Board conveyor and board detection method

Abstract

A board conveying device is provided with a driving part for conveying a board along a conveying path; board sensors which are arranged at predetermined positions on the conveying path and which detect the presence or absence of the board at the predetermined positions; a board confirmation part which is provided so as to be movable in the horizontal direction and can confirm the presence or absence of the board in the conveying path; and a control part which, in the case where the amount of the board conveyed by the driving part does not correspond to the detection result of the board sensor, controls the driving part to stop the conveying of the board and besides controls the board confirmation part to confirm the presence or absence of the board in the conveying path.wherein the control part has a decision part which decides the presence or absence of false detection of the board sensor based on the detection result of the board sensor and the confirmation result by the board confirmation part;

Description

TECHNICAL FIELDThe present specification relates to a board conveying device and a board detection method.PRIOR ARTHitherto, for example, the board processing apparatus according to Patent Document 1 and the board treatment apparatus according to Patent Document 2 have been known. In the conventional board processing apparatus, the detection state is confirmed by a state in which the board is not present as the production object on the conveyor belt, a board sensor for detecting the board detects the presence or absence of a dummy board. In the conventional board processing apparatus, when the recognition state of the board sensor is judged to be defective by the above-mentioned confirmation, an image of the board sensor is captured by a camera and then subjected to image inspection. In addition, in the foregoing board treating apparatus, the upper side of the conveyor belt is constantly monitored by the image pickup by a camera to stop the conveyance of the board when failures are detected in the conveyance thereof.DOCUMENTS RELATED TO THE PRIOR ARTPATENT DOCUMENTSPatent Document 1: JP 2015-126210 APatent Document 2: JP 2009-076633 ASUMMARY OF THE INVENTIONPROBLEM TO BE SOLVED OF THE INVENTIONIn the above-mentioned conventional board processing apparatus, the detection state of the board sensor is confirmed using a dummy board in a production stopped state, such as when the maintenance is performed, etc. In the conventional board processing apparatus, therefore, it is difficult to judge, for example, whether or not errors occur in the detection state of the board sensor during production.The present description is therefore based on the object of providing a board conveying device and a board detection method in which / the presence or absence of a false detection of the board sensor can also be decided during production.MEANS FOR ACHIEVING THE OBJECTThe present specification discloses a board conveying apparatus including a driving part for conveying a board along a conveying path, board sensors which are installed at predetermined locations on the conveying path and detect the presence or absence of the board at the predetermined locations, a board confirmation part which is provided movably in the horizontal direction and can confirm the presence or absence of the board in the conveying path, and a control part which, in the case where the amount of the board conveyed by the driving part does not correspond to the detection result of the board sensor, controls the driving part so as to stop the conveyance of the board and besides controls the board confirmation part so as to confirm the presence or absence of the board in the conveying path, wherein the control part includes a decision part, which decides the presence or absence of false detection of the board sensor based on the detection result of the board sensor and the confirmation result by the board confirmation part.Further, the present specification discloses a board detection method applied to the above-mentioned board conveying device, and including a conveying step in which the driving part conveys the board along the conveying path, a detecting step in which the board sensor detects the presence or absence of the board at the predetermined location, a stopping step in which the conveyance of the board by the driving part is stopped in the case where the conveyed amount of the board in the conveying step does not correspond to the detection result of the board sensor in the detecting step, a confirming step in which the board confirming part confirms the presence or absence of the board in the conveying path, and a deciding step, in which the presence or absence of the wrong detection of the board sensor is decided in the confirmation step based on the detection result of the board sensor in the detection step and the confirmation result of the board confirmation part in the confirmation step.The present description also discloses the technical idea in which the "board conveying device according to claim 1 or 2" according to claim 5 is replaced in the original socket by the "board conveying device according to any one of claims 1 to 4". The present specification also discloses the technical idea in which the "board conveying device according to claim 1 or 2" according to claim 8 is replaced in the original socket by the "board conveying device according to any one of claims 1 to 7". The present specification also discloses the technical idea in which the "board conveying device according to claim 1 or 2" according to claim 12 is replaced in the original socket by the "board conveying device according to any one of claims 1 to 7". The present specification also discloses the technical idea in which the "board conveying device according to claim 1 or 2" according to claim 15 is replaced in the original socket by the "board conveying device according to any one of claims 1 to 14". The present specification also discloses the technical idea in which the "board conveying device according to claim 1 or 2" according to claim 16 is replaced in the original socket by the "board conveying device according to any one of claims 1 to 15".Thereby, the board conveying device can judge the presence or absence of false detection of the board sensor during production. In addition, the board detection method can also decide the presence or absence of an incorrect detection of the board sensor during production.BRIEF DESCRIPTION OF THE DRAWINGSFIG. 1 is a schematic oblique view illustrating the entirety of a component mounting machine exemplified as a board processing machine. FIG. 2 is a view for explaining the constitution of the component mounting machine. FIG. 3 is a view for explaining the constitution of a positioning device of FIG. 2. FIG. 4 is a front cross-sectional view of a board conveying device of FIG. 2. FIG. 5 is a side cross-sectional view of the board conveying device of FIG. 2. FIG. 6 is a functional block diagram for explaining the constitution of a control device of FIG. 2. FIG. 7 is a view for explaining steps of a board detection method. FIG. 8 is a view for explaining the decision by a decision part of FIG. 6 and the decision in the decision step of FIG. 7. FIG. 9 is a view for explaining the decision by the decision part of FIG. 6 and the decision in the decision step of FIG. 7. FIG. 10 is a view for explaining the decision by the decision part of FIG. 6 and the decision in the decision step of FIG. 7.EMBODIMENT OF THE INVENTIONIn the following, a board conveying device and a board recognition method will be explained with reference to the figures. In the present embodiment, a board conveying device provided on a component mounting machine which is a board processing machine is exemplified. The board processing machine on which the board conveying device may be provided is not limited to the component mounting machine. Other machines provided with a machining execution device for executing a specific machining for the board, for example, such as a solder printing machine, a board inspection machine, etc., may also be used.1. Entire Constitution of Board Processing MachineThe constitution of a board processing machine will be explained with reference to Figs. 1-3. As the board processing machine according to the present embodiment, a component mounting machine 10 for performing mounting processing for mounting components (e.g., electronic components, etc.) on a board is exemplified. In the present embodiment, a plurality of component mounting machines 10 of the same type are juxtaposed in the width direction, and constitute a production line for component mounting the board as shown in FIG. 1. On the production line formed from a plurality of component placement machines 10, the blank is transported into the individual component placement machines 10 in sequence and equipped with components on each component placement machine 10.The component mounting machines 10 according to the present embodiment each have a narrow width and may be adjacently arranged in the width direction as shown in FIG. 1. Therefore, the present embodiment exemplifies a case where three component mounting machines 10 are mounted on a base frame B, thereby making the entire production line compact. The arrangement of the component mounting machines 10 is not limited to mounting three component mounting machines 10 on a base frame B. It is also possible to mount one, two or four or more component placement machines 10 on a base frame B in accordance with the production content.The component mounting machine 10 is provided with a machine tool main body 11 fixed to the base frame B. The machine tool main body 11 is provided with a frame 12 and a cover member 13 for covering the frame 12. The machining machine main body 11 has an in-machine working space S, which is a space for performing the mounting processing for a board K as board processing (see FIG. 2 ). Here, the work space S may be a space including a support surface on which the board K is placed, a surface of a later-mentioned component transfer device 16 opposed to the board K before performing the mounting work, and the inner surface of the cover member 13.In the present embodiment, three component mounting machines 10 are mounted on the base frame B such that the individual working spaces S are adjacent to each other. On each cover member 13 that covers both side surfaces of the processing machine main body 11 in the width direction thereof, board conveyance openings 13 aare formed. Thereby, a board K is conveyed into the work space S via the board conveying opening 13 aby a board conveying device 20 mentioned later, and the mounting-processed board K is conveyed out (see FIG. 2 ).On the machine tool main body 11, a positioning device 14, a component supply device 15, a component transfer device 16, a component camera 17, and a control device 18 are installed, as shown in FIG. 2. In addition, on the processing machine main body 11, the board conveying device 20 mentioned later is installed.The positioning device 14 positions the board K conveyed in by the board conveying device 20. The positioning device 14 includes a lifter 141 and a plurality of clamping rods 142 fixed to the lifter 141, as shown in FIG. 3, and is disposed below a machining execution location where the mounting processing for the board K is executed as the board processing. The plurality of clamping rods 142 push up the board K according to the upward movement of the elevator 141 in the Z-axis direction to clamp the board K between these and later-mentioned guide rails 21 of the board conveying device 20. Thereby, the board K is positioned not to be moved from the machining execution location.The component supply device 15 is detachably attached to a plurality of groove-shaped slits provided on a pallet member 150 erected on the front side of the machine tool main body 11, as shown in FIG. 2. The component supply device 15 is provided with a plurality of feeders 151 and spools 152 provided corresponding to the individual feeders 151. On the reel 152, a carrier tape (not shown) having many cavities each accommodating a component is wound, and the carrier tape wound from the reel 152 is loaded in each feeder 151. At the upper part on the rear side of the feeder 151, a predetermined feeding position 153 for feeding the component is defined. Each feeder 151 is intermittently fed the carrier tape by a not-shown tape feeding mechanism, and thus the component is fed so as to be receivable at the feeding location 153. Thereby, the component supply device 15 performs the component supply operation.The component transfer device 16 is a machining execution device that executes the mounting machining for mounting components accommodated on the board K positioned at the machining execution point P in the work space S in the machine. The component transfer device 16 is disposed on the upper side of the component supply device 15 in the Z-axis direction (vertical direction). The component transfer device 16 receives components from the component supply device 15 and mounts the component on the board K. The component transfer device 16 is configured to include a head driving mechanism 160, a moving stage 164, a machining head 165, a suction nozzle 166, and so on.The head driving mechanism 160 is formed to include a pair of Y-axis rails 161, 162, a Y-axis slider 163, and a not-illustrated driving motor, etc. The Y-axis rails 161, 162 extend in the Y-axis direction and are arranged parallel to each other in a manner spaced apart from each other. The Y-axis slider 163 long in the X-axis direction is provided over the two Y-axis rails 161, 162 and moves in the Y-axis direction. The moving stage 164 is installed on the Y-axis slider 163 and moves in the X-axis direction. Thereby, the head driving mechanism 160 drives the Y-axis slider 163 in the Y-axis direction, and besides drives the moving stage 164 on the Y-axis slider 163 in the X-axis direction. That is, the moving stage 164 can be moved on the XY plane (i.e., in the horizontal direction) in the X and Y axis directions.The moving stage 164 holds the processing head 165 for performing the mounting processing for the board K as the board processing. The machining head 165 holds one or more suction nozzles 166 on the lower side thereof in the Z-axis direction. The machining head 165 is driven by the head drive mechanism 160 and moved together with the moving stage 164 in the X- and Y-axis directions. The suction nozzle 166 is driven and moved up and down by an unillustrated lift driving member.The suction nozzle 166 is lowered in the Z-axis direction at the supply location 153 from above, and performs the suction operation for sucking and picking up the component by supplied negative pressure air. Further, the suction nozzle 166 is driven upward in the Z-axis direction on the board K, and performs the mounting operation for mounting the component by supplied positive pressure air. A plurality of kinds of machining heads 165 and suction nozzles 166 are provided and are automatically or manually exchanged.The component camera 17 is provided on the upper surface of the base frame B between the component supply device 15 and the board conveying device 20 so as to face upward in the Z-axis direction. The component camera 17 captures an image of the component sucked by the suction nozzle 166 on the path of movement of the processing head 165 from the supply location 153 of the component supply device 15 to the mounting location on the board K. The image data obtained by image pickup by the component camera 17 is used for image processing for detecting the presence or absence of the component and the failure thereof, and further for obtaining the sucked posture of the component. The result of the image processing is reflected in the mounting operation of the suction nozzle 166.The control device 18 is installed on the base frame B, for example. The arrangement location of the control device 18 is not particularly limited. The control device 18 is a computer device having as its main constituent elements a central processing unit, ROM, RAM, various interfaces and integrally controls the operation of the component mounting machine 10 including the board conveying device 20 mentioned later. The control device 18 can be designed in that a plurality of central units are arranged distributed in the machine. The control device 18 controls component mounting processing according to a prestored control program. In this case, the control program varies according to each type of board product to be produced.2. Summary of Board Conveying Device 20By the board conveying device 20, the board K is conveyed into the machining execution point P in the work space S along the conveying path T (see FIG. 5 ) before the mounting processing, for example, from the work space S of the component mounting machine 10 adjacent to one side. By the board conveying device 20, the board K is conveyed out after the mounting processing at the machining execution point in the work space S, for example, against the work space S of the component mounting machine 10 adjacent to the other side.On the board conveying device 20, board sensors 24 for detecting the board K conveyed along the conveying path T are provided as mentioned later. The board sensors 24 are arranged at predetermined locations on the conveyor track T, detect the board K continuous on the conveyor track T in the normal case, and output a signal for representing the presence or absence of the board K in the detection area. Thereby, during production, the control device 18 can detect whether or not the board K is being conveyed along the conveying path T without trouble.Conventionally, when erroneous detection of the board K occurs at the board sensor 24 during production, the measure of, for example, stopping production once has to be taken in order for the worker to confirm the detection state of the board sensor 24. If the misrecognition at the board sensor 24 results from the confirmation from the worker, for example, the adjustment of the detection sensitivity of the board sensor 24 is performed each time. That is, in the above-mentioned conventional board processing apparatus, when the false detection occurs at the board sensor 24 during production (the false detection is present), production must be stopped until completion of confirmation from the worker. This may affect productivity.Therefore, the board conveying device 20 according to the present embodiment is provided with conveying belts 22 and a driving motor 23 both of which constitute a driving part for conveying the board K along the conveying path T, board sensors 24 provided at an entry point Pi and an exit point Po as predetermined points on the conveying path T and detecting the presence or absence of the board K at the entry point Pi and the exit point Po, a board camera 25 provided movably in the horizontal direction and serving as a board confirming part that can confirm the presence or absence of the board K in the conveying path T, and a control device 18 (driving control part 181 and board confirmation control part 182) as a control part that is in the case of the present invention, in which the amount Dr of the board K conveyed by the conveyor belts 22 does not correspond to the detection result (a signal Sc mentioned later) of the board sensor 24, controls the drive motor 23 (the conveyor belts 22) so as to stop the conveyance of the board K, and besides controls the board camera 25 so as to confirm the presence or absence of the board K in the conveying path T, as shown in FIGS. 4-6, wherein the control device 18 includes a decision part 184 that decides the presence or absence of false detection of the board sensor 24 based on the detection result (signal Sc) of the board sensor 24 and the confirmation result (image data Id) by the board camera 25.Further, the control device 18 according to the present embodiment is provided with a correspondence judgment part 183 that judges whether or not the amount Dr of the board K conveyed by the conveyor belts 22 corresponds to the detection result (signal Sc) of the board sensor 24, and a setting part 185 that sets the detection sensitivity (reference amount Lb of the received light mentioned later) of the board sensor 24 in the judgment of misrecognition of the board sensor 24 by the judgment part 184.In addition, the board detection method according to the present embodiment is provided with a conveyance step K 1 in which the conveyance belts 22 and the drive motor 23 convey the board K along the conveyance path T, a detection step K 2 in which the board sensor 24 detects the presence or absence of the board K at the entry point Pi and the exit point Po, a stopping step K 4 in which the conveyance of the board K by the conveyance belts 22 is stopped in the case where the conveyed amount Dr of the board K does not correspond to the detection result (signal Sc) of the board sensor 24 in the detection step K 1 in the conveyance step K 1, a confirmation step K 5 in which the board camera 25 confirms the presence or absence of the board K in the conveyance path T, and a decision step K6 in which, based on the detection result (signal Sc) of the board sensor 24 in the detection step K2 and the confirmation result (image data Id) of the board camera 25 in the confirmation step K5, the presence or absence of the wrong detection of the board sensor 24 is decided, as shown in FIG. 7.Further, the board detection method according to the present embodiment is provided with a correspondence judgment step K 3 between the detection step K 2 and the stopping step K 4 in which it is judged whether or not the conveyed amount Dr of the board K in the conveyance step K 1 corresponds to the detection result (signal Sc) of the board sensor 24 in the detection step K 2, and a setting step K 7 in which, in the misrecognition judgment of the board sensor 24 in the decision step K 6, the detection sensitivity of the board sensor 24 (reference amount Lb of received light) is set.2-1. Constitution of Board Conveying Device 20As shown in more detail in FIGS. 4 and 5, the board conveying device 20 is provided with left and right paired guide rails 21 and conveyor belts 22, a drive motor 23, board sensors 24, and a board camera 25 serving as the board confirmation part. On the board conveying device 20, the operation is controlled by the control device 18 including a drive control part 181, a board confirmation control part 182, a correspondence judging part 183, a decision part 184 and an adjustment part 185, as shown in FIG. 6.On the board conveying device 20, the paired guide rails 21 are provided on the upper side of left and right paired support plates 201. The distance between the guide rails 21 arranged in pairs can be adjusted according to the width of the board K. On the opposite inner sides of the guide rails 21 arranged in pairs, a respective belt guide 211 is provided which extends along the conveying direction D. The conveyance direction D here is a direction for conveying the board K in which the board K is conveyed into the work space S (more specifically, machining execution point P) and is conveyed out of the work space S (more specifically, machining execution point P).The pair of conveyor belts 22 are each formed in the shape of an endless ring. The conveyor belt 22 is arranged to be guided along each guide rail 21 to the upper surface of the belt guide 211. The conveying path T is formed of, for example, the pair of guide rails 21 (belt guides 211) and the pair of conveyor belts 22. The conveyor belts 22 rotate along the guide rails 21 in a state where the board K is placed thereon, thereby conveying the board K along the conveying path T (i.e., along the conveying direction D). In the present embodiment, the board conveying device 20 is a so-called single conveyor type that is composed of a pair of conveying belts 22. However, the board conveying device 20 may be a so-called double conveyor type consisting of, for example, two pairs of conveyor belts.The conveyor belt 22 is rotatably supported by a pulley group 26. The pulley group 26 includes front and rear paired conveying guide pulleys 261, front and rear paired return pulleys 262, a pulley 263, a drive pulley 264, and a tension pulley 265, and constitutes a "drive part". The drive pulley 264 is supported so as to be rotated integrally with a spline shaft 266. The spline shaft 266 is rotationally driven by the drive motor 23. Upon being driven in rotation by the drive motor 23, the drive pulley 264 rotates via the spline shaft 266 and rotates the conveyor belt 22. Thereby, the conveyor belts 22 convey the board K placed on the upper surface thereof along the conveying path T.The board sensors 24 are provided at the entry point Pi and the exit point Po, respectively, which are the predetermined points of the conveyor path T. The entry point Pi is, for example, a point on the conveyor track T at which the blank K is conveyed from the working space S of the adjacent component placement machine 10 into its own machining execution point P (working space S). The exit point Po is, for example, a point on the conveyor track T at which the blank K is conveyed out from its own machining execution point P (working space S) into the working space S of the adjacent component placement machine 10. In the present embodiment, a case where, for example, a transmission type photoelectric sensor is used as the board sensor 24 is exemplified. In this case, the board sensor 24 disposed facing the entry point Pi includes a light transmitter 241 and a light receiver 242. The board sensor 24, which is arranged facing the exit point Po, has a light transmitter 243 and a light receiver 244.The light emitters 241, 243 are each arranged on the left guide rail 21 according to FIG. 4. The light emitters 241, 243 each transmit a detection light Ld toward the light receiver 242, 244 that is paired with the light emitter (e.g., see FIG. 10 ). Therefore, the detection range R for detecting the presence or absence of the board K by the board sensor 24 corresponds to the range in which the detection light Ld sent by each light transmitter 241, 243 is received by the light receiver 242, 244 disposed opposite thereto (e.g., see FIG. 10 ). The on and off of the light transmitter 241, 243 is controlled by the controller 18.The light emitter 241, 243 has the temperature dependency that due to the temperature rising and falling just after the power is turned on or by temporarily stopping the operation, the amount of the detection light Ld sent fluctuates with time. Here, the detection light Ld sent by the light transmitter 241 is not limited to visible light, and may be invisible light such as infrared ray, etc.The light receivers 242, 244 are each disposed on the right guide rail 21 as shown in FIG. 4. That is, the light receivers 242, 244 are respectively disposed across the conveyance path T opposite to the light transmitter 241, 243 that is paired with the light receiver. The light receiver 242, 244 receives the detection light Ld sent by the light transmitter 241, 243 paired therewith, and detects the amount Lr of the received light.For example, the detection light Ld sent by the light transmitter 241 disposed at the entry point Pi reaches the light receiver 242 disposed at the entry point Pi and opposed to the light transmitter 241 when no board K exists at the entry point Pi, in other words, when no board K exists in the detection area R. On the other hand, when a board K exists at the entrance location Pi, in other words, when a board K exists in the detection area R, the detection light Ld sent by the light transmitter 241 disposed at the entrance location Pi is at least partially blocked by the board K and therefore does not reach the light receiver 242. That is, the amount Lr of the light received at the light receiver 242 decreases or becomes "0" when the board K exists at the entry point Pi.Also, the detection light Ld sent by the light emitter 243 disposed at the exit location Po reaches the light receiver 244 disposed at the exit location Po and opposed to the light emitter 243 when no board K exists at the exit location Po, in other words, when no board K exists in the detection area R. On the other hand, when a board K exists at the exit location Po, in other words, when a board K exists in the detection area R, the detection light Ld sent by the light transmitter 243 disposed at the exit location Po is at least partially blocked by the board K and therefore does not reach the light receiver 244. That is, the amount Lr of the light received at the light receiver 244 decreases or becomes "0" when the board K exists at the exit point Po.Therefore, in the present embodiment, the light receiver 242, 244 obtains an electric signal representing the amount Lr of the received light by photoelectrically converting the incident detection light Ld. The light receiver 242, 244 compares a predetermined reference amount Lb of the received light with the amount Lr of the received light, and outputs, for example, in the case where the amount Lr of the received light is less than the reference amount Lb of the received light, to the correspondence judgment part 183 of the controller 18, the signal Sc of "1" representing the "existence of the board K".In addition, the light receiver 242, 244 compares the reference amount Lb of the received light with the amount Lr of the received light, and outputs, for example, in the case where the amount Lr of the received light is equal to or more than the reference amount Lb of the received light, to the correspondence judgment part 183 of the control device 18, the signal Sc of "0" representing the "non-existence of the board K". In the explanation below, the signal Sc output by the light receiver 242 is referred to as "signal Sc 1" and the signal Sc output by the light receiver 244 is referred to as "signal Sc 2" when the signals Sc output by the light receiver 242 and the light receiver 244, respectively, are to be distinguished.In the present embodiment, the board camera 25 is provided on the component transfer device 16 of the component mounting machine 10. Specifically, the board camera 25 is installed on the moving stage 164 of the component transfer device 16. Here, the board camera 25 can be moved integrally with the processing head 165 by being installed together with the processing head 165 on the moving stage 164.The board camera 25 captures an image of the upper side of the board K positioned on the component mounting machine 10 by the positioning device 14 at the machining execution point P, entry point Pi, and exit point Po, etc., an image of a position mark associated with the upper side of the board K. The image data obtained by imaging by the board camera 25 is used for the image processing for acquiring the board K positioned on the machining execution point P. In the present embodiment, the board camera 25 is also used as the board confirmation part, and the image (image data Id) captured in the detection area R of the board sensor 24 is used for confirming the presence or absence of the board K in the detection area R, as mentioned later.The control device 18 according to the present embodiment also controls the operation of the board conveying device 20 to integrally control the operation of the component mounting machine 10, as mentioned above. Therefore, the control device 18 as the control part in the present embodiment is provided with the drive control part 181, the board confirmation control part 182, the correspondence judgment part 183, the decision part 184, and the setting part 185, as shown in FIG. 6.The drive control part 181 controls the drive of the drive motor 23, that is, the drive control part 181 rotates the conveyor belts 22 by controlling the drive of the drive motor 23, and controls the conveyance of the board K along the conveyance path T. Here, the drive control part 181 outputs, to the correspondence judgment part 183, the drive amount of the drive motor 23, in other words, the amount Dr of the board K conveyed by the conveyor belts 22.In addition, the drive control part 181 acquires a stop signal Ss from the correspondence judgment part 183 when the carried amount Dr does not correspond to the detection result of the board sensor 24 (more specifically, value of the signal Sc 1, Sc 2) as mentioned later. Then, the drive control part 181 stops the drive of the drive motor 23, i.e., the conveyance of the board K by the conveyor belts 22.The board confirmation control part 182 acquires an operation signal So from the correspondence judgment part 183 when the carried amount Dr does not correspond to the detection result of the board sensor 24 (more specifically, value of the signal Sc 1, Sc 2) as mentioned later. The board confirmation control part 182 controls the movement and operation of the board camera 25 installed on the moving stage 164 of the component transfer device 16 as the board confirmation part.That is, in the present embodiment, the head driving mechanism 160 is driven by the board confirmation control part 182, and thus the board camera 25 mounted on the moving stage 164 is moved in the X and Y axis directions in the horizontal direction. The board confirmation control part 182 takes an image of the detection range R of the board sensor 24 in accordance with the operation signal So of the board camera 25, for example, in a state in which the board camera 25 is moved together with the moving stage 164 to the vicinity of the entry point Pi and / or to the vicinity of the exit point Po.The correspondence judging part 183 acquires the signal Sc 1 output from the light receiver 242. In addition, the correspondence judging part 183 acquires the signal Sc 2 output from the light receiver 244. Further, the correspondence judging part 183 acquires the carried amount Dr output from the drive control part 181. Then, the correspondence judging part 183 judges whether or not the acquired carried amount Dr corresponds to the detection result of the board sensor 24, that is, the value of the signal Sc, represented by the acquired signal Sc (signal Sc 1 and / or signal Sc 2).When the correspondence judging part 183 judges that the conveyed amount Dr does not correspond to the recognition result, it outputs to the drive control part 181 a stop signal Ss for stopping the drive of the drive motor 23, i.e., the conveyance of the board K by the conveyor belts 22. In addition, when the correspondence judging part 183 judges that the conveyed amount Dr does not correspond to the recognition result, there is output to the board confirmation control part 182 an operation signal So for moving the board camera 25 together with the moving stage 164 to at least either the entry point Pi side or the exit point Po side for image capturing.Further, when the correspondence judging part 183 judges that the carried amount Dr does not correspond to the detection result, it outputs, to the judging part 184, a signal Sc (signal Sc1 and / or signal Sc2) representing the detection result of the board sensor 24. When the correspondence judging part 183 judges that the carried amount Dr corresponds to the recognition result, it outputs neither the stop signal Ss nor the operation signal So and does not output the signal Sc to the judging part 184.The decision part 184 acquires the signal Sc (signal Sc 1 and / or signal Sc 2) output from the correspondence judgment part 183 when the correspondence judgment part 183 judges that the conveyed amount Dr does not correspond to the detection result of the board sensor 24. Then, the decision part 184 acquires the image data Id for representing the image captured by the board camera 25 according to the operation signal So output from the board confirmation control part 182.Thereby, the decision part 184 decides the presence or absence of misrecognition of the board sensor 24 based on the image data Id of the image of the entry point Pi or exit point Po captured by the board camera 25, i.e., the detection range R of the board sensor 24, i.e., based on the confirmation result of the presence or absence of the board K at the entry point Pi or exit point Po. The decision part 184 decides that false detection occurs at the board sensor 24, i.e., false detection occurs, for example, when the absence of the board K at the entry point Pi (or exit point Po) is obtained from the image data Id and the signal Sc is still "1". In this case, the decision part 184 outputs, to the setting part 185, a request signal Sr for requesting the setting of the detection sensitivity of the board sensor 24. Upon outputting the request signal Sr, the decision section 184 determines the entry point Pi or exit point Po, or the entry point Pi and exit point Po, respectively, and then outputs the request signal Sr.In addition, the decision part 184 decides that no false detection occurs at the board sensor 24, i.e., no false detection occurs, for example, when the presence of the board K at the entry point Pi (or exit point Po) is determined from the image data Id and the signal Sc is "1". In this case, the decision part 184 gives a message on a display device etc. not shown that the board conveying device 20 is brought to a standstill due to failure, because, for example, the clogging of the board K occurs on the conveying path T etc.When the setting part 185 acquires the request signal Sr from the decision part 184, it performs the setting of the detection sensitivity of the board sensor 24 according to the acquired request signal Sr. In this case, the setting part 185 in the present embodiment sets the detection sensitivity of the board sensor 24 by outputting a changed reference amount Lbn of the received light obtained by changing the magnitude of the value of the reference amount Lb of the received light to the light receiver 242, 244.3. Regarding the board detection method on the board conveying device 20Next, a board detection method applied to the above-mentioned board conveying device 20 and capable of deciding the presence or absence of the wrong detection of the board sensor 24 will be explained with reference to FIG. 7. In the present embodiment, the board detection method is provided with a conveyance step K 1, detection step K 2, correspondence judgment step K 3, stopping step K 4, confirmation step K 5, decision step K 6, and setting step K 7.In the conveying step K 1, the board K is conveyed along the conveying path T by the control device 18 as the control part controlling the drive of the drive motor 23 as the drive part, i.e., the rotation of the conveyor belts 22. The board K is conveyed on the conveying path T along the conveying direction D from the entry point Pi to the exit point Po via the processing execution point P (see FIGS. 4 to 5 ).In the subsequent detection step K 2, the board sensor 24 is operated by the control device 18 and thus detects the presence or absence of the board K in the vicinity of the entry point Pi and / or in the vicinity of the exit point Po, which are the predetermined points. That is, the board sensor 24 detects the board K existing in each detection area R at the entry point Pi and the exit point Po (see FIGS. 8 to 10 ).In the subsequent correspondence judgment step K 3, the correspondence judgment part 183 of the control device 18 judges the correspondence of the conveyed amount Dr of the board K in the conveyance step K 1 to the detection result of the board sensor 24 in the detection step K 2 (i.e., value of the signal Sc). Thereby, the correspondence judging part 183 outputs, to the drive control part 181, the stop signal Ss and, besides, to the board confirmation control part 182, the operation signal So when the carried amount Dr does not correspond to the recognition result (value of the signal Sc) (see FIG. 6 ).Further, in the subsequent stopping step K 4, the drive control part 181 acquires the stopping signal Ss output in the correspondence judgment step K 3 (see FIG. 6 ). The drive control part 181 stops the drive of the drive motor 23, i.e., the conveyance of the board K by the conveyor belts 22, after the stop signal Ss.In addition, in the subsequent confirmation step K 5, the board confirmation control part 182 acquires the operation signal So output in the correspondence judgment step K 3 (see FIG. 6 ). The board confirmation control part 182 operates the head drive mechanism 160 according to the operation signal So, and besides, makes the board camera 25 as the board confirmation part capture an image of the recognition area R in the vicinity of the entry point Pi and / or in the vicinity of the exit point Po. That is, in the confirmation step K 5, the board confirmation control part 182 confirms the presence or absence of the board K in the conveyance path T, namely, in the recognition area R, by imaging the board camera 25 in the vicinity of the entry point Pi and / or in the vicinity of the exit point Po.In subsequent decision step K 6, decision part 184 of control device 18 as a control part acquires the detection result of board sensor 24 in detection step K 2 (i.e., value of signal Sc) and the confirmation result of board camera 25 in confirmation step K 5 (i.e., image data Id for displaying the captured image) (see FIG. 6 ). The decision part 184 decides the presence or absence of the wrong detection of the board sensor 24 based on the detection result (i.e., value of the signal Sc) and the confirmation result (i.e., image data Id for representing the captured image).That is, for example, when the value of the signal Sc is "1", i.e., the board sensor 24 detects the existence of the board K in the vicinity of the entry point Pi and / or in the vicinity of the exit point Po, and yet no board K is confirmed in the image represented by the image data Id, the decision part 184 decides that the erroneous detection of the board sensor 24 is present. When it is judged that the misrecognition of the board sensor 24 is present on the side of the entry point Pi and / or at the exit point Po, that is, when it is confirmed that no board K is present in the recognition area R of the board sensor 24, the judging part 184 outputs, to the setting part 185, the request signal Sr for requesting the setting of the recognition sensitivity.For example, when the value of the signal Sc is "1", i.e., the board sensor 24 detects the existence of the board K in the vicinity of the entry point Pi and / or in the vicinity of the exit point Po, and the board K is confirmed in the image represented by the image data Id, the decision part 184 decides that there is no false detection of the board sensor 24. In this case, the decision part 184 gives a message on a display device etc. not shown that the board conveying device 20 is brought to a standstill due to failure, because, for example, the clogging of the board K occurs on the conveying path T etc.Further, the setting part 185 of the control device 18 as a control part acquires, in the subsequent setting step K 7, the request signal Sr output from the decision part 184 in the decision step K 6. The setting part 185 changes, according to the request signal Sr, the reference amount Lb of the received light stored in the light receiver 242 and / or the light receiver 244 constituting the board sensor 24 to a changed reference amount Lbn of the received light, and outputs, to the light receiver 242 and / or the light receiver 244, the changed reference amount Lbn of the received light. The setting part 185 sets the detection sensitivity of the board sensor 24 by updating and storing the changed reference amount Lbn of the received light by the light receiver 242 and / or the light receiver 244.4. Examples of the decision of presence or absence of the wrong detection of the board sensor 24 by the decision part 184Next, examples of the decision of the presence or absence of the wrong detection of the board sensor 24 by the decision part 184 will be exemplified.4-1. Example of Decision of Presence or Absence of False Detection of Board Sensor 24 Located on Entry Point Pi Side by Decision Part 184The decision of presence or absence of the wrong detection of the board sensor 24 disposed on the side of the entry point Pi will be explained with reference to FIG. 8. When the signal Sc1 representing "1" is output from the light receiver 242 of the board sensor 24 for a certain period of time or longer, the board K whose carried amount Dr is, for example, so small as to be in the vicinity of the entry point Pi exists at the entry point Pi in the detection range R of the board sensor 24 (indicated with a dot pattern rectangular in FIG. 8) as indicated by a two-dot chain line, and therefore, there is no erroneous detection. When the signal Sc1 representing "1" is not output from the light receiver 242 of the board sensor 24 for a certain period of time or longer, the board K whose carried amount Dr is so large as to be spaced from the entry point Pi does not exist in the detection area R of the board sensor 24, and therefore there is no false detection.Then, when the carried amount Dr is so large that the board K is spaced from the entry point Pi and yet the signal Sc1 representing "1" is outputted for a certain period of time or longer, the board sensor 24 detects that the board K exists in the detection area R, that is, that the board K still exists at the entry point Pi. In this case, the decision part 184 acquires, from the board camera 25, the image data Id of the image of the vicinity of the entry point Pi captured by it. In this case, the board confirmation control part 182 moves the moving stage 164 of the component transfer device 16 in the X-axis direction, and thus the board camera 25, to the upper side of the entry point Pi. By the board confirmation control part 182, the board camera 25 on the upper side of the entry point Pi is operated, thereby capturing an image of the vicinity of the entry point Pi, i.e., the recognition area R.The decision part 184 compares the image of the recognition area R represented by the image data Id obtained from the board camera 25 with a reference image of the recognition area R on the side of the entry point Pi where no board K exists, which is captured in advance. By this comparison, the decision part 184 decides that an erroneous detection occurs (erroneous detection occurs) at the board sensor 24 on the side of the entry point Pi when no board K exists in the detection area R on the side of the entry point Pi.The decision part 184 outputs the request signal Sr to the setting part 185 when it decides that there is the wrong detection on the board sensor 24 on the entry point Pi side. Thereby, the setting part 185 that acquires the request signal Sr changes the reference amount Lb of the received light stored in the light receiver 242 constituting the board sensor 24 at the entry point Pi to a low value, for example, to reduce the detection sensitivity. Then, the setting part 185 outputs, to the light receiver 242, the changed reference amount Lbn of the received light whose value is changed. Thereby, the light receiver 242 compares the changed reference amount Lbn of the received light with the amount Lr of the received light. In other words, the board sensor 24 on the entry point Pi side performs the detection of the presence or absence of the board K by the set detection sensitivity.When the detection accuracy of the light receiver 242, i.e., the changed reference amount Lbn of the received light, is changed and adjusted by the adjusting part 185, the drive control part 181 drives the stationary drive motor 23, and the conveyance of the board K by the conveyor belts 22 is resumed (retry control). When the decision part 184 again judges that there is the wrong detection of the board sensor 24 in the re-delivered of the board K according to the detection result of the board sensor 24, the setting part 185 outputs the changed reference amount Lbn of the received light and repeats the setting of the detection sensitivity of the light receiver 242 as mentioned above. This enables automatic resetting of the board conveying device 20 and thus restarting the conveying of the board K when the erroneous detection of the board sensor 24 occurs. Although it is judged that there is the wrong detection of the board sensor 24 after the execution of the detection sensitivity setting, foreign matters may exist between the light transmitter 241 and the light receiver 242, for example, on the upper surface of the conveyor belts 22, etc. For example, when it is repeatedly judged that the failed detection is present for a predetermined number of times, the worker may be notified and informed that it is to be confirmed whether or not there is the possibility of the passage of foreign matter between the light transmitter 241 and the light receiver 242.On the other hand, when the board K exists in the detection area R on the side of the entry point Pi, the decision part 184 decides that there is no false detection at the board sensor 24 on the side of the entry point Pi by comparing the image obtained from the board camera 25 with the reference image. That is, in this case, the board sensor 24 detects the board K existing in the detection area R on the entry point Pi side.This case shows, for example, a state where the board K is not moved from the entry point Pi despite the large amount Dr of the conveyance belts 22 being conveyed, i.e., a state where the clogging of the board K occurs in the vicinity of the entry point Pi, in the situation where the board K is conveyed toward the machining execution point P. For example, in the situation where the board K is conveyed out from the machining execution point P, a state in which a board K is erroneously conveyed in from the adjacent component mounting machine 10 before machining is shown.In this case, therefore, the reamer is independent of the detection accuracy of the board sensor 24, so that the board conveying device 20 is once brought to a standstill due to error, for example, in order for the worker to remove the board K existing in the vicinity of the entry point Pi. The decision part 184 may notify the worker of a display device, not shown, etc., when the board conveying device 20 is stopped due to, for example, the blockage of the board K occurring on the conveying path T.4-2. Example of Decision of Presence or Absence of False Detection of Board Sensor 24 Located on Exit Point Po Side by Decision Part 184The decision of presence or absence of the wrong detection of the board sensor 24 disposed on the exit point Po side will be explained with reference to FIG. 9. The decision of presence or absence of false detection of the board sensor 24 disposed on the exit point Po side is made in the same manner as the above-mentioned decision of presence or absence of false detection of the board sensor 24 disposed on the entry point Pi side.That is, in the case where the amount Dr carried by the machining execution point P is so small that the board K is in the vicinity of the exit point Po and the signal Sc 2 that is "1" over a certain period of time or longer is obtained, that is, in the case where the carried amount Dr corresponds to the detection result represented by the signal Sc 2, if the board K exists in the detection range R of the board sensor 24 (indicated with a dot pattern rectangular in FIG. 9 ) located on the exit point Po side, there is no false detection, as indicated with a two-dot chain line. In the case where the conveyed amount Dr is so large that the board K is spaced from the exit location Po (e.g., up to the component mounting machine 10), or the amount Dr conveyed from the machining execution location P is small and the signal Sc 2 is "0", if no board K exists in the detection range R of the board sensor 24, then there is no false detection.However, when the conveyed amount Dr is so large that the board K is spaced from the machining execution place P and yet the signal Sc 2 is "1", the board sensor 24 detects that the board K exists in the detection area R, that is, that the board K still exists at the exit place Po. When the carried amount Dr is so small that the board K is close to the machining execution place P (or the carried amount Dr is "0") and yet the signal Sc2 is "1", the board sensor 24 detects that the board K exists in the detection area R, that is, that the board K to be positioned at the machining execution place P still exists at the exit place Po.In these cases, the decision part 184 acquires, from the board camera 25, the image data Id of the image of the vicinity of the exit point Po captured by it. In this case, the correspondence judging part 183 on the control device 18 outputs the stop signal Ss to the drive control part 181. As a result, the drive control part 181 stops the drive of the drive motor 23 and thus the conveyance of the board K by the conveyor belts 22. Further, the correspondence judging part 183 on the control device 18 outputs the operation signal So to the board confirmation control part 182. Thereby, the component transfer device 16 moves the moving stage 164 in the X-axis direction and the board camera 25 to the upper side of the exit location Po, whereby the board camera 25 takes an image of the vicinity of the exit location Po on the upper side of the exit location Po.The decision part 184 compares the image of the vicinity of the exit point Po represented by the image data Id acquired from the board camera 25 with a reference image of the vicinity of the exit point Po in which no board K exists, which is captured in advance. By this comparison, the decision part 184 decides that there is false detection at the board sensor 24 on the exit point Po side when no board K exists in the vicinity of the exit point Po, i.e., in the detection area R.In this case, therefore, the reference amount Lb of the received light stored in the light receiver 244 constituting the board sensor 24 on the exit position Po side is changed and adjusted in the same manner as the board sensor 24 on the entrance position Pi side. In this case as well, the drive control part 181 drives the stationary drive motor 23 and restarts the conveyance of the board K by the conveyor belts 22. This enables automatic resetting of the board conveying device 20 and thus restarting conveyance of the board K even if the false detection occurs at the board sensor 24 disposed on the exit point Po side. In this case, even if it is judged that there is the wrong detection of the board sensor 24 after the execution of the detection sensitivity setting, foreign matters may exist between the light transmitter 243 and the light receiver 244, for example, on the upper surface of the conveyor belts 22, etc. Also in this case, for example, the worker can be notified and informed that it is to be confirmed whether or not there is the possibility of the passage of foreign matter between the light transmitter 243 and the light receiver 244 when it is repeatedly judged that there is the failed detection for a predetermined number of times.On the other hand, when the board K exists in the vicinity of the exit location Po, i.e., in the detection area R, the decision part 184 decides that there is no false detection at the board sensor 24 on the exit location Po side by comparing the image obtained from the board camera 25 with the reference image. That is, in this case, the board sensor 24 detects the board K existing in the detection area R on the exit point Po side.This case shows, for example, a state where the board K is not moved from the exit location Po despite the large amount Dr of the conveyance belts 22 being conveyed, i.e., a state where the clogging of the board K occurs in the vicinity of the exit location Po, in the situation where the board K is conveyed out from the machining execution location P. For example, in the situation where the board K conveyed in is positioned at the machining execution point P, a state in which a board K whose size is larger than that of the board K as the mounting machining object is erroneously conveyed in is shown. In the case of misfeed-in of a board K having a larger size, there is a possibility that the board K slides on the conveying path T.In this case, therefore, the board sensor 24 is normal and the error is independent of the detection accuracy of the board sensor 24, so that the operation of the board conveying device 20 is once brought to a standstill due to the error, for example, in order for the worker to remove the board K existing in the vicinity of the exit location Po or at the machining execution location P. In this case as well, the decision part 184 may notify the worker, via a display device, etc., not illustrated, that the board conveying device 20 is brought to a standstill due to failure.4-3. Example of Decision Part 184 Deciding Presence or Absence of False Detection of Board Sensors 24 Located on Entry Point Pi Side and Exit Point Po SideThe decision of presence or absence of the wrong detection in the case where the two board sensors 24 disposed on the entry point Pi side and the exit point Po side respectively detect the board K will be explained with reference to FIG. 10. In the explanation, the situation is assumed in which the signal Sc representing "1" is output from the light receiver 242 of the board sensor 24 disposed on the side of the entry point Pi for a certain period of time or longer and also the signal Sc representing "1" is output from the light receiver 244 of the board sensor 24 disposed on the side of the exit point Po for a certain period of time or longer as mentioned above.In this situation, a case is presumed in which the board sensor 24 disposed on the exit point Po side outputs the signal Sc 2 of "1", for example, in a state in which the board K is conveyed along the conveyance path T from the entry point Pi to the machining execution point P. In this case, the board sensor 24 disposed on the exit point Po side detects that the board K exists in the detection area R (denoted by a dot pattern rectangular in FIG. 10 ), that is, that the board K exists at the exit point Po, although the board K is located during conveyance into the machining execution point P.That is, it is presumed that the board sensor 24 disposed on the entry point Pi side outputs the signal Sc 1 of "1" in a state where the board K is conveyed out along the conveyance path T from the machining execution point P toward the exit point Po. In this case, the board sensor 24 disposed on the side of the entry point Pi detects that the board K exists in the detection area R (denoted by a dot pattern rectangular in FIG. 10 ), that is, that the board K exists at the entry point Pi, although the board K is located during the conveyance from the machining execution point P.In these cases, the decision part 184 acquires, from the board camera 25, the image data Id of the image of the vicinity of the exit location Po including the recognition area R captured by it and / or the image data Id of the image of the vicinity of the entry location Pi including the recognition area R. Therefore, the correspondence judgment part 183 on the control device 18 outputs the operation signal So to the board confirmation control part 182. Thereby, the component transfer device 16 moves the moving stage 164 in the X-axis direction and the board camera 25 to the upper side of the exit location Po and / or entry location Pi, whereby the board camera 25 takes an image on the upper side of the exit location Po and / or entry location Pi.Also in this case, the correspondence judging part 183 on the control device 18 outputs the stop signal Ss to the drive control part 181. As a result, the drive control part 181 stops the drive of the drive motor 23 and thus the conveyance of the board K by the conveyor belts 22.Then, the decision part 184 compares the image of the vicinity of the exit point Po represented by the image data Id acquired from the board camera 25 with the image of the vicinity of the exit point Po in which no board K exists, captured in advance. By this comparison, the decision part 184 decides that there is false detection of the board sensor 24 on the exit point Po side when there is no board K in the vicinity of the exit point Po, i.e., in the detection area R.In addition, the decision part 184 compares the image of the vicinity of the entry point Pi represented by the image data Id acquired from the board camera 25 with the image of the vicinity of the entry point Pi in which no board K exists, which is captured in advance. By this comparison, the decision part 184 decides that there is false detection of the board sensor 24 on the side of the entry point Pi when there is no board K in the vicinity of the entry point Pi, i.e., in the detection area R.In this case, therefore, each reference amount Lb of the received light stored in the light receiver 242 constituting the board sensor 24 on the side of the entrance location Pi and / or the light receiver 244 constituting the board sensor 24 on the side of the exit location Po is changed and adjusted. In this case as well, the drive control part 181 drives the stationary drive motor 23 and restarts the conveyance of the board K by the conveyor belts 22. This enables automatic resetting of the board conveying device 20 and thus restarting conveying of the board K even if the false detection occurs at the board sensor 24 disposed on the entry point Pi side and / or on the exit point Po side. Also in this case, for example, the worker can be notified and informed that it is to be confirmed whether or not there is the possibility of the passage of foreign matter between the light transmitter 241 (and / or light transmitter 243) and the light receiver 242 (and / or light receiver 244) when it is repeatedly judged that the failed recognition is present for a predetermined number of times.On the other hand, when the board K exists in the vicinity of the exit location Po, i.e., in the detection area R, the decision part 184 decides that the board sensor 24 does not have false detection on the exit location Po side by comparing the image obtained from the board camera 25 with the reference image. That is, in this case, the board sensor 24 detects the board K existing in the detection area R on the exit point Po side.This case shows, for example, a state in which a board K whose size is larger than that of the board K as a mounting work is erroneously conveyed in in the situation where the board K conveyed in is positioned at the work execution point P. In this case, therefore, the board sensor 24 is normal, and the error is independent of the detection accuracy of the board sensor 24. At this time, the operation of the board conveying device 20 is once brought to a standstill due to failure, for example, in order for the worker to remove the board K existing in the vicinity of the exit location Po or at the machining execution location P.Also, by comparing the image obtained from the board camera 25 with the reference image, the decision part 184 decides that there is no erroneous detection of the board sensor 24 on the side of the entry point Pi when the board K exists in the vicinity of the entry point Pi, i.e., in the detection area R. That is, in this case, the board sensor 24 detects the board K existing in the detection area R on the entry point Pi side.This case shows, for example, a state where a board K is erroneously conveyed in from the machining execution point P by the adjacent component mounting machine 10 before machining. In this case, therefore, the error is independent of the detection accuracy of the board sensor 24. At this time, the operation of the board conveying device 20 is once stopped due to failure, for example, to allow the worker to remove the board K existing near the entry point Pi.As understood from the above explanation, by the board conveying device 20, the presence or absence of misrecognition of the board sensor 24 during production can be automatically detected. Thereby, in the case where the wrong detection occurs at the board sensor 24 (the wrong detection is present), the time required for the confirmation can be shortened, in other words, the production downtime can be shortened, whereby the impact on productivity can be reduced.Further, by the board conveying device 20, in the case where the decision part 184 decides that there is the wrong detection at the board sensor 24, the detection sensitivity of the board sensor 24, that is, the reference amount Lb of the received light at the light receiver 242 and / or the light receiver 244 can be changed to the changed reference amount Lbn of the received light by the setting part 185, and thus automatically set. That is, on the board conveying device 20, the detection sensitivity of the board sensor 24 can be automatically adjusted even during production. Therefore, the production downtime for setting the detection sensitivity of the board sensor 24 can be shortened, whereby the impact on productivity can be reduced. In addition, since the presence or absence of the wrong detection of the board sensor 24 is automatically judged, the burden on the worker can be reduced, and when it is judged that the wrong detection is present, the detection sensitivity can be automatically adjusted. Further, the board detection method can also achieve the same advantage as the board conveying device 20.5. First Variant ExampleIn the above-mentioned embodiment, the board camera 25 is used as the board confirmation part. However, the board confirmation part is not limited to the board camera 25 as long as it can recognize presence or absence of the board K at a predetermined location, for example, at the entry location Pi and / or exit location Po. In the case of using the board confirmation part, it is advantageous that a device provided on the board processing machine (e.g., component mounting machine 10) in advance may be used as the board confirmation part. Thereby, the production cost can be lower than in the case where a device, etc., functioning as the board confirmation part is separately provided.As an example of the board confirmation part except the board camera 25, a distance sensor that may be provided on the component mounting machine 10 in advance may be cited. The distance sensor can be installed, in the same manner as the board camera 25, on the moving stage 164 constituting the head driving mechanism 160. This allows the distance sensor to be moved in the horizontal direction, i.e., in the X and Y axis directions. The distance sensor can be moved in the horizontal direction and measure the distance from the upper surface of the board K. By measuring the distance by the distance sensor, for example, the height of the board K, i.e., the physical quantity corresponding to the thickness of the board K, with respect to the upper surface of the conveyor belts 22 for conveying the board K can be obtained.Therefore, the presence or absence of the board K on the conveying path T can be detected by obtaining the distance measured by the distance sensor. Thereby, the same advantage as in the above-mentioned embodiment can be obtained even when a distance sensor is used as the board confirmation part.6. Second Variant ExampleIn the above-mentioned embodiment, by driving the head driving mechanism 160, the board camera 25 as the board confirmation part is moved to the vicinity of the entry point Pi or exit point Po to thereafter take an image of the vicinity of the entry point Pi or exit point Po. In the above-mentioned first variant example, by driving the head driving mechanism 160, the distance sensor as the board confirmation part is moved to the vicinity of the entry point Pi or exit point Po to thereafter measure the distance in the vicinity of the entry point Pi or exit point Po. Thereby, the presence or absence of the board K is confirmed in the detection area R provided in the vicinity of the entry point Pi and / or in the vicinity of the exit point Po.In the image capturing by the board camera 25, it is also possible for the board camera 25 to continuously capture an image of the conveying path T, for example, while moving along the conveying path T by the head drive mechanism 160. In the case of using the distance sensor as the board confirmation part, it is also possible that the distance sensor continuously measures the distance from the conveying path T, for example, by moving along the conveying path T by the head drive mechanism 160. This also enables the location where the board K exists on the conveying path T to be recognized, whereby the decision accuracy for the presence or absence of the wrong recognition at the board sensor 24 can be increased.7. Further Variant ExamplesIn the above-mentioned embodiment and the individual variant examples, the case where the board sensor 24 is a transmission-type photoelectric sensor including a light transmitter 241, 243 and light receivers 242, 244 is exemplified. However, the board sensor 24 is not limited to the transmission type photoelectric sensor. For example, a contact sensor that is brought into contact with the board K and thus detects the presence or absence of the board K, a weight sensor that measures the weight of the continuous board K and thus detects the presence or absence of the board K, etc. may be used.In addition, in the above-mentioned embodiment and the individual variant examples, the detection sensitivity of the board sensor 24 is set by the setting part 185 when the erroneous detection of the board sensor 24 occurs by the decision part 184. In addition, for example, the light emitter 241, 243 and the light receiver 242, 244 of the board sensor 24 may be cleaned when the erroneous detection of the board sensor 24 occurs. As a result, adhering foreign bodies, for example, can be removed and thus the detection sensitivity can be maintained appropriately.LIST OF REFERENCE CHARACTERS10 Component mounting machine 11 Processing machine main body 12 Frame 13 Cover member 13 a Platinen conveying opening 14 Positioning device 15 Component supply device 16 Component transfer device 160 Head drive mechanism 164 Moving stage 165 Processing head 17 Component camera 18 Control device (control part) 181 Drive control part 182 Board confirmation control part 183 Correspondence judgment part 184 Decision part 185 Setting part 20 Board conveying device 21 Guide rail 211 Tape guide 22 Conveyor belt (drive part) 23 Drive motor (drive part) 24 Board sensor 241, 243 Light transmitter 242, 244 Light receiver 25 Board camera (board confirmation part) 26 Pulley group (driving part) K Board S Work space T Conveyance path D Conveyance direction P Processing execution point Pi Entry point (predetermined point) Po Exit point (predetermined point) Ld Detection light Lr Amount of received light Lb Reference amount of received light Lbn Changed reference amount of received light R Detection area Id Image data Dr Conveyed amount Sc (Sc 1, Sc 2) Signal Sr Request signal Ss Stop signal So Operation signal K 1 Conveyance step K 2 Detection step K 3 Correspondence judgment step K 4 Stop step K 5 Confirmation step K 6 Decision step K 7 Setting stepReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedJP 2015-126210 A

[0002] JP 2009-076633 A

[0002]

Claims

A board conveying apparatus comprising a driving part for conveying a board along a conveying path, board sensors which are set up at predetermined locations on the conveying path and detect the presence or absence of the board at the predetermined locations, a board confirmation part which is provided movably in the horizontal direction and can confirm the presence or absence of the board in the conveying path, and a control part which, in the case where the amount of the board conveyed by the driving part does not correspond to the detection result of the board sensor, controls the driving part so as to stop the conveyance of the board and besides controls the board confirmation part so as to confirm the presence or absence of the board in the conveying path, wherein the control part comprises a decision part, which decides the presence or absence of false detection of the board sensor based on the detection result of the board sensor and the confirmation result by the board confirmation part.The board conveying device according to claim 1, wherein the control part includes a setting part that sets the detection sensitivity in the case where the wrong detection of the board sensor is decided by the decision part.The board conveying device according to claim 2, wherein the setting part sets the detection sensitivity of the board sensor in the case where the absence of the board in the detection range of the board sensor is confirmed by the board confirmation part.The board conveying device according to claim 2 or 3, wherein the control part performs the setting of the detection sensitivity of the board sensor by the setting part based on the confirmation result by the board confirming part, and thereafter, tries the conveying of the board by the driving part again.The board conveying device according to claim 1 or 2, wherein the board sensor includes a light transmitter disposed facing the predetermined location of the conveying path and transmitting a detection light toward the predetermined location within the detection range, and a light receiver disposed facing the predetermined location and receiving the detection light.The board conveying device according to claim 5, wherein the light transmitter and the light receiver are provided on the conveying path at an entry point for conveying the board into a processing execution point at which the board processing for the board is performed, and besides at an exit point for conveying the board out of the processing execution point.The board conveying device according to claim 5, wherein the board sensor detects that the board passes through the predetermined location when the amount of the detection light received by the light receiver is less than a reference amount of the received light.The board conveying device according to claim 1 or 2, wherein the board confirmation part is a camera that can capture an image of the board and can capture an image of at least a part of the detection range of the board sensor.The board conveying device according to claim 8, wherein in the case where the conveyed amount of the board does not correspond to the detection result of the board sensor, the decision part decides presence or absence of false detection of the board sensor by comparing the image of the detection area captured by the camera with a reference image of the detection area captured in advance.The board conveying device according to claim 8, wherein the deciding part confirms presence or absence of the board on the conveying path based on an image of the conveying path that the camera continuously captures while moving along the conveying path, and thus decides presence or absence of misrecognition of the board sensor.The board conveying device according to claim 8, wherein the camera is a board camera provided movably integrally with a processing head for performing board processing for the board, and capable of capturing an image of the upper side of the board positioned at the predetermined location on the conveying path.The board conveying device according to claim 1 or 2, wherein the board confirmation part is a distance sensor that can measure a relative distance from the board and is measurement-operable at a location including at least a part of the detection range of the board sensor.The board conveying device according to claim 12, wherein in the case where the conveyed amount of the board does not correspond to the detection result of the board sensor, the decision part decides presence or absence of the wrong detection of the board sensor based on the measurement result measured by the distance sensor at the location including at least the detection range.The board conveying device according to claim 12, wherein the distance sensor is provided movably integrally with a processing head for performing board processing for the board, and is capable of measuring the upper side of the board positioned at the predetermined position on the conveying path.The board conveying device according to claim 1 or 2, wherein the board confirmation part confirms presence or absence of the board at least in the case of the board detection continued by the board sensor at an entry point where the board is conveyed into a processing execution point where the board processing for the board is performed, or in the case of the board detection continued by the board sensor at an exit point where the board is conveyed out from the entry point and the processing execution point.A board detection method applied to the board conveying device according to claim 1 or 2, comprising a conveying step in which the driving part conveys the board along the conveying path, a detecting step in which the board sensor detects the presence or absence of the board at the predetermined location, a stopping step in which the conveyance of the board by the driving part is stopped in the case where the conveyed amount of the board in the conveying step does not correspond to the detection result of the board sensor in the detecting step, a confirming step in which the board confirming part confirms the presence or absence of the board in the conveying path, and a deciding step, in which the presence or absence of the wrong detection of the board sensor is decided in the confirmation step based on the detection result of the board sensor in the detection step and the confirmation result of the board confirmation part in the confirmation step.

Images