Component assembly device and method for taking an image of a nozzle thereof

Abstract

Component assembly device (1), comprising: a nozzle holder (42) which is designed to be rotatable about an axis; a plurality of suction nozzles (40) which are designed to be able to suction an electronic component, wherein the suction nozzles (40) are arranged along a circumference (O) concentric to a center of rotation (C) of the nozzle holder (42) and in an interval of a mounting division (a) in a circumferential direction; a horizontal motion means (150) configured to allow the nozzle holder (42) to move in a plane so that the suction nozzle (40) moves at a working position (Po) preset on the circumference between a position for sucking up an electronic component and a position for mounting a sucked-up electronic component; a rotating means (Mr) designed to allow the nozzle holder (42) to be rotatable along the circumference (O) so that each of the suction nozzles (40) moves alternately to the working position (Po); an up-and-down means (44) designed to allow the suction nozzle (40) to move up and down at the working position (Po); a camera (60) designed to be able to take an image of a side section of the upward-moving suction nozzle (40) while it is sucking in an electronic component; a parameter storage means (120) that stores a parameter for use in controlling the camera (60), wherein the parameter includes at least a downward movement start time (Ts) at which each of the suction nozzles (40) begins a downward movement during the mounting of the electronic component, and data required to determine an imaging time that depends on the time at which the camera (60) begins imaging the suction nozzle (40) until the camera (60) finishes imaging; and an imaging control or regulating means (140) configured to determine an imaging start time (Tm) of the camera (60) based on the parameter stored in the parameter storage means (120), such that imaging is completed after a suction nozzle (40) moving upwards while sucking in an electronic component to be mounted rotates from a mounting division in front of the working position (Po) to the working position (Po), and immediately before the suction nozzle (40) begins to move downwards at the working position (Po).

Description

Technical area

[0001] The present invention relates to a component mounting apparatus and a method for capturing an image of a nozzle thereof, and more particularly to a component mounting apparatus according to a suction nozzle imaging technique of capturing images of the suction nozzles in a component mounting apparatus comprising a nozzle head carrying a plurality of suction nozzles arranged on the same circumference, and a method for capturing images of the nozzles. General state of the art

[0002] Patent Literatures 1 and 2 disclose component mounting devices of this type. These component mounting devices, each of which includes a plurality of suction nozzles mounted on the same circumference so as to be centered around a vertical line set on a mounting head, sequentially position each of the suction nozzles at a working position by periodically rotating each of the suction nozzles by one center-to-center pitch around the vertical line in a fixed direction, thereby mounting an electronic component by the suction nozzle at the working position.

[0003] The component mounting apparatus disclosed in Patent Literature 1 is configured to capture an image of a side portion of a suction nozzle that has performed a suction / pick-up operation to check a suction status of a component. The component mounting apparatus includes a storage device that stores, as an imaging angular position, a fixed value set in advance for each of the suction nozzles, rotation angle detection means that detects a rotation angle of a suction nozzle to be picked up, and control means that performs control to capture an image of the suction nozzle that has moved to the imaging angular position by detecting the imaging angular position by the rotation angle detection means. The fixed value is set to half the amount of a case where each of the suction nozzles moves by a center-to-center distance.

[0004] The component mounting apparatus disclosed in Patent Literature 2 is configured such that, while a nozzle holder stops rotating to cause a suction nozzle positioned at a working position to move downward and suck an electronic component, images of a suction nozzle at a preceding position, which is upstream of the suction position in a rotation direction, and a suction nozzle at a downstream subsequent position are simultaneously picked up and obtained on a screen.

[0005] Furthermore, JP 2008-182095 A describes a component mounting device and method, wherein a stopping point adjacent to the rotation direction of the mounting head in a suction cycle is defined as an image pickup point with respect to a suction / mounting point. Then, a camera is attached to the mounting head to capture the image of the component suction states of the suction nozzle stopped at the image pickup point, and the rotation direction of the mounting head is also adjusted to be opposite between the suction cycle and a mounting cycle. The image data captured by the camera is retrieved during a period in which the suction nozzle positioned at the suction / mounting point performs component suction / mounting operations in the suction and mounting cycles, respectively.

[0006] Furthermore, DE 60 2004 012 743 T2 describes a method for optimizing the placement sequence during component placement, or a component placement sequence optimization method, in which components, such as electronic components, are mounted on a board, such as a printed circuit board, by a component placement machine, and a component placement device for executing the method for optimizing the placement sequence during component placement. The component placement sequence optimization method is a method for optimizing the placement sequence during component placement, which can be carried out particularly in placement devices that have a work head that can accommodate a plurality of components and that can mount the components on a board.

[0007] Furthermore, DE 11 2004 002 120 T5 describes a pick-and-place machine for placing a component on a workpiece, the machine comprising: a placement head with at least one nozzle for releasably holding the component; a robot system for generating a relative movement between the placement head and the workpiece; an image recording device arranged to record at least one image of a placement location of the component on the workpiece; and a position detection device arranged to provide an output signal indicating the position of the placement head relative to the workpiece; wherein the output signal of the position detection device is used to determine the time of at least one image recording.

[0008] Furthermore, JP 2005-286 171 A describes a component mounting device with a component transfer unit each having a nozzle holder on which a plurality of suction nozzles are arranged.

[0009] Furthermore, US 2004 / 0 150 742 A1 describes an assembly device, wherein an image recording camera is arranged so that a plurality of components can be imaged one after the other by a corresponding image recording device with a timing that prevents the light for the imaging from interfering with the other image recording process while the components are guided over the image recording camera. Citation listPatent literature Patent literature 1: JP 2014- 220 269 A Patent literature 2: JP 2009- 130 014 A Brief description of the inventionProblems to be solved by the invention

[0010] However, in any of the above prior arts, sufficient power for checking the shedding or the like of the electronic component cannot be supplied before a sucked electronic component is mounted.

[0011] Namely, in the technique disclosed in Patent Literature 1, an image of a side portion of a suction nozzle that has performed a suction / pick-up operation is simply captured to check a suction status of a component, and after the end of the inspection, an inspection is not performed by capturing the image of the side portion in a process of moving a nozzle holder onto a substrate to mount an electronic component.

[0012] Therefore, the status of an electronic component that has been sucked in cannot be reliably checked after assembly operations have begun.

[0013] In the technique disclosed in Patent Literature 2, after a stopped suction nozzle rotates, it is not possible to detect falling off or the like of an electronic component sucked by the suction nozzle because an image of each of the suction nozzles is captured in a stopped state.

[0014] Delaying the timing for capturing an image of a suction nozzle until immediately before mounting allows for obtaining an image with relatively high reliability. However, since imaging requires time to cause an imaging element to unload, reset, or the like, an unnecessary delay in the timing is not preferable, as temporarily stopping the mounting work for imaging inevitably leads to a reduction in throughput.

[0015] An object of the present invention, made in view of the above problems, is to provide a component mounting apparatus capable of obtaining an inspected image with as high a reliability as possible without waiting for imaging when inspecting a suction nozzle by imaging that is yet to be mounted, and a method for taking an image of a nozzle thereof. Means of solving the task

[0016] To solve the above problems, a first aspect of the present invention is a component mounting apparatus comprising a nozzle holder configured to be rotatable about an axis; a plurality of suction nozzles configured to be capable of sucking an electronic component, the suction nozzles being arranged along a circumference concentric with a rotation center of the nozzle holder and at an interval of a mounting pitch in a circumferential direction; horizontal moving means configured to allow the nozzle holder to move in a plane such that the suction nozzle moves at a working position set on the circumference in advance between a position for sucking an electronic component and a position for mounting a sucked electronic component;a rotating means configured to allow the nozzle holder to be rotatable along the circumference so that each of the suction nozzles moves alternately to the working position; an up-down means configured to allow the suction nozzle to move up and down at the working position; a camera configured to be capable of capturing an image of a side portion of the upwardly moving suction nozzle while it is sucking an electronic component; a parameter storage means that stores a parameter for use in controlling the camera, the parameter including at least a downward movement start timing at which each of the suction nozzles starts a downward movement during mounting of the electronic component, and data required to determine an imaging time dependent on the time at which the camera starts imaging the suction nozzle until the camera finishes imaging;and imaging control means configured to determine an imaging start timing of the camera based on the parameter stored in the parameter storage means so that imaging is completed after a suction nozzle, which moves upward while sucking an electronic component to be mounted, rotates from a mounting pitch in front of the work position toward the work position, and immediately before the suction nozzle starts a downward movement at the work position.;

[0017] Another aspect of the present invention is a method for capturing an image of a nozzle of a component mounting apparatus during mounting of an electronic component using the component mounting apparatus, wherein the component mounting apparatus is configured to rotate a nozzle holder rotatable about an axis to alternately move a plurality of suction nozzles arranged along a circumference concentric with a rotation center of the nozzle holder and at an interval of a mounting pitch in a circumferential direction to a working position set in advance on the circumference, and to allow the nozzle holder to move in a plane so that the suction nozzle moves at the working position between a position for sucking an electronic component and a position for mounting a sucked electronic component,wherein the method comprises the steps of: storing in advance a downward movement start timing at which each of the suction nozzles starts to move downward during mounting of the electronic component, and data required to determine an imaging time dependent on the time at which a camera configured to be capable of capturing an image of a side portion of an upwardly moving suction nozzle while sucking the electronic component starts to image the suction nozzle until the camera stops imaging; sucking an electronic component by each of the suction nozzles; moving the working position of the nozzle holder to a position for mounting the electronic component to be mounted after stopping the suction operation of the electronic component; rotating a suction nozzle along the circumference while sucking an electronic component to be mounted,in a process of moving the working position upward; determining the imaging start timing of the camera by the control means based on a parameter stored in the parameter storage means, such that imaging is completed after the one suction nozzle rotates from an attachment pitch in front of the working position toward the working position and immediately before the suction nozzle starts moving downward at the working position; and operating the camera at the determined imaging start timing to image the one suction nozzle.

[0018] In the component mounting apparatus or the nozzle image capturing method thereof according to the respective aspect, by integrally rotating a plurality of suction nozzles arranged along a circumference centered on a predetermined axis and at an interval of one mounting pitch in a circumferential direction, a suction nozzle positioned at a work position is alternately changed. On this occasion, since an imaging start timing of a camera is determined so that imaging is completed after a suction nozzle rotates from a mounting pitch in front of the work position to the work position and immediately before the suction nozzle at the work position starts to move downward at the work position during mounting, the camera is allowed to capture an image immediately before the suction nozzle starts to move downward at the work position.Since this timing, referred to as "immediately before," is determined based on the downward movement start timing when each of the suction nozzles starts to move downward during mounting of an electronic component, and data required to determine the imaging time from the time the camera starts imaging the suction nozzle until the camera stops imaging, the "immediately before" timing is as close as possible to the downward movement start timing of the suction nozzle, regardless of the rotation mode of the nozzle holder. Therefore, while a highly reliable image can be captured, it is not necessary to stop the mounting work once for imaging, since imaging is stopped from the timing when the suction nozzle starts to move downward, thus preventing a reduction in throughput.

[0019] As described above, according to the present invention, since imaging is completed at a timing when the suction nozzle starts to descend, it is not necessary to stop the mounting work once for imaging, so that a reduction in throughput can be avoided because imaging is set to be completed after a suction nozzle rotates from a mounting pitch before the work position toward the work position and immediately before the suction nozzle starts to descend at the work position during mounting, while an inspected image with high reliability can be acquired. Therefore, when inspecting a suction nozzle that has yet to be mounted by imaging, a highly reliable inspected image can be obtained as soon as possible without waiting for imaging.

[0020] Other features, objects, aspects, operations and effects of the present invention can be easily understood from the following detailed description to be read with reference to the accompanying drawings. Brief description of the drawings Fig. 1 is a partial plan view schematically showing a component mounting apparatus according to the present invention. Fig. 2 is a partial front view schematically showing the vicinity of a lower end portion of an example of a mounting head. Fig. 3 is a partial plan view schematically showing a subsection of the mounting head of Fig. 2 shows. Fig. 4 is a partial perspective view schematically showing an external appearance of an imaging unit. Fig. 5 is a block diagram showing an electrical configuration of the component mounting apparatus used in Fig. 1 is shown. Fig. 6 is a timing chart showing the operation of capturing an image of a side portion of a suction nozzle. Description of embodiments

[0021] Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[0022] As in Fig. As shown in Figure 1, a component mounting apparatus 1 is an apparatus that horizontally transports a substrate S to be processed along a transport direction, and after mounting an electronic component on the substrate, transports the substrate to a downstream side in the transport direction. In the following description, a direction based on rectangular XYZ coordinates will be described, where the transport direction of the substrate S is an X-axis direction and a vertical direction is a Z-axis direction.

[0023] The component mounting apparatus 1 includes a pair of conveyors 12, 12 provided on a base 11. Then, the component mounting apparatus 1 mounts an electronic component on the substrate S, which is conveyed by the conveyor 12 from an upstream side in the substrate conveying direction (the X-axis direction) to a mounting processing position (a position of the substrate S from Fig. 1), and transports the substrate S with the component mounted thereon from the mounting processing position to the downstream side in the X-axis direction by means of the conveyor 12. Two component feeding sections 28 are mounted on each of the two sides of the base 11 of the component mounter 1, the pair of conveyors 12, 12 being stacked in a Y-axis direction, and each of the component feeding sections is aligned in the X-axis direction. A plurality of tape feeders 281 are attached to each of the component feeding sections 28 so as to be detachably mounted in the X-axis direction, and in each of the tape feeders 281, a reel is mounted around which a tape is wound, on which small-scale electronic components (chip components) such as an integrated circuit, a transistor, and a capacitor are housed at predetermined intervals.Then, the tape feed device 281 feeds electronic components in the tape by periodically feeding the tape toward one side of the mounting head 3.

[0024] For mounting an electronic component fed from the component feed sections 28 onto the substrate S transported to the mounting processing position by the pair of conveyors 12, 12, the component mounting apparatus 1 is provided with the mounting head 3, a plurality of head units 4 supported by the mounting head 3, and a mechanism that drives the mounting head 3. Each of the head units 4, in which a plurality of suction nozzles 40 are supported, is configured to allow each of the suction nozzles 40 to move between a position for sucking an electronic component from a predetermined component feed section 28 and a position for mounting an electronic component onto the substrate S transported to the mounting processing position as a result of driving the mounting head 3 in an XY plane, which will be described later.

[0025] First, the mechanism that drives the mounting head 3 in the XY plane is described.

[0026] The component mounting apparatus 1 is provided with a pair of Y-axis rails 21, 21 extending in the Y-axis direction, a Y-axis ball screw mechanism 22 extending in the Y-axis direction, and a Y-axis motor My that drives the Y-axis ball screw mechanism 22 to rotate. A head support member 23 supporting the mounting head 3 is supported by the pair of Y-axis rails 21, 21 so as to be movable in the Y-axis direction. The head support member 23 is fixed to a nut of the Y-axis ball screw mechanism 22. The head support member 23 is a structure that extends longitudinally in the X-axis direction. An X-axis ball screw mechanism 24 extending in the X-axis direction and an X-axis motor Mx driving the X-axis ball screw mechanism 24 to rotate are fixed to the head support member 23.The mounting head 3 is fixed to a nut of the X-axis ball screw mechanism 24 in a state supported so as to be movable in the X-axis direction. A drive control section 130 is capable of causing the Y-axis motor My to rotate the Y-axis ball screw mechanism 22, thereby causing the mounting head 3 to move in the Y-axis direction, or causing the X-axis motor Mx to rotate the X-axis ball screw mechanism 24, thereby causing the mounting head 3 to move in the X-axis direction. Thus, the Y-axis ball screw mechanism 22, the Y-axis motor My, the head support member 23, the X-axis ball screw mechanism 24, and the X-axis motor Mx constitute a horizontal movement unit 150 (see FIG. Fig. 5), which is configured to allow the nozzle head 4 to move in a plane between a position where the suction nozzle 40 sucks an electronic component and a position where the suction nozzle 40 mounts a sucked electronic component. The horizontal movement unit 150 is an example of horizontal movement means of the present invention.

[0027] Next, the mounting head 3 is a structure having a rectangular solid shape, which, when viewed from above, is a rectangle with the long side in the X-axis direction. The mounting head 3 has a plurality of nozzle heads 4 (four in the example shown) linearly aligned at intervals in the X-axis direction.

[0028] As in Fig. 2 and Fig. As shown in Figure 3, each of the nozzle heads 4 is a rotary head, with the plurality of suction nozzles 40 mounted on a circumference. As will be described next, the nozzle head 4 sucks or mounts an electronic component by means of the suction nozzles 40. A configuration of the nozzle head 4 will be described below with reference to Figure 3. Fig. 2 and Fig. 3. Since the four nozzle heads 4 have a common design, this document describes one nozzle head 4.

[0029] With reference to Fig. 2 and Fig. 3, the nozzle head 4 has a rotation center C along the Z-axis direction (i.e., a vertical line direction). The nozzle head 4 includes a main shaft 41 extending along the rotation center C, a nozzle holder 42 supported at a lower end of the main shaft 41 so as to be rotatable about the rotation center C, so as to support the suction nozzle 40, an R-axis motor Mr that drives the nozzle holder 42 to rotate, and a nozzle up-down unit 44 mounted above the nozzle holder 42 and fixed to the main shaft 41.

[0030] The main shaft 41 is a structure that supports the nozzle holder 42, the nozzle up-down unit 44 and the like.

[0031] The nozzle holder 42 is supported by the main shaft 41 so as to be rotatable along a rotation center C in a rotation direction R, which is a clockwise direction when viewed from below. The nozzle holder 42 has as many up-down shafts 43 as the number of suction nozzles 40. The up-down shafts 43 are arranged at equal intervals on a circumference O and have lower ends to which the suction nozzles 40 are individually detachably attached. Namely, an interval (attachment pitch a) in which the up-down shafts 43 (the suction nozzles 40) are evenly arranged is set to a position equally spaced from each other by a rotation angle θi on the circumference O centered on the rotation center C.In other words, the respective suction nozzles 40 are arranged at an interval of a fixed attachment pitch a (or rotation angle θi) along the circumference O, which is concentric with the rotation center C of the nozzle holder 42, in the circumferential direction. Here, the center point of the suction nozzle 40 in the Z-axis direction, which determines the attachment pitch a, may be represented, for example, by a vertical line passing through a geometric center of gravity of an opening through which the suction nozzle 40 sucks an electronic component, the center of gravity being viewed from below. Furthermore, the suction nozzle 40 is generally capable of rotating on its axis to adjust a rotation angle of an electronic component to be sucked. Accordingly, the center point of the suction nozzle 40 may be represented by a rotation center line on its axis of the suction nozzle 40 instead of a vertical line passing through the geometric center of gravity of the opening.Then, the attachment pitch a can be represented by a distance between the centers of two adjacent suction nozzles 40 along the circumference O and corresponds to a length of a circular arc having a radius r (a radius of the circumference O) from the rotation center C to the suction nozzle 40, and having the rotation angle θi as a center angle.

[0032] The number of up-down shafts 43 (corresponding to the number of suction nozzles 40) is, for example, 8 to 20 (8 in the example shown). Each of the up-down shafts 43 is supported by the nozzle holder 42 so that it can move up and down and is driven upward by a power supplying element (not shown).

[0033] The R-axis motor Mr ( Fig. 5) is provided with an upper end portion of the main shaft 41, and the nozzle holder 42 rotates when it receives a driving force of the R-axis motor Mr ( Fig. 5) of the nozzle head 4. Therefore, each of the suction nozzles 40 held by the nozzle holder 42 moves around the circumference O to alternately move to a working position Po. Thus, the R-axis motor Mr is an example of a rotating means Mr configured to allow the nozzle holder 42 to rotate along the circumference O so that each of the suction nozzles 40 alternately moves to the working position Po.

[0034] The nozzle up-down unit 44 is mounted above each of the up-down shafts 43 and is supported by the main shaft 41. The nozzle up-down unit 44 has two pressing elements 441 mounted at an interval of 180° around the rotation center C, and a Z-axis motor Mz included in the nozzle up-down unit 44 ( Fig. 5). Each of the pressing members 441 moves up and down independently of each other when receiving a driving force from the Z-axis motor Mz. When the pressing member 441 causes an up-down shaft 43 positioned immediately below the pressing member 441 to move downward, the up-down shaft 43 moves downward against an energizing force to cause the suction nozzle 40 to move downward to a downward movement position Zd for sucking or mounting an electronic component. On the other hand, when the pressing member 441 moves upward, the one up-down shaft 43 pressed by the pressing member 441 moves upward together with the suction nozzle 40 due to an energizing force of the energizing member (not shown). This causes the suction nozzle 40 to move upward to an upward movement position Zu. Fig. 2, both the downward movement position Zd and the upward movement position Zu are shown with respect to a lower end of the suction nozzle 40. Thus, the nozzle up-down unit 44 is an example of an up-down means configured to be capable of causing the suction nozzle 40 to move up and down at the working position Po.

[0035] In the present embodiment, a position immediately below the pressing member 441 on the circumference O is the working position Po, and at this working position Po, the suction nozzle 40 performs suction / mounting of an electronic component. Namely, in the present embodiment, the two working positions Po, Po are set centered around the rotation center C at an interval of 180° in the nozzle head 4 so as to correspond to the arrangement of the previously described two pressing members 441. On the other hand, the nozzle holder 42 is provided with four pairs (suction nozzle pairs) of the suction nozzles 40, each pair having two suction nozzles mounted centered around the rotation center C at an interval of 180° (where the two suction nozzles 40 are positioned opposite each other and the rotation center C is provided therebetween), as shown in Fig. 3, in which a total of 2 × 4 (= 8) of the suction nozzles 40 are aligned along the circumference O. Thus, paired two suction nozzles 40 satisfy an arrangement relationship in which one suction nozzle 40 can be positioned at one work position Po, while the other suction nozzle 40 can be positioned at the other work position Po. Accordingly, in the shown embodiment, two suction nozzles 40, 40 constituting any suction nozzle pair can be positioned at the work positions Po, Po, respectively, for use in sucking / mounting an electronic component. For example, when sucking an electronic component at the work position Po, the nozzle head 4 is moved above the component feeding sections 28 to position the work position Po immediately above the tape feeder 281.In this state, the suction nozzle 40 is caused to move downward from the upward movement position Zu to the downward movement position Zd in the Z-axis direction while the suction nozzle 40 is stopped, which will not suck an electronic component at the working position Po in the rotation direction R. Then, at a timing when the suction nozzle 40 comes into contact with an electronic component fed from the tape feeder 281, a negative pressure is applied to the suction nozzle 40 to suck an electronic component from the tape feeder 281 to the suction nozzle 40. Subsequently, the suction nozzle 40, which has sucked the electronic component, is caused to move upward from the downward movement position Zd to the upward movement position Zu in the Z-axis direction.In a case where an electronic component is mounted at the work position Po, the nozzle head 4 is moved above the substrate S to position the work position Po immediately above a mounting target part of the substrate S. In this state, the suction nozzle 40 is caused to move downward from the upward movement position Zu to the downward movement position Zd in the Z-axis direction while the suction nozzle 40 is stopped, which will suck an electronic component at the work position Po in the rotation direction R. Then, at a timing when an electronic component comes into contact with the substrate S, an atmospheric pressure or a positive pressure is applied to the suction nozzle 40 to mount the electronic component from the suction nozzle 40 onto the substrate S.Subsequently, the suction nozzle 40 from which the electronic component is released is caused to move upward from the downward movement position Zd to the upward movement position Zu in the Z-axis direction.

[0036] Thus, in the present embodiment, the horizontal movement unit 150 is configured to allow the nozzle holder 42 to be movable in a plane so that the suction nozzle 40 at the working position Po moves between a position for sucking an electronic component and a position for mounting a sucked electronic component, and the nozzle up-down unit 44 functions as up-down means configured to allow the suction nozzle 40 to go up and down at the working position Po.

[0037] Next, a columnar light diffusion member 5 is attached to a lower end of the main shaft 41 of the nozzle head 4, and the plurality of suction nozzles 40 are aligned to surround the light diffusion member 5. The light diffusion member 5 has an identical configuration to that of the diffusion member disclosed in, for example, Japanese Unexamined Patent Application No. 2012-238726, and is used for side portion imaging to capture an image of a side portion (side view) of the suction nozzle 40 by an imaging unit 6 ( Fig. 4), which will be described in detail later, is used, with the side portion of the suction nozzle viewed from the X-axis direction.

[0038] The imaging unit 6 comprises a camera 60 ( Fig. 5) that captures an image of a side portion of the suction nozzle 40. The camera 60 is configured to operate under the control of an imaging control section 140 of a controller 100 to capture an image of a side portion of the suction nozzle 40 that has moved to a height of the upward movement position Zu or has completed a movement, at a position before or after the working position Po in the rotation direction R.

[0039] Next, with reference to Fig. 4 describes an embodiment of the imaging unit 6. To show a reference to the nozzle head 4, the design of the nozzle head 4 is shown in Fig. 4 simplified.

[0040] The imaging unit 6 comprises a housing 61 in which the camera 60 ( Fig. 5). The housing 61 includes a main body portion 611 provided to extend in the X-axis direction, and a pair of two suction nozzle opposing portions 612, 612 protruding in the Y-axis direction from both ends of the main body portion 611 in the X-axis direction. In the housing 61, the camera 60 is mounted in each of the suction nozzle opposing portions 612. Then, the two suction nozzle 40 opposing portions 612, 612 are mounted with the plurality of suction nozzles 40 interposed therebetween in the X-axis direction, and are fixed to the main shaft 41. The imaging unit 6 is thus formed integrally with the nozzle head 4 and is movable together with the nozzle head 4. A window 62, which is opposite to the working position Po of the nozzle head 4 in the X-axis direction, is provided on an inner wall of each of the sections 612 opposite to the suction nozzles 40.Then, each of the cameras 60, facing the working position Po from the X-axis direction via the window 62, captures an image of the vicinity of the working position Po from the X-axis direction. As described above, the suction nozzle 40 reciprocates between the upward movement position Zu and the downward movement position Zd as the pressing member 441 reciprocates. In contrast, each of the windows 62 is provided at a height of the upward movement position Zu, and each of the cameras 60 captures an image of the vicinity of the working position Po at the upward movement position Zu from the X-axis direction (a horizontal direction).

[0041] Next, an illuminator 65 is provided on the inner wall of each of the suction nozzle-opposing sections 612. Each illuminator 65 is configured with a plurality of LEDs (Light Emitting Diodes) aligned in a matrix on both sides of the window 62, and radiates light toward the working position Po. In this way, for each of the windows 62, the illuminators 65 are provided opposite each other, with the nozzle head 4 and the light diffusion element 5 interposed therebetween, so that each of the cameras 60 captures a silhouette image at the working position Po illuminated from a rear side with light emitted from the illuminator 65 and diffused by the light diffusion element 5.The camera 60 of the present embodiment, which includes a plurality of telecentric lenses and imaging elements, captures an image of a side portion of an electronic component sucked and held by the suction nozzle 40. The camera 60 is set at the same height as that of an electronic component of the suction nozzle 40 at the upward movement position Zu.

[0042] The imaging element is continuously exposed to light incident from the lens of the camera 60. In other words, the imaging element is configured by arranging sets of imaging unit elements in a matrix. Each of the imaging unit elements stores electric charges according to the brightness of incident light based on each imaging unit element. When an imaging command is issued to the camera 60, the electric charge stored (charged) in each imaging unit element is output in response to the command to a circuit (not shown) that generates image data in the camera 60. Image data as data of one image is generated according to a set of electric charges of each imaging unit element, that is, each pixel, output to the circuit. In this way, imaging by the camera 60 is performed.The image data is generated as digital data including illumination information of each pixel (color information may also be included). A CMOS sensor or a CCD sensor can be used as an imaging element. Electric charges of the imaging element are reset to 0 when discharged upon an imaging command. In other words, the amount of electric charges of the imaging element remains zero to exhibit a "deep black (black only)" image after the electric charges are discharged unless new light is emitted from the lens of the camera 60. With a camera 60 thus constituted, "excess discharge" processing of discharging electric charges of the imaging element for resetting is performed in each imaging, and then "main imaging" processing is performed, in which an image is obtained.Therefore, the camera 60 is configured so that an excess discharge offset t1 and a main imaging time t2 are stored in a storage section 120 as eigenvalues ​​of the camera 60, and so that a sum of these values ​​(t1+t2) can be processed as "imaging time SV" in the control of the imaging control section 140, which will be described later. The excess discharge offset t1 is a time from the receipt of an imaging command to the completion of discharging. A main imaging imaging time is a time from the output of a signal commanding execution of main imaging after the elapse of an excess discharge offset to the completion of main imaging.

[0043] As in Fig. As shown in Figure 5, the component mounting apparatus 1 includes the controller 100, which completely controls the entire apparatus. The controller 100 includes a processor section 110, which is a computer configured with a central processing unit (CPU), a random access memory (RAM), and a storage section 120 configured with a hard disk drive (HDD). Furthermore, the controller 100 includes the processor section 110, the drive control section 130, which controls a drive system of the component mounting apparatus 1, the imaging control section 140, which controls imaging of the suction nozzle based on calculation results of the processor section 110, and a display operation unit 160.

[0044] By controlling the drive control section 130 and the imaging control section 140 according to a program stored in the storage section 120, the processor section 110 executes component mounting processing and imaging processing before and after mounting a component, the processing of which is determined by the program. In addition, the processor section 110 displays a state of the component mounting device 1 on the display / operation unit 160 and receives an instruction from an operator, which instruction is input to the display / operation unit 160.

[0045] The memory section 120 stores a program to be executed by the processor section 110 and parameters required to execute the program. As will be described in detail later, the parameters include, in addition to various values ​​(an output voltage, a rotation speed, etc.) required to control the respective motors Mx, My, Mz, and Mr, the following: an end timing of the rotation motor Mr (or a stop position (or angle) determined for each of the suction nozzles 40) at the time a corresponding work position Po is moved to a position immediately above a component mounting position of the substrate S; a position (or angle θi) of each of the suction nozzles 40 in the circumferential direction with a predetermined reference position as a starting point on the circumference O; a drive amount required to move each of the suction nozzles 40 to the work position;a downward movement start timing (or an angle at which downward movement to the respective work position Po is started) when the corresponding suction nozzle 40 starts to move downward at the work position Po during mounting of an electronic component; and data required to determine the imaging time SV required for the camera 60 to finish imaging the suction nozzle 40 after starting it. Here, the data required to determine the imaging time SV is a sum of the previously described excess discharge offset t1 and the main imaging time t2. The imaging time SV does not need to be held as a value and can be a derivative function obtained by calculating a sum of the excess discharge offset t1 and the main imaging time t2 for each processing.

[0046] The X-axis motor Mx and the Y-axis motor My which configure the horizontal movement unit 150, the Z-axis motor Mz which configures the nozzle up-down unit 44, and the R-axis motor Mr as the rotating means Mr are connected to the drive control section 130.

[0047] When the drive control section 130 outputs a rotation command to the R-axis motor Mr, the R-axis motor Mr, which configures the rotating means Mr, rotates, so that the nozzle holder 42 rotates in response to a driving rotational force, while the suction nozzles 40 integrally rotate along the circumference O. This allows a suction nozzle 40 that sucks a predetermined electronic component to move alternately to any of the working positions Po.

[0048] When the drive control section 130 outputs a rotation command to the Y-axis motor My, the Y-axis motor My rotates, and in response to a drive rotation force, the Y-axis ball screw mechanism 22 rotates. Therefore, the mounting head 3 moves in the Y direction by means of the head support member 23 fixed to the nut of the Y-axis ball screw mechanism 22. In addition, when the drive control section 130 outputs the rotation command to the X-axis motor Mx, the X-axis motor Mx rotates, and in response to a drive rotation force, the X-axis ball screw mechanism 24 rotates. Therefore, the mounting head 3, which is fixed to the nut of the X-axis ball screw mechanism 24, moves in the X direction.In this way, the X-axis motor Mx and the Y-axis motor My, which configure the horizontal movement unit 150, are allowed to move the suction nozzle 40 at the working position Po from the suction nozzles 40 of the nozzle holder 42 carried by the mounting head 3, between a position for sucking an electronic component and a position for mounting a sucked electronic component.

[0049] Moreover, when the drive control section 130 outputs a downward movement command to the Z-axis motor Mz, the Z-axis motor Mz, which configures the up-down means, rotates in a direction such that the pressing member 441 moves downward against an energizing force of the energizing member (not shown). Consequently, the pressing member 441 causes an up-down shaft 43, positioned immediately below the pressing member 441, among the plurality of up-down shafts 43, to move downward against an energizing force applied to the up-down shaft 43, thereby causing the suction nozzle 40 to move downward to a downward movement position Zd to suck or mount an electronic component. On the other hand, when the drive control section 130 outputs a downward movement command to the Z-axis motor Mz, the Z-axis motor Mz, which configures the up-down means, rotates in a direction such that the pressing member 441 moves downward against an energizing force of the energizing member (not shown).When the control section 130 outputs an upward movement command to the Z-axis motor Mz, the Z-axis motor Mz rotates in the other direction, so that the pressing member 441 moves upward in response to a driving force from the power supplying member (not shown). Consequently, the one up-down shaft 43, which is pressed down by the pressing member 441, moves upward together with the suction nozzle 40, so that the suction nozzle 40 moves upward to the upward movement position Zu. In . Fig. 2, the downward movement position Zd and the upward movement position Zu are both shown for the lower end of the suction nozzle 40.

[0050] On the other hand, the imaging control section 140 connected to each of the cameras 60 controls the imaging timing of each of the cameras 60 to finish the imaging processing before a suction nozzle 40 starts to move downward at the working position Po.

[0051] Namely, first, when an electronic component is sucked, an image of a side portion of the suction nozzle 40 positioned at the upward movement position Zu is captured at each timing before and after the suction of an electronic component. Then, if a foreign material is attached to the suction nozzle 40 in an image of a side portion before a component is sucked, the suction of the component is canceled. If no electronic component is present at the lower end of the suction nozzle 40 in an image of the side portion after the suction nozzle 40 is caused to move downward to the downward movement position Zd for sucking a component, a determination is made at a predetermined timing that component suction has failed to execute the component suction again.Moreover, a thickness or posture of an electronic component to be sucked by the suction nozzle 40 is properly determined based on a side portion image of the suction nozzle 40. Next, when mounting an electronic component, an image of a side portion of the suction nozzle 40 positioned at the upward movement position Zu is captured at each timing before and after mounting an electronic component. Then, if no electronic component is present at the lower end of the suction nozzle 40 in an image of a side portion before mounting a component, a determination is made that an electronic component has fallen off the suction nozzle 40 to cancel the component mounting.When an electronic component is present at the lower end of the suction nozzle 40 in an image of the side portion after the suction nozzle 40 is caused to move down to the component mounting downward movement position Zd, the determination is made that component mounting has failed to perform component mounting again.

[0052] In this way, the controller 100 of the present embodiment is configured to control the horizontal movement unit 150 and the R-axis motor Mr such that, after each of the suction nozzles 40 finishes the respective suction operation of an electronic component, in a process of moving the work position Po of the nozzle holder 42 to a position for mounting an electronic component to be mounted, a suction nozzle 40 that moves upward while the electronic component is sucked rotates along the circumference O to arrive at the work position Po. The controller 100 is also configured to control the nozzle up-down unit 44 and the camera 60 such that the imaging processing is terminated before a suction nozzle 40 starts to move downward at the work position Po.

[0053] Here, imaging timing is particularly important for imaging a side portion before mounting a component. Even in an embodiment such as the present embodiment in which an image of a side surface of the suction nozzle 40 is captured at a work position Po, there is a case where, at the stage where the suction nozzle arrives at the work position Po, the nozzle head 4 is still being driven by the horizontal movement unit 150. In such a case, it is preferable that imaging end immediately before the horizontal movement unit 150 stops (preferably after stopping). This is because an electronic component may buckle or fall off the suction nozzle 40 due to the effect of inertia at the time it is driven by the horizontal movement unit 150.On the other hand, the suction nozzle 40 cannot be caused to move downward until the end of imaging, so that a throughput may be reduced if an imaging start timing (imaging start timing) from the camera 60 is delayed too much.

[0054] Thus, the imaging control section 140 according to the present embodiment determines an imaging start timing by a method described below. Since the imaging operations performed by the two cameras 60 provided in the imaging unit 6 are similar in the present embodiment, a description of the imaging operation of one camera 60 will be given in this document.

[0055] With reference to Fig. 6, in order to allow the suction nozzle 40 that sucks an electronic component to be mounted to move to the work position Po, the present embodiment is set to drive the horizontal movement unit 150 and the R-axis motor Mr substantially simultaneously, to operate the Z-axis motor Mz at a timing at which both the horizontal movement unit 150 and the R-axis motor Mr are stopped, to cause the pressing member 441 to move downward, thereby pressing down the suction nozzle 40 that stops at the work position Po.

[0056] In this case, since the timing Tc is known, when the suction nozzle 40 finishes the downward movement at the working position Po between the working position Po and a position (Po-1) one position before the working position Po, as shown in Fig. 6, a timing before a sum (Td+SV) of the time Td required to shut down the suction nozzle 40 and the imaging time SV can be set as follows: Tm=Tc−(Td+SV)

[0057] In a case where a movement start timing Tp is known in addition to the timing Tc when one of the motors Mx and My of the horizontal movement unit 150 first starts driving, the subsequent waiting time based on a lapse of time Te from the movement start timing Tp of the horizontal movement unit 150 to the timing Tc can be: Txy=Te−(Td+SV) be calculated to determine the subsequent timing after a waiting time Txy has elapsed after the movement start timing Tp: TM=Tp+Txy to obtain.

[0058] When expression (1) or (3) is used, an imaging timing can be accurately calculated not only in a case where the Z-axis motor Mz starts to move after the horizontal movement unit 150 stops completely as in Fig. 6, but also in a case where the Z-axis motor Mz starts moving in a process of stopping the horizontal movement unit 150. In the illustrated embodiment, a timing of completion of imaging is substantially equal to the downward movement start timing Ts, and a time Rt from the imaging start timing Tm to the component mounting completion timing Tc is made as short as possible.

[0059] In contrast, in the embodiment disclosed in Patent Literature 2, imaging of a suction nozzle moving from the imaging position to a working position is performed after performing the imaging at the timing indicated by dashed lines in Fig.6, in which imaging of a side portion is performed before mounting, because a viewing angle for shooting from a camera on a side upstream of the working position deviates from the beginning, is not possible. Therefore, the time corresponding to Rt in the present embodiment is generally longer than a time for movement of a mounting pitch, to have limited reliability.

[0060] As described above, in the component mounting apparatus 1 and the nozzle image capturing method thereof according to the present embodiment, a suction nozzle 40 to be positioned at the working position Po is alternately changed by integrally rotating the plurality of suction nozzles 40 at an interval of the predetermined attachment pitch a along a circumference O. On this occasion, the imaging control section 140 also functions as imaging control means in the present embodiment to control the imaging start timing Tm of the camera 60 from the controller.Controller 100 is to determine based on parameters (the downward movement start timing Ts, the imaging time SV) stored in a parameter storage section 141 such that imaging is completed after a suction nozzle 40 rotates along the circumference O from a position one attachment pitch a before the work position Po and immediately before the start of the downward movement at the work position Po. Therefore, the camera 60 can capture an image of the suction nozzle 40 immediately before the start of the downward movement of the nozzle.Since the "immediately before" timing is determined based on the downward movement start timing Ts when each of the suction nozzles 40 starts a downward movement while an electronic component is mounted, and data required to determine the imaging time SV required from the start of imaging of the suction nozzle 40 by the camera 60 to the end thereof (a value of an excess imaging offset or time required for main imaging) while a field of view of the camera 60 stops at the work position Po to allow imaging of the side portion of the suction nozzle 40 at the upward movement position Zu, the "immediately before" timing is approximated to be substantially the same time as the downward movement start timing Ts of the suction nozzle 40 as much as possible, regardless of the manner of rotating the nozzle holder 42.Consequently, since imaging is completed at the timing when the suction nozzle 40 starts a downward movement, it is not necessary to stop the mounting work once for imaging while a highly reliable inspected image can be acquired, resulting in avoiding a reduction in throughput.

[0061] Also in the present embodiment, the imaging control section 140 sets, as the imaging start timing, a timing obtained by subtracting the imaging time SV from the downward movement start timing Ts when a suction nozzle 40 starts to move downward at the work position Po during mounting. Therefore, the present embodiment makes it possible to maximally delay the imaging start timing Tm for the camera 60.

[0062] Also in the present embodiment, the imaging control section 140 sets the imaging start timing Tm using the movement start timing Tp of the horizontal movement unit 150 as a starting point. Therefore, the present embodiment also allows using the movement start timing Tp of the horizontal movement unit 150 as an imaging timing parameter for the camera 60.

[0063] Additionally, in the present embodiment, the camera 60 is mounted to have a viewing angle thereof including, in a field of view, the suction nozzle 40 stopping at the work position Po (in the shown example, to the right of the work position Po). Thus, the present embodiment makes it possible to capture an image of a side portion of a suction nozzle 40 so that, in a viewing angle, a most important position where component falling off is concerned is included. Also in the present embodiment, the imaging control section 140 determines the imaging start timing Tm of the camera 60 so that imaging is completed at the rotation end timing of the R-axis motor Mr. Therefore, the present embodiment makes it possible to image an inspected image with high accuracy at a moment when the suction nozzle 40 as an object stands still.Accordingly, since imaging is terminated from the downward movement start timing Ts when the suction nozzle 40 starts to move downward, it is not necessary to stop the mounting work once for imaging, so that a reduction in throughput can be avoided because, in the present embodiment, a highly reliable inspected image can be acquired while imaging is determined to be completed immediately before the suction nozzle 40 starts to move downward at a work position Po during mounting. Accordingly, when the suction nozzle 40 that is yet to be mounted is inspected by imaging, a highly reliable inspected image can be obtained as soon as possible without having to wait for imaging.

[0064] The present invention is not limited to the above-described embodiment, but allows various modifications of the above without departing from the spirit of the present invention.

[0065] For example, although in the embodiment shown the viewing angle of the camera 60 is directed toward the suction nozzle 40 at the working position Po, the arrangement is not limited thereto, but the camera may be arranged upstream of the working position Po in the rotation direction R.

[0066] In addition, although in the present embodiment, the nozzle head 4 includes two working positions Po, the present invention is also applicable to the nozzle head 4 including a single working position Po. In such a case, the number of suction nozzles 40 may not be limited to an even number, but may be an odd number.

[0067] In addition, although in the above embodiment, the plurality of nozzles 40 are aligned at equal intervals of the attachment pitch a along the circumferential path O, the attachment pitch a at which the plurality of nozzles 40 are aligned need not be the same but may be different.

[0068] Although in the embodiment, the camera 60 is provided at each working position Po, prisms or mirrors may be mounted instead of these cameras 60 so that one camera captures images of the suction nozzles 40 at both working positions Po. Although in the above embodiment, the illumination 65 is provided in the housing 61 in the imaging unit 6 as the imaging means, the illumination 65 may also be mounted at the lower end of the main shaft 41.

[0069] In a case where an imaging start timing T of the camera 60 is related to the rotation timing of the R-axis motor Mr, the imaging control section 140 preferentially controls the rotation start timing of the R-axis motor Mr and controls the imaging start timing Tm so that the rotation end timing thereof is approximated to the downward movement start timing Ts of the suction nozzle 40. In such a case, an image of the side portion of the suction nozzle 40 can be captured at preferential timing by using a relationship between the camera 60 and the R-axis motor Mr while maintaining the relationship between the camera and the R-axis motor Mr.

[0070] A first aspect of the present invention is a component mounting apparatus 1 comprising: a nozzle holder 42 configured to be rotatable about an axis; a plurality of suction nozzles 40 configured to be capable of sucking an electronic component, the suction nozzles 40 being arranged along a circumference O concentric with a rotation center C of the nozzle holder 42 and at an interval of one mounting pitch in a circumferential direction; horizontal moving means 150 configured to allow the nozzle holder 42 to move in a plane such that the suction nozzle 40 moves between a position for sucking an electronic component and a position for mounting a sucked electronic component at a working position Po set in advance on the circumference;a rotating means Mr configured to allow the nozzle holder 42 to be rotatable along the circumference O so that each of the suction nozzles 40 moves alternately to the working position Po; an up-and-down means 44 configured to allow the suction nozzle at the working position Po to go up and down; a camera 60 configured to be capable of capturing an image of a side portion of the upwardly moving suction nozzle 40 while it sucks an electronic component;a parameter storage means 120 that stores a parameter for use in controlling the camera 60, the parameter including at least a downward movement start timing Ts at which each of the suction nozzles 40 starts a downward movement during mounting of the electronic component, and data required to determine an imaging time dependent on the time at which the camera 60 starts imaging the suction nozzle 40 until the camera 60 finishes imaging;and an imaging control means 140 configured to determine an imaging start timing Tm of the camera 60 based on the parameter stored in the parameter storage means 120 so that imaging is completed after a suction nozzle 40, which moves upward while sucking an electronic component to be mounted, rotates from a mounting pitch in front of the work position Po toward the work position Po and immediately before the suction nozzle starts a downward movement at the work position Po.;

[0071] Another aspect of the present invention is a method for capturing an image of a nozzle of a component mounting apparatus 1 during mounting of an electronic component using the component mounting apparatus 1, wherein the component mounting apparatus 1 is configured to rotate a nozzle holder 42 rotatable about an axis to alternately move a plurality of suction nozzles 40 arranged along a circumference O concentric with a rotation center C of the nozzle holder 42 and at an interval a of a mounting pitch in a circumferential direction to a working position Po set in advance on the circumference O, and to allow the nozzle holder 42 to move in a plane so that the suction nozzle 40 moves at the working position Po between a position for sucking an electronic component and a position for mounting a sucked electronic component,The method comprises the steps of: storing in advance a downward movement start timing Ts at which each of the suction nozzles 40 starts to move downward during mounting of the electronic component, and data required to determine an imaging time dependent on the time at which a camera 60 configured to be capable of capturing an image of a side portion of an upwardly moving suction nozzle 40 while sucking the electronic component starts to image the suction nozzle 40 until the camera 60 stops imaging; sucking an electronic component by each of the suction nozzles 40; moving the working position Po of the nozzle holder 42 to a position for mounting the electronic component to be mounted after completing the suction operation of the electronic component; rotating a suction nozzle 40 along the circumference O while sucking an electronic component to be mounted,in a process of moving the working position Po upward; determining the imaging start timing Tm of the camera 60 by the control means 120 based on a parameter stored in the parameter storage means 120 such that imaging is completed after the one suction nozzle 40 rotates from an attachment pitch in front of the working position Po toward the working position Po and immediately before the suction nozzle 40 starts moving downward at the working position Po; and actuating the camera 60 at the determined imaging start timing Tm to image the one suction nozzle 40.

[0072] In the component mounting apparatus 1 according to a preferred aspect, the imaging control section sets, as the imaging start timing Tm, a timing obtained by subtracting the imaging time from the downward movement start timing Ts when the one suction nozzle 40 starts to move downward at the work position Po during mounting. According to this aspect, the imaging start timing Tm for the camera 60 can be maximally delayed.

[0073] In the component mounting apparatus 1 according to a preferred aspect, the imaging control means 140 sets the imaging start timing Tm with the movement start timing of the horizontal moving means 150 as a starting point. According to this aspect, the movement start timing of the horizontal moving means can also be used as an imaging timing parameter for the camera 60.

[0074] In the component mounting apparatus 1 according to a preferred aspect, the camera 60 is mounted to have a viewing angle thereof including, in a field of view, a suction nozzle 40 at the working position Po. According to this aspect, an image of the suction nozzle 40 can be captured such that, in a viewing angle, a most important position where component falling off is concerned is included.

[0075] In the component mounting apparatus 1 according to a preferred aspect, the imaging start timing Tm of the camera 60 is related to the rotation timing of the rotating means Mr, and the imaging control means 140 controls the rotation start timing of the rotating means Mr while controlling the imaging start timing Tm. According to this aspect, an image of the suction nozzle 40 can be captured at a preferred timing by using a relationship between a camera 60 and a rotating means Mr while maintaining the relationship between the camera 60 and the rotating means Mr.

[0076] In the component mounting apparatus 1 according to a preferred aspect, the imaging control means 140 determines the start timing of the camera 60 so that imaging is completed at the rotation end timing of the rotating means Mr. According to this aspect, an inspected image can be captured with high accuracy at a moment when a suction nozzle 40 as an object is stationary. Reference symbol 1 component assembly device 3 Mounting head 4 nozzle head 5 Light diffusion element 6 imaging unit 11 Base 12 sponsors 21 Y-axis rails 22 Y-axis ball screw mechanism 23 Head support element 24 ball screw mechanism 28 Component feeding section 40 suction nozzle 41 Main Sector 42 nozzle holders 43 Up-down shaft 44 Nozzle up-down unit (an example of an up-down device) 60 Camera 61 housings 62 windows 65 Lighting 100 Control or regulation 110 Processor section 120 Memory section (an example of a parameter storage means) 130 Drive control or regulation section 140 Mapping control section (an example of a mapping control means) 141 Parameter memory section 150 Horizontal movement unit (an example of a horizontal movement means) 160 Display operating unit 281 Belt feed device 441 oppressive element 611 Main body section 612 section opposite the suction nozzle a attachment division C Center of rotation Mr R-axis motor (an example of a rotating device) Mx X-axis motor (example of a component of horizontal motion equipment) My Y-axis motor (example of a component of horizontal motion equipment) Mz Z-axis motor (example of a component of up-down means) O Scope Po working position S substrate SV offset value (example of an element of a parameter) Tc assembly completion timing Td Downward movement time (example of an element of a parameter) Tm imaging start timing Ts Downward movement start timing (example of an element of a parameter) Zd downward movement position To upward movement position

Claims

[1] Component mounting device (1), comprising: a nozzle holder (42) configured to be rotatable about an axis; a plurality of suction nozzles (40) configured to be capable of sucking an electronic component, the suction nozzles (40) being arranged along a circumference (O) concentric with a rotation center (C) of the nozzle holder (42) and at an interval of an attachment pitch (a) in a circumferential direction; a horizontal moving means (150) configured to allow the nozzle holder (42) to move in a plane so that the suction nozzle (40) moves at a working position (Po) set in advance on the circumference between a position for sucking an electronic component and a position for mounting a sucked electronic component; a rotating means (Mr) configured to allow the nozzle holder (42) to be rotatable along the circumference (O) so that each of the suction nozzles (40) moves alternately to the working position (Po); an up-down means (44) configured to allow the suction nozzle (40) to go up and down at the working position (Po); a camera (60) configured to be capable of capturing an image of a side portion of the upwardly moving suction nozzle (40) while sucking an electronic component; a parameter storage means (120) that stores a parameter for use in controlling the camera (60), the parameter comprising at least a downward movement start timing (Ts) at which each of the suction nozzles (40) starts a downward movement during mounting of the electronic component, and data required to determine an imaging time that is dependent on the time at which the camera (60) starts imaging the suction nozzle (40) until the camera (60) finishes imaging; and imaging control means (140) configured to determine an imaging start timing (Tm) of the camera (60) based on the parameter stored in the parameter storage means (120) such that imaging is completed after a suction nozzle (40) moving upward while sucking an electronic component to be mounted rotates from a mounting pitch in front of the work position (Po) toward the work position (Po), and immediately before the suction nozzle (40) starts moving downward at the work position (Po). [2] The component mounting apparatus (1) according to claim 1, wherein said imaging control means (140) sets, as said imaging start timing (Tm), a timing obtained by subtracting said imaging time from said downward movement start timing (Ts) when said one suction nozzle (40) starts to move downward at said working position (Po) during mounting. [3] The component mounting apparatus (1) according to claim 2, wherein the imaging control means (140) sets the imaging start timing (Tm) with a movement start timing of the horizontal movement means (150) as a starting point. [4] The component mounting apparatus (1) according to any one of claims 1 to 3, wherein the camera (60) is mounted to have a viewing angle including a suction nozzle (40) at the working position (Po). [5] Component mounting device (1) according to any one of claims 1 to 4, where the camera (60) executes the imaging start timing (Tm) in conjunction with a rotation timing of the rotating means (Mr), and the imaging control means (140) controls the imaging start timing (Tm) by controlling a rotation start timing of the rotation means (Mr). [6] The component mounting apparatus (1) according to any one of claims 1 to 5, wherein the imaging control means (140) determines the imaging start timing (Tm) of the camera (60) so that imaging is finished at a rotation end timing of the rotation means (Mr). [7] A method for capturing an image of a nozzle of a component mounting apparatus (1) during mounting of an electronic component using the component mounting apparatus (1), wherein the component mounting apparatus (1) is configured to rotate a nozzle holder (42) rotatable about an axis to alternately move a plurality of suction nozzles (40) arranged along a circumference (O) concentric with a rotation center (C) of the nozzle holder (42) and at an interval (a) of a mounting pitch in a circumferential direction to a working position (Po) set on the circumference (O) in advance, and to allow the nozzle holder (42) to move in a plane so that the suction nozzle (40) moves at the working position (Po) between a position for sucking an electronic component and a position for mounting a sucked electronic component, the method comprising the following steps: Storing in advance a downward movement start timing (Ts) at which each of the suction nozzles (40) starts to move downward during mounting of the electronic component, and data required to determine an imaging time depending on the time at which a camera (60) configured to be capable of capturing an image of a side portion of an upwardly moving suction nozzle (40) while sucking the electronic component starts to image the suction nozzle (40) until the camera (60) stops imaging; Sucking an electronic component from each of the suction nozzles (40); Moving the working position (Po) of the nozzle holder (42) to the position for mounting the electronic component to be mounted after completing the suction operation of the electronic component; Rotating the suction nozzle (40) along the circumference (O) which moves upward while sucking an electronic component to be mounted in a process of moving the working position (Po); Determining an imaging start timing (Tm) of the camera (60) by a control means (140) based on a parameter stored in a parameter storage means (120) such that imaging is completed after the one suction nozzle (40) rotates from the attachment pitch in front of the working position (Po) toward the working position (Po) and immediately before the suction nozzle (40) starts to move downward at the working position (Po); and Actuating the camera (60) at the determined imaging start timing (Tm) to image the one suction nozzle (40).

Images