Surface mounting machine

Abstract

To shorten the stop time of a surface mounting machine due to a suction error.SOLUTION: A surface mounting machine 10 for mounting a component E on a substrate PX includes a feeder F for supplying the component E to a suction position O, a head unit 33 having a mounting head 42 for sucking and holding the component E, a plurality of cameras 45, 46 attached to the head unit 33, and a controller 200. The feeder F is a tape feeder that supplies the components E to the suction position O using a carrier tape 71 provided with pockets 73 for accommodating the components E at regular intervals. The plurality of cameras 45 and 46 have different photographing directions of an object. When a suction error occurs, the controller 200 changes the cameras 45 and 46 to be used on the basis of a combination of colors of the carrier tape 71 and the component E, photographs the suction position O of the feeder F, and automatically performs heading of the component E on the basis of the result.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present invention relates to a surface mounter. [Background technology]

[0002] One of the component supply devices used in surface mounters is a tape feeder. A tape feeder is a device that supplies components using a tape that has pockets at regular intervals for accommodating components. Patent Document 1 below is a document that discloses technology related to tape feeders. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-273812 Summary of the Invention [Problem to be solved by the invention]

[0004] Surface mounters that use tape feeders can experience pickup errors when components are not picked up correctly due to improper component placement or incorrect component placement. In such cases, the operator must manually perform component placement, causing the surface mounter to be down for longer than necessary. An object of the present invention is to shorten the downtime of a surface mounter due to a suction error. [Means for solving the problem]

[0005] (1) A surface mounter that mounts components on a board includes a feeder that supplies components to a pickup position, a head unit having a mounting head that picks up and holds the components, multiple cameras attached to the head unit, and a controller.

[0006] The feeder is a tape feeder that supplies components to the pickup position using a carrier tape that has pockets at regular intervals for accommodating the components. The plurality of cameras photograph the object in different directions.

[0007] When a suction error occurs, the controller changes the camera to be used based on the color combination of the carrier tape and the component to photograph the suction position of the feeder, and automatically performs cueing of the component based on the results.

[0008] According to (1), if a pickup error occurs, the camera photographs the pickup position of the feeder and automatically aligns the component. This reduces the downtime of the surface mount machine due to a pickup error. In addition, because the camera can switch the photography direction depending on the color combination of the carrier tape and the component, component recognition accuracy is high and component alignment can be performed accurately.

[0009] (2) In the surface mounter described in (1), the plurality of cameras may include a first camera that photographs the object from the front and a second camera that photographs the object from an oblique direction. According to (2), by selecting the first camera, a planar image of the component can be acquired. Furthermore, by selecting the second camera, a three-dimensional image of the component can be acquired.

[0010] (3) In the surface mounter described in (2), the controller may use the first camera when the carrier tape and the component are different in color. According to (3), the presence or absence of a component in the recognition area can be determined by detecting a change in color.

[0011] (4) In the surface mounter described in (2), the controller may use the second camera when the carrier tape and the component are the same color. According to (4), the presence or absence of a component in the recognition area can be determined by detecting the height.

[0012] (5) In the surface mounter described in (2), the controller may use both the first camera and the second camera when the contrast between the carrier tape and the components is low. According to (5), even when the contrast is low, it is possible to determine whether or not a component is present in the recognition area.

[0013] (6) In the surface mounter according to any one of (1) to (5), when an empty pocket is detected as a result of photographing the pickup position, the controller may pitch-feed the carrier tape until a component is confirmed at the pickup position to locate the component. According to (6), empty pockets can be automatically located.

[0014] (7) In the surface mounter according to any one of (1) to (5), when the controller detects a positional deviation of the carrier tape as a result of photographing the pickup position, the controller may calculate the amount of deviation of the carrier tape from the photographed result, correct the positional deviation, and then feed the carrier tape by a pitch to align the component. According to (7), the positional deviation of the carrier tape can be automatically corrected and align the component. [Effects of the Invention]

[0015] According to the present invention, it is possible to reduce the downtime of the surface mounter due to a suction error. [Brief explanation of the drawings]

[0016] [Figure 1] Plan view of surface mounter [Figure 2] Head unit side view [Figure 3] Diagram showing the component mounting operation [Figure 4A] FIG. 10 shows the photographing operation of the first camera. [Figure 4B] FIG. 10 shows the photographing operation of the second camera. [Figure 4C] A diagram showing the shooting operation using both the first and second cameras [Figure 5] Perspective view of component supply tape [Figure 6]Front view of the feeder [Figure 7] Tape guide plan view [Figure 8] Surface mounter block diagram [Figure 9A] A diagram showing an image of the normal pickup position [Figure 9B] Diagram showing misalignment of carrier tape [Figure 9C] Diagram showing empty pockets [Figure 10A] Diagram showing the recognition area (view of suction position O from above) [Figure 10B] Diagram showing the recognition area (view of suction position O from above) [Figure 11] Diagram showing the part indexing operation [Figure 12] Diagram showing the part indexing operation [Figure 13A] Diagram showing carrier tape and component color combinations [Figure 13B] Diagram showing carrier tape and component color combinations [Figure 14] Parts pickup flow DETAILED DESCRIPTION OF THE INVENTION

[0017] <Embodiment> 1. Surface Mounting Machine Description The surface mounter 10 is a device that mounts components E on a substrate PX (operations from component removal to mounting), and as shown in Figures 1 and 2, it is equipped with a base 31, a transport conveyor 32, a head unit 33, and a drive device 34. In the following description, the transport direction of the substrate PX is defined as the X direction, and the direction perpendicular to this is defined as the Y direction. The up-down direction (height direction) is defined as the Z direction.

[0018] The transfer conveyor 32 is disposed in the center of the base 31. The transfer conveyor 32 is provided with a pair of transfer belts 35, and transfers the substrate PX in the X direction.

[0019] A component supply unit 43 is installed on the base 31 so as to surround a work position G in the center of the base. A large number of feeders F are installed side by side in the component supply unit 43 to supply components E. The components E are electronic components such as resistors and capacitors.

[0020] The driving device 34 is a device that moves the head unit 33 in a planar direction (X and Y directions) on the base 31. The driving device 34 is made up of a Y-axis ball screw 36, a Y-axis motor 37, an X-axis ball screw 38, and an X-axis motor 39.

[0021] By driving the Y-axis motor 37, the X-beam 40 and the head unit 33 can be moved in the Y direction along the guide rails 41 (Y-axis servo mechanism).

[0022] By driving the X-axis motor 39, the head unit 33 can be moved in the X direction relative to the X-beam 40 (X-axis servo mechanism).

[0023] 2, the head unit 33 is equipped with a plurality of mounting heads 42. Each mounting head 42 is configured to be able to move up and down independently relative to the head unit 33 by a linear motion mechanism (for example, a screw mechanism) driven by a Z-axis motor 42A. In addition, each mounting head 42 is able to rotate around the R axis.

[0024] Negative pressure is supplied to the mounting head 42 from a negative pressure means, generating a suction force at the tip of the head. The mounting head 42 is able to hold the component E by using the negative pressure. Furthermore, by releasing the negative pressure, the component E can be released from its hold.

[0025] FIG. 3 is a diagram showing a support structure for the substrate PX, in which reference numeral 55 denotes a backup base that can be raised and lowered, and reference numeral 57 denotes backup pins that support the substrate PX.

[0026] 3, the substrate PX is structured to be supported from below by backup pins 57 at work position G. After a component E is taken out from a feeder F, a mounting process is performed by head unit 33 to mount the component E onto the backed-up substrate PX.

[0027] As shown in FIG. 2, the head unit 33 is equipped with a first camera 45 and a second camera 46.

[0028] As shown in FIG. 4A, the first camera 45 photographs the object M from the front. The first camera 45 can acquire a planar image of the object M. The first camera 45 may be a fiducial camera that photographs the FID mark on the substrate PX. The first camera 45 may be a monochrome camera or a color camera.

[0029] As shown in FIG. 4B, the second camera 46 captures an image of the object M from an oblique direction. The second camera 46 can acquire height information (a three-dimensional image) of the object M. The second camera 46 may be a monocular camera or a compound camera. The second camera 46 may be a monochrome camera or a color camera.

[0030] 2, the first camera 45 is disposed to the left of the head unit 33, and the second camera 46 is disposed to the right of the head unit 33, but the two cameras 45, 46 may be disposed in any manner as long as two types of cameras 45, 46 are mounted on the head unit 33. For example, the first camera 45 and the second camera 46 may be disposed to the left of the head unit 33, and the first camera 45 and the second camera 46 may also be disposed to the right.

[0031] Furthermore, as shown in FIG. 4C, it is also possible to photograph the object M from two directions (front and diagonal) by using two cameras 45 and 46 together and taking two photographs.

[0032] The first camera 45 and the second camera 46 can be moved to any position on the base together with the head unit 33, making it possible to photograph the board PX stopped at the work position G and the feeder F installed in the component supply section 43.

[0033] 2. Configuration of component supply tape 70 and feeder F As shown in FIG. 5, the component supply tape 70 is made up of a carrier tape 71 and a cover tape 75.

[0034] The carrier tape 71 has pockets 73 at a predetermined feed pitch L. The pockets 73 are open upward and contain components E such as chip resistors. The carrier tape 71 is made of synthetic resin. The carrier tape 71 is a single color such as white or black.

[0035] The cover tape 75 is a flexible thin sheet, and both side edges in the tape width direction are attached to the upper surface of the carrier tape 71. The cover tape 75 covers the upper surface of the pocket 73 to prevent the component E from jumping out of the pocket 73.

[0036] Additionally, engagement holes 72 are provided at regular intervals along the edge of one side of the carrier tape 71.

[0037] The feeder F is a tape feeder that uses a component supply tape 70 to supply a component E to a suction position O, and as shown in FIG. 6, includes a drive device 80, a tape guide 90, a winding device 100, and a frame 110 to which these are attached.

[0038] In describing the feeder F, the side where the suction position O is installed (the right side in FIG. 6) is referred to as the "front side," and the opposite side of the suction position O (the left side in FIG. 6) is referred to as the "rear side."

[0039] The frame 110 is elongated in the front-rear direction (Y direction) and is made of, for example, die-cast aluminum. The frame 110 is provided with a tape passage 111 through which the component supply tape 70 passes.

[0040] The drive unit 80 is provided on the front side of the frame 110. The drive unit 80 is made up of a motor 81, a gear train 83 made up of multiple gears, and a sprocket 85. The gear train 83 transmits the power of the motor 81 to rotate the sprocket 85.

[0041] The sprocket 85 has teeth 86 formed at equal intervals on its outer periphery. The teeth 86 of the sprocket 85 engage with the engaging holes 72 of the component supply tape 70.

[0042] Rotation of the sprocket 85 pitch-feeds the carrier tape 71, allowing the components E in the pocket 73 to be moved one by one to the suction position O. Pitch-feeding means that the carrier tape 71 is transported at a constant feed pitch L. In this embodiment, the suction position O is set approximately at the top of the sprocket 85.

[0043] The tape guide 90 is long from front to back and is installed at the front of the top surface of the frame 110. The tape guide 90 has guide walls that guide both sides of the component supply tape 70, preventing the component supply tape 70 from tilting as it is fed along the top surface of the frame.

[0044] The frame 110 is provided with a front locking portion 113 and a rear locking portion 115 at positions corresponding to the front and rear ends of the tape guide 90. The tape guide 90 is configured to be attached to the frame 110 by being locked at the front and rear by these two locking portions 2113, 115.

[0045] As shown in FIG. 7, the top wall of the tape guide 90 is provided with a slit 91 and component removal holes 95 at the front and rear.

[0046] The component removal hole 95 is provided directly above the suction position O to allow removal of the component E at the suction position O. In addition, an escape hole 97 is provided to the side of the component removal hole 95 (upper side in FIG. 7 ). The escape hole 97 is provided to avoid interference with the teeth 86 provided on the outer periphery of the sprocket 85.

[0047] The slit 91 is for folding back the cover tape 75. The slit 91 is located upstream of the suction position O, and the cover tape 75 is folded back backward (to the left in FIG. 7) when it passes directly below the slit 91, and is then peeled off from the carrier tape 71 by the winding device 100.

[0048] After the cover tape 75 is peeled off, the carrier tape 71 is sent alone to the suction position O. Therefore, at the suction position O, the component E can be removed from the pocket 73 through the component removal hole 95.

[0049] Further, at the lower center of the frame 110, a circuit board 140 having a control unit 130 for controlling the drive device 80 mounted thereon is housed in a board housing portion 150. A connector 150A is provided at the front end of the board housing portion 150.

[0050] When the feeder F is attached to the component supply unit 43, the connector 150A of the board accommodating unit 150 is electrically connected to the mating connector of the component supply unit 43.

[0051] By connecting the connector, the feeder F is electrically connected to the surface mounter 10. This allows the feeder F to receive power from the surface mounter 10 and to communicate various control signals with the controller 200 of the surface mounter 10.

[0052] 8, the surface mounter 10 includes a controller 200, an X-axis motor 39, a Y-axis motor 37, a Z-axis motor 42A, a first camera 45, a second camera 46, and a feeder communication unit 47. A plurality of feeders F are connected to the feeder communication unit 47.

[0053] The controller 200 includes a CPU 210 and a memory 220. The controller 200 controls the X-axis motor 39, the Y-axis motor 37, and the Z-axis motor 42A in accordance with a mounting program recorded in the memory 220, and executes the process of mounting the component E on the board PX.

[0054] 3. Pickup errors and component placement A pickup error occurs when a component E is picked up incorrectly due to a faulty placement of the component E or a mistake in the placement work. In such cases, the operator manually performs the placement work for the component E, causing the surface mounter 10 to stop for an unnecessarily long time.

[0055] The cueing of the component E is an operation of sending the first component E to the pickup position O and preparing it for removal.

[0056] When the feeding operation of component E is functioning normally, component E is positioned above pickup position O when viewed from directly above, as shown in FIG. 9A, and component E can be picked up and removed from pickup position O.

[0057] One cause of pickup errors is, for example, as shown in Figure 9B, a pitch deviation (distance d) of carrier tape 71 relative to feeder F, which can cause the position of component E to deviate from pickup position O. Also, as shown in Figure 9C, there is empty tape. An empty tape occurs when component E is not contained in pocket 73, and this occurs, for example, when component E is not properly set in pocket 73 or when component E falls during splicing.

[0058] In this invention, when a pickup error occurs, cameras 45 and 46 are moved above pickup position O to photograph pickup position O and automatically locate component E. By automating the location, it is possible to shorten the downtime of surface mounter 10 due to a pickup error.

[0059] <Recognition area of ​​cameras 45 and 46> 10A and 10B are plan views of the suction position O of the feeder F as seen from directly above. The carrier tape 71 is white, and the components E are black (in the figures, the black is shown as halftone dots), and a dashed frame K centered on the suction position O indicates the recognition area of ​​the cameras 45 and 46.

[0060] Specifically, the recognition area K is a rectangle of D × L, where D is the tape width of the carrier tape 71 and L is the feed pitch L of the carrier tape 71. In Figures 10A and 10B, the width of the recognition area K is slightly wider than the tape width D to make the recognition area K easier to understand.

[0061] If the cause of the suction error is misalignment of the carrier tape 71, the center of the pocket (= center of the component) will be misaligned from the suction position O, and the suction position O will be white, with the areas above and below it black (shown as halftone dots in the figure). Also, in the case of an empty pocket, as shown in Figure 10B, there is no component E at the suction position O, and the recognition area K remains white with no color change.

[0062] <Cueing operation> (1) When the carrier tape 71 is misaligned As shown in FIG. 11, the positional deviation of the carrier tape 71 in the Y direction is corrected, and then the carrier tape 71 is fed by a pitch, whereby the component E can be located.

[0063] The positional deviation can be corrected, for example, based on distances A, B, and C in Fig. 11. Distance A is the distance from pickup position O to the leading edge of component E, and distance B is half the feed pitch L (B = L / 2). Distance C is the distance between components in the Y direction.

[0064] The difference (BA) is found from the distance B and the distance A, and the carrier tape 71 is moved back by the difference (BA). Thereafter, the carrier tape 71 is further moved back by a distance C / 2, thereby correcting the positional deviation.

[0065] (2) Blank tape As shown in FIG. 12, by pitch-feeding the carrier tape 71 until the component E moves to the pickup position O, the component E can be cue-located.

[0066] <Camera used to photograph suction position O> Depending on the color combination of the carrier tape 71 and the component E, the image obtained by photographing may differ, and the detection accuracy of the component E in the recognition area K may decrease.

[0067] Therefore, the cameras 45 and 46 used for photographing are changed depending on the combination of the color of the carrier tape 71 and the component E. The color of the component E is the color of the resin portion to be molded.

[0068] Specifically, the change is made by combining (1) to (3). (1) When the color of carrier tape 71 and component E are different (2) When the color of carrier tape 71 and component E are the same (3) When the contrast (brightness difference) between carrier tape 71 and component E is low

[0069] <When the colors of carrier tape 71 and component E are different> <Example (see Figure 13A)> (a) When carrier tape 71 is white and component E is black (b) When carrier tape 71 is black and component E is white

[0070] As shown in Fig. 4A, a first camera 45 is used. By detecting color changes from the planar image captured by the first camera 45, it is possible to recognize the presence or absence of component E within the recognition area K. For example, if there is a color change in the Y direction, such as from white to black, or from black to white, it can be determined that component E is present.

[0071] <When carrier tape 71 and component E are the same color> <Example (see Figure 13B)> (a) When carrier tape 71 is white and component E is white (b) When carrier tape 71 is black and component E is black

[0072] As shown in Fig. 4B, a second camera 46 is used. By detecting the height of the component E from the stereoscopic image captured by the second camera 46, it is possible to recognize whether or not the component E is present within the recognition area K. For example, when the component height H = 0 mm, there is no component, and when the component height H > 0 mm, there is a component.

[0073] <When the color contrast (brightness difference) between carrier tape 71 and component E is low> 4C, a first camera 45 and a second camera 46 are used in combination. By using the first camera 45 and the second camera 46 in combination, the presence or absence of a component E within a recognition area K can be recognized by taking into account color changes and component height information.

[0074] Whether the color combination of the carrier tape 71 and the component E falls into one of (1) to (3) can be determined, for example, by the following method.

[0075] Information on the color combination of the tape 71 and the component E is stored in memory 220 in association with the ID number of each feeder F. When a suction error occurs, controller 200 accesses memory 220 and reads out the color combination information from the ID information of the feeder F where the error occurred.

[0076] This makes it possible to obtain the color combination of the tape 71 and the component E attached to the feeder F where the error occurred, and to change the cameras 45 and 46 used to photograph the pickup position O.

[0077] 4. Parts pickup flow 14 shows the component pickup flow. The component E pickup flow is made up of steps S10 to S130, and is executed after the board PX is carried into the work position G and backed up.

[0078] When the pickup flow starts, the process proceeds to S10, and the controller 200 moves the head unit 33 to above the pickup position O of the feeder F. Then, the component E at the pickup position O is picked up by the mounting head 42 and taken out from the feeder F.

[0079] Thereafter, the process proceeds to S20, where the controller 200 determines whether the suction state of the component E picked up in S10 is good or bad. The quality of the suction state can be determined based on the negative pressure of the mounting head 42.

[0080] If the pickup status of component E is normal, a YES determination is made in S30, and the process proceeds to S90. After proceeding to S90, automatic operation continues. Specifically, the process proceeds to the component E mounting process, and the component E picked up in S10 is mounted on the board PX.

[0081] If there is a pickup error for component E, a pickup error occurs, a NO determination is made in S30, and the process moves to S40.

[0082] When the controller 200 proceeds to S40, it moves the cameras 45, 46 mounted on the head unit 33 to above the suction position O of the feeder F where the suction error occurred, and captures an image of the suction position O. At this time, the controller 200 changes the cameras 45, 46 used for capturing the image depending on the color combination of the carrier tape 71 and the component E.

[0083] After the image is taken, the process proceeds to S50, where the controller 200 captures the images taken in S40 from the cameras 45 and 46.

[0084] Thereafter, the process proceeds to S60, where the controller 200 performs recognition processing on the image captured in S50. The recognition processing is processing for confirming whether or not the part E is present in the recognition area K.

[0085] If component E exists in recognition area K (S60: YES), the process proceeds to S70. When the process proceeds to S70, controller 200 determines whether the entire component has been recognized. Specifically, if a shape equivalent to the component data can be recognized from the image, it is determined that the entire component has been recognized.

[0086] If the entire component can be recognized (S70: YES), it can be determined that the first component E is present at pickup position O. In this case, the process proceeds to S90, and automatic operation continues. Specifically, the process returns to the pickup process of component E, and the operation of removing component E from pickup position O of feeder F is performed.

[0087] If the entire component cannot be recognized within the recognition area K (S70: NO), it is determined that the carrier tape 71 is misaligned. In this case, the process proceeds to S80, and the controller 200 cooperates with the control unit 130 of the feeder F in which the error occurred to control the drive device 80 and perform a cueing operation for the component E. Specifically, the misalignment of the carrier tape 71 is corrected, and then the carrier tape 71 is fed by a pitch.

[0088] After S80 is executed, the process proceeds to S90, and automatic operation continues. Specifically, the process returns to the pickup step of component E, and the work of removing component E from pickup position O of feeder F is performed.

[0089] If component E does not exist in recognition area K (S60: NO), there is a possibility that the suction position O is an empty pocket. In this case, the process proceeds to S100, and the controller 200 checks whether it has been determined that there is no component three times in succession in S60.

[0090] If it is not determined that there is no component three times in a row, the process proceeds to S110, and the controller 200 cooperates with the control unit 130 of the feeder F in which the error occurred to control the drive device 80 and perform the cueing operation for the component E. Specifically, the carrier tape 71 is fed by a pitch.

[0091] Thereafter, the process returns to S40, and processing is executed to photograph the pickup position O with the cameras 45 and 46. If the cueing of the component E is successful, after execution of S50, the determination is YES in S60 and YES in S70. Therefore, the process proceeds to S90, and automatic operation continues.

[0092] If the cueing of part E has not been successful, after S50 is executed, a NO determination is made in S60 and the process returns to S100. Thereafter, the process proceeds to S110 and a second cueing operation is executed.

[0093] Then, even if the third cueing operation is performed, if the determination in S60 is NO, the determination in S100 is YES.

[0094] In this case, the controller 200 determines in S120 that the component is out of stock, and then stops the automatic operation of the surface mounter 10 in S130. After the automatic operation stops, a worker performs an operation to replenish the component E. Specifically, the worker replaces the feeder F and splices the tape 70.

[0095] Splicing is a process of connecting a new tape 70 to a tape 70 that is in use and has run out of or is running low on remaining components, using a predetermined connecting member.

[0096] 5.Effects According to this embodiment, if a pickup error occurs, the cameras 45 and 46 photograph the pickup position O of the feeder F, and the component E is automatically located. By automatically performing the location, it is possible to continue operating the surface mounter 10 even if a pickup error occurs, and the downtime of the surface mounter 10 due to the pickup error can be shortened. Furthermore, since the photographing direction can be switched depending on the combination of the colors of the carrier tape 71 and the component E, the recognition accuracy of the component E is high, and the component E can be located accurately.

[0097] <Other embodiments> The present invention is not limited to the embodiments described above and illustrated in the drawings, and the following embodiments, for example, are also included within the technical scope of the present invention.

[0098] (1) In the above embodiment, the head unit 33 is equipped with two cameras 45 and 46. The number of cameras may be three or more. [Explanation of symbols]

[0099] 10 Surface Mounting Machine 33 Head Unit 42 Mounting head 45 Camera 1 46 Second Camera 70 Parts Supply Tape 71 Carrier Tape 73 Pocket 200 Controller F Feeder PX board O Adsorption position K Recognition Area

Claims

1. A surface mounter that mounts components on a substrate, a feeder that supplies components to a pickup position; a head unit having a mounting head that sucks and holds components; a plurality of cameras attached to the head unit; a controller; the feeder is a tape feeder that supplies components to the suction position using a carrier tape that has pockets at regular intervals for accommodating components, The plurality of cameras have different photographing directions of the object, When a suction error occurs, the controller changes the camera to be used based on the color combination of the carrier tape and the component to photograph the suction position of the feeder, and automatically locates the component based on the result of the photograph.

2. 2. The surface mounter according to claim 1, The plurality of cameras include: a first camera for photographing an object from the front; and a second camera that photographs the object from an oblique direction.

3. 3. The surface mounter according to claim 2, The surface mount machine, wherein the controller uses the first camera when the carrier tape and the component have different colors.

4. 3. The surface mounter according to claim 2, The surface mount machine, wherein the controller uses the second camera when the carrier tape and the component have the same color.

5. 3. The surface mounter according to claim 2, The surface mounter, wherein the controller uses both the first camera and the second camera when the contrast between the carrier tape and the component is low.

6. 3. The surface mounter according to claim 1, When the controller detects an empty pocket as a result of photographing the suction position, the controller advances the carrier tape by a pitch to align the component at the suction position until the component is confirmed at the suction position.

7. 3. The surface mounter according to claim 1, When the controller detects a positional deviation of the carrier tape as a result of photographing the suction position, the controller calculates the amount of deviation of the carrier tape from the photographing result and corrects the positional deviation, and then feeds the carrier tape by a pitch to align the component.

Images