Component mounting apparatus and component mounting method

Abstract

A component mounting apparatus 100 comprises: a detection unit 9 that can acquire a detection result for determining whether there is a discard target component Eo which has been suctioned to a nozzle 601 of a discard target component suction head 621 after the discard target component suction head 621 had moved directly above a discard part 11, or whether there is a discard target component Eo which has been discarded in the discard part 11 immediately beforehand; and a control unit 12 that executes control for determining whether or not there is the discard target component Eo on the basis of the detection result of the discard target component Eo by the detection unit 9.

Description

Technical Field

[0001] The present invention relates to a component mounting apparatus and a component mounting method, and particularly to a component mounting apparatus and a component mounting method including a head unit having a mounting head.

Background Art

[0002] Conventionally, a component mounting apparatus including a head unit having a mounting head has been known. Such a component mounting apparatus is disclosed, for example, in Japanese Patent Application Laid-Open No. 2012-199474.

[0003] Japanese Patent Application Laid-Open No. 2012-199474 discloses a component mounting apparatus including a head unit having a mounting head, a base, a parts feeder (component supply unit), a component camera, a waste box (waste unit), and a control device (control unit).

[0004] The parts feeder of Japanese Patent Application Laid-Open No. 2012-199474 is configured to supply components to the mounting head. The mounting head includes a suction nozzle that sucks the components supplied by the parts feeder. In the head unit, after sucking the components on the suction nozzle of the mounting head, the components are mounted (installed) on the positioned substrate. The component camera is configured to image the components sucked by the suction nozzle from below. The waste box is configured to discard the components with a poor suction state among the components sucked by the suction nozzle. The waste box is disposed at a position different from that of the component camera on the base.

[0005] The control device described in Japanese Patent Publication No. 2012-199474 performs control to determine whether the suction state of a component picked up by a suction nozzle is poor, based on the image capture results of a component camera on the component picked up by the suction nozzle. After determining whether the suction state of a component picked up by a suction nozzle is poor, the control device performs control to mount the component with good suction onto the substrate. After mounting the component with good suction onto the substrate, the control device moves the mounting head over the component camera and performs control to determine whether a component with poor suction (a component to be discarded) is picked up by the suction nozzle. If the control device determines that a component with poor suction is picked up by the suction nozzle, it moves the mounting head above the waste box and then discards the component with poor suction by releasing it from the suction nozzle. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2012-199474 [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] However, in the component mounting apparatus described in Japanese Patent Publication No. 2012-199474, in order to discard components with poor suction, the mounting head is moved onto a component camera and then onto a waste box, thereby moving the components with poor suction to the waste box. In this case, since the waste box is located in a different position from the component camera on the base, if a component falls from the suction nozzle between the component camera and the waste box, the fall of the component with poor suction cannot be detected. Therefore, it is not possible to confirm whether or not the component with poor suction has moved to the waste box. Thus, it is desirable that, compared to conventional component mounting apparatuses such as the one described in Japanese Patent Publication No. 2012-199474, it be possible to confirm whether or not the mounting head (discarded component suction head) that picked up the component with poor suction (discarded component) has moved to the waste box (discard section) without dropping the component with poor suction (discarded component) from the suction nozzle (nozzle).

[0008] This invention was made to solve the above-mentioned problems, and one objective of this invention is to provide a component mounting apparatus and a component mounting method that can confirm whether or not the component suction head for the component to be discarded has moved to the disposal section without the component to be discarded falling from the nozzle. [Means for solving the problem]

[0009] A component mounting apparatus according to the first aspect of this invention comprises: a component supply unit that supplies components to be mounted on a substrate; a mounting head that is movable horizontally and uses a nozzle at its tip to pick up components supplied from the component supply unit and mount them on the substrate; a waste unit that discards components that are picked up by the nozzle of the mounting head when they do not meet the conditions for being mountable on a substrate; a detection unit that can acquire detection results by detecting components from above the tip of the nozzle in order to determine whether there are any components to be discarded picked up by the nozzle of the mounting head, or components that were discarded immediately before, after the waste component pick-up head, which is the mounting head that picked up the components to be discarded, has moved directly above the waste unit; and a control unit that performs control to determine whether there are any components to be discarded based on the detection results of the detection unit. The detection unit includes an imaging unit, and if the control unit determines, based on the detection result of the imaging unit, that there are parts to be discarded, it releases the suction of the parts to be discarded from the nozzle, then performs imaging with the imaging unit and determines the presence or absence of parts to be discarded based on the detection result of the imaging unit. .

[0010] In the component mounting apparatus according to the first aspect of this invention, as described above, after the component suction head, which is a mounting head that has picked up a component to be discarded, moves to directly above the waste section, a detection unit is provided that can acquire a detection result for determining whether or not there is a component to be discarded that has been picked up by the nozzle of the component suction head, or a component to be discarded that was discarded immediately before, within the waste section. The component mounting apparatus also includes a control unit that performs control to determine the presence or absence of a component to be discarded based on the detection result of the component to be discarded by the detection unit. As a result, since the detection result from the detection unit is acquired after the component suction head has moved to directly above the waste section, the control unit determines the presence or absence of a component to be discarded after the component suction head has moved to directly above the waste section, so it is possible to confirm whether or not the component suction head was able to move to the waste section without dropping the component to be discarded from the nozzle. Furthermore, since the detection unit is configured to detect a component to be discarded that was discarded immediately before, it is possible to confirm that the component to be discarded has been discarded in the waste section, so it is possible to confirm whether or not the component suction head was able to move to the waste section without dropping the component to be discarded from the nozzle. Furthermore, since it is possible to determine the occurrence of a parts disposal error indicating that a part to be discarded remains in the nozzle, it is possible to prevent the part to be discarded that remains in the disposal section without being discarded from falling to locations other than the disposal section, such as the parts supply section, after it has moved from the disposal section.

[0011] In the component mounting apparatus according to the first aspect described above, preferably, after the component suction head for discarded components moves directly above the discard section, the control unit performs the process of releasing the component suction head for discarded components that has been picked up by the nozzle of the component suction head for discarded components, Imaging Department Based on the detection results, control is performed to determine whether or not there are any parts to be discarded. With this configuration, it is possible to check for any unintended drops of parts to be discarded that are held by the nozzle of the parts to be discarded suction head until just before the suction is released, so it is possible to reliably confirm whether or not the parts to be discarded suction head has moved to the disposal section without dropping any parts from the nozzle.

[0012] In this case, preferably, the control unit, based on the fact that the suction head for the part to be discarded has reached the lowered position on the discard side directly above the discard section, Imaging Department The system controls the presence or absence of parts to be discarded based on the detection results. With this configuration, the presence or absence of parts to be discarded is determined at the lowered position, allowing the determination to be made in the vertical direction when the parts to be discarded are relatively close to the disposal section. This makes it possible to determine the presence or absence of parts to be discarded at a position where the parts to be discarded can be dropped into the disposal section with almost certainty.

[0014] In a component mounting apparatus in which the control unit performs control to determine the presence or absence of a component to be discarded based on the detection result of the detection unit, based on the fact that the component to be discarded suction head has reached the lowered position, preferably, Imaging Department This is attached to the head unit to detect the waste parts that have been picked up by the nozzle of the waste parts suction head, and it images the tip portion of the nozzle of the waste parts suction head when it reaches the lowered position. It is configured in such a wayWith this configuration, even if it is not possible to detect the presence or absence of a component to be discarded by measuring the change in negative pressure at the nozzle of the component to be discarded suction head, the imaging unit can image the component to be discarded along with the tip of the nozzle of the component to be discarded suction head. Therefore, the presence or absence of a component to be discarded can be determined based on the detection results obtained by the imaging unit. The detection results obtained by the imaging unit include images (imaging results) created based on the intensity of light detected by the image sensor of the imaging unit.

[0015] In a component mounting apparatus including an imaging unit that images the tip portion of the nozzle of a component to be discarded that has reached the lowered position, preferably, the control unit, based on the fact that the component to be discarded has reached the lowered position, uses the imaging unit to capture an image of the nozzle tip portion just before discarding, and performs control to determine the presence or absence of a component to be discarded based on the image just before discarding. With this configuration, by determining the presence or absence of a component to be discarded based on the image just before discarding, it is possible to determine the presence or absence of a component to be discarded without measuring the negative pressure of the component to be discarded suction head. Therefore, even in a head unit where it is difficult to measure the negative pressure applied to each of the multiple mounting heads, it is possible to determine whether or not a component to be discarded has been carried up to the lowered position directly above the discarding unit.

[0016] In a component mounting apparatus where the control unit performs a control to determine the presence or absence of a component to be discarded based on the detection result of the detection unit before releasing the suction of the component to be discarded, preferably the apparatus further includes a display unit capable of displaying component information associated with the component to be discarded, and the control unit controls the display unit to display, as component information associated with the component to be discarded, the number of components to be discarded that were determined to be absent or present based on the detection result out of the total number of components to be discarded, in a display manner that allows the user to recognize. With this configuration, the user can recognize the number of components to be discarded that fell off along the way without moving to the discard section, and thus understand how many components to discard need to be found.

[0017] In a component mounting apparatus equipped with a display unit capable of displaying component information associated with the above-mentioned discarded component, preferably, the control unit controls the display unit to display at least one of the following as component information associated with the discarded component determined to be absent based on the detection result: the type of component associated with the discarded component determined to be absent, the size of the discarded component including its height and dimensions in a plan view, and an image of the external shape of the discarded component. With this configuration, the user can more specifically recognize the discarded component that fell off along the way without reaching the discard section.

[0018] In a component mounting apparatus where the control unit performs control to determine the presence or absence of components to be discarded based on an image taken just before disposal, preferably, a plurality of mounting heads are arranged, and the apparatus further includes a component imaging unit that captures a post-suction image of the components from below after they have been picked up by the nozzles of each of the plurality of mounting heads at the component supply unit. If the control unit determines, based on the post-suction image, that there is at least one component to be discarded and at least one mountable component other than the components to be discarded among the components picked up by the nozzles of each of the plurality of mounting heads, the control unit mounts the mountable components onto the substrate and then performs control to determine the presence or absence of components to be discarded based on the image taken just before disposal by the imaging unit, without passing through the component imaging unit. With this configuration, the distance the head unit travels to reach the disposal unit can be reduced compared to the case where the presence or absence of components to be discarded is determined at the component imaging unit before proceeding to the disposal unit, thus reducing the time required to discard the components to be discarded at the disposal unit.

[0019] In a component mounting apparatus in which the control unit, after mounting mountable components onto a substrate, controls the head unit to directly move towards the disposal section without going through the component imaging unit to determine the presence or absence of components to be discarded based on an image taken just before disposal, preferably further comprising a display unit capable of displaying component information associated with the components to be discarded, the control unit, if it determines that there are no components to be discarded based on the image taken just before disposal, controls the display unit to display the location where the components to be discarded are expected to have fallen as component information, based on the post-suction image, the mounting image captured by the imaging unit when mounting mountable components onto the substrate, and the image taken just before disposal. With this configuration, the user can recognize the expected location where the components to be discarded have fallen, so the user can narrow down the location to search for the components that have fallen along the way without having to go all the way to the disposal section. As a result, the user can carry out the collection of the components to be discarded smoothly.

[0020] A component mounting method according to the second aspect of this invention includes the steps of: moving a component suction head, which is a mounting head that has picked up a component to be discarded that does not meet the conditions for being mountable on a substrate, directly above a waste section where the component to be discarded is discarded; after moving the component suction head directly above the waste section, obtaining the detection result of the component to be discarded that has been picked up by the nozzle of the component suction head, or the component to be discarded immediately before, within the waste section, using a detection unit; and determining the presence or absence of a component to be discarded based on the detection result of the component to be discarded by the detection unit. If, based on the detection results of the imaging unit acting as the detection unit, it is determined that there are parts to be discarded, the suction of the parts to be discarded by the nozzle is released, and then imaging is performed by the imaging unit to determine whether or not there are parts to be discarded based on the detection results of the imaging unit. It is equipped with.

[0021] In the component mounting method according to the second aspect of the present invention, as described above, after moving the waste target component suction head directly above the waste portion, the waste target component adsorbed on the nozzle of the waste target component suction head, or the detection result of the waste target component that was discarded immediately before in the waste portion is acquired by the detection unit, and based on the detection result of the waste target component by the detection unit, a step of determining the presence or absence of the waste target component is provided. As a result, the detection result is acquired by the detection unit after the waste target component suction head moves directly above the waste portion, so the presence or absence of the waste target component by the control unit is determined after the waste target component suction head moves directly above the waste portion. Therefore, it is possible to provide a component mounting method capable of confirming whether the waste target component suction head can move to the waste portion without dropping the waste target component from the nozzle. Further, since the detection unit is configured to be able to detect the waste target component that was discarded immediately before in the waste portion, it is possible to confirm that the waste target component has been discarded in the waste portion. Therefore, it is possible to provide a component mounting method capable of confirming whether the waste target component suction head can move to the waste portion without dropping the waste target component from the nozzle.

Effects of the Invention

[0022] According to the present invention, as described above, it is possible to confirm whether the waste target component suction head can move to the waste portion without dropping the waste target component from the nozzle.

Brief Description of the Drawings

[0023] [Figure 1] It is a plan view of a component mounting apparatus according to an embodiment. [Figure 2] It is a simplified cross-sectional view of a rotary head of a component mounting apparatus according to an embodiment. [Figure 3] It is a plan view showing a simplified movement path of a rotary head of a component mounting apparatus from a tape feeder to a waste portion according to an embodiment. [Figure 4] It is a schematic diagram of an image taken at the suction position by an imaging unit of a component mounting apparatus according to an embodiment. [Figure 5]This is a schematic diagram showing a case where the positional misalignment between the component and the nozzle's suction port is greater than or equal to a predetermined value in a post-suction image captured by the component imaging unit of a component mounting apparatus according to one embodiment. [Figure 6] This is a schematic diagram showing a post-suction image captured by the component imaging unit of a component mounting apparatus according to one embodiment, where the positional misalignment between the component and the nozzle's suction port is less than a predetermined value. [Figure 7] This is a schematic diagram of an image taken on a circuit board by the imaging unit of a component mounting apparatus according to one embodiment. [Figure 8] A side view showing that the nozzle of the component suction head of a component mounting apparatus in one embodiment has reached its lowered end position. [Figure 9] This is a schematic diagram showing a case where a component to be discarded is present in an image taken at the lower end position by the imaging unit of a component mounting device according to one embodiment. [Figure 10] This is a schematic diagram showing an image taken at the lower end position by the imaging unit of a component mounting device of one embodiment, just before disposal, where there are no components to be discarded. [Figure 11] This is a schematic diagram showing a state in which component information is displayed on the display unit of a component mounting device according to one embodiment. [Figure 12] This is a schematic diagram showing a case where there are no parts to be discarded in an image taken at the lower end position by the imaging unit of a component mounting device according to one embodiment. [Figure 13] This is a schematic diagram showing a case where a component to be discarded is present in an image taken at the lower end position by the imaging unit of a component mounting device according to one embodiment. [Figure 14] This is a flowchart of the component mounting process in the control unit of a component mounting device according to one embodiment. [Figure 15] This is a side view showing that a component to be discarded in a component mounting device, according to a modified embodiment, has fallen into the temporary storage area of ​​the waste section. [Figure 16] This is a side view showing that a component to be discarded in a component mounting device, according to a modified embodiment, has fallen from the temporary storage area in the waste section into the space below the temporary storage area in the waste section. [Modes for carrying out the invention]

[0024] The following describes embodiments of the present invention based on the drawings.

[0025] The configuration of the component mounting apparatus 100 according to an embodiment of the present invention will be described with reference to Figures 1 to 14.

[0026] (Component mounting equipment) As shown in Figure 1, the component mounting device 100 is configured to mount (place) components E at predetermined mounting positions on a substrate Sb on which solder paste has been printed.

[0027] Here, in the component mounting apparatus 100, the transport direction for transporting the substrate Sb is defined as the X1 direction, the direction opposite to the transport direction for transporting the substrate Sb is defined as the X2 direction, and the direction formed by combining the X1 and X2 directions is defined as the X direction. Furthermore, the horizontal direction perpendicular to the X direction is defined as the Y direction, one side of the Y direction is defined as the Y1 direction, and the other side of the Y direction is defined as the Y2 direction. Furthermore, the vertical direction perpendicular to the X and Y directions is defined as the Z direction (up and down direction), one side of the Z direction is defined as the Z1 direction (up direction), and the other side of the Z direction is defined as the Z2 direction (down direction).

[0028] The component mounting apparatus 100 comprises a base 1, a feeder placement section 2, a substrate transport section 3, a support section 4, a pair of rail sections 5, a rotary head 6, a component imaging section 7, a substrate imaging section 8, an imaging section 9, an electrical characteristic measurement section 10, a waste section 11, a control section 12, a display section 13, and a portable terminal 14. The rotary head 6 is an example of a "head unit" as defined in the claims. The imaging section 9 is an example of a "detection section" as defined in the claims.

[0029] The base 1 is a base on which each component is placed in the component mounting device 100. The base 1 is provided with a feeder placement section 2 on the Y1 direction side. The base 1 is also provided with a feeder placement section 2 on the Y2 direction side. Note that one or three or more feeder placement sections 2 may be provided on the base 1.

[0030] Multiple tape feeders 21 can be arranged in the feeder placement section 2. The tape feeders 21 are configured to supply components E to a substrate Sb that has been transported to the mounting work position Pw. The tape feeders 21 hold a reel (not shown) around which a component supply tape is wound, holding multiple components E at predetermined intervals. The components E are electronic components such as chip resistors. Note that the tape feeder 21 is an example of the "component supply section" in the claims.

[0031] In a plan view, the tape feeder 21 is positioned perpendicular to the X1 direction (transport direction for transporting the substrate Sb) with respect to the mounting work position Pw. A component imaging unit 7 on the Y1 direction side is positioned between the tape feeder 21 on the Y1 direction side of the base 1 and the mounting work position Pw. A component imaging unit 7 on the Y2 direction side is positioned between the tape feeder 21 on the Y2 direction side of the base 1 and the mounting work position Pw.

[0032] The tape feeder 21 is configured to pick up component E at the suction position Pv using the nozzle 601 of the rotary head 6, which will be described later. The suction position Pv is located at the tip of the tape feeder 21 (the end on the mounting work position Pw side). That is, the suction position Pv is the position of the end on the Y2 direction side of the tape feeder 21 on the Y1 direction side. Also, the suction position Pv is the position of the end on the Y1 direction side of the tape feeder 21 on the Y2 direction side.

[0033] The substrate transport unit 3 is configured to receive a substrate Sb from outside the component mounting device 100 and transport the substrate Sb in the transport direction (X1 direction). Here, the substrate transport unit 3 is configured to transport the substrate Sb to a mounting work position Pw where components E are mounted on the substrate Sb. The substrate transport unit 3 has a pair of conveyors 31 and a drive unit (not shown). Furthermore, the substrate transport unit 3 is configured to fix the position of the substrate Sb transported to the mounting work position Pw by gripping the substrate Sb in the Z direction after it has been transported to the mounting work position Pw by the pair of conveyors 31.

[0034] The support unit 4 is configured to support the rotary head 6 so that it can move in the X direction. The support unit 4 includes a ball screw shaft 41 and a drive unit 42.

[0035] A pair of rail sections 5 are configured to support the support section 4 so that it can move in the Y direction. Each rail section 5 includes a ball screw shaft 51, a guide rail 52, and a drive unit 53.

[0036] As shown in Figures 1 and 2, the rotary head 6 is a head unit for component mounting and is configured to move horizontally in the Z1 direction (upward) of the substrate Sb. The rotary head 6 is configured to perform mounting work on the substrate Sb. In other words, the rotary head 6 is configured to mount components E onto the substrate Sb, which is fixed in position Pw by the mounting head 602. The detailed structure of the rotary head 6 will be described in detail later.

[0037] The component imaging unit 7 is configured to image components E to be mounted on the substrate Sb. In other words, the component imaging unit 7 is a camera for imaging components that images components E that have been attracted to the nozzle 601 prior to mounting the components E onto the substrate Sb. The component imaging unit 7 is fixed on the base 1 and is configured to image components E that have been attracted to the nozzle 601 from below (in the Z2 direction). In other words, the component imaging unit 7 is configured to acquire a post-attachment image Gv (see Figures 5 and 6) by imaging the components E from below after they have been attracted to the tape feeder 21 by each of the nozzles 601 of the multiple mounting heads 602.

[0038] The substrate imaging unit 8 is attached to the rotary head 6 and is a camera for capturing marks, which is used to capture the FI mark (Fiducial Mark: not shown) placed on the upper surface of the substrate Sb prior to mounting components E onto the substrate Sb. The FI mark is a mark used to confirm the position of the substrate Sb.

[0039] The imaging unit 9 is configured to image the tip portion of the nozzle 601, which is positioned at the lower end Lw. The imaging unit 9 is fixed to the frame 610 of the rotary head 6 and is configured to image the tip portion of the nozzle 601 from an upward oblique direction. The imaging unit 9 is a camera for imaging parts that images the part E that is attracted to the nozzle 601 by imaging the tip portion of the nozzle 601 from an upward oblique direction.

[0040] Specifically, the imaging unit 9 can image the part E that has moved to the lower end position Lw by imaging the tip portion of the nozzle 601 positioned at the lower end position Lw in order to pick up the part E at the suction position Pv of the tape feeder 21. As a result, the movement of the nozzle 601 to the lower end position Lw can be confirmed by the suction image Gs (see Figure 4) captured by the imaging unit 9. Note that the lower end position Lw is an example of the "lower position" in the claims.

[0041] Furthermore, the imaging unit 9 can image the component E as it moves onto the substrate Sb by imaging the tip portion of the nozzle 601 positioned at the lower end Lw for mounting the component E onto the substrate Sb. As a result, the movement of the component E to the adsorption position Pv can be confirmed by the mounting image Gm (see Figure 7) captured by the imaging unit 9.

[0042] Furthermore, the imaging unit 9 can image the part E as it has moved to the waste disposal unit 11 by imaging the tip of the nozzle 601 positioned at the lower end Lw for disposal of the part E to the waste disposal unit 11. As a result, the fact that the part E has moved to the waste disposal unit 11 can be confirmed by the image Go1 (see Figure 9), which is an image taken by the imaging unit 9 just before disposal.

[0043] Here, the imaging unit 9 is positioned to capture images of the nozzle 601 when the mounting head 602, which is located on the X1 direction side in Figure 2, is positioned at the lower end position Lw.

[0044] The electrical characteristics measurement unit 10 is configured to measure the electrical characteristics of component E supplied from the tape feeder 21. If component E is a resistor, the electrical characteristics measurement unit 10 measures the resistance value as an electrical characteristic. If component E is a capacitor, the electrical characteristics measurement unit 10 measures the capacitance as an electrical characteristic. If component E is a coil, the electrical characteristics measurement unit 10 measures the inductance as an electrical characteristic. If component E is a diode, the electrical characteristics measurement unit 10 measures the resistance value and polarity as electrical characteristics. The electrical characteristics measurement unit 10 is located on the base 1 on the X2 direction side of the component imaging unit 7. In the X direction, the electrical characteristics measurement unit 10 is located between the component imaging unit 7 and the waste unit 11. When measuring the electrical characteristics of component E with the electrical characteristics measurement unit 10, an insulating nozzle (not shown) for measuring electrical characteristics is attached to the mounting head 602.

[0045] The waste section 11 is a box into which the discarded parts Eo that have been picked up by the nozzle 601 of the mounting head 602 are discarded. The waste section 11 is located on the base 1 between the substrate transport section 3 and the tape feeder 21 which is positioned on both the X2 and Y2 directions. Here, the discarded parts Eo are parts that have been picked up by the nozzle 601 of the mounting head 602 but do not meet the conditions for being determined to be mountable on the substrate Sb.

[0046] Specifically, the conditions under which a component is not deemed mountable on the substrate Sb include: the positional misalignment between the center point Ce of component E and the center point Cn of the suction port 601b of nozzle 601 in the post-suction image Gv captured by component imaging unit 7 exceeds a predetermined value; the inclination of component E relative to the suction port 601b of nozzle 601 in the post-suction image Gv captured by component imaging unit 7 exceeds a predetermined angle; the dimensions of component E in the X direction in the post-suction image Gv captured by component imaging unit 7 are not approximately the standard horizontal dimensions, and the dimensions in the Y direction are not approximately the standard vertical dimensions; and the measured value of component E measured by electrical characteristic measurement unit 10 is outside a predetermined error relative to the standard value.

[0047] The control unit 12 determines whether or not component E is a component that does not meet the conditions for being mountable on the substrate Sb. The control unit 12 makes a determination based on the post-suction image Gv captured by the component imaging unit 7 each time component E is picked up from the tape feeder 21. The control unit 12 makes a determination based on the measured value of component E measured by the electrical characteristic measurement unit 10 when the tape feeder 21 is newly placed in the feeder placement unit 2, when the position of the tape feeder 21 is changed, when a new reel is set in the tape feeder 21, etc.

[0048] Here, a component E that is attracted to the nozzle 601 of the mounting head 602 and satisfies the conditions for being determined to be mountable on the substrate Sb is a mountable component Ec. A mountable component Ec is a component that satisfies the above-mentioned conditions.

[0049] The control unit 12 controls the component mounting device 100. The control unit 12 includes a CPU (Central Processing Unit) and a storage unit having an HDD (Hard Disk Drive), ROM (Read Only Memory), and RAM (Random Access Memory). The storage unit stores a component mounting processing program that mounts mountable components Ec onto the substrate Sb and discards components to be discarded Eo in the waste unit 11. The component mounting processing program will be described in detail later.

[0050] The display unit 13 is composed of a liquid crystal display or the like. The display unit 13 is configured to display information transmitted from the control unit 12 on its screen. The display unit 13 is mounted on the component mounting device 100.

[0051] The mobile terminal 14 consists of a tablet or the like with an LCD screen. The mobile terminal 14 is configured to display information transmitted from the control unit 12 on its screen. The mobile terminal 14 is carried by the user.

[0052] (Detailed structure of the rotary head) As shown in Figure 2, the rotary head 6 includes a plurality of nozzles 601, a mounting head 602, a nozzle holding member 603, a housing 604, a biasing member 605, a head pressing member 606, a lifting mechanism 607, a rotation mechanism 608, and a revolution mechanism 609.

[0053] Multiple nozzles 601 are configured to attract component E and mount it onto the substrate Sb. Each of the multiple nozzles 601 has a tapered shape. Each of the multiple nozzles 601 is connected to a negative pressure generator (not shown).

[0054] The negative pressure generated by the negative pressure generator is generated as negative pressure at the nozzle 601 of the mounting head 602 by connecting the air passage 609c in the orbital shaft 609b and the air passage 602a in the mounting head 602 with a negative pressure air passage (not shown) in the housing 604. The positive pressure generated at the nozzle 601 of the mounting head 602 is generated by connecting the air passage 609d in the orbital shaft 609b and the air passage 602a in the mounting head 602 with a positive pressure air passage (not shown) in the housing 604. Here, the negative pressure air passage and the positive pressure air passage in the housing 604 are switched by a solenoid valve 601a.

[0055] Multiple negative pressure air passages are provided within the housing 604 to connect the air passage 609c within one orbital shaft 609b to each of the multiple mounting heads 602, corresponding to the number of mounting heads 602. Multiple positive pressure air passages are provided within the housing 604 to connect the air passage 609d within one orbital shaft 609b to each of the multiple mounting heads 602, corresponding to the number of mounting heads 602. In addition, multiple solenoid valves 601a are provided to switch between positive and negative pressure for each of the multiple mounting heads 602, corresponding to the number of mounting heads 602.

[0056] In the rotary head 6, negative pressure is normally generated in all of the multiple mounting heads 602 by the air passage 609c within a single orbital shaft 609b. The rotary head 6 then switches the negative pressure generated in each of the multiple mounting heads 602 to positive pressure by individually switching the solenoid valve 601a in each of the multiple mounting heads 602. Therefore, in the rotary head 6, the generation of positive pressure in each nozzle 601 of the multiple mounting heads 602 is obtained based on the switching from the negative pressure air passage to the positive pressure air passage by the solenoid valve 601a, without measuring the change in negative pressure in each of the multiple mounting heads 602.

[0057] Furthermore, negative pressure is generated in each of the multiple nozzles 601, causing component E to be attracted to the nozzle 601. Positive pressure is generated in each of the multiple nozzles 601, causing component E to separate from the nozzle 601.

[0058] Multiple nozzles 601 are arranged circumferentially along the R1 direction around the rotational axis C1 extending in the Z direction. For example, 12 nozzles 601 are arranged at equal angular intervals (approximately 30-degree intervals) in the R1 direction. Each of the multiple nozzles 601 is held by a nozzle holding member 603. Note that there may be 1 to 11 or 13 or more nozzles 601.

[0059] The mounting head 602 is configured to pick up components E supplied from the tape feeder 21 using a nozzle 601 provided at its tip and mount them onto the substrate Sb. Multiple mounting heads 602 are arranged circumferentially along the R1 direction. For example, 12 mounting heads 602 are arranged at equal angular intervals (approximately 30-degree intervals) along the R1 direction. Note that there may be 1 to 11 mounting heads 602, or 13 or more mounting heads 602.

[0060] The housing 604 is configured to accommodate multiple mounting heads 602 and a revolving shaft 609b, which will be described later. Specifically, the housing 604 has multiple through holes 604a for mounting multiple mounting heads 602. The housing 604 also has through holes 604b for mounting the revolving shaft 609b.

[0061] The biasing member 605 is configured to bias the mounting head 602 in the Z1 direction (upward direction). Specifically, the biasing member 605 is formed by a coil spring.

[0062] The head pressing member 606 is configured to raise and lower the mounting head 602 at the raised / lowered position Pf among the multiple mounting heads 602. The head pressing member 606 is positioned on the Z1 direction side of the multiple mounting heads 602. The head pressing member 606 is configured to move the mounting head 602 at the raised / lowered position Pf in the Z2 direction by moving to the Z2 direction side and pressing the mounting head 602 at the raised / lowered position Pf from the Z1 direction side. The head pressing member 606 is configured to move the mounting head 602 at the raised / lowered position Pf in the Z1 direction by moving to the Z1 direction side.

[0063] The lifting mechanism 607 is configured to move the head pressing member 606 in the Z direction. Specifically, the lifting mechanism 607 includes a lifting motor 607a and a drive force transmission unit (not shown). The lifting motor 607a is, for example, a servo motor. This makes it possible to obtain the height position of the mounting head 602 that is raised and lowered by the lifting motor 607a. The drive force transmission unit is configured to transmit the drive force of the lifting motor 607a to the head pressing member 606. As a result, the head pressing member 606 moves in the Z1 direction or the Z2 direction.

[0064] The rotation mechanism 608 is configured to rotate all of the multiple mounting heads 602 in the R3 direction around the central axis C2, thereby rotating a predetermined nozzle 601 attached to the mounting head 602 in the lifting position Pf in the R3 direction. This corrects the orientation of the component E that is attracted to the nozzle 601 in the lifting position Pf.

[0065] The rotation mechanism 608 includes a rotation motor 608a, a drive force transmission unit (not shown), a rotation shaft 608b, and a rotation driven gear 608c. The rotation motor 608a is, for example, a servo motor. This makes it possible to obtain the rotational angular position of each of the multiple mounting heads 602 that are rotated by the rotation motor 608a. The drive force transmission unit is configured to transmit the driving force of the rotation motor 608a to the rotation shaft 608b. As a result, the rotation shaft 608b moves in the R1 direction or the R2 direction.

[0066] Each of the rotation shaft 608b and the rotation driven gear 608c rotates circumferentially about a central axis C2 extending in the Z direction. The rotation driven gear 608c is mounted on the mounting head 602. The lower part of the rotation shaft 608b is mechanically meshed with the rotation driven gear 608c.

[0067] In this way, all of the mounting heads 602 rotate in the R2 direction around the central axis C2 as the rotation shaft 608b and rotation driven gear 608c rotate in conjunction with the rotation motor 608a. Thus, all of the mounting heads 602 rotate synchronously. In addition, all of the nozzles 601 also rotate synchronously.

[0068] The orbital mechanism 609 is configured to rotate a plurality of nozzles 601 in the R1 or R2 direction about the rotational axis C1. The orbital mechanism 609 includes an orbital motor 609a, a drive force transmission unit (not shown), and an orbital shaft 609b.

[0069] The orbital motor 609a is a servo motor. This makes it possible to obtain the rotational angular position of each of the multiple mounting heads 602 that are rotated by the orbital motor 609a. The drive force transmission unit is configured to transmit the drive force of the orbital motor 609a to the orbital shaft 609b. As a result, the orbital shaft 609b rotates in the R1 or R2 direction around the rotational center axis C1 which extends in the Z direction. The orbital shaft 609b is rotatably arranged within the rotational shaft 608b. The orbital shaft 609b connects the orbital motor 609a to the housing 604. The housing 604 rotates in the R1 or R2 direction around the rotational center axis C1 as the orbital shaft 609b rotates in conjunction with the drive of the orbital motor 609a. As a result, the multiple mounting heads 602 revolve integrally in the R1 or R2 direction around the rotational axis C1 as the housing 604 rotates.

[0070] Thus, the rotary head 6 is configured to rotate multiple mounting heads 602 integrally in both the R1 and R2 directions. Furthermore, the combined direction of the R1 and R2 directions is the rotation direction of the multiple mounting heads 602.

[0071] In the rotary head 6, the orbital mechanism 609 rotates multiple mounting heads 602, thereby rotating a selected mounting head 602 from among the multiple mounting heads 602 to the lifting position Pf of the tape feeder 21. Specifically, the control unit 12 controls the rotation of the multiple mounting heads 602 in the R1 direction (or R2 direction) using the orbital mechanism 609, based on the rotational angle position of the selected mounting head 602 and the rotational angle position of the lifting position Pf, so that the rotational angle position of the selected mounting head 602 and the rotational angle position of the lifting position Pf overlap (match each other).

[0072] In the rotary head 6, the selected mounting head 602 is the mounting head 602 located on the X2 side of the two mounting heads 602 that are spaced furthest apart in the X direction from the multiple annular mounting heads 602.

[0073] In other words, the selected mounting head 602 located on the X2 side is a mounting head 602 at a lifting position Pf that is lowered to the lowered end position Lw by the lifting mechanism 607 causing the head pressing member 606 to descend. The selected mounting head 602 located on the X2 side is a mounting head 602 at a lifting position Pf that is raised to the raised end position Up by the lifting mechanism 607 causing the head pressing member 606 to rise.

[0074] (Component mounting processing program) Referring to Figures 3 to 13, a component mounting processing program that mounts mountable component Ec onto the substrate Sb and discards component Eo to the waste unit 11 will be described. The component mounting processing program is processed in the control unit 12. Note that the operation of the rotary head 6 based on the component mounting processing program shown in Figures 3 to 13 is merely an example and is not limited to the operation of the rotary head 6 shown in Figures 3 to 13.

[0075] Here, the rotary head 6 operates by first imaging the components E that have been attracted to each nozzle 601 of the multiple mounting heads 602 in the component imaging unit 7, then mounting the mountable components Ec onto the substrate Sb, and finally transporting the components to be discarded Eo to the waste unit 11. In this operation, the rotary head 6 follows a path that moves in the order of tape feeder 21, component imaging unit 7, substrate Sb, and waste unit 11. For the sake of explanation, the electrical characteristics of components E are not measured by the electrical characteristics measurement unit 10.

[0076] First, as shown in Figures 3 and 4, the rotary head 6 moves to the tape feeder 21 and then picks up the component E supplied from the tape feeder 21. Specifically, in order to pick up the component E that has moved to the pick-up position Pv, ​​the control unit 12 controls the head pressing member 606 to lower the mounting head 602 at the lifting position Pf, thereby lowering the tip of the nozzle 601 to the lowered end position Lw. Also, based on the fact that the tip of the nozzle 601 has reached the lowered end position Lw, the control unit 12 controls the imaging unit 9 to capture an image Gs of the tip of the nozzle 601 during pick-up. After acquiring the image Gs during pick-up, the control unit 12 controls the head pressing member 606 to raise the mounting head 602 at the lifting position Pf, thereby raising the tip of the nozzle 601 to the raised end position Up.

[0077] Next, as shown in Figures 3, 5, and 6, the rotary head 6 moves to the component imaging unit 7 and then images the component E that has been attracted to each nozzle 601 of the multiple mounting heads 602. Based on this, the control unit 12 performs control to determine whether the component E attracted to each nozzle 601 of the multiple mounting heads 602 is a component to be discarded Eo or a component that can be mounted Ec, based on the post-attachment image Gv captured by the component imaging unit 7.

[0078] Here, as an example of a component to be discarded Eo, as shown in Figure 5, the positional misalignment between the center point Ce of component E in the post-suction image Gv and the center point Cn of the suction port 601b of the nozzle 601 exceeds a predetermined value. Also, as shown in Figure 6, as an example of a mountable component Ec, the positional misalignment between the center point Ce of component E in the post-suction image Gv (shown by a dotted line in Figure 6) and the center point Cn of the suction port 601b of the nozzle 601 is within a predetermined value.

[0079] Next, as shown in Figures 3 and 7, the rotary head 6 moves to the substrate Sb and then images the mountable components Ec mounted on the substrate Sb.

[0080] Specifically, the control unit 12 controls the mounting head 602 at the lifting position Pf using the head pressing member 606 to lower the tip of the nozzle 601 to the lowered end position Lw in order to mount the mountable component Ec on the substrate Sb located at the mounting work position Pw. Furthermore, based on the fact that the tip of the nozzle 601 has reached the lowered end position Lw, the control unit 12 controls the mounting of the mountable component Ec on the substrate Sb by switching the solenoid valve 601a to generate positive pressure in the nozzle 601 of the mounting head 602 at the lifting position Pf by switching the solenoid valve 601a.

[0081] Furthermore, after switching the solenoid valve 601a, the control unit 12 controls the acquisition of a mounting image Gm by imaging the tip portion of the nozzle 601 with the imaging unit 9. After acquiring the mounting image Gm, the control unit 12 controls the raising of the mounting head 602 at the lifting position Pf using the head pressing member 606, thereby raising the tip of the nozzle 601 to the upper limit position Up.

[0082] (Reach of discarded parts into the waste disposal area) Next, as shown in Figures 3, 8 to 10, the rotary head 6 moves to the waste section 11 and then images the waste target part Eo that has moved directly above the waste section 11.

[0083] Specifically, the control unit 12 of this embodiment performs control to determine the presence or absence of the discarded part Eo based on the imaging result of the imaging unit 9 (image Go1 taken just before disposal). The imaging unit 9 is configured to image the discarded part Eo that has been picked up by the nozzle 601 of the discarded part pick-up head 621 after the discarded part pick-up head 621 has moved directly above the disposal unit 11. Here, the discarded part pick-up head 621 is the head that has picked up the discarded part Eo from among a plurality of mounting heads 602. The determination of the presence or absence of the discarded part Eo can be made, for example, by whether or not a shape corresponding to the outer shape of the discarded part Eo has been detected in the image Go1 taken just before disposal. Furthermore, the statement that the discarded part pick-up head 621 has moved directly above the disposal unit 11 means that, in a plan view, all of the discarded part Eo has moved into the disposal unit 11. Note that the imaging result is an example of the "detection result" in the claims.

[0084] The control unit 12 controls the imaging unit 9 to image the discarded part Eo after the discarded part suction head 621 has moved directly above the discarding unit 11, and before releasing the suction of the discarded part Eo from the nozzle 601 of the discarded part suction head 621. Here, the control unit 12 controls the presence or absence of the discarded part Eo based on the imaging result of the imaging unit 9 (image Go1 just before discarding) based on the fact that the discarded part suction head 621 has reached a lower position on the discarding unit 11 side of the discarding unit directly above the discarding unit 11. In other words, the control unit 12 controls the presence or absence of the discarded part Eo based on the imaging result of the imaging unit 9 (image Go1 just before discarding) based on the fact that the discarded part suction head 621 has reached a height position that is a predetermined horizontal position in the horizontal direction and a lower position in the Z direction directly above the discarding unit 11.

[0085] Specifically, the control unit 12 controls the suction head 621 to lower after the tip of the nozzle 601 of the suction head 621 reaches a height position where it is at a predetermined horizontal position in the horizontal direction directly above the disposal unit 11 and at the upper end position Up in the Z direction, until the tip of the nozzle 601 of the suction head 621 reaches a height position where it is at a predetermined horizontal position in the horizontal direction and at the lower end position Lw in the Z direction. Based on the fact that the tip of the nozzle 601 of the suction head 621 to lower has reached the lower end position Lw, the control unit 12 controls the imaging unit 9 to take an image in order to determine whether or not there is a suction head Eo to be disposed of. Here, the lower end position Lw is an example of the lowering position.

[0086] Thus, in the component mounting apparatus 100, in order to determine whether or not a component to be discarded Eo has been picked up by the nozzle 601 of the component to be discarded suction head 621, the tip portion of the nozzle 601 of the component to be discarded suction head 621 that has reached the lowered end position Lw is imaged by the imaging unit 9.

[0087] Based on the fact that the tip of the nozzle 601 of the part to be discarded suction head 621 has reached the lowered end position Lw, the control unit 12 performs control to acquire a pre-discard image Go1 by imaging the tip portion of the nozzle 601 with the imaging unit 9. Then, based on the acquired pre-discard image Go1, the control unit 12 performs control to determine whether or not there is a part to be discarded Eo. If the control unit 12 determines that there is a part to be discarded Eo at the tip of the nozzle 601 of the part to be discarded suction head 621, it performs control to release the suction of the part to be discarded Eo from the nozzle 601 of the part to be discarded suction head 621, thereby causing the part to be discarded Eo to fall into the disposal unit 11.

[0088] Furthermore, as shown in Figures 10 and 11, if the control unit 12 determines that there are no parts to be discarded Eo based on the imaging result of the imaging unit 9 (image Go1 just before discarding), it controls the display unit 13 to display the number of parts to be discarded Eo that were determined to be absent based on the imaging result (detection result) out of the total number of parts to be discarded Eo in a recognizable display manner as part information associated with the parts to be discarded Eo. At this time, the control unit 12 controls the stopping of the mounting work of the part mounting device 100. The control unit 12 also controls the notification of a part drop error indicating that the part to be discarded Eo fell before moving to the discard unit 11. The notification of the part drop error may be displayed on the display unit 13 and at least one screen of the mobile terminal 14, or it may be notified by lighting up a warning light or the like. Here, the display unit 13 displays part information associated with the part to be discarded Eo.

[0089] In other words, if the control unit 12 determines that there are no parts to be discarded Eo based on the image Go1 taken by the imaging unit 9 just before discarding, it controls the display unit 13 to display the type of part associated with the discarded part Eo as part information associated with the discarded part Eo that was determined to be absent. The part type indicates information such as chip resistor or IC (Integrated Circuit).

[0090] If the control unit 12 determines that there are no parts to be discarded Eo based on the image Go1 taken by the imaging unit 9 just before discarding, it controls the display unit 13 to display the size of the parts to be discarded Eo, including its height and plan view dimensions, as part information associated with the parts to be discarded Eo that were determined to be absent. The plan view dimensions include the vertical and horizontal dimensions of the parts to be discarded Eo.

[0091] If the control unit 12 determines that there are no parts to be discarded Eo based on the image Go1 taken by the imaging unit 9 just before discarding, it controls the display unit 13 to display an image of the outer shape of the parts to be discarded Eo as part information associated with the parts to be discarded Eo that were determined not to exist.

[0092] If the control unit 12 determines that there are no parts to be discarded Eo based on the image Go1 taken just before discarding, it controls the display unit 13 to display the location where the parts to be discarded Eo are expected to have fallen as part information, based on the image Gv taken after suction, the image Gm taken by the imaging unit 9 when mounting mountable parts Ec onto the substrate Sb, and the image Go1 taken just before discarding.

[0093] For example, if the control unit 12 determines that there is a component to be discarded Eo in the image Gv after suction, that there is no component to be discarded Eo in the image Gm during mounting, and that there is no component to be discarded Eo in the image Go1 just before disposal, it controls the display unit 13 to display the text "Near the substrate" as the expected location where the component to be discarded Eo fell. Also, for example, if the control unit 12 determines that there is a component to be discarded Eo in the image Gv after suction, that there is a component to be discarded Eo in the image Gm during mounting, and that there is no component to be discarded Eo in the image Go1 just before disposal, it controls the display unit 13 to display the text "Near the disposal area" as the expected location where the component to be discarded Eo fell. Note that the screen displayed on the display unit 13 and the screen displayed on the mobile terminal 14 are the same.

[0094] (Confirmation of disposal of parts to be discarded) As shown in Figures 3, 12, and 13, after the nozzle 601 releases the suction of the part to be discarded Eo, the control unit 12 again determines the presence or absence of the part to be discarded based on the image Go2 (detection result) taken by the imaging unit 9 immediately after discarding. That is, after the nozzle 601 releases the suction of the part to be discarded Eo, and before raising the part to be discarded suction head 621 toward the upper end position Up, the control unit 12 again determines the presence or absence of the part to be discarded based on the image Go2 taken by the imaging unit 9 immediately after discarding.

[0095] Specifically, after the control unit 12 releases the suction of the discarded part Eo at the nozzle 601, it switches the solenoid valve 601a to generate positive pressure at the nozzle 601 of the mounting head 602 at the lifting position Pf, and then, based on this, it re-determines the presence or absence of the discarded part Eo based on the image Go2 taken by the imaging unit 9 immediately after discarding.

[0096] At this point, as shown in Figure 12, the control unit 12 controls the removal of the removal component suction head 621 towards the upper limit position Up, based on the determination that there are no removal component Eo. As shown in Figure 13, the control unit 12 controls the stopping of the mounting operation of the component mounting device 100, based on the determination that there is a removal component Eo. The control unit 12 also controls the notification of a component removal error, indicating that the removal component Eo remains on the nozzle 601. The notification of the component removal error may be displayed on the display unit 13 and at least one screen of the mobile terminal 14, or it may be notified by illuminating a warning light or the like.

[0097] Thus, based on the image Gv after adsorption, the control unit 12 determines that there is at least one discardable component Eo and at least one mountable component Ec other than the discardable component Eo in the component E adsorbed by each nozzle 601 of the multiple mounting heads 602, then after mounting the mountable component Ec onto the substrate Sb, the rotary head 6 moves directly toward the discard unit 11 without going through the component imaging unit 7 and performs control to determine the presence or absence of discardable component Eo based on the image Go1 taken by the imaging unit 9 just before discarding.

[0098] (Selection accepted) Here, the control unit 12 may perform a first control to determine the presence or absence of a component to be discarded Eo based on the image Go1 taken just before discarding, after mounting the mountable component Ec onto the substrate Sb, by directly directing the discard unit 11 without going through the component imaging unit 7, or a second control to determine the presence or absence of a component to be discarded Eo based on the image Go1 taken just before discarding, before mounting the mountable component Ec onto the substrate Sb. Note that the above explanation assumes that the selection of the first control is accepted.

[0099] (Component mounting process) Referring to Figure 14, the component mounting process performed by the control unit 12 on the component to be discarded Eo, based on the component mounting processing program, will be described below.

[0100] As shown in Figure 14, in step S1, the mounting head 602 in the lifting position Pf moves to a predetermined position directly above the waste section 11. Here, the predetermined position is a predetermined horizontal position in the horizontal direction directly above the waste section 11, and a height position that is the upper end position Up in the Z direction. In step S2, the waste component suction head 621 rotates to be positioned in the lifting position Pf. Steps S1 and S2 are steps to move the waste component suction head 621, which is the mounting head 602 that has picked up the waste component Eo that does not meet the conditions for being determined to be mountable on the substrate Sb, to directly above the waste section 11 where the waste component Eo is discarded.

[0101] In step S3, the part suction head 621 to be discarded descends to the lower end position Lw. That is, the part suction head 621 to be discarded, which is at the lifting position Pf, descends by lowering the head pressing member 606 at the lifting position Pf using the lifting mechanism 607. In step S4, the imaging unit 9 captures an image of the tip portion of the nozzle 601 of the part suction head 621 to be discarded. This acquires the image Go1 taken just before disposal. Step S4 is a step in which the part suction head 621 to be discarded is moved directly above the disposal unit 11, and then the imaging unit 9 acquires the detection result (image Go1 taken just before disposal, which is the image result) of the part Eo to be discarded that has been picked up by the part suction head 621 to be discarded.

[0102] In step S5, it is determined whether or not there is a part to be discarded Eo. That is, it is determined whether or not there is a part corresponding to the part to be discarded Eo in the image Go1 immediately before discarding. Here, if the part to be discarded Eo, which is picked up by the nozzle 601 of the part to be discarded suction head 621, is captured together with the tip of the nozzle 601, it is determined that there is a part to be discarded Eo. Also, if the part to be discarded Eo, which is picked up by the nozzle 601 of the part to be discarded suction head 621, is not captured together with the tip of the nozzle 601, it is determined that there is no part to be discarded Eo. Step S5 is a step in which the presence or absence of a part to be discarded Eo is determined based on the detection result of the part to be discarded Eo by the imaging unit 9 (the image Go1 immediately before discarding, which is the image capture result).

[0103] If it is determined that there are any parts to be discarded Eo, the process proceeds to step S6; otherwise, the process proceeds to step S10. In step S10, after an error indicating a part drop is reported, the part mounting device 100 is stopped. After step S10, the part mounting method is completed.

[0104] In step S6, the suction of the part to be discarded Eo is released. That is, by switching the solenoid valve 601a, positive pressure is generated at the nozzle 601 of the mounting head 602 at the lifting position Pf, causing the part to be discarded Eo to fall into the discard section 11. In step S7, the imaging unit 9 captures an image of the tip portion of the nozzle 601 of the part to be discarded suction head 621. This acquires the image Go2 taken immediately after discarding.

[0105] In step S8, it is determined whether or not there is a component to be discarded Eo. That is, it is determined whether or not there is a part corresponding to the component to be discarded Eo in the image Go2 immediately after discarding. Here, if the component to be discarded Eo, which is picked up by the nozzle 601 of the component to be discarded suction head 621, is not captured together with the tip of the nozzle 601, it is determined that there is no component to be discarded Eo. On the other hand, if the component to be discarded Eo, which is picked up by the nozzle 601 of the component to be discarded suction head 621, is captured together with the tip of the nozzle 601, it is determined that there is a component to be discarded Eo. If it is determined that there is no component to be discarded Eo, the process proceeds to step S9, and if it is determined that there is a component to be discarded Eo, the process proceeds to step S11. After step S11, the component mounting method is completed.

[0106] In step S9, the part suction head 621 to be discarded rises to the upper limit position Up. That is, the part suction head 621 to be discarded at the lifting position Pf rises by the lifting mechanism 607 raising the head pressing member 606 at the lifting position Pf.

[0107] In step S12, it is determined whether or not there is a component pick-up head 621 to be discarded among the multiple mounting heads 602. If there is a component pick-up head 621 to be discarded, the process returns to step S2; otherwise, the component mounting process ends.

[0108] (Effects of this embodiment) In this embodiment, the following effects can be obtained.

[0109] In this embodiment, as described above, the component mounting apparatus 100 includes an imaging unit 9 capable of acquiring imaging results (detection results) to determine the presence or absence of a component to be discarded that has been picked up by the nozzle 601 of the component to be discarded, after the component to be discarded that has been picked up by the mounting head 602, which is the component to be discarded that has been picked up by the component to be discarded that has been picked up by the nozzle 601 of component to be discarded that has been picked up by the component to be discarded that has been picked up by the component to be discarded that has been picked up by the component to be discarded that has been picked up by the component to be discarded that has been

[0110] Furthermore, in this embodiment, as described above, after the discarded part suction head 621 moves directly above the disposal unit 11, the control unit 12 performs control to determine the presence or absence of the discarded part Eo based on the imaging result (detection result) of the imaging unit 9 before performing the process of releasing the suction of the discarded part Eo that has been picked up by the nozzle 601 of the discarded part suction head 621. This makes it possible to confirm whether the discarded part suction head 621 was able to move to the disposal unit 11 without dropping the discarded part Eo from the nozzle 601, thereby ensuring that the discarded part suction head 621 was able to move to the disposal unit 11 without dropping the discarded part Eo from the nozzle 601.

[0111] Furthermore, in this embodiment, as described above, the control unit 12 performs control to determine the presence or absence of the discarded part Eo based on the imaging result (detection result) of the imaging unit 9, based on the fact that the discarded part suction head 621 has reached the lower end position Lw on the discarded part 11 side, which is directly above the discarded part 11. As a result, by determining the presence or absence of the discarded part Eo at the lower end position Lw, the determination of the presence or absence of the discarded part Eo can be made at a position in the vertical direction where the discarded part Eo is relatively close to the discarded part 11, so that the presence or absence of the discarded part Eo can be determined at a position where it is possible to drop the discarded part Eo into the discarded part 11 with almost certainty.

[0112] Furthermore, in this embodiment, as described above, after releasing the suction of the discarded part Eo from the nozzle 601, the control unit 12 again determines the presence or absence of the discarded part Eo based on the imaging result (detection result) of the imaging unit 9. This makes it possible to determine the occurrence of a part disposal error indicating that the discarded part Eo remains on the nozzle 601, thereby preventing the discarded part Eo that remains without being disposed of in the disposal unit 11 from falling to a location other than the disposal unit 11, such as the tape feeder 21, after moving from the disposal unit 11.

[0113] Furthermore, in this embodiment, as described above, the imaging unit 9 is attached to the rotary head 6 and includes an imaging unit 9 that images the tip portion of the nozzle 601 of the waste-to-be-discarded part suction head 621 when it reaches the lowered end position Lw, in order to determine whether or not the waste-to-be-discarded part Eo is adsorbed by the nozzle 601 of the waste-to-be-discarded part suction head 621. As a result, even if it is not possible to detect whether or not the waste-to-be-discarded part Eo is adsorbed by measuring the change in negative pressure at the nozzle 601 of the waste-to-be-discarded part suction head 621, the imaging unit 9 can image the waste-to-be-discarded part Eo together with the tip portion of the nozzle 601 of the waste-to-be-discarded part suction head 621, so that the presence or absence of the waste-to-be-discarded part Eo can be determined based on the detection result obtained by the imaging unit 9.

[0114] Furthermore, in this embodiment, as described above, the control unit 12, based on the fact that the discarded part suction head 621 has reached the lower end position Lw, captures a pre-discard image Go1 of the tip portion of the nozzle 601 using the imaging unit 9, and performs control to determine the presence or absence of the discarded part Eo based on the pre-discard image Go1. As a result, by determining the presence or absence of the discarded part Eo based on the pre-discard image Go1, it is possible to determine the presence or absence of the discarded part Eo without measuring the negative pressure of the discarded part suction head 621. Therefore, even in a head unit where it is difficult to measure the negative pressure applied to each of the multiple mounting heads 602, it is possible to determine whether or not the discarded part Eo has been carried up to the lower end position Lw directly above the discard unit 11.

[0115] Furthermore, in this embodiment, as described above, the component mounting device 100 is equipped with a display unit 13 capable of displaying component information associated with the components to be discarded Eo. The control unit 12 controls the display unit 13 to display, in a recognizable display manner, the number of components to be discarded Eo that were determined to be absent based on the imaging results (detection results) out of the total number of components to be discarded Eo. This allows the user to recognize the number of components to be discarded Eo that fell off along the way without reaching the discarding unit 11, and thus accurately determine how many components to discarded Eo to pick up.

[0116] Furthermore, in this embodiment, as described above, the control unit 12 controls the display unit 13 to display at least one of the following as part information associated with the discarded part Eo that has been determined to be absent based on the imaging result (detection result): the type of part associated with the discarded part Eo that has been determined to be absent, the size of the discarded part Eo including its height and dimensions in a plan view, and an image of the outer shape of the discarded part Eo. This allows the user to more specifically recognize the discarded part Eo that has fallen off along the way without reaching the discarding unit 11.

[0117] Furthermore, in this embodiment, as described above, multiple mounting heads 602 are arranged. The component mounting apparatus 100 includes a component imaging unit 7 that captures a post-suction image Gv of the component E after it has been picked up by the nozzle 601 of each of the multiple mounting heads 602 on the tape feeder 21, from below. Based on the post-suction image Gv, the control unit 12 determines that there is at least one discardable component Eo and at least one mountable component Ec other than the discardable component Eo among the component E picked up by the nozzle 601 of each of the multiple mounting heads 602, then mounts the mountable component Ec onto the substrate Sb, and then controls the rotary head 6 to move directly to the disposal unit 11 without going through the component imaging unit 7, and to determine the presence or absence of the discardable component Eo based on the image Go1 just before disposal captured by the imaging unit 9. This reduces the travel distance of the rotary head 6 to reach the disposal unit 11 compared to the case where the presence or absence of the discardable component Eo is determined in the component imaging unit 7 before moving to the disposal unit 11, thus reducing the time required to dispose of the discardable component Eo in the disposal unit 11.

[0118] Furthermore, in this embodiment, as described above, the component mounting device 100 is equipped with a display unit 13 capable of displaying component information associated with the component to be discarded Eo. If the control unit 12 determines that there is no component to be discarded Eo based on the image Go1 just before discarding, it controls the display unit 13 to display the location where the component to be discarded Eo is expected to have fallen as component information, based on the image Gv after suction, the mounting image Gm captured by the imaging unit 9 when mounting the mountable component Ec onto the substrate Sb, and the image Go1 just before discarding. As a result, the user can recognize the expected location where the component to be discarded Eo fell, and can narrow down the location to search for the component to be discarded Eo that fell along the way without having to move to the disposal unit 11.

[0119] Furthermore, in this embodiment, as described above, the component mounting method includes steps S1 and S2, in which the component to be discarded suction head 621 is moved directly above the waste section 11, and the detection result of the component to be discarded Eo picked up by the nozzle 601 of the component to be discarded suction head 621 is acquired by the imaging unit 9. The component mounting method includes step S5, in which the presence or absence of the component to be discarded Eo is determined based on the imaging result (detection result) of the component to be discarded Eo by the imaging unit 9. As a result, the imaging result (detection result) is acquired by the imaging unit 9 after the component to be discarded suction head 621 has moved directly above the waste section 11, and the presence or absence of the component to be discarded Eo is determined by the control unit 12 after the component to be discarded suction head 621 has moved directly above the waste section 11. Therefore, it is possible to provide a component mounting method that can confirm whether the component to be discarded suction head 621 has been able to move to the waste section 11 without dropping the component to be discarded Eo from the nozzle 601.

[0120] [Differentiation] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims rather than by the description of the embodiments above, and further includes all modifications (exceptions) within the meaning and scope of the claims.

[0121] For example, in the above embodiment, the control unit 12 is shown to capture an image of the part to be discarded Eo that has been picked up by the nozzle 601 of the part to be discarded suction head 621, which has been lowered to the lower end position Lw (lowered position), using the imaging unit 9. However, the present invention is not limited to this. In the present invention, the control unit may capture an image of the part to be discarded that has been picked up by the nozzle of the part to be discarded suction head, which has been lowered to a lowered position at a height below the upper end position and above the lower end position, using the imaging unit.

[0122] Furthermore, in the above embodiment, the component mounting apparatus 100 is shown to include an imaging unit 9 that images the discarded component Eo that has been picked up by the nozzle 601 of the discarded component suction head 621 which has been lowered to the lower end position Lw (lower position), but the present invention is not limited to this. In the present invention, the component mounting apparatus may include a laser detection unit that includes a light-emitting unit that emits a laser light onto the discarded component picked up by the nozzle of the discarded component suction head which has been lowered to the lower position, and a light-receiving unit that is positioned to receive the laser light emitted from the light-emitting unit. The laser detection unit can acquire a light-receiving result (detection result) of whether or not the light-receiving unit has received the laser light emitted from the light-emitting unit. The control unit performs control to determine the presence or absence of the discarded component based on the light-receiving result (detection result).

[0123] Furthermore, in the above embodiment, an example was shown in which the component mounting apparatus 100 is equipped with an imaging unit 9 that images the component to be discarded Eo that has been picked up by the nozzle 601 of the component to be discarded suction head 621 which has been lowered to the lower end position Lw (lower position), but the present invention is not limited to this. In the present invention, as shown in the modified examples in Figures 15 and 16, the component mounting apparatus 200 may be equipped with an imaging unit 209 that images the component to be discarded Eo placed in the temporary storage area 211a within the waste section 211. In this case, the waste section 211 may be equipped with an opening / closing unit 211b that is provided at the position where the component to be discarded Eo falls from the temporary storage area 211a, and after the imaging unit 209 images the component to be discarded Eo placed in the temporary storage area 211a, it drops the component to be discarded into the space below the temporary storage area 211a of the waste section 211. Furthermore, since the imaging unit 209 is configured to detect the discarded part Eo that was discarded immediately beforehand within the discarding unit 211, it is possible to confirm that the discarded part Eo has been discarded in the discarding unit 211. This allows for confirmation of whether the discarded part suction head 621 was able to move to the discarding unit 211 without dropping the discarded part Eo from the nozzle 601.

[0124] Furthermore, in the above embodiment, the control unit 12 controls the suction head 621 of the parts to be discarded until, after the tip of the nozzle 601 of the suction head 621 reaches a height position corresponding to the upper end position Up at a predetermined horizontal position directly above the discard section 11, the tip of the nozzle 601 of the suction head 621 of the parts to be discarded reaches a height position corresponding to the lower end position Lw at a predetermined horizontal position. However, the present invention is not limited to this. In the present invention, the control unit may control the suction head of the parts to be discarded by moving the tip of the nozzle of the suction head 621 downwards while moving it horizontally, so that it is at a predetermined horizontal position in the horizontal direction and moving toward the lower end position in the vertical direction.

[0125] Furthermore, although the above embodiment shows an example where the screen displayed on the display unit 13 and the screen displayed on the mobile terminal 14 are the same, the present invention is not limited to this. In the present invention, the screen displayed on the display unit and the screen displayed on the mobile terminal may be different.

[0126] Furthermore, although the above embodiment shows an example in which the component mounting apparatus 100 is equipped with a rotary head 6 as the "head unit" of the claims, the present invention is not limited thereto. In the present invention, the component mounting apparatus may be equipped with an inline head in which a plurality of mounting heads are arranged linearly as the "head unit" of the claims.

[0127] Furthermore, in the above embodiment, the control unit 12 is shown to perform control to determine whether the component E that has been picked up by each nozzle 601 of the plurality of mounting heads 602 can be mounted on the substrate Sb, based on the post-pickup image Gv captured by the component imaging unit 7. However, the present invention is not limited to this. In the present invention, the control unit may perform control to determine whether the component that has been picked up by each nozzle of the plurality of mounting heads can be mounted on the substrate, based on the pickup image captured by the imaging unit.

[0128] Furthermore, in the above embodiment, the control unit 12 is shown to re-determine the presence or absence of the discarded part Eo based on the image Go2 (detection result) taken by the imaging unit 9 (detection unit) immediately after disposal, after releasing the adsorption of the discarded part Eo from the nozzle 601. However, the present invention is not limited to this. In the present invention, the control unit does not need to re-determine the presence or absence of the discarded part based on the detection result of the detection unit after releasing the adsorption of the discarded part from the nozzle.

[0129] Furthermore, in the above embodiment, the control unit 12, when it determines that there are no parts to be discarded Eo based on the image Go1 (detection result) taken by the imaging unit 9 just before discarding, controls the display unit 13 to display the part information associated with the discarded part Eo that has been determined not to be present, including the part type associated with the discarded part Eo, the size of the discarded part Eo including its height and dimensions in a plan view, and an image of the outline of the discarded part Eo. However, the present invention is not limited to this. In the present invention, when the control unit determines that there are no parts to be discarded based on the detection result of the imaging unit, it may control the display unit to display at least one of the following as part information associated with the discarded part: the part type associated with the discarded part, the size of the discarded part including its height and dimensions in a plan view, and an image of the outline of the discarded part.

[0130] Furthermore, in the above embodiment, when the control unit 12 determines that there are no parts to be discarded Eo based on the imaging results (detection results) of the imaging unit 9, it is shown as an example of controlling the display unit 13 to display the number of discarded parts Eo that were determined to be absent out of the total number of discarded parts Eo in a recognizable display manner as part information associated with the discarded parts Eo. However, the present invention is not limited to this. In the present invention, when the control unit determines that there are no parts to be discarded based on the detection results of the imaging unit, it may control the display unit to display the number of discarded parts that were determined to be present out of the total number of discarded parts in a recognizable display manner as part information associated with the discarded parts.

[0131] Furthermore, in the above embodiment, for the sake of explanation, an example was shown in which the control processing of the control unit 12 was explained using a flow-driven flowchart that processes sequentially according to the processing flow, but the present invention is not limited to this. In the present invention, the control processing of the control unit may be performed by event-driven processing that executes processing on an event-by-event basis. In this case, it may be performed as a completely event-driven system, or a combination of event-driven and flow-driven systems may be used. [Explanation of symbols]

[0132] 6. Rotary head (head unit) 7. Component imaging unit 9,209 Imaging Unit 11, 211 Waste Disposal Section 12 Control Unit 13 Display section 21 Tape feeder (parts supply unit) 100, 200 component mounting equipment 601 Nozzle 602 Mounting Head 621 Disposal target parts suction head E parts Ec mountable components Eo Disposal Parts Gm implementation image Go1 image taken just before disposal Gv image after adsorption Lw Lower end position (lower position) Sb substrate

Claims

1. A component supply unit that supplies components to be mounted on the circuit board, A mounting head unit that is movable in the horizontal direction includes a mounting head that picks up the components supplied from the component supply unit with a nozzle provided at its tip and mounts them onto the substrate, If the component that has been attracted to the nozzle of the mounting head is a component to be discarded that does not meet the conditions for being mountable on the substrate, the waste section in which the component to be discarded that has been attracted to the nozzle of the mounting head is discarded, After the waste component suction head, which is the mounting head that has picked up the waste component, moves directly above the waste section, a detection unit is provided that can acquire a detection result by detecting the waste component from above the tip of the nozzle in order to determine whether or not the waste component has been picked up by the nozzle of the waste component suction head, or whether or not the waste component was discarded immediately beforehand within the waste section, The system includes a control unit that performs control to determine the presence or absence of the discarded parts based on the detection results of the discarded parts by the detection unit, The detection unit includes an imaging unit, A component mounting apparatus in which, if the control unit determines, based on the detection result of the imaging unit, that there is a component to be discarded, it releases the suction of the component to be discarded from the nozzle, then performs imaging with the imaging unit and determines the presence or absence of the component to be discarded based on the detection result of the imaging unit.

2. The component mounting apparatus according to claim 1, wherein the control unit performs control to determine the presence or absence of the component to be discarded based on the detection result of the imaging unit, after the component to be discarded suction head moves directly above the discard section and before performing the process of releasing the component to be discarded that has been adsorbed onto the nozzle of the component to be discarded suction head.

3. The component mounting apparatus according to claim 2, wherein the control unit performs control to determine the presence or absence of the component to be discarded based on the detection result of the imaging unit, based on the fact that the component to be discarded suction head has reached a lowered position on the side of the discard section that is directly above the discard section.

4. The component mounting apparatus according to claim 3, wherein the imaging unit is attached to the head unit and configured to image the tip portion of the nozzle of the component suction head for discarding when it reaches the lowered position, in order to detect the component to be discarded that has been adsorbed onto the nozzle of the component to be discarded suction head.

5. The component mounting apparatus according to claim 4, wherein the control unit, based on the fact that the component suction head to be discarded has reached the lowered position, captures an image of the tip portion of the nozzle immediately before disposal using the imaging unit, and performs control to determine the presence or absence of the component to be discarded based on the image immediately before disposal.

6. The system further includes a display unit capable of displaying part information associated with the aforementioned parts to be discarded, The component mounting apparatus according to claim 2, wherein the control unit controls the display unit to display, as component information associated with the component to be discarded, the number of component to be discarded that has been determined to be absent or present based on the detection result, out of the total number of component to be discarded, in a display manner that allows for recognition.

7. The component mounting apparatus according to claim 6, wherein the control unit controls the display unit to display at least one of the component information associated with the component to be discarded that has been determined to be absent based on the detection result, which includes the type of component associated with the component to be discarded that has been determined to be absent, the size of the component to be discarded including its height and dimensions in a plan view, and an image of the external shape of the component to be discarded.

8. Multiple mounting heads are arranged, The system further includes a component imaging unit that captures a post-suction image of the component from below after it has been picked up by the nozzles of each of the plurality of mounting heads in the component supply unit. The component mounting apparatus according to claim 5, wherein, based on the image after adsorption, the control unit determines that among the components adsorbed by the nozzle of each of the plurality of mounting heads, there is at least one component to be discarded and at least one mountable component other than the component to be discarded, the control unit mounts the mountable component onto the substrate and then controls the head unit to determine the presence or absence of the component to be discarded based on the image taken by the imaging unit just before discarding, without going through the component imaging unit.

9. The system further includes a display unit capable of displaying part information associated with the aforementioned parts to be discarded, The component mounting apparatus according to claim 8, wherein the control unit, when it is determined that there are no components to be discarded based on the image immediately before disposal, controls the display unit to display the location where the component to be discarded is expected to have fallen as component information, based on the image after suction, the image taken by the imaging unit when mounting the mountable component onto the substrate, and the image immediately before disposal.

10. The steps include moving a discard component suction head, which is a mounting head that has picked up a discard component that does not meet the conditions for being mountable on a circuit board, directly above the discard section where the discard component is to be discarded, After moving the suction head for the parts to be discarded directly above the waste section, the detection unit obtains the detection result of the parts to be discarded that have been picked up by the nozzle of the suction head for the parts to be discarded, or the parts to be discarded immediately before being discarded within the waste section. The steps include determining whether or not the part to be discarded is present based on the detection result of the part to be discarded by the detection unit, A component mounting method comprising the steps of: if it is determined that there is a component to be discarded based on the detection result of the imaging unit which acts as a detection unit, releasing the suction of the component to be discarded by the nozzle, then performing imaging with the imaging unit and determining the presence or absence of the component to be discarded based on the detection result of the imaging unit.

Images