WO2024057433A1

WO2024057433A1 - Component mounter and component imaging method

Info

Publication number: WO2024057433A1
Application number: PCT/JP2022/034371
Authority: WO
Inventors: 剣曽根; 大介春日
Original assignee: ヤマハ発動機株式会社
Priority date: 2022-09-14
Filing date: 2022-09-14
Publication date: 2024-03-21

Abstract

The present invention executes control (period-limited imaging control) of capturing images of a high-precision component Eh by a component recognition camera C in a period (constant speed period T2 or stop period T0) different from a period in which a head unit 3 is accelerated or decelerated. As a result, the present invention can eliminate the influence of an inertial force caused by acceleration or deceleration of the head unit 3 on imaging of the high-precision component Eh when capturing images of the high-precision component Eh by the component recognition camera C that is supported by and that moves with the head unit 3 which suctions and holds the high-precision component Eh.

Description

Component mounting machine and component imaging method

The present invention relates to a technique of using a camera to image a component picked up by a head unit that mounts the component on a board.

Patent Document 1 describes a component mounting machine that picks up components supplied to a component supply position using a nozzle of a mounting head and mounts them on a board. This component mounting machine is equipped with a component recognition camera, and the nozzle that has picked up the component passes above the component recognition camera before mounting the component on the board. Take an image. In this way, the position of the component relative to the nozzle is recognized based on the result of imaging the component. In particular, in Patent Document 1, in order to suppress the influence of vibrations of a component mounting machine, correction coefficients derived from predicted vibrations are stored in advance. Then, the position of the component determined from the result of imaging the component is corrected using this correction coefficient.

Japanese Patent Application Publication No. 2005-243668

By the way, in the above component mounting machine, the head unit that picks up the components needs to pass above the component recognition camera before mounting the components on the board. Therefore, the time required for a mounting turn from when the head unit picks up the component to when the component is mounted on the board becomes long. Therefore, by capturing an image of the component in parallel with the movement of the head unit using a camera that is supported by the head unit and moves with the head unit, it is possible to reduce the time required for a mounting turn. Particularly, the camera is supported by the head unit so as to be movable in a predetermined direction with respect to the head unit, and while moving relative to the head unit in a predetermined direction, the camera takes an image of the component attracted to the head unit. Therefore, the inertial force accompanying the acceleration/deceleration of the head unit may affect the image pickup of the component by the camera, and the component may not be properly imaged.

This invention was made in view of the above-mentioned problem, and when an image of a part is captured by a camera that is supported by a head unit that picks up parts and moves with the head unit, the inertial force accompanying the acceleration and deceleration of the head unit is The purpose of this is to eliminate the influence that it has on imaging.

The component mounting machine according to the present invention includes a component supply section that supplies components to a component supply position, a board transport section that carries a board to a work position, and a suction operation that suctions components supplied to the component supply position. A head unit, a unit drive unit that performs a component transfer operation that transfers components attracted to the head unit to a position facing the substrate by driving the head unit, and a unit drive unit that can be moved in a predetermined direction with respect to the head unit. A camera that is supported by the head unit and moves with the head unit driven by a unit drive section, a camera drive section that drives the camera in a predetermined direction with respect to the head unit, and a camera that is a component that is attracted to the head unit. and a control unit that executes imaging while causing the camera drive unit to drive the camera in a predetermined direction, the control unit driving the head unit in the predetermined direction during a period different from a period in which the unit drive unit accelerates or decelerates the head unit. Period-limited imaging control is executed to image the component using the camera that is used.

The component imaging method according to the present invention includes a step of performing a component transfer operation of transferring the component sucked by the head unit to a position facing a substrate by driving a head unit that sucks the component; the camera is supported by the head unit so as to be movable in a predetermined direction, and is driven in a predetermined direction. Period-limited imaging control is executed in which the component is imaged by a camera driven in a predetermined direction in a period different from the period in which the component is imaged.

In the present invention (component mounting machine, component imaging method) configured as described above, by driving the head unit that sucks the components, a component transfer operation is performed in which the components sucked by the head unit are transferred to a position facing the board. is executed. Then, a camera supported by the head unit so as to be movable in a predetermined direction with respect to the head unit and driven in a predetermined direction captures an image of the component attracted to the head unit. Therefore, during a period in which the head unit is accelerated or decelerated, there is a possibility that the inertial force generated due to the acceleration or deceleration may affect the imaging of the component by the camera. In contrast, in the present invention, period-limited imaging control is executed in which a camera driven in a predetermined direction images a component in a period different from the period in which the head unit is accelerated or decelerated. As a result, when a camera that is supported by a head unit that picks up parts and moves with the head unit takes an image of the part, it is possible to eliminate the influence of inertia caused by the acceleration and deceleration of the head unit on the image of the part. It becomes possible.

Further, the unit drive section accelerates the head unit to a predetermined unit speed during the acceleration period, moves the head unit at a constant speed at the unit speed during a constant speed period following the acceleration period, and moves the head unit at a constant speed during a deceleration period following the constant speed period. The period-limited imaging control is a constant-velocity imaging mode in which the camera does not image the parts during the acceleration and deceleration periods, but instead allows the camera to image the parts during the constant-velocity period. The component mounter may be configured to be able to perform the following steps. In this configuration, by executing the constant velocity imaging mode, it is possible to eliminate the influence of inertial force generated during the acceleration period and the deceleration period on the imaging of the component.

Furthermore, when executing the constant-velocity imaging mode, the control unit may configure the component mounter to set the unit speed so that imaging of the component is completed during the constant-velocity period. In such a configuration, if the constant velocity period is short because the unit speed is high and the imaging of the component cannot be completed during the constant velocity period, control is performed to reduce the unit speed so that the imaging of the component can be completed during the constant velocity period. It will be executed. As a result, it is possible to suppress the occurrence of a situation where the imaging of the component is not completed in the constant velocity period and the constant velocity imaging mode fails.

In addition, the period limited imaging control can further execute a stop imaging mode in which a camera takes an image of a component that is attracted to a stopped head unit before the start of the component transfer operation, and either a constant velocity imaging mode or a stop imaging mode. The component mounter may be configured to perform one of the two. In this configuration, by executing the stop imaging mode, it is possible to eliminate the influence of inertial force generated during the acceleration period and the deceleration period on the imaging of the component.

The control unit further includes an imaging mode selection unit that accepts a user's operation to select one imaging mode from the constant velocity imaging mode and the stop imaging mode, and the control unit selects the one imaging mode selected in the imaging mode selection unit. The component mounter may be configured to perform this. With this configuration, it is possible to image the component in one of the constant velocity imaging mode and the stop imaging mode, depending on the user's needs.

The control unit also executes a mode selection process for selecting one imaging mode from the constant velocity imaging mode and the stop imaging mode, executes the one imaging mode selected by the mode selection process, and executes the one imaging mode selected by the mode selection process. , when executing the constant speed imaging mode, the time required to complete the mounting of the component picked up by the pickup operation on the board, and when executing the stop imaging mode, the time required to complete the mounting of the component picked up by the pickup operation onto the board. The component mounter may be configured to select one imaging mode based on a comparison with the time required to complete mounting. In such a configuration, for example, when the constant velocity imaging mode is executed, the time required to complete the mounting of the component picked up by the pickup operation on the board, and when the stopped imaging mode is executed, the time required to complete the mounting of the component picked up by the pickup operation Of the time required to complete mounting of a component on a board, if the former is shorter than the latter, a constant speed imaging mode is executed, and if the latter is shorter than the former, control can be executed such as executing a stop imaging mode. As a result, it is possible to reduce the time required to image the component.

In addition, there are high-precision parts that are subject to period-limited imaging control and low-precision parts that are not subject to period-limited imaging control, and the control unit controls the period-limited imaging of high-precision parts by the camera. The component mounter may be configured to perform the process under control. With this configuration, it is possible to eliminate the influence of inertial force accompanying acceleration and deceleration of the head unit on imaging of high-precision parts.

Further, the control section does not perform period-limited imaging control regarding imaging of low-precision parts by the camera, and allows the camera to take images of low-precision parts during a period in which the unit drive section accelerates or decelerates the head unit. A component mounting machine may also be configured. With such a configuration, the period during which the unit drive section accelerates or decelerates the head unit can be used to image the low-precision component, thereby making it possible to efficiently image the low-precision component.

Furthermore, the period-limited imaging control may configure the component mounter so that it can execute a stop imaging mode in which a camera takes an image of a component that is attracted to a stopped head unit before the start of the component transfer operation. In this configuration, by executing the stop imaging mode, it is possible to eliminate the influence of inertial force accompanying acceleration and deceleration of the head unit on imaging of the component.

Further, the head unit has a plurality of nozzles arranged in a predetermined direction, and the nozzles suck the parts, and the camera has a retracted position provided on one side in the predetermined direction from the plurality of nozzles, and a plurality of nozzles. It is movable relative to the head unit between the head unit and the other retracted position provided on the other side in a predetermined direction, and images the high-precision parts attracted to the nozzle while moving from one retracted position to the other retracted position. It is possible to perform a first scan imaging to move the head from the other retracted position to the other retracted position and a second scan imaging to image the high-precision component sucked by the nozzle while moving from the other retracted position to the one retracted position. Before the start of the suction operation, a scan imaging determination process is executed to determine the execution scan imaging to be performed in the stop imaging mode for the high-precision parts to be picked up by the unit from among the first scan imaging and the second scan imaging, and the scanning In the imaging determination process, execution scan imaging is determined according to the position in a predetermined direction of the high-precision component that is picked up by the head unit by the attraction operation, and the control unit determines when the first scan imaging is determined to be the execution scan imaging. In this case, the camera is positioned at one retracted position before the start of the suction operation, and when the second scan imaging is determined to be the execution scan imaging, the camera is positioned at the other retracted position before the start of the suction operation. Alternatively, the component mounting machine may be configured. In this configuration, the moving direction of the camera when executing the stop imaging mode is determined according to the position of the high-precision component that is attracted to the head unit. As a result, the high-precision component can be imaged while moving the camera in a rational direction depending on the position of the high-precision component, and the time required to image the high-precision component can be kept short.

In addition, when the head unit picks up high-precision parts and low-precision parts, the control unit moves the high-precision parts and low-precision parts to the head so that all of the high-precision parts are located on one side of all of the low-precision parts. Either a first suction mode in which the unit suctions the parts, or a second suction mode in which the high-precision parts and low-precision parts are suctioned to the head unit so that all the high-precision parts are located on the other side of all the low-precision parts. and when executing the first suction mode, the first scan imaging is performed in the stop imaging mode, and when executing the second suction mode, the second scan imaging is performed in the stop imaging mode. The component mounting machine may be configured as follows. In this configuration, the high-precision parts can be imaged by moving the camera from a state where the high-precision parts are gathered at the evacuation position side where the camera is located between the one evacuation position and the other evacuation position, and the high-precision parts can be imaged by the camera. The time required can be kept short.

The control section further includes a control selection section that accepts a user's operation to select whether or not to execute the period limited imaging control, and when the control selection section selects to execute the period limited imaging control, the control section selects whether or not to perform the imaging of the part. If the period-limited imaging control is executed, but if the control selection section selects not to execute the period-limited imaging control, the period during which the unit drive section accelerates or decelerates the head unit without executing the period-limited imaging control. The component mounter may be configured to allow the camera to take an image of the component. With this configuration, it is possible to determine whether or not to execute period-limited imaging control depending on the user's needs.

According to the present invention, when a part is imaged by a camera that is supported by a head unit that picks up parts and moves with the head unit, the influence of inertial force caused by acceleration and deceleration of the head unit on the part image is eliminated. It becomes possible to do so.

FIG. 1 is a plan view schematically showing an example of a component mounting machine according to the present invention. FIG. 2 is a block diagram showing the electrical configuration of the component mounting machine of FIG. 1. FIG. FIG. 3 is a front view schematically showing a component recognition unit included in the component mounting machine. FIG. 3B is a side view schematically showing the component recognition unit of FIG. 3A. FIG. 3B is a front view schematically showing the operation of the component recognition unit in FIG. 3A. FIG. 3B is a front view schematically showing the operation of the component recognition unit in FIG. 3A. 5 is a flowchart showing operations in a mounting turn in which a head unit picks up a component and mounts it on a board. 5 is a timing chart schematically showing an example of speed control performed on the component recognition unit in the mounting turn of FIG. 4. FIG. 11 is a flowchart showing an example of a constant speed imaging mode. FIG. 3 is a diagram schematically showing control contents executed in constant-velocity imaging mode. FIG. 3 is a diagram schematically showing control contents executed in constant-velocity imaging mode. FIG. 3 is a diagram schematically showing control contents executed in constant-velocity imaging mode. 5 is a flowchart showing an example of a stop imaging mode. FIG. 3 is a diagram schematically showing the control contents executed in the stop imaging mode. FIG. 3 is a diagram schematically showing the control contents executed in the stop imaging mode. FIG. 3 is a diagram schematically showing the control contents executed in the stop imaging mode. 5 is a flowchart illustrating an example of imaging mode determination processing. FIG. 3 is a front view schematically showing an example of a suction operation. FIG. 3 is a front view schematically showing an example of a suction operation.

FIG. 1 is a plan view schematically showing an example of a component mounter according to the present invention, and FIG. 2 is a block diagram showing the electrical configuration of the component mounter of FIG. 1. In FIG. 1, 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. This component mounting machine 1 executes component mounting to mount a component E (FIGS. 3A to 3D) onto a board B.

As shown in FIG. 2, the component mounter 1 includes a control section 100 that centrally controls the operations of the component mounter 1. The control unit 100 includes a main control unit 110, a storage unit 120, a drive control unit 130, an imaging control unit 140, and a UI (User Interface) 150. The main control unit 110 is composed of a processor such as a CPU (Central Processing Unit), and executes signal processing necessary for controlling the component mounting machine 1. Note that the specific configuration of the main control unit 110 is not limited to a CPU, and may be, for example, an FPGA (Field Programmable Gate Array). The storage unit 120 is a storage device configured with an SSD (Solid State Drive), an HHD (Hard Disk Drive), or the like. The drive control section 130 controls the drive system of the component mounter 1, and the imaging control section 140 controls the imaging system of the component mounter 1. Further, the UI 150 includes input devices such as a keyboard and a mouse, and output devices such as a display. Note that the input device and the output device of the UI 150 do not need to be configured separately, and may be configured integrally using, for example, a touch panel display.

The storage unit 120 stores various data and information necessary for component mounting, such as board data 121 and component information 122. Here, the board data 121 indicates the type of component E to be mounted on a mounting position (for example, a land, etc.) provided on the board B, and the order in which the component E is mounted. Component E is mounted on board B. Furthermore, as will be described later, the component E includes a high-precision component Eh and a low-precision component El, and the component information 122 indicates that the component E scheduled to be mounted on the board B is a high-precision component Eh and a low-precision component El. For each part E, it is shown which one it is. This component information 122 is created by the user by operating the UI 150, for example, and is stored in the storage unit 120. However, the main control section 110 may automatically create the component information 122 based on the board data 121 and store it in the drive control section 130. Specifically, each component E is assigned to one of the high-precision component Eh and the low-precision component El based on the size of the component E, the arrangement pitch of the terminals of the component E, the distance between adjacent components E on the board B, etc. Part information 122 can be created by performing a classification operation.

As shown in FIG. 1, the component mounting machine 1 includes a pair of

conveyors

12, 12 provided on a base 11. Then, the component mounter 1 mounts the component E on the board B carried by the conveyor 12 from the upstream side in the X direction (board transport direction) to the work position 13 (the position of the board B in FIG. 1), and mounts the component E on the board B. The board B (component mounting board B) that has been completed is carried out from the work position 13 to the downstream side in the X direction by the conveyor 12.

The component mounter 1 is provided with a pair of Y-

axis rails

21, 21 extending in the Y direction, a Y-axis ball screw 22 extending in the Y-direction, and a Y-axis motor My that rotationally drives the Y-axis ball screw 22. An extending X-axis rail 24 is supported by a pair of Y-

axis rails

21, 21 so as to be movable in the Y direction, and is fixed to a nut of a Y-axis ball screw 22. An X-axis ball screw 25 extending in the X direction and an X-axis motor Mx that rotationally drives the X-axis ball screw 25 are attached to the X-axis rail 24 . The component mounting machine 1 also includes a head unit 3 supported movably in the X direction by an X-axis rail 24, and the head unit 3 is fixed to a nut of an X-axis ball screw 25. Therefore, the drive control section 130 causes the Y-axis motor My to rotate the Y-axis ball screw 22 to move the head unit 3 in the Y direction, and causes the X-axis motor Mx to rotate the X-axis ball screw 25 to move the head unit 3 in the X direction. can be moved to

Two component supply units 5 are lined up in the X direction on each side of the pair of

conveyors

12, 12 in the Y direction, and each component supply unit 5 removably supports a plurality of tape feeders 51 arranged in the X direction. has been done. The tape feeder 51 has a component supply position 52 provided at the tip end on the work position 13 side, and supplies the component E to the component supply position 52 . Specifically, a component storage tape is attached to the tape feeder 51, and this component storage tape stores the components E in each of a plurality of pockets arranged in a line. Then, the tape feeder 51 supplies the component E to the component supply position 52 by intermittently conveying the component storage tape toward the component supply position 52 .

The head unit 3 includes a plurality of mounting heads 31 (eight in the example of FIG. 1) arranged in the X direction, and a Z-axis motor Mz (FIG. 2) that moves the mounting heads 31 up and down in the Z direction. The mounting head 31 has an elongated shape extending in the Z direction, and attracts and holds the component E using a nozzle N (FIGS. 3A to 3D) that is detachably attached to the lower end of the mounting head 31. The nozzle N mounts the component E taken out from the component supply position 52 onto the board B.

Specifically, the drive control unit 130 causes the nozzle N of the mounting head 31 to face the component supply position 52 from above by driving the head unit 3 using the X-axis motor Mx and the Y-axis motor My. Subsequently, the drive control unit 130 lowers the mounting head 31 using the Z-axis motor Mz, and brings the nozzle N of the mounting head 31 into contact with the component E in the component supply position 52. The mounting head 31 generates negative pressure in the nozzle N that is in contact with the component E, so that the component E is attracted to the nozzle N. When the drive control unit 130 raises the mounting head 31 using the Z-axis motor Mz, the component E attracted to the nozzle N is taken out from the component supply position 52. Further, the drive control unit 130 drives the head unit 3 using the X-axis motor Mx and the Y-axis motor My to move the component E attracted to the nozzle N of the mounting head 31 to the mounting position of the board B at the work position 13. facing from above. Subsequently, the drive control unit 130 lowers the mounting head 31 using the Z-axis motor Mz, and brings the component E attracted by the nozzle N of the mounting head 31 into contact with the mounting position of the board B. Then, the mounting head 31 releases the negative pressure of the nozzle N that sucks the component E that has come into contact with the mounting position of the board B. In this way, the component E is mounted on the mounting position of the board B.

Furthermore, as shown in FIG. 2, the component mounting machine 1 includes a component recognition camera C that images the component E that is attracted to the mounting head 31 of the head unit 3, and a camera motor that drives the component recognition camera 41 in the X direction. It is equipped with Mc. Next, these will be explained using FIGS. 3A to 3D.

3A is a front view schematically showing a component recognition unit included in a component mounter, FIG. 3B is a side view schematically showing the component recognition unit in FIG. 3A, and FIGS. 3C and 3D are parts in FIG. 3A. FIG. 3 is a front view schematically showing the operation of the recognition unit. Note that in FIGS. 3A, 3C, and 3D, the X(+) side in the X direction and the X(−) side opposite to the X(+) side in the X direction are shown. As shown in FIGS. 3A to 3D, the component recognition unit 4 is attached to the head unit 3 and moves in the X and Y directions with the head unit 3 driven by the X-axis motor Mx and the Y-axis motor My. .

The head unit 3 has a unit body 30 having a substantially rectangular parallelepiped shape, and the unit body 30 supports a plurality of mounting heads 31 so as to be movable up and down in the Z direction. On the other hand, the component recognition unit 4 includes an X-axis guide member 41 that is attached to the unit body 30 and is parallel to the X-direction, and a movable supporter 42 that moves in the X-direction along the X-axis guide member 41. The movable supporter 42 also includes an upright frame 421 extending in the Z direction, and a bottom frame 422 extending in the Y direction from the lower end of the upright frame 421, with the upper end of the upright frame 421 extending in the It engages with the shaft guide member 41. The component recognition camera C is attached to the bottom frame 422 facing upward. In this way, the component recognition camera C supported by the movable supporter 42 is movable in the X direction while being guided by the X-axis guide member 41.

Then, the camera motor Mc (FIG. 2) moves the component recognition camera C in the X direction by driving the movable supporter 42 in the X direction. This camera motor Mc can be configured by, for example, a linear motor. That is, the stator of the camera motor Mc is attached to the X-axis guide member 41, and the movable element of the camera motor Mc is attached to the upper end of the movable supporter 42, and the movable supporter 42 is moved by the magnetic force generated between the stator and the movable element. Can be driven in the X direction. However, the specific configuration of the camera motor Mc is not limited to a linear motor, and may be a ball screw, for example.

As shown in the front view of FIG. 3A, the camera motor Mc is located at a retracted position L(+) provided on the X(+) side of the plurality of nozzles N and a retracted position L(+) provided on the X(-) side of the plurality of nozzles N in the X direction. The component recognition camera C can be moved between the retracted position L(-) provided on the side. Therefore, the drive control unit 130 controls the position of the component recognition camera C in the X direction by the camera motor Mc, so that the component recognition camera C can be opposed from below. Furthermore, the imaging control unit 140 can obtain an image of the component E (bottom view image) obtained by the component recognition camera C capturing the opposing component E from below by causing the component recognition camera C to perform imaging. Note that the direction in which the component E is imaged is not limited to this example, and the component E may be configured to be imaged from the Y direction to obtain an image (side view image) of the component E.

In particular, the component recognition unit 4 can capture images of a plurality of components E each attracted to a plurality of nozzles N by scanning imaging shown in FIGS. 3C and 3D. In the scan imaging shown in FIG. 3C, the drive control unit 130 positions the component recognition camera C at the retracted position L(-) by controlling the camera motor Mc (step S11). Subsequently, the drive control unit 130 moves the component recognition camera C from the retracted position L(-) to the retracted position L(+) by driving the component recognition camera C toward the X(+) side in the X direction using the camera motor Mc. (step S12). When the component recognition camera C reaches the retracted position L(+), the drive control unit 130 stops the component recognition camera C at the retracted position L(+) by controlling the camera motor Mc (step S13). . On the other hand, in parallel with the drive control unit 130 moving the component recognition camera C from the retraction position L(−) to the retraction position L(+) toward the X(+) side (step S12), the imaging control unit 140 The component recognition camera C is caused to take an image. As a result, images of the plurality of parts E each attracted by the plurality of nozzles N are acquired.

On the other hand, in the scan imaging shown in FIG. 3D, the drive control unit 130 positions the component recognition camera C at the retracted position L(+) by controlling the camera motor Mc (step S21). Subsequently, the drive control unit 130 moves the component recognition camera C from the retracted position L(+) to the retracted position L(-) by driving the component recognition camera C in the X(-) side of the X direction using the camera motor Mc. (step S22). When the component recognition camera C reaches the retracted position L(-), the drive control unit 130 stops the component recognition camera C at the retracted position L(-) by controlling the camera motor Mc (step S23). . On the other hand, in parallel with the drive control unit 130 moving the component recognition camera C from the retracted position L(+) to the retracted position L(-) in the X(-) side (step S22), the imaging control unit 140 The component recognition camera C is caused to take an image. As a result, images of the plurality of parts E each attracted by the plurality of nozzles N are acquired.

Incidentally, in this scan imaging, during the period when the component recognition camera C images the component E, the drive control unit 130 controls the camera motor Mc so that the component recognition camera C moves uniformly in the X direction at a predetermined scan speed Vc. control. In other words, before the component recognition camera C starts imaging the component E, the camera motor Mc accelerates the component recognition camera C to the scan speed Vc. In the example of FIG. 3C, the component recognition camera C that has started moving from the retracted position L(-) to the X(+) side faces the nozzle N at the end of the X(-) side of the plurality of nozzles N from below. The acceleration of the component recognition camera C to the scanning speed Vc is completed by the time the component recognition camera C reaches the imaging position. In addition, after the component recognition camera C passes the imaging position facing the nozzle N at the end of the X (+) side of the plurality of nozzles N from below, the deceleration of the scan speed of the component recognition camera C from Vc starts. do. In the example of FIG. 3D, the speed of the component recognition camera C is similarly controlled.

FIG. 4 is a flowchart showing the operation in the mounting turn in which the head unit picks up components and mounts them on the board, and FIG. 5 schematically shows an example of the speed control performed on the component recognition unit in the mounting turn in FIG. 4. FIG. FIG. 5 shows a graph in which the horizontal axis represents time and the vertical axis represents speed. The flowchart in FIG. 4 is executed under the control of the main control unit 110.

In step S101, the head unit 3 suctions the component E supplied to the component supply position 52 to the nozzle N, thereby suctioning the component E to each of the plurality of nozzles N (suction operation). Note that the components E to be attracted by each nozzle N in the attraction operation are determined in advance according to the mounting order of the components E on the board B indicated by the board data 121. When the suction operation is completed, the head unit 3 starts moving toward the substrate B. Specifically, the drive control unit 130 accelerates the stopped head unit 3 to a predetermined unit speed Vu (speed higher than zero) by controlling the X-axis motor Mx and the Y-axis motor My (step S102). As a result, the speed of the head unit 3 increases from zero to the unit speed Vu during the acceleration period T1 from time t1 to time t2. When the speed of the head unit 3 reaches the unit speed Vu at time t2, the drive control section 130 moves the head unit 3 at a constant speed at the unit speed Vu by controlling the X-axis motor Mx and the Y-axis motor My ( Step S103) As a result, the speed of the head unit 3 becomes constant at the unit speed Vu during the constant speed period T2 from time t2 to time t3. At time t3, the drive control section 130 decelerates the head unit 3 from the unit speed Vu and stops it by controlling the X-axis motor Mx and the Y-axis motor My (step S104). As a result, the speed of the head unit 3 decreases from the unit speed Vu to zero during the deceleration period T3 from time t3 to time t4. The component E attracted by the nozzle N of the head unit 3 thus stopped faces the mounting position of the board B from above. In step S105, the head unit 3 mounts this component E on the board B (step S105). At this time, the drive control unit 130 controls the mounting position of the board B by controlling the position of the nozzle N that sucks the component E based on the position of the component E indicated by the image of the component E captured by the component recognition camera C. Part E is mounted on.

Incidentally, the speed of the head unit 3 is a speed that is a combination of the speed in the X direction and the speed in the Y direction. During the acceleration period T1, at least one of the speed in the X direction and the speed in the Y direction increases over time. During the constant velocity period T2, both the speed in the X direction and the speed in the Y direction are constant regardless of the passage of time. During the deceleration period T3, at least one of the speed in the X direction and the speed in the Y direction decreases over time.

In this way, the component transfer operation (steps S102 to S104) of transferring the component E picked up by the head unit 3 from the component supply position 52 to a position facing the mounting position of the board B from above is performed by the X-axis motor Mx and the Y-axis motor Mx. This is executed by the control of the drive control unit 130 for the shaft motor My. On the other hand, imaging of the plurality of components E attracted to the head unit 3 is performed in parallel with the component transfer operation. Specifically, during the period in which the head unit 3 is moving due to the component transfer operation (acceleration period T1, constant velocity period T2, and deceleration period T3), one of the scan images shown in FIGS. 3C and 3D is executed. Then, images of the plurality of parts E are captured (normal imaging mode).

However, the components E include a high-precision component Eh that requires high accuracy in the position where it is mounted on the board B, and a low-precision component El that does not require high precision in the position where it is mounted on the board B. If such imaging of the high-precision component Eh is performed during the acceleration period T1 or the deceleration period T3, the influence of inertial force accompanying acceleration and deceleration of the head unit 3 may occur. Therefore, for imaging the high-precision component Eh, a constant velocity imaging mode or a stop imaging mode, which will be described next, is executed as appropriate.

FIG. 6 is a flowchart showing an example of the constant-velocity imaging mode, and FIGS. 7A, 7B, and 7C are diagrams schematically showing the control contents executed in the constant-velocity imaging mode. In addition, in FIG. 7A, codes N1 to N8 are given to the nozzles in order in the X direction in order to distinguish between the plurality of nozzles N, and in FIG. 7C, the horizontal axis represents time and the vertical axis represents a graph representing speed. It is shown. The flowchart in FIG. 6 is executed under the control of the main control unit 110.

In step S201, a suction operation is performed in the same manner as in step S101 above, and the plurality of nozzles N1 to N8 of the head unit 3 respectively suck a plurality of parts E. As a result, in the example of FIG. 7A, the nozzles N1, N2, N4, N7, and N8 suction the low-precision component El, and the nozzles N3, N5, and N6 suction the high-precision component Eh. In this way, the plurality of parts E picked up by the head unit 3 include high-precision parts Eh and low-precision parts El.

In step S202, the main control unit 110 calculates the high-precision component imaging time Th required to image the high-precision component Eh by scan imaging. Specifically, the existence range Rh in the X direction of the high-precision component Eh among the plurality of components E attracted to the head unit 3 is determined. When two or more, that is, Mh (Mh is an integer of 2 or more) high-precision parts Eh are attracted to the head unit 3, one of the Mh high-precision parts Eh is placed on the X(+) side end. An imaging position where the component recognition camera C is located to take an image of the located high-precision part Eh, and an imaging position where the part recognition camera C is located to take an image of the high-precision part Eh located at the end on the X (-) side. The existence range Rh is determined such that the and is located at both ends of the existence range Rh. Then, the high-precision component imaging time Th is calculated by dividing the length of the existence range Rh in the X direction by the scan speed Vc.

Furthermore, in step S203, the main control unit 110 calculates the constant velocity period T2. Specifically, a constant velocity period T2 in the component transfer operation for moving the head unit 3 from the start position to the target position is calculated. Here, the start position is the position of the head unit 3 at the time when the suction operation is completed, and the target position is the part E to be mounted on the board B first among the plurality of parts E to be suctioned by the head unit 3. This is the position of the head unit 3 that faces the mounting position from above. Therefore, the closer the start position and target position are, the shorter the constant velocity period T2 becomes.

In step S204, the main control unit 110 determines that the imaging of the high-precision component Eh is within the constant-velocity period T2 based on the comparison between the high-precision component imaging time Th calculated in step S202 and the constant-velocity period T2 calculated in step S203. Determine whether it is completed or not. If the high-precision component imaging time Th does not fall within the constant-velocity period T2, it is determined that the imaging of the high-precision component Eh is not completed within the constant-velocity period T2 (“NO” in step S204), and the main control unit 110 , the unit speed Vu is decreased in step S205, and then the constant velocity period T2 is calculated in step S203. As shown in the example of FIG. 7B, the constant velocity period T2 when the unit speed Vu is the velocity V1 is shorter than the high precision component imaging time Th, and the imaging of the high precision component Eh cannot be completed within the constant velocity period T2 ( (“NO” in step S204). On the other hand, as shown in FIG. 7C, when the unit speed Vu is a speed V2 lower than the speed V1, the constant velocity period T2 is longer than the high-precision component imaging time Th, and the high-precision component is captured within the constant velocity period T2. Imaging of Eh can be completed ("YES" in step S204). That is, the main control unit 110 reduces the unit speed Vu by a predetermined speed (step S205) and repeats steps S203 and S204, so that the unit Set speed Vu.

When the setting of the unit speed Vu is thus completed ("YES" in step S204), the drive control section 130 controls the X-axis motor Mx and the Y-axis motor My to move the head unit 3 to the unit speed Vu (speed V2). ) (step S206). When the acceleration of the head unit 3 to the unit speed Vu is completed, uniform velocity movement of the head unit 3 at the unit speed Vu is started (step S207). After the head unit 3 starts moving at a constant speed in this way, the component recognition camera C images the component E while passing through the existence range Rh of the high-precision component Eh in the X direction, thereby performing imaging of the high-precision component Eh. (Step S208). After the imaging of the high-precision component Eh is completed, the unit speed of the head unit 3 is decelerated from the unit speed Vu (step S210). Further, when the head unit 3 stops, the component E that is attracted to the head unit 3 is mounted on the board B (step S211).

Incidentally, the imaging of the low-precision component El, which is not the target of imaging during the high-precision component imaging time Th, is performed before or after the start of imaging of the high-precision component Eh. In particular, in the example shown in FIG. 7A, low-precision components El to be attracted to the head unit 3 exist on both sides of the existence range Rh of the high-precision components Eh in the X direction. Therefore, as shown in FIG. 7C, a low-precision component imaging time Tl for imaging the low-precision component El exists before and after the high-precision component imaging time Th. The low-precision component imaging time Tl before the high-precision component imaging time Th is provided from a point in the middle of the acceleration period T1 to a point in the middle of the constant velocity period T2 (the point in time when the high-precision component imaging time Th starts). , the low-precision component imaging time Tl after the high-precision component imaging time Th is provided from a point in the middle of the constant velocity period T2 (the point in time when the high-precision component imaging time Th ends) to a point in the middle of the deceleration period T3. It will be done.

FIG. 8 is a flowchart showing an example of the stop imaging mode, and FIGS. 9A, 9B, and 9C are diagrams schematically showing the control contents executed in the stop imaging mode. Note that in FIGS. 9A and 9B, in order to distinguish the plurality of nozzles N, symbols N1 to N8 are sequentially attached to the nozzles in the X direction. Furthermore, in the example shown in FIGS. 9A and 9B, the plurality of parts E picked up by the head unit 3 include a high-precision part Eh and a low-precision part El. At this time, the position of the high-precision component Eh picked up by the head unit 3 is different between the example of FIG. 9A and the example of FIG. 9B. FIG. 9C shows a graph in which the horizontal axis represents time and the vertical axis represents speed. The flowchart in FIG. 8 is executed under the control of the main control unit 110.

In step S301, the main control unit 110 determines the direction in which the component recognition camera C is moved (scan direction) when capturing an image of the high-precision component Eh by scan imaging, based on the position of the high-precision component Eh. Specifically, the main control unit 110 checks the position in the X direction of the high-precision component Eh to be sucked by the head unit 3 in the suction operation scheduled to be executed in step S303. In particular, among the high-precision parts Eh that are attracted to the head unit 3, the distance D(-) in the X direction between the one high-precision part Eh that is farthest from the retracted position L(-) and the retracted position L(-). and the distance D(+) in the X direction between the one high-precision component Eh that is farthest from the evacuation position L(+) among the high-precision components Eh attracted to the head unit 3 and the evacuation position L(+). are calculated respectively. Incidentally, as described above, the component E to be picked up by each nozzle N in the picking operation is determined in advance based on the board data 121. Therefore, the position of the high-precision component Eh can be confirmed by specifying the high-precision component Eh from among the components E scheduled to be picked up by each nozzle N in the suction operation in step S303 based on the component information 122.

Furthermore, in step S301, the main control unit 110 determines the scanning direction based on the position of the high-precision component Eh. In the example of FIG. 9A, distance D(-) is shorter than distance D(+). Therefore, the time required to image the high-precision component Eh while moving the component recognition camera C from the retracted position L(-) toward the X(+) side is This is shorter than the time required to image the high-precision component Eh while moving the component recognition camera C toward. Therefore, it is determined that the high-precision component Eh should be imaged by scanning imaging (FIG. 3C) in which the component recognition camera C is moved in the scanning direction from the retracted position L(-) toward the X(+) side. On the other hand, in the example of FIG. 9B, the distance D(+) is shorter than the distance D(-). Therefore, the time required to image the high-precision component Eh while moving the component recognition camera C from the retracted position L(-) toward the X(+) side is This is shorter than the time required to image the high-precision component Eh while moving the component recognition camera C toward. Therefore, it is determined that the high-precision component Eh should be imaged by scanning imaging (FIG. 3D) in which the component recognition camera C is moved in the scanning direction from the retracted position L(+) to the X(-) side. In other words, in order to reduce the time required to image the high-precision component Eh, if the distance D(-) is shorter than the distance D(+), move from the retracted position L(-) to the X(+) side. It is determined to perform scan imaging by moving the component recognition camera C in the scanning direction toward which it is heading, and if the distance D(+) is shorter than the distance D(-), it moves from the retreat position L(+) to the X(-) side. It is determined to perform scan imaging by moving the component recognition camera C in the scanning direction.

In step S302, the main control unit 110 positions the component recognition camera C at the retracted position corresponding to the retracted position determined in step S301, out of the retracted position L(+) and the retracted position L(-). That is, if the determined scan direction is from the retracted position L(-) toward the X(+) side, the main control section 110 positions the head unit 3 at the retracted position L(-). Furthermore, when the determined scanning direction is from the retracted position L(+) toward the X(-) side, the main control section 110 positions the head unit 3 at the retracted position L(+).

In the following step S303, the head unit 3 performs a suction operation and suctions a plurality of parts E with a plurality of nozzles N. Then, scan imaging is started in a state where the head unit 3 that has completed the suction operation is stopped (step S304). When imaging of all the high-precision parts Eh attracted to the head unit 3 is completed by this scan imaging ("YES" in step S305), the head unit 3 is accelerated (step S306), moved at constant speed (step S307), and Deceleration (step S308) is executed (component transfer operation). That is, as shown in FIG. 9C, in the stop imaging mode, imaging of the high-precision component Eh is performed during the stop period T0 from when the head unit 3 completes the suction operation until the head unit 3 starts accelerating. . Therefore, the high-precision component imaging time Th for imaging the high-precision component Eh is included in the stop period T0, and the imaging of all the high-precision parts Eh is completed during the stop period T0.

Furthermore, at the time when all the high-precision parts Eh have been imaged, the unimaged low-precision parts El are imaged by scan imaging that continues after acceleration of the head unit 3 is started in step S306. As a result, in the example of FIG. 9C, the low-precision component imaging time Tl for imaging the low-precision component El is provided from the start of the acceleration period T1 to the middle of the constant velocity period T2. Then, when the component transfer operation (steps S306 to S308) is completed and the head unit 3 stops, the head unit 3 mounts the component E attracted by the nozzle N onto the substrate B (step S309).

In this manner, in the component mounter 1, imaging of the high-precision component Eh can be performed in the constant speed imaging mode and the stop imaging mode. What these imaging modes have in common is a period different from the period in which the head unit 3 is accelerated or decelerated, specifically, a period in which the head unit 3 moves at a constant speed (uniform speed period T2), or a period in which the head unit 3 moves at a constant speed (uniform speed period T2) The point is that imaging of the high-precision component Eh is performed during the stop period (stop period T0). In other words, imaging of the high-precision component Eh is limited to a period different from the period during which the head unit 3 is accelerated or decelerated. Next, a method for determining the imaging mode actually used for imaging the high-precision component Eh from among these imaging modes will be described using FIG. 10.

FIG. 10 is a flowchart illustrating an example of imaging mode determination processing. The flowchart in FIG. 10 is executed under the control of the main control unit 110. In particular, the imaging mode determination process is executed before the suction operation is started in order to determine in which imaging mode the high-precision component Eh scheduled to be suctioned in the suction operation is to be imaged.

In step S401, it is determined whether period limited imaging control is set. This period limited imaging control is a control that limits imaging of the high-precision component Eh to a period (constant velocity period T2, stop period T0) that is different from the period in which the head unit 3 is accelerated or decelerated. Setting of the limited period imaging control is executed by the user's operation on the UI 150. If the period limited imaging control is not set (“NO” in step S401), the main control unit 110 controls the imaging of the high-precision component Eh to be picked up by the head unit 3 from now on in the normal imaging mode. It is determined to execute (step S402). Therefore, imaging of the high-precision component Eh is allowed during a period in which the head unit 3 is accelerated or decelerated (acceleration period T1 or deceleration period T3).

If the period limited imaging control is set (“YES” in step S401), it is determined whether the user has selected one of the constant velocity imaging mode and the stop imaging mode. (Step S403). That is, by operating the UI 150, the user can select one of the constant velocity imaging mode and the stop imaging mode.

If one imaging mode is selected by the user (“YES” in step S403), it is determined whether the one imaging mode (that is, the selected imaging mode) is a constant velocity imaging mode. It will be judged. If the constant velocity imaging mode is selected (“YES” in step S404), the main control unit 110 changes the imaging of the high-precision component Eh to be picked up by the head unit 3 to the constant velocity imaging mode. It is determined that the process is to be executed (step S405). On the other hand, if the stop imaging mode is selected ("NO" in step S404), the main control unit 110 controls the imaging of the high-precision component Eh to be picked up by the head unit 3 in the stop imaging mode. (Step S406).

On the other hand, if one imaging mode is not selected by the user ("NO" in step S403), the takt time is calculated for each of the constant-velocity imaging mode and the stop imaging mode (step S407). Here, the takt time is the time from completion of the suction operation to completion of mounting on the board B of all the components E (high-precision components Eh and low-precision components El) that were suctioned by the suction operation. show. Specifically, the main control unit 110 predicts the takt time Tm when imaging the high-precision component Eh in the constant-velocity imaging mode, and predicts the takt time Tm when imaging the high-precision component Eh in the stop imaging mode. Predict time Ts.

In step S408, the takt time Tm in the constant speed imaging mode and the takt time Ts in the stop imaging mode are compared. Then, when the tact time Tm in the constant velocity imaging mode is less than or equal to the tact time Ts in the stop imaging mode, the main control unit 110 controls the imaging of the high-precision component Eh to be picked up by the head unit 3 at a constant velocity. It is determined that the image capturing mode is to be executed (step S405). On the other hand, if the tact time Ts in the stop imaging mode is less than the takt time Tm in the constant velocity imaging mode, the main control unit 110 controls the stop imaging mode to stop the imaging of the high-precision component Eh to be picked up by the head unit 3 from now on. It is determined to execute depending on the mode (step S406).

In the present embodiment described above, by driving the head unit 3 that sucks the component E, a component transfer operation is performed to transfer the component E that is sucked by the head unit 3 to a position facing the substrate B ( Steps S102 to S104, Steps S206, S207, S209, S210, Steps S306 to S308). The component E attracted to the head unit 3 is imaged by a component recognition camera C that is movably supported by the head unit 3 in the X direction (predetermined direction) and driven in the X direction. Ru. Therefore, during a period in which the head unit 3 is accelerated or decelerated, there is a possibility that the inertial force generated due to the acceleration or deceleration may affect the imaging of the component E by the component recognition camera C. In particular, for high-precision parts Eh, this influence becomes a big problem. On the other hand, in the present embodiment, the high-precision parts are detected by the part recognition camera C driven in the Control for imaging Eh (period-limited imaging control) is executed. In other words, the high-precision component Eh is not imaged during the period in which the head unit 3 is accelerated or decelerated (acceleration period T1, deceleration period T3), and the timing at which the high-precision component Eh is imaged is during the stop period T0 or the constant velocity period. Limited to T2. As a result, when the component recognition camera C, which is supported by the head unit 3 that sucks the high-precision component Eh and moves with the head unit 3, takes an image of the high-precision component Eh, the inertial force accompanying the acceleration and deceleration of the head unit 3 is generated. This makes it possible to eliminate the influence that this would have on the imaging of the high-precision component Eh.

Further, the X-axis motor Mx and the Y-axis motor My (unit drive section) accelerate the head unit 3 to a predetermined unit speed Vu during the acceleration period T1, and move the head unit 3 into the unit during the constant velocity period T2 following the acceleration period T1. The component transfer operation is performed by moving the head unit 3 at a constant speed Vu and decelerating the head unit 3 from the unit speed Vu in a deceleration period T3 following the constant speed period T2. On the other hand, the period limited imaging control does not allow the component recognition camera C to image the high-precision component Eh during the acceleration period T1 and the deceleration period T3, but causes the component recognition camera C to image the high-precision component Eh during the constant velocity period T2. It is possible to execute constant velocity imaging mode (FIG. 6). In this configuration, by executing the constant-velocity imaging mode, it is possible to eliminate the influence of the inertial force generated during the acceleration period T1 and the deceleration period T3 on the imaging of the high-precision component Eh.

Furthermore, when executing the constant-velocity imaging mode, the control unit 100 sets the unit speed Vu so that the imaging of the high-precision component Eh is completed in the constant-velocity period T2 (steps S203 to S205). In this configuration, if the constant velocity period T2 is short because the unit speed Vu is high and the imaging of the high precision component Eh cannot be completed during the constant velocity period T2, the imaging of the high precision component Eh can be completed during the constant velocity period T2. Control is executed to reduce the unit speed Vu. As a result, it is possible to suppress the occurrence of a situation where the imaging of the high-precision component Eh is not completed in the constant velocity period T2 and the constant velocity imaging mode fails.

In addition, the period limited imaging control includes stop imaging in which the component recognition camera C images a high-precision component Eh that is attracted to the stopped head unit 3 before the start of the component transfer operation (specifically, acceleration of the head unit 3). mode (FIG. 8) can be executed. In this configuration, by executing the stop imaging mode, it is possible to eliminate the influence of the inertial force generated during the acceleration period T1 and the deceleration period T3 on the imaging of the high-precision component Eh.

In particular, the period limited imaging control executes either the constant speed imaging mode (FIG. 6) or the stop imaging mode (FIG. 8). In this configuration, by executing the constant velocity imaging mode or the stop imaging mode, it is possible to eliminate the influence of the inertial force generated during the acceleration period T1 and the deceleration period T3 on the imaging of the high-precision component Eh.

Further, a UI 150 (imaging mode selection unit) is provided that accepts a user's operation to select one imaging mode from the constant velocity imaging mode and the stop imaging mode, and the control unit 100 selects one of the imaging modes selected in the UI 150. The imaging mode is executed (steps S403 to S406). With this configuration, the high-precision component Eh can be imaged in one of the constant-velocity imaging mode and the stop imaging mode, depending on the user's needs.

Further, the control unit 100 executes a mode selection process (steps S407, S408) for selecting one imaging mode from the constant velocity imaging mode and the stop imaging mode, and selects the one imaging mode selected by the mode selection process. (steps S405, S406). Specifically, in the mode selection process, when the constant-velocity imaging mode is executed, the amount required to complete the mounting of the parts E (high-precision parts Eh and low-precision parts El) picked up by the pick-up operation onto the board B is determined. Based on the comparison between the time Tm and the time Ts required to complete the mounting of the components E (high-precision components Eh and low-precision components El) picked up by the pickup operation onto the board B when the stop imaging mode is executed. , selects one imaging mode (steps S407, S408). Specifically, when the constant speed imaging mode is executed, the time Tm required to complete the mounting of the component E picked up by the suction operation on the board B, and when the stop imaging mode is executed, the time required by the suction operation is Of the time Ts required to complete the mounting of the picked-up component E onto the board B, if the former is shorter than the latter, the constant speed imaging mode is executed, and if the latter is shorter than the former, the stop imaging mode is executed. As a result, the time required to image the component E can be kept short.

In addition, the control unit 100 does not execute period-limited imaging control for imaging the low-precision component El by the component recognition camera C, and does not perform period-limited imaging control for the period during which the X-axis motor Mx and the Y-axis motor My accelerate or decelerate the head unit 3 (acceleration The low-precision component El is allowed to be imaged by the component recognition camera C during the period T1 and the deceleration period T3 (FIGS. 7C and 9C). For example, in the constant velocity imaging mode shown in FIG. 7C, the low precision component imaging time Tl overlaps in the acceleration period T1 and the deceleration period T3, and in the stop imaging mode shown in FIG. 9C, the low precision component imaging time Tl overlaps in the acceleration period T1. Duplicate. With this configuration, the period during which the X-axis motor Mx and the Y-axis motor My accelerate or decelerate the head unit 3 can be used to image the low-precision component El, and the low-precision component El can be efficiently imaged.

Further, the head unit 3 has a plurality of nozzles N arranged in the X direction (predetermined direction), and the nozzles N suck the component E. In addition, the component recognition camera C is located at a retracted position L(+) (one retracted position) provided on the X(+) side (one side) in the X direction than the plurality of nozzles N, and It is movable relative to the head unit 3 between a retracted position L(-) (the other retracted position) provided on the X(-) side (the other side). Then, the component recognition camera C performs a first scan imaging (FIG. 3D) in which the high-precision component Eh is captured by the nozzle N while moving from the retracted position L(+) to the retracted position L(-). It is possible to perform a second scan imaging (FIG. 3C) in which the high-precision component Eh sucked by the nozzle N is imaged while moving from the retracted position L(−) toward the retracted position L(+). On the other hand, the control unit 100 controls the scan imaging (execution scan imaging) performed in the stop imaging mode for the high-precision component Eh that is attracted to the head unit 3 by the attraction operation to the first scan imaging (FIG. 3D) and the first scan imaging (FIG. 3D) A scan imaging determination process (step S301) for determining one of the two scan imagings (FIG. 3C) is executed before the start of the suction operation (step S303). In this scan imaging determination process, the scan imaging (actual scan imaging) to be used for imaging the high precision component Eh is determined according to the position in the X direction of the high precision component Eh that is attracted by the head unit 3 by the attraction operation. When the control unit 100 determines to perform the first scan imaging (FIG. 3D), the controller 100 positions the camera at the retracted position L(+) before starting the suction operation, while the second scan imaging (FIG. 3C) ), the component recognition camera C is positioned at the retracted position L(-) before starting the suction operation (step S302). In this configuration, the moving direction of the component recognition camera C when executing the stop imaging mode is determined according to the position of the high-precision component Eh that is attracted to the head unit 3. As a result, it is possible to image the high-precision component Eh while moving the component recognition camera C in a rational direction according to the position of the high-precision component Eh, and it is possible to shorten the time required to image the high-precision component Eh. can.

Additionally, a UI 150 (control selection unit) is provided that accepts a user's operation to select whether or not to execute period-limited imaging control. Then, when executing the period limited imaging control is selected on the UI 150 ("YES" in step S401), the control unit 100 executes imaging of the high precision component Eh by the period limited imaging control (step S405). , S406), if it is selected on the UI 150 not to execute the limited time imaging control ("NO" in step S401), the X-axis motor Mx and the Y-axis motor My During the period in which the head unit 3 is accelerated or decelerated (acceleration period T1, deceleration period T3), the component recognition camera C is allowed to image the component (especially the high-precision component Eh) (step S402). With this configuration, it is possible to determine whether or not to execute period-limited imaging control depending on the user's needs.

In the above embodiment, the component mounter 1 corresponds to an example of the "component mounter" of the present invention, the conveyor 12 corresponds to an example of the "board transfer section" of the present invention, and the work position 13 corresponds to an example of the "component mounter" of the present invention. The control unit 100 corresponds to an example of the “work position” of the invention, the control unit 100 corresponds to an example of the “control unit” of the invention, the UI 150 corresponds to an example of the “imaging mode selection unit” of the invention, and the UI 150 corresponds to an example of the “imaging mode selection unit” of the invention. The head unit 3 corresponds to an example of the "control selection section" of the present invention, the head unit 3 corresponds to an example of the "head unit" of the present invention, the parts supply section 5 corresponds to an example of the "components supply section" of the present invention, and the parts supply section 5 corresponds to an example of the "control selection section" of the present invention. The position 52 corresponds to an example of the "component supply position" of the present invention, the board B corresponds to an example of the "board" of the present invention, the component recognition camera C corresponds to an example of the "camera" of the present invention, and the component recognition camera C corresponds to an example of the "camera" of the present invention. E corresponds to an example of the "component" of the present invention, high precision component Eh corresponds to an example of the "high precision component" of the present invention, and low precision component El corresponds to an example of the "low precision component" of the present invention. However, the retracted position L(+) corresponds to an example of the "one retracted position" of the present invention, the retracted position L(-) corresponds to an example of the "other retracted position" of the present invention, and the X-axis motor Mx and Y The shaft motor My cooperates to function as an example of the "unit drive section" of the present invention, the nozzle N corresponds to an example of the "nozzle" of the present invention, and the acceleration period T1 is an example of the "acceleration period" of the present invention. , the constant velocity period T2 corresponds to an example of the "uniform velocity period" of the present invention, the deceleration period T3 corresponds to an example of the "deceleration period" of the present invention, and the unit speed Vu corresponds to the "unit speed" of the present invention. '', the X(+) side corresponds to an example of the "one side" of the present invention, and the X(-) side corresponds to an example of the "other side" of the present invention.

Note that the present invention is not limited to the embodiments described above, and various changes can be made to what has been described above without departing from the spirit thereof. For example, the suction operation during execution of the stop imaging mode may be performed as shown in FIGS. 11A and 11B. Here, FIGS. 11A and 11B are front views schematically showing an example of the suction operation. In the example of FIGS. 11A and 11B, the plurality of parts E picked up by the head unit 3 include a high-precision part Eh and a low-precision part El. In particular, in the example of FIG. 11A, in the example of FIG. 11B, a plurality of parts E are arranged on the head unit 3 such that high-precision parts Eh gather on the X(+) side and low-precision parts El gather on the X(-) side. (first adsorption mode). On the other hand, a plurality of parts E are picked up by the head unit 3 so that the high-precision parts Eh are collected on the X(-) side and the low-precision parts El are collected on the X(+) side (second suction mode). Which of the first suction mode and the second suction mode is to be executed can be determined based on, for example, the time required for the head unit 3 to complete suction of the plurality of parts E (suction completion time). That is, it is determined that the suction operation is performed in one of the first suction mode and the second suction mode, which has the shortest suction completion time. In the stop imaging mode of FIG. 8, steps S301 to S302 are executed on the premise that the suction operation of step S303 is executed in this one suction mode.

That is, in this example, when the head unit 3 picks up the high-precision parts Eh and the low-precision parts El, the control unit 100 controls the control unit 100 so that all of the high-precision parts Eh are on the X(+) side of all the low-precision parts El ( A first suction mode (FIG. 11A) in which high-precision parts Eh and low-precision parts El are adsorbed to the head unit 3 so that all of the high-precision parts Eh are located on one side) and all of the low-precision parts El are A second suction mode (FIG. 11B) in which the high-precision component Eh and the low-precision component El are suctioned to the head unit 3 so as to be located on the −) side (the other side) is executed. When executing the first suction mode (FIG. 11A), scan imaging in FIG. 3D (first scan imaging) is executed in the stop imaging mode (FIG. 8), and the second suction mode (FIG. 11B) is executed. In this case, scan imaging (second scan imaging) in FIG. 3C is executed in the stop imaging mode (FIG. 8). In this configuration, from a state where high-precision parts Eh are gathered on the side of the evacuation position where the component recognition camera C is located between the evacuation position L (+) and the evacuation position L (-), the part recognition camera C is moved to collect the parts. The recognition camera C can image the high-precision component Eh, and the time required to image the high-precision component Eh can be kept short.

Furthermore, in the above embodiment, the parts E to which the period-limited imaging control is executed are limited to the high-precision parts Eh of the high-precision parts Eh and the low-precision parts El. However, the period-limited imaging control may be performed on all parts E attracted to the head unit 3 without distinguishing between high-precision parts Eh and low-precision parts El.

In addition, in period-limited imaging control, it is not necessary to be able to execute both the constant-velocity imaging mode and the stopped imaging mode, and the configuration is such that only one of the constant-velocity imaging mode and the stopped imaging mode is executed. You can.

1...Component mounter 12...Conveyor (board transfer section)
13...Working position 100...Control unit 150...UI (imaging mode selection unit, control selection unit)
3... Head unit 5... Component supply section 52... Component supply position B... Board C... Component recognition camera (camera)
E...Parts Eh...High precision parts El...Low precision parts L(+)...Evacuation position (one evacuation position)
L(-)...Evacuation position (other evacuation position)
Mx...X-axis motor (unit drive part)
My...Y-axis motor (unit drive part)
N...Nozzle T1...Acceleration period T2...Constant velocity period T3...Deceleration period Vu...Unit speed X(+)...X(+) side (one side)
X(-)...X(-) side (other side)

Claims

a parts supply unit that supplies parts to a parts supply position;
a board transport section that transports the board to a working position;
a head unit that performs a suction operation to suction the component supplied to the component supply position;
a unit driving section that performs a component transfer operation of driving the head unit to transfer the component attracted to the head unit to a position facing the substrate;
a camera that is supported by the head unit so as to be movable in a predetermined direction relative to the head unit and moves with the head unit driven by the unit drive section;
a camera drive unit that drives the camera in the predetermined direction with respect to the head unit;
a control unit configured to cause the camera drive unit to drive the camera in the predetermined direction while causing the camera to take an image of the component attracted to the head unit;
The control unit is configured to perform period-limited imaging control in which the camera driven in the predetermined direction images the component in a period different from a period in which the unit drive unit accelerates or decelerates the head unit. .
The unit driving section accelerates the head unit to a predetermined unit speed during an acceleration period, moves the head unit at a constant speed at the unit speed during a constant speed period following the acceleration period, and decelerates the head unit following the constant speed period. performing the component transfer operation by decelerating the head unit from the unit speed during a period;
1 . The period-limited imaging control is capable of executing a constant-velocity imaging mode in which the camera does not image the component during the acceleration period and the deceleration period and causes the camera to image the component during the constant-velocity period. Component mounting machine described in .
The component mounting machine according to claim 2, wherein the control unit sets the unit speed so that imaging of the component is completed during the constant velocity period when executing the constant velocity imaging mode.
The period-limited imaging control can further execute a stop imaging mode in which the camera takes an image of the component attracted to the head unit that stops before the start of the component transfer operation, and the constant velocity imaging mode and the stop The component mounting machine according to claim 2 or 3, wherein the component mounting machine executes one of the imaging modes.
further comprising an imaging mode selection unit that accepts a user's operation to select one imaging mode from the constant velocity imaging mode and the stop imaging mode,
The component mounter according to claim 4, wherein the control section executes the one imaging mode selected by the imaging mode selection section.
The control unit executes a mode selection process for selecting one imaging mode from the constant velocity imaging mode and the stop imaging mode, and executes the one imaging mode selected by the mode selection process,
In the mode selection process, when the constant velocity imaging mode is executed, the time required to complete mounting of the component picked up by the suction operation on the board, and when the stop imaging mode is executed, 5. The component mounting machine according to claim 4, wherein the first imaging mode is selected based on a comparison with a time required to complete mounting of the component picked up by the pickup operation onto the board.
The parts include high-precision parts that are subject to the period-limited imaging control and low-precision parts that are not subject to the period-limited imaging control,
The component mounting machine according to any one of claims 1 to 6, wherein the control unit executes imaging of the high-precision component by the camera using the period-limited imaging control.
The control unit does not execute the period-limited imaging control regarding the imaging of the low-precision component by the camera, and controls the imaging of the low-precision component by the camera during the period in which the unit drive unit accelerates or decelerates the head unit. 8. The component mounting machine according to claim 7, which allows the following.
The component mounter according to claim 1, wherein the period-limited imaging control is capable of executing a stop imaging mode in which the camera images the component that is attracted to the head unit, which stops before the start of the component transfer operation.
The parts include high-precision parts that are subject to the period-limited imaging control and low-precision parts that are not subject to the period-limited imaging control,
10. The component mounting machine according to claim 9, wherein the control unit executes imaging of the high-precision component by the camera using the period-limited imaging control.
The control unit does not execute the period-limited imaging control regarding the imaging of the low-precision component by the camera, and controls the imaging of the low-precision component by the camera during the period in which the unit drive unit accelerates or decelerates the head unit. The component mounting machine according to claim 10, which allows the following.
The head unit has a plurality of nozzles arranged in the predetermined direction, and the nozzles suck the component,
The camera is mounted on the head unit between one retracted position provided on one side of the plurality of nozzles in the predetermined direction and the other retracted position provided on the other side of the plurality of nozzles in the predetermined direction. a first scan imaging that is movable relative to the one retracted position and images the high-precision component adsorbed by the nozzle while moving from the one retracted position to the other retracted position; and from the other retracted position to the one retracted position. a second scan imaging of the high-precision component adsorbed by the nozzle while moving toward the nozzle;
The control unit determines an execution scan imaging to be executed in the stop imaging mode for the high-precision component attracted to the head unit by the attraction operation, from among the first scan imaging and the second scan imaging. performing an imaging determination process before the start of the suction operation;
In the scan imaging determination process, the execution scan imaging is determined according to the position in the predetermined direction of the high-precision component that is attracted by the head unit by the attraction operation,
When the first scan imaging is determined to be the execution scan imaging, the control unit positions the camera at the one retracted position before starting the suction operation, while the second scan imaging is determined to be the execution scan imaging. 12. The component mounting machine according to claim 10, wherein when scan imaging is determined, the camera is positioned at the other retracted position before starting the suction operation.
When the head unit picks up the high-precision parts and the low-precision parts, the control section adsorbs the high-precision parts and the low-precision parts so that all the high-precision parts are located on one side of all the low-precision parts. a first suction mode in which the low-precision parts are suctioned onto the head unit; and a first suction mode in which the high-precision parts and the low-precision parts are suctioned onto the head unit so that all the high-precision parts are located on the other side of all the low-precision parts. Execute either the second adsorption mode to adsorb to the unit,
When performing the first suction mode, the first scan imaging is performed in the stop imaging mode;
13. The component mounting machine according to claim 12, wherein when executing the second suction mode, the second scan imaging is executed in the stop imaging mode.
further comprising a control selection unit that accepts a user operation to select whether or not to execute the period-limited imaging control;
The control unit executes imaging of the component by the period limited imaging control when executing the period limited imaging control is selected in the control selection unit, and controls the control when the period limited imaging control is not executed. 2. The method according to claim 1, wherein when selected by the selection section, the unit drive section allows the camera to take an image of the component during a period in which the head unit is accelerated or decelerated without executing the period limited imaging control. 14. The component mounting machine according to any one of Item 13.
a step of performing a component transfer operation of transferring the component attracted by the head unit to a position facing the substrate by driving a head unit that absorbs the component;
a step of capturing an image of the component attracted to the head unit by a camera supported by the head unit so as to be movable in a predetermined direction with respect to the head unit and driven in the predetermined direction;
In the step of imaging the component, period-limited imaging control is executed in which the camera driven in the predetermined direction images the component in a period different from a period in which the head unit is accelerated or decelerated. Method.