Component mounting machine and component imaging method

Abstract

The present invention executes control (period-limited imaging control) of capturing images of a high-precision component Eh by a component recognition camera C in a period (constant speed period T2 or stop period T0) different from a period in which a head unit 3 is accelerated or decelerated. As a result, the present invention can eliminate the influence of an inertial force caused by acceleration or deceleration of the head unit 3 on imaging of the high-precision component Eh when capturing images of the high-precision component Eh by the component recognition camera C that is supported by and that moves with the head unit 3 which suctions and holds the high-precision component Eh.

Description

Technical Field

[0001] This invention relates to a technique for imaging a component adsorbed by a head unit that mounts the component on a substrate using a camera.

Background Art

[0002] Patent Document 1 describes a component mounter that adsorbs a component supplied at a component supply position using a nozzle of a mounting head and mounts it on a substrate. In this component mounter, a component recognition camera is provided, and the nozzle that has adsorbed the component passes above the component recognition camera before mounting the component on the substrate, and the component recognition camera images the component that has moved upward. Thus, based on the result of imaging the component, the position of the component with respect to the nozzle is recognized. In particular, in Patent Document 1, in order to suppress the influence of the vibration of the component mounter, a correction coefficient derived from the predicted vibration is stored in advance. Then, the position of the component obtained from the result of imaging the component is corrected by this correction coefficient.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the above-mentioned component mounting machine, the head unit that picks up components must pass above the component recognition camera before mounting the components onto the substrate. As a result, the time required for the mounting turn, from when the head unit picks up a component until it is mounted onto the substrate, becomes long. Therefore, by using a camera supported by the head unit and moving with the head unit to image the components in parallel with the movement of the head unit, the time required for the mounting turn can be shortened. In particular, the camera is supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and the camera images the components that are picked up by the head unit while moving relative to the head unit in a predetermined direction. As a result, the inertial force due to the acceleration and deceleration of the head unit sometimes affected the image of the components by the camera, making it impossible to properly image the components.

[0005] This invention has been made in view of the above problems, and aims to eliminate the influence of inertial force due to the acceleration and deceleration of a head unit on the imaging of a component when the component is imaged by a camera supported by a head unit that holds the component and moves along with the head unit. [Means for solving the problem]

[0006] The component mounting machine according to the present invention comprises a component supply unit that supplies components to a component supply position, a substrate transport unit that transports a substrate to a work position, a head unit that performs a suction operation to pick up components supplied to the component supply position, a unit drive unit that performs a component transport operation to move the components picked up by the head unit to a position facing the substrate by driving the head unit, a camera supported by the head unit so as to be movable in a predetermined direction relative to the head unit and moving with the head unit driven by the unit drive unit, a camera drive unit that drives the camera in a predetermined direction relative to the head unit, and a control unit that performs imaging of components picked up by the head unit with the camera while causing the camera drive unit to drive the camera in a predetermined direction, wherein the control unit performs a time-limited imaging control that images the components with the camera driven in a predetermined direction for a period different from the period during which the unit drive unit accelerates or decelerates the head unit.

[0007] The component imaging method according to the present invention comprises the steps of: performing a component transfer operation by driving a head unit that adsorbs a component, thereby transferring the component adsorbed by the head unit to a position facing a substrate; and imaging the component adsorbed by the head unit with a camera that is supported by the head unit so as to be movable in a predetermined direction relative to the head unit and is driven in the predetermined direction, wherein in the component imaging step, a period-limited imaging control is performed in which the camera driven in the predetermined direction images the component for a period different from the period in which the head unit is accelerated or decelerated.

[0008] In the present invention (component mounting machine, component imaging method) configured as described above, a component transfer operation is performed by driving a head unit that attracts components, thereby transferring the components attracted to the head unit to a position facing the substrate. Then, the components attracted to the head unit are imaged by a camera that is supported by the head unit so as to be movable in a predetermined direction and is driven in that predetermined direction. Therefore, during periods when the head unit is accelerating or decelerating, the inertial force generated due to the acceleration or deceleration may affect the imaging of the components by the camera. In contrast, in the present invention, a period-limited imaging control is performed in which the components are imaged by a camera driven in a predetermined direction during a period different from the period when the head unit is accelerating or decelerating. As a result, when imaging components with a camera that is supported by a head unit that attracts components and moves with the head unit, it is possible to eliminate the influence of the inertial force due to the acceleration or deceleration of the head unit on the imaging of the components.

[0009] Furthermore, the component mounting machine may be configured such that the unit drive unit accelerates the head unit to a predetermined unit speed during the acceleration period, moves the head unit at a constant speed at the unit speed during the constant speed period following the acceleration period, and decelerates the head unit from the unit speed during the deceleration period following the constant speed period, and the period-limited imaging control can execute a constant-speed imaging mode in which the camera does not image the components during the acceleration and deceleration periods, but images the components during the constant-speed period. In such a configuration, executing the constant-speed imaging mode makes it possible to eliminate the influence of inertial forces generated during the acceleration and deceleration periods on the imaging of the components.

[0010] Furthermore, when executing the constant velocity imaging mode, the control unit may configure the component mounting machine to set the unit speed so that the imaging of the component is completed within the constant velocity period. In such a configuration, if the unit speed is too fast, resulting in a short constant velocity period and inability to complete the imaging of the component within that period, control will be performed to reduce the unit speed so that the imaging of the component can be completed within the constant velocity period. This will prevent situations in which the imaging of the component is not completed within the constant velocity period, resulting in failure of the constant velocity imaging mode.

[0011] Furthermore, the time-limited imaging control can also perform a stop imaging mode in which the camera images the component being attracted to the head unit, which stops before the start of the component transfer operation. The component mounting machine may be configured to perform either the constant-velocity imaging mode or the stop imaging mode. In such a configuration, by performing the stop imaging mode, it is possible to eliminate the influence of inertial forces that occur during the acceleration and deceleration periods on the imaging of the component.

[0012] Furthermore, the component mounting machine may be configured to include an imaging mode selection unit that accepts user input to select one imaging mode from among constant-velocity imaging mode and stop imaging mode, and the control unit to execute the one imaging mode selected by the imaging mode selection unit. In such a configuration, components can be imaged using one imaging mode from among constant-velocity imaging mode and stop imaging mode according to the user's needs.

[0013] Furthermore, the component mounting machine may be configured such that the control unit performs a mode selection process to select one imaging mode from among constant-velocity imaging mode and stationary imaging mode, and then executes the imaging mode selected by the mode selection process. In the mode selection process, the component mounting machine may be configured to select one imaging mode based on a comparison between the time required to complete the mounting of the component picked up by the suction operation onto the substrate when the constant-velocity imaging mode is executed and the time required to complete the mounting of the component picked up by the suction operation onto the substrate when the stationary imaging mode is executed. In such a configuration, for example, control can be performed such that if the time required to complete the mounting of the component picked up by the suction operation onto the substrate when the constant-velocity imaging mode is executed is shorter than the time required to complete the mounting of the component picked up by the suction operation onto the substrate when the stationary imaging mode is executed, the constant-velocity imaging mode is executed, and if the latter is shorter than the former, the stationary imaging mode is executed. As a result, it becomes possible to reduce the time required to image the component.

[0014] Furthermore, the components may include high-precision components that are subject to time-limited imaging control and low-precision components that are not subject to time-limited imaging control, and the control unit may be configured to perform imaging of high-precision components by camera using time-limited imaging control. In such a configuration, it is possible to eliminate the influence of inertial force associated with the acceleration and deceleration of the head unit on the imaging of high-precision components.

[0015] Furthermore, the control unit may configure the component mounting machine so that it does not perform time-limited imaging control for imaging low-precision components with the camera, but instead allows imaging of low-precision components with the camera during the period when the unit drive unit accelerates or decelerates the head unit. In such a configuration, the period when the unit drive unit accelerates or decelerates the head unit can be used for imaging low-precision components, enabling efficient imaging of these components.

[0016] Furthermore, the component mounting machine may be configured such that the time-limited imaging control can execute a stop imaging mode in which a camera captures images of components being attracted to a head unit that is stopped before the start of component transfer operations. In such a configuration, executing the stop imaging mode makes it possible to eliminate the influence of inertial forces associated with the acceleration and deceleration of the head unit on component imaging.

[0017] Furthermore, the components may include high-precision components that are subject to time-limited imaging control and low-precision components that are not subject to time-limited imaging control, and the control unit may be configured to perform imaging of high-precision components by camera using time-limited imaging control. In such a configuration, it is possible to eliminate the influence of inertial force associated with the acceleration and deceleration of the head unit on the imaging of high-precision components.

[0018] Furthermore, the control unit may configure the component mounting machine so that it does not perform time-limited imaging control for imaging low-precision components with the camera, but instead allows imaging of low-precision components with the camera during the period when the unit drive unit accelerates or decelerates the head unit. In such a configuration, the period when the unit drive unit accelerates or decelerates the head unit can be used for imaging low-precision components, enabling efficient imaging of these components.

[0019] Furthermore, the head unit has a plurality of nozzles arranged in a predetermined direction, and parts are attracted by the nozzles, and the camera is movable relative to the head unit between a one-side retraction position provided on one side of the plurality of nozzles in a predetermined direction and a other-side retraction position provided on the other side of the plurality of nozzles in a predetermined direction, and is capable of performing a first scan imaging, which images the high-precision parts attracted by the nozzles while moving from the one-side retraction position toward the other-side retraction position, and a second scan imaging, which images the high-precision parts attracted by the nozzles while moving from the other-side retraction position toward the one-side retraction position, and the control unit controls the high-precision parts attracted to the head unit by the attraction operation. A component mounting machine may be configured such that, in a stop imaging mode, a scan imaging determination process is performed before the start of the suction operation to determine which of the first and second scan images will be used for the execution scan imaging. In the scan imaging determination process, the execution scan imaging is determined according to the position of the high-precision component that will be picked up by the head unit by the suction operation in a predetermined direction. The control unit may then position the camera in one retracted position before the start of the suction operation if the first scan imaging is determined to be the execution scan imaging, and position the camera in the other retracted position before the start of the suction operation if the second scan imaging is determined to be the execution scan imaging. In such a configuration, the direction of camera movement when executing the stop imaging mode is determined according to the position of the high-precision component that will be picked up by the head unit. As a result, the high-precision component can be imaged while moving the camera in a reasonable direction according to the position of the high-precision component, and the time required to image the high-precision component can be shortened.

[0020] In addition, when the head unit adsorbs high-precision parts and low-precision parts respectively, the control unit causes the head unit to adsorb the high-precision parts and the low-precision parts in a first adsorption mode such that all of the high-precision parts are located on one side of all of the low-precision parts, and a second adsorption mode such that all of the high-precision parts are located on the other side of all of the low-precision parts, and executes either one of them. When the first adsorption mode is executed, the first scan imaging is executed in the stop imaging mode, and when the second adsorption mode is executed, the second scan imaging is executed in the stop imaging mode, thereby configuring the component mounter. In such a configuration, from the state where the high-precision parts are collected on the retreat position side where the camera is located among one retreat position and the other retreat position, the camera can be moved to image the high-precision parts by the camera, and the time required for imaging the high-precision parts can be suppressed short.

[0021] Furthermore, the component mounter may be configured to further include a control selection unit that receives an operation of a user for selecting whether or not to execute the time-limited imaging control, and the control unit executes the imaging of the component by the time-limited imaging control when it is selected in the control selection unit that the time-limited imaging control is executed, while when it is selected in the control selection unit that the time-limited imaging control is not executed, the imaging of the component by the camera during the period when the unit drive unit accelerates or decelerates the head unit is permitted without executing the time-limited imaging control. In such a configuration, it is possible to determine whether or not to execute the time-limited imaging control according to the needs of the user.

Advantages of the Invention

[0022] According to the present invention, when imaging a component by a camera supported by a head unit that adsorbs the component and moving along with the head unit, it is possible to eliminate the influence of the inertial force associated with the acceleration and deceleration of the head unit on the imaging of the component.

Brief Description of the Drawings

[0023] [Figure 1] A plan view schematically showing an example of a component mounter according to the present invention. [Figure 2] Block diagram showing the electrical configuration of the component mounter in FIG. 1. [Figure 3A] Front view schematically showing the component recognition unit of the component mounter. [Figure 3B] Side view schematically showing the component recognition unit in FIG. 3A. [Figure 3C] Front view schematically showing the operation of the component recognition unit in FIG. 3A. [Figure 3D] Front view schematically showing the operation of the component recognition unit in FIG. 3A. [Figure 4] Flowchart showing the operation in the mounting turn of sucking a component by the head unit and mounting it on a substrate. [Figure 5] Timing chart schematically showing an example of speed control executed for the component recognition unit in the mounting turn of FIG. 4. [Figure 6] Flowchart showing an example of the constant-speed imaging mode. [Figure 7A] Diagram schematically showing the control content executed in the constant-speed imaging mode. [Figure 7B] Diagram schematically showing the control content executed in the constant-speed imaging mode. [Figure 7C] Diagram schematically showing the control content executed in the constant-speed imaging mode. [Figure 8] Flowchart showing an example of the stop imaging mode. [Figure 9A] Diagram schematically showing the control content executed in the stop imaging mode. [Figure 9B] Diagram schematically showing the control content executed in the stop imaging mode. [Figure 9C] Diagram schematically showing the control content executed in the stop imaging mode. [Figure 10] Flowchart showing an example of the imaging mode determination process. [Figure 11A] Front view schematically showing an example of the suction operation. [Figure 11B] Front view schematically showing an example of the suction operation.

Mode for Carrying Out the Invention

[0024] Figure 1 is a schematic plan view showing an example of a component mounting machine according to the present invention, and Figure 2 is a block diagram showing the electrical configuration of the component mounting machine in Figure 1. In Figure 1, the horizontal direction X, the horizontal direction Y perpendicular to the X direction, and the vertical direction Z are shown as appropriate. This component mounting machine 1 performs component mounting, mounting components E (Figures 3A to 3D) onto a substrate B.

[0025] As shown in Figure 2, the component mounting machine 1 is equipped with a control unit 100 that comprehensively controls the operation of the component mounting machine 1. The control unit 100 includes a main control unit 110, a storage unit 120, a drive control unit 130, an imaging control unit 140, and a UI (User Interface) 150. The main control unit 110 is composed of a processor such as a CPU (Central Processing Unit) and performs the signal processing necessary for controlling the component mounting machine 1. Note that the specific configuration of the main control unit 110 is not limited to a CPU; for example, it may be an FPGA (Field Programmable Gate Array). The storage unit 120 is a storage device composed of an SSD (Solid State Drive) or an HHD (Hard Disk Drive), etc. The drive control unit 130 controls the drive system of the component mounting machine 1, and the imaging control unit 140 controls the imaging system of the component mounting machine 1. The UI 150 includes input devices such as a keyboard and mouse, and output devices such as a display. Furthermore, the input and output devices of the UI150 do not need to be configured as separate units; for example, they may be integrated using a touch panel display.

[0026] The memory unit 120 stores various data and information necessary for component mounting, such as board data 121 and component information 122. Here, the board data 121 indicates the type of component E to be mounted on the mounting position (e.g., land) provided on the board B, and the order in which the component E will be mounted. The main control unit 110 mounts the component E on the board B according to the board data 121. As will be described later, there are high-precision component Eh and low-precision component El for component E, and the component information 122 indicates whether the component E to be mounted on the board B is a high-precision component Eh or a low-precision component El. This component information 122 can be created by the user, for example, by operating the UI 150, and stored in the memory unit 120. However, the main control unit 110 may automatically create the component information 122 based on the board data 121 and store it in the drive control unit 130. Specifically, component information 122 can be created by performing a calculation that classifies each component E into either a high-precision component Eh or a low-precision component El, based on the size of component E, the arrangement pitch of the terminals of component E, and the distance to adjacent components E on board B.

[0027] As shown in Figure 1, the component mounting machine 1 is equipped with a pair of conveyors 12, 12 mounted on a base 11. The component mounting machine 1 mounts components E onto the substrate B that has been transported by the conveyors 12 from the upstream side in the X direction (substrate transport direction) to the work position 13 (the position of substrate B in Figure 1), and then transports the completed component-mounted substrate B (component-mounted substrate B) from the work position 13 to the downstream side in the X direction by the conveyors 12.

[0028] The component mounting machine 1 is provided with a pair of Y-axis rails 21, 21 extending in the Y direction, a Y-axis ball screw 22 extending in the Y direction, and a Y-axis motor My that rotationally drives the Y-axis ball screw 22. An X-axis rail 24 extending in the X direction is fixed to the nut of the Y-axis ball screw 22 while being supported by the pair of Y-axis rails 21, 21 so as to be movable in the Y direction. An X-axis ball screw 25 extending in the X direction and an X-axis motor Mx that rotationally drives the X-axis ball screw 25 are attached to the X-axis rail 24. The component mounting machine 1 also includes a head unit 3 supported so as to be movable in the X direction by the X-axis rail 24, and the head unit 3 is fixed to the nut of the X-axis ball screw 25. Therefore, the drive control unit 130 can rotate the Y-axis ball screw 22 with the Y-axis motor My to move the head unit 3 in the Y direction, and rotate the X-axis ball screw 25 with the X-axis motor Mx to move the head unit 3 in the X direction.

[0029] On each of the two conveyors 12, 12 in the Y direction, two parts supply units 5 are arranged in the X direction, and each parts supply unit 5 is detachably supported by a plurality of tape feeders 51 arranged in the X direction. The tape feeders 51 have a parts supply position 52 located at the tip on the work position 13 side, and parts E are supplied to the parts supply position 52. Specifically, the tape feeders 51 are fitted with parts storage tapes, and these parts storage tapes store parts E in each of the plurality of pockets arranged in a row. The tape feeders 51 then supply parts E to the parts supply position 52 by intermittently transporting the parts storage tapes toward the parts supply position 52.

[0030] The head unit 3 has a plurality of mounting heads 31 arranged in the X direction (eight in the example in Figure 1) and a Z-axis motor Mz (Figure 2) that raises and lowers the mounting heads 31 in the Z direction. The mounting heads 31 have an elongated shape extending in the Z direction, and can attract and hold components E by a nozzle N (Figures 3A to 3D) detachably attached to the lower end of the mounting heads 31, and mounts the components E taken from the component supply position 52 onto the substrate B using this nozzle N.

[0031] Specifically, the drive control unit 130 drives the head unit 3 with the X-axis motor Mx and the Y-axis motor My to bring the nozzle N of the mounting head 31 facing the component supply position 52 from above. Next, the drive control unit 130 lowers the mounting head 31 with the Z-axis motor Mz, bringing the nozzle N of the mounting head 31 into contact with the component E in the component supply position 52. The mounting head 31 generates negative pressure in the nozzle N that is in contact with the component E, attracting the component E to the nozzle N. When the drive control unit 130 raises the mounting head 31 with the Z-axis motor Mz, the component E attracted to the nozzle N is removed from the component supply position 52. Furthermore, the drive control unit 130 drives the head unit 3 with the X-axis motor Mx and the Y-axis motor My to bring the component E attracted to the nozzle N of the mounting head 31 facing the mounting position on the substrate B at the work position 13 from above. Next, the drive control unit 130 lowers the mounting head 31 using the Z-axis motor Mz, bringing the component E, which has been attracted to the nozzle N of the mounting head 31, into contact with the mounting position on the substrate B. The mounting head 31 then releases the negative pressure on the nozzle N that is attracting the component E, which has come into contact with the mounting position on the substrate B. In this way, the component E is mounted to the mounting position on the substrate B.

[0032] Furthermore, as shown in Figure 2, the component mounting machine 1 includes a component recognition camera C that images the component E being attracted to the mounting head 31 of the head unit 3, and a camera motor Mc that drives the component recognition camera 41 in the X direction. These will now be explained using Figures 3A to 3D.

[0033] Figure 3A is a schematic front view of the component recognition unit of the component mounting machine, Figure 3B is a schematic side view of the component recognition unit of Figure 3A, and Figures 3C and 3D are schematic front views of the operation of the component recognition unit of Figure 3A. Note that in Figures 3A, 3C and 3D, the X(+) side and the X(-) side opposite to the X(+) side are shown. As shown in Figures 3A to 3D, the component recognition unit 4 is attached to the head unit 3 and moves in the X and Y directions in conjunction with the head unit 3, which is driven by the X-axis motor Mx and the Y-axis motor My.

[0034] The head unit 3 has a unit body 30 that is roughly rectangular in shape, and the unit body 30 supports a plurality of mounting heads 31 so that they can move up and down in the Z direction. In contrast, the part recognition unit 4 has an X-axis guide member 41 that is attached to the unit body 30 and is parallel to the X direction, and a movable supporter 42 that moves in the X direction along the X-axis guide member 41. The movable supporter 42 has an upright frame 421 that extends in the Z direction and a bottom frame 422 that extends in the Y direction from the lower end of the upright frame 421, and the upper end of the upright frame 421 engages with the X-axis guide member 41. The part recognition camera C is mounted on the bottom frame 422 facing upward. In this way, the part recognition camera C supported by the movable supporter 42 is able to move in the X direction while being guided by the X-axis guide member 41.

[0035] The camera motor Mc (Figure 2) then drives the movable supporter 42 in the X direction, thereby moving the part recognition camera C in the X direction. This camera motor Mc can be configured as, for example, a linear motor. That is, the stator of the camera motor Mc is attached to the X-axis guide member 41, and the movable element of the camera motor Mc is attached to the upper end of the movable supporter 42, so that the movable supporter 42 can be driven in the X direction by the magnetic force generated between the stator and the movable element. However, the specific configuration of the camera motor Mc is not limited to a linear motor; for example, a ball screw may also be used.

[0036] As shown in the front view of Figure 3A, the camera motor Mc can move the part recognition camera C in the X direction between the retracted position L(+) provided on the X(+) side of the multiple nozzles N and the retracted position L(-) provided on the X(-) side of the multiple nozzles N. Therefore, the drive control unit 130 can control the position of the part recognition camera C in the X direction using the camera motor Mc, so that the part recognition camera C can face the part E that is attracted to one of the multiple nozzles N from below. Furthermore, the imaging control unit 140 can obtain an image of part E (bottom view image) taken from below by having the part recognition camera C perform imaging. Note that the direction in which part E is imaged is not limited to this example, and the system may be configured to obtain an image of part E (side view image) by imagering part E from the Y direction.

[0037] In particular, the component recognition unit 4 can capture images of multiple components E that are attracted to multiple nozzles N, respectively, by scanning imaging as shown in Figures 3C and 3D. In the scanning imaging shown in Figure 3C, the drive control unit 130 controls the camera motor Mc to position the component recognition camera C in the retracted position L(-) (step S11). Subsequently, the drive control unit 130 drives the component recognition camera C to the X(+) side in the X direction using the camera motor Mc, moving the component recognition camera C from the retracted position L(-) to the retracted position L(+) (step S12). When the component recognition camera C reaches the retracted position L(+), the drive control unit 130 controls the camera motor Mc to stop the component recognition camera C in the retracted position L(+) (step S13). Meanwhile, in parallel with the drive control unit 130 moving the part recognition camera C from the retracted position L(-) to the retracted position L(+) on the X(+) side (step S12), the imaging control unit 140 causes the part recognition camera C to perform imaging. As a result, images of multiple parts E that are attracted to each of the multiple nozzles N are acquired.

[0038] On the other hand, in the scan imaging shown in Figure 3D, the drive control unit 130 controls the camera motor Mc to position the part recognition camera C at the retracted position L(+) (step S21). Next, the drive control unit 130 drives the part recognition camera C to the X(-) side in the X direction using the camera motor Mc, moving the part recognition camera C from the retracted position L(+) to the retracted position L(-) (step S22). When the part recognition camera C reaches the retracted position L(-), the drive control unit 130 controls the camera motor Mc to stop the part recognition camera C at the retracted position L(-) (step S23). Meanwhile, in parallel with the drive control unit 130 moving the part recognition camera C from the retracted position L(+) to the X(-) side (step S22), the imaging control unit 140 causes the part recognition camera C to perform imaging. As a result, images of multiple parts E attracted to each of the multiple nozzles N are acquired.

[0039] Incidentally, in this scan imaging, the drive control unit 130 controls the camera motor Mc so that the part recognition camera C moves at a constant speed in the X direction at a predetermined scan speed Vc during the period when the part recognition camera C is imaging part E. In other words, the camera motor Mc accelerates the part recognition camera C to the scan speed Vc before the part recognition camera C starts imaging part E. In the example in Figure 3C, the part recognition camera C, which has started moving from the retracted position L(-) to the X(+) side, completes its acceleration to the scan speed Vc by the time it reaches the imaging position where it faces the nozzle N at the X(-) end of the multiple nozzles N from below. Furthermore, deceleration from the scan speed Vc of the part recognition camera C begins after the part recognition camera C has passed the imaging position where it faces the nozzle N at the X(+) end of the multiple nozzles N from below. The speed of the part recognition camera C is controlled similarly in the example in Figure 3D.

[0040] Figure 4 is a flowchart showing the operation during the mounting turn in which the head unit picks up components and mounts them onto the substrate, and Figure 5 is a timing chart schematically showing an example of speed control performed on the component recognition unit during the mounting turn in Figure 4. In Figure 5, a graph is shown in which the horizontal axis represents time and the vertical axis represents speed. The flowchart in Figure 4 is executed by the control of the main control unit 110.

[0041] In step S101, the head unit 3 attracts the component E supplied to the component supply position 52 to the nozzles N, thereby attracting component E to each of the multiple nozzles N (attraction operation). The component E that each nozzle N attracts during the attraction operation is predetermined according to the mounting order of component E on the substrate B indicated by the substrate data 121. Once the attraction operation is complete, the head unit 3 begins to move toward the substrate B. Specifically, the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My to accelerate the stationary head unit 3 to a predetermined unit speed Vu (a speed greater than zero) (step S102). As a result, during the acceleration period T1 from time t1 to time t2, the speed of the head unit 3 increases from zero to the unit speed Vu. When the speed of the head unit 3 reaches the unit speed Vu at time t2, the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My to move the head unit 3 at a constant speed of unit speed Vu (step S103). As a result, during the constant speed period T2 from time t2 to time t3, the speed of the head unit 3 remains constant at the unit speed Vu. At time t3, the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My to decelerate the head unit 3 from the unit speed Vu and stop it (step S104). As a result, during the deceleration period T3 from time t3 to time t4, the speed of the head unit 3 decreases from the unit speed Vu to zero. The component E that has been attracted to the nozzle N of the stopped head unit 3 faces the mounting position on the substrate B from above. In step S105, the head unit 3 mounts this component E onto the substrate B (step S105). In this process, the drive control unit 130 controls the position of the nozzle N that picks up the component E based on the position of the component E indicated by the image of the component E captured by the component recognition camera C, thereby mounting the component E to the mounting position on the substrate B.

[0042] Incidentally, the speed of head unit 3 is the combined speed of the speed in the X direction and the speed in the Y direction. During the acceleration period T1, at least one of the speeds in the X direction and the Y direction increases over time. During the constant velocity period T2, both the speeds in the X direction and the Y direction remain constant over time. During the deceleration period T3, at least one of the speeds in the X direction and the Y direction decreases over time.

[0043] Thus, a component transfer operation (steps S102-S104) is performed by the drive control unit 130 controlling the X-axis motor Mx and Y-axis motor My, which transfers the component E, which has been attracted by the head unit 3 from the component supply position 52, to a position opposite the mounting position on the substrate B from above. In contrast, imaging of the multiple components E attracted by the head unit 3 is performed in parallel with the component transfer operation. Specifically, during the period when the head unit 3 is moving due to the component transfer operation (acceleration period T1, constant velocity period T2, and deceleration period T3), scan imaging as shown in either Figure 3C or Figure 3D is performed to capture images of the multiple components E (normal imaging mode).

[0044] However, component E includes high-precision component Eh, which requires high precision in its mounting position on substrate B, and low-precision component El, which does not require high precision in its mounting position on substrate B. If imaging of such high-precision component Eh is performed during the acceleration period T1 or the deceleration period T3, the effects of inertial force associated with the acceleration and deceleration of the head unit 3 may occur. Therefore, for imaging of high-precision component Eh, the constant velocity imaging mode or the stationary imaging mode described below is performed as appropriate.

[0045] Figure 6 is a flowchart showing an example of the constant velocity imaging mode, and Figures 7A, 7B, and 7C are schematic diagrams illustrating the control procedures performed in the constant velocity imaging mode. In Figure 7A, the nozzles are numbered sequentially from N1 to N8 in the X direction to distinguish between multiple nozzles N, and in Figure 7C, a graph is shown where the horizontal axis represents time and the vertical axis represents velocity. The flowchart in Figure 6 is executed by the control of the main control unit 110.

[0046] In step S201, the suction operation is performed in the same manner as in step S101, and multiple nozzles N1 to N8 of the head unit 3 each pick up multiple parts E. As a result, in the example in Figure 7A, nozzles N1, N2, N4, N7, and N8 pick up low-precision parts El, and nozzles N3, N5, and N6 pick up high-precision parts Eh. Thus, the multiple parts E picked up by the head unit 3 include high-precision parts Eh and low-precision parts El.

[0047] In step S202, the main control unit 110 calculates the high-precision component imaging time Th required to image the high-precision component Eh by scan imaging. Specifically, the existence range Rh in the X direction of the high-precision component Eh is determined from among the multiple components E that are attracted to the head unit 3. If two or more, i.e., Mh components (where Mh is an integer of 2 or more), are attracted to the head unit 3, the existence range Rh is determined such that the imaging position where the component recognition camera C is positioned to image the high-precision component Eh located at the X(+) end and the imaging position where the component recognition camera C is positioned to image the high-precision component Eh located at the X(-) end are located at opposite ends of the existence range Rh. Then, the high-precision component imaging time Th is calculated by dividing the length of the existence range Rh in the X direction by the scan speed Vc.

[0048] Furthermore, in step S203, the main control unit 110 calculates the constant velocity period T2. Specifically, the constant velocity period T2 in the component transfer operation, which moves the head unit 3 from the start position to the target position, is calculated. Here, the start position is the position of the head unit 3 when the suction operation is completed, and the target position is the position of the head unit 3 where the component E to be first mounted on the substrate B, among the multiple components E that are suctioned by the head unit 3, is positioned from above to face the mounting position. Therefore, the closer the start position and the target position are, the shorter the constant velocity period T2 becomes.

[0049] In step S204, the main control unit 110 determines whether imaging of the high-precision component Eh can be completed within the constant velocity period T2, based on a comparison of the high-precision component imaging time Th calculated in step S202 and the constant velocity period T2 calculated in step S203. If the high-precision component imaging time Th does not fit within the constant velocity period T2, it is determined that imaging of the high-precision component Eh cannot be completed within the constant velocity period T2 ("NO" in step S204), and the main control unit 110 reduces the unit velocity Vu in step S205 and then calculates the constant velocity period T2 in step S203. As shown in the example in Figure 7B, when the unit velocity Vu is velocity V1, the constant velocity period T2 is shorter than the high-precision component imaging time Th, and imaging of the high-precision component Eh cannot be completed within the constant velocity period T2 ("NO" in step S204). In contrast, as shown in Figure 7C, when the unit speed Vu is a speed V2 lower than the speed V1, the constant velocity period T2 is longer than the high-precision component imaging time Th, and imaging of the high-precision component Eh can be completed within the constant velocity period T2 ("YES" in step S204). In other words, the main control unit 110 sets the unit speed Vu so that imaging of the high-precision component Eh is completed within the constant velocity period T2 by repeating steps S203 and S204 while decreasing the unit speed Vu by a predetermined speed (step S205).

[0050] Once the unit speed Vu is set (YES in step S204), the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My to accelerate the head unit 3 to the unit speed Vu (speed V2) (step S206). Once the acceleration of the head unit 3 to the unit speed Vu is complete, the head unit 3 starts moving at a constant speed at the unit speed Vu (step S207). After the head unit 3 starts moving at a constant speed, the component recognition camera C passes through the range Rh where the high-precision component Eh exists in the X direction and images the component E, thereby performing imaging of the high-precision component Eh (step S208). After the imaging of the high-precision component Eh is complete, the head unit 3 is decelerated from the unit speed Vu (step S210). When the head unit 3 stops, the component E that is attracted to the head unit 3 is mounted onto the substrate B (step S211).

[0051] Incidentally, imaging of low-precision components El, which are not the target of imaging during the high-precision component imaging time Th, is performed before or after the imaging of high-precision components Eh begins. In particular, in the example shown in Figure 7A, in the X direction, low-precision components El, which are attracted to the head unit 3, exist on both sides of the range Rh where high-precision components Eh exist. Therefore, as shown in Figure 7C, there is a low-precision component imaging time Tl for imaging low-precision components El before and after the high-precision component imaging time Th. The low-precision component imaging time Tl before the high-precision component imaging time Th is provided from a point in the middle of the acceleration period T1 to a point in the middle of the constant velocity period T2 (the point in time when the high-precision component imaging time Th begins), and the low-precision component imaging time Tl after the high-precision component imaging time Th is provided from a point in the middle of the constant velocity period T2 (the point in time when the high-precision component imaging time Th ends) to a point in the middle of the deceleration period T3.

[0052] Figure 8 is a flowchart showing an example of the stop imaging mode, and Figures 9A, 9B, and 9C are schematic diagrams illustrating the control performed in the stop imaging mode. In Figures 9A and 9B, the nozzles are numbered N1 to N8 sequentially in the X direction to distinguish between multiple nozzles N. In the examples shown in Figures 9A and 9B, the multiple components E attracted by the head unit 3 include high-precision component Eh and low-precision component El. In this case, the position of the high-precision component Eh attracted by the head unit 3 differs between the example in Figure 9A and the example in Figure 9B. Figure 9C shows a graph where the horizontal axis represents time and the vertical axis represents velocity. The flowchart in Figure 8 is executed by the control of the main control unit 110.

[0053] In step S301, the main control unit 110 determines the direction (scan direction) in which the component recognition camera C moves when imaging the high-precision component Eh by scan imaging, based on the position of the high-precision component Eh. Specifically, the main control unit 110 confirms the position in the X direction of the high-precision component Eh that will be picked up by the head unit 3 in the suction operation to be performed in step S303. In particular, the distance D(-) in the X direction between the high-precision component Eh that is furthest from the retracted position L(-) among the high-precision component Eh picked up by the head unit 3 and the retracted position L(-), and the distance D(+) in the X direction between the high-precision component Eh that is furthest from the retracted position L(+) among the high-precision component Eh picked up by the head unit 3 and the retracted position L(+) are calculated. Incidentally, as mentioned above, the component E that each nozzle N picks up in the suction operation is predetermined based on the substrate data 121. Therefore, in the suction operation in step S303, the position of the high-precision component Eh can be confirmed by identifying the high-precision component Eh from among the components E that each nozzle N is scheduled to pick up, based on the component information 122.

[0054] Furthermore, in step S301, the main control unit 110 determines the scan direction based on the position of the high-precision component Eh. In the example of Figure 9A, the distance D(-) is shorter than the distance D(+). Therefore, the time required to image the high-precision component Eh while moving the component recognition camera C from the retracted position L(-) toward the X(+) side is shorter than the time required to image the high-precision component Eh while moving the component recognition camera C from the retracted position L(+) toward the X(-) side. Therefore, it is determined that the high-precision component Eh will be imaged by scan imaging (Figure 3C) in which the component recognition camera C is moved in the scan direction toward the X(+) side from the retracted position L(-). On the other hand, in the example of Figure 9B, the distance D(+) is shorter than the distance D(-). Therefore, the time required to image the high-precision component Eh while moving the component recognition camera C from the retracted position L(+) toward the X(-) side is shorter than the time required to image the high-precision component Eh while moving the component recognition camera C from the retracted position L(-) toward the X(+) side. Thus, it is decided to image the high-precision component Eh by scanning (Figure 3D) in which the component recognition camera C is moved in the scanning direction toward the X(-) side from the retracted position L(+). In other words, in order to shorten the time required to image the high-precision component Eh, if the distance D(-) is shorter than the distance D(+), it is decided to perform scanning by moving the component recognition camera C in the scanning direction toward the X(+) side from the retracted position L(-), and if the distance D(+) is shorter than the distance D(-), it is decided to perform scanning by moving the component recognition camera C in the scanning direction toward the X(-) side from the retracted position L(+).

[0055] In step 302, the main control unit 110 positions the component recognition camera C at the retracted position L(+) and the retracted position L(-) that corresponds to the position determined in step S301. That is, if the determined scan direction is toward the X(+) side from the retracted position L(-), the main control unit 110 positions the head unit 3 at the retracted position L(-). If the determined scan direction is toward the X(-) side from the retracted position L(+), the main control unit 110 positions the head unit 3 at the retracted position L(+).

[0056] In the following step S303, the head unit 3 performs an suction operation to pick up multiple parts E with multiple nozzles N. Then, with the head unit 3 stopped after completing the suction operation, scan imaging is started (step S304). Once the scanning imaging has completed imaging all of the high-precision parts Eh picked up by the head unit 3 (if "YES" is selected in step S305), the head unit 3 is accelerated (step S306), moved at a constant velocity (step S307), and decelerated (step S308) (part transfer operation). In other words, as shown in Figure 9C, in the stopped imaging mode, imaging of the high-precision parts Eh is performed during the stopped period T0, from the time the head unit 3 completes the suction operation until the acceleration of the head unit 3 begins. Therefore, the high-precision part imaging time Th for imaging the high-precision parts Eh is included within the stopped period T0, and imaging of all high-precision parts Eh is completed within the stopped period T0.

[0057] Furthermore, once imaging of all high-precision components Eh is complete, any un-imaged low-precision components El are imaged by scan imaging that continues after the acceleration of the head unit 3 begins in step S306. As a result, in the example of Figure 9C, the low-precision component imaging time Tl for imaging the low-precision components El is provided from the start of the acceleration period T1 to a point in the middle of the constant-velocity period T2. Then, when the component transfer operation (steps S306 to S308) is completed and the head unit 3 stops, the head unit 3 mounts the components E attracted to the nozzle N onto the substrate B (step S309).

[0058] Thus, in the component mounting machine 1, imaging of high-precision components Eh can be performed using constant-velocity imaging mode and stationary imaging mode. What these imaging modes have in common is that imaging of high-precision components Eh is performed during periods different from the periods when the head unit 3 is accelerating or decelerating, specifically during the period when the head unit 3 is moving at a constant velocity (constant-velocity period T2) or during the period when the head unit 3 is stopped (stationary period T0). In other words, imaging of high-precision components Eh is limited to periods different from the periods when the head unit 3 is accelerating or decelerating. Next, the method for determining which imaging mode to actually use for imaging high-precision components Eh from among these imaging modes will be explained using Figure 10.

[0059] Figure 10 is a flowchart showing an example of the imaging mode determination process. The flowchart in Figure 10 is executed by the control of the main control unit 110. In particular, the imaging mode determination process is performed before the start of the suction operation in order to determine which imaging mode will be used to capture the high-precision component Eh that is to be suctioned during the suction operation.

[0060] In step S401, it is determined whether or not time-limited imaging control is set. This time-limited imaging control is a control that restricts the imaging of high-precision components Eh to periods different from the period during which the head unit 3 is accelerated or decelerated (constant velocity period T2, stop period T0). The setting of time-limited imaging control is performed by user operation on UI150. If time-limited imaging control is not set (if "NO" is selected in step S401), the main control unit 110 decides to perform imaging of high-precision components Eh subsequently attracted by the head unit 3 in normal imaging mode (step S402). Therefore, imaging of high-precision components Eh during the period when the head unit 3 is accelerated or decelerated (acceleration period T1 or deceleration period T3) is permitted.

[0061] If time-limited imaging control is set (if "YES" is selected in step S401), it is determined whether the user has selected either the constant-speed imaging mode or the stopped imaging mode (step S403). In other words, the user can select one of the constant-speed imaging mode or the stopped imaging mode by operating the UI150.

[0062] If an imaging mode is selected by the user (if "YES" is answered in step S403), it is determined whether that imaging mode (i.e., the selected imaging mode) is a constant-velocity imaging mode. If a constant-velocity imaging mode is selected (if "YES" is answered in step S404), the main control unit 110 decides to perform imaging of the high-precision component Eh that will subsequently be attracted by the head unit 3 using the constant-velocity imaging mode (step S405). On the other hand, if a stop imaging mode is selected (if "NO" is answered in step S404), the main control unit 110 decides to perform imaging of the high-precision component Eh that will subsequently be attracted by the head unit 3 using the stop imaging mode (step S406).

[0063] On the other hand, if no imaging mode is selected by the user (if "NO" is selected in step S403), the cycle time is calculated for both the constant velocity imaging mode and the stopped imaging mode (step S407). Here, the cycle time represents the time from the completion of the suction operation until the mounting of all components E (high-precision component Eh and low-precision component El) picked up by the suction operation onto the substrate B is completed. More specifically, the main control unit 110 predicts the cycle time Tm when imaging of the high-precision component Eh is performed in constant velocity imaging mode, and also predicts the cycle time Ts when imaging of the high-precision component Eh is performed in stopped imaging mode.

[0064] In step S408, the cycle time Tm of the constant-speed imaging mode and the cycle time Ts of the stationary imaging mode are compared. If the cycle time Tm of the constant-speed imaging mode is less than or equal to the cycle time Ts of the stationary imaging mode, the main control unit 110 decides to perform imaging of the high-precision component Eh, which will be subsequently picked up by the head unit 3, in constant-speed imaging mode (step S405). On the other hand, if the cycle time Ts of the stationary imaging mode is less than the cycle time Tm of the constant-speed imaging mode, the main control unit 110 decides to perform imaging of the high-precision component Eh, which will be subsequently picked up by the head unit 3, in stationary imaging mode (step S406).

[0065] In the embodiment described above, a component transfer operation is performed in which the component E, which is attracted to the head unit 3, is moved to a position facing the substrate B by driving the head unit 3 which attracts the component E (steps S102-S104, S206, S207, S209, S210, S306-S308). Then, the component E attracted to the head unit 3 is imaged by a component recognition camera C, which is supported by the head unit 3 so as to be movable in the X direction (a predetermined direction) relative to the head unit 3 and is driven in the X direction.Therefore, during the period when the head unit 3 is accelerating or decelerating, the inertial force generated with acceleration and deceleration may affect the image of the component E by the component recognition camera C.In particular, this effect is a major problem for high-precision components Eh.In response to this, in this embodiment, control (time-limited imaging control) is performed to image the high-precision component Eh with the component recognition camera C driven in the X direction during a period different from the period when the head unit 3 is accelerating or decelerating (constant velocity period T2, stop period T0). In other words, the high-precision component Eh is not imaged during the period when the head unit 3 is accelerating or decelerating (acceleration period T1, deceleration period T3), and the timing for imaging the high-precision component Eh is limited to the stop period T0 or the constant velocity period T2. As a result, when imaging the high-precision component Eh with the component recognition camera C, which is supported by the head unit 3 that attracts the high-precision component Eh and moves along with the head unit 3, it is possible to eliminate the influence of the inertial force associated with the acceleration and deceleration of the head unit 3 on the imaging of the high-precision component Eh.

[0066] Furthermore, the X-axis motor Mx and Y-axis motor My (unit drive unit) perform the part transfer operation by accelerating the head unit 3 to a predetermined unit speed Vu during the acceleration period T1, moving the head unit 3 at a constant speed Vu during the constant speed period T2 following the acceleration period T1, and decelerating the head unit 3 from the unit speed Vu during the deceleration period T3 following the constant speed period T2. In contrast, the time-limited imaging control can execute a constant-speed imaging mode in which the part recognition camera C does not image the high-precision part Eh during the acceleration period T1 and the deceleration period T3, but instead images the high-precision part Eh during the constant-speed period T2 (Figure 6). With this configuration, by executing the constant-speed imaging mode, it is possible to eliminate the influence of inertial forces occurring during the acceleration period T1 and the deceleration period T3 on the imaging of the high-precision part Eh.

[0067] Furthermore, when executing the constant velocity imaging mode, the control unit 100 sets the unit speed Vu so that imaging of the high-precision component Eh is completed within the constant velocity period T2 (steps S203 to S205). In this configuration, if the unit speed Vu is too fast, resulting in a short constant velocity period T2, and imaging of the high-precision component Eh cannot be completed within the constant velocity period T2, control is performed to reduce the unit speed Vu so that imaging of the high-precision component Eh can be completed within the constant velocity period T2. This suppresses situations in which imaging of the high-precision component Eh is not completed within the constant velocity period T2, resulting in failure of the constant velocity imaging mode.

[0068] Furthermore, the time-limited imaging control can execute a stop imaging mode (Figure 8) in which the high-precision component Eh, which is attracted to the head unit 3 and is stopped before the start of the component transfer operation (specifically, the acceleration of the head unit 3), is imaged by the component recognition camera C. In this configuration, by executing the stop imaging mode, it is possible to eliminate the influence of inertial forces that occur during the acceleration period T1 and the deceleration period T3 on the imaging of the high-precision component Eh.

[0069] In particular, the time-limited imaging control performs either the constant velocity imaging mode (Figure 6) or the stop imaging mode (Figure 8). In this configuration, by performing either the constant velocity imaging mode or the stop imaging mode, it is possible to eliminate the influence of inertial forces generated during the acceleration period T1 and the deceleration period T3 on the imaging of the high-precision component Eh.

[0070] Furthermore, the system is equipped with a UI 150 (imaging mode selection unit) that accepts user input to select one imaging mode from among constant velocity imaging mode and stop imaging mode, and the control unit 100 executes the imaging mode selected by the UI 150 (steps S403 to S406). With this configuration, high-precision component Eh can be imaged using one imaging mode from among constant velocity imaging mode and stop imaging mode according to the user's needs.

[0071] Furthermore, the control unit 100 performs a mode selection process (steps S407, S408) to select one imaging mode from among the constant velocity imaging mode and the stationary imaging mode, and then executes the imaging mode selected by the mode selection process (steps S405, S406). Specifically, in the mode selection process, one imaging mode is selected based on a comparison between the time Tm required to complete the mounting of the components E (high-precision component Eh and low-precision component El) picked up by the suction operation onto the substrate B when the constant velocity imaging mode is executed, and the time Ts required to complete the mounting of the components E (high-precision component Eh and low-precision component El) picked up by the suction operation onto the substrate B when the stationary imaging mode is executed (steps S407, S408). Specifically, if the constant velocity imaging mode is executed, the time Tm required to complete the mounting of component E, which has been picked up by the pick-up operation, onto substrate B is compared with the time Ts required to complete the mounting of component E, which has been picked up by the pick-up operation, onto substrate B when the stationary imaging mode is executed. If the former is shorter than the latter, the constant velocity imaging mode is executed; otherwise, the stationary imaging mode is executed. As a result, the time required to image component E can be kept to a minimum.

[0072] Furthermore, the control unit 100 does not perform time-limited imaging control for imaging of low-precision parts El by the part recognition camera C, and allows imaging of low-precision parts El by the part recognition camera C during the period when the X-axis motor Mx and Y-axis motor My accelerate or decelerate the head unit 3 (acceleration period T1, deceleration period T3) (Figures 7C and 9C). For example, in the constant-velocity imaging mode shown in Figure 7C, the low-precision part imaging time Tl overlaps with the acceleration period T1 and deceleration period T3, and in the stopped imaging mode shown in Figure 9C, the low-precision part imaging time Tl overlaps with the acceleration period T1. With this configuration, the period when the X-axis motor Mx and Y-axis motor My accelerate or decelerate the head unit 3 can be used to image low-precision parts El, making it possible to efficiently image low-precision parts El.

[0073] Furthermore, the head unit 3 has a plurality of nozzles N arranged in the X direction (a predetermined direction), and the nozzles N attract parts E. The part recognition camera C is movable relative to the head unit 3 between a retraction position L(+) (one retraction position) located on the X(+) side (one side) of the plurality of nozzles N and a retraction position L(-) (the other retraction position) located on the X(-) side (the other side) of the plurality of nozzles N. The part recognition camera C is capable of performing a first scan imaging (Figure 3D) in which it moves from the retraction position L(+) towards the retraction position L(-) while imaging the high-precision part Eh attracted to the nozzles N, and a second scan imaging (Figure 3C) in which it moves from the retraction position L(-) towards the retraction position L(+) while imaging the high-precision part Eh attracted to the nozzles N. In response to this, the control unit 100 performs a scan imaging determination process (step S301) before the start of the suction operation (step S303) to determine which scan imaging (executed scan imaging) to perform in stop imaging mode for the high-precision component Eh that is attracted to the head unit 3 by the suction operation, from among the first scan imaging (Figure 3D) and the second scan imaging (Figure 3C). In this scan imaging determination process, the scan imaging (executed scan imaging) to be used to image the high-precision component Eh is determined according to the position of the high-precision component Eh in the X direction, which is attracted to the head unit 3 by the suction operation. If the control unit 100 decides to perform the first scan imaging (Figure 3D), it positions the camera to the retracted position L(+) before the start of the suction operation, while if it decides to perform the second scan imaging (Figure 3C), it positions the component recognition camera C to the retracted position L(-) before the start of the suction operation (step S302). In this configuration, the direction of movement of the component recognition camera C when performing the stop imaging mode is determined according to the position of the high-precision component Eh that is attracted to the head unit 3. As a result, the component recognition camera C can be moved in a rational direction according to the position of the high-precision component Eh while imaging the high-precision component Eh, thereby reducing the time required to image the high-precision component Eh.

[0074] Furthermore, the system is equipped with a UI150 (control selection unit) that accepts user input to select whether or not to perform time-limited imaging control. If the UI150 selects to perform time-limited imaging control (if "YES" is selected in step S401), the control unit 100 performs imaging of the high-precision component Eh using time-limited imaging control (steps S405, S406). However, if the UI150 selects not to perform time-limited imaging control (if "NO" is selected in step S401), the control unit 100 does not perform time-limited imaging control and allows imaging of the component (especially the high-precision component Eh) by the component recognition camera C during the period when the X-axis motor Mx and Y-axis motor My accelerate or decelerate the head unit 3 (acceleration period T1, deceleration period T3) (step S402). With this configuration, the decision of whether or not to perform time-limited imaging control can be made according to the user's needs.

[0075] As described above, in the above embodiment, the component mounting machine 1 corresponds to an example of the "component mounting machine" of the present invention, the conveyor 12 corresponds to an example of the "substrate transport unit" of the present invention, the work position 13 corresponds to an example of the "work position" of the present invention, the control unit 100 corresponds to an example of the "control unit" of the present invention, the UI 150 corresponds to an example of the "imaging mode selection unit" of the present invention, the UI 150 corresponds to an example of the "control selection unit" of the present invention, the head unit 3 corresponds to an example of the "head unit" of the present invention, the component supply unit 5 corresponds to an example of the "component supply unit" of the present invention, the component supply position 52 corresponds to an example of the "component supply position" of the present invention, the substrate B corresponds to an example of the "substrate" of the present invention, the component recognition camera C corresponds to an example of the "camera" of the present invention, the component E corresponds to an example of the "component" of the present invention, and the high-precision component Eh corresponds to an example of a "high-precision part" of the present invention, low-precision part El corresponds to an example of a "low-precision part" of the present invention, retracted position L(+) corresponds to an example of a "one retracted position" of the present invention, retracted position L(-) corresponds to an example of a "other retracted position" of the present invention, the X-axis motor Mx and Y-axis motor My cooperate to function as an example of a "unit drive unit" of the present invention, nozzle N corresponds to an example of a "nozzle" of the present invention, acceleration period T1 corresponds to an example of an "acceleration period" of the present invention, constant velocity period T2 corresponds to an example of a "constant velocity period" of the present invention, deceleration period T3 corresponds to an example of a "deceleration period" of the present invention, unit speed Vu corresponds to an example of a "unit speed" of the present invention, the X(+) side corresponds to an example of a "one side" of the present invention, and the X(-) side corresponds to an example of a "other side" of the present invention.

[0076] It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made to those described above without departing from the spirit of the invention. For example, the suction operation during the execution of the stop imaging mode may be performed as shown in Figures 11A and 11B. Here, Figures 11A and 11B are schematic front views showing an example of the suction operation. In the examples of Figures 11A and 11B, the multiple components E that are attracted by the head unit 3 include high-precision components Eh and low-precision components El. In particular, in the example of Figure 11A, and in the example of Figure 11B, the multiple components E are attracted by the head unit 3 such that the high-precision components Eh gather on the X(+) side and the low-precision components El gather on the X(-) side (first suction mode). On the other hand, the multiple components E are attracted by the head unit 3 such that the high-precision components Eh gather on the X(-) side and the low-precision components El gather on the X(+) side (second suction mode). Whether to execute the first suction mode or the second suction mode can be determined, for example, based on the time required for the head unit 3 to complete the suction of multiple components E (suction completion time). In other words, it is decided to perform the suction operation in one of the two suction modes, the one with the shorter suction completion time. Then, in the stopped imaging mode shown in Figure 8, steps S301 to S302 are executed on the premise that the suction operation in step S303 is performed in this one suction mode.

[0077] In other words, in this example, when the head unit 3 picks up the high-precision component Eh and the low-precision component El, the control unit 100 executes either a first pick-up mode (Figure 11A) in which the high-precision component Eh and the low-precision component El are picked up by the head unit 3 so that the entire high-precision component Eh is located on the entire X(+) side (one side) of the low-precision component El, or a second pick-up mode (Figure 11B) in which the high-precision component Eh and the low-precision component El are picked up by the head unit 3 so that the entire high-precision component Eh is located on the entire X(-) side (the other side) of the low-precision component El. When the first pick-up mode (Figure 11A) is executed, the scan imaging (first scan imaging) shown in Figure 3D is performed in the stopped imaging mode (Figure 8), and when the second pick-up mode (Figure 11B) is executed, the scan imaging (second scan imaging) shown in Figure 3C is performed in the stopped imaging mode (Figure 8). In this configuration, high-precision components Eh are gathered on the side of the retraction position L(+) where the component recognition camera C is located, and then the component recognition camera C is moved to image the high-precision components Eh, thereby reducing the time required to image the high-precision components Eh.

[0078] Furthermore, in the above embodiment, the component E subject to time-limited imaging control is limited to the high-precision component Eh among the high-precision component Eh and the low-precision component El. However, time-limited imaging control may be performed on all component E attached to the head unit 3 without distinguishing between high-precision component Eh and low-precision component El.

[0079] Furthermore, in time-limited imaging control, it is not necessary for both constant-velocity imaging mode and stop imaging mode to be executable; the system may be configured to execute only one of the imaging modes, either constant-velocity imaging mode or stop imaging mode. [Explanation of symbols]

[0080] 1... Component mounting machine 12…Conveyor (circuit board transport section) 13…Working position 100... Control Unit 150...UI (Image mode selection section, control selection section) 3…Head unit 5…Parts Supply Department 52... Part supply location B... Circuit board C... Component recognition camera (camera) E...parts Eh... High-precision parts El... Low-precision parts L(+)...Evacuation position (one evacuation position) L(-)…Evacuation position (other evacuation position) Mx...X-axis motor (unit drive unit) My... Y-axis motor (unit drive unit) N... Nozzle T1…Acceleration period T2…Issential period T3…Deceleration period Vu... Unit speed X(+)...X(+) side (one side) X(-)...X(-) side (the other side)

Claims

1. A parts supply unit that supplies parts to the parts supply location, A circuit board transport unit that carries the circuit board to the work position, A head unit that performs a suction operation to attract the component supplied to the component supply position, A unit drive unit that drives the head unit to perform a component transfer operation that moves the component attracted to the head unit to a position facing the substrate, A camera is supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and is driven by the unit drive unit and moves together with the head unit; A camera drive unit that drives the camera in the predetermined direction relative to the head unit, A control unit that performs imaging of the component attached to the head unit by the camera while driving the camera in the predetermined direction, and a camera drive unit. Equipped with, The control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction during a period different from the period during which the unit drive unit accelerates or decelerates the head unit. The unit drive unit performs the component transfer operation by accelerating the head unit to a predetermined unit speed during the acceleration period, moving the head unit at a constant speed at the unit speed during the constant speed period following the acceleration period, and decelerating the head unit from the unit speed during the deceleration period following the constant speed period. The aforementioned time-limited imaging control can execute a constant-velocity imaging mode in which the camera does not image the component during the acceleration period and the deceleration period, but images the component during the constant-velocity period, and a stop imaging mode in which the camera images the component as it is attracted to the head unit which is stopped before the start of the component transfer operation, and executes either the constant-velocity imaging mode or the stop imaging mode. The control unit performs a mode selection process to select one imaging mode from the constant velocity imaging mode and the stationary imaging mode, and then executes the imaging mode selected by the mode selection process. In the mode selection process, the component mounting machine selects the first imaging mode based on a comparison between the time required to complete the mounting of the component picked up by the pick-up operation onto the substrate when the constant-speed imaging mode is executed and the time required to complete the mounting of the component picked up by the pick-up operation onto the substrate when the stop imaging mode is executed.

2. A parts supply unit that supplies parts to the parts supply location, A circuit board transport unit that carries the circuit board to the work position, A head unit that performs a suction operation to attract the component supplied to the component supply position, A unit drive unit that drives the head unit to perform a component transfer operation that moves the component attracted to the head unit to a position facing the substrate, A camera is supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and is driven by the unit drive unit and moves together with the head unit; A camera drive unit that drives the camera in the predetermined direction relative to the head unit, A control unit that performs imaging of the component attached to the head unit by the camera while driving the camera in the predetermined direction, and a camera drive unit. Equipped with, The control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction during a period different from the period during which the unit drive unit accelerates or decelerates the head unit. The aforementioned components include high-precision components that are subject to the time-limited imaging control and low-precision components that are not subject to the time-limited imaging control. The control unit is a component mounting machine that performs imaging of the high-precision component by the camera using the time-limited imaging control.

3. The component mounting machine according to claim 2, wherein the control unit does not perform the time-limited imaging control for imaging of the low-precision component by the camera, and allows imaging of the low-precision component by the camera during the period in which the unit drive unit accelerates or decelerates the head unit.

4. A parts supply unit that supplies parts to the parts supply location, A circuit board transport unit that carries the circuit board to the work position, A head unit that performs a suction operation to attract the component supplied to the component supply position, A unit drive unit that drives the head unit to perform a component transfer operation that moves the component attracted to the head unit to a position facing the substrate, A camera is supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and is driven by the unit drive unit and moves together with the head unit; A camera drive unit that drives the camera in the predetermined direction relative to the head unit, A control unit that performs imaging of the component attached to the head unit by the camera while driving the camera in the predetermined direction, and a camera drive unit. Equipped with, The control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction during a period different from the period during which the unit drive unit accelerates or decelerates the head unit. The aforementioned time-limited imaging control can execute a stop imaging mode in which the camera images the component being attracted to the head unit, which is stopped before the start of the component transfer operation. The aforementioned components include high-precision components that are subject to the time-limited imaging control and low-precision components that are not subject to the time-limited imaging control. The control unit is a component mounting machine that performs imaging of the high-precision component by the camera using the time-limited imaging control.

5. The component mounting machine according to claim 4, wherein the control unit does not perform the time-limited imaging control for imaging of the low-precision component by the camera, and allows imaging of the low-precision component by the camera during the period in which the unit drive unit accelerates or decelerates the head unit.

6. The head unit has a plurality of nozzles arranged in the predetermined direction, and the nozzles attract the parts, The camera is movable relative to the head unit between a one-side retraction position located on one side of the plurality of nozzles in a predetermined direction and a other-side retraction position located on the other side of the plurality of nozzles in a predetermined direction, and is capable of performing a first scan imaging, which images the high-precision component attached to the nozzle while moving from the one-side retraction position toward the other-side retraction position, and a second scan imaging, which images the high-precision component attached to the nozzle while moving from the other-side retraction position toward the one-side retraction position. The control unit performs a scan imaging determination process before the start of the suction operation to determine which scan imaging to perform in the stopped imaging mode for the high-precision component that is attracted to the head unit by the suction operation, from among the first scan imaging and the second scan imaging. In the scan imaging determination process, the execution scan imaging is determined according to the position in the predetermined direction of the high-precision component that is picked up by the head unit by the suction operation. The component mounting machine according to claim 4, wherein the control unit, when the first scan imaging is determined to be the execution scan imaging, positions the camera to the one retracted position before the start of the suction operation, and when the second scan imaging is determined to be the execution scan imaging, positions the camera to the other retracted position before the start of the suction operation.

7. When the head unit picks up the high-precision component and the low-precision component, the control unit executes either a first pick-up mode in which the high-precision component and the low-precision component are picked up by the head unit such that all of the high-precision component is located on one side of all of the low-precision component, or a second pick-up mode in which the high-precision component and the low-precision component are picked up by the head unit such that all of the high-precision component is located on the other side of all of the low-precision component. When the first adsorption mode is executed, the first scan imaging is performed in the stop imaging mode. The component mounting machine according to claim 6, wherein, when the second suction mode is executed, the second scan imaging is performed in the stop imaging mode.

8. The system further includes a control selection unit that accepts user input to select whether or not to perform the aforementioned time-limited imaging control. The component mounting machine according to any one of claims 1 to 7, wherein the control unit, when selected in the control selection unit to execute the time-limited imaging control, executes imaging of the component by the time-limited imaging control, and when selected in the control selection unit not to execute the time-limited imaging control, allows imaging of the component by the camera during the period in which the unit drive unit accelerates or decelerates the head unit without executing the time-limited imaging control.

9. A parts supply unit that supplies parts to the parts supply location, A circuit board transport unit that carries the circuit board to the work position, A head unit that performs a suction operation to attract the component supplied to the component supply position, A unit drive unit that drives the head unit to perform a component transfer operation that moves the component attracted to the head unit to a position facing the substrate, A camera is supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and is driven by the unit drive unit and moves together with the head unit; A camera drive unit that drives the camera in the predetermined direction relative to the head unit, A control unit that performs imaging of the component attached to the head unit by the camera while driving the camera in the predetermined direction, A control selection unit that accepts user input and Equipped with, The control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction during a period different from the period during which the unit drive unit accelerates or decelerates the head unit. The control selection unit receives a user's input to select whether or not to perform the time-limited imaging control. The control unit, when selected in the control selection unit to execute the time-limited imaging control, executes imaging of the component by the time-limited imaging control; on the other hand, when selected in the control selection unit to not execute the time-limited imaging control, it allows imaging of the component by the camera during the period when the unit drive unit accelerates or decelerates the head unit, without executing the time-limited imaging control.

10. The process involves a unit drive unit performing a component transfer operation, which involves driving a head unit that performs a suction operation to pick up a component, thereby transferring the component picked up by the head unit to a position facing the substrate, and A step of imaging the component attached to the head unit by a camera that is supported by the head unit so as to be movable in a predetermined direction relative to the head unit and is driven in the predetermined direction by a camera drive unit. Equipped with, In the process of imaging the aforementioned component, the control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction for a period different from the period during which the head unit is accelerated or decelerated. The unit drive unit performs the component transfer operation by accelerating the head unit to a predetermined unit speed during the acceleration period, moving the head unit at a constant speed at the unit speed during the constant speed period following the acceleration period, and decelerating the head unit from the unit speed during the deceleration period following the constant speed period. The aforementioned time-limited imaging control can execute a constant-velocity imaging mode in which the camera does not image the component during the acceleration period and the deceleration period, but images the component during the constant-velocity period, and a stop imaging mode in which the camera images the component as it is attracted to the head unit which is stopped before the start of the component transfer operation, and executes either the constant-velocity imaging mode or the stop imaging mode. The control unit performs a mode selection process to select one imaging mode from the constant velocity imaging mode and the stationary imaging mode, and then executes the imaging mode selected by the mode selection process. A component imaging method in which, in the mode selection process, selects the first imaging mode based on a comparison between the time required to complete the mounting of the component attached by the suction operation onto the substrate when the constant velocity imaging mode is executed and the time required to complete the mounting of the component attached by the suction operation onto the substrate when the stop imaging mode is executed.

11. The process involves a unit drive unit performing a component transfer operation, which involves driving a head unit that performs a suction operation to pick up a component, thereby transferring the component picked up by the head unit to a position facing the substrate, and A step of imaging the component attached to the head unit by a camera that is supported by the head unit so as to be movable in a predetermined direction relative to the head unit and is driven in the predetermined direction by a camera drive unit. Equipped with, In the process of imaging the aforementioned component, the control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction for a period different from the period during which the head unit is accelerated or decelerated. The aforementioned components include high-precision components that are subject to the time-limited imaging control and low-precision components that are not subject to the time-limited imaging control. The control unit is a component imaging method that performs imaging of the high-precision component by the camera using the time-limited imaging control.

12. The process involves a unit drive unit performing a component transfer operation, which involves driving a head unit that performs a suction operation to pick up a component, thereby transferring the component picked up by the head unit to a position facing the substrate, and A step of imaging the component attached to the head unit by a camera that is supported by the head unit so as to be movable in a predetermined direction relative to the head unit and is driven in the predetermined direction by a camera drive unit. Equipped with, In the process of imaging the aforementioned component, the control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction for a period different from the period during which the head unit is accelerated or decelerated. The aforementioned time-limited imaging control can execute a stop imaging mode in which the camera images the component being attracted to the head unit, which is stopped before the start of the component transfer operation. The aforementioned components include high-precision components that are subject to the time-limited imaging control and low-precision components that are not subject to the time-limited imaging control. The control unit is a component imaging method that performs imaging of the high-precision component by the camera using the time-limited imaging control.

13. The process involves a unit drive unit performing a component transfer operation, which involves driving a head unit that performs a suction operation to pick up a component, thereby transferring the component picked up by the head unit to a position facing the substrate, and A step of imaging the component attached to the head unit by a camera that is supported by the head unit so as to be movable in a predetermined direction relative to the head unit and is driven in the predetermined direction by a camera drive unit. Equipped with, In the process of imaging the aforementioned component, the control unit performs a time-limited imaging control to image the component with the camera driven in a predetermined direction for a period different from the period during which the head unit is accelerated or decelerated. The system further includes a control selection unit that accepts user input to select whether or not to perform the aforementioned time-limited imaging control. The control unit, when selected in the control selection unit to execute the time-limited imaging control, executes imaging of the component by the time-limited imaging control; on the other hand, when selected in the control selection unit to not execute the time-limited imaging control, the control unit allows imaging of the component by the camera during the period in which the unit drive unit accelerates or decelerates the head unit without executing the time-limited imaging control.

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