Component mounting device and component recognition method

Abstract

To improve the imaging efficiency of a component larger than the angle of view of a component recognition camera.SOLUTION: The component mounting device includes: a head that holds a component; an imaging unit for picking up images of the component from the bottom which is held by the head and passes the angle of view; a recognition unit that recognizes the component using images picked up by the imaging unit; a determination unit that determines the number of times the head passes above the imaging unit; and a drive unit that attaches the component to the board based on the recognition result by the recognition unit. The determination unit determines the number of times of first scans based on the length of one of the two adjacent sides of the horizontal plane of the component that is approximately orthogonal to a first direction in which the head passes above the imaging unit and the width of the angle of view approximately perpendicular to the first direction. The drive unit drives the head to move above the imaging unit based on the determined number of times of the first scan.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a component mounting apparatus and a component recognition method. [Background technology]

[0002] In a conventional electronic component recognition device, an electronic component held in a nozzle is illuminated by an illumination means, and an image is captured by an imaging means to perform image recognition of the electronic component. The illumination means has a plurality of light sources arranged at different positions, and is equipped with a light blocking means for limiting the illumination light emitted from these light sources from being irradiated onto areas other than a predetermined irradiation area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-94299 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in recent years, due to the increasing size and variety of electronic components, electronic components that are too large to fit within the angle of view of the imaging means (i.e., component recognition camera) are sometimes used. In such cases, the electronic component recognition device needs to image the same electronic component multiple times, but it is not assumed that the number of times to image the electronic component will be determined based on the size of the electronic component.

[0005] The present disclosure has been devised in view of the above-described conventional circumstances, and provides a component mounting device and a component recognition method that improve the imaging efficiency of components that are larger than the angle of view of a component recognition camera. [Means for solving the problem]

[0006] The present disclosure provides a system including a head that holds a component, an imaging unit that images the component held by the head from below as it passes within a field of view, a recognition unit that recognizes the component using the image captured by the imaging unit, a determination unit that determines the number of times the head passes above the imaging unit, and a drive unit that mounts the component on a board based on the recognition result by the recognition unit, wherein the determination unit determines a first number of scans based on a length of one of two adjacent sides of a horizontal plane of the component that is approximately perpendicular to a first direction in which the head passes above the imaging unit, and a field of view width of the field of view that is approximately perpendicular to the first direction, calculating a second number of scans based on the length of the other of the two sides of the component and the angle of view width, and determining the number of scans of the component and a leading side to be scanned first by the imaging unit based on the calculated first number of scans and the calculated second number of scans; The drive unit is rotating the head at an angle such that the determined leading edge is substantially perpendicular to the first direction; The component mounting apparatus moves the head above the imaging unit based on the determined number of scans.

[0007] The present disclosure also provides a component recognition method performed by a component mounting device that mounts components on a board, the method including determining a first number of scans based on a length of one of two adjacent sides of a horizontal plane of the component held by a head, the side being approximately perpendicular to a first direction in which the head passes above a camera, and a width of an angle of view of the camera being approximately perpendicular to the first direction; calculating a second number of scans based on the length of the other of the two sides of the component and the angle of view width; determining the number of scans of the component and a leading edge to be scanned first by the camera based on the calculated first and second numbers of scans; and rotating the head to an angle such that the determined leading edge is substantially perpendicular to the first direction; A component recognition method is provided in which, based on the determined number of scans, the head is moved above the camera, the component passing within the angle of view is imaged from below, and the component is recognized using the image thus captured. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to improve the efficiency of capturing images of components that are larger than the angle of view of the component recognition camera. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a top view illustrating a configuration example of a component mounting apparatus according to a first embodiment. [Figure 2] FIG. 1 is a side view illustrating a configuration example of a component mounting apparatus according to a first embodiment. [Figure 3] FIG. 1 is a diagram illustrating an example of the internal configuration of a component mounting device according to a first embodiment. [Figure 4] FIG. 1 is a diagram illustrating an example of the angle of view and scanning range of a component recognition camera. [Figure 5] A diagram illustrating an example of a component mounting procedure. [Figure 6] A diagram explaining an example of the scanning range and movement trajectory of the mounting head when the number of scans is 3 [Figure 7] FIG. 1 is a diagram illustrating an example of an operation procedure of the component mounting device according to the first embodiment. [Figure 8] FIG. 10 is a diagram showing an example of a scan operation determination table. [Figure 9] A diagram explaining an example of scanning a part when the number of scans is 1 [Figure 10] A diagram explaining an example of scanning a part when the number of scans is 2 [Figure 11] A diagram explaining an example of scanning a part when the number of scans is 3 DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, with reference to the accompanying drawings, detailed descriptions of embodiments specifically disclosing a component mounting apparatus and a component recognition method according to the present disclosure will be provided. However, unnecessary detailed descriptions may be omitted. For example, detailed descriptions of well-known matters or redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Furthermore, each of the accompanying drawings will be referenced according to the orientation of the reference numerals. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure and are not intended to limit the subject matter recited in the claims.

[0011] For example, the term "unit" or "device" in the embodiments is not limited to a physical configuration mechanically realized by hardware, but also includes a configuration whose functions are realized by software such as a program. Furthermore, the functions of one configuration may be realized by two or more physical configurations, or the functions of two or more configurations may be realized by, for example, one physical configuration.

[0012] Next, the configuration of the component mounting apparatus 1 will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a top view illustrating an example of the configuration of the component mounting apparatus 1 according to embodiment 1. Fig. 2 is a side view illustrating an example of the configuration of the component mounting apparatus 1 according to embodiment 1.

[0013] The component mounting apparatus 1 according to the first embodiment is provided with a pair of component supply mechanisms 15 on both sides of a pair of board transport mechanisms 13 that transport the board PW, but these may be provided on only one side. Furthermore, the component mounting apparatus 1 according to the embodiment shows an example having a single lane configuration capable of transporting one board, but it may also have a dual lane configuration capable of transporting two boards simultaneously.

[0014] Furthermore, the component mounting apparatus 1 according to the embodiment will be described as an example in which a carrier tape containing components P is used as a method for supplying components P for board mounting to be mounted on the board PW. However, the method for supplying components P is not limited to carrier tape; for example, a pallet containing components may be used, or a carrier tape and a pallet may be used in combination. Note that when the component mounting apparatus 1 uses a carrier tape, the component supply mechanism 15 is configured to include a tape feeder, and when a pallet is used, the component supply mechanism 15 is configured to include a tray feeder.

[0015] At least one component mounting apparatus 1 is installed in a mounting board manufacturing line that manufactures mounting boards in which various components P are mounted on a board PW. The component mounting apparatus 1 mounts one or more components P at predetermined positions on a board PW that has been transported from the upstream side of the mounting board manufacturing line, and then transports the board PW downstream of the mounting board manufacturing line.

[0016] The component mounting apparatus 1 includes a board transport mechanism 13, a component supply mechanism 15, a tape feed mechanism 29, a component mounting mechanism 23, and a control unit 40.

[0017] The substrate transport mechanism 13 transports the substrate PW, which has been transported from the upstream of the mounted substrate manufacturing line, to a predetermined position on the base 12. The substrate transport mechanism 13 transports the substrate PW, on which the mounting of components P has been completed, downstream of the mounted substrate manufacturing line.

[0018] The component supply mechanism 15 supplies at least one type of component P (for example, electronic components such as ICs (Integrated Circuits), transistors, capacitors, or BGA components) to be mounted on the substrate PW. The component supply mechanism 15 has a mounting machine main body 11 composed of a base 12, etc.

[0019] The component mounting mechanism 23 mounts the components P supplied by the component supply mechanism 15 onto the board PW. The component mounting mechanism 23 is configured to include a Y-axis beam 24, an X-axis beam 25, and a mounting head .

[0020] Control unit 40 (see FIG. 3) controls each of board transport mechanism 13, component supply mechanism 15, tape feed mechanism 29, and component mounting mechanism 23. Note that control unit 40 is housed inside base 12 of component mounting apparatus 1.

[0021] 1 (the conveying direction of the board PW). The board conveying mechanism 13 has a pair of conveyors 14 extending along the X direction. The board conveying mechanism 13 conveys the board PW placed on the pair of conveyors 14, and positions and holds the board PW at a predetermined mounting position.

[0022] A pair of component supply mechanisms 15 are disposed facing each other on both the front and rear sides of the board transport mechanism 13 (on the top and bottom sides in the plane of FIG. 1, and on the left and right sides in the plane of FIG. 2). Each of the pair of component supply mechanisms 15 has a feeder base 16 provided with a slot 17. A plurality of tape feeders 18 are mounted in parallel in the slots 17 as component feeders.

[0023] The component mounting apparatus 1 also has a component supply mechanism 15. The component supply mechanism 15 is configured to include a carriage 20 equipped with a plurality of reel stock units (not shown).

[0024] Each of the plurality of reel stock units accommodates a respective one of the plurality of reels 21. Each of the plurality of reel stock units supplies components P by pulling out carrier tape 22 accommodating components P from each of the accommodated reels 21 and feeding the tape to tape feeder 18 of component supply mechanism 15 using tape feeding mechanism 29 (not shown) driven under the control of control unit 40. As a result, tape feeder 18 of component supply mechanism 15 supplies components P to a component P pickup position of mounting head 26 of component mounting mechanism 23 by pitch-feeding carrier tape 22 in the tape feeding direction.

[0025] The component mounting mechanism 23 is disposed above the base 12 (in the Z direction) and is configured to be movable between a component supply position of the component supply mechanism 15 and a predetermined component mounting position on the board PW. Specifically, the component mounting mechanism 23 is movable in the X and Y directions by means of an X-axis beam 25 and a Y-axis beam 24 that are arranged orthogonal to each other.

[0026] A Y-axis beam 24 is disposed along the Y direction on the upper surface of the base 12. A pair of front and rear X-axis beams 25 are also disposed along the X direction and are attached to the Y-axis beams 24 so as to be slidable along the Y direction.

[0027] Furthermore, a mounting head 26 is attached to the tip of each of the pair of front and rear X-axis beams 25 so as to be slidable along the X direction. That is, in the component mounting apparatus 1 of embodiment 1, the mounting head 26 mounted on the component mounting mechanism 23 is provided so as to be movable independently of each other by the X-axis beam 25 and the Y-axis beam 24. This allows the mounting head 26 to be arbitrarily positioned on a plane substantially parallel to the surface of the board PW, i.e., on the horizontal plane (XY plane). Note that each of the X-axis beam 25 and the Y-axis beam 24 is configured by a linear guide drive mechanism.

[0028] A component recognition camera 28 is disposed between the pair of front and rear component supply mechanisms 15 and the board transport mechanism 13. The mounting head 26 moves the suction nozzle 27 (see below) that picks up and holds a component P from the component supply mechanism 15 above the component recognition camera 28 in a direction along the X-axis (hereinafter referred to as the "component passing direction") and onto the board PW. It goes without saying that the component passing direction is not limited to a direction along the X-axis.

[0029] The component recognition camera 28 captures images of the component P sucked and held by the suction nozzle 27 a predetermined number of times at a predetermined timing. The component recognition camera 28 outputs the captured images to the control unit 40. The control unit 40 performs component recognition processing by processing the image of the component P shown in the captured images output from the component recognition camera 28, thereby identifying the component P sucked and held by the suction nozzle 27, determining whether or not there is a defect, the holding posture, etc.

[0030] Furthermore, a nozzle holder 38 and a disposal box 37 are further disposed between the pair of front and rear component supply mechanisms 15 and the board transport mechanism 13. The nozzle holder 38 stores multiple types of suction nozzles 27 of the mounting head 26 corresponding to the components P to be held. By having the mounting head 26 access the nozzle holder 38 and performing a predetermined nozzle replacement operation, the mounting head 26 is fitted with a suction nozzle 27 suitable for the component to be held. The disposal box 37 is formed in a box shape and has an internal space, into which components P and the like determined to be defective based on the component recognition process are discarded.

[0031] Next, the function of the control unit 40 of the component mounting apparatus 1 will be described with reference to Fig. 3. Fig. 3 is a diagram illustrating an example of the internal configuration of the component mounting apparatus 1 according to the first embodiment.

[0032] The control unit 40 is configured using, for example, a CPU (Central Processing Unit) or an FPGA (Field Programmable Gate Array), and performs various processes and controls in cooperation with the storage unit 41. Specifically, the control unit 40 references the programs and data stored in the storage unit 41 and executes the programs to realize the functions of each unit. The units referred to here are, for example, a scan count / direction determination unit 45, a mechanism drive unit 46, an imaging processing unit 47, and the like.

[0033] Control unit 40 determines, through these units, the control operations of component mounting mechanism 23 and component recognition camera 28 for scanning (imaging) component P. Based on the determined control operations of component mounting mechanism 23 and component recognition camera 28, control unit 40 controls component mounting mechanism 23, component supply mechanism 15, and component recognition camera 28, respectively, to mount component P on board PW.

[0034] The storage unit 41 has, for example, a RAM (Random Access Memory) as a work memory used when executing each process of the control unit 40, and a ROM (Read Only Memory) that stores programs and data that define the operation of the control unit 40. The RAM temporarily stores data or information generated or acquired by the control unit 40. The ROM stores programs that define the operation of the control unit 40. The storage unit 41 stores mounting data 42, component data 43, angle of view information 44, a scan operation determination table TB1, etc.

[0035] The mounting data 42 includes the mounting position of each component P to be mounted on the board PW, and mounting angle information 42A. The mounting angle information here is information about the mounting angle of the component P relative to the board PW.

[0036] The component data 43 includes identification information that can identify the component P mounted on the board PW, and component size information 43A for each component P.

[0037] The angle of view information 44 is the angle of view information 44 of the component recognition camera 28. The angle of view information 44 includes information related to the angle of view width A0 of the angle of view CM0 (see FIG. 4) of the component recognition camera 28 that captures an image of the component P from below at the height at which the component P is transported by the mounting head 26.

[0038] The scan number / direction determination unit 45 determines the number of scans and the scan direction (the holding posture of the component P during scanning) of the component P that is picked up by the mounting head 26 and mounted on the board PW, based on the mounting angle information 42A stored in the mounting data 42 in the storage unit 41 and the component size information 43A in the component data 34. The scan number / direction determination unit 45 outputs the determined information on the number of scans and the scan direction to the mechanism drive unit 46 and the image capture processing unit 47, respectively.

[0039] The number of scans referred to here is the number of times that the mounting head 26 passes the component P above the component recognition camera 28.

[0040] The mechanism driving unit 46 drives various mechanisms such as the component mounting mechanism 23, the substrate transport mechanism 13, and the tape feed mechanism 29 based on control commands output from the control unit 40. The mechanism driving unit 46 also drives the component mounting mechanism 23 based on the information on the number of scans and the information on the scan direction output from the scan number / direction determining unit 45.

[0041] Specifically, the mechanism driver 46 determines the drive amounts of the Y-axis beam 24 and the X-axis beam 25 that enable the transport of the component P from the component removal position to a predetermined component mounting position on the board PW and the component recognition process of the component P during transport. Note that the component mounting mechanism 23 referred to here is a mechanism for mounting the component P on the board PW, and is configured to include the Y-axis beam 24, the X-axis beam 25, and the mounting head 26.

[0042] The image capturing processing unit 47 controls each of the component recognition camera 28 and the board recognition camera 36, ​​and performs image processing of the images captured by each of the component recognition camera 28 and the board recognition camera 36. The image capturing processing unit 47 realizes the functions of the camera control unit 47A and the component recognition unit 47B.

[0043] Based on the control command output from the scan count / direction determination unit 45, the camera control unit 47A controls the component recognition camera 28 to capture an image of the component P passing over the component recognition camera 28. The camera control unit 47A also controls the board recognition camera 36 to capture an image of the board PW transported by the board transport mechanism 13 to a predetermined board transport position.

[0044] The component recognition unit 47B processes the captured image output from the component recognition camera 28 and executes a component recognition process to recognize the presence or absence of defects in the component P to be mounted, the holding posture, etc. If the component recognition unit 47B determines that the component P is defective as a result of the component recognition process, it generates a control command requesting the disposal of the component P and outputs the control command to the mechanism drive unit 46.

[0045] In the following explanation, we will explain the component mounting process performed by the component mounting mechanism 23 located on the lower side of the paper in Figure 1 (opposite the Y direction), and will omit the explanation of the component mounting process performed by the component mounting mechanism 23 located on the upper side of the paper in Figure 1 (Y direction).

[0046] Next, the angle of view CM0 of the component recognition camera 28 and the scan range SC0 of the component recognition camera 28 will be described with reference to Fig. 4. Fig. 4 is a diagram illustrating an example of the angle of view CM0 and scan range SC0 of the component recognition camera 28. Note that the angle of view CM0 and the scan range SC0 shown in Fig. 4 may be the same size (range).

[0047] The component recognition camera 28 has a substantially rectangular angle of view CM0. The angle of view CM0 is a range having an angle of view width A0 in a direction perpendicular to the component passing direction. The component P0 has a length X0 in the component passing direction and a length Y0 in a direction substantially perpendicular to the component passing direction.

[0048] In such a case, component recognition camera 28 captures an image of component P while component P, which is sucked and held by suction nozzle 27 of mounting head 26, passes through angle of view CM0. Component recognition camera 28 outputs at least one captured image to imaging processing unit 47. The number of times component recognition camera 28 captures images is determined based on scan section L (see FIG. 6) that is determined corresponding to length X0 of component P along the component passing direction, and may be different from the number of scans.

[0049] Next, a component mounting procedure from the component removal position to the predetermined component mounting position will be described with reference to Fig. 5. Fig. 5 is a diagram for explaining an example of the component mounting procedure. Note that Fig. 5 explains the component mounting procedure when scanning a component P three times as an example.

[0050] The mechanism driving unit 46 drives the tape feeding mechanism 29 and the component mounting mechanism 23 based on the information on the number of scans and the scan direction output from the scan number / direction determining unit 45. The mechanism driving unit 46 moves the mounting head 26 to the component pick-up position, and then sucks and holds the component P with the suction nozzle 27 and picks it up (the component pick-up process shown in FIG. 5).

[0051] The mechanism driving unit 46 moves the mounting head 26 in the component passing direction (X direction) above the component recognition camera 28. The imaging processing unit 47 images the component P passing above from below and executes a first scan process. The component recognition camera 28 outputs at least one captured image captured in the first scan process to the imaging processing unit 47.

[0052] After completing the first movement in the component passing direction, the mechanism driving unit 46 moves the mounting head 26 a predetermined distance (distance D0 shown in FIG. 6) toward the board PW that has been transported to the predetermined board transport position. The mechanism driving unit 46 moves the mounting head 26 in the component passing direction (the direction opposite to the X direction) above the component recognition camera 28. The imaging processing unit 47 images the component P passing above from below and performs a second scanning process. The component recognition camera 28 outputs at least one captured image captured in the second scanning process to the imaging processing unit 47.

[0053] After completing the second movement in the component passing direction, the mechanism driving unit 46 again moves the mounting head 26 a predetermined distance (distance D shown in FIG. 6) toward the board PW that has been transported to the predetermined board transport position. The mechanism driving unit 46 moves the mounting head 26 in the component passing direction (X direction) above the component recognition camera 28. The imaging processing unit 47 images the component P passing above from below and executes a third scanning process. The component recognition camera 28 outputs at least one image captured in the third scanning process to the imaging processing unit 47.

[0054] After all scanning processes (three times in the example shown in FIG. 5) are completed, the component recognition camera 28 may output all captured images captured in all scanning processes together to the image capturing processing unit 47.

[0055] If the imaging processing unit 47 determines that the component P is not defective based on the captured image output from the component recognition camera 28, the mechanism driving unit 46 moves the mounting head 26 to a predetermined component mounting position based on the mounting data 42 and mounts the component P.

[0056] Next, the scan range SC10 that is imaged and scanned by the component recognition camera 28 will be described with reference to Fig. 6. Fig. 6 is a diagram illustrating an example of the scan range SC10 and the movement trajectory of the mounting head 26 when the number of scans is 3. The arrows shown in Fig. 6 indicate the movement trajectory of the mounting head 26 (i.e., the component P).

[0057] The mechanism driver 46 moves the mounting head 26 so as to draw a substantially rectangular shape on the component recognition camera 28, thereby enabling the component recognition camera 28 to scan the entire component P. Specifically, the mechanism driver 46 moves the mounting head 26 by a scan section L in the component passing direction, moves the mounting head 26 by a distance D in a direction substantially perpendicular to the X direction, and further moves the mounting head 26 by the scan section L in the direction opposite to the component passing direction, thereby scanning the unscanned range of the component P. Note that the scan section L is a distance (length) determined based on the length of the angle of view CM0 in the component passing direction and the length X0 (size) of the component P in the component passing direction.

[0058] Scan range SC10 indicates the entire range scanned in each of the three scanning processes. In one scanning process, component recognition camera 28 captures an image of one scanning range indicated by field of view angle A0 and scanning section L.

[0059] In the example shown in FIG. 6, the component recognition camera 28 captures an image of the scan range SC11 in the first scan process, captures an image of the scan range SC12 in the second scan process, and captures an image of the scan range SC13 in the third scan process.

[0060] Each of the three scan ranges SC11 to SC13 is imaged so that a portion of each of the two scan ranges scanned in two consecutive scan processes overlaps. For example, the first scan range SC11 and the second scan range SC12 overlap by scan range SC14. The angle of view width A0 of the scan ranges SC11 and SC12 overlaps with scan range SC14 by an overlapping width E0. Similarly, the second scan range SC12 and the third scan range SC13 overlap by scan range SC15. The angle of view width A0 of the scan ranges SC12 and SC13 overlaps with scan range SC15 by an overlapping width E0.

[0061] Next, the operation procedure of the component mounting apparatus 1 according to the first embodiment will be described with reference to Fig. 7 and Fig. 8. Fig. 7 is a diagram illustrating an example of the operation procedure of the component mounting apparatus 1 according to the first embodiment. Fig. 8 is a diagram illustrating an example of a scan operation determination table TB1. Note that, in the operation procedure of the component mounting apparatus 1 according to the first embodiment, an example of the operation procedure in the case where the maximum number of scans is three will be described, but it goes without saying that the number of scans may be four or more.

[0062] 7 and the scan operation determination table TB1 shown in Fig. 8, "X" corresponds to the "length of the long side" shown in Fig. 8 and indicates the length of the part P along the part passing direction (i.e., the X direction). Also, "Y" corresponds to the "length of the short side" shown in Fig. 8 and indicates the length of the part P along the direction approximately perpendicular to the part passing direction (i.e., the Y direction).

[0063] 7 indicates that the component recognition camera 28 performs imaging (scanning) in a state where the holding posture (angle) of the component P sucked and held by the suction nozzle 27 is equal to the mounting angle of the component P indicated by the mounting angle information 42A of the component P. In such a case, the component mounting apparatus 1 can calculate, through the component recognition process, the angle difference between the holding posture (angle) of the component P at the time of scanning and the mounting angle of the component P to be mounted on the board PW. The component mounting apparatus 1 can correct the holding posture (angle) of the component P based on the calculated angle difference before mounting the component P.

[0064] The angle of view A0 shown in the scan operation determination table TB1 is the angle of view A0 of the component recognition camera 28. In other words, if the length Y0 of the component P is equal to or less than the angle of view A0, the component mounting apparatus 1 can scan the component P with one scan. Furthermore, if the length X0 of the component P is equal to or less than the angle of view A0, the component mounting apparatus 1 can scan the component P with the scan direction at the "mounting angle" (i.e., the state in which the component P is held by suction) and with one scan.

[0065] Furthermore, the angle of view width B0 is the angle of view width in which the entire scan range when scanned (imaged) twice by the component recognition camera 28 is considered as one angle of view, and is larger than the angle of view width A0 (B0>A0) and is equal to or smaller than the angle of view width A0×2−overlap width E0 of the component recognition camera 28 ((2×A0−E0)≧B0). In other words, when the length Y0 of the component P is equal to or smaller than the angle of view width B0, the component mounting apparatus 1 can scan the component P with "two" scans. Furthermore, when the length X0 of the component P is equal to or smaller than the angle of view width B0, the component mounting apparatus 1 can scan the component P with the scanning direction being the "mounting angle" (i.e., the state in which the component P is sucked and held) and with "two" scans.

[0066] Similarly, the angle of view width C0 is the angle of view width in which all the scan ranges when scanned (imaged) three times by the component recognition camera 28 are considered as one angle of view, and is larger than the angle of view width B0 (C0>B0) and is equal to or smaller than the angle of view width A0×3−overlap width E0×2 of the component recognition camera 28 ((3×A0-2×E0)≧C0). In other words, when the length Y0 of the component P is equal to or smaller than the angle of view width C0, the component mounting apparatus 1 can scan the component P three times. Furthermore, when the length X0 of the component P is equal to or smaller than the angle of view width C0, the component mounting apparatus 1 can scan the component P in the scanning direction at the "mounting angle" (i.e., when the component P is held by suction) and three times.

[0067] The mechanism driving unit 46 drives the component mounting mechanism 23 to pick up the component P supplied to the component pick-up position with the suction nozzle 27 and pick it up (St11).

[0068] The scan count / direction determination unit 45 determines the number of scans of the component P and the holding posture (angle) of the component P during scanning based on the mounting angle information 42A of the mounting data 42 of the picked-up component P, the component size information 43A of the component data 43, and the field of view information 44 of the component recognition camera 28.

[0069] The scan number / direction determination unit 45 determines whether the length Y0 of the component P, which is approximately perpendicular to the component passing direction, is equal to or less than the angle of view A0 (St12). In step St12, the scan number / direction determination unit 45 determines whether the length Y0 of the component P fits within the angle of view A0 of the component recognition camera 28, that is, whether the entire component P can be scanned in one scan process.

[0070] If it is determined in the processing of step St12 that the length Y0 of the component P is equal to or less than the angle of view A0 (St12, YES), the scan count / direction determination unit 45 determines whether the length X0 of the component P along the component passing direction is equal to or less than the angle of view A0 (St13). In step St13, the scan count / direction determination unit 45 determines whether the length X0 of the component P fits within the angle of view A0 of the component recognition camera 28, that is, whether the scanning process can be performed with the holding attitude (angle) of the component P picked up by the suction nozzle 27 rotated to the mounting angle of the component P to be mounted on the board PW.

[0071] If it is determined in the processing of step St13 that the length X0 of the component P is equal to or less than the angle of view A0 (St13, YES), the scan count / direction determination unit 45 determines the scan direction to be "mounting angle" and the number of scans to be "1" (St14). The scan count / direction determination unit 45 outputs information on the determined scan direction and number of scans to the mechanism driving unit 46 and the imaging processing unit 47.

[0072] Based on the scan direction information and scan count information output from the scan count / direction determination unit 45, the mechanism drive unit 46 rotates the component P sucked and held by the suction nozzle 27 to a mounting angle based on the mounting angle information 42A of the component P, and then passes the component P once above the component recognition camera 28 in the component passing direction.

[0073] The imaging processing unit 47 scans (images) the component P passing above the component recognition camera 28 once based on the information on the number of scans output from the scan number / direction determination unit 45 and the component size information 43A of the component P.

[0074] If the component P is determined to be not defective as a result of the component recognition process by the image capturing processor 47, the mechanism driver 46 mounts the component P at a predetermined component mounting position on the board PW (St16A).

[0075] On the other hand, if it is determined in the processing of step St13 that the length X0 of the part P is not equal to or less than the angle of view A0 (St13, NO), the scan count / direction determination unit 45 determines the scan direction to be the "current holding posture (angle)" and the number of scans to be "1" (St15). The scan count / direction determination unit 45 outputs information on the determined scan direction and number of scans to the mechanism drive unit 46 and the image capture processing unit 47.

[0076] Based on the scan direction information and scan count information output from the scan count / direction determination unit 45, the mechanism drive unit 46 causes the component P suction-held by the suction nozzle 27 to pass once above the component recognition camera 28 in the component passing direction.

[0077] The imaging processing unit 47 scans (images) the component P passing above the component recognition camera 28 once based on the information on the number of scans output from the scan number / direction determination unit 45 and the component size information 43A of the component P.

[0078] If the component P is determined to be not defective as a result of the component recognition process by the imaging processing unit 47, the mechanism driving unit 46 rotates the component P to a mounting angle based on the holding attitude (angle) of the component P picked up by the suction nozzle 27 and the mounting angle information 42A of the component P, and then mounts the component P at a predetermined component mounting position on the board PW (St16B).

[0079] If it is determined in the processing of step St12 that the length Y0 of the component P is not equal to or less than the angle of view A0 (St12, NO), the scan count / direction determination unit 45 further determines whether the length Y0 of the component P is equal to or less than the angle of view B0 (St17). Note that the angle of view B0 satisfies the following conditions: angle of view A0<angle of view B0, and (angle of view A0×2−overlap width E0)≧angle of view B0. In step St17, the scan count / direction determination unit 45 determines whether the length Y0 of the component P fits within the angle of view A0×2−overlap width E0 (i.e., angle of view B0) of the component recognition camera 28, that is, whether the entire component P can be scanned in two scan processes.

[0080] If it is determined in the processing of step St17 that the length Y0 of the component P is equal to or less than the angle of view B0 (St17, YES), the scan count / direction determination unit 45 determines whether the length X0 of the component P is equal to or less than the angle of view A0 (St18). In step St18, the scan count / direction determination unit 45 determines whether the length X0 of the component P fits within the angle of view A0 of the component recognition camera 28, that is, whether the scanning process can be performed with the holding attitude (angle) of the component P picked up by the suction nozzle 27 rotated to the mounting angle of the component P to be mounted on the board PW.

[0081] If the scan number / direction determination unit 45 determines in the process of step St18 that the length X0 of the part P is equal to or less than the angle of view A0 (St18, YES), the process proceeds to the process of step St15.

[0082] On the other hand, if it is determined in the processing of step St18 that the length X0 of the component P is not equal to or less than the angle of view A0 (St18, NO), the scan count / direction determination unit 45 determines whether the length X0 of the component P is equal to or less than the angle of view B0 (St19). In step St19, the scan count / direction determination unit 45 determines whether the length X0 of the component P allows the scan process to be performed in a state where the holding attitude (angle) of the component P picked up by the suction nozzle 27 is rotated to the mounting angle of the component P to be mounted on the board PW.

[0083] If it is determined in the processing of step St19 that the length X0 of the component P is equal to or less than the field angle width B0 (St19, YES), the scan number / direction determination unit 45 determines the scan direction to be "mounting angle" and the number of scans to be "twice" (St20). The scan number / direction determination unit 45 outputs information on the determined scan direction and number of scans to the mechanism driving unit 46 and the imaging processing unit 47.

[0084] Based on the scan direction information and scan count information output from the scan count / direction determination unit 45, the mechanism drive unit 46 rotates the component P sucked and held by the suction nozzle 27 to a mounting angle based on the mounting angle information 42A of the component P, and then passes the component P above the component recognition camera 28 twice in the component passing direction.

[0085] The imaging processing unit 47 scans (images) the component P passing above the component recognition camera 28 twice based on the information on the number of scans output from the scan number / direction determination unit 45 and the component size information 43A of the component P.

[0086] If the component P is determined to be not defective as a result of the component recognition process by the imaging processing unit 47, the mechanism driving unit 46 mounts the component P at a predetermined component mounting position on the board PW (St16A).

[0087] On the other hand, if it is determined in the processing of step St19 that the length X0 of the part P is equal to or less than the angle of view B0 (St19, YES), the scan count / direction determination unit 45 determines the scan direction to be the "current holding posture (angle)" and the number of scans to be "twice" (St21). The scan count / direction determination unit 45 outputs information on the determined scan direction and number of scans to the mechanism drive unit 46 and the image capture processing unit 47.

[0088] Based on the scan direction information and scan count information output from the scan count / direction determination unit 45, the mechanism drive unit 46 causes the component P suction-held by the suction nozzle 27 to pass above the component recognition camera 28 twice in the component passing direction.

[0089] The imaging processing unit 47 scans (images) the component P passing above the component recognition camera 28 twice based on the information on the number of scans output from the scan number / direction determination unit 45 and the component size information 43A of the component P.

[0090] If the component P is determined to be not defective as a result of the component recognition process by the imaging processing unit 47, the mechanism driving unit 46 rotates the component P to a mounting angle based on the holding attitude (angle) of the component P picked up by the suction nozzle 27 and the mounting angle information 42A of the component P, and then mounts the component P at a predetermined component mounting position on the board PW (St16B).

[0091] On the other hand, if it is determined in the processing of step St17 that the length Y0 of the component P is not equal to or less than the angle of view B0 (St17, NO), the scan count / direction determination unit 45 determines whether the length X0 of the component P is equal to or less than the angle of view A0 (St22). In step St22, the scan count / direction determination unit 45 determines whether the length X0 of the component P fits within the angle of view A0 of the component recognition camera 28, that is, whether the scanning process can be performed with the holding attitude (angle) of the component P picked up by the suction nozzle 27 rotated to the mounting angle of the component P to be mounted on the board PW.

[0092] If it is determined in the processing of step St22 that the length X0 of the part P in the X direction is equal to or less than the angle of view A0 (St22, YES), the scan count / direction determination unit 45 determines the scan direction to be "current holding posture (angle)" and the number of scans to be "1" (St23). The scan count / direction determination unit 45 outputs information on the determined scan direction and number of scans to the mechanism driving unit 46 and the imaging processing unit 47.

[0093] Based on the scan direction information and scan count information output from the scan count / direction determination unit 45, the mechanism drive unit 46 causes the component P suction-held by the suction nozzle 27 to pass once above the component recognition camera 28 in the component passing direction.

[0094] The imaging processing unit 47 scans (images) the component P passing above the component recognition camera 28 once based on the information on the number of scans output from the scan number / direction determination unit 45 and the component size information 43A of the component P.

[0095] If the component P is determined to be not defective as a result of the component recognition process by the imaging processing unit 47, the mechanism driving unit 46 rotates the component P to a mounting angle based on the holding attitude (angle) of the component P picked up by the suction nozzle 27 and the mounting angle information 42A of the component P, and then mounts the component P at a predetermined component mounting position on the board PW (St16B).

[0096] If it is determined in the processing of step St22 that the length X0 of the component P is not equal to or less than the angle of view A0 (St22, NO), the scan count / direction determination unit 45 determines whether the length X0 of the component P is equal to or less than the angle of view B0 (St24). In step St24, the scan count / direction determination unit 45 determines whether the length X0 of the component P is such that the scanning process can be performed in a state where the holding attitude (angle) of the component P picked up by the suction nozzle 27 is rotated to the mounting angle of the component P to be mounted on the board PW.

[0097] If the scan number / direction determination unit 45 determines in the process of step St24 that the length X0 of the part P is equal to or less than the field angle width B0 (St24, YES), the process proceeds to the process of step St21.

[0098] If it is determined in the processing of step St24 that the length X0 of the component P in the X direction is not equal to or less than the field angle width B0 (St24, NO), the scan number / direction determination unit 45 determines the scan direction to be "mounting angle" and the number of scans to be "three times" (St25). The scan number / direction determination unit 45 outputs information on the determined scan direction and number of scans to the mechanism driving unit 46 and the imaging processing unit 47.

[0099] Based on the scan direction information and scan count information output from the scan count / direction determination unit 45, the mechanism drive unit 46 rotates the component P sucked and held by the suction nozzle 27 to a mounting angle based on the mounting angle information 42A of the component P, and then passes the component P above the component recognition camera 28 three times in the component passing direction.

[0100] The imaging processing unit 47 scans (images) the component P passing above the component recognition camera 28 three times based on the information on the number of scans output from the scan number / direction determination unit 45 and the component size information 43A of the component P.

[0101] If the component P is determined to be not defective as a result of the component recognition process by the imaging processing unit 47, the mechanism driving unit 46 mounts the component P at a predetermined component mounting position on the board PW (St16A).

[0102] In the above operation procedure, the scan section L0 (i.e., the number of times an image of the component P is captured) may be determined based on the length X0 (length of the long side) of the component P. The image capturing processor 47 processes the captured image output from the component recognition camera 28 and executes the component recognition process.

[0103] Furthermore, when the scanning direction is determined to be "mounting angle," the mechanism driving unit 46 determines, based on the component recognition process, whether or not the holding attitude (angle) of the component P picked up by the suction nozzle 27 differs from the mounting angle of the component P. When the mechanism driving unit 46 determines that the holding attitude (angle) of the component P picked up by the suction nozzle 27 differs from the mounting angle of the component P, the mechanism driving unit 46 may rotate the suction nozzle 27 by the angle difference between the holding attitude (angle) of the component P and the mounting angle, and then mount the component P at a predetermined component mounting position on the board PW.

[0104] Furthermore, when the scanning direction is determined to be the "current holding attitude (angle)," the mechanism driving unit 46 calculates, based on the component recognition process, the angle difference between the holding attitude (angle) of the component P picked up by the suction nozzle 27 and the mounting angle of the component P. The mechanism driving unit 46 may rotate the holding attitude (angle) of the component P picked up by the suction nozzle 27 based on the calculated angle difference, and then mount the component P at a predetermined component mounting position on the board PW.

[0105] Furthermore, in the process of step St11, the mechanism driving unit 46 may pick up the component P so that the holding posture (angle) of the component P is the mounting angle.

[0106] Furthermore, if the component P is determined to be defective as a result of the component recognition process, the scan count / direction determination unit 45 determines to discard the component P. In such a case, the component mounting apparatus 1 discards the component P determined to be defective, and then returns to the process of step St11.

[0107] As a result, the component mounting apparatus 1 according to embodiment 1 can more efficiently determine the scanning direction of the component P (i.e., the holding posture (angle) during scanning) and the number of scans based on the angle of view width A0 of the component recognition camera 28 and the size (length) of the component P.

[0108] Next, the scan range SC1 and the movement locus RT1 of the mounting head 26 when the number of scans is "1" will be described with reference to Fig. 9. Fig. 9 is a diagram for explaining an example of the scan operation when the number of scans is "1".

[0109] The component recognition camera 28 has a generally rectangular field of view CM0, with the length of one side being the field of view width A0. Also, the component P1 shown in Figure 9 has a length X1 in the component passing direction and a length Y1 in a direction generally perpendicular to the component passing direction, where X1 > A0 > Y1.

[0110] In such a case, the scan count / direction determination unit 45 determines that the number of scans is "one time." The mechanism drive unit 46 drives the component mounting mechanism 23 to move the mounting head 26 so that it passes above the component recognition camera 28 only once. The movement trajectory RT1 is the movement trajectory of the mounting head 26. The component recognition camera 28 captures an image of the scan range SC1 to image (scan) the component P1 passing above. Here, the scan section L1 imaged (scanned) by the component recognition camera 28 is a section longer than the length X1 of the component P1.

[0111] Next, the scan ranges SC21 and SC22 and the movement locus RT2 of the mounting head 26 when the number of scans is "2" will be described with reference to Fig. 10. Fig. 10 is a diagram for explaining an example of the scan operation when the number of scans is "2".

[0112] The component recognition camera 28 has a substantially rectangular field of view CM0, with the length of one side being the field of view width A0. Also, component P2 shown in Figure 10 has a length X2 in the component passing direction and a length Y2 in a direction substantially perpendicular to the component passing direction. Here, (2 x A0 - E0) > Y2 > X2.

[0113] In this case, the scan count / direction determination unit 45 determines that the number of scans is "twice." The mechanism drive unit 46 drives the component mounting mechanism 23 to move the mounting head 26 so that it passes above the component recognition camera 28 only twice. The movement trajectory RT2 is the movement trajectory of the mounting head 26. The component recognition camera 28 captures images of the scan ranges SC21 and SC22, thereby capturing (scanning) the component P2 passing above. The overlapping range SC23 is the range where the scan range SC21 and the scan range CS22 overlap. Here, the scan section L2 captured (scanned) by the component recognition camera 28 is a section longer than the length X2 of the component P2.

[0114] Next, the scan ranges SC31, SC32, SC33 and the movement trajectory RT3 of the mounting head 26 when the number of scans is "3" will be described with reference to Fig. 11. Fig. 11 is a diagram for explaining an example of the scan operation when the number of scans is "3".

[0115] The component recognition camera 28 has a generally rectangular field of view CM0, with the length of one side being the field of view width A0. Also, component P3 shown in Figure 10 has a length X3 in the component passing direction and a length Y3 in a direction generally perpendicular to the component passing direction. Here, (3 x A0 - 2 x E0) > Y3 > X3.

[0116] In this case, the scan count / direction determination unit 45 determines that the number of scans is "three." The mechanism drive unit 46 drives the component mounting mechanism 23 to move the mounting head 26 so that it passes above the component recognition camera 28 three times. The movement trajectory RT3 is the movement trajectory of the mounting head 26. The component recognition camera 28 captures images of each of the scan ranges SC31 to SC33 to capture (scan) the component P3 passing above. The overlapping range SC34 is the range where the scan range SC31 and the scan range CS32 overlap. The overlapping range SC35 is the range where the scan range SC32 and the scan range CS33 overlap. The scan section L3 captured (scanned) by the component recognition camera 28 is longer than the length X3 of the component P3.

[0117] As described above, the component mounting apparatus 1 according to the first embodiment includes a mounting head 26 (an example of a head) that holds a component P, a component recognition camera 28 (an example of an imaging unit) that captures an image of the component P held by the mounting head 26 and passing within a field of view CM0 from below, an imaging processing unit 47 (an example of a recognition unit) that recognizes the component P using the captured image captured by the component recognition camera 28, a scan count / direction determination unit 45 (an example of a determination unit) that determines the number of times the mounting head 26 passes above the imaging unit, and a component mounting mechanism 23 (an example of a drive unit) that mounts the component P on the board PW based on the recognition result by the imaging processing unit 47. The scan count / direction determination unit 45 determines the first number of scans based on the length of one of two adjacent sides of the horizontal plane of the component P that is substantially perpendicular to a component passing direction (e.g., an example of a first direction) in which the mounting head 26 passes above the component recognition camera 28, and the field of view widths A0 and B0 of the field of view CM0 that are substantially perpendicular to the component passing direction. The component mounting mechanism 23 moves the mounting head 26 above the component recognition camera 28 based on the determined first number of scans.

[0118] As a result, when the component mounting device 1 of embodiment 1 performs component recognition of a component P that is larger than the angle of view CM0 of the component recognition camera 28, it can more efficiently determine the number of scans of the component P based on the angle of view widths A0 and B0 of the angle of view CM0 of the component recognition camera 28 that are approximately perpendicular to the direction in which the component P passes (for example, the X direction shown in Figure 4), and the length Y0 of the component P.

[0119] Furthermore, as described above, the scan count / direction determination unit 45 of the component mounting apparatus 1 according to the first embodiment further calculates the second scan count based on the length of the other of the two sides of the component P and the angle of view A0 and B0, and determines the scan count of the component P and the leading side to be scanned first by the component recognition camera 28 based on the calculated first and second scan counts. The component mounting mechanism 23 rotates the mounting head 26 at an angle such that the determined leading side is substantially perpendicular to the component passing direction, and moves the mounting head 26 above the component recognition camera 28 based on the scan count. This allows the component mounting apparatus 1 according to the first embodiment to more efficiently determine the scan direction of the component P.

[0120] For example, if two sides of component P have lengths X0 and Y0, respectively, the scan count / direction determination unit 45 calculates, based on the length Y0 of one side of component P and the angle of view A0 and B0, the number of scans (an example of a first number of scans) required for the side having this length Y0 to pass through the angle of view CM0 in the component passing direction. Furthermore, based on the length X0 of the other side of component P and the angle of view A0 and B0, the scan count / direction determination unit 45 calculates, based on the length X0 of the other side of component P and the angle of view A0 and B0, the number of scans (an example of a second number of scans) required for the side having this length X0 to pass through the angle of view CM0 in the component passing direction. Based on the calculated number of scans, the scan count / direction determination unit 45 determines the number of scans to be performed by component recognition camera 28 and the scan direction, which is the holding attitude (angle) of component P suction-held by mounting head 26. The leading side here refers to the side of component P that enters the imaging space corresponding to the angle of view CM0 of component recognition camera 28.

[0121] The first number of scans may be calculated based on the length X0 of the other side of the part P and the angle of view A0, B0. Similarly, the second number of scans may be calculated based on the length Y0 of one side of the part P and the angle of view A0, B0.

[0122] Furthermore, as described above, when the calculated first scan number is greater than the second scan number, the scan number / direction determination unit 45 of the component mounting apparatus 1 according to the first embodiment determines the second scan number as the scan number and determines the other side as the leading edge. The component mounting mechanism 23 rotates the mounting head 26 at an angle such that the other edge is substantially perpendicular to the component passing direction, and moves the mounting head 26 above the component recognition camera 28 based on the second scan number. This allows the component mounting apparatus 1 according to the first embodiment to rotate the component P so as to reduce the number of scans, thereby making the recognition process of the component P more efficient.

[0123] Furthermore, as described above, in the component mounting apparatus 1 according to the first embodiment, when the calculated first number of scans is less than the second number of scans, the scan count / direction determination unit 45 determines the first number of scans as the number of scans and determines one of the sides as the leading edge. The component mounting mechanism 23 moves the mounting head 26 above the component recognition camera 28 based on the first number of scans. As a result, the component mounting apparatus 1 according to the first embodiment can reduce the number of scans and make the recognition process of the component P more efficient.

[0124] Furthermore, as described above, in the component mounting apparatus 1 according to the first embodiment, when the calculated first and second scan counts are the same, the scan count / direction determination unit 45 determines the first scan count as the number of scans and determines the leading edge to be one of the edges corresponding to the mounting angle of the component P to be mounted on the board PW. The component mounting mechanism 23 rotates the mounting head 26 at an angle such that one of the determined edges is substantially perpendicular to the component passing direction. This allows the component mounting apparatus 1 according to the first embodiment to perform component recognition by rotating the holding attitude (angle) of the component P sucked and held by the mounting head 26 to an angle relative to the mounting angle. Therefore, by rotating the component P after component recognition, the component mounting apparatus 1 can effectively suppress the occurrence of a mounting error between the mounting angle of the component P mounted on the board PW and the mounting angle of the component P based on the mounting angle information 42A.

[0125] As described above, the component recognition method in the first embodiment is performed by component mounting apparatus 1, which mounts component P on board PW. Component mounting apparatus 1 determines the first number of scans based on the length of one of two adjacent sides of the horizontal plane of component P held by mounting head 26 (an example of a head), which is substantially perpendicular to a component passing direction (an example of a first direction) in which mounting head 26 passes above component recognition camera 28 (an example of a camera), and the angle of view widths A0 and B0 of angle of view CM0 of component recognition camera 28, which is substantially perpendicular to the component passing direction, moves mounting head 26 above component recognition camera 28 based on the determined first number of scans, captures an image of component P passing within angle of view CM0 from below, and recognizes component P using the captured image.

[0126] As a result, when the component mounting device 1 of embodiment 1 performs component recognition of a component P that is larger than the angle of view CM0 of the component recognition camera 28, it can more efficiently determine the number of scans of the component P based on the angle of view widths A0 and B0 of the angle of view CM0 of the component recognition camera 28 that are approximately perpendicular to the direction in which the component P passes (for example, the X direction shown in Figure 4), and the length Y0 of the component P.

[0127] Although the embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure. Furthermore, the components in the above-described embodiments may be combined in any manner as long as they do not deviate from the spirit of the invention. [Industrial Applicability]

[0128] The present disclosure is useful for a component mounting device and a component recognition method that improve the imaging efficiency of components that are larger than the angle of view of a component recognition camera. [Explanation of symbols]

[0129] 1. Component mounting equipment 12 Foundation 13 Substrate transport mechanism 14 Transport conveyor 15 Parts supply mechanism 18 Tape Feeder 20 carts 22 Carrier tape 23 Component Mounting Mechanism 24 Y-axis beam 25 X-axis beam 26 Mounting head 27 Suction nozzle 28 Parts Recognition Camera 37 Disposal Box 40 Control Unit 41 Storage section 42 Implementation Data 42A Mounting angle information 43 Parts Data 43A Part Size Information 44 Field of view information 45 Scan count and direction determination unit 46 Mechanism drive unit 47 Imaging processing section 47A Camera control unit 47B Parts Recognition Unit A0, B0, C0 Angle of view CM0 angle of view E0 overlap width P,P0,P1,P2,P3 parts PW board TB1 Scan operation decision table

Claims

1. a head for holding a part; an imaging unit that is held by the head and captures an image of the component from below as the component passes within a field of view; a recognition unit that recognizes the component using the captured image captured by the imaging unit; a determination unit that determines the number of times the head passes above the imaging unit; a drive unit that mounts the component on a board based on a recognition result by the recognition unit, the determination unit determines a first number of scans based on a length of one of two adjacent sides of a horizontal plane of the part, the side being substantially perpendicular to a first direction in which the head passes above the imaging unit, and a field of view width of the field of view being substantially perpendicular to the first direction; calculating a second number of scans based on the length of the other of the two sides of the component and the angle of view; determining the number of scans of the component and a leading edge to be scanned first by the imaging unit based on the calculated first number of scans and the calculated second number of scans; the driving unit rotates the head at an angle at which the determined leading edge is substantially perpendicular to the first direction; moving the head above the imaging unit based on the determined number of scans; Component mounting equipment.

2. The determination unit If the calculated first number of scans is greater than the second number of scans, the second number of scans is determined as the number of scans, and the leading edge is determined as the other edge; The drive unit is The head is rotated at an angle such that the other side is substantially perpendicular to the first direction, moving the head above the imaging unit based on the second number of scans; The component mounting device according to claim 1 .

3. The determination unit If the calculated first number of scans is smaller than the second number of scans, the number of scans is determined to be the first number of scans, and the leading edge is determined to be the one edge; The drive unit is moving the head above the imaging unit based on the first number of scans; The component mounting device according to claim 1 .

4. The determination unit If the calculated first number of scans and the calculated second number of scans are the same, the number of scans is determined to be the first number of scans, and the leading edge is determined to be one of the edges corresponding to the mounting angle of the component to be mounted on the board; The drive unit is rotating the head at an angle such that the determined one of the sides is substantially perpendicular to the first direction; The component mounting device according to claim 1 .

5. A component recognition method performed by a component mounting device that mounts components on a board, comprising: determining a first number of scans based on a length of one of two adjacent sides of a horizontal plane of the part held by a head, the side being approximately perpendicular to a first direction in which the head passes above a camera, and a width of an angle of view of the camera being approximately perpendicular to the first direction; calculating a second number of scans based on the length of the other of the two sides of the component and the angle of view; determining the number of scans of the component and a leading edge to be scanned first by the camera based on the calculated first number of scans and the calculated second number of scans; rotating the head at an angle such that the determined leading edge is substantially perpendicular to the first direction; moving the head above the camera based on the determined number of scans; capturing an image of the component passing through the angle of view from below; Recognizing the component using the captured image. Part recognition method.

Images