Mounting device and attachment state determination method

Abstract

This mounting device equipped with a tool-attachable head comprises: an attachment member to which a tool is attached; an optical sensor disposed so that light from a light-emitting unit can be received by a light-receiving unit; a moving unit that relatively moves the attachment member and the optical sensor in the vertical direction; the tool attached to the attachment member; and a determination unit that performs a process for determining the attachment state of the tool on the basis of a light reception state of the optical sensor at a predetermined position state due to a relative movement with respect to the optical sensor.

Description

Mounting device and mounting state determination method

[0001] This specification discloses a mounting device and a mounting state determination method.

[0002] A mounting apparatus has been proposed that includes a tool with a nozzle for suctioning components and a head to which the tool can be attached or detached (see, for example, Patent Document 1). In this mounting apparatus, a piston member that is activated when the tool is attached is provided on the head, and the opening end of the air exhaust passage that was open before the tool was attached is closed by the operation of the piston member. This makes it possible to determine the attachment state of the tool based on changes in the air flow rate in the air exhaust passage.

[0003] Patent No. 6441953

[0004] In the mounting device described above, if the tool is attached to the head in an inclined position, the piston member may not be able to completely close the open end, or foreign matter may get into the air exhaust path, resulting in an air flow rate that is different from normal. In such cases, a determination based solely on the air flow rate may not properly determine whether a tool is attached, even if it is, and may erroneously determine that the tool is not attached. This may undesirably cause the tool to collide with other components while the head is operating.

[0005] A primary object of the present disclosure is to more appropriately determine the attachment state of a tool that is detachable from a head.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The mounting device of the present disclosure is a mounting device equipped with a head to which a tool can be attached and detached, and comprises: a mounting member to which the tool is attached; an optical sensor arranged so that light from an emitting unit can be received by a light receiving unit; a moving unit that moves the mounting member and the optical sensor relatively in the vertical direction; and a determining unit that performs processing to determine the mounting state of the tool based on the light receiving state of the optical sensor when the tool attached to the mounting member is in a predetermined position state due to the relative movement between the tool and the optical sensor.

[0008] In the mounting device of the present disclosure, the attachment state of the tool can be determined more appropriately based on the light reception state of the optical sensor.

[0009] 1 is a schematic diagram of the mounting device 10. A block diagram showing a configuration related to control of the mounting device 10. A schematic diagram of the head 30. A schematic diagram of the main parts of the head 30. An explanatory diagram of a state in which the tool 60 is normally attached to the head 30. A perspective view of the head 30 and the tool 60. A perspective view of the tool 60. A perspective view of the tool 60. An explanatory diagram showing an example of the arrangement of each optical sensor 52, 54, 58. A flowchart showing an example of a tool attachment process. An explanatory diagram of a state in which the tool 60 is not normally attached. An explanatory diagram showing an example of a first position P1 of the tool 60. An explanatory diagram showing an example of an R-axis retracted state. A flowchart showing an example of a post-abnormal stop determination process. An explanatory diagram showing an example of a second position P2 of the tool 60. A flowchart showing an example of a contact detection process. An explanatory diagram showing a configuration related to contact detection.

[0010] An embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a schematic diagram of a mounting apparatus 10. Fig. 2 is a block diagram showing a configuration related to control of the mounting apparatus 10. Fig. 3 is a schematic diagram of a head 30, and Fig. 4 is a schematic diagram of a main part of the head 30. Note that the left-right direction in Fig. 1 is the X-axis direction, the front-rear direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

[0011] As shown in FIG. 1 , the mounting apparatus 10 includes a component supply device 12, a board transport device 14, a head 30, a moving device 20, and a control device 70 (see FIG. 2 ). The component supply device 12 is, for example, a tape feeder equipped with a reel on which components are stored at predetermined intervals. Driven by a motor (not shown), the component supply device 12 pulls out the tape from the reel and supplies the components to a supply position. The board transport device 14 includes, for example, a pair of conveyor belts spaced apart in the front-to-rear direction (Y-axis direction) and stretched horizontally. The conveyor belts are driven by a motor (not shown) to transport the board S from left to right in FIG. 1 . The moving device 20 includes a guide rail 23 provided along the Y-axis direction, a Y-axis slider 24 that moves along the guide rail 23, a guide rail 21 provided on the Y-axis slider 24 along the X-axis direction, and an X-axis slider 22 that moves along the guide rail 21. A head 30 is attached to the X-axis slider 22. The moving device 20 moves the X-axis slider 22 and the Y-axis slider 24 by driving motors (not shown), thereby moving the head 30 in the X and Y directions.

[0012] The mounting apparatus 10 also has a tool 60 (autotool) having one or more nozzles 65 for picking up (picking up) components that can be attached to and detached from the head 30. Examples of such tools include a single-nozzle tool having one nozzle 65 on its axis, and a multi-nozzle tool (rotary tool) having multiple (e.g., 12 or 16) nozzles 65 spaced at predetermined angles in the circumferential direction. The tool is not limited to a tool having a nozzle 65 for picking up components, but may also be a glue tool having a nozzle (glue nozzle) for dispensing adhesive to be applied to the substrate S. The mounting apparatus 10 includes a tool station 26 for stocking these multiple tools. In this embodiment, a multi-nozzle tool will be described as an example of the tool 60. Note that FIG. 1 illustrates a state in which the multi-nozzle tool is attached to the head 30, and the tool station 26 has two storage compartments 26a and 26b, of which the storage compartment 26a is empty and the single-nozzle tool is stored in the storage compartment 26b.

[0013] The tool 60 includes a tool body 61, a nozzle holder 62, an engagement piece 63, a spring 62a, a nozzle 65, a switching lever (switching piece) 66, and a mounting recess 67 (see FIG. 5 ). The tool body 61 is formed in a substantially cylindrical shape, and multiple nozzle holders 62 are provided at predetermined intervals on the same circumference. Each nozzle holder 62 is movable vertically relative to the tool body 61, and a nozzle 65 is replaceably attached to its tip (lower end). The engagement piece 63 is provided near the upper end of each nozzle holder 62 so as to protrude horizontally outward beyond the maximum diameter portion (lower part) of the tool body 61. The nozzle holder 62 is positioned in a predetermined position (upper position) by the engagement piece 63 being biased upward by the spring 62a. When the tool 60 is attached to the head 30, the engaging piece 63 engages with a cam follower 45 or a clamping portion 46 of the Z2-axis drive unit 43 (described later) and is displaced by driving the Z2-axis drive unit 43, thereby allowing the nozzle holder 62 (nozzle 65) to move downward. Furthermore, cylindrical guide bars 63a, with which the engaging piece 63 can slide, are provided between the nozzle holders 62 so as to guide the engaging piece 63 (nozzle holder 62) as it moves up and down. The upper end of each guide bar 63a is fixed to a ring member 64 formed with an outer diameter larger than the outer diameter of the upper end of the tool body 61.

[0014] With the tool 60 attached to the head 30, the nozzle 65 receives negative or positive pressure from a pressure supply device (not shown) via the nozzle holder 62. The nozzle 65 uses the supplied negative pressure to suction and hold a component at its tip (lower end), and uses the supplied positive pressure to release the component and place it on the substrate S. The switching lever 66 switches the supply state (such as a state in which negative pressure is supplied or a state in which positive pressure is supplied) to each nozzle holder 62 (nozzle 65), and is provided at a position corresponding to each nozzle holder 62 so as to protrude horizontally outward beyond the maximum diameter portion (lower portion) of the tool body 61. With the tool 60 attached to the head 30, the switching lever 66 is displaced by the drive of a switching drive unit 44 (described later) to switch the supply state.

[0015] 4 and 5 , the mounting recess 67 is provided in the center of the tool 60 and is attached and fixed to a mounting member 31 (described later) of the head 30. The mounting recess 67 has an annular claw portion 67a formed at the opening edge that protrudes radially inward, and a pin hole 67b formed at the outer circumferential edge of the upper surface into which a pin 31a provided on the mounting member 31 of the head 30 fits. The lower side of the protruding end face (inner circumferential surface) of the claw portion 67a is tapered so that the inner diameter decreases from bottom to top, and engages with a clamp ball 37 (described later) of the head 30.

[0016] Furthermore, when the tool 60 of this embodiment is attached to the head 30, a first optical path A1 and a second optical path A2 are formed as horizontal optical paths. The first optical path A1 is an optical path that penetrates from one end to the other end of the tool 60 in the horizontal direction, for example, by a through-hole 61a (see FIGS. 12 and 14 ) formed in the tool body 61 of the tool 60 and gaps between the components of the tool 60. This first optical path A1 is used for determination by the first optical sensor 52 and the second optical sensor 54, which are configured as transmissive optical sensors. Note that the first optical path A1 may not have the through-hole 61a, and light may pass through gaps between the components of the tool 60.

[0017] The second optical path A2 is formed, for example, by a through-hole 61b (see FIGS. 4 and 7) formed in the tool body 61, a communication hole 32c (see FIG. 4) in a recess 32 (described later) of the head 30, and an opening 69a (see FIG. 8) formed in the support member 69. This second optical path A2 is used for determination by the third optical sensor 56 configured as a reflective optical sensor. Here, in this embodiment, one specific guide bar 163a among the plurality of guide bars 63a described above is formed to be shorter in length than the other guide bars 63a. The support member 69 is a rectangular flat plate-shaped member, to the lower part of which the upper end of the specific guide bar 163a is attached, and the upper part is fixed to the ring member 64. The support member 69 also has an opening 69a formed in its approximate center so as to face the through-hole 61b. That is, the support member 69 supports the upper end of the specific guide bar 163a and allows the third optical sensor 56 to face the through-hole 61b via the opening 69a.

[0018] The head 30 includes a housing 30a, a mounting member 31, various drive units, various sensors, etc. The housing 30a houses the various components of the head 30 and is detachably attached to the X-axis slider 22 of the movement device 20. The mounting member 31 is configured as an axial member that is movable in the vertical direction relative to the head 30 (housing 30a). The mounting member 31 has a recess 32 formed at its lower end, and a clamp portion 33 is provided in the recess 32.

[0019] The clamping portion 33 clamps the tool 60 attached to the mounting member 31. As shown in FIG. 4 , the clamping portion 33 includes a piston 34, a spring 35, a pusher member 36, a clamp ball 37, and a holding portion 38. The piston 34 has a cylindrical portion 34a with a bottom and a flange portion 34b that extends radially outward from the top of the cylindrical portion 34a and is capable of sliding against the inner wall surface of the recess 32. A spring 35 is disposed within the cylindrical portion 34a of the piston 34, and the piston 34 is movable vertically within the recess 32. The spring 35 biases the piston 34 downward, using the upper bottom surface of the recess 32 of the mounting member 31 as a spring support. The pusher member 36 is a generally disk-shaped member coaxially attached to a protrusion 34c formed below the cylindrical portion 34a of the piston 34, and moves vertically together with the piston 34. The pusher member 36 has a tapered sidewall surface so that its outer diameter decreases from top to bottom, i.e., so that it tapers downward. The retaining portion 38 is formed to retain the clamp ball 37 and is attached to the lower end of the mounting member 31 so as to close the recess 32. The retaining portion 38 also has a mounting protrusion 38a at the center of its lower portion, which protrudes downward in a cylindrical shape with a bottom and is sized to fit into the mounting recess 67 of the tool 60. The clamp ball 37 is retained within the mounting protrusion 38a of the retaining portion 38 and can move between a position where it protrudes outward from an opening formed in the sidewall of the mounting protrusion 38a and a position where it fits within the opening. A plurality of clamp balls 37 are arranged circumferentially around the mounting protrusion 38a, and the inner surface of each is capable of abutting against the tapered sidewall surface of the pusher member 36.

[0020] In the clamping portion 33, when positive pressure is supplied to the space 32a between the top surface of the piston 34 and the upper bottom surface of the recess 32, the piston 34 moves to a lower position due to the positive pressure acting on the upper surface and the biasing force of the spring 35. The pusher member 36, which moves with the piston 34, pushes the clamp ball 37 outward with its tapered sidewall surface, causing the clamp ball 37 to protrude from the sidewall of the mounting protrusion 38a (see FIGS. 4 and 5). The protruding clamp ball 37 engages with the tapered protruding end surface of the claw 67a in the mounting recess 67 of the tool 60. This clamps the tool 60 to the mounting member 31. For this reason, the lower position of the piston 34 is also referred to as the clamped position. On the other hand, in the clamping portion 33, when the supply of positive pressure to the space 32a is stopped and positive pressure is supplied to the space 32b between the lower surface of the flange portion 34b of the piston 34 and the upper surface of the holding portion 38, the piston 34 moves to the upper position. As a result, the force exerted by the push-out member 36 to push the clamp ball 37 outward is no longer applied, and the clamp is released.

[0021] The clamping portion 33 also includes an interlocking member (detectable member) 39 that moves vertically in conjunction with the movement of the piston 34 and is detected by a third optical sensor 56 (see FIG. 4 ). The interlocking member 39 is an L-shaped member having a horizontally extending portion 39a (first extending portion) that is connected to the piston 34 between the cylindrical portion 34a and the protruding portion 34c and extends horizontally, and a vertically extending portion 39b (second extending portion) that extends vertically upward from the end of the horizontally extending portion 39a. The sidewall of the recessed portion 32 is formed with a communication hole 32c (see FIG. 4 ) that communicates with the through-hole 61b to form the second optical path A2. The upper end of the vertically extending portion 39b is located within the communication hole 32c. The upper end of the vertically extending portion 39b is provided with two reflective regions with different light reflectivities, a black region 39c and a white region 39d, that are adjacent to each other in the vertical direction. 4 is an example, and the vertical arrangement of the black region 39c and the white region 39d may be reversed. The interlocking member 39 moves vertically in conjunction with the piston 34, i.e., in conjunction with the clamp ball 37, and switches between a state in which the black region 39c of the vertical extending portion 39b is located on the second optical path A2 and a state in which the white region 39d is located on the second optical path A2.

[0022] As shown in FIGS. 2 and 3 , the head 30 includes various drive units, such as a Z1-axis drive unit 40, an R-axis drive unit 41, a Q-axis drive unit 42, a Z2-axis drive unit 43, and a switching drive unit 44. Each drive unit operates an object using a motor and a transmission mechanism, such as a gear, that transmits the motor's driving force; detailed description of the transmission mechanism is omitted. The Z1-axis drive unit 40 drives the Z1-axis motor 40a to move the mounting member 31 vertically relative to the housing 30a. The R-axis drive unit 41 drives the R-axis motor 41a to rotate the tool 60 (multi-nozzle tool) attached to the mounting member 31 around its axis (R-axis), thereby rotating (revolving) the nozzles 65 attached to each nozzle holder 62 in the circumferential direction. The Q-axis drive unit 42 drives the Q-axis motor 42a to rotate (spin) each nozzle 65 of the tool 60 around its axis. The Z2-axis drive unit 43 moves the slider 47 in the up and down direction by driving the Z2-axis motor 43a.

[0023] The slider 47 is fitted with a cam follower 45 that can contact the engaging piece 63 of the nozzle holder 62 from above, and a clamping portion 46 that is positioned between the slider 47 and the cam follower 45 to sandwich the engaging piece 63 at a predetermined pivot position from above and below (see FIG. 6 ). Therefore, the Z2-axis drive unit 43 can move the nozzle holder 62 and the nozzle 65 vertically relative to the tool body 61 by moving the slider 47. The switching drive unit 44 vertically operates a support portion 49 (see FIG. 6 ), to which a pair of upper and lower cam followers 48 are attached, by driving a switching motor 44a. Each cam follower 48 is configured to be able to contact a switching lever 66 of the tool 60 from above or below. Therefore, the switching drive unit 44 can operate the support portion 49 upward or downward, displacing the switching lever 66 with either the upper or lower cam follower 48 to switch the supply state.

[0024] 2, 3, and 9, the head 30 is equipped with sensors such as a first optical sensor 52, a second optical sensor 54, a third optical sensor 56 (not shown in FIG. 9), and a fourth optical sensor 58. The first optical sensor 52, the second optical sensor 54, and the third optical sensor 56 are used to check the attachment state (clamping) of the tool 60. The fourth optical sensor 58 is used to check the presence or absence of the nozzle 65.

[0025] The first optical sensor 52 is configured as a transmission sensor having a light-emitting portion 52a and a light-receiving portion 52b facing each other. The first optical sensor 52 is disposed in the housing 30a so that, in a first position state in which the tool 60 is at a first position P1 (lower position) as a predetermined height position, light L emitted from the light-emitting portion 52a passes through a first optical path A1 and can be received by the light-receiving portion 52b. This first position P1 is a height position at which the engagement piece 63 of the tool 60 is below and in the vicinity of the cam follower 48.

[0026] The second optical sensor 54 is configured as a transmission sensor having a light-emitting portion 54a and a light-receiving portion 54b facing each other. The second optical sensor 54 is disposed above the first optical sensor 52. The second optical sensor 54 is disposed in the housing 30a so that light L emitted from the light-emitting portion 54a passes through the first optical path A1 and can be received by the light-receiving portion 54b when the tool 60 is in a second position state in which the tool 60 is at a second position P2 (intermediate position) higher than the first position P1. The second position P2 is a height position at which the engagement piece 63 of the tool 60 is below and adjacent to the cam follower 45 (clamping portion 46).

[0027] The third optical sensor 56 is configured as a reflective sensor having an adjacent light-emitting element 56a and a light-receiving element 56b. The third optical sensor 56 is disposed above the slider 47 of the Z2-axis drive unit 43 and moves vertically as the slider 47 moves. Here, when the tool 60 is in a working position where a normal mounting operation is performed, the engagement piece 63 is sandwiched between the cam follower 45 and the clamping portion 46. FIG. 4 shows the third optical sensor 56 at a third position P3 (upper position) where the tool 60 is relatively lower than the tool 60 in the working position, in other words, where the tool 60 is relatively higher than the third optical sensor 56. This third position P3 is higher than the second position P2. In the third position state where the tool 60 and the third optical sensor 56 are in the third position P3, light L emitted from the light-emitting element 56a of the third optical sensor 56 enters the tool 60 via the second optical path A2. Furthermore, the light that has entered the tool 60 is reflected by either the black region 39c or the white region 39d provided at the upper end of the vertically extending portion 39b of the interlocking member 39, and can be received by the light receiving unit 56b via the second optical path A2. Note that the third optical sensor 56 can perform a different determination function (detection function) when it moves up or down in accordance with the movement of the slider 47 in a position state different from the third position state, as will be described in detail later.

[0028] The fourth optical sensor 58 is configured as a transmission sensor having a light-emitting portion 58a and a light-receiving portion 58b. The fourth optical sensor 58 is disposed below the first optical sensor 52. The fourth optical sensor 58 is disposed so that, when the tool 60 is in the working position, light L emitted from the light-emitting portion 58a passes slightly below the lower end of the nozzle holder 62 and can be received by the light-receiving portion 58b. Therefore, when a nozzle 65 is attached to the nozzle holder 62, the light L emitted from the light-emitting portion 58a cannot be received by the light-receiving portion 58b. Therefore, the control device 70 can determine the presence or absence of the nozzle 65 based on the light-receiving state of the fourth optical sensor 58. Note that determining the presence or absence of the nozzle 65 is not part of the gist of this disclosure, and therefore further description thereof will be omitted.

[0029] As shown in FIG. 2 , the control device 70 is configured as a microprocessor centered around a CPU 71. In addition to the CPU 71, the control device 70 also includes a ROM 72, a HDD 73, a RAM 74, and an input / output interface 75. These components are electrically connected via a bus 76. Detection signals from the optical sensors 52, 54, 56, and 58 are input to the control device 70 via the input / output interface 75. The control device 70 also outputs drive signals to the component supply device 12, the board transport device 14, and the moving device 20, as well as drive signals to the drive units 40, 41, 42, 43, and 44 via the input / output interface 75. The HDD 73 stores production information for the boards S. The production information for the boards S refers to information that defines which components are to be mounted on which positions on the boards S and in what order, which tools are to be used to mount the components, and how many boards S with components mounted thereon are to be produced.

[0030] Next, the operation of the mounting apparatus 10 configured as described above, particularly the operation when attaching the tool 60, will be described. FIG. 10 is a flowchart showing an example of a tool attachment process. This process is executed by the CPU 71 of the control device 70 when no tool is attached to the head 30. The CPU 71 first controls the moving device 20 to move the head 30 above the storage section in the tool station 26 where the tool 60 to be attached is stored, and then drives the Z1-axis drive unit 40 to lower the attachment member 31 (S100). The lowering of the attachment member 31 causes the attachment protrusion 38a of the holding portion 38 of the clamp unit 33 to fit within the attachment recess 67 of the tool 60.

[0031] Next, the CPU 71 attaches the tool 60 to the mounting member 31 by clamping the clamp unit 33 (S110). In S110, the CPU 71 moves the piston 34 (ejector 36) downward. This causes the clamp ball 37 to protrude from the side wall of the mounting protrusion 38a and engage with the tapered protruding end surface of the claw 67a of the mounting recess 67 (see FIGS. 4 and 5), thereby attaching the tool 60 to the mounting member 31. The interlocking member 39 also moves downward in conjunction with the movement of the piston 34. Note that the tool 60 may be attached to the mounting member 31 without being securely clamped due to misalignment or tilt of the tool 60 in the storage section of the tool station 26 or misalignment or tilt of the mounting member 31. For example, as shown in FIG. 11 , the tool 60 may be attached to the mounting member 31 with the claw 67a clamped to the lower side of the clamp ball 37 and the pin 31a not inserted into the pin hole 67b.

[0032] Next, the CPU 71 drives the Z1-axis drive unit 40 to raise the tool 60 to the first position P1 (lower position) to set it to the first position state (S120, FIG. 12 ), and performs a downward determination process to determine the attachment state of the tool 60 based on the light reception state of the first optical sensor 52 (S130). As described above, in the first position state, light L emitted from the light emitter 52a of the first optical sensor 52 passes through the first optical path A1 formed by the through-hole 61a of the tool 60 and can be received by the light receiver 52b. If the tool 60 is not securely clamped and attached to the attachment member 31, the tool 60 tilts, misaligning the through-hole 61a, and the light L is blocked from passing through the first optical path A1. In this case, the first optical sensor 52 enters a light reception state with a reduced light reception level. Based on this light reception state, the CPU 71 determines whether the attachment state of the tool 60 determined in the downward determination process is normal, i.e., whether the attachment state is normal (S140).

[0033] If the CPU 71 determines in the downward determination process that the attachment state is not normal, it executes error processing (S150) and terminates the tool attachment process. The error processing is performed, for example, by displaying an error code or error message on a display unit (not shown) of the mounting device 10 to indicate that an attachment error has occurred in the tool 60, sounding an alarm, or turning on an alarm lamp. The worker who notices the attachment error checks the location of the error, returns the tool 60 and head 30 to the correct state, and then takes action such as re-executing the tool attachment process.

[0034] On the other hand, when the CPU 71 determines that the installation state is normal in the downward determination process, it raises the tool 60 beyond the first position P1 and moves the tool 60 and the third optical sensor 56 to the third position P3, thereby establishing the third position state (S160).

[0035] When the CPU 71 raises the tool 60 beyond the first position P1, the CPU 71 raises the tool 60 in an R-axis retracted state in which the rotational position of the R-axis is the retracted position, as shown in FIG. 13 . As shown in FIG. 13 , among the multiple (16 in FIG. 12 ) engaging pieces 63, two adjacent engaging pieces 63(1), 63(2) have a narrow circumferential width so that the distance between them is wider than the distance between the other engaging pieces 63. The R-axis retracted state is achieved by controlling the R-axis drive unit 41 so that the clamping portion 46 (cam follower 45) is positioned between the engaging pieces 63(1), 63(2). The switching lever 66 protrudes radially outward more than the engaging pieces 63. Accordingly, the amount of protrusion of the cam follower 48 toward the tool 60 is smaller than the amount of protrusion of the cam follower 45 toward the tool 60. Therefore, in a normal installation state, the engagement piece 63 does not come into contact with the cam follower 48 for the switching lever 66 when the tool 60 is raised. However, if the installation state is not normal, the engagement piece 63 may collide with the cam follower 48 and be damaged due to, for example, the tilt of the tool 60. For this reason, in this embodiment, the CPU 71 determines that the installation state is normal in the downward determination process for the first position state, and then moves the tool 60 to a position beyond the first position P1.

[0036] The CPU 71 also performs an upward determination process to determine the attachment state of the tool 60 based on the light-receiving state of the third optical sensor 56 in the third position state (S170). As described above, in the third position state, light L emitted from the light-emitting element 56a of the third optical sensor 56 travels along the second optical path A2 formed by the through-hole 61b, the communication hole 32c, and the opening 69a, is reflected off the upper end of the vertically extending portion 39b of the interlocking member 39, and is then received by the light-receiving element 56b. The interlocking member 39 moves integrally with the piston 34, switching between a state in which the black region 39c is located on the second optical path A2 and a state in which the white region 39d is located on the second optical path A2. Furthermore, the amount of light received by the light-receiving element 56b when reflected by the black region 39c differs from the amount of light received by the light-receiving element 56b when reflected by the white region 39d. Therefore, if the tool 60 is not securely clamped due to a slight abnormality in the clamping state, such as a slight misalignment of the interlocking member 39, for example, due to a foreign object being caught, the amount of light received by the third optical sensor 56 will differ from normal. That is, the amount of light received by the light receiving element 56b of the third optical sensor 56 during the upward determination process varies depending on whether the piston 34 is in the correct clamping position. Based on this light receiving state, the CPU 71 determines whether the attachment state of the tool 60 determined during the upward determination process is normal, i.e., whether the attachment state is normal (S180). Furthermore, the reflective third optical sensor 56 can be positioned to have a shorter distance to the detection target (the upper end of the vertical extension portion 39b) than the distance between the light-emitting element 52a and the light-receiving element 52b of the transmissive first optical sensor 52, thereby improving detection accuracy. Therefore, the upward determination process at S170 can more accurately detect abnormalities in the attachment state of the tool 60 and appropriately determine the attachment state than the downward determination process at S130.

[0037] If the CPU 71 determines in the upward determination process that the attachment state is not normal, it executes error processing (S150) and ends the tool attachment process. On the other hand, if the CPU 71 determines in the upward determination process that the attachment state is normal, it can be determined that the tool 60 is securely clamped and attached to the attachment member 31, and therefore it places the tool 60 and the third optical sensor 56 in a work position state where normal mounting work is performed (S190), and ends the tool attachment process.

[0038] Next, a process for determining the attachment state after an abnormal stop during tool replacement will be described. FIG. 14 is a flowchart showing an example of the process for determining the attachment state after an abnormal stop. This process is performed when the tool 60 is automatically returned to a position beyond the first position P1 (lower position) after some abnormality occurs and the tool 60 (mounting member 31) stops abnormally during the upward movement. In the automatic return, the tool 60 must be moved to the R-axis retracted state shown in FIG. 13 before being moved to the working position. However, this process is performed to determine whether the attachment state of the tool 60 is normal prior to the automatic return. Note that if the tool 60 stops abnormally due to some disturbance, the clamp of the tool 60 may become unclamped and tilted. In this case, if the tool 60 is lowered to the first position P1, the engagement piece 63 may collide with the cam follower 48 for the switching lever 66. In this embodiment, to avoid such a collision, the attachment state determination process is performed at the second position P2 without lowering the tool 60 to the first position P1, as described below.

[0039] In the post-abnormal stop determination process, the CPU 71 drives the Z1-axis drive unit 40 to move the tool 60 to the second position P2 (intermediate position) to set it to the second position state (S200, FIG. 15 ). Then, in the second position state, the CPU 71 performs an intermediate determination process to determine the attachment state of the tool 60 based on the light reception state of the second optical sensor 54 (S210). As described above, in the second position state, light L emitted from the light emitter 54a of the second optical sensor 54 passes through the first optical path A1 formed by the through-hole 61a of the tool 60 and can be received by the light receiver 54b. If the clamp is released due to some disturbance and the tool 60 is tilted, the position of the through-hole 61a shifts, blocking the light L from passing through the first optical path A1. In this case, the second optical sensor 54 enters a light reception state with a reduced light reception level. Based on this light reception state, the CPU 71 determines whether the attachment state of the tool 60 determined in the intermediate determination process is normal (S220).

[0040] If the CPU 71 determines in the intermediate determination process that the tool is not in a normal mounting state, it executes error processing (S230) and terminates the post-abnormal stop determination process. S230 is executed in the same manner as S150. On the other hand, if the CPU 71 determines in the intermediate determination process that the tool is in a normal mounting state, it controls the R-axis drive unit 41 to rotate the tool 60 so that the tool is in the R-axis retracted state (S240).

[0041] Next, the CPU 71 raises the tool 60 and moves the tool 60 and the third optical sensor 56 to the third position P3, thereby establishing a third position state (S250). The CPU 71 then performs an upward determination process in the third position state (S260) and determines whether the attachment state of the tool 60 is normal, i.e., whether the attachment state is normal (S270). S260 and S270 are performed in the same manner as S170 and S180. Furthermore, the reflective third optical sensor 56 can be positioned to have a shorter distance to the detection target (the upper end of the vertically extending portion 39b) than the distance between the light-emitting element 54a and the light-receiving element 54b of the transmissive second optical sensor 54, thereby improving detection accuracy. Therefore, the upward determination process of S260 can more accurately detect abnormalities in the attachment state of the tool 60 and appropriately determine the attachment state than the intermediate determination process of S210.

[0042] If the CPU 71 determines in the upward determination process that the tool 60 is not in a normal attachment state, it executes error processing (S230) and terminates the post-abnormal stop determination process. On the other hand, if the CPU 71 determines in the upward determination process that the tool 60 is in a normal attachment state, it can be determined that the tool 60 is securely clamped and attached to the attachment member 31, and therefore it sets the tool 60 and the third optical sensor 56 to a normal work position state (S280) and terminates the post-abnormal stop determination process. In this way, after determining in the intermediate determination process that the tool 60 is in a normal attachment state, the tool 60 is safely raised to the third position P3 and the upward determination process is performed, so that the tool 60 can be quickly and automatically returned to its normal position while the attachment state is reliably confirmed.

[0043] It is also possible to determine the attachment state of the tool 60 based on the air flow rate. For example, when the tool 60 is attached to the attachment member 31, the opening of a predetermined air flow path is blocked, and the air flow rate in that air flow path is detected by a flow sensor. However, with such a configuration, if grease, wear particles, or the like are mixed into the air flow path, the change in the air flow rate cannot be properly detected, which may result in an erroneous determination. Furthermore, if the opening of the air flow path is blocked when the tool 60 is not securely clamped, as shown in FIG. 11, there is a risk of an erroneous determination that the attachment state is normal. In this embodiment, the attachment state is determined using the first to third optical sensors 52, 54, and 56, preventing such erroneous determination and allowing for an appropriate determination. Furthermore, there is no need to provide an air flow path for detection, which reduces the number of air flow paths.

[0044] Next, a mounting process using the tool 60 attached to the head 30 will be described. The mounting process involves a component pick-up process and a component placement process. In the pick-up process, the CPU 71 first controls the moving device 20 to move the head 30 above the supply position of the component supply device 12, then lowers the nozzle 65, causing the nozzle 65 to pick up (suck) a component supplied to the supply position. The CPU 71 then repeats the operation of sequentially moving each nozzle 65 to a predetermined rotation position and causing the nozzle 65 to pick up a component until each nozzle 65 has picked up a component. In the placement process, the CPU 71 controls the moving device 20 to move the head 30 above the board S, lowering the nozzle 65, and placing the component at a mounting position on the board S. The CPU 71 then repeats the operation of sequentially moving each nozzle 65 to a predetermined rotation position and causing the nozzle 65 to place a component until the component picked up by each nozzle 65 is placed at its respective mounting position. In the placement process, the CPU 71 lowers the nozzle 65 at a relatively slow speed before the component held by the nozzle 65 comes into contact with the board S so as not to cause any impact on the component or the board S upon contact. Furthermore, when the CPU 71 detects that the component held by the nozzle 65 has come into contact with the board S (hereinafter referred to as contact detection), it stops the descent of the nozzle 65 and releases the component from suction, thereby placing the component. The third optical sensor 56 of this embodiment is capable of performing a contact detection determination function as another determination function described above. The contact detection process will now be described.

[0045] FIG. 16 is a flowchart showing an example of contact detection processing. FIG. 17 is an explanatory diagram showing a configuration related to contact detection. As shown in FIG. 17 , the nozzle holder 62 is provided with an inner rod 162, a spring 164, and an upper end member 166. The inner rod 162 is a rod-shaped connecting member extending vertically and is displaceably disposed within the nozzle holder 62. The inner rod 162 is composed of a first rod 162a (first connecting member) whose lower end is connected to the upper end of the nozzle 65, and a second rod 162b (second connecting member) whose lower end is connected to the upper end of the first rod 162a. The spring 164 biases the nozzle 65 connected to the first rod 162a downward, using the inner wall of the nozzle holder 62 as a spring support. Therefore, the inner rod 162, together with the nozzle 65, is normally positioned downward within its range of movement due to the biasing force of the spring 164. The upper end member 166 is disposed above the nozzle holder 62, and the upper end of the second rod 162b protruding upward from the nozzle holder 62 is fitted into the upper end of the upper end member 166. Therefore, the inner rod 162 and the upper end member 166 move integrally. Note that the configuration is not limited to one in which the upper end member 166 is fitted into the upper end of the inner rod 162, and the inner rod 162 and the upper end member 166 may be configured as an integrated member.

[0046] Furthermore, in the normal working position (fourth position), the upper end member 166 is positioned opposite the third optical sensor 56 and is located on the second optical path A2. As the slider 47 moves, the third optical sensor 56 and the nozzle holder 62 move together, so the upper end member 166 moves vertically while maintaining its opposing relationship with the third optical sensor 56. The upper end member 166 has two reflective regions with different light reflectivities, a black region 166a and a white region 166b, which are arranged adjacent to each other in the vertical direction. Therefore, as the upper end member 166 moves integrally with the inner rod 162, it switches between a state in which the black region 166a is located and a state in which the white region 166b is located on the second optical path A2. The arrangement of the black region 166a and the white region 166b in FIG. 17 is merely an example, and their vertical arrangement may be reversed.

[0047] The contact detection process of FIG. 16 is executed with the head 30 moved so that the nozzle 65 holding the component to be mounted is positioned above the mounting position on the board S. In this contact detection process, the CPU 71 first waits for the nozzle 65 (nozzle holder 62) to begin descending due to movement of the slider 47 (S300). As the slider 47 moves, the third optical sensor 56 and the nozzle 65 (nozzle holder 62) both descend. When the CPU 71 determines that the nozzle 65 has begun descending, it monitors the light reception state of light emitted from the light-emitting portion 56a of the third optical sensor 56 and reflected by the upper end member 166 (S310) and determines whether the light reception state of the third optical sensor 56 (light-receiving portion 56b) has changed (S320). When the CPU 71 determines that the light reception state has changed, it detects that a component has come into contact with the board S (S330) and ends this process. Upon detecting the contact, the CPU 71 stops the movement of the slider 47 and activates the switching lever 66 by driving the switching drive unit 44, thereby releasing the component suction.

[0048] When the nozzle 65 begins to descend in S300, the nozzle 65 is positioned downward due to the biasing force of the spring 164, and the inner rod 162 and upper end member 166 are positioned downward within their range of movement. Therefore, in the example shown in FIG. 17 , the black area 166a is positioned on the second optical path A2. Meanwhile, when a component held by the nozzle 65 comes into contact with the board S, the nozzle 65 is pushed slightly upward against the biasing force of the spring 164, displacing the inner rod 162 and upper end member 166 upward. This positions the white area 166b on the second optical path A2, changing the light-receiving state of the third optical sensor 56. This allows the CPU 71 to determine contact detection based on the change in the light-receiving state of the third optical sensor 56. Because the third optical sensor 56 is used for both determining the attachment state of the tool 60 and determining contact detection, a dedicated sensor for contact detection is not required.

[0049] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The mounting member 31 of this embodiment corresponds to the mounting member of the present disclosure; the first optical sensor 52, the second optical sensor 54, and the third optical sensor 56 correspond to the optical sensors; the Z1-axis drive unit 40 and the Z2-axis drive unit 43 correspond to the moving unit; and the control device 70, which executes steps S120 to S140 (downward determination process) and S160 to S180 (upward determination process) of the tool mounting process and steps S200 to S220 (intermediate determination process) of the post-abnormal stop determination process, corresponds to the determining unit. The Z1-axis drive unit 40 corresponds to the mounting member moving unit, and the Z2-axis drive unit 43 corresponds to the optical sensor moving unit. The nozzle holder 62 corresponds to the holder; the tool main body 61 corresponds to the main body; the piston 34, the pusher member 36, and the clamp ball 37 of the clamp unit 33 correspond to the clamp members; the communication hole 32c corresponds to the communication hole; and the interlocking member 39 corresponds to the interlocking member. The engaging piece 63 corresponds to the protrusion, the guide bar 63a corresponds to the guide member, and the support member 69 corresponds to the support member. The slider 47 corresponds to the slider. The inner rod 162 and the upper end member 166 correspond to the connecting member. The switching lever 66 corresponds to the switching portion, the cam follower 48 corresponds to the switching abutment portion, the cam follower 45 corresponds to the protrusion abutment portion, and the first optical sensor 52 corresponds to the lower sensor. The third optical sensor 56 corresponds to the upper sensor, and the second optical sensor 54 corresponds to the intermediate sensor. In this embodiment, by explaining the operation of the mounting device 10, an example of the mounting state determination method of the present disclosure is also clarified.

[0050] In the mounting device 10 of the embodiment described above, the mounting state of the tool 60 can be more appropriately determined based on the light reception state of the first optical sensor 52, the second optical sensor 54, and the third optical sensor 56 when the tool 60 attached to the mounting member 31 is in a predetermined positional state due to relative movement between the tool 60 and the first optical sensor 52, the second optical sensor 54, and the third optical sensor 56.

[0051] Furthermore, in the mounting device 10, when the tool 60 and the third optical sensor 56 are in a position state different from the third position state, a contact detection determination separate from the determination of the attachment state of the tool 60 is performed based on the light receiving state of the third optical sensor 56. Therefore, the third optical sensor 56 can be used for determinations other than the attachment of the tool 60, thereby reducing the number of optical sensors.

[0052] Furthermore, the mounting device 10 is separately provided with a Z1-axis drive unit 40 that moves the mounting member 31 to which the tool 60 is attached, and a Z2-axis drive unit 43 that moves the slider 47 on which the third optical sensor 56 is mounted. Therefore, each positional state for determining the attachment state of the tool 60 or for other determinations can be easily formed, and the determination process can be performed quickly.

[0053] The mounting device 10 also includes an interlocking member 39 that moves up and down in conjunction with the piston 34, which moves up and down to operate the clamp ball 37. The interlocking member 39 has a black region 39c and a white region 39d in a portion (the upper end of the vertically extending portion 39b) that is visible through the communication hole 32c. In the third position state, the third optical sensor 56 faces a portion of the interlocking member 39 via the through-hole 61b and the communication hole 32c. The CPU 71 determines the attachment state of the tool 60 by detecting the position of the interlocking member 39 based on the light-receiving state of the third optical sensor 56. Therefore, the attachment state of the tool 60 can be more appropriately determined with a simple configuration that detects the position of the interlocking member 39 that is interlocked with the piston 34 (clamp ball 37).

[0054] Furthermore, the through hole 61b is formed between two predetermined nozzle holders 62 out of the plurality of nozzle holders 62, above the standby position (upper position) of the engagement piece 63. A specific guide bar 163a out of the plurality of guide bars 63a is formed short so that its upper end is positioned low, and its upper end is supported by a support member 69 having an opening 69a formed therein so as to expose the through hole 61b. Therefore, even if the through hole 61b is formed between two predetermined nozzle holders 62, it is possible to appropriately make a determination using the third optical sensor 56 without interfering with the movement of the engagement piece 63 or the guidance by the guide bar 63a.

[0055] Furthermore, the third optical sensor 56 is disposed on the slider 47. The Z2-axis drive unit 43 moves the slider 47 in the vertical direction, thereby moving the third optical sensor 56 in the vertical direction together with the nozzle holder 62. Therefore, the Z2-axis drive unit 43 and the slider 47 are used both to raise and lower the nozzle holder 62 (nozzle 65) and to move the third optical sensor 56, which allows for a simpler configuration than if these were provided separately.

[0056] The tool 60 also has a rod-shaped inner rod 162 that is disposed within the nozzle holder 62 so as to be displaceable in the vertical direction and has the nozzle 65 connected to its lower end. An upper end member 166 that is connected to the upper end of the inner rod 162 outside the nozzle holder 62 has a black region 166a and a white region 166b that are vertically aligned. When the nozzle 65 (nozzle holder 62) is being lowered, the CPU 71 determines whether contact has been detected by detecting the displacement of the inner rod 162 (upper end member 166) based on the reception state of light that is emitted from the third optical sensor 56 toward and reflected from the upper end member 166. Therefore, the third optical sensor 56 can be used to determine contact detection in addition to determining whether the tool 60 is attached, thereby reducing the number of sensors.

[0057] Furthermore, in the mounting device 10, in the first position state, a downward determination process is performed based on the light reception state of the first optical sensor 52. Here, even if the tool 60 is attached to the head 30 at an angle due to a clamping failure, and the tool is moved upward to the first position P1, the engaging piece 63 will not collide with the cam follower 48. Therefore, the downward determination process makes it possible to appropriately determine the attachment state of the tool 60 while avoiding collisions.

[0058] Furthermore, in the mounting device 10, the tool 60 is moved above the first position P1 on the condition that it is determined in the downward determination process that the tool 60 is normally attached, so that the tool 60 can be safely moved upward. Then, in the third position state, an upward determination process is performed to determine the attachment state of the tool 60 based on the light reception state of the third optical sensor 56. By further performing the upward determination process after the downward determination process, the attachment state of the tool 60 can be determined more reliably.

[0059] Furthermore, in the mounting device 10, in the second position state, an intermediate determination process is performed based on the light receiving state of the second optical sensor 54. Furthermore, on the condition that the attachment state is determined to be normal in the intermediate determination process, the tool 60 is moved above the second position P2. Therefore, after the tool 60 is moved above the first position P1, the attachment state of the tool 60 can be appropriately determined without having to lower the tool 60 to the first position P1.

[0060] Furthermore, in the mounting device 10, when the tool 60 moves above the first position P1, stops abnormally, and then performs a return process, an intermediate determination process is performed in the second position state, and an upward determination process is performed in the third position state after the intermediate determination process. Here, when the return process is performed after the abnormal stop, the tool 60 may not be properly clamped due to a disturbance or the like. If the tool 60 is moved to the first position P1, there is a risk that the engagement piece 63 or the switching lever 66 may collide with the cam follower 48. Therefore, by performing the intermediate determination process in the second position state, it is possible to appropriately determine the attachment state of the tool 60 while avoiding such collisions. Furthermore, by further performing an upward determination process after the intermediate determination process, it is possible to more reliably determine the attachment state of the tool 60.

[0061] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0062] In the above-described embodiment, a determination of contact detection in addition to the attachment determination of the tool 60 is made based on the light reception state of the third optical sensor 56. However, this is not limited to this, and another determination may be made instead of or in addition to the contact detection determination. For example, the height position of the white area (the area that can sufficiently reflect emitted light) may be configured to differ for each type of tool, and when a tool is attached, the third optical sensor 56 may be moved to the height position of each white area to determine the type of tool. Alternatively, it is not necessary to make any determination other than the attachment of the tool 60 based on the light reception state of the third optical sensor 56.

[0063] In the embodiment, the third optical sensor 56 is mounted on the slider 47, but this is not limiting, and the third optical sensor 56 may be mounted on a dedicated slider. Alternatively, the third optical sensor 56 may be fixed in position without moving in the vertical direction. In other words, the present invention is not limited to a configuration in which a moving unit that moves the mounting member 31 to which the tool 60 is attached in the vertical direction and a moving unit that moves the third optical sensor 56 in the vertical direction are separately provided.

[0064] In the embodiment, the black region 166a and the white region 166b are provided on the upper end member 166 connected to the inner rod 162, but this is not limiting and two regions with different light reflectances may be provided on the exposed portion of the inner rod 162 that is exposed to the outside of the nozzle holder 62. Furthermore, the third optical sensor 56 may be moved down together with the nozzle 65 (nozzle holder 62) while being positioned opposite the exposed portion.

[0065] In the embodiment, the through hole 61b is formed between two predetermined nozzle holders 62 above the standby position of the engagement piece 63, and the specific guide bar 163a is formed short so that its upper end is positioned low and its upper end is supported by the support member 69, but this is not limited to this. That is, the through hole 61b may be provided in a different location as long as the through hole 61b is exposed and the movement of the engagement piece 63 and the guiding by the guide bar 63a are not hindered. Also, the specific guide bar 163a and the support member 69 that supports it do not have to be provided.

[0066] In the embodiment, the interlocking member 39 is connected to the piston 34, but this is not a limitation and any configuration is possible as long as the interlocking member 39 moves in conjunction with the clamping of the clamp ball 37. Furthermore, although the interlocking member 39 is L-shaped with the horizontal extending portion 39a and the vertical extending portion 39b, it may have a shape other than an L-shape. Furthermore, although the black region 39c and the white region 39d are provided at the upper end of the vertical extending portion 39b, this is not a limitation and any configuration is possible as long as two regions with different light reflectivities are provided in a portion visible from the communication hole 32c.

[0067] In the embodiment, three optical sensors capable of determining the attachment state of the tool 60 are provided: a first optical sensor 52, a second optical sensor 54, and a third optical sensor 56, but this is not limited to this and it is sufficient that the device has at least one optical sensor and performs determination processing using that optical sensor.

[0068] In the embodiment, in the tool attachment process, the downward determination process using the first optical sensor 52 is performed first, and then the upward determination process using the third optical sensor 56 is performed. However, this is not limited to this. For example, the downward determination process may be performed and the subsequent upward determination process may be omitted, or the intermediate determination process using the second optical sensor 54 may be performed instead of the upward determination process. Alternatively, the downward determination process may be omitted and the intermediate determination process and the upward determination process may be performed. However, it is preferable to perform the downward determination process in order to avoid the risk of a collision. Furthermore, in the post-abnormal stop determination process, the intermediate determination process is performed and then the upward determination process. However, this is not limited to this. For example, the intermediate determination process may be performed and the subsequent upward determination process may be omitted. Alternatively, the intermediate determination process may be omitted and the downward determination process and the upward determination process may be performed. However, it is preferable to perform the intermediate determination process in order to avoid the risk of a collision. Note that there may be cases where the attachment state is determined by sequentially performing three determination processes using the first to third optical sensors 52, 54, and 56. Furthermore, the timing and the determination process to be performed for the three determination processes using the first to third optical sensors 52, 54, and 56 may be set by the operator, and the determination process may be performed based on the set contents. In other words, the timing and the determination process to be performed may be set by the operator as desired.

[0069] In the embodiment, transmission-type sensors are used as the first optical sensor 52 and the second optical sensor 54, but this is not limited thereto and a reflective sensor may also be used. Furthermore, a reflective sensor is used as the third optical sensor 56, but this is not limited thereto and a transmission-type sensor may also be used. Furthermore, the clamp portion 33 is clamped using the clamp ball 37, but this is not limited thereto and a clamping device such as an L-shaped bent hook may also be used. Furthermore, switching the air supply state to the nozzle 65 is not limited to being performed by a lever member such as the switching lever 66 and may be performed by another member such as a switch.

[0070] Here, the mounting state determination method of the present disclosure is an mounting state determination method for a mounting device having a head to which a tool can be attached and detached, which determines the mounting state of the tool to a mounting member using an optical sensor, and is summarized as including: (a) a step of moving the tool attached to the mounting member and the optical sensor relative to each other in an up and down direction to set them in a predetermined positional state; and (b) a step of performing a determination process for the mounting state of the tool based on the light reception state of the optical sensor in the predetermined positional state.

[0071] The mounting state determination method of the present disclosure, like the mounting device of the present disclosure described above, can more appropriately determine the tool mounting state based on the light reception state of the optical sensor. In this mounting method, various aspects of the mounting device of the present disclosure may be adopted, or configurations or steps may be added to realize each function of the mounting device.

[0072] This specification also discloses the technical idea of ​​changing "the mounting device according to claim 1 or 2" in claim 4 at the time of filing to "the mounting device according to any one of claims 1 to 3," the technical idea of ​​changing "the mounting device according to claim 1 or 2" in claim 6 at the time of filing to "the mounting device according to any one of claims 1 to 5," and the technical idea of ​​changing "the mounting device according to claim 1" in claim 8 at the time of filing to "the mounting device according to any one of claims 1 to 7."

[0073] The present disclosure can be used in technical fields such as component mounting processing.

[0074] 10 Mounting device, 12 Component supply device, 14 Board transport device, 20 Moving device, 21, 23 Guide rail, 22 X-axis slider, 24 Y-axis slider, 26 Tool station, 26a, 26b Storage section, 30 Head, 30a Housing, 31 Mounting member, 31a Pin, 32 Recessed section, 32a, 32b Space, 32c Communication hole, 33 Clamp section, 34 Piston, 34a Cylindrical section, 34b Flange section, 35 Spring, 36 Extrusion member, 37 Clamp ball, 38 Holding section, 38a Mounting protrusion, 38b Open end, 39 Interlocking member, 39a Horizontal extension section, 39b Vertical extension section, 39c Black area, 39d White area, 40 Z1-axis drive section, 40a Z1-axis motor, 41 R-axis drive unit, 41a R-axis motor, 42 Q-axis drive unit, 42a Q-axis motor, 43 Z2-axis drive unit, 43a Z2-axis motor, 44 Switching drive unit, 44a Switching motor, 45, 48 Cam follower, 46 Clamping unit, 47 Slider, 49 Support unit, 52 First optical sensor, 52a, 54a, 56a, 58a Light-emitting unit, 52b, 54b, 56b, 58b Light-receiving unit, 54 Second optical sensor, 56 Third optical sensor, 58 Fourth optical sensor, 60 Tool, 61 Tool body, 61a, 61b Through hole, 62 Nozzle holder, 62a Spring, 62b Black area, 62c White area, 63 Engagement piece, 63a Guide bar, 64 Ring member, 65 Nozzle, 66 Switching lever, 67 Mounting recess, 67a Claw portion, 67b pin hole, 69 support member (opening forming member), 69a opening, 70 control device, 71 CPU, 72 ROM, 73 HDD, 74 RAM, 75 input / output interface, 76 bus, 162 inner rod, 162a first rod, 162b second rod, 164 spring, 166 upper end member, 166a black region, 166b white region, A1 first optical path, A2 second optical path, S substrate.

Claims

1. A mounting device having a head to which a tool can be attached and detached, comprising: a mounting member to which the tool is attached; an optical sensor arranged so that light from an emitting unit can be received by a light receiving unit; a moving unit that moves the mounting member and the optical sensor relatively in the vertical direction; and a determining unit that performs processing to determine the mounting state of the tool based on the light receiving state of the optical sensor when the tool attached to the mounting member is in a predetermined position state due to the relative movement between the tool and the optical sensor.

2. The mounting device according to claim 1, wherein the determination unit performs a determination process different from the mounting state determination process based on the light reception state of the optical sensor when the tool and the optical sensor are in a position state different from the predetermined position state.

3. The mounting device according to claim 1 or 2, wherein the movement unit is separately provided with a mounting member movement unit that moves the mounting member in the vertical direction, and an optical sensor movement unit that moves the optical sensor in the vertical direction.

4. The mounting device according to claim 1 or 2, wherein the tool has a holder for holding a nozzle that sucks up a component to be mounted, and a cylindrical main body portion in which a plurality of holders are arranged circumferentially and in which through holes are formed, the mounting member has a clamping member capable of clamping the main body portion of the tool when inserted into the main body portion, a communication hole formed to communicate with the through hole when inserted into the main body portion, and an interlocking member arranged so that a portion of the interlocking member is visible from the communication hole and moves up and down in conjunction with the clamping of the clamping member, and the tool is mounted by clamping the main body portion with the clamping member, the portion of the interlocking member has two reflective areas with different light reflectivities arranged side by side in the vertical direction, the optical sensor faces the portion of the interlocking member via the through hole and the communication hole when in the predetermined position, and the determining unit performs the mounting state determining process by detecting the position of the interlocking member based on the light reception state of light emitted from the optical sensor toward and reflected from the portion of the interlocking member.

5. The mounting device according to claim 4, wherein the tool has a plurality of protrusions on each of the plurality of holders that protrude outside the tool and move integrally with the holder, and a plurality of guide members that extend in the vertical direction between the holders to guide the movement of the protrusions, the through hole is formed between any two of the plurality of holders above the protrusions, and a specific guide member of the plurality of guide members that is located between the two holders is formed short so that its upper end is positioned low, and its upper end is supported by a support member in which an opening is formed to expose the through hole.

6. A mounting device as described in claim 1 or 2, wherein the tool has a holder for holding a nozzle that picks up a component to be mounted, and a protrusion that protrudes outside the tool and moves integrally with the holder, the head has a slider that is movable in an up-and-down direction and has a protruding abutment that can abut against the protrusion, the optical sensor is disposed on the slider, and the moving part moves the slider in an up-and-down direction, thereby moving the optical sensor in an up-and-down direction together with the holder.

7. The mounting device according to claim 6, wherein the tool has a rod-shaped connecting member that moves together with the holder and is disposed so as to be displaceable in the vertical direction within the holder, with the nozzle connected to its lower end, the connecting member having two reflective areas with different light reflectivities arranged side by side in the vertical direction on an exposed portion that is exposed to the outside of the holder, the optical sensor is capable of relative movement to a position facing the exposed portion of the connecting member, and the determining unit performs a determination process to determine whether the component has come into contact with the board by detecting displacement of the connecting member based on the reception state of light that is emitted from the optical sensor toward the exposed portion and reflected when the slider is lowered by the moving unit to mount the component adsorbed by the nozzle on the board.

8. The mounting device according to claim 1, wherein the tool has a holder for holding a nozzle that sucks up a component to be mounted, a switching unit that protrudes outside the tool and displaces to switch the supply of negative pressure to the nozzle, and a protrusion that protrudes outside the tool above the switching unit and moves integrally with the holder, the head is operable to displace a switching abutment that can come into contact with the switching unit, and to move a protrusion abutment that can come into contact with the protrusion, the head is provided with a downward sensor that is arranged so that the light from the light emitting unit can be received by the light receiving unit when the tool is in a downward position below and near the switching abutment, and the determination unit performs downward determination processing as a determination processing of the attachment state based on the light receiving state of the downward sensor when the tool is moved to the downward position after the tool is attached to the head.

9. The mounting device described in claim 8, wherein the moving unit moves the tool above the lower position on condition that the mounting state is determined to be normal in the lower judgment process, the optical sensor is provided with an upper sensor arranged so that the light from the light emitting unit can be received by the light receiving unit when the tool attached to the mounting member is in an upper position above the lower position, and the judgment unit performs an upper judgment process as a judgment process of the mounting state based on the light receiving state of the upper sensor when the tool is in a position where it has moved to the upper position.

10. The mounting device according to claim 9, wherein the optical sensor comprises an intermediate sensor arranged so that the light from the light emitting unit can be received by the light receiving unit when the tool is in an intermediate position where the protrusion is below and near the protrusion abutment portion, and the determination unit performs intermediate determination processing as a determination processing of the attachment state based on the light receiving state of the intermediate sensor when the tool is in a position where it has moved to the intermediate position, and the movement unit moves the tool above the intermediate position on the condition that the attachment state is determined to be normal in the intermediate determination processing.

11. The mounting device described in claim 10, wherein the judgment unit performs the intermediate judgment process when the tool moves above the lower position after the lower judgment process, then stops abnormally and a recovery process is performed, and performs the upper judgment process in a position where the tool has moved to the upper position above the intermediate position after the intermediate judgment process.

12. An attachment state determination method for a mounting device equipped with a head to which a tool can be attached and detached, which determines the attachment state of the tool to an attachment member using an optical sensor, comprising: (a) a step of moving the tool attached to the attachment member and the optical sensor relative to each other in the vertical direction to set them in a predetermined position; and (b) a step of performing processing to determine the attachment state of the tool based on the light reception state of the optical sensor in the predetermined position.

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