Component mounter and component imaging method

Abstract

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

Description

Component mounter and component imaging method

[0001] The present invention relates to a technique for capturing an image of a component picked up by a head unit that mounts the component on a board, using a camera.

[0002] Patent Document 1 describes a component mounter that uses a nozzle of a mounting head to pick up components supplied to a component supply position and mount them on a circuit board. This component mounter is equipped with a component recognition camera. The nozzle that picks up the component passes above the component recognition camera before mounting the component on the circuit board, and the component recognition camera captures an image of the component as it moves upward. In this way, the position of the component relative to the nozzle is recognized based on the result of capturing the component image. In particular, Patent Document 1 pre-stores a correction coefficient derived from predicted vibration to reduce the effect of vibration in the component mounter. The position of the component determined from the result of capturing the component image is then corrected using this correction coefficient.

[0003] Japanese Patent Application Laid-Open No. 2005-243668

[0004] In the component mounter described above, the head unit that picks up a component must pass above the component recognition camera before mounting the component on the board. This lengthens the time required for the mounting turn, from when the head unit picks up a component to when the component is mounted on the board. Therefore, the time required for the mounting turn can be shortened by using a camera that is supported on the head unit and moves along with the head unit to capture images of the component in parallel with the movement of the head unit. In particular, the camera is supported on the head unit so as to be movable in a predetermined direction relative to the head unit, and captures images of the component picked up by the head unit while moving in the predetermined direction relative to the head unit. Therefore, inertial forces associated with the acceleration and deceleration of the head unit affect the imaging of the component by the camera, which may result in inappropriate imaging of the component.

[0005] This invention has been made in consideration of the above-mentioned problems, and aims to eliminate the effect on the imaging of components of the inertial force caused by the acceleration and deceleration of the head unit when imaging components using a camera that is supported by the head unit that adsorbs the components and moves along with the head unit.

[0006] The component mounting machine of the present invention comprises a component supply unit that supplies components to the component supply position, a board transport unit that transports a board to the work position, a head unit that performs a suction operation to suction the components supplied to the component supply position, a unit drive unit that performs a component transport operation that drives the head unit to transport the components suctioned to the head unit to a position opposite the board, a camera that is supported on the head unit so as to be movable in a predetermined direction relative to the head unit and moves along with the head unit driven by the unit drive unit, a camera drive unit that drives the camera in the predetermined direction relative to the head unit, and a control unit that performs period-limited imaging control to capture images of the components suctioned to the head unit with the camera driven in the predetermined direction during a period different from the period during which the unit drive unit accelerates or decelerates the head unit.

[0007] The component imaging method of the present invention includes a step of performing a component transfer operation to transfer the component adsorbed to the head unit to a position facing the board by driving the head unit that adsorbs the component, and a step of imaging the component adsorbed to the head unit by a camera that is supported on the head unit so as to be movable in a predetermined direction relative to the head unit and is driven in the predetermined direction, and in the step of imaging the component, a period-limited imaging control is executed to image the component by the camera driven in the predetermined direction during a period different from the period during which the head unit is accelerated or decelerated.

[0008] In the present invention (component mounter and component imaging method) configured as described above, a component transfer operation is performed by driving the head unit that picks up the component, transferring the component picked up by the head unit to a position facing the board. The component picked up by the head unit is then imaged by a camera that is supported on the head unit so as to be movable in a predetermined direction relative to the head unit and driven in the predetermined direction. Therefore, during periods when the head unit is accelerating or decelerating, inertial forces generated by the acceleration or deceleration may affect the component imaging by the camera. In response to this, the present invention executes period-limited imaging control, in which the camera driven in the predetermined direction images the component during a period different from the period when the head unit is accelerating or decelerating. As a result, when the component is imaged by a camera that is supported by the head unit that picks up the component and moves along with the head unit, it is possible to eliminate the influence of inertial forces caused by the acceleration or deceleration of the head unit on the component imaging.

[0009] The component mounter may also be configured so that the unit drive unit accelerates the head unit to a predetermined unit speed during an acceleration period, moves the head unit at a constant speed at the unit speed during a constant speed period following the acceleration period, and decelerates the head unit from the unit speed during a deceleration period following the constant speed period, thereby performing a component transfer operation, and the period-limited imaging control is capable of executing a constant speed imaging mode in which the camera does not image components during the acceleration period or the deceleration period, but images components during the constant speed period. With such a configuration, executing the constant speed imaging mode makes it possible to eliminate the effect on imaging of components of inertial forces occurring during the acceleration period and the deceleration period.

[0010] Furthermore, the control unit may be configured to set the unit speed so that, when executing the constant speed imaging mode, imaging of the component is completed within the constant speed period. In this configuration, if the constant speed period is short due to a high unit speed and imaging of the component cannot be completed within the constant speed period, control is executed to reduce the unit speed so that imaging of the component can be completed within the constant speed period. This makes it possible to prevent situations in which imaging of the component is not completed within the constant speed period and the constant speed imaging mode fails.

[0011] Furthermore, the time-limited imaging control can further execute a stop imaging mode in which a camera captures an image of a component that is picked up by the head unit, which stops before the component transfer operation starts, and the component mounter may be configured to execute either the constant-speed imaging mode or the stop imaging mode. In such a configuration, by executing the stop imaging mode, it is possible to eliminate the effect on the imaging of the component that the inertial force generated during the acceleration and deceleration periods has.

[0012] The component mounter may further include an imaging mode selection unit that accepts a user's operation to select one imaging mode from the constant speed imaging mode and the still imaging mode, and the control unit may be configured to execute the one imaging mode selected by the imaging mode selection unit. With this configuration, it is possible to image components using one imaging mode from the constant speed imaging mode and the still imaging mode that suits the user's needs.

[0013] The component mounter may also be configured such that the control unit executes a mode selection process that selects one imaging mode from the constant speed imaging mode and the still imaging mode, executes the one imaging mode selected by the mode selection process, and selects the one imaging mode based on a comparison between the time required to complete mounting of the component picked up by the pickup operation onto the board when the constant speed imaging mode is executed and the time required to complete mounting of the component picked up by the pickup operation onto the board when the still imaging mode is executed. With this configuration, for example, if the time required to complete mounting of the component picked up by the pickup operation onto the board when the constant speed imaging mode is executed is shorter than the time required to complete mounting of the component picked up by the pickup operation onto the board when the still imaging mode is executed, the control unit executes the constant speed imaging mode if the former is shorter than the latter, and executes the still imaging mode if the latter is shorter. As a result, it is possible to shorten the time required to capture component images.

[0014] Furthermore, the mounter may be configured so that the components include high-precision components that are subject to time-limited imaging control and low-precision components that are not subject to time-limited imaging control, and the control unit executes time-limited imaging control to capture images of the high-precision components using the camera. With this configuration, it is possible to eliminate the effect of inertial forces caused by acceleration and deceleration of the head unit on the imaging of the high-precision components.

[0015] Furthermore, the component mounter may be configured so that the control unit does not execute time-limited imaging control for imaging of low-precision components by the camera, but allows imaging of low-precision components by the camera during periods when the unit drive unit accelerates or decelerates the head unit. In such a configuration, the periods when the unit drive unit accelerates or decelerates the head unit are used to image the low-precision components, making it possible to efficiently image the low-precision components.

[0016] Furthermore, the component mounter may be configured so that the time-limited image capture control can execute a stop image capture mode in which a camera captures an image of a component that is picked up by a head unit that stops before the start of the component transfer operation. In such a configuration, by executing the stop image capture mode, it is possible to eliminate the effect on the image capture of the component that is caused by the inertial force associated with the acceleration and deceleration of the head unit.

[0017] Furthermore, the mounter may be configured so that the components include high-precision components that are subject to time-limited imaging control and low-precision components that are not subject to time-limited imaging control, and the control unit executes time-limited imaging control to capture images of the high-precision components using the camera. With this configuration, it is possible to eliminate the effect of inertial forces caused by acceleration and deceleration of the head unit on the imaging of the high-precision components.

[0018] Furthermore, the component mounter may be configured so that the control unit does not execute time-limited imaging control for imaging of low-precision components by the camera, but allows imaging of low-precision components by the camera during periods when the unit drive unit accelerates or decelerates the head unit. In such a configuration, the periods when the unit drive unit accelerates or decelerates the head unit are used to image the low-precision components, making it possible to efficiently image the low-precision components.

[0019] The head unit has a plurality of nozzles arranged in a predetermined direction, and picks up components by the nozzles. The camera is movable relative to the head unit between a first retracted position provided on one side of the plurality of nozzles in the predetermined direction and a second retracted position provided on the other side of the plurality of nozzles in the predetermined direction. The camera is capable of performing a first scan imaging to image the high-precision component picked up by the nozzles while moving from the first retracted position to the second retracted position, and a second scan imaging to image the high-precision component picked up by the nozzles while moving from the second retracted position to the first retracted position. The control unit controls the camera to capture an image of the high-precision component picked up by the head unit by the suction operation. The component mounter may be configured so that, before the start of the pickup operation, a scan imaging determination process is performed to determine whether the execution scan imaging to be performed in the stop imaging mode is one of the first scan imaging and the second scan imaging, and the scan imaging determination process determines the execution scan imaging according to the position in a predetermined direction of the high-precision component picked up by the head unit through the pickup operation, and the control unit positions the camera in one retract position before the start of the pickup operation if the first scan imaging is selected as the execution scan imaging, and positions the camera in the other retract position before the start of the pickup operation if the second scan imaging is selected as the execution scan imaging. In this configuration, the movement direction of the camera when executing the stop imaging mode is determined according to the position of the high-precision component picked up by the head unit. As a result, the high-precision component can be imaged while moving the camera in a reasonable direction according to the position of the high-precision component, thereby shortening the time required to image the high-precision component.

[0020] Furthermore, when the head unit picks up high-precision components and low-precision components, respectively, the control unit executes either a first pickup mode in which the high-precision components and low-precision components are picked up by the head unit so that all of the high-precision components are located on one side of all of the low-precision components, or a second pickup mode in which the head unit picks up the high-precision components and low-precision components so that all of the high-precision components are located on the other side of all of the low-precision components, and the component mounter may be configured so that when the first pickup mode is executed, the first scan imaging is performed in the stop imaging mode, and when the second pickup mode is executed, the second scan imaging is performed in the stop imaging mode. With this configuration, the camera can be moved from a state in which the high-precision components are gathered at the retracted position where the camera is located, either the one retracted position or the other retracted position, and the high-precision components can be imaged by the camera, thereby shortening the time required to image the high-precision components.

[0021] The component mounter may also be configured to further include a control selection unit that accepts a user's operation to select whether or not to execute time-limited imaging control, and the control unit may be configured to execute imaging of components using time-limited imaging control when the control selection unit selects to execute time-limited imaging control, but not execute time-limited imaging control when the control selection unit selects not to execute time-limited imaging control, and to allow the camera to capture images of components during the period when the unit drive unit accelerates or decelerates the head unit. With this configuration, whether or not to execute time-limited imaging control can be determined according to the user's needs.

[0022] According to the present invention, when capturing images of components using a camera that is supported by a head unit that adsorbs the components and moves along with the head unit, it is possible to eliminate the effect on the imaging of the components of the inertial force that accompanies the acceleration and deceleration of the head unit.

[0023] 4 is a plan view schematically showing an example of a component mounter according to the present invention. FIG. 3A is a block diagram showing the electrical configuration of the component mounter of FIG. 1. FIG. 4B is a front view schematically showing a component recognition unit provided in the component mounter. FIG. 3C is a side view schematically showing the component recognition unit of FIG. 3A. FIG. 3D is a front view schematically showing the operation of the component recognition unit of FIG. 3A. FIG. 3E is a front view schematically showing the operation of the component recognition unit of FIG. 3A. FIG. 4 is a flowchart showing the operation in the mounting turn in which a head unit picks up components and mounts them on a board. FIG. 5 is a timing chart schematically showing an example of speed control executed for the component recognition unit in the mounting turn of FIG. 4. FIG. 5 is a flowchart showing an example of a constant speed imaging mode. FIG. 6 is a diagram schematically showing control details executed in the constant speed imaging mode. FIG. 7 is a diagram schematically showing control details executed in the constant speed imaging mode. FIG. 8 is a flowchart showing an example of a still imaging mode. FIG. 9 is a diagram schematically showing control details executed in the still imaging mode. FIG. 10 is a diagram schematically showing control details executed in the still imaging mode. 10A and 10B are front views each showing a schematic example of a suction operation;

[0024] Fig. 1 is a plan view showing a schematic diagram of an example of a component mounter according to the present invention, and Fig. 2 is a block diagram showing the electrical configuration of the component mounter of Fig. 1. In Fig. 1, the horizontal X direction, the horizontal Y direction perpendicular to the X direction, and the vertical Z direction are appropriately indicated. This component mounter 1 performs component mounting to mount a component E (Figs. 3A to 3D) on a board B.

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

[0026] The storage unit 120 stores various data and information required for component mounting, such as board data 121 and component information 122. The board data 121 indicates the types of components E to be mounted on mounting positions (e.g., lands) on the board B and the order in which the components E are to be mounted. The main control unit 110 mounts the components E on the board B in accordance with the board data 121. As will be described later, the components E include high-precision components Eh and low-precision components El. The component information 122 indicates, for each component E, whether the component E to be mounted on the board B is a high-precision component Eh or a low-precision component El. The component information 122 is created by a user, for example, via an operation on the UI 150, and stored in the storage unit 120. Alternatively, the main control unit 110 may automatically create the component information 122 based on the board data 121 and store it in the drive control unit 130. Specifically, component information 122 can be created by performing a calculation to classify each component E into either a high-precision component Eh or a low-precision component El based on the size of the component E, the arrangement pitch of the terminals of the component E, the distance to adjacent components E on the board B, etc.

[0027] 1, the component mounter 1 includes a pair of conveyors 12, 12 provided on a base 11. The component mounter 1 mounts components E on a board B that has been transported by the conveyor 12 from the upstream side in the X direction (board transport direction) to a work position 13 (the position of board B in FIG. 1 ), and then transports the board B (component-mounted board B) on which component mounting has been completed from the work position 13 to the downstream side in the X direction by the conveyor 12.

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

[0029] Two component supply units 5 are aligned in the X direction on each side of the pair of conveyors 12, 12 in the Y direction, and each component supply unit 5 detachably supports multiple tape feeders 51 arranged in the X direction. Each tape feeder 51 has a component supply position 52 provided at its tip on the work position 13 side, and supplies components E to the component supply position 52. Specifically, a component storage tape is attached to the tape feeder 51, and this component storage tape stores components E in each of multiple pockets arranged in a row. The tape feeder 51 supplies components E to the component supply position 52 by intermittently transporting the component storage tape toward the component supply position 52.

[0030] The head unit 3 has a plurality of mounting heads 31 (eight in the example of FIG. 1) arranged in the X direction, and a Z-axis motor Mz ( FIG. 2 ) that raises and lowers the mounting heads 31 in the Z direction. The mounting heads 31 have an elongated shape extending in the Z direction, and can pick up and hold components E using nozzles N ( FIGS. 3A to 3D ) that are detachably attached to the lower ends of the mounting heads 31. Components E picked up from component supply positions 52 are mounted on boards B using these nozzles N.

[0031] Specifically, the drive control unit 130 drives the head unit 3 using the X-axis motor Mx and the Y-axis motor My to cause the nozzle N of the mounting head 31 to face the component supply position 52 from above. Next, the drive control unit 130 uses the Z-axis motor Mz to lower the mounting head 31 so that the nozzle N of the mounting head 31 abuts against the component E in the component supply position 52. The mounting head 31 generates negative pressure in the nozzle N that has come into contact with the component E, thereby suctioning the component E to the nozzle N. When the drive control unit 130 raises the mounting head 31 using the Z-axis motor Mz, the component E sucked onto the nozzle N is removed from the component supply position 52. Furthermore, the drive control unit 130 drives the head unit 3 using the X-axis motor Mx and the Y-axis motor My to cause the component E sucked onto the nozzle N of the mounting head 31 to face the mounting position for the board B in the work position 13 from above. Next, the drive control unit 130 causes the Z-axis motor Mz to lower the mounting head 31, so that the component E picked up by the nozzle N of the mounting head 31 comes into contact with the mounting position on the board B. Then, the mounting head 31 releases the negative pressure of the nozzle N that picks up the component E that has come into contact with the mounting position on the board B. In this way, the component E is mounted at the mounting position on the board B.

[0032] 2, the component mounter 1 further includes a component recognition camera C that captures an image of a component E that is picked up by the mounting head 31 of the head unit 3, and a camera motor Mc that drives the component recognition camera 41 in the X direction. These will be described below with reference to FIGS. 3A to 3D.

[0033] Fig. 3A is a front view schematically showing a component recognition unit provided in a component mounter, Fig. 3B is a side view schematically showing the component recognition unit of Fig. 3A, and Figs. 3C and 3D are front views schematically showing the operation of the component recognition unit of Fig. 3A. Note that Figs. 3A, 3C, and 3D show the X(+) side of the X direction and the X(-) side opposite the X(+) side of the X direction. As shown in Figs. 3A to 3D, the component recognition unit 4 is attached to the head unit 3 and moves in the X and Y directions along with the head unit 3, which is driven by an X-axis motor Mx and a Y-axis motor My.

[0034] The head unit 3 has a unit body 30 having a substantially rectangular parallelepiped shape, which supports multiple mounting heads 31 so that they can move up and down in the Z direction. In contrast, the component recognition unit 4 has an X-axis guide member 41 attached to the unit body 30 and parallel to the X direction, and a movable supporter 42 that moves in the X direction along the X-axis guide member 41. The movable supporter 42 also has a standing frame 421 extending in the Z direction and a bottom frame 422 extending in the Y direction from the lower end of the standing frame 421, with the upper end of the standing frame 421 engaging with the X-axis guide member 41. The component recognition camera C is attached to the bottom frame 422 facing upward. Thus, the component recognition camera C supported by the movable supporter 42 can move in the X direction while being guided by the X-axis guide member 41.

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

[0036] As shown in the front view of FIG. 3A , the camera motor Mc can move the component recognition camera C in the X direction between a retracted position L(+) located on the X(+) side of the multiple nozzles N and a retracted position L(-) located on the X(-) side of the multiple nozzles N. Therefore, the drive control unit 130 can control the position of the component recognition camera C in the X direction using the camera motor Mc to have the component recognition camera C face, from below, a component E being picked up by one of the multiple nozzles N. Furthermore, the imaging control unit 140 can cause the component recognition camera C to capture an image of the component E (bottom-view image) captured from below the component E facing the component recognition camera C by controlling the component recognition camera C to capture an image of the component E. The imaging direction of the component E is not limited to this example, and an image of the component E (side-view image) may also be captured by capturing an image of the component E from the Y direction.

[0037] In particular, the component recognition unit 4 can capture images of the multiple components E that are respectively picked up by the multiple nozzles N by the scanning imaging shown in Figures 3C and 3D. In the scanning imaging shown in Figure 3C, the drive control unit 130 controls the camera motor Mc to position the component recognition camera C at the retracted position L(-) (step S11). Next, the drive control unit 130 drives the component recognition camera C toward the X(+) side in the X direction using the camera motor Mc, thereby moving the component recognition camera C from the retracted position L(-) to the retracted position L(+) (step S12). Then, when the component recognition camera C reaches the retracted position L(+), the drive control unit 130 controls the camera motor Mc to stop the component recognition camera C at the retracted position L(+) (step S13). Meanwhile, while the drive control unit 130 moves the component recognition camera C on the X(+) side from the retracted position L(-) to the retracted position L(+) (step S12), the imaging control unit 140 causes the component recognition camera C to capture images. As a result, images of the multiple components E that are respectively picked up by the multiple nozzles N are acquired.

[0038] 3D , the drive control unit 130 controls the camera motor Mc to position the component recognition camera C at the retracted position L(+) (step S21). The drive control unit 130 then drives the component recognition camera C toward the X(-) side in the X direction using the camera motor Mc, thereby moving the component recognition camera C from the retracted position L(+) to the retracted position L(-) (step S22). When the component recognition camera C reaches the retracted position L(-), the drive control unit 130 controls the camera motor Mc to stop the component recognition camera C at the retracted position L(-) (step S23). While the drive control unit 130 is moving the component recognition camera C from the retracted position L(+) to the retracted position L(-) toward the X(-) side (step S22), the imaging control unit 140 causes the component recognition camera C to capture an image. As a result, images of the components E picked up by each of the nozzles N are acquired.

[0039] During this scanning and imaging, the drive control unit 130 controls the camera motor Mc so that the component recognition camera C moves at a constant speed in the X direction at a predetermined scanning speed Vc while the component recognition camera C images the component E. In other words, the camera motor Mc accelerates the component recognition camera C to the scanning speed Vc by the time the component recognition camera C starts imaging the component E. In the example of FIG. 3C , the component recognition camera C starts moving from the retracted position L(−) toward the X(+) side, and completes accelerating to the scanning speed Vc by the time the component recognition camera C reaches an imaging position facing the end nozzle N on the X(−) side of the multiple nozzles N from below. Furthermore, the component recognition camera C begins decelerating from the scanning speed Vc after passing the imaging position facing the end nozzle N on the X(+) side of the multiple nozzles N from below. The speed of the component recognition camera C is controlled in a similar manner in the example of FIG. 3D .

[0040] Fig. 4 is a flowchart showing the operation of the mounting turn in which the head unit picks up components and mounts them on the board, and Fig. 5 is a timing chart showing an example of speed control executed for the component recognition unit in the mounting turn of Fig. 4. Fig. 5 shows a graph in which the horizontal axis represents time and the vertical axis represents speed. The flowchart of Fig. 4 is executed under the control of main control unit 110.

[0041] In step S101, the head unit 3 picks up a component E supplied to the component supply position 52 onto a nozzle N, thereby picking up the component E onto each of the multiple nozzles N (pickup operation). Note that the component E picked up by each nozzle N during the pick-up operation is determined in advance according to the mounting order of the components E on the board B indicated by the board data 121. Once the pick-up operation is complete, the head unit 3 starts moving toward the board B. Specifically, the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My to accelerate the stopped head unit 3 to a predetermined unit speed Vu (a speed higher than zero) (step S102). As a result, the speed of the head unit 3 increases from zero to the unit speed Vu during an acceleration period T1 from time t1 to time t2. When the speed of the head unit 3 reaches the unit speed Vu at time t2, the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My to move the head unit 3 at a constant speed at the unit speed Vu (step S103). As a result, during the constant speed period T2 from time t2 to time t3, the speed of the head unit 3 becomes constant at the unit speed Vu. At time t3, the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My to decelerate the head unit 3 from the unit speed Vu and stop it (step S104). As a result, during the deceleration period T3 from time t3 to time t4, the speed of the head unit 3 decreases from the unit speed Vu to zero. The component E picked up by the nozzle N of the stopped head unit 3 thus faces the mounting position on the board B from above. In step S105, the head unit 3 mounts the component E on the board B (step S105). At this time, the drive control unit 130 mounts the component E at the mounting position on the board B by controlling the position of the nozzle N that adsorbs the component E based on the position of the component E indicated in the image of the component E captured by the component recognition camera C.

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

[0043] In this way, the component transfer operation (steps S102 to S104) in which the component E picked up by the head unit 3 from the component supply position 52 is transferred from above to a position facing the mounting position on the board B is executed by the drive control unit 130 controlling the X-axis motor Mx and the Y-axis motor My. Meanwhile, imaging of the multiple components E picked up by the head unit 3 is executed in parallel with the component transfer operation. Specifically, during the period in which the head unit 3 is moving due to the component transfer operation (acceleration period T1, constant velocity period T2, and deceleration period T3), scan imaging of either FIG. 3C or FIG. 3D is executed, and images of the multiple components E are captured (normal imaging mode).

[0044] However, the components E include high-precision components Eh that require high precision in the position where they are mounted on the board B, and low-precision components El that do not require high precision in the position where they are mounted on the board B. If imaging of such high-precision components Eh is performed during the acceleration period T1 or deceleration period T3, there may be an effect of inertial forces associated with the acceleration and deceleration of the head unit 3. Therefore, for imaging of the high-precision components Eh, a constant-speed imaging mode or a stationary imaging mode, which will be described next, is appropriately performed.

[0045] Fig. 6 is a flowchart showing an example of the constant speed imaging mode, and Figs. 7A, 7B, and 7C are diagrams schematically showing the control content executed in the constant speed imaging mode. Note that in Fig. 7A, the nozzles are assigned the symbols N1 to N8 in order in the X direction to distinguish between the multiple nozzles N, and Fig. 7C shows a graph in which the horizontal axis represents time and the vertical axis represents speed. The flowchart in Fig. 6 is executed under the control of the main control unit 110.

[0046] In step S201, a pickup operation is performed similarly to step S101 described above, and the multiple nozzles N1 to N8 of the head unit 3 each pick up multiple components E. As a result, in the example of Fig. 7A, nozzles N1, N2, N4, N7, and N8 pick up low-precision component El, and nozzles N3, N5, and N6 pick up high-precision component Eh. In this way, the multiple components E picked up by the head unit 3 include high-precision component Eh and low-precision component El.

[0047] In step S202, the main control unit 110 calculates the high-precision component imaging time Th required to image the high-precision components Eh by scan imaging. Specifically, the presence range Rh in the X direction of the high-precision components Eh is calculated for each of the multiple components E picked up by the head unit 3. When two or more high-precision components Eh, i.e., Mh (Mh is an integer greater than or equal to 2), are picked up by the head unit 3, the presence range Rh is calculated so that the imaging positions of the component recognition cameras C for imaging the high-precision components Eh located at the end on the X(+) side and the imaging positions of the component recognition cameras C for imaging the high-precision components Eh located at the end on the X(-) side are located at both ends of the presence range Rh. The high-precision component imaging time Th is then calculated by dividing the length of the presence range Rh in the X direction by the scan speed Vc.

[0048] Furthermore, in step S203, the main control unit 110 calculates the constant velocity period T2. Specifically, the constant velocity period T2 in the component transfer operation for moving the head unit 3 from the start position to the target position is calculated. Here, the start position is the position of the head unit 3 at the time when the pickup operation is completed, and the target position is the position of the head unit 3 at which the component E to be first mounted on the board B, out of the multiple components E picked up by the head unit 3, faces the mounting position from above. Therefore, the closer the start position and the target position are, the shorter the constant velocity period T2 becomes.

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

[0050] Once the setting of the unit speed Vu is completed ("YES" in step S204), the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My to accelerate the head unit 3 to the unit speed Vu (speed V2) (step S206). Once the acceleration of the head unit 3 to the unit speed Vu is completed, the head unit 3 starts moving at a constant speed at the unit speed Vu (step S207). After the constant speed movement of the head unit 3 has started, the component recognition camera C captures an image of the component E while passing through the presence range Rh of the high-precision component Eh in the X direction, thereby capturing an image of the high-precision component Eh (step S208). After capturing an image of the high-precision component Eh is completed, the head unit 3 decelerates from the unit speed Vu (step S210). Furthermore, once the head unit 3 stops, the component E picked up by the head unit 3 is mounted on the board B (step S211).

[0051] Incidentally, imaging of low-precision components El, which are not the subject of imaging during the high-precision component imaging time Th, is performed before or after imaging of the high-precision component Eh begins. In particular, in the example shown in FIG. 7A , low-precision components El, which are attracted to the head unit 3, exist on both sides of the presence range Rh of the high-precision component Eh in the X direction. Therefore, as shown in FIG. 7C , low-precision component imaging times Tl, during which the low-precision components El are imaged, occur before and after the high-precision component imaging time Th. The low-precision component imaging time Tl before the high-precision component imaging time Th extends from the middle of the acceleration period T1 to the middle of the constant-speed period T2 (the start of the high-precision component imaging time Th). The low-precision component imaging time Tl after the high-precision component imaging time Th extends from the middle of the constant-speed period T2 (the end of the high-precision component imaging time Th) to the middle of the deceleration period T3.

[0052] FIG. 8 is a flowchart illustrating an example of the still image capture mode, and FIGS. 9A, 9B, and 9C are diagrams schematically illustrating the control executed in the still image capture mode. In FIGS. 9A and 9B, the nozzles are labeled N1 through N8 in order in the X direction to distinguish between the multiple nozzles N. In the example shown in FIGS. 9A and 9B, the multiple components E picked up by the head unit 3 include high-precision components Eh and low-precision components El. The positions of the high-precision components Eh picked up by the head unit 3 differ between the examples in FIGS. 9A and 9B. FIG. 9C shows a graph in which the horizontal axis represents time and the vertical axis represents speed. The flowchart in FIG. 8 is executed under the control of the main control unit 110.

[0053] In step S301, the main control unit 110 determines the direction (scanning direction) in which the component recognition camera C will move when capturing an image of the high-precision component Eh by scanning, based on the position of the high-precision component Eh. Specifically, in step S303, the main control unit 110 confirms the position in the X direction of the high-precision component Eh to be picked up by the head unit 3 in the pickup operation to be performed. In particular, the main control unit 110 calculates the distance D(-) in the X direction between the retracted position L(-) and the high-precision component Eh farthest from the retracted position L(-), and the distance D(+) in the X direction between the retracted position L(+) and the high-precision component Eh farthest from the retracted position L(+) and the high-precision component Eh to be picked up by the head unit 3. As described above, the components E to be picked up by each nozzle N in the pickup operation are determined in advance based on the board data 121. Therefore, by identifying the high-precision component Eh from among the components E to be picked up by each nozzle N in the pick-up operation in step S303 based on the component information 122, the position of the high-precision component Eh can be confirmed.

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

[0055] In step S302, the main control unit 110 positions the component recognition camera C at the retracted position corresponding to the determination made in step S301, either the retracted position L(+) or the retracted position L(-). In other words, if the determined scanning direction is from the retracted position L(-) toward the X(+) side, the main control unit 110 positions the head unit 3 at the retracted position L(-). Also, if the determined scanning direction is from the retracted position L(+) toward the X(-) side, the main control unit 110 positions the head unit 3 at the retracted position L(+).

[0056] In the following step S303, the head unit 3 performs a suction operation and picks up multiple components E using the multiple nozzles N. Then, with the head unit 3 having completed the suction operation and stopped, scanning and imaging are initiated (step S304). After this scanning and imaging completes imaging of all high-precision components Eh picked up by the head unit 3 ("YES" in step S305), the head unit 3 accelerates (step S306), moves at a constant speed (step S307), and decelerates (step S308) (component transfer operation). That is, as shown in FIG. 9C , in the stationary imaging mode, imaging of the high-precision components Eh is performed during a stop period T0 from when the head unit 3 completes the suction operation until the head unit 3 starts accelerating. Therefore, the high-precision component imaging time Th for imaging the high-precision components Eh is included within the stop period T0, and imaging of all high-precision components Eh is completed during the stop period T0.

[0057] Furthermore, when imaging of all high-precision components Eh has been completed, any low-precision components El that have not yet been imaged are imaged by the scan imaging that continues after acceleration of the head unit 3 begins in step S306. As a result, in the example of Fig. 9C, the low-precision component imaging time Tl for imaging the low-precision component El is set to extend from the start of the acceleration period T1 to a point midway through the constant-velocity period T2. Then, when the component transfer operation (steps S306 to S308) is completed and the head unit 3 stops, the head unit 3 mounts the component E that is sucked by the nozzle N onto the board B (step S309).

[0058] As described above, in the component mounter 1, imaging of the high-precision component Eh can be performed in a constant-speed imaging mode and a stationary imaging mode. What these imaging modes have in common is that imaging of the high-precision component Eh is performed during a period different from the period during which the head unit 3 is accelerating or decelerating, specifically, during the period during which the head unit 3 is moving at a constant speed (constant-speed period T2) or the period during which the head unit 3 is stopped (stop period T0). In other words, imaging of the high-precision component Eh is limited to a period different from the period during which the head unit 3 is accelerating or decelerating. Next, a method for determining which of these imaging modes is actually used to image the high-precision component Eh will be described with reference to FIG. 10 .

[0059] Fig. 10 is a flowchart showing an example of an imaging mode determination process. The flowchart in Fig. 10 is executed under the control of the main control unit 110. In particular, the imaging mode determination process is executed before the start of the suction operation in order to determine in which imaging mode the image of the high-precision component Eh to be picked up in the suction operation is to be taken.

[0060] In step S401, it is determined whether or not time-limited imaging control is set. This time-limited imaging control limits imaging of the high-precision component Eh to a period (constant velocity period T2, stop period T0) different from the period during which the head unit 3 is accelerating or decelerating. The time-limited imaging control is set by a user's operation on the UI 150. If time-limited imaging control is not set ("NO" in step S401), the main control unit 110 determines that imaging of the high-precision component Eh subsequently picked up by the head unit 3 will be performed in the normal imaging mode (step S402). Therefore, imaging of the high-precision component Eh is permitted during the period during which the head unit 3 is accelerating or decelerating (acceleration period T1 or deceleration period T3).

[0061] If the period-limited image capture control is set (YES in step S401), it is determined whether the user has selected one of the constant speed image capture mode and the still image capture mode (step S403). That is, the user can select one of the constant speed image capture mode and the still image capture mode by operating the UI 150.

[0062] If an imaging mode has been selected by the user ("YES" in step S403), it is determined whether the imaging mode (i.e., the selected imaging mode) is the constant speed imaging mode. If the constant speed imaging mode has been selected ("YES" in step S404), the main control unit 110 determines that imaging of high-precision components Eh that will subsequently be picked up by the head unit 3 will be performed in the constant speed imaging mode (step S405). On the other hand, if the still imaging mode has been selected ("NO" in step S404), the main control unit 110 determines that imaging of high-precision components Eh that will subsequently be picked up by the head unit 3 will be performed in the still imaging mode (step S406).

[0063] On the other hand, if one imaging mode has not been selected by the user ("NO" in step S403), the takt time is calculated for each of the constant speed imaging mode and the still imaging mode (step S407). Here, the takt time indicates the time from the completion of the pickup operation to the completion of mounting on the board B of all components E (high-precision components Eh and low-precision components El) picked up by that pickup operation. More specifically, the main control unit 110 predicts the takt time Tm when imaging of the high-precision components Eh is performed in the constant speed imaging mode, and predicts the takt time Ts when imaging of the high-precision components Eh is performed in the still imaging mode.

[0064] In step S408, the tact time Tm of the constant speed imaging mode is compared with the tact time Ts of the still image capturing mode. If the tact time Tm of the constant speed imaging mode is less than or equal to the tact time Ts of the still image capturing mode, the main control unit 110 determines that imaging of high-precision components Eh that will subsequently be picked up by the head unit 3 will be performed in the constant speed imaging mode (step S405). On the other hand, if the tact time Ts of the still image capturing mode is less than the tact time Tm of the constant speed imaging mode, the main control unit 110 determines that imaging of high-precision components Eh that will subsequently be picked up by the head unit 3 will be performed in the still image capturing mode (step S406).

[0065] In the embodiment described above, a component transfer operation is performed by driving the head unit 3 that picks up the component E, transferring the component E picked up by the head unit 3 to a position facing the board B (steps S102 to S104, steps S206, S207, S209, S210, and steps S306 to S308). The component E picked up by the head unit 3 is then imaged by the component recognition camera C, which is supported by the head unit 3 so as to be movable in the X direction (a predetermined direction) relative to the head unit 3 and driven in the X direction. Therefore, during periods when the head unit 3 is accelerating or decelerating, inertial forces generated by the acceleration or deceleration may affect the imaging of the component E by the component recognition camera C. This effect is particularly significant for high-precision components Eh. In contrast, in the present embodiment, control (time-limited imaging control) is performed to image the high-precision components Eh by the component recognition camera C driven in the X direction during periods (constant-velocity period T2, stop period T0) that are different from the periods when the head unit 3 is accelerating or decelerating. In other words, the high-precision component Eh is not imaged during the periods when the head unit 3 is accelerating or decelerating (acceleration period T1, deceleration period T3), and the timing for imaging the high-precision component Eh is limited to the stop period T0 or the constant-velocity period T2. As a result, when the high-precision component Eh is imaged by the component recognition camera C, which is supported by the head unit 3 that adsorbs the high-precision component Eh and moves along with the head unit 3, it is possible to eliminate the effect of the inertial force associated with the acceleration and deceleration of the head unit 3 on the imaging of the high-precision component Eh.

[0066] Furthermore, the X-axis motor Mx and Y-axis motor My (unit drive units) accelerate the head unit 3 to a predetermined unit speed Vu during an acceleration period T1, move the head unit 3 at the unit speed Vu during a constant speed period T2 following the acceleration period T1, and decelerate the head unit 3 from the unit speed Vu during a deceleration period T3 following the constant speed period T2, thereby performing a component transfer operation. In contrast, the period-limited imaging control can execute a constant speed imaging mode in which the component recognition camera C does not capture images of the high-precision component Eh during the acceleration period T1 and the deceleration period T3, but instead captures images of the high-precision component Eh during the constant speed period T2 ( FIG. 6 ). In this configuration, executing the constant speed imaging mode can eliminate the effect of inertial forces generated during the acceleration period T1 and the deceleration period T3 on the imaging of the high-precision component Eh.

[0067] Furthermore, when executing the constant speed imaging mode, the control unit 100 sets the unit speed Vu so that imaging of the high-precision component Eh is completed within the constant speed period T2 (steps S203 to S205). With this configuration, if the unit speed Vu is fast and the constant speed period T2 is short, and imaging of the high-precision component Eh cannot be completed within the constant speed period T2, control is executed to reduce the unit speed Vu so that imaging of the high-precision component Eh can be completed within the constant speed period T2. This makes it possible to prevent the occurrence of a situation in which imaging of the high-precision component Eh is not completed within the constant speed period T2, resulting in failure of the constant speed imaging mode.

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

[0069] In particular, the period-limited imaging control executes either a constant speed imaging mode (FIG. 6) or a still imaging mode (FIG. 8). In this configuration, by executing the constant speed imaging mode or the still imaging mode, it is possible to eliminate the influence of the inertial force generated during the acceleration period T1 and the deceleration period T3 on the imaging of the high-precision part Eh.

[0070] The control unit 100 also includes a UI 150 (image capture mode selection unit) that accepts a user operation to select one of the constant speed image capture mode and the still image capture mode, and executes the one image capture mode selected by the UI 150 (steps S403 to S406). With this configuration, it is possible to capture an image of the high-precision part Eh in one of the constant speed image capture mode and the still image capture mode that meets the needs of the user.

[0071] Furthermore, the control unit 100 executes a mode selection process (steps S407 and S408) for selecting one imaging mode from the constant speed imaging mode and the still imaging mode, and executes the one imaging mode selected by the mode selection process (steps S405 and S406). Specifically, in the mode selection process, the one imaging mode is selected based on a comparison between the time Tm required to complete mounting of the components E (high-precision components Eh and low-precision components El) picked up by the suction operation onto the board B when the constant speed imaging mode is executed and the time Ts required to complete mounting of the components E (high-precision components Eh and low-precision components El) picked up by the suction operation onto the board B when the still imaging mode is executed (steps S407 and S408). Specifically, if the time Tm required to complete mounting of the component E picked up by the suction operation onto the board B when the constant speed imaging mode is executed, and the time Ts required to complete mounting of the component E picked up by the suction operation onto the board B when the still imaging mode is executed, is shorter than the former, the constant speed imaging mode is executed, and if the latter is shorter than the former, the still imaging mode is executed. As a result, it is possible to shorten the time required to capture an image of the component E.

[0072] Furthermore, the control unit 100 does not execute time-limited imaging control for imaging the low-precision component El by the component recognition camera C, but instead allows the component recognition camera C to image the low-precision component El during periods (acceleration period T1, deceleration period T3) when the X-axis motor Mx and the Y-axis motor My accelerate or decelerate the head unit 3 (FIGS. 7C and 9C). For example, in the constant-speed imaging mode shown in FIG. 7C , the low-precision component imaging time T1 overlaps with the acceleration period T1 and the deceleration period T3, while in the stationary imaging mode shown in FIG. 9C , the low-precision component imaging time T1 overlaps with the acceleration period T1. With this configuration, the periods when the X-axis motor Mx and the Y-axis motor My accelerate or decelerate the head unit 3 are used to image the low-precision component El, allowing the low-precision component El to be efficiently imaged.

[0073] The head unit 3 also has a plurality of nozzles N arranged in the X direction (a predetermined direction), and picks up components E using the nozzles N. The component recognition camera C is movable relative to the head unit 3 between a retracted position L(+) (one retracted position) located on the X(+) side (one side) of the plurality of nozzles N in the X direction and a retracted position L(-) (other retracted position) located on the X(-) side (the other side) of the plurality of nozzles N in the X direction. The component recognition camera C is capable of performing a first scan imaging ( FIG. 3D ) in which the high-precision component Eh picked up by the nozzles N is imaged while moving from the retracted position L(+) toward the retracted position L(-), and a second scan imaging ( FIG. 3C ) in which the high-precision component Eh picked up by the nozzles N is imaged while moving from the retracted position L(-) toward the retracted position L(+). In response to this, the control unit 100 executes a scan imaging determination process (step S301) before the start of the suction operation (step S303) to determine which scan imaging (execution scan imaging) to perform in the stop imaging mode for the high-precision component Eh that is picked up by the head unit 3 through the suction operation, from among the first scan imaging ( FIG. 3D ) and the second scan imaging ( FIG. 3C ). In this scan imaging determination process, the scan imaging (execution scan imaging) to be used to image the high-precision component Eh is determined based on the position in the X direction of the high-precision component Eh that is picked up by the head unit 3 through the suction operation. If the control unit 100 determines to perform the first scan imaging ( FIG. 3D ), it positions the camera at the retracted position L(+) before the start of the suction operation. However, if the control unit 100 determines to perform the second scan imaging ( FIG. 3C ), it positions the component recognition camera C at the retracted position L(−) before the start of the suction operation (step S302). In this configuration, the movement direction of the component recognition camera C when executing the stop imaging mode is determined based on the position of the high-precision component Eh that is picked up by the head unit 3. As a result, the high-precision part Eh can be imaged while the part recognition camera C is moved in a rational direction according to the position of the high-precision part Eh, and the time required to image the high-precision part Eh can be shortened.

[0074] The control unit 100 also includes a UI 150 (control selection unit) that accepts a user's operation to select whether or not to execute the time-limited image capture control. When the user selects to execute the time-limited image capture control in the UI 150 ("YES" in step S401), the control unit 100 executes image capture of the high-precision component Eh using the time-limited image capture control (steps S405 and S406). When the user selects not to execute the time-limited image capture control in the UI 150 ("NO" in step S401), the control unit 100 does not execute the time-limited image capture control and instead allows the component recognition camera C to capture images of the component (particularly the high-precision component Eh) during the periods (acceleration period T1 and deceleration period T3) in which the X-axis motor Mx and the Y-axis motor My accelerate or decelerate the head unit 3 (step S402). With this configuration, whether or not to execute the time-limited image capture control can be determined according to the user's needs.

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

[0076] The present invention is not limited to the above embodiment, and various modifications can be made to the above without departing from the spirit of the present invention. For example, the suction operation during execution of the still image capture mode may be performed as shown in FIGS. 11A and 11B . Here, FIGS. 11A and 11B are front views schematically illustrating an example of the suction operation. In the example of FIGS. 11A and 11B , the multiple components E picked up by the head unit 3 include high-precision components Eh and low-precision components El. In particular, in the example of FIG. 11A , the multiple components E are picked up by the head unit 3 so that the high-precision components Eh are concentrated on the X(+) side and the low-precision components El are concentrated on the X(-) side (first suction mode). On the other hand, the multiple components E are picked up by the head unit 3 so that the high-precision components Eh are concentrated on the X(-) side and the low-precision components El are concentrated on the X(+) side (second suction mode). Whether the first suction mode or the second suction mode is to be executed can be determined based on, for example, the time required for the head unit 3 to complete suction of a plurality of components E (suction completion time). In other words, of the first suction mode and the second suction mode, it is determined that the suction operation is to be executed in the one suction mode that has the shorter suction completion time. Then, in the still image capture mode of FIG. 8 , steps S301 to S302 are executed on the assumption that the suction operation of step S303 is executed in this one suction mode.

[0077] That is, in this example, when the head unit 3 picks up the high-precision components Eh and the low-precision components El, the control unit 100 executes either a first suction mode ( FIG. 11A ) in which the high-precision components Eh and the low-precision components El are picked up by the head unit 3 so that all of the high-precision components Eh are located on the X(+) side (one side) of all of the low-precision components El, or a second suction mode ( FIG. 11B ) in which the high-precision components Eh and the low-precision components El are picked up by the head unit 3 so that all of the high-precision components Eh are located on the X(−) side (the other side) of all of the low-precision components El. When the first suction mode ( FIG. 11A ) is executed, the scan imaging (first scan imaging) of FIG. 3D is executed in the still imaging mode ( FIG. 8 ), and when the second suction mode ( FIG. 11B ) is executed, the scan imaging (second scan imaging) of FIG. 3C is executed in the still imaging mode ( FIG. 8 ). In this configuration, the high-precision parts Eh are gathered at the retraction position L(+) or the retraction position L(-) where the part recognition camera C is located, and then the part recognition camera C can be moved to capture an image of the high-precision parts Eh, thereby shortening the time required to capture an image of the high-precision parts Eh.

[0078] In the above embodiment, the components E targeted for the period-limited imaging control are limited to the high-precision components Eh out of the high-precision components Eh and the low-precision components El. However, the period-limited imaging control may be performed on all components E picked up by the head unit 3 without distinguishing between the high-precision components Eh and the low-precision components El.

[0079] Furthermore, in the period-limited imaging control, it is not necessary that both the constant speed imaging mode and the still imaging mode can be executed, and it may be configured so that only one of the constant speed imaging mode and the still imaging mode is executed.

[0080] REFERENCE SIGNS LIST 1...Component mounter 12...Conveyor (board transport section) 13...Work position 100...Control section 150...UI (imaging mode selection section, control selection section) 3...Head unit 5...Component supply section 52...Component supply position B...Board C...Component recognition camera (camera) E...Component Eh...High-precision component El...Low-precision component L(+)...Retraction position (one-side retraction position) L(-)...Retraction position (other-side retraction position) Mx...X-axis motor (unit drive section) My...Y-axis motor (unit drive section) N...Nozzle T1...Acceleration period T2...Constant-speed period T3...Deceleration period Vu...Unit speed X(+)...X(+) side (one side) X(-)...X(-) side (other side)

Claims

1. a component supply unit that supplies a component to a component supply position; A substrate transport unit that transports a substrate to a work position; a head unit that performs a suction operation to pick up the component supplied to the component supply position; a unit driving section that performs a component transfer operation to transfer the component adsorbed on the head unit to a position facing the substrate by driving the head unit; a camera supported by the head unit so as to be movable in a predetermined direction relative to the head unit, and moving along with the head unit driven by the unit drive section; a camera driving unit that drives the camera in the predetermined direction relative to the head unit; a control unit that causes the camera driving unit to drive the camera in the predetermined direction to capture an image of the component attracted to the head unit by the camera; Equipped with The control unit executes a period-limited imaging control for imaging the component with the camera driven in the specified direction during a period different from a period during which the unit driving unit accelerates or decelerates the head unit.

2. the unit driving unit executes the component transfer operation by accelerating the head unit to a predetermined unit speed during an acceleration period, moving the head unit at a constant speed at the unit speed during a constant speed period following the acceleration period, and decelerating the head unit from the unit speed during a deceleration period following the constant speed period; 2 . The component mounter according to claim 1 , wherein the period-limited imaging control is capable of executing a constant speed imaging mode in which the camera images the component during the constant speed period without imaging the component during the acceleration period and the deceleration period.

3. The component mounter according to claim 2 , wherein, when the constant speed imaging mode is executed, the control unit sets the unit speed so that imaging of the component is completed within the constant speed period.

4. The component mounter of claim 2, wherein the time-limited imaging control is further capable of executing a stop imaging mode in which the camera captures an image of the component adsorbed to the head unit, which stops before the component transfer operation begins, and executes either the constant speed imaging mode or the stop imaging mode.

5. an imaging mode selection unit that accepts a user's operation to select one imaging mode from the constant speed imaging mode and the still imaging mode, The component mounter according to claim 4 , wherein the control unit executes the one imaging mode selected by the imaging mode selection unit.

6. the control unit executes a mode selection process for selecting one imaging mode from the constant speed imaging mode and the still imaging mode, and executes the one imaging mode selected by the mode selection process; 5. The component mounter according to claim 4, wherein the mode selection process selects the one of the imaging modes based on a comparison between a time required to complete mounting of the component picked up in the suction operation onto the board when the constant speed imaging mode is executed and a time required to complete mounting of the component picked up in the suction operation onto the board when the stationary imaging mode is executed.

7. The components include high-precision components that are subject to the period-limited imaging control and low-precision components that are not subject to the period-limited imaging control, The component mounter according to claim 1 , wherein the control unit executes the imaging of the high-precision component by the camera under the period-limited imaging control.

8. The component mounter of claim 7, wherein the control unit does not execute the period-limited imaging control for imaging the low-precision components by the camera, and allows the camera to image the low-precision components during a period in which the unit drive unit accelerates or decelerates the head unit.

9. The component mounter according to claim 1 , wherein the time-limited imaging control is capable of executing a stationary imaging mode in which an image of the component adsorbed by the head unit, which stops before the component transfer operation starts, is captured by the camera.

10. The components include high-precision components that are subject to the period-limited imaging control and low-precision components that are not subject to the period-limited imaging control, The component mounter according to claim 9 , wherein the control unit executes the imaging of the high-precision component by the camera under the period-limited imaging control.

11. The component mounter of claim 10, wherein the control unit does not execute the period-limited imaging control for imaging the low-precision components by the camera, and allows the camera to image the low-precision components during a period in which the unit drive unit accelerates or decelerates the head unit.

12. the head unit has a plurality of nozzles arranged in the predetermined direction, and picks up the component by the nozzles; the camera is movable relative to the head unit between a one-side retraction position provided on one side of the plurality of nozzles in the predetermined direction and an other-side retraction position provided on the other side of the plurality of nozzles in the predetermined direction, and is capable of performing a first scan imaging to image the high-precision component adsorbed to the nozzle while moving from the one-side retraction position toward the other-side retraction position, and a second scan imaging to image the high-precision component adsorbed to the nozzle while moving from the other-side retraction position toward the one-side retraction position, the control unit executes a scan imaging determination process to determine, before a start of the suction operation, an execution scan imaging to be executed in the stop imaging mode for the high-precision component adsorbed to the head unit by the suction operation, from the first scan imaging and the second scan imaging; In the scan imaging determination process, the execution scan imaging is determined according to a position in the predetermined direction of the high-precision component that is attracted to the head unit by the suction operation; The component mounting machine of claim 10 or 11, wherein the control unit, when the first scan imaging is determined to be the execution scan imaging, positions the camera at the one retract position before the start of the suction operation, and, when the second scan imaging is determined to be the execution scan imaging, positions the camera at the other retract position before the start of the suction operation.

13. When the head unit adsorbs each of the high-precision components and the low-precision components, the control unit executes either a first suction mode in which the high-precision components and the low-precision components are adsorbed onto the head unit such that all of the high-precision components are positioned on one side of all of the low-precision components, or a second suction mode in which the high-precision components and the low-precision components are adsorbed onto the head unit such that all of the high-precision components are positioned on the other side of all of the low-precision components, When the first suction mode is executed, the first scan imaging is executed in the stationary imaging mode, The component mounter according to claim 12 , wherein, when the second pickup mode is executed, the second scan imaging is executed in the stationary imaging mode.

14. a control selection unit that accepts a user's operation to select whether or not to execute the period-limited image capture control, The component mounter described in any one of claims 1 to 13, wherein when the control selection unit selects that the period-limited imaging control is to be executed, the control unit executes imaging of the component using the period-limited imaging control, while when the control selection unit selects that the period-limited imaging control is not to be executed, the control unit does not execute the period-limited imaging control and allows the camera to image the component during the period when the unit drive unit accelerates or decelerates the head unit.

15. a step of performing a component transfer operation of driving a head unit that adsorbs a component to transfer the component adsorbed by the head unit to a position facing a substrate; capturing an image of the component adsorbed to the head unit by a camera supported by the head unit so as to be movable in a predetermined direction relative to the head unit and driven in the predetermined direction; Equipped with In the step of imaging the component, a period-limited imaging control is executed to image the component using the camera driven in the specified direction during a period different from a period during which the head unit is accelerated or decelerated.