Mounting machine

Abstract

This mounting machine comprises: a rotary head that has a plurality of suction nozzles arranged circularly, picks up a component at the tip of one of the plurality of suction nozzles and mounts the component on a substrate; a sensor that has a light source radiating a light beam to the tip of the suction nozzle and a light receiving element receiving the light beam radiated from the light source, and that outputs a light intensity of the light beam received by the light receiving element; and a control unit that determines whether the suction nozzles are picking up a component when the suction nozzles pass through the light beam as a result of rotation of the plurality of suction nozzles in the circumferential direction by the rotary head on the basis of the light intensity of the light beam output from the sensor. The rotary head rotates the plurality of suction nozzles in the circumferential direction when the rotary head is between the light source and the light receiving element and the light beam does not coincide with the center of rotation of the rotary head when viewed from the bottom.

Description

[Technical field]

[0001] The present disclosure relates to a mounting machine. [Background technology]

[0002] Patent Document 1 discloses a component mounting device that intermittently rotates a rotary head equipped with multiple suction nozzles, sequentially moves each suction nozzle from a component suction position to a component mounting position, lowers the suction nozzle which holds an electronic component at the component supply position and has moved to the component mounting position, mounts the held electronic component on a circuit board which has been moved to a mounting position just below the component mounting position, releases the electronic component from being held by the suction nozzle, and raises the suction nozzle. The component mounting device judges whether the state of holding and / or mounting of the component by the suction nozzle is good or bad based on the elapsed time during the descent and / or rise of the suction nozzle from when the suction nozzle starts to descend from the component mounting position until the suction nozzle or component passes a predetermined height position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-208800 A Summary of the Invention

[0004] The present disclosure has been devised in consideration of the above-mentioned conventional circumstances, and aims to provide a mounting machine that can more accurately detect components picked up by each of multiple suction nozzles provided on a rotary-type head.

[0005] The mounting machine according to the present disclosure includes a rotary head having a plurality of suction nozzles arranged in a circular shape, which picks up a component with a tip of one of the plurality of suction nozzles and mounts the component on a board, a sensor having a light source that irradiates a light beam to the tip of the suction nozzle and a light receiving element that receives the light beam irradiated from the light source and outputs the light intensity of the light beam received by the light receiving element, and a control unit that determines whether the suction nozzle is suctioning a component when the suction nozzle passes through the light beam by rotating the plurality of suction nozzles in the circumferential direction based on the light intensity of the light beam output from the sensor. The rotary head rotates the plurality of suction nozzles in the circumferential direction when the rotary head is between the light source and the light receiving element and when the light beam does not coincide with the center of rotation of the rotary head in a bottom view.

[0006] The mounting machine according to the present disclosure includes a rotary head having a plurality of suction nozzles arranged in a circumferential manner, which picks up a component with a tip of one of the plurality of suction nozzles and mounts the component on a board, a transmitted illuminator which irradiates a light beam to the tip of the suction nozzle and an image sensor which receives the light beam irradiated from the transmitted illuminator, a sensor which generates an image of the suction nozzle when the suction nozzle passes through the light beam by rotating the rotary head in the circumferential direction based on the light beam received by the image sensor, and a control unit which acquires a shadow of the suction nozzle captured in the captured image output from the sensor and determines whether the suction nozzle is suctioning the component based on the shadow. The rotary head rotates the plurality of suction nozzles in the circumferential direction when the rotary head is between the transmitted illuminator and the image sensor and when the light beam does not coincide with the center of rotation of the rotary head in a bottom view.

[0007] According to the present disclosure, it is possible to more accurately detect components picked up by each of a plurality of suction nozzles provided on a rotary type head. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing an example of the internal configuration of a mounting machine according to a first embodiment. [Diagram 2] FIG. 1 is a diagram for explaining an example of a partial configuration of a mounting machine according to a first embodiment; [Diagram 3] Enlarged view of the main parts of the mounting machine [Figure 4] Diagram explaining part detection by the measurement system [Diagram 5] A diagram explaining the positional relationship between the light beam and each of the multiple suction nozzles. [Figure 6] A diagram explaining the positional relationship between the light beam and each of the multiple suction nozzles. [Figure 7] FIG. 1 is a diagram for explaining an example of a correspondence relationship between the positions of a suction nozzle and a component and an IV conversion value. [Figure 8] FIG. 1 is a diagram for explaining an example of a part detection and determination process in the first embodiment. [Figure 9] FIG. 13 is a block diagram showing an example of an internal configuration of a mounting machine according to a modification of the first embodiment. [Figure 10] FIG. 13 is a diagram for explaining an example of a part detection and determination process in a modification of the first embodiment. [Figure 11] FIG. 11 is a block diagram showing an example of the internal configuration of a mounting machine according to a second embodiment. [Figure 12] FIG. 11 is a diagram for explaining an example of a part detection and determination process in the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] (Background to this disclosure) Conventionally, there is a mounting machine that uses an optical sensor to detect an electronic component (hereinafter referred to as "component") picked up at the tip of a suction nozzle and judges whether the component is picked up properly. The component mounting device (hereinafter referred to as "mounting machine") of Patent Document 1 includes a rotary head arranged on a circuit board (hereinafter referred to as "board"), and optical sensors arranged corresponding to each of the suction nozzles that mount components on the board out of multiple suction nozzles equipped on the rotary head and the component mounting positions. The mounting machine detects the suction nozzle, which rises and falls at a predetermined height at a position corresponding to the component mounting position, and judges whether the component is picked up properly based on the time that has elapsed when the suction nozzle descends and / or ascends.

[0010] However, in the above-mentioned component mounting method, since the XY table is positioned in accordance with the component mounting position, there is a possibility that components already mounted on the board may be shifted due to the positioning operation of the board by the XY table. Also, in the component mounting method, when the component pickup position and the component mounting position are sufficiently far apart and components are transported from the component pickup position to the component mounting position, the rotary head cannot be rotated to move each pickup nozzle sequentially from the component supply position to the component mounting position, so there is a possibility that the component mounting efficiency may decrease.

[0011] Another method of using an optical sensor to determine whether a component is being picked up is to provide a light source for the optical sensor at the center of rotation of each of a number of suction nozzles arranged in a circle, and to determine whether a component is being picked up by each suction nozzle by receiving the light emitted from the light source with a light receiving element arranged radially outside the suction nozzle. However, in this case, the optical sensor is provided on the rotating shaft of the rotor and rotates together with the circumferential rotation of each of the multiple suction nozzles, making it sometimes impossible to determine whether a component is being picked up by each suction nozzle.

[0012] Hereinafter, with reference to the drawings as appropriate, each embodiment that specifically discloses the configuration and operation of the mounting machine according to the present disclosure will be described in detail. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters or duplicate explanation of substantially the same configuration may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the attached drawings and the following explanation are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0013] In the following drawings, the X and Y directions are perpendicular to each other in a horizontal plane, and the Z direction is the height direction (up-down direction) perpendicular to the X and Y directions.

[0014] (Embodiment 1) First, the internal configuration of a mounting machine 100 according to the first embodiment will be described with reference to Fig. 1 to Fig. 3. Fig. 1 is a diagram illustrating an example of the internal configuration of the mounting machine 100 according to the first embodiment. Fig. 2 is a diagram illustrating an example of a partial configuration of the mounting machine 100 according to the first embodiment. Fig. 3 is an enlarged view of a main part of the mounting machine 100.

[0015] In addition, only one suction nozzle 15 is shown in Fig. 1, and the other suction nozzles are not shown. Also, in Fig. 1, X-axis rail 10A, Y-axis rail 10B, component supply unit 12, board 13, and board rail 16 are not shown.

[0016] The mounting machine 100 according to the first embodiment drives each of a pair of board rails 16 to carry in the board 13. The mounting machine 100 drives the head 11 equipped with one or more suction nozzles 15, and picks up the components P (see FIG. 3) supplied by the component supply unit 12 with each of the suction nozzles 15. After picking up the components P with the suction nozzles 15, the mounting machine 100 moves the head 11 onto the board 13, transports the components P onto the board 13, and then mounts the components P at each component mounting position on the board 13. The mounting machine 100 produces a mounted board by mounting (attaching) all the components P to be mounted on the board 13, and then drives each of the pair of board rails 16 to carry out the produced mounted board.

[0017] The mounting machine 100 is configured to include a head 11, a component supply unit 12, a measurement system 14, one or more suction nozzles 15, a pair of board rails 16, a timing generation unit 17A, a processor 18, a memory 19, and an output unit 20.

[0018] Each of the pair of X-axis rails 10A is coupled to a Y-axis rail 10B and supports the Y-axis rail 10B so as to be movable in the X and -X directions. The Y-axis rail 10B is coupled to the head 11 and supports the head 11 so as to be movable in the Y and -Y directions. Each of the pair of X-axis rails 10A and the Y-axis rail 10B constitute a movement mechanism that moves the head 11.

[0019] Head 11, which is an example of a rotary head, is configured integrally with measurement system 14 and is controlled by a movement mechanism to be driven (moved) in each of the X-axis, Y-axis, and Z-axis directions. Head 11 is coupled to Y-axis rail 10B and transports components P between component supply unit 12 and a predetermined component mounting position on board 13.

[0020] The head 11 is a so-called rotary head, and includes an encoder 11A, a rotor 11B, a turntable 11C, and a plurality of suction nozzles 15. The turntable 11C includes a plurality of suction nozzles 15 arranged concentrically. The rotor 11B rotates the turntable 11C in a predetermined rotation direction R (see FIG. 5), thereby rotating each of the plurality of suction nozzles 15 attached to the turntable 11C in the predetermined rotation direction R. The encoder 11A detects the rotation angle of the rotor 11B with a sensor (not shown), and outputs the detected rotation angle to the timing generation unit 17A.

[0021] Head 11 causes processor 18 to pick up and release components P using each of suction nozzles 15. Head 11 picks up components P supplied by component supply unit 12 at the tips of suction nozzles 15, transports the components P to a predetermined component mounting position on board 13, and then releases suction of the components P to mount them on board 13.

[0022] It is to be noted that head 11 does not have to be configured integrally with measurement system 14. In such a case, head 11 picks up component P using a moving mechanism, moves to a position where turntable 11C is located above light source 14A, and then rotates turntable 11C by rotor 11B above light source 14A. Head 11 rotates turntable 11C so that components P picked up by all suction nozzles 15 can be detected by measurement system 14.

[0023] The component supply unit 12 is controlled by the processor 18 to supply the components P to be mounted on the board 13. Note that the component supply unit 12 may be capable of simultaneously supplying a plurality of different types of components P. Also, the arrangement of the component supply unit 12 shown in FIG. 2 is one example and is not limited to this.

[0024] The measurement system 14 as an example of a sensor includes a light source 14A, a slit 14C, a photoelectric conversion element 14D, and a current-voltage conversion unit 14E, and is configured integrally with the head 11. The slit 14C is disposed on the surface facing the light source 14A. The light source 14A and the slit 14C are disposed apart from each other by a distance (specifically, the diameter of the rotary table 11C) or more that allows the head 11, which includes each of the multiple suction nozzles 15, to pass through. Note that the arrangement positions of the measurement system 14 shown in each of Figs. 1 to 3 are merely examples and are not limited thereto.

[0025] The photoelectric conversion element 14D, which is an example of a light receiving element, converts light (light beam 14B) irradiated from a light source 14A such as an LED (Light Emitting Diode), an LD (Laser Diode), or a laser and passing through a slit 14C into an electric signal and outputs the electric signal to the current-voltage conversion unit 14E. The current-voltage conversion unit 14E converts the electric signal (current) output from the photoelectric conversion element 14D into a voltage and outputs the converted output value (hereinafter referred to as an “IV converted value”) to the processor 18.

[0026] The timing generation unit 17A, which is an example of a determination unit, generates an electric signal for causing the processor 18 to execute detection and determination of the component P, based on the rotation angle of the rotor 11B output from the encoder 11A of the head 11. The timing generation unit 17A outputs the generated electric signal to the processor 18. Note that here, the timing generation unit 17A may identify one suction nozzle 15 that is to be detected and determined for the component P, based on the rotation angle of the rotor 11B, and output to the processor 18 identification information capable of identifying the identified suction nozzle 15 in association with the generated electric signal.

[0027] The processor 18, which is an example of a control unit, is configured using, for example, a CPU (Central Processing Unit), a DSP (Digital Signal Processor) or an FPGA (Field Programmable Gate Array), and controls the operation of each part of the processor 18. The processor 18 performs various processes and controls in cooperation with the memory 19. Specifically, the processor 18 refers to the programs and data stored in the memory 19 and executes the programs to realize the functions of each part. Note that, like the processor 18, the timing generation unit 17A is also configured using, for example, a CPU, a DSP, an FPGA, etc.

[0028] The processor 18 in the first embodiment determines whether or not a component P is adsorbed by the suction nozzle 15 corresponding to the output period of the electrical signal, based on the IV conversion value output from the current-voltage converter 14E and the electrical signal output from the timing generator 17A. Specifically, the processor 18 determines whether or not the IV conversion value during the output period of the electrical signal by the timing generator 17A is less than a threshold value. When the processor 18 determines that the component P is not adsorbed by the suction nozzle 15, it generates a notification to the effect that the component P is not adsorbed, and outputs the notification to the output unit 20.

[0029] The memory 19 has, for example, a RAM (Random Access Memory) as a work memory used when executing each process of the processor 18, and a ROM (Read Only Memory) that stores programs and data that define the operation of the processor 18. The RAM temporarily stores data or information generated or acquired by the processor 18. The ROM has written therein programs that define the operation of the processor 18. The memory 19 stores threshold values ​​used in the detection and determination process of components P executed by the processor 18. The memory 19 also stores production data for producing the mounting boards that are the production targets.

[0030] The production data here is information used for producing mounted boards by the mounting machine 100. The production data includes, for example, the size of the board 13, the size and shape of the component P, information on the suction nozzle, the number of boards produced, etc. Note that the production data is not limited to the data on the items described above. The production data may also include threshold information for each component P, which will be described later.

[0031] The output unit 20 is configured using a display such as an LCD (Liquid Crystal Display) or an organic EL (Electroluminescence) display. The output unit 20 outputs the notification output from the processor 18.

[0032] Here, the manner in which the component P is detected by the measurement system 14 will be described with reference to Fig. 4. Fig. 4 is a diagram for explaining the detection of the component by the measurement system.

[0033] 4, the head 11 rotates the turntable 11C by the rotor 11B on the light beam 14B of the measurement system 14, and causes any one of the plurality of suction nozzles 15 to pass over the light beam 14B of the measurement system 14. This enables the mounting machine 100 to detect only the component P that is picked up by the tip of any one of the suction nozzles 15 by the measurement system 14.

[0034] Next, the positional relationship between the light beam 14B and each of the multiple suction nozzles 15 will be described with reference to Fig. 5 and Fig. 6. Fig. 5 is a diagram for explaining the positional relationship between the light beam 14B and each of the multiple suction nozzles 15. Fig. 6 is a diagram for explaining the positional relationship between the light beam 14B and each of the multiple suction nozzles 15. The head 11 shown in Figs. 5 and 6 is a diagram viewed from the bottom side (i.e., the -Z direction), and shows the head 11 as viewed from the bottom.

[0035] 5 and 6 is merely an example, and is not limited to this number. In addition, in the head 11 shown in Fig. 5 and 6, components P are omitted in order to make it easier to understand the positional relationship between the suction nozzles 15 and the light beam 14B.

[0036] The head 11 at the time of detecting and judging the component P moves by the moving mechanism to a position where the turntable 11C is between the light source 14A and the slit 14C, and where the light beam 14B irradiated from the light source 14A, passing through the slit 14C, and received by the photoelectric conversion element 14D does not coincide with the rotation center Ps0 of the turntable 11C. Specifically, the head 11 at the detection and judgment position of the component P is a position where the light beam 14B irradiated from the light source 14A, passing through the slit 14C, and received by the photoelectric conversion element 14D does not coincide with the diagonal line (broken line shown in FIG. 6) connecting each of the suction nozzles 15, and the rotation center Ps0 of the turntable 11C in the bottom view (when the head 11 and the measurement system 14 are viewed from the -Z direction) does not coincide with the light beam 14B. After moving to the above-mentioned detection and judgment position of the component P, the head 11 rotates the turntable 11C by 360° or more in a predetermined rotation direction R by the rotor 11B. As a result, the mounter 100 according to the first embodiment can execute the detection and determination process of the component P for each suction nozzle 15, since each suction nozzle 15 passes through the light beam 14B one by one.

[0037] 5, only suction nozzle 15A and component P (not shown) picked up by suction nozzle 15A are positioned on light beam 14B in measurement system 14. This allows measurement system 14 to detect only suction nozzle 15A of each of the multiple suction nozzles 15 and component P (not shown) picked up by suction nozzle 15A. Similarly, at time t2, only suction nozzle 15B and component P (not shown) picked up by suction nozzle 15B are positioned on light beam 14B in measurement system 14. This allows measurement system 14 to detect only suction nozzle 15A of each of the multiple suction nozzles 15 and component P (not shown) picked up by suction nozzle 15A.

[0038] In the detection and determination process of the component P described below, the mounter 100 sets the suction nozzle 15 passing on the slit 14C side on the light beam 14B as the detection target of the component P. For example, in the example shown in FIG. 5, the mounter 100 sequentially performs detection and determination of the component P for each of the multiple suction nozzles 15 rotated in a predetermined rotation direction R in a clockwise direction. The mounter 100 performs detection and determination of the component P for the suction nozzle 15A at time t1, and then performs detection and determination of the component P for the suction nozzle 15C. Note that the detection target of the component P is not limited to the above example. For example, the mounter 100 may set the suction nozzle 15 passing on the light source 14A side on the light beam 14B as the detection and determination target of the component P.

[0039] As described above, even if the head 11 is of the rotary type, the mounting machine 100 according to the first embodiment can detect only one of the suction nozzles 15 and the component P picked up by this one suction nozzle 15 using the measurement system 14. Therefore, the mounting machine 100 according to the first embodiment can detect and determine the component P with higher accuracy.

[0040] An example of the correspondence relationship between the positions of the suction nozzle 15 and the component P that block the light beam 14B and the IV conversion value output from the current-voltage converter 14E will be described with reference to Fig. 7. Fig. 7 is a diagram for explaining an example of the correspondence relationship between the positions of the suction nozzle 15 and the component P and the IV conversion value. It goes without saying that the suction nozzle 15 and the component P shown in Fig. 7 are merely an example and are not limited to this.

[0041] The IV conversion graph Op1 is a graph showing a time series change in the IV conversion value output from the current-voltage converter 14E. The IV conversion value decreases as the amount of light shading of the light 14B by the suction nozzle 15 and the component P increases. Note that the IV conversion graph Op1 shown in Fig. 7 is an IV conversion graph when the suction nozzle 15 and the component P shown in Fig. 7 are detected, as an example.

[0042] The light ray 14B is partially blocked by the suction nozzle 15 between time t11 and time t12, and the light-blocking range by the suction nozzle 15 and component P expands between time t12 and time t13. The light-blocking range by the suction nozzle 15 and component P of the light ray 14B is maximized between time t13 and time t14, the light-blocking range by the suction nozzle 15 and component P decreases between time t14 and time t15, the light ray 14B is only partially blocked by the suction nozzle 15 between time t15 and time t16, and is no longer blocked by the suction nozzle 15 after time t16. In other words, the amount of light blocking by which the light ray 14B is blocked is maximized between time t13 and time t14.

[0043] Before time t11, the light ray 14B is not blocked, and the IV conversion value is at its maximum value. Between time t11 and time t13, the IV conversion value continues to decrease as the amount of blocking of the light ray 14B increases. The IV conversion value reaches its minimum pw12 between time t13 and time t14, when the amount of blocking of the light ray 14B is at its maximum, and continues to increase between time t14 and time t16. The IV conversion value again becomes maximum after time t16.

[0044] Furthermore, in the example shown in FIG. 7, when the processor 18 determines that the IV converted value output from the current-voltage converter 14E is equal to or smaller than pw11, it determines that the component P picked up by the suction nozzle 15 has been detected.

[0045] Next, a detection and determination process of a component P based on the output timing of an electric signal output by the timing generating unit 17A and an IV conversion value output by the current-voltage converting unit 14E will be described with reference to Fig. 8. Fig. 8 is a diagram for explaining an example of the detection and determination process of a component P in the first embodiment. Note that in Fig. 8, the example of the detection and determination process of a component P will be described with reference to the positional relationship between each of the suction nozzles 15A to 15D and the measurement system 14 shown in Fig. 5 as an example.

[0046] The timing output graph Tm2 is a graph showing a time series change in the electrical signal output from the timing generating unit 17 A. The IV conversion graph Op2 is a graph showing a time series change in the IV converted value output from the current-voltage converting unit 14E.

[0047] The timing generation unit 17A generates an electrical signal that causes the processor 18 to execute a detection and determination process for the component P based on the rotation angle of the rotor 11B, and outputs the electrical signal to the processor 18. Specifically, the timing generation unit 17A detects (identifies) one suction nozzle 15 that will soon pass through the slit 14C side of the light beam 14B based on the position of the head 11 relative to the measurement system 14 and the rotation angle of the rotor 11B. For example, at time t2 shown in FIG. 5, the timing generation unit 17A detects (identifies) suction nozzle 15C as one suction nozzle 15 that will soon pass through the slit 14C side of the light beam 14B.

[0048] 8, the rotor 11B continues to accelerate the rotation speed of the turntable 11C from time t21 when the detection and determination of the component P starts until the timing (time t22) when the suction nozzle 15A is positioned on the light beam 14B. The rotor 11B controls the rotation speed of the turntable 11C to be decelerated from time t22, and to become 0 (zero) at time t23 when the suction nozzle 15A finishes passing over the light beam 14B.

[0049] The timing generation unit 17A generates an electric signal for causing the processor 18 to execute a detection and determination process for the component P based on the rotation speed of the rotor 11B, and outputs the generated control command to the processor 18. Specifically, the timing generation unit 17A outputs an electric signal for causing the processor 18 to execute a detection and determination process for the component P based on information on the rotation angle of the rotor 11B and the position of the head 11 relative to the measurement system 14.

[0050] 8, the rotor 11B rotates in a time zone Tm21 from time t21 to time t23 and in a time zone Tm22 from time t25 to time t27. The timing generation unit 17A determines that the rotation speed is greater than 0 (zero) in each of the time zones Tm21 and Tm22 based on the rotation angle of the rotor 11B, and continues to output an electrical signal to the processor 18 in these time zones Tm21 and Tm22.

[0051] The processor 18 determines whether or not the IV converted value output from the current-voltage converter 14E is equal to or greater than the threshold value pw2 while the electrical signal is being output from the timing generator 17A (during each of the time periods Tm21 and Tm22).

[0052] The processor 18 determines whether or not the component P is being picked up by the suction nozzle 15 based on the IV converted value output from the current-voltage converter 14E while the timing generator 17A is outputting an electrical signal during each of the time periods Tm21 and Tm22, and on a preset threshold value pw2. Note that the threshold value pw2 used in this case for determining whether or not the component P is being detected may be set to a different value for each component P.

[0053] 8, the processor 18 determines whether the IV converted value output from the current-voltage converter 14E during each of time periods Tm21 and Tm22 is equal to or greater than the threshold pw2. If the processor 18 determines that the IV converted value output from the current-voltage converter 14E during time period Tm21 is equal to or greater than the threshold pw2, the processor 18 determines that the component P is being picked up by the suction nozzle 15A. On the other hand, if the processor 18 determines that the IV converted value output from the current-voltage converter 14E is not equal to or greater than the threshold pw2, the processor 18 determines that the component P is not being picked up by the suction nozzle 15A, and generates a notification to the effect that the component P is not being picked up, and outputs the notification to the output unit 20.

[0054] Similarly, if the processor 18 determines that the IV converted value output from the current-voltage converter 14E in time period Tm22 is equal to or greater than the threshold value pw2, it determines that the component P is being picked up by the suction nozzle 15C. On the other hand, if the processor 18 determines that the IV converted value output from the current-voltage converter 14E is not equal to or greater than the threshold value pw2, it determines that the component P is not being picked up by the suction nozzle 15C, and generates a notification to that effect and outputs the notification to the output unit 20.

[0055] When the processor 18 acquires the identification information of the suction nozzle 15 that is the detection and determination target of the component P from the timing generation unit 17A, the processor 18 may associate the identification information of the suction nozzle 15 with a notification and output the associated information to the output unit 20. The processor 18 may store in the memory 19 the generated notification or the notification associated with the identification information of the suction nozzle 15.

[0056] As described above, even if the head 11 is of the rotary type, the mounting machine 100 according to embodiment 1 can perform detection and determination of a component P for one suction nozzle 15 (for example, suction nozzles 15A, 15C shown in FIG. 5) passing through the slit 14C side of the light beam 14B by executing detection and determination processing of a component P only while an electrical signal is being output from the timing generation unit 17A (for example, time periods Tm21, Tm22).

[0057] (Modification of the first embodiment) An example has been shown in which the mounting machine 100 according to the first embodiment executes a detection and determination process of a component P of any one of the suction nozzles 15 based on an IV conversion value output at a predetermined timing (for example, time periods Tm21 and Tm22 shown in FIG. 8) based on the rotation angle of the rotor 11B of the head 11. An example will be described in which the mounting machine 100A according to a modification of the first embodiment executes ON / OFF control of the light source 14A based on the rotation speed of the rotor 11B of the head 11, and executes a detection and determination process of a component P of any one of the suction nozzles 15 based on the IV conversion value output from the current-voltage converter 14E.

[0058] An example of the internal configuration of a mounting machine 100A according to a modification of the first embodiment will be described with reference to Fig. 9. Fig. 9 is a block diagram showing an example of the internal configuration of a mounting machine 100A according to a modification of the first embodiment. Note that the mounting machine 100A according to the modification of the first embodiment has almost the same configuration as the mounting machine 100 according to the first embodiment. Therefore, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

[0059] The encoder 11A according to the modification of the first embodiment detects the rotation angle of the rotor 11B by a sensor, and outputs information on the detected rotation angle of the rotor 11B to the timing generation unit 17B. The encoder 11A may output the information on the rotation angle of the rotor 11B to the processor 18A. This enables the processor 18A to identify one of the multiple suction nozzles 15 provided in the head 11 that is the target for detecting and determining the component P.

[0060] The timing generation unit 17B, which is an example of a determination unit, determines whether the rotor 11B is rotating (i.e., whether the rotation speed of the rotor 11B is greater than 0 (zero)) based on information on the rotation angle of the rotor 11B output from the encoder 11A. If the timing generation unit 17B determines that the rotor 11B is rotating, it generates an electrical signal that turns on the light source 14AA (i.e., irradiates the light beam 14B) and outputs it to the light source 14AA.

[0061] The light source 14AA is controlled by the timing generation unit 17B. The light source 14AA is ON while an electrical signal is being output from the timing generation unit 17B, and irradiates the light beam 14B. Meanwhile, the light source 14AA is OFF while an electrical signal is not being output from the timing generation unit 17B, and does not irradiate the light beam 14B.

[0062] The processor 18A, which is an example of a control unit, identifies the suction nozzle 15 to be detected and determined for the component P, based on the rotation angle of the rotor 11B output from the encoder 11A. The processor 18A also determines whether the IV conversion value output from the current-voltage conversion unit 14E is less than a threshold pw3 (see FIG. 10) corresponding to the component P to be detected and greater than a threshold pw4. If the processor 18A determines that the IV conversion value is less than the threshold pw3 and greater than the threshold pw4, it determines that the component P is being picked up by the suction nozzle 15. On the other hand, if the processor 18A determines that the IV conversion value is equal to or greater than the threshold pw3 or equal to or less than the threshold pw4, it determines that the component P is not being picked up by the suction nozzle 15.

[0063] Next, a detection and determination process of a component P based on the rotation speed of the rotor 11B, the output timing of the electric signal output by the timing generating unit 17B, and the IV conversion value output by the current-voltage converting unit 14E will be described with reference to Fig. 10. Fig. 10 is a diagram for explaining an example of the detection and determination process of a component P in a modified example of the first embodiment. Note that in Fig. 10, the example of the detection and determination process of a component P will be described with reference to the positional relationship between each of the suction nozzles 15A to 15D and the measurement system 14 shown in Fig. 5 as an example.

[0064] The rotor rotation speed graph Vg3 is a graph showing the rotation speed of the rotor 11B based on information on the rotation angle of the rotor 11B. The timing output graph Tm3 is a graph showing the time series change of the electrical signal output from the timing generating unit 17B. The IV conversion graph Op3 is a graph showing the time series change of the IV conversion value output from the current-voltage conversion unit 14E.

[0065] Here, the rotation control of the turntable 11C by the rotor 11B will be described. The rotor 11B continues to accelerate the rotation speed of the turntable 11C until the tip center of the suction nozzle 15, which is the detection target of the component P, is positioned on the light beam 14B. The rotor 11B decelerates the rotation speed of the turntable 11C at the timing when the approximate tip center of the suction nozzle 15 is positioned on the light beam 14B, and controls the rotation speed of the turntable 11C to be 0 (zero) at the timing when the approximate midpoint between the suction nozzle 15 (e.g., suction nozzle 15A shown in FIG. 5) which is the detection target of the component P and the suction nozzle 15 (e.g., suction nozzle 15C shown in FIG. 5) which is the detection target of the next component P is positioned on the light beam 14B.

[0066] 10, the rotor 11B continues to accelerate the rotation speed of the turntable 11C from time t31 when the detection and determination of the component P starts until the timing (time t32) when the suction nozzle 15A is positioned on the light beam 14B. The rotor 11B controls the rotation speed of the turntable 11C to be decelerated from time t32, and to become 0 (zero) at time t33 when the suction nozzle 15A finishes passing over the light beam 14B.

[0067] The timing generator 17B generates an electric signal for controlling ON / OFF of irradiation of the light beam 14B based on the rotation speed of the rotor 11B and outputs the electric signal to the light source 14AA. Specifically, based on information on the rotation angle of the rotor 11B and the position of the head 11 relative to the measurement system 14, the timing generator 17B detects (identifies) one suction nozzle 15 that will pass on the slit 14C side of the light beam 14B.

[0068] The timing generation unit 17B continues to output an electric signal to the light source 14AA based on information on the rotation angle of the rotor 11B. For example, in the example shown in Fig. 10, the rotor 11B rotates in a time period Tm31 from time t31 to time t33 and in a time period Tm32 from time t34 to time t36. The timing generation unit 17B determines that the rotation speed is greater than 0 (zero) in each of the time periods Tm31 and Tm32 based on the rotation angle of the rotor 11B, and continues to output an electric signal for controlling the light source 14AA to be ON in these time periods Tm31 and Tm32.

[0069] The light source 14AA continues to emit the light beam 14B while the electrical signal is being output from the timing generation unit 17B (time periods Tm31 and Tm32).

[0070] Photoelectric conversion element 14D receives light beam 14B that has passed through slit 14C and converts it into an electrical signal (current) that corresponds to the intensity of received light beam 14B. Photoelectric conversion element 14D outputs the converted electrical signal to current-voltage converter 14E.

[0071] The current-voltage converter 14E converts the electrical signal output from the photoelectric conversion element 14D into an IV conversion value and outputs it to the processor 18A.

[0072] The processor 18A judges whether or not the component P is being picked up by the suction nozzle 15 based on the IV conversion value output from the current-voltage converter 14E and each of the threshold values ​​pw3 and pw4 set in advance. The threshold value pw4 is a value smaller than the threshold value pw3, and indicates the IV conversion value when the light source 14AA is in the OFF state, that is, the IV conversion value when the intensity of the light beam 14B output from the photoelectric conversion element 14D is 0 (zero). Note that the threshold value pw3 used in the detection judgment of the component P here may be set to a different value for each component P. The processor 18A also identifies one suction nozzle 15 to be detected and judged for the component P based on the information on the rotation angle of the rotor 11B output from the encoder 11A.

[0073] 10, the processor 18A outputs an IV-converted value from the current-voltage converter 14E in each of time periods Tm31 and Tm32. The processor 18A determines whether the IV-converted value output from the current-voltage converter 14E is equal to or greater than a threshold value pw3. When the processor 18A determines that the IV-converted value output from the current-voltage converter 14E in the time period Tm31 is less than the threshold value pw3 and greater than the threshold value pw4, the processor 18A determines that the component P is being picked up by the suction nozzle 15A. When the processor 18A determines that the IV-converted value output from the current-voltage converter 14E in the time period Tm31 is equal to or greater than the threshold value pw3 or equal to or less than the threshold value pw4, the processor 18A determines that the component P is not being picked up by the suction nozzle 15A, and generates a notification to the effect that the component P is not being picked up and outputs the notification to the output unit 20.

[0074] Similarly, the processor 18A determines that the IV converted value output from the current-voltage converter 14E in the time period Tm32 is less than the threshold value pw3 and greater than the threshold value pw4, and determines that the component P is being picked up by the suction nozzle 15C.

[0075] In addition, if the processor 18A determines that the IV conversion value output from the current-voltage conversion unit 14E is greater than or equal to the threshold value pw3 or less than or equal to the threshold value pw4, it determines that the component P has not been picked up by the suction nozzle 15C, and generates a notification to the effect that the component P has not been picked up, and outputs it to the output unit 20.

[0076] Furthermore, when the processor 18A determines that the component P is not being picked up by the suction nozzle 15C, the processor 18A may associate the identification information of the suction nozzle 15 with the notification and output the associated information to the output unit 20. Furthermore, the processor 18A may store in the memory 19 the generated notification or the notification associated with the identification information of the suction nozzle 15.

[0077] As described above, even if the head 11 is of the rotary type, the mounting machine 100A according to the modification of the first embodiment can irradiate the light beam 14B only while the suction nozzle 15, which is the detection and determination target of the component P, passes over the light beam 14B. As a result, the mounting machine 100A according to the modification of the first embodiment can more effectively acquire the IV conversion value of the suction nozzle 15, which is the detection and determination target of the component P, in the detection and determination process of the component P, and can further improve the detection and determination accuracy of the component P.

[0078] As described above, the mounting machine 100, 100A according to the first embodiment and the modified example of the first embodiment comprises a head 11 (an example of a rotary head) that picks up a component P with the tips of a plurality of suction nozzles 15 arranged in a circular shape and mounts it on a substrate 13, a measurement system 14 (an example of the measurement system 14) that has light sources 14A, 14AA and a photoelectric conversion element 14D (an example of a light receiving element) that receives light beam 14B irradiated from the light sources 14A, 14AA and that irradiates light beam 14B onto the tips of the suction nozzles 15 and outputs an IV conversion value (an example of light intensity) of the light beam 14B received by the photoelectric conversion element 14D, and a processor 18, 18A that determines whether the suction nozzles 15 that are rotated in a circumferential direction by the head 11 and that pass through the light beam 14B are picking up a component P based on the IV conversion value of the light beam 14B output from the measurement system 14. The head 11 rotates the multiple suction nozzles 15 in a circumferential direction (for example, a rotation direction R shown in FIGS. 5 and 6) between the light sources 14A, 14AA and the photoelectric conversion element 14D and at a position where the light ray 14B does not coincide with the rotation center Ps0 of the head 11 in a bottom view. The processors 18, 18A determine whether or not the suction nozzles 15 passing through the light ray 14B are suctioning a component P based on the IV conversion value of the output light ray 14B.

[0079] As a result, the mounters 100 and 100A according to the first embodiment and the modified example of the first embodiment can prevent two or more suction nozzles 15 from passing over the light beam 14B at the same time by rotating the turntable 11C by 360° or more at a position where the center position (rotation center Ps0) of the circumference, which is the detection and determination position of the component P, of the head 11 does not coincide with the light beam 14B and the rotation center Ps0 of the head 11. In other words, the mounters 100 and 100A can execute the detection and determination process of the component P for each suction nozzle 15. Furthermore, the mounters 100 and 100A according to the first embodiment and the modified example of the first embodiment can determine whether or not the component P is being picked up by the suction nozzle 15 based on the IV conversion value of the output light beam 14B.

[0080] Furthermore, as described above, when the processors 18, 18A in the mounting machines 100, 100A according to the first embodiment and the modified example of the first embodiment determine that the IV conversion value of the output light 14B is less than a threshold value (e.g., threshold values ​​pw1, pw2, pw3, etc.), they determine that the suction nozzle 15 passing through the light 14B is picking up the component P. As a result, the mounting machines 100, 100A according to the first embodiment and the modified example of the first embodiment can determine that the light 14B is blocked by the suction nozzle 15 and the component P picked up by the suction nozzle 15 when the IV conversion value (light amount) of the output light 14B is less than a threshold value.

[0081] Furthermore, as described above, when the processors 18, 18A in the mounting machines 100, 100A according to the first embodiment and the modified example of the first embodiment determine that the IV conversion value of the output light 14B is not less than a threshold value (e.g., threshold values ​​pw1, pw2, pw3, etc.), they determine that the suction nozzle 15 passing through the light 14B has not picked up the component P, and generate and output a notification to the effect that the suction nozzle 15 has not picked up the component P. As a result, the mounting machines 100, 100A according to the first embodiment and the modified example of the first embodiment can determine that the light 14B is not blocked by the suction nozzle 15 and the component P picked up by the suction nozzle 15 when the IV conversion value of the output light 14B is not less than a threshold value.

[0082] As described above, the mounting machine 100 according to the first embodiment further includes a timing generating unit 17A (an example of a determining unit) that determines a first timing for determining whether or not the suction nozzle 15 passing through the light beam 14B is suctioning the component P. The head 11 measures the rotation speeds of the plurality of suction nozzles 15 in the circumferential direction and outputs the measured rotation speeds to the timing generating unit 17A. The timing generating unit 17A determines a first timing (for example, time periods Tm21, Tm22, etc. shown in FIG. 8) for determining whether or not the suction nozzle 15 passing through the light beam 14B is suctioning the component P, based on the output rotation speeds. The processor 18 determines whether or not the suction nozzle 15 passing through the light beam 14B is suctioning the component P, based on the IV conversion value of the light beam 14B output from the measurement system 14 at the first timing determined by the timing generating unit 17A. As a result, the mounting machine 100 of embodiment 1 can more effectively acquire the IV conversion value corresponding to the suction nozzle 15 that is the target of detection and judgment of the component P (i.e., passing through the light beam 14B) by performing the detection and judgment process of the component P only while an electrical signal is being output from the timing generation unit 17A (e.g., time periods Tm21, Tm22), and can perform the detection and judgment of the component P with higher accuracy.

[0083] As a result, the timing generation unit 17A in the mounting machine 100 according to the first embodiment determines the time period (e.g., time periods Tm21, Tm22) in which it is determined that the rotation speed is greater than 0 (zero) as the first timing. This allows the mounting machine 100 according to the first embodiment to execute the detection and determination process for the component P based on the IV conversion value output during the time period in which the suction nozzle 15, which is the detection and determination target for the component P, is rotated by the head 11 and passes through the light beam 14B. Therefore, the mounting machine 100 can more effectively acquire the IV conversion value corresponding to the suction nozzle 15, which is the detection and determination target for the component P (i.e., passing through the light beam 14B), and can execute the detection and determination of the component P with higher accuracy.

[0084] As described above, the mounting machine 100A according to the modification of the first embodiment further includes a timing generation unit 17B that determines the second timing (for example, the time periods Tm31 and Tm32 shown in FIG. 10) at which the light source 14AA is caused to irradiate the light beam 14B. The head 11 measures the rotation speed of the plurality of suction nozzles 15 in the circumferential direction and outputs it to the timing generation unit 17B. The timing generation unit 17B determines the second timing at which the light beam 14B is irradiated based on the output rotation speed. The measurement system 14 irradiates the light beam 14B at the second timing determined by the timing generation unit 17B. As a result, the mounting machine 100A according to the modification of the first embodiment can acquire an IV conversion value for the time period during which the suction nozzle 15, which is the detection and determination target of the component P, passes through the light beam 14B by irradiating the light beam 14B only while the electrical signal is output from the timing generation unit 17B (for example, the time periods Tm21 and Tm22). In other words, the mounting machine 100A can more effectively acquire the IV conversion value corresponding to the suction nozzle 15 that is the target of detection and determination of the component P (i.e., passing through the light beam 14B), and can perform detection and determination of the component P with higher accuracy.

[0085] As a result, the timing generation unit 17B in the mounting machine 100A according to the modification of the first embodiment determines the time period during which it is determined that the rotation speed is greater than 0 (zero) (for example, time periods Tm31, Tm32, etc. shown in FIG. 10) as the second timing. As a result, the mounting machine 100A according to the modification of the first embodiment can more effectively acquire the IV conversion value corresponding to the suction nozzle 15 that is the detection and determination target for the component P (i.e., passing through the light 14B) by irradiating the light 14B only while the suction nozzle 15 that is the detection and determination target for the component P is being rotated by the head 11, and can perform the detection and determination of the component P with higher accuracy.

[0086] As described above, the measurement system 14 in the mounters 100, 100A according to the first embodiment and the modified example of the first embodiment has a slit 14C between the light sources 14A, 14AA and the photoelectric conversion element 14D, and outputs an IV conversion value of the light beam 14B that has passed through the slit 14C. This allows the mounters 100, 100A according to the first embodiment and the modified example of the first embodiment to more effectively acquire an IV conversion value that corresponds to the suction nozzle 15 that is the detection and determination target of the component P (i.e., the light beam 14B passes through it).

[0087] (Embodiment 2) In the mounting machine 100A according to the modification of the first embodiment, the timing generation unit 17B controls ON / OFF of the light source 14AA, and performs a detection and determination process for the component P based on the light intensity of the light beam 14B emitted from the light source 14AA. In the mounting machine 100B according to the second embodiment, the timing generation unit 17B controls ON / OFF of the transmitted illumination 14G, and the transmitted illumination 14G is used to capture an image of the suction nozzle 15 passing through the light beam 14H, and the captured image is used to perform a detection and determination process for the component P. The transmitted illumination 14G of the present embodiment may include a light source similar to the light source 14A of the first embodiment.

[0088] An example of the internal configuration of the mounting machine 100B according to the second embodiment will be described with reference to Fig. 11. Fig. 11 is a block diagram showing an example of the internal configuration of the mounting machine 100B according to the second embodiment. Note that the mounting machine 100B according to the second embodiment has almost the same configuration as the mounting machine 100A according to the modified example of the first embodiment. Therefore, the same components as those in the modified example of the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0089] The mounting machine 100B according to the second embodiment is configured to include an imaging system 140 (an example of a sensor) instead of the measurement system 14. The imaging system 140 is configured to include a transillumination 14G and an image sensor 14I. The imaging system 140 captures an image of the suction nozzle 15 passing through a light beam 14H irradiated by the transillumination 14G, and outputs the captured image to the processor 18B. The processor 18B executes a detection and determination process for the component P based on the captured image output from the image sensor 14I.

[0090] The timing generation unit 17B, which is an example of a determination unit, determines whether the rotor 11B is rotating (i.e., whether the rotation speed of the rotor 11B is greater than 0 (zero)) based on information on the rotation angle of the rotor 11B output from the encoder 11A. If the timing generation unit 17B determines that the rotor 11B is rotating, it generates an electrical signal that turns on the transmitted illuminator 14G (i.e., irradiates the light beam 14H) and outputs it to the transmitted illuminator 14G.

[0091] The transmitted illumination 14G is controlled by the timing generation unit 17B. The transmitted illumination 14G is ON while an electrical signal is being output from the timing generation unit 17B, and irradiates the opposing image sensor 14I with a light beam 14H. Meanwhile, the transmitted illumination 14G is OFF while no electrical signal is being output from the timing generation unit 17B, and does not irradiate the light beam 14B.

[0092] The image sensor 14I is, for example, a CMOS (Complementary Metal Oxide Semiconductor) solid-state imaging element, and converts an optical image formed on an imaging surface into an electrical signal. The image sensor 14I outputs a captured image Img1 (see FIG. 12) to the processor 18B.

[0093] Processor 18B, as an example of a control unit, executes image recognition processing on the captured image (see FIG. 11) output from image sensor 14I, and detects component P from the tip of suction nozzle 15, which is the target for detecting and judging component P. If the result of the image processing shows that component P is detected from the tip of suction nozzle 15, processor 18B judges that component P is being picked up by suction nozzle 15. If the result of the image processing shows that component P is not detected from the tip of suction nozzle 15, processor 18B judges that component P is not being picked up by suction nozzle 15.

[0094] Next, a detection and determination process for a component P using a captured image Img1 captured by the imaging system 140 will be described with reference to Fig. 12. Fig. 12 is a diagram for explaining an example of the detection and determination process for a component P in the second embodiment. Note that in Fig. 12, the example of the detection and determination process for a component P will be described with reference to the positional relationship between each of the suction nozzles 15A to 15D and the measurement system 14 (an example of the imaging system 140) shown in Fig. 5 as an example.

[0095] For example, the captured image Img1 is an image that shows the shadow Sh1 of the suction nozzle 15 (e.g., suction nozzle 15A shown in Figure 5) that is the target of detection and judgment of the component P, and the shadow Sh2 of the suction nozzle 15 (e.g., suction nozzle 15B shown in Figure 5) located on the opposite side of this suction nozzle 15 across the rotation center Ps0.

[0096] The processor 18B executes image recognition processing on the captured image Img1 output from the image sensor 14I, and detects each of the shadows Sh1 and Sh2 based on the shade of the shade of each of the two suction nozzles 15 reflected in the captured image Img1. The processor 18B selects the shadow Sh1 corresponding to the suction nozzle 15 that is the detection and determination target of the component P based on the shade of the shade of each of the two detected shadows Sh1 and Sh2, and detects the shadow Sh11 of the suction nozzle 15 and the shadow Sh12 of the component P from the shadow Sh1 by image recognition processing.

[0097] In the example shown in FIG. 12, the processor 18B detects the shadow Sh12 of the component P from the shadow Sh1 by image recognition processing, and determines that the component P is being picked up by the suction nozzle 15A.

[0098] In addition, if the processor 18B determines through image recognition processing that the shadow Sh12 of the component P cannot be detected from the shadow Sh1, it determines that the component P has not been picked up by the suction nozzle 15A, generates a notification to the effect that the component P has not been picked up, and outputs it to the output unit 20.

[0099] Furthermore, when the processor 18B determines that the component P is not being picked up by the suction nozzle 15A, the processor 18B may associate the identification information of the suction nozzle 15 with the notification and output the associated information to the output unit 20. Furthermore, the processor 18B may store in the memory 19 the generated notification or the notification associated with the identification information of the suction nozzle 15.

[0100] As described above, even if the head 11 is of the rotary type, the mounter 100B according to the second embodiment can capture an image of the shadow Sh1 of the suction nozzle 15, which is the object of detection and determination of the component P, by irradiating the light beam 14H by the transmitted illumination 14G only while the suction nozzle 15, which is the object of detection and determination of the component P, passes over the light beam 14H. Furthermore, even if each of the two suction nozzles 15 appears in the captured image Img1, the mounter 100B can more accurately detect the shadow Sh1 of the suction nozzle 15, which is the object of detection and determination of the component P, and the shadow Sh12 of the component P picked up by the suction nozzle 15 by using the transmitted illumination 14G, since the shades of the shadows Sh1, Sh2 of the two suction nozzles 15 are different.

[0101] As described above, the mounting machine 100B of embodiment 2 has a head 11 (an example of a rotary head) that picks up components P with the tips of multiple suction nozzles 15 arranged in a circular shape and mounts them on a board 13, a transmitted illumination 14G and an image sensor 14I that receives light rays 14B emitted from the transmitted illumination 14G, and is equipped with an imaging system 140 (an example of a sensor) that irradiates light rays 14H to the tips of the suction nozzles 15 and generates an imaged image Img1 in which the suction nozzles 15 are rotated in a circumferential direction by the head 11 and pass through the light rays 14H based on the light rays 14H received by the image sensor 14I, and a processor 18B (an example of a control unit) that acquires a shadow Sh1 of the suction nozzles 15 reflected in the imaged image Img1 output from the imaging system 140 and determines whether or not the suction nozzles 15 are picking up components P based on the shadow Sh1. The head 11 rotates multiple suction nozzles 15 in a circumferential direction (for example, the rotation direction R shown in Figures 5 and 6) between the transmitted light 14G and the image sensor 14I, and at a position where the light beam 14H does not coincide with the rotation center Ps0 of the head 11 when viewed from the bottom.

[0102] As a result, the mounter 100B according to the second embodiment rotates the turntable 11C by 360° or more at a position where the center position (rotation center Ps0) of the circumference, which is the detection and determination position of the component P, of the head 11 does not coincide with the light beam 14H and the rotation center Ps0 of the head 11, thereby preventing two or more suction nozzles 15 from passing over the light beam 14H at the same time and enabling the mounter 100B to capture an image of only the suction nozzle 15 that is the detection and determination target of the component P. In other words, the mounter 100B can execute the detection and determination process of the component P for each suction nozzle 15. Therefore, the mounter 100B can determine whether or not the component P is being picked up by the suction nozzle 15 based on the shadow Sh1 reflected in the captured image Img1 (see FIG. 12).

[0103] Although various embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, corrections, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also belong to the technical scope of the present disclosure. In addition, the components in the various embodiments described above may be arbitrarily combined within the scope of the invention. [Industrial Applicability]

[0104] The present disclosure is useful as providing a mounting machine that can more accurately detect components picked up by each of a plurality of suction nozzles provided on a rotary type head. [Explanation of symbols]

[0105] 11 Head 13 Substrate 14 Measurement System 14A,14AA light source 14B,14H Ray 14C Slit 14D Photoelectric conversion element 14E Current-to-voltage converter 14G transmitted illumination 14I Image Sensor 15 Suction nozzle 17A, 17B Timing generation section 18,18A,18B Processors 20 Output section 100, 100A, 100B Mounting Machine 140 Imaging system P parts Ps0 Rotation center Img1 Image captured Sh1,Sh11,Sh12,Sh2 Shade

Claims

1. a rotary head having a plurality of suction nozzles arranged in a circular pattern, the rotary head suctioning components with tips of the suction nozzles among the plurality of suction nozzles and mounting the components on a board; a sensor including a light source that irradiates a light beam onto the tip of the suction nozzle and a light receiving element that receives the light beam irradiated from the light source and outputs a light intensity of the light beam received by the light receiving element; a control unit that determines whether or not the suction nozzles are suctioning a component when the suction nozzles pass through the light beam by rotating the rotary head in the circumferential direction based on the light intensity of the light beam output from the sensor, the rotary head rotates the plurality of suction nozzles in the circumferential direction when the rotary head is between the light source and the light receiving element and when the light beam does not coincide with a rotation center of the rotary head in a bottom view. Mounting machine.

2. When the control unit determines that the light intensity of the output light beam is less than a threshold value, it determines that the suction nozzle is suctioning the component. The mounting machine according to claim 1 .

3. when it is determined that the light intensity of the outputted light beam is not less than a threshold value, the control unit determines that the suction nozzle is not suctioning the component, and generates and outputs a notification to that effect that the suction nozzle is not suctioning the component. The mounting machine according to claim 1 .

4. the rotary head measures a rotation speed at which the plurality of suction nozzles rotate in the circumferential direction and outputs the rotation speed; The mounting machine further includes a determination unit that determines a first timing based on the output rotation speed, The sensor outputs a light intensity of the light beam at a first timing determined by the determination unit; the control unit determines whether the suction nozzle is suctioning the component based on the light intensity of the light beam output from the sensor at the first timing. The mounting machine according to claim 1 .

5. The determination unit determines a time period during which the rotation speed is greater than zero as the first timing. The mounting machine according to claim 4.

6. the rotary head measures a rotation speed at which the plurality of suction nozzles rotate in the circumferential direction and outputs the rotation speed; The mounting machine further includes a determination unit that determines a second timing based on the output rotation speed, The sensor irradiates the light beam at the second timing determined by the determination unit. The mounting machine according to claim 1 .

7. The determination unit determines a time period during which the rotation speed is greater than zero as the second timing. The mounting machine according to claim 6.

8. the sensor has a slit disposed between the light source and the light receiving element, and outputs the light intensity of the light beam that has passed through the slit. The mounting machine according to claim 1 .

9. a rotary head having a plurality of suction nozzles arranged in a circular pattern, the rotary head suctioning components with tips of the suction nozzles among the plurality of suction nozzles and mounting the components on a board; a sensor including a transmitted illuminator that irradiates light beams onto the tips of the suction nozzles and an image sensor that receives the light beams emitted from the transmitted illuminator, and that generates an image of the suction nozzles as the suction nozzles pass through the light beams by the rotary head rotating the plurality of suction nozzles in the circumferential direction based on the light beams received by the image sensor; a control unit that acquires a shadow of the suction nozzle captured in the captured image output from the sensor, and determines whether the suction nozzle is suctioning the component based on the shadow, the rotary head rotates the plurality of suction nozzles in the circumferential direction when the rotary head is between the transmitted illumination and the image sensor and when the light beam does not coincide with a rotation center of the rotary head in a bottom view. Mounting machine.

Images