Component mounting apparatus and component mounting method

Abstract

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

Description

Component mounting device and component mounting method

[0001] The present invention relates to a component mounting apparatus and a component mounting method, and more particularly to a component mounting apparatus and a component mounting method that are provided with a head unit including a mounting head.

[0002] BACKGROUND ART Conventionally, component mounting apparatuses equipped with a head unit including a mounting head have been known. Such component mounting apparatuses are disclosed, for example, in Japanese Patent Application Laid-Open No. 2012-199474.

[0003] The above-mentioned Japanese Patent Application Laid-Open No. 2012-199474 discloses a component mounting device that includes a head unit including a mounting head (mounting head), a base, a parts feeder (component supply section), a component camera, a disposal box (disposal section), and a control device (control section).

[0004] The part feeder disclosed in JP 2012-199474 A is configured to supply components to a mounting head. The mounting head includes a suction nozzle that picks up the components supplied by the part feeder. In the head unit, the components are picked up by the suction nozzle of the mounting head, and then mounted (mounted) on a positioned board. The component camera is configured to capture images of the components picked up by the suction nozzle from below. The disposal box is configured to discard components picked up by the suction nozzle with poor suction. The disposal box is located in a different position from the component camera on the base.

[0005] The control device disclosed in JP 2012-199474 A performs control to determine whether the suction state of the component picked up by the suction nozzle is poor based on the image captured by the component camera of the component picked up by the suction nozzle. After determining whether the suction state of the component picked up by the suction nozzle is poor, the control device controls to mount the component with a good suction state onto the board. After mounting the component with a good suction state onto the board, the control device controls to move the mounting head above the component camera and determine whether a component with a poor suction state (a component to be discarded) has been picked up by the suction nozzle. If the control device determines that a component with a poor suction state has been picked up by the suction nozzle, the control device moves the mounting head above a disposal box and then discards the component with a poor suction state by removing it from the suction nozzle.

[0006] JP 2012-199474 A

[0007] However, in the component mounting device disclosed in JP 2012-199474 A, in order to discard components with poor suction, the mounting head is moved above the component camera and then above the disposal box, thereby transferring the components with poor suction to the disposal box. In this case, since the disposal box is located at a different position from the component camera on the base, if a component falls from the suction nozzle during the transfer from the component camera to the disposal box, the dropped component cannot be detected. Therefore, it is not possible to confirm whether a component with poor suction has been transferred to the disposal box. Therefore, compared to conventional component mounting devices such as those disclosed in JP 2012-199474 A, it is desirable to be able to confirm whether a mounting head (discarded component suction head) that picked up a component with poor suction was able to move to the disposal box (disposal unit) without causing the component with poor suction to fall from the suction nozzle (nozzle).

[0008] This invention has been made to solve the above-mentioned problems, and one object of this invention is to provide a component mounting device and a component mounting method that can confirm whether the component suction head for components to be discarded has been able to move to the disposal section without causing the components to be discarded to fall from the nozzle.

[0009] A component mounting device according to a first aspect of the present invention comprises: a component supply unit that supplies components to be mounted on a board; a head unit that is movable horizontally and includes a mounting head that picks up the components supplied from the component supply unit using a nozzle provided at the tip and mounts them on the board; a disposal unit that discards the discardable component that has been picked up by the nozzle of the mounting head if the component that has been picked up by the nozzle of the mounting head is a discardable component that does not satisfy the conditions for being determined to be mountable on a board; a detection unit that can acquire detection results for determining whether or not there is a discardable component that has been picked up by the nozzle of the discardable component suction head, which is the mounting head that picked up the discardable component, or a discardable component that was discarded immediately before in the disposal unit, after the discardable component suction head, which is the mounting head that picked up the discardable component, moves directly above the disposal unit; and a control unit that performs control to determine whether or not there is a discardable component based on the detection result of the discardable component by the detection unit.

[0010] In a first aspect of the present invention, the component mounting device includes a detection unit capable of acquiring detection results for determining the presence or absence of a discarded component picked up by the nozzle of the discarded component suction head, or a discarded component that was previously discarded in the disposal unit, after the discarded component suction head, which is the mounting head that picks up the discarded component, moves directly above the disposal unit. The component mounting device also includes a control unit that controls the determination of the presence or absence of a discarded component based on the detection results of the discarded component by the detection unit. Since the detection results by the detection unit are acquired after the discarded component suction head moves directly above the disposal unit, the presence or absence of a discarded component is determined by the control unit after the discarded component suction head moves directly above the disposal unit. This makes it possible to confirm whether the discarded component suction head was able to move to the disposal unit without dropping a discarded component from the nozzle. Furthermore, since the detection unit is configured to detect a discarded component that was previously discarded in the disposal unit, it is possible to confirm that the discarded component was discarded in the disposal unit, making it possible to confirm whether the discarded component suction head was able to move to the disposal unit without dropping a discarded component from the nozzle.

[0011] In the component mounting device according to the first aspect, preferably, after the discard-target-component suction head has moved directly above the disposal unit, the control unit performs control to determine whether or not a discard-target component is present based on the detection result of the detection unit before performing a process to release the suction of the discard-target component that has been sucked by the nozzle of the discard-target-component suction head. With this configuration, it is possible to check for unintended dropping of the discard-target component that has been sucked by the nozzle of the discard-target-component suction head up until just before the suction of the discard-target component is released, and therefore it is possible to reliably check whether the discard-target-component suction head has been able to move to the disposal unit without the discard-target component dropping from the nozzle.

[0012] In this case, the control unit preferably controls the determination of the presence or absence of discarded parts based on the detection result of the detection unit when the discarded part suction head reaches a lowered position directly above the disposal unit on the disposal unit side. With this configuration, the determination of the presence or absence of discarded parts can be performed at the lowered position, whereby the discarded parts can be relatively close to the disposal unit in the vertical direction, and therefore the presence or absence of discarded parts can be determined at a position where the discarded parts can be almost certainly dropped into the disposal unit.

[0013] In the component mounting device in which the control unit performs control to determine the presence or absence of a component to be discarded based on the detection result of the detection unit before performing a process to release the suction of the component to be discarded, preferably, the control unit re-determines the presence or absence of a component to be discarded based on the detection result of the detection unit after releasing the suction of the component to be discarded on the nozzle. With this configuration, it is possible to determine the occurrence of a component discard error indicating that a component to be discarded remains on the nozzle, and therefore it is possible to prevent a component to be discarded that remains in the discard unit from falling to a location other than the discard unit, such as a component supply unit, after being moved from the discard unit.

[0014] In the component mounting device, the control unit controls the determination of the presence or absence of discarded components based on the detection result of the detection unit when the discarded component suction head reaches the lowered position. Preferably, the detection unit includes an imaging unit attached to the head unit and capturing an image of the tip of the nozzle of the discarded component suction head that has reached the lowered position to detect discarded components picked up by the nozzle of the discarded component suction head. With this configuration, even if it is not possible to detect the presence or absence of a discarded component by measuring the change in negative pressure at the nozzle of the discarded component suction head, the imaging unit can capture an image of the discarded component along with the tip of the nozzle of the discarded component suction head, thereby making it possible to determine the presence or absence of a discarded component based on the detection result acquired by the imaging unit. The detection result acquired by the imaging unit includes an image (image result) created based on the intensity of light detected by the imaging element of the imaging unit.

[0015] In a component mounting device including an imaging unit that images the tip of the nozzle of the scrapped-component suction head that has reached the lowered position, preferably, the control unit controls the imaging unit to capture an image of the tip of the nozzle just before disposal based on the fact that the scrapped-component suction head has reached the lowered position, and determines the presence or absence of scrapped components based on the image just before disposal. With this configuration, by determining the presence or absence of scrapped components based on the image just before disposal, it is possible to determine the presence or absence of scrapped components without measuring the negative pressure of the scrapped-component suction head, so that even in a head unit in which it is difficult to measure the negative pressure applied to each of the multiple mounting heads, it is possible to determine whether scrapped components have been brought to the lowered position directly above the disposal unit.

[0016] In the component mounting device, the control unit controls the determination of the presence or absence of discarded components based on the detection result of the detection unit before performing the process of releasing the suction of the discarded components, preferably further comprising a display unit capable of displaying component information associated with the discarded components, and the control unit controls the display unit to display, in a recognizable display mode, the number of discarded components determined to be absent or present based on the detection result out of the total number of discarded components as the component information associated with the discarded components. With this configuration, the user can recognize the number of discarded components that fell along the way without being moved to the discard unit, and can therefore know how many discarded components they need to search for.

[0017] In the component mounting device having a display unit capable of displaying component information associated with the discarded component, the control unit preferably controls the display unit to display at least one of the following as component information associated with the discarded component determined to be absent based on the detection result: the component type associated with the discarded component determined to be absent, the size of the discarded component including its height and planar dimensions, and an image of the outer shape of the discarded component. With this configuration, the user can more specifically recognize discarded components that have fallen along the way without reaching the disposal unit.

[0018] In the component mounting device in which the control unit controls to determine the presence or absence of components to be discarded based on the immediately-discarded image, preferably, the mounting heads are arranged in plurality, and further include a component imaging unit that captures post-suction images from below of the components after they have been picked up in the component supply unit by the nozzles of each of the plurality of mounting heads, and when the control unit determines, based on the post-suction images, that at least one component to be discarded and one mountable component other than the discarded component are present among the components picked up by the nozzles of each of the plurality of mounting heads, the control unit controls the head unit to directly head to the disposal unit without using the component imaging unit, and determine the presence or absence of components to be discarded based on the immediately-discarded image captured by the imaging unit after mounting the mountable component on the board. With this configuration, the travel distance of the head unit to reach the disposal unit can be reduced compared to when the presence or absence of components to be discarded is determined by the component imaging unit before heading to the disposal unit, thereby reducing the time required to discard the components to be discarded in the disposal unit.

[0019] In a component mounting device in which the control unit controls the head unit to directly proceed to the disposal unit without using the component imaging unit after mounting mountable components on a board and determine the presence or absence of discardable components based on the immediately-disposal image, the device preferably further includes a display unit capable of displaying component information associated with the discardable components. If the control unit determines that no discardable components are present based on the immediately-disposal image, the control unit controls the display unit to display component information indicating the location where the discardable components are expected to have fallen, based on the post-suction image, the mounting image captured by the imaging unit when mounting the mountable components on the board, and the immediately-disposal image. This configuration allows the user to recognize the expected location of the discardable components, thereby narrowing down the search options for discardable components that have fallen along the way without having to travel to the disposal unit. As a result, the user can smoothly collect the discardable components.

[0020] A component mounting method according to a second aspect of the present invention includes the steps of: moving a discarded component suction head, which is a mounting head that has picked up a discarded component that does not meet the conditions for being determined to be mountable on a board, to directly above a disposal section where the discarded component is discarded; after moving the discarded component suction head directly above the disposal section, obtaining, by a detection section, a detection result for the discarded component that has been picked up by the nozzle of the discarded component suction head or the discarded component that was most recently discarded in the disposal section; and determining whether or not a discarded component is present based on the detection result for the discarded component by the detection section.

[0021] A component mounting method according to a second aspect of the present invention includes the steps of, after moving the discarded component suction head directly above the disposal unit, acquiring, by a detection unit, a detection result for a discarded component picked up by the nozzle of the discarded component suction head or a discarded component most recently discarded in the disposal unit, and determining the presence or absence of a discarded component based on the detection result of the discarded component by the detection unit. Since the detection result is acquired by the detection unit after the discarded component suction head moves directly above the disposal unit, the presence or absence of a discarded component by the control unit is determined after the discarded component suction head moves directly above the disposal unit, thereby providing a component mounting method that can confirm whether the discarded component suction head has been moved to the disposal unit without dropping a discarded component from the nozzle. Furthermore, since the detection unit is configured to detect a discarded component most recently discarded in the disposal unit, it is possible to confirm that a discarded component has been discarded in the disposal unit, thereby providing a component mounting method that can confirm whether the discarded component suction head has been moved to the disposal unit without dropping a discarded component from the nozzle.

[0022] According to the present invention, as described above, it is possible to confirm whether or not the discarded part suction head has been able to move to the disposal section without dropping the discarded part from the nozzle.

[0023] FIG. 1 is a plan view of a component mounting apparatus according to an embodiment; FIG. 2 is a simplified cross-sectional view of a rotary head of the component mounting apparatus according to an embodiment; FIG. 3 is a simplified plan view showing a movement path from a tape feeder to a disposal unit of the rotary head of the component mounting apparatus according to an embodiment; FIG. 4 is a schematic view of an image during suction captured at a suction position by an imaging unit of the component mounting apparatus according to an embodiment; FIG. 5 is a schematic view showing a case where a positional deviation between a component and a suction port of a nozzle is equal to or greater than a predetermined value in an image after suction captured by the component imaging unit of the component mounting apparatus according to an embodiment; FIG. 6 is a schematic view showing a case where a positional deviation between a component and a suction port of a nozzle is less than a predetermined value in an image after suction captured by the component imaging unit of the component mounting apparatus according to an embodiment; FIG. 7 is a schematic view of an image during mounting captured on a board by the imaging unit of the component mounting apparatus according to an embodiment; FIG. 8 is a side view showing that a nozzle of a component suction head to be discarded of the component mounting apparatus according to an embodiment has reached a lowering end position; FIG. 9 is a schematic view showing a case where a component to be discarded is present in an image just before disposal captured at a lowering end position by the imaging unit of the component mounting apparatus according to an embodiment. FIG. 1 is a schematic diagram showing a case where there are no components to be discarded in an image immediately before disposal captured at the lowering end position by the imaging unit of the component mounting device of an embodiment. FIG. 2 is a schematic diagram showing a state where component information is displayed on the display unit of the component mounting device of an embodiment. FIG. 3 is a schematic diagram showing a case where there are no components to be discarded in an image immediately after disposal captured at the lowering end position by the imaging unit of the component mounting device of an embodiment. FIG. 4 is a schematic diagram showing a case where there are components to be discarded in an image immediately after disposal captured at the lowering end position by the imaging unit of the component mounting device of an embodiment. FIG. 5 is a flowchart of component mounting processing by a control unit of a component mounting device of an embodiment. FIG. 6 is a side view showing that a component to be discarded in a component mounting device according to a modified embodiment has fallen into a temporary storage area of ​​the disposal unit. FIG. 7 is a side view showing that a component to be discarded in a component mounting device according to a modified embodiment has fallen from the temporary storage area of ​​the disposal unit into a space below the temporary storage area of ​​the disposal unit.

[0024] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings.

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

[0026] (Component Mounting Apparatus) As shown in FIG. 1, the component mounting apparatus 100 is configured to mount (place) a component E at a predetermined mounting position on a board Sb on which cream solder has been printed.

[0027] Here, in the component mounting device 100, the transport direction in which the board Sb is transported is referred to as the X1 direction, the opposite direction to the transport direction in which the board Sb is transported is referred to as the X2 direction, and the combined direction of the X1 and X2 directions is referred to as the X direction. Furthermore, the horizontal direction perpendicular to the X direction is referred to as the Y direction, one side of the Y direction is referred to as the Y1 direction, and the other side of the Y direction is referred to as the Y2 direction. Furthermore, the up-down direction perpendicular to the X and Y directions is referred to as the Z direction (up-down direction), one side of the Z direction is referred to as the Z1 direction (upward direction), and the other side of the Z direction is referred to as the Z2 direction (downward direction).

[0028] The component mounting apparatus 100 includes a base 1, a feeder placement unit 2, a board transport unit 3, a support unit 4, a pair of rail units 5, a rotary head 6, a component imaging unit 7, a board imaging unit 8, an imaging unit 9, an electrical characteristic measuring unit 10, a disposal unit 11, a control unit 12, a display unit 13, and a mobile terminal 14. The rotary head 6 is an example of a "head unit" in the claims. The imaging unit 9 is an example of a "detection unit" in the claims.

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

[0030] A plurality of tape feeders 21 can be arranged in the feeder arrangement section 2. The tape feeders 21 are configured to supply components E to the board Sb transported to the mounting work position Pw. The tape feeders 21 hold a reel (not shown) around which a component supply tape is wound, which holds a plurality of components E spaced at predetermined intervals. The components E are electronic components such as chip resistors. The tape feeder 21 is an example of a "component supply section" in the claims.

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

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

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

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

[0035] The pair of rail portions 5 are configured to support the support portion 4 so as to be movable in the Y direction. The rail portion 5 includes a ball screw shaft 51, a guide rail 52, and a drive portion 53.

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

[0037] The component imaging unit 7 is configured to capture an image of the component E to be mounted on the board Sb. That is, the component imaging unit 7 is a component imaging camera that captures an image of the component E that has been picked up by the nozzle 601 prior to mounting the component E on the board Sb. The component imaging unit 7 is fixed on the base 1, and is configured to capture an image of the component E that has been picked up by the nozzle 601 from below (in the Z2 direction). That is, the component imaging unit 7 is configured to capture an image of the component E from below after it has been picked up in the tape feeder 21 by each of the nozzles 601 of the multiple mounting heads 602, thereby acquiring a post-pickup image Gv (see FIGS. 5 and 6 ).

[0038] The board imaging unit 8 is attached to the rotary head 6 and is a mark imaging camera that images an FI mark (fiducial mark: not shown) attached to the top surface of the board Sb prior to mounting of components E on the board Sb. The FI mark is a mark for confirming the position of the board Sb.

[0039] The imaging unit 9 is configured to capture an image of the tip portion of the nozzle 601 disposed at the downward end position Lw. The imaging unit 9 is fixed to the frame 610 of the rotary head 6, and configured to capture an image of the tip portion of the nozzle 601 from an upward oblique direction. The imaging unit 9 is a component imaging camera that captures an image of the component E sucked onto the nozzle 601 by capturing an image of the tip portion of the nozzle 601 from an upward oblique direction.

[0040] Specifically, the imaging unit 9 can image the component E that has moved to the descending end position Lw by capturing an image of the tip of the nozzle 601 that is positioned at the descending end position Lw to pick up the component E at the suction position Pv of the tape feeder 21. This makes it possible to confirm that the nozzle 601 has moved to the descending end position Lw from the suction image Gs (see FIG. 4 ) captured by the imaging unit 9. The descending end position Lw is an example of the "descended position" in the claims.

[0041] Furthermore, the imaging unit 9 can capture an image of the component E that has moved onto the board Sb by capturing an image of the tip of the nozzle 601 that is positioned at the lowering end position Lw in order to mount the component E on the board Sb. This makes it possible to confirm that the component E has moved to the suction position Pv from the mounting image Gm (see FIG. 7) captured by the imaging unit 9.

[0042] Furthermore, the imaging unit 9 can capture an image of the component E that has moved to the disposal unit 11 by capturing an image of the tip of the nozzle 601 that is positioned at the downward end position Lw in order to discard the component E in the disposal unit 11. This makes it possible to confirm that the component E has moved to the disposal unit 11 from the immediately-before-disposal image Go1 (see FIG. 9 ) captured by the imaging unit 9.

[0043] Here, the imaging unit 9 is disposed at a position where it can image the nozzle 601 when the mounting head 602 disposed on the X1 direction side in FIG. 2 is disposed at the lowering end position Lw.

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

[0045] The disposal unit 11 is a box into which the components Eo to be discarded that have been picked up by the nozzle 601 of the mounting head 602 are discarded. The disposal unit 11 is disposed on the base 1 between the board transport unit 3 and the tape feeder 21 that is disposed on the X2 direction side and the Y2 direction side. Here, the components Eo to be discarded are components that do not satisfy the conditions for determining that the components E picked up by the nozzle 601 of the mounting head 602 can be mounted on the board Sb.

[0046] Specifically, the condition for not determining that a component E can be mounted on the board Sb is that the positional deviation between the center point Ce of the component E in the post-suction image Gv captured by the component imaging unit 7 and the center point Cn of the suction port 601b of the nozzle 601 exceeds a predetermined value. The condition for not determining that a component E can be mounted on the board Sb is that the inclination of the component E with respect to the suction port 601b of the nozzle 601 in the post-suction image Gv captured by the component imaging unit 7 exceeds a predetermined angle. The condition for not determining that a component E can be mounted on the board Sb is that the dimension of the component E in the X direction in the post-suction image Gv captured by the component imaging unit 7 is not approximately the standard horizontal dimension and the dimension of the component E in the Y direction is not approximately the standard vertical dimension. The condition for not determining that a component E can be mounted on the board Sb is that the measured value of the component E measured by the electrical characteristic measuring unit 10 is outside a predetermined error range with respect to the standard value.

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

[0048] Here, the component E that satisfies the conditions for determining that the component E picked up by the nozzle 601 of the mounting head 602 can be mounted on the board Sb is a mountable component Ec. The mountable component Ec is a component that satisfies the above-mentioned conditions.

[0049] The control unit 12 controls the component mounting apparatus 100. The control unit 12 includes a CPU (Central Processing Unit) and a storage unit having a HDD (Hard Disk Drive), ROM (Read Only Memory), RAM (Random Access Memory), etc. The storage unit stores a component mounting processing program that mounts mountable components Ec on the board Sb and discards discard target components Eo in the disposal unit 11. The component mounting processing program will be described in detail later.

[0050] The display unit 13 is configured with a liquid crystal display or the like. The display unit 13 is configured to display on a screen information transmitted from the control unit 12. The display unit 13 is attached to the component mounting apparatus 100.

[0051] The mobile terminal 14 is configured as a tablet or the like having a liquid crystal display screen. The mobile terminal 14 is configured to display on the screen information transmitted from the control unit 12. The mobile terminal 14 is carried by the user.

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

[0053] The plurality of nozzles 601 are configured to pick up components E and mount them on the board Sb. Each of the plurality of nozzles 601 has a tapered shape. Each of the plurality of nozzles 601 is connected to a negative pressure generating device (not shown).

[0054] The negative pressure generated by the negative pressure generator is generated as negative pressure in the nozzle 601 of the mounting head 602 by connecting an air flow path 609c in the revolution shaft 609b and an air flow path 602a in the mounting head 602 by a negative pressure air flow path (not shown) in the housing 604. Moreover, positive pressure is generated in the nozzle 601 of the mounting head 602 by connecting an air flow path 609d in the revolution shaft 609b and an air flow path 602a in the mounting head 602 by a positive pressure air flow path (not shown) in the housing 604. Here, the negative pressure air flow path in the housing 604 and the positive pressure air flow path in the housing 604 are switched by an electromagnetic valve 601a.

[0055] A plurality of negative pressure air flow paths are provided in the housing 604 in accordance with the number of mounting heads 602 in order to connect the air flow path 609c in one revolution shaft 609b to each of the multiple mounting heads 602. A plurality of positive pressure air flow paths are provided in the housing 604 in accordance with the number of mounting heads 602 in order to connect the air flow path 609d in one revolution shaft 609b to each of the multiple mounting heads 602. Furthermore, a plurality of solenoid valves 601a are provided in accordance with the number of mounting heads 602 in order to switch between positive pressure and negative pressure for each of the multiple mounting heads 602.

[0056] Here, in the rotary head 6, negative pressure is normally generated in all of the multiple mounting heads 602 by the air flow path 609c in one revolution shaft 609b. Then, in the rotary head 6, the negative pressure generated in each of the multiple mounting heads 602 is switched to positive pressure by individually switching the solenoid valve 601a in each of the multiple mounting heads 602. Therefore, in the rotary head 6, the generation of positive pressure in the nozzle 601 of each of the multiple mounting heads 602 is obtained based on the switching from the negative pressure air flow path to the positive pressure air flow path by the solenoid valve 601a, without measuring the change in the negative pressure in each of the multiple mounting heads 602.

[0057] Note that, when a negative pressure is generated in each of the plurality of nozzles 601, the component E is sucked onto the nozzle 601. When a positive pressure is generated in each of the plurality of nozzles 601, the component E is separated from the nozzle 601.

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

[0059] The mounting head 602 is configured to pick up components E supplied from the tape feeder 21 using a nozzle 601 provided at the tip thereof and mount the components E on the board Sb. The multiple mounting heads 602 are arranged circumferentially along the R1 direction. For example, 12 mounting heads 602 are arranged at equal angular intervals (approximately 30 degree intervals) in the R1 direction. The number of mounting heads 602 may be 1 to 11, or 13 or more.

[0060] The housing 604 is configured so that a plurality of mounting heads 602 and a revolution shaft 609b (described later) can be attached to it. Specifically, a plurality of through holes 604a are formed in the housing 604 for attaching the plurality of mounting heads 602. A through hole 604b is formed in the housing 604 for attaching the revolution shaft 609b.

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

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

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

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

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

[0066] The rotation shaft 608b and the rotation driven gear 608c each rotate in a circumferential direction about a central axis C2 extending in the Z direction. The rotation driven gear 608c is attached to the mounting head 602. A lower portion of the rotation shaft 608b mechanically meshes with the rotation driven gear 608c.

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

[0068] The revolution mechanism 609 is configured to rotate the plurality of nozzles 601 in the R1 direction or the R2 direction around the rotation central axis C1. The revolution mechanism 609 has a revolution motor 609 a, a drive force transmission unit (not shown), and a revolution shaft 609 b.

[0069] The revolution motor 609a is a servo motor. This makes it possible to obtain the rotational angle position of each of the multiple mounting heads 602 rotated by the revolution motor 609a. The drive force transmission unit is configured to transmit the drive force of the revolution motor 609a to the revolution shaft 609b. This causes the revolution shaft 609b to rotate in the R1 direction or the R2 direction around the rotation center axis C1 extending in the Z direction. The revolution shaft 609b is rotatably disposed within the rotation shaft 608b. The revolution shaft 609b connects the revolution motor 609a and the housing 604. As the revolution shaft 609b rotates in accordance with the drive of the revolution motor 609a, the housing 604 rotates in the R1 direction or the R2 direction around the rotation center axis C1. As a result, the multiple mounting heads 602 revolve integrally in the R1 direction or the R2 direction around the central axis of rotation C1 as the housing 604 rotates.

[0070] In this way, the rotary head 6 is configured to rotate the multiple mounting heads 602 integrally in both the R1 direction and the R2 direction. The combined direction of the R1 direction and the R2 direction is the rotation direction of the multiple mounting heads 602.

[0071] In the rotary head 6, the revolution mechanism 609 rotates the multiple mounting heads 602, thereby rotating a selected one of the multiple mounting heads 602 to the lifting position Pf where the tape feeder 21 is lifted and lowered. Specifically, the control unit 12 rotates the multiple mounting heads 602 in the R1 direction (or R2 direction) using the revolution mechanism 609 based on the rotational angle position of the selected mounting head 602 and the rotational angle position of the lifting position Pf, thereby performing control to align the rotational angle position of the selected mounting head 602 and the rotational angle position of the lifting position Pf so that they overlap (match each other).

[0072] Here, in the rotary head 6, of the two mounting heads 602 arranged at the furthest positions in the X direction among the multiple annular mounting heads 602, the mounting head 602 arranged on the X2 direction side is the selected mounting head 602.

[0073] That is, the selected mounting head 602 arranged on the X2 direction side is the mounting head 602 at the lifting position Pf that is lowered to the lowering end position Lw as the head pressing member 606 is lowered by the lifting mechanism 607. The selected mounting head 602 arranged on the X2 direction side is the mounting head 602 at the lifting position Pf that is raised to the upper end position Up as the head pressing member 606 is raised by the lifting mechanism 607.

[0074] 3 to 13, a component mounting processing program that mounts mountable components Ec on the board Sb and discards discard target components Eo in the discard unit 11 will be described. The component mounting processing program is processed by the control unit 12. Note that the operation of the rotary head 6 based on the component mounting processing program shown in FIGS. 3 to 13 is merely an example, and is not limited to the operation of the rotary head 6 shown in FIGS. 3 to 13.

[0075] Here, the operation of the rotary head 6 is to image the components E picked up by the nozzles 601 of the multiple mounting heads 602 in the component imaging unit 7, then mount the mountable components Ec on the board Sb, and transport the components Eo to be discarded to the disposal unit 11. In this operation, the rotary head 6 follows a movement path that moves in the order of the tape feeder 21, the component imaging unit 7, the board Sb, and the disposal unit 11. For ease of explanation, the electrical characteristics of the components E are not measured by the electrical characteristic measuring unit 10.

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

[0077] 3, 5, and 6, the rotary head 6 moves to the component imaging unit 7, and then images the components E that have been picked up by the nozzles 601 of the multiple mounting heads 602. As a result, the control unit 12 performs control to determine whether the components E that have been picked up by the nozzles 601 of the multiple mounting heads 602 are components to be discarded Eo or mountable components Ec, based on the post-pickup images Gv captured by the component imaging unit 7.

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

[0079] Next, as shown in FIGS. 3 and 7, the rotary head 6 moves to the board Sb and then captures an image of the mountable component Ec mounted on the board Sb.

[0080] Specifically, in order to mount mountable components Ec on board Sb arranged at mounting work position Pw, control unit 12 controls mounting head 602 at lift-up position Pf to lower mounting head 602 by head pressing member 606, thereby lowering the tip of nozzle 601 to lower end position Lw. Furthermore, based on the tip of nozzle 601 reaching lower end position Lw, control unit 12 switches solenoid valve 601a to generate positive pressure in nozzle 601 of mounting head 602 at lift-up position Pf, thereby controlling mounting of mountable components Ec on board Sb.

[0081] Furthermore, after switching the solenoid valve 601a, the control unit 12 performs control to acquire a mounting image Gm by using the imaging unit 9 to capture an image of the tip portion of the nozzle 601. After acquiring the mounting image Gm, the control unit 12 performs control to raise the mounting head 602 from the lifting position Pf using the head pressing member 606, thereby raising the tip of the nozzle 601 to the lift end position Up.

[0082] (Arrival of parts to be discarded at the disposal section) Next, as shown in Figures 3 and 8 to 10, the rotary head 6 moves to the disposal section 11 and then captures an image of the parts to be discarded Eo that have moved directly above the disposal section 11.

[0083] Specifically, the control unit 12 of this embodiment controls the determination of the presence or absence of the discard target parts Eo based on the image (image immediately before disposal Go1) of the discard target parts Eo captured by the imaging unit 9. The imaging unit 9 is configured to capture an image of the discard target parts Eo picked up by the nozzle 601 of the discard target parts suction head 621 after the discard target parts suction head 621 moves directly above the disposal unit 11. Here, the discard target parts suction head 621 is the head among the multiple mounting heads 602 that picked up the discard target parts Eo. The determination of the presence or absence of the discard target parts Eo can be made, for example, based on whether a shape corresponding to the outline of the discard target parts Eo is detected in the immediately before disposal image Go1. Furthermore, the fact that the discard target parts suction head 621 has moved directly above the disposal unit 11 refers to a state in which all of the discard target parts Eo have moved into the disposal unit 11 in a plan view. The image capture result is an example of a "detection result" in the claims.

[0084] After the discard target part suction head 621 moves directly above the disposal unit 11, and before performing a process to release the suction of the discard target part Eo that has been sucked by the nozzle 601 of the discard target part suction head 621, the control unit 12 controls the imaging unit 9 to capture an image of the discard target part Eo. Here, the control unit 12 controls the imaging unit 9 to determine the presence or absence of the discard target part Eo based on the imaging result (image immediately before discard Go1) of the imaging unit 9, based on the fact that the discard target part suction head 621 has reached a lowered position directly above the disposal unit 11 on the disposal unit 11 side. That is, the control unit 12 controls the imaging unit 9 to determine the presence or absence of the discard target part Eo based on the imaging result (image immediately before discard Go1) of the imaging unit 9, based on the fact that the discard target part suction head 621 has reached a height position that is a predetermined horizontal position directly above the disposal unit 11 and a lowered position in the Z direction.

[0085] Specifically, after the tip of the nozzle 601 of the discarded part suction head 621 reaches a height position that is a predetermined horizontal position directly above the disposal unit 11 and that is an upper limit position Up in the Z direction, the control unit 12 controls the discarded part suction head 621 to descend until the tip of the nozzle 601 of the discarded part suction head 621 reaches a height position that is a predetermined horizontal position in the horizontal direction and that is a lower limit position Lw in the Z direction. Based on the tip of the nozzle 601 of the discarded part suction head 621 reaching the lower limit position Lw, the control unit 12 controls the imaging unit 9 to capture an image to determine whether or not a discarded part Eo is present. Here, the lower limit position Lw is an example of the lower position.

[0086] In this way, in the component mounting device 100, in order to determine whether or not there is a component Eo to be discarded adsorbed by the nozzle 601 of the component suction head 621 to be discarded, the tip portion of the nozzle 601 of the component suction head 621 to be discarded that has reached the downward end position Lw is imaged by the imaging unit 9.

[0087] The control unit 12 controls the imaging unit 9 to capture an image of the tip of the nozzle 601 based on the fact that the tip of the nozzle 601 of the discarded part suction head 621 has reached the lowering end position Lw, thereby acquiring an immediately before discard image Go1. The control unit 12 then controls the imaging unit 9 to determine whether or not a discarded part Eo is present based on the captured immediately before discard image Go1. If the control unit 12 determines that a discarded part Eo is present at the tip of the nozzle 601 of the discarded part suction head 621, the control unit 12 releases the suction of the discarded part Eo that has been sucked by the nozzle 601 of the discarded part suction head 621, thereby causing the discarded part Eo to fall into the disposal unit 11.

[0088] 10 and 11 , when it is determined that no discard target parts Eo are present based on the imaging results (image immediately before disposal Go1) of the imaging unit 9, the control unit 12 controls the display unit 13 to display, in a recognizable display format, the number of discard target parts Eo determined to be absent based on the imaging results (detection results) out of the total number of discard target parts Eo as component information associated with the discard target parts Eo. At this time, the control unit 12 controls the component mounting device 100 to stop the mounting operation. The control unit 12 also controls the display unit 13 to notify a component drop error indicating that the discard target parts Eo have fallen before being moved to the disposal unit 11. The component drop error notification may be displayed on at least one screen of the display unit 13 and the mobile terminal 14, or may be notified by turning on a warning light or the like. Here, the display unit 13 displays the component information associated with the discard target parts Eo.

[0089] That is, when it is determined that no discard target part Eo is present based on the immediately before discard image Go1 captured by the imaging unit 9, the control unit 12 controls the display unit 13 to display the component type associated with the discard target part Eo as component information associated with the discard target part Eo determined to be absent. The component type indicates information such as a chip resistor or an IC (Integrated Circuit), for example.

[0090] When it is determined that no part Eo to be discarded is present based on the immediately before discard image Go1 captured by the imaging unit 9, the control unit 12 controls the display unit 13 to display the size of the part Eo to be discarded, including the height and the dimensions in a plan view of the part Eo, as part information associated with the part Eo to be discarded that is determined to be absent. The dimensions in a plan view include the vertical and horizontal dimensions of the part Eo to be discarded.

[0091] When the control unit 12 determines that there is no part Eo to be discarded based on the image Go1 immediately before disposal captured by the imaging unit 9, it controls the display unit 13 to display an image of the outer shape of the part Eo to be discarded as part information associated with the part Eo to be discarded that has been determined to be absent.

[0092] If the control unit 12 determines that there is no component Eo to be discarded based on the image Go1 just before disposal, it controls the display unit 13 to display the location where the component Eo to be discarded is expected to have fallen as component information based on the post-suction image Gv, the image at the time of mounting Gm captured by the imaging unit 9 when mounting the mountable component Ec on the board Sb, and the image Go1 just before disposal.

[0093] For example, when the control unit 12 determines that a discard target component Eo is present in the post-suction image Gv, determines that a discard target component Eo is not present in the as-mounted image Gm, and determines that a discard target component Eo is not present in the immediately-before-disposal image Go1, the control unit 12 controls the display unit 13 to display the text "near the board" as the location where the discard target component Eo is expected to have fallen. Also, when the control unit 12 determines that a discard target component Eo is present in the post-suction image Gv, determines that a discard target component Eo is present in the as-mounted image Gm, and determines that a discard target component Eo is not present in the immediately-before-disposal image Go1, the control unit 12 controls the display unit 13 to display the text "near the disposal section" as the location where the discard target component Eo is expected to have fallen. Note that the screen displayed on the display unit 13 and the screen displayed on the mobile terminal 14 are the same.

[0094] 3 , 12 and 13 , after the control unit 12 releases the suction of the discarded part Eo by the nozzle 601, the control unit 12 again determines whether or not the discarded part Eo is present based on the immediately-after-disposal image Go2 (detection result) captured by the imaging unit 9. That is, after the control unit 12 releases the suction of the discarded part Eo by the nozzle 601, the control unit 12 again determines whether or not the discarded part Eo is present based on the immediately-after-disposal image Go2 captured by the imaging unit 9 before raising the discarded part suction head 621 toward the upward end position Up.

[0095] Specifically, after the control unit 12 releases the suction of the component Eo to be discarded at the nozzle 601, the control unit 12 switches the solenoid valve 601a to generate positive pressure at the nozzle 601 of the mounting head 602 at the lifting position Pf, and then again determines whether or not there is a component Eo to be discarded based on the image Go2 immediately after discarding captured by the imaging unit 9.

[0096] At this time, as shown in Fig. 12, the control unit 12 controls the component suction head 621 to be discarded to rise toward the upward end position Up based on the determination that there are no components Eo to be discarded. As shown in Fig. 13, the control unit 12 controls the component mounting device 100 to stop the mounting operation based on the determination that there are components Eo to be discarded. The control unit 12 also controls the notification of a component discard error indicating that the components Eo to be discarded remain on the nozzle 601. The notification of the component discard error may be displayed on at least one screen of the display unit 13 and the mobile terminal 14, or may be notified by turning on a warning light or the like.

[0097] In this way, when the control unit 12 determines based on the post-adsorption image Gv that there is at least one component Eo to be discarded and at least one mountable component Ec other than the component Eo to be discarded among the components E adsorbed by each nozzle 601 of the multiple mounting heads 602, after mounting the mountable component Ec on the board Sb, the control unit 12 performs control to determine whether or not there is a component Eo to be discarded based on the immediately-before-disposal image Go1 captured by the imaging unit 9 as the rotary head 6 heads directly toward the disposal unit 11 without going through the component imaging unit 7.

[0098] (Accepting Selection) Here, the control unit 12 may perform control to accept a selection of whether to perform a first control in which, after mounting the mountable components Ec on the board Sb, the control unit 12 goes directly to the disposal unit 11 without using the component imaging unit 7 to determine whether or not there are any components to be discarded Eo based on the immediately before discard image Go1, or to perform a second control in which, before mounting the mountable components Ec on the board Sb, the control unit 12 goes directly to the disposal unit 11 to determine whether or not there are any components to be discarded Eo based on the immediately before discard image Go1. Note that the above description is based on the assumption that the selection of the first control is accepted.

[0099] (Component Mounting Process) With reference to FIG. 14, the component mounting process that is performed by the control unit 12 on the discard target component Eo based on the component mounting process program will be described below.

[0100] 14, in step S1, the mounting head 602 at the lifting position Pf moves to a predetermined position directly above the disposal unit 11. Here, the predetermined position is a predetermined horizontal position directly above the disposal unit 11, and a height position that is the uppermost position Up in the Z direction. In step S2, the discarded component suction head 621 is rotated to be positioned at the lifting position Pf. Steps S1 and S2 are steps in which the discarded component suction head 621, which is the mounting head 602 that has picked up a discarded component Eo that does not satisfy the conditions for being determined to be mountable on the board Sb, moves to directly above the disposal unit 11 where the discarded component Eo is discarded.

[0101] In step S3, the discard target component suction head 621 descends to the descent end position Lw. That is, the discard target component suction head 621 descends from the lift position Pf by lowering the head pressing member 606 at the lift position Pf using the lift mechanism 607. In step S4, the imaging unit 9 captures an image of the tip of the nozzle 601 of the discard target component suction head 621. This results in the acquisition of the immediately before discard image Go1. In step S4, the discard target component suction head 621 is moved to a position directly above the disposal unit 11, and then the imaging unit 9 acquires the detection result (the immediately before discard image Go1, which is the image acquisition result) of the discard target component Eo picked up by the discard target component suction head 621.

[0102] In step S5, it is determined whether or not a discard target part Eo is present. That is, it is determined whether or not a portion corresponding to the discard target part Eo is present in the immediately-disposal image Go1. Here, if the discard target part Eo picked up by the nozzle 601 of the discard target part suction head 621 is imaged together with the tip of the nozzle 601, it is determined that a discard target part Eo is present. On the other hand, if the discard target part Eo picked up by the nozzle 601 of the discard target part suction head 621 is not imaged together with the tip of the nozzle 601, it is determined that a discard target part Eo is not present. Step S5 is a step for determining whether or not a discard target part Eo is present based on the detection result of the discard target part Eo by the image capturing unit 9 (the immediately-disposal image Go1, which is the image capturing result).

[0103] If it is determined that there are components Eo to be discarded, the process proceeds to step S6, and if it is determined that there are no components Eo to be discarded, the process proceeds to step S10. In step S10, a component drop error is notified, and then the component mounting device 100 is stopped. After step S10, the component mounting method ends.

[0104] In step S6, suction of the discard target component Eo is released. That is, by switching the solenoid valve 601a, positive pressure is generated in the nozzle 601 of the mounting head 602 at the lifting position Pf, causing the discard target component Eo to fall into the disposal unit 11. In step S7, the imaging unit 9 captures an image of the tip of the nozzle 601 of the discard target component suction head 621. As a result, an immediately-after-disposal image Go2 is acquired.

[0105] In step S8, it is determined whether or not there are any discard target parts Eo. That is, it is determined whether or not there are any portions corresponding to the discard target parts Eo in the immediately-discarded image Go2. Here, if the discard target parts Eo picked up by the nozzle 601 of the discard target part suction head 621 are not imaged together with the tip of the nozzle 601, it is determined that there are no discard target parts Eo. Also, if the discard target parts Eo picked up by the nozzle 601 of the discard target part suction head 621 are imaged together with the tip of the nozzle 601, it is determined that there are discard target parts Eo. If it is determined that there are no discard target parts Eo, the process proceeds to step S9. If it is determined that there are discard target parts Eo, the process proceeds to step S11. After step S11, the component mounting method ends.

[0106] In step S9, the discarded component suction head 621 is raised to the uppermost position Up. That is, the discarded component suction head 621 is raised from the lifting position Pf by raising the head pressing member 606 at the lifting position Pf by the lifting mechanism 607.

[0107] In step S12, it is determined whether or not there is a component suction head 621 to be discarded among the multiple mounting heads 602. If there is a component suction head 621 to be discarded, the process returns to step S2, and if there is no component suction head 621 to be discarded, the component mounting process ends.

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

[0109] In this embodiment, as described above, the component mounting device 100 includes an imaging unit 9 that can acquire imaging results (detection results) for determining whether or not a discard target component Eo has been picked up by the nozzle 601 of the discard target component suction head 621 after the disposal target component Eo suction head 621, which is the mounting head 602 that has picked up the discard target component Eo, moves directly above the disposal unit 11. The component mounting device 100 also includes a control unit 12 that performs control to determine whether or not a discard target component Eo has been picked up by the nozzle 601 of the disposal target component suction head 621, based on the imaging results (detection results) of the discard target component Eo acquired by the imaging unit 9. As a result, the imaging results (detection results) acquired by the imaging unit 9 are acquired after the discard target component suction head 621 moves directly above the disposal unit 11, and the presence or absence of the discard target component Eo is determined by the control unit 12 after the discard target component suction head 621 moves directly above the disposal unit 11. Therefore, it is possible to confirm whether or not the discard target component suction head 621 has been able to move to the disposal unit 11 without the discard target component Eo dropping from the nozzle 601.

[0110] Furthermore, in this embodiment, as described above, after the discard target component suction head 621 has moved directly above the disposal unit 11, the control unit 12 performs control to determine the presence or absence of the discard target component Eo based on the imaging result (detection result) of the imaging unit 9 before performing the process of releasing the suction of the discard target component Eo that has been sucked by the nozzle 601 of the discard target component suction head 621. This makes it possible to check for unintended dropping of the discard target component Eo that has been sucked by the nozzle 601 of the discard target component suction head 621 up until just before releasing the suction of the discard target component Eo, and therefore makes it possible to reliably confirm whether the discard target component suction head 621 has been able to move to the disposal unit 11 without dropping the discard target component Eo from the nozzle 601.

[0111] Furthermore, in this embodiment, as described above, the control unit 12 performs control to determine the presence or absence of the discarded parts Eo based on the imaging results (detection results) of the imaging unit 9, based on the fact that the discarded part suction head 621 has reached the descending end position Lw on the discarded part 11 side, directly above the discarded part 11. By thus determining the presence or absence of the discarded parts Eo at the descending end position Lw, the presence or absence of the discarded parts Eo can be determined at a position where the discarded parts Eo are relatively close to the discarded part 11 in the vertical direction, and therefore the presence or absence of the discarded parts Eo can be determined at a position where the discarded parts Eo can be almost certainly dropped into the discarded part 11.

[0112] Furthermore, in this embodiment, as described above, the control unit 12 determines again whether or not there is a part to be discarded Eo based on the imaging result (detection result) of the imaging unit 9 after releasing the nozzle 601 from suction of the part to be discarded Eo. This makes it possible to determine the occurrence of a part discard error indicating that the part to be discarded Eo remains on the nozzle 601, and therefore makes it possible to prevent the part to be discarded that remains in the discard unit 11 from falling to a location other than the discard unit 11, such as the tape feeder 21, after moving from the discard unit 11.

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

[0114] Furthermore, in this embodiment, as described above, the control unit 12 controls the imaging unit 9 to capture an immediately-before-disposal image Go1 of the tip portion of the nozzle 601 based on the fact that the discard target component suction head 621 has reached the downward end position Lw, and determines the presence or absence of a discard target component Eo based on the immediately-before-disposal image Go1. In this way, by determining the presence or absence of a discard target component Eo based on the immediately-before-disposal image Go1, it is possible to determine the presence or absence of a discard target component Eo without measuring the negative pressure of the discard target component suction head 621. Therefore, even in a head unit in which it is difficult to measure the negative pressure applied to each of the multiple mounting heads 602, it is possible to determine whether a discard target component Eo has been carried to the downward end position Lw directly above the disposal unit 11.

[0115] Furthermore, in this embodiment, as described above, the component mounting apparatus 100 includes the display unit 13 that can display component information associated with the discard target components Eo. The control unit 12 controls the display unit 13 to display, in a recognizable display mode, the number of discard target components Eo that have been determined to be absent based on the imaging results (detection results) out of the total number of discard target components Eo, as component information associated with the discard target components Eo. This allows the user to recognize the number of discard target components Eo that have fallen along the way without reaching the disposal unit 11, and therefore allows the user to accurately know how many discard target components Eo they should pick up.

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

[0117] Furthermore, in this embodiment, as described above, a plurality of mounting heads 602 are provided. The component mounting device 100 is equipped with a component imaging unit 7 that captures, from below, a post-suction image Gv of the component E after it has been picked up on the tape feeder 21 by each nozzle 601 of the plurality of mounting heads 602. When the control unit 12 determines, based on the post-suction image Gv, that at least one discardable component Eo and at least one mountable component Ec other than the discardable component Eo are present among the components E picked up by each nozzle 601 of the plurality of mounting heads 602, the control unit 12 performs control to mount the mountable component Ec on the board Sb, and then to determine the presence or absence of the discardable component Eo based on the immediately-before-discard image Go1 captured by the imaging unit 9, by moving the rotary head 6 directly toward the disposal unit 11 without passing through the component imaging unit 7. This reduces the distance that the rotary head 6 must travel to reach the disposal section 11 compared to when the rotary head 6 heads to the disposal section 11 after determining whether or not there are any parts Eo to be discarded at the part imaging section 7, thereby reducing the time required to discard the parts Eo to be discarded at the disposal section 11.

[0118] Furthermore, in this embodiment, as described above, the component mounting device 100 includes a display unit 13 capable of displaying component information associated with the discarded component Eo. When the control unit 12 determines that no discarded component Eo is present based on the immediately-discarded image Go1, the control unit 12 controls the display unit 13 to display component information indicating the location where the discarded component Eo is expected to have fallen, based on the post-suction image Gv, the mounting image Gm captured by the imaging unit 9 when the mountable component Ec is mounted on the board Sb, and the immediately-discarded image Go1. This allows the user to recognize the expected location where the discarded component Eo is expected to fall, thereby narrowing down the search locations for the discarded component Eo that has fallen along the way without having to travel all the way to the disposal unit 11. As a result, the user can smoothly collect the discarded component Eo.

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

[0120] [Modifications] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the description of the above-mentioned embodiments, and further includes all modifications (modifications) within the meaning and scope of the claims.

[0121] For example, in the above embodiment, the control unit 12 uses the imaging unit 9 to capture an image of the discard target part Eo that has been sucked by the nozzle 601 of the discard target part suction head 621 that has been lowered to the lower end position Lw (lower position), but the present invention is not limited to this. In the present invention, the control unit may use the imaging unit to capture an image of the discard target part that has been sucked by the nozzle of the discard target part suction head that has been lowered to a lower position that is at a height that is below the upper end position and above the lower end position.

[0122] In the above embodiment, the component mounting device 100 includes an imaging unit 9 that images the discarded component Eo adsorbed by the nozzle 601 of the discarded component suction head 621 that has descended to the descending end position Lw (descended position). However, the present invention is not limited to this. In the present invention, the component mounting device may also include a laser detection unit that includes a light-projecting unit that projects a laser toward the discarded component adsorbed by the nozzle of the discarded component suction head that has descended to the descending position, and a light-receiving unit positioned to receive the laser projected from the light-projecting unit. The laser detection unit can obtain a light-receiving result (detection result) indicating whether the light-receiving unit has received the laser projected from the light-projecting unit. The control unit performs control to determine whether or not a discarded component is present based on the light-receiving result (detection result).

[0123] In the above embodiment, the component mounting device 100 includes the imaging unit 9 that captures the discarded components Eo sucked by the nozzle 601 of the discarded component suction head 621 that has descended to the descending end position Lw (descended position), but the present invention is not limited to this. In the present invention, as in the modified example shown in FIGS. 15 and 16 , the component mounting device 200 may include an imaging unit 209 that captures the discarded components Eo placed in the temporary storage area 211a in the disposal unit 211. In this case, the disposal unit 211 may include an opening / closing unit 211b that is provided at a position in the temporary storage area 211a where the discarded components Eo will fall, and that captures the image of the discarded components Eo placed in the temporary storage area 211a using the imaging unit 209 and then drops the discarded components Eo into the space below the temporary storage area 211a of the disposal unit 211. Furthermore, since the imaging unit 209 is configured to be able to detect the discarded part Eo that was discarded immediately before in the disposal unit 211, it is possible to confirm that the discarded part Eo has been discarded in the disposal unit 211, and therefore it is possible to confirm whether the discarded part suction head 621 was able to move to the disposal unit 211 without dropping the discarded part Eo from the nozzle 601.

[0124] In the above embodiment, the control unit 12 controls the lowering of the discarded part suction head 621 until the tip of the nozzle 601 of the discarded part suction head 621 reaches a height position corresponding to the upper limit position Up at a predetermined horizontal position directly above the disposal unit 11 and the tip of the nozzle 601 of the discarded part suction head 621 reaches a height position corresponding to the lower limit position Lw at the predetermined horizontal position, but the present invention is not limited to this. In the present invention, the control unit may control the nozzle tip of the discarded part suction head to be lowered while moving it horizontally, so that it is at a predetermined horizontal position in the horizontal direction and moves toward the lower limit position in the vertical direction.

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

[0126] In the above embodiment, the component mounting apparatus 100 is provided with the rotary head 6 as the "head unit" in the claims, but the present invention is not limited to this. In the present invention, the component mounting apparatus may be provided with an inline head in which multiple mounting heads are arranged in a line as the "head unit" in the claims.

[0127] In the above embodiment, the control unit 12 performs control to determine whether or not the component E picked up by the nozzle 601 of each of the plurality of mounting heads 602 can be mounted on the board Sb based on the post-suction image Gv captured by the component imaging unit 7, but the present invention is not limited to this. In the present invention, the control unit may perform control to determine whether or not the component picked up by the nozzle of each of the plurality of mounting heads can be mounted on the board based on the image at the time of suction captured by the imaging unit.

[0128] In the above embodiment, the control unit 12 determines again whether or not there is a part to be discarded Eo based on the immediately-after-disposal image Go2 (detection result) of the imaging unit 9 (detection unit) after releasing the nozzle 601 from suction of the part to be discarded Eo, but the present invention is not limited to this. In the present invention, the control unit does not need to determine again whether or not there is a part to be discarded based on the detection result of the detection unit after releasing the nozzle from suction of the part to be discarded Eo.

[0129] In the above embodiment, when it is determined based on the immediately-before-disposal image Go1 (detection result) captured by the imaging unit 9 that no discard target parts Eo are present, the control unit 12 controls the display unit 13 to display, as part information associated with the discard target parts Eo determined to be absent, the part type associated with the discard target parts Eo, the size of the discard target parts Eo including their height and planar dimensions, and an image of the outer shape of the discard target parts Eo. However, the present invention is not limited to this. In the present invention, when it is determined based on the detection result captured by the imaging unit 9 that no discard target parts Eo are present, the control unit may control the display unit to display, as part information associated with the discard target parts determined to be absent, at least one of the part type associated with the discard target parts, the size of the discard target parts Eo including their height and planar dimensions, and an image of the outer shape of the discard target parts.

[0130] In the above embodiment, when it is determined based on the imaging result (detection result) of the imaging unit 9 that there are no parts to be discarded Eo, the control unit 12 controls the display unit 13 to display, in a recognizable display form, the number of parts to be discarded Eo determined to be absent out of the total number of parts to be discarded Eo as part information associated with the parts to be discarded Eo, but the present invention is not limited to this. In the present invention, when it is determined based on the detection result of the imaging unit 9 that there are no parts to be discarded, the control unit may also control the display unit to display, in a recognizable display form, the number of parts to be discarded determined to be present out of the total number of parts to be discarded Eo as part information associated with the parts to be discarded.

[0131] In the above embodiment, for convenience of explanation, the control processing of the control unit 12 is explained using a flow-driven flowchart in which processing is performed sequentially according to a processing flow, but the present invention is not limited to this. In the present invention, the control processing of the control unit may be performed by event-driven processing in which processing is performed on an event-by-event basis. In this case, the control processing may be performed completely event-driven, or may be performed in a combination of event-driven and flow-driven processing.

[0132] 6 Rotary head (head unit) 7 Component imaging section 9, 209 Imaging section 11, 211 Disposal section 12 Control section 13 Display section 21 Tape feeder (component supply section) 100, 200 Component mounting device 601 Nozzle 602 Mounting head 621 Disposal target component suction head E Component Ec Mountable component Eo Disposal target component Gm Image at time of mounting Go1 Image immediately before disposal Gv Image after suction Lw Lowering end position (lowering position) Sb Board

Claims

1. a component supply unit that supplies components to be mounted on the board; a head unit that includes a mounting head that picks up the components supplied from the component supply unit using a nozzle provided at a tip end thereof and mounts the components on the board, the head unit being movable in a horizontal direction; a discarding unit that discards the component that has been sucked onto the nozzle of the mounting head if the component is a component that does not satisfy the conditions for being determined to be mountable on the board and is a component that ... a detection unit capable of acquiring a detection result of detecting the discarded component from above the tip of the nozzle to determine whether or not there is a discarded component sucked by the nozzle of the discarded component suction head, which is the mounting head that has sucked the discarded component, or a discarded component that was discarded immediately before in the disposal unit, after the discarded component suction head, which is the mounting head that has sucked the discarded component, has moved directly above the disposal unit; a control unit that performs control to determine whether or not there is a component to be discarded based on the detection result of the component to be discarded by the detection unit.

2. 2. The component mounting device according to claim 1, wherein the control unit performs control to determine whether or not the component to be discarded is present based on the detection result of the detection unit after the component to be discarded suction head moves directly above the disposal unit and before performing a process to release the component to be discarded that has been sucked by the nozzle of the component to be discarded suction head.

3. 3. The component mounting device according to claim 2, wherein the control unit performs control to determine whether or not the component to be discarded is present based on the detection result of the detection unit, based on the fact that the discarded component suction head has reached a lowered position on the discarded unit side directly above the discarded unit.

4. The component mounting device according to claim 2 , wherein the control unit determines again whether or not the component to be discarded is present based on the detection result of the detection unit after the nozzle stops suction of the component to be discarded.

5. 4. The component mounting device according to claim 3, wherein the detection unit includes an imaging unit that is attached to the head unit and images a tip portion of the nozzle of the discarded component suction head that has reached the lowered position in order to detect the discarded component that has been sucked by the nozzle of the discarded component suction head.

6. 6. The component mounting device according to claim 5, wherein the control unit controls the imaging unit to capture an image of the tip portion of the nozzle just before disposal based on the fact that the discarded component suction head has reached the lowered position, and determines whether or not the discarded component is present based on the image just before disposal.

7. a display unit capable of displaying part information associated with the part to be discarded, 3. The component mounting device according to claim 2, wherein the control unit controls the display unit to display, in a recognizable display format, the number of discarded parts that are determined to be absent based on the detection result out of the total number of discarded parts, or that are determined to be present based on the detection result, as the component information associated with the discarded parts.

8. 8. The component mounting device according to claim 7, wherein the control unit controls the display unit to display at least one of the component type associated with the discarded component determined to be absent based on the detection result, the size of the discarded component including the height and planar dimensions of the discarded component, and an image of the outer shape of the discarded component, as the component information associated with the discarded component determined to be absent based on the detection result.

9. A plurality of the mounting heads are arranged, a component imaging unit that captures a post-suction image of the component from below after the component has been picked up in the component supply unit by the nozzle of each of the plurality of mounting heads, 7. The component mounting device according to claim 6, wherein, when it is determined based on the post-suction image that at least one of the components to be discarded and at least one mountable component other than the components to be discarded is present among the components picked up by the nozzles of each of the plurality of mounting heads, after mounting the mountable component on the board, the control unit performs control such that the head unit directly faces the disposal unit without going through the component imaging unit, and determines whether or not there is a component to be discarded based on the immediately-before-disposal image captured by the imaging unit.

10. a display unit capable of displaying part information associated with the part to be discarded, 10. The component mounting device according to claim 9, wherein, when it is determined based on the immediately-discarded image that there are no components to be discarded, the control unit controls the display unit to display, as the component information, a location where the components to be discarded are expected to have fallen, based on the post-suction image, an image at the time of mounting captured by the imaging unit when mounting the mountable components on the board, and the immediately-discarded image.

11. a step of moving a scrapped component suction head, which is a mounting head that has picked up a scrapped component that does not satisfy the conditions for being determined to be mountable on a board, directly above a disposal section where the scrapped component is disposed of; a step of moving the discarded part suction head directly above the disposal unit, and then obtaining, by a detection unit, a detection result of detecting the discarded part sucked by the nozzle of the discarded part suction head or the discarded part that was just discarded in the disposal unit from above the tip of the nozzle; and determining whether or not there is a component to be discarded based on the detection result of the component to be discarded by the detection unit.