing a configuration of a third light source according to the fifth embodiment.

FIG. 22 is a first example of the sixth embodiment of the present invention (third example);
Side view showing the configuration of the electronic component attitude recognition device (provided below the electronic component holding the light source by suction) and the external shape recognition work of the small electronic component.

FIG. 23 is a second example of the sixth embodiment, showing a configuration of an electronic component posture recognition device (provided below an electronic component holding a third light source by suction) and an outer shape recognition operation of a small electronic component. Side view

24A and 24B are a plan view and a side view showing a configuration of a third light source according to the sixth embodiment.

FIG. 25 is a sectional view of the sixth embodiment (first light source and third light source;
Conceptual diagram showing a reflected light image of a large electronic component having a lead on the lower surface obtained when a light source is used in combination and a luminance distribution thereof

FIG. 26 is a side view showing a configuration of an electronic component posture recognition device (provided below an electronic component holding a third light source by suction) according to a seventh embodiment of the present invention and an outer shape recognition operation of a small electronic component;

FIGS. 27A and 27B are a plan view and a side view showing a configuration of a third light source according to the seventh embodiment. FIGS.

FIGS. 28 (a) and 28 (b) show a third embodiment of the eighth embodiment of the present invention.
Plan view and side view showing the configuration of the light source

FIG. 29 is a circuit diagram of a third light source according to the eighth embodiment.

FIG. 30 is a perspective view showing a configuration of an electronic component posture recognition device according to a ninth embodiment of the present invention.

FIG. 31 is a plan view showing the overall layout of a conventional electronic component mounting apparatus.

FIG. 32 is a side view showing the work of recognizing the external shape of a small electronic component in the conventional electronic component posture recognition device.

FIG. 33 is a side cross-sectional view showing a lead outer shape recognition operation of a large electronic component in a conventional electronic component posture recognition device.

FIG. 34 is a conceptual diagram showing a reflected light image of a large electronic component and its luminance distribution obtained when a conventional white scatterer is used.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Electronic component 1A Small electronic component 1B, 1C Large electronic component 2, 2A, 2B Suction nozzle 3, 3A, 3B, 3D Scatterer 4 Orange substance 5 Mounting head 6 Halogen lamp 7 Halogen light source 8 Light irradiation port 9 Optical fiber 10 Lens unit 11 Light-blocking mechanism 12 Solenoid 13 Light-blocking plate 14 Output unit A 15 Blue light-emitting diode 16 Output unit B 17 Sequencer 18 CPU 19 Barrel 20 Small-field image capturing camera 21 Large-field image capturing camera 22 Ray wavelength 23 Orange substance 24 Reflectivity of red substance 25 Shadow image 26 Blue light wavelength 27 Lead 28 Circuit board 29 Camera field of view 30 Illumination contour 31 Illumination uniform area 32, 32A Light emitting element fixing stand 33 Dustproof cover glass 34 Second light source 35 , 35A, 35B, 35C, 35D 3rd Light source 36 mirror 37 prism 38A, 38B, 38C, 38D, 38E, 38F blue light 39 electrode 40 background 41 first row light source 42 second row light source 43 outer wall 44 inner wall 45 half mirror 46A, 46B diffuser 47 mirror 48A 1st stage 48B 2nd stage 48C 3rd stage 48D 4th stage 48E 5th stage 48F 6th stage 48G 7th stage 48H 8th stage 49A First light source group 49B Second light source group 49C Third light source group 49D Fourth light source group 49E Fifth light source group 49F Sixth light source group 49G Seventh light source group 49H Eighth light source group 50A Circuit 1 50H Circuit 8 51 Output unit C 52 Electronic component supply unit 53 Suction conveyance unit 54 Substrate Positioning unit 55 Supply-side substrate transfer unit 56 Discharge-side substrate transfer unit 57 Substrate 58 Electronic component supply unit 59 Rotary index Table 60 component suction station 61 mounting angle selected station 62 component recognition station 63 the angle correction station 64 component mounting station 65 red light-emitting diode 66 non-reflective shutter member

Claims (12)

[Claims] 1. An orange scatterer that reflects or scatters light attached to a part of a suction nozzle for sucking and holding an electronic component other than a suction part, and the background of the electronic component sucked and held by the suction nozzle. A first light source that irradiates a light beam toward the scatterer, a second light source that irradiates a blue light beam to an electronic component sucked and held by the suction nozzle,
A control unit that independently operates the light source and the second light source, and when using the first light source, uses a shadow image with scattered light of the light beam irradiated on the scatterer as background light,
In the case where the second light source is used, an electronic component posture recognition device for inspecting the electronic component sucked and held by the suction nozzle and the holding state based on a reflected light image of a light beam irradiated on the electronic component. 2. The electronic component posture recognition device according to claim 1, wherein the second light source is constituted by four wall surfaces provided with an angle so as to spread upward, and a plurality of light emitting elements are arranged on each of the four wall surfaces. 3. The electronic component posture recognition device according to claim 1, wherein the second light source is formed in an inverted conical ring shape, and a plurality of light emitting elements are arranged on an inner peripheral surface of the second light source. 4. The electronic device according to claim 1, further comprising a third light source for irradiating the electronic component with a blue light beam from a lower surface at a position having an irradiation distance longer than an irradiation distance from the second light source to the electronic component. The electronic component posture recognition device according to any one of 2 and 3. 5. The electronic component posture recognition device according to claim 4, wherein the arrangement of the third light source is outside the viewing angle of a camera constituting the recognition unit. 6. The light source according to claim 5, wherein the third light source is provided in a part of a light path from the electronic component to the small-field image capturing camera.
Electronic component posture recognition device as described in the above. 7. A plurality of light emitting elements in which a third light source is disposed below the electronic component held by the suction nozzle, and a half mirror that is inclined between the plurality of light emitting elements and the electronic component. 5. The electronic component posture recognition device according to claim 4, wherein the electronic component posture recognition device is constituted by a diffusion plate disposed between the half mirror and the plurality of light emitting elements. 8. The electronic component posture recognition device according to claim 7, wherein the third light source is constituted by a plurality of light emitting elements arranged on a plurality of steps provided along a lower surface of the half mirror. 9. An adjustment for supplying a current of a value proportional to the distance between the electronic component sucked and held by the suction nozzle and the light source group for each light source group in which the third light source is arranged on a plurality of steps. The electronic component posture recognition device according to claim 8, further comprising a unit. 10. A switching unit for switching a third light source in accordance with a switching state of the first and second light sources.
The electronic component posture recognition device according to any one of claims 9 to 9. 11. The electronic component posture recognition device according to claim 1, further comprising an illuminance adjustment unit for adjusting the illuminance of each of the first and second light sources. 12. An electronic component supply unit for supplying an electronic component, and an electronic component supplied from the electronic component supply unit, picked up by a component suction station, and transporting the electronic component positioned at the component mounting station. An electronic component attitude recognition device that recognizes the position and rotation angle of the electronic component held by the suction transport unit with respect to the suction transport unit at a component recognition station disposed between the component suction station and the component mounting station. The angle correction station disposed between the component recognition station and the component mounting station determines the angle of the electronic component held by the suction conveyance unit based on the recognition result of the electronic component posture recognition device by an angle correction mechanism. Angle and move to the component mounting station to mount electronic components. A board positioning unit for holding and positioning the board, and a positioning position of the board held by the board positioning unit, which is corrected based on a recognition result by the electronic component posture recognition device. An electronic component mounting apparatus using the electronic component attitude recognition device according to claim 1.