Component mounting machine

Abstract

A component mounting machine comprises: a movable head that has a suction nozzle; an imaging unit that can capture images of a component that is held by the suction nozzle; and a control unit that causes the imaging unit to execute image capture of the component after the component is held by the suction nozzle, executes predetermined image processing on the basis of the images that are obtained by the imaging unit, and detects the component in the images. When a first condition, in which the number of times that the component has been continuously detected by the image processing is equal to or more than a predetermined number, and a second condition, in which the contrast between the region of the component and the background region in the image is equal to or more than a predetermined value, are satisfied, the control unit changes a set value of the shutter speed at which the imaging unit captures images of the component to a shorter time than the current set value.

Description

Component mounter

[0001] The technology disclosed in this specification relates to a component mounter.

[0002] A component mounter capable of mounting electronic components (hereinafter referred to as components) on a substrate has a head having suction nozzles and being movable, and an imaging unit capable of imaging a component adsorbed by the suction nozzles. In the component mounter, a control unit performs image processing on an image obtained by the imaging unit and detects a component from the image.

[0003] Note that the member mounting device disclosed in Japanese Patent Application Laid-Open No. 2003-218591 has an imaging device provided above a substrate support device and imaging the substrate from above. According to this member mounting device, when the luminance contrast detected from the imaging data obtained by the imaging device is smaller than a first predetermined value and the value on the low-luminance side is larger than a second predetermined value, it is assumed that the illuminance of the substrate is too high, and the shutter speed of the imaging device is increased.

[0004] The length of the shutter speed of the imaging unit affects the cycle time and power consumption in the component mounter. On the other hand, the length of the shutter speed also affects the image quality of the image obtained as an imaging result. In view of such a situation, this specification presents a technology for optimizing the shutter speed by appropriately determining an image obtained by imaging.

[0005] This specification discloses a component mounter including a head having suction nozzles and being movable, an imaging unit capable of imaging a component adsorbed by the suction nozzles, and a control unit that causes the imaging unit to perform imaging of the component after the component is adsorbed by the suction nozzles, performs predetermined image processing based on an image obtained by the imaging unit, and detects the component in the image. When a first condition that the number of times the component is continuously detected by the image processing is a predetermined number of times or more and a second condition that the contrast between the region of the component and the background region of the component in the image is a predetermined value or more are satisfied, the control unit changes the set value of the shutter speed at which the imaging unit images the component to a shorter time than the current set value.

[0006] According to the above configuration, the control unit changes the shutter speed setting of the imaging unit to a shorter time when the first and second conditions are met. In other words, when there are no problems with image quality from the standpoint of image processing and contrast, and it is determined that the shutter speed is sufficiently long, the shutter speed can be shortened to reduce the cycle time and power consumption.

[0007] A perspective view showing the schematic configuration of the component mounting machine. A simplified block diagram showing the component mounting machine including the control unit. A flowchart showing the component mounting process. A flowchart showing the shutter speed optimization process. A diagram showing an example of an captured image. A diagram showing an example of an captured image. A diagram showing an example of an captured image. A flowchart showing the shutter speed reset process.

[0008] The main features of the embodiments described below are listed below. Note that the technical elements described below are independent technical elements that exhibit technical usefulness individually or in various combinations, and are not limited to the combinations described in the claims at the time of filing.

[0009] In the component mounting machine disclosed herein, the control unit may cause the imaging unit to perform imaging of the component during the period when the movement of the head is stopped. According to this configuration, the control unit can shorten the period during which the head movement is stopped by shortening the shutter speed. Therefore, the effect of shortening the cycle time can be enhanced.

[0010] In the component mounting machine disclosed herein, the control unit may determine that the second condition is met if the state in which the contrast is equal to or greater than the predetermined value is consecutively established in a plurality of images obtained by the most recent plurality of imagings. According to this configuration, the control unit can appropriately determine whether or not there is room to shorten the shutter speed.

[0011] In the component mounting machine disclosed herein, the control unit may determine that the second condition is met if the average value based on the contrast of each of the multiple images obtained from the most recent multiple imagings is equal to or greater than the predetermined value. According to this configuration, the control unit can appropriately determine whether or not there is room to shorten the shutter speed.

[0012] In the component mounting machine disclosed herein, the contrast may be defined as the difference in brightness between the component region and the background region. According to this configuration, the control unit can easily determine whether the second condition is met or not by calculating the difference in brightness between the component region and the background region in the image.

[0013] In the component mounting machine disclosed herein, if the image processing fails after changing the setting value to a shorter time, the control unit may return the setting value to a predetermined initial value corresponding to the component. According to this configuration, the control unit can enable the detection of components from the image again through image processing by returning the shutter speed setting value to the initial value.

[0014] In the component mounting machine disclosed herein, if the image processing fails after changing the setting value to a shorter time, the control unit may revert the setting value to the setting value before the most recent change. According to this configuration, the control unit can gradually revert the shutter speed setting value.

[0015] The categories of technologies disclosed in this specification are not limited to component mounting machines. According to this specification, for example, systems including component mounting machines, and methods performed by systems and component mounting machines can also be understood.

[0016] The embodiments will be described with reference to the drawings. Each figure is for illustrative purposes only, and these embodiments are not limited to what is shown. Also, since each figure is illustrative, some parts may be omitted.

[0017] Figure 1 is a perspective view showing the schematic configuration of the component mounting machine 10, and Figure 2 is a simplified block diagram showing the configuration of the component mounting machine 10, including the control unit 40. The component mounting machine 10 is a device for mounting components onto a substrate 12. In Figure 1, the X-axis represents the left-right direction, the Y-axis represents the front-back direction, and the Z-axis represents the up-down direction. According to Figure 1, the component mounting machine 10 generally includes a component supply device 20 equipped with a reel containing components, a substrate transport device 30 for transporting the substrate 12, a head unit 60 that picks up components with a suction nozzle 71 and mounts them onto the substrate 12, a moving mechanism 50 for moving the head unit 60, and a parts camera 90. The control unit 40 controls the substrate transport device 30 to transport the substrate 12 and position the substrate 12 at a predetermined location.

[0018] The moving mechanism 50 includes a guide rail 56 provided on the upper part of the device along the Y-axis direction, a Y-axis slider 58 that can move along the guide rail 56, a guide rail 52 provided on the front of the Y-axis slider 58 along the X-axis direction, and an X-axis slider 54 that can move along the guide rail 52 and to which the head unit 60 is attached. The control unit 40 can move the head unit 60 to any position on the XY plane by controlling the movement of the Y-axis slider 58 and the X-axis slider 54 via actuators (not shown).

[0019] The head unit 60 includes a rotary head 70 in which a plurality of axial suction nozzles 71 are arranged at predetermined angular intervals along the circumferential direction. The rotary head 70 is an example of a movable "head" that has suction nozzles 71. However, the head in this embodiment only needs to have at least one suction nozzle 71. The rotary head 70 can intermittently rotate in predetermined angles around a central axis parallel to the Z-axis direction, and when the rotary head 70 rotates intermittently, each suction nozzle 71 moves to a predetermined angle at each position on the circumference. The head unit 60 also includes an actuator 78 that moves the suction nozzles 71 in the Z-axis direction. The suction nozzles 71 are connected to and disconnected from a suction pump (not shown) by a solenoid valve 79, and the negative pressure from the suction pump allows them to pick up parts. The rotation of the rotary head 70, the movement of the suction nozzles 71 along the Z-axis direction, and the suction of parts by the suction nozzles 71 are all controlled by the control unit 40.

[0020] The parts camera 90 is an example of an "imaging unit" capable of imaging parts that have been picked up by the suction nozzle 71. The parts camera 90 can image parts picked up by the suction nozzle 71 from below. According to Figure 1, the parts camera 90 is positioned in the Y-axis direction between the parts supply device 20 and the substrate 12 positioned by the substrate transport device 30.

[0021] The control unit 40 has a processor such as a CPU, memory, and other storage media, and controls the component mounting machine 10 by executing calculation processing according to programs stored in memory, etc., and commands from the outside. As shown in Figure 2, the component mounting machine 10 has a UI unit 88. UI stands for user interface. The UI unit 88 includes an operation reception unit that can receive operations from the operator and a display unit for displaying visual information. The operation reception unit is, for example, a keyboard, mouse, and various switches. Also, if the display unit also functions as a touch panel, the display unit is an example of an operation reception unit.

[0022] Referring to Figure 3, a very brief example of the component mounting process flow by the component mounting machine 10 will be explained. The control unit 40 controls the moving mechanism 50 to move the head unit 60 to a predetermined supply position on the component supply device 20, and controls the head unit 60 to pick up the components supplied to the supply position by the component supply device 20 with each suction nozzle 71 (step S100). Next, the control unit 40 controls the moving mechanism 50 to move the head unit 60 from the supply position toward the substrate 12, and in the process of moving the head unit 60, moves the head unit 60 to a predetermined position on the parts camera 90 and stops it (step S110). Then, the control unit 40 causes the parts camera 90 to take an image of each component that has been picked up by each suction nozzle 71 (step S120). In other words, the control unit 40 causes the parts camera 90 to take an image of the components after they have been picked up by the suction nozzles 71. More specifically, the control unit 40 causes the parts camera 90 to take an image of the components during the period when the movement of the rotary head 70 is stopped.

[0023] After the parts camera 90 has finished capturing images, the control unit 40 controls the movement mechanism 50 to resume the movement of the head unit 60, moving the head unit 60 onto the circuit board 12 (step S130). In parallel with this movement control of the head unit 60, the control unit 40 performs predetermined image processing based on the image obtained by the parts camera 90 (hereinafter referred to as the captured image). In Figure 3, for convenience, the image processing is shown together with step S130. This is because at least a portion of the period during which the image processing is performed overlaps with the period during which the head unit 60 moves. Of course, in the flowchart of Figure 3, the image processing may also be shown as a separate step.

[0024] The control unit 40 performs image processing to detect components in the captured image. For example, the control unit 40 converts the value of each pixel in the captured image into a brightness value and detects a component, i.e., an area corresponding to the shape of the component (the component area), based on the difference in brightness values ​​for each pixel. For example, if the control unit 40 fails to detect a component corresponding to a certain suction nozzle 71 as a result of image processing, it can determine that there is no component that should be attached to that suction nozzle 71. In addition, although the details are omitted here, the control unit 40 can detect the positional misalignment of the component relative to the suction nozzle 71 in the captured image, and in step S140 described later, it can correct the positional misalignment of the component relative to its mounting position on the substrate 12 according to this misalignment.

[0025] The control unit 40 controls the moving mechanism 50 to move the head unit 60 to each designated mounting position on the substrate 12, and mounts the corresponding component to each mounting position using the suction nozzle 71 (step S140). The control unit 40 can repeatedly execute the flowchart shown in Figure 3. Furthermore, the time required for one execution of the flowchart can be considered as an example of the cycle time in the component mounting machine 10.

[0026] Figure 4 shows the shutter speed optimization process performed by the control unit 40 in a flowchart. The control unit 40 repeatedly executes the flowchart in Figure 4 in parallel with repeatedly executing the flowchart for component mounting process shown in Figure 3. In step S200, the control unit 40 determines whether the number of consecutive successful component detections by the image processing described above is greater than or equal to a predetermined number.

[0027] A single image captured by the parts camera 90 may be an image captured of a single suction nozzle 71, or it may be an image captured simultaneously of multiple suction nozzles 71 on the rotary head 70. For example, if the parts being held by each of the multiple suction nozzles 71 are of the same type, the parts camera 90 may simultaneously capture images of the multiple suction nozzles 71 that are holding these parts of the same type. In this embodiment, "parts of the same type" means a group of parts for which the shutter speed is the same when the parts camera 90 captures the parts. The control unit 40 knows which type of part to hold by which suction nozzle 71 of the rotary head 70 during the parts mounting process. Therefore, the parts camera 90 performs the imaging in step S120 according to the instructions from the control unit 40.

[0028] In any case, the control unit 40 can determine the position of the suction nozzle 71 in the captured image based on a predetermined positional relationship, and can attempt to detect a component at each position of the suction nozzle 71 from the captured image. The control unit 40 counts the number of times it has successfully detected a component from the captured image. When the current number of consecutive successful component detections reaches a predetermined number, the control unit 40 determines "Yes" in step S200 and proceeds to step S210. On the other hand, if the current number of consecutive successful component detections has not reached the predetermined number, the control unit 40 determines "No" in step S200 and ends the flowchart in Figure 4 once. The "Yes" determination in step S200 corresponds to the "first condition" being met, which is that the number of times a component has been continuously detected by image processing is greater than or equal to a predetermined number. The "No" determination in step S200 corresponds to the first condition not being met.

[0029] In step S210, the control unit 40 determines whether the contrast between the area of ​​the component and the background area of ​​the component in the captured image is greater than or equal to a predetermined value. Step S210 corresponds to the process of determining whether the "second condition" is met. The fact that a component was detected from the captured image through image processing means that the captured image was able to be divided into the area of ​​the component and the background area that does not correspond to the area of ​​the component. Therefore, the control unit 40 can calculate the difference in brightness between the area of ​​the component and the background area in the captured image as contrast and compare the contrast with a predetermined value.

[0030] Here, the predetermined contrast value is the brightness difference value that allows for the distinction between the part area and the background area in image processing. In image processing, the greater the contrast, the more accurately the part area and the background area can be distinguished and processed. Even with low contrast, it is still possible to distinguish between the part area and the background area, but the likelihood of incorrect discrimination increases due to factors such as image variations. The predetermined value to be set is the brightness difference that allows for the general correct distinction between the part area and the background area, and the manufacturer may pre-set it according to the performance of the parts camera 90 and the control unit 40, or the operator may set it empirically from the images acquired by the parts camera 90. The control unit 40 should consider captured images that have failed image processing, that is, captured images in which parts could not be detected, as having no contrast. In the case of no contrast, the contrast is naturally less than the predetermined value.

[0031] If the contrast is above a predetermined value, i.e., the second condition is met, the control unit 40 proceeds from the "Yes" determination in step S210 to step S220. On the other hand, if the contrast is below a predetermined value, i.e., the second condition is not met, the control unit 40 determines "No" in step S210 and terminates the flowchart in Figure 4 once. Note that the contrast between the component area and the background area in the captured image may be other indicator values ​​such as brightness difference.

[0032] The determination in step S210 may be made as follows. For example, the control unit 40 may determine that the second condition is met if the state in which the contrast is above a predetermined value is achieved consecutively in multiple captured images obtained from multiple recent imaging attempts. The number of attempts referred to here may be the same as the predetermined number of attempts used in the determination in step S200, or it may not be the same number. The control unit 40 also counts the number of times in which the state in which the contrast is above a predetermined value is achieved consecutively. In other words, the control unit 40 confirms that the captured image is sufficiently clear from the standpoint of component detection by making the second condition that the state in which the contrast is above a predetermined value is achieved not just once, but a predetermined number of times consecutively.

[0033] Alternatively, the control unit 40 may determine that the second condition is met if the average value based on the contrast of each of the multiple captured images obtained from the most recent multiple imaging attempts is equal to or greater than a predetermined value. In other words, the control unit 40 may confirm that the captured image is sufficiently clear from the standpoint of component detection by setting the second condition as equal to or greater than a predetermined value obtained by averaging the contrast of each of the most recent multiple captured images.

[0034] Various parameters, such as the predetermined number of times used for the determination in step S200 and the predetermined value used for comparison with the contrast in step S210, may be values ​​specified by a job or command input to the component mounting machine 10 from an external device, or values ​​specified by the operator through the UI unit 88.

[0035] In step S220, the control unit 40 changes the shutter speed setting for the parts camera 90 to a shorter time than the current setting, and then completes the flowchart in Figure 4. The shutter speed is the length of time the parts camera 90 keeps its shutter open, and also the length of time the parts camera 90 takes in light. In other words, if the first and second conditions are met, the control unit 40 determines that the current shutter speed is sufficiently long and there is room to shorten it, and shortens the shutter speed setting. The shutter speed setting changed in step S220 is applied to the subsequent step S120.

[0036] When the control unit 40 completes the flowchart in Figure 4 via step S220, it may initialize the count value of the number of consecutive successful part detections and the count value of the number of consecutive times the contrast is above a predetermined value to 0. By repeating this flowchart in Figure 4, the shutter speed of the part camera 90 can be gradually shortened.

[0037] Figures 5, 6, and 7 show examples of images captured by the parts camera 90, respectively. Image 91 in Figure 5 is an image captured using the shutter speed setting value before it is shortened by step S220. Image 92 in Figure 6 is an image captured using the shutter speed setting value after it has been shortened by step S220. Image 93 in Figure 7 is an image captured using an even shorter shutter speed setting value than that of image 92.

[0038] The captured images 91, 92, and 93 are grayscale images, with each pixel having a brightness value represented within a 256-level range from 0 to 255. Furthermore, for convenience, the brightness of each region in the captured images 91, 92, and 93 is represented by the presence or absence and density of hatching lines. In each of the captured images 91, 92, and 93, point P indicates the position of the central axis of one suction nozzle 71. In each of the captured images 91, 92, and 93, the rectangular regions 91a, 92a, and 93a located approximately in the center are the component regions, and the areas outside the component regions 91a, 92a, and 93a are the background regions 91b, 92b, and 93b. Basically, in the captured images, the component regions have higher brightness than the background regions.

[0039] The captured image 91 is, for example, captured with the shutter speed setting of the parts camera 90 set to 40 [ms], and the brightness value of the parts region 91a is, for example, about 250. If the brightness value of the background region 91b is about 30 (similarly, the brightness values ​​of the background regions 92b and 93b are also about 30), then the parts region 91a is appropriately detected in such a captured image 91 through image processing. In this case, for example, if a predetermined contrast value is set to 50, the brightness difference between the parts region 91a and the background region 91b, i.e., the contrast, is 220, which is determined to be above the predetermined value. The captured image 92 is, for example, captured with the shutter speed setting of the parts camera 90 set to 20 [ms], and the brightness value of the parts region 92a is, for example, about 170. In such a captured image 92, the parts region 92a is appropriately detected through image processing, and the contrast between the parts region 92a and the background region 92b is 140, which is determined to be above the predetermined value. According to this specific example, the shutter speed setting can be reduced from 40 [ms] to 20 [ms] using the flowchart in Figure 4. Furthermore, by repeating the flowchart in Figure 4, the shutter speed setting of 20 [ms] can be further reduced.

[0040] On the other hand, the captured image 93 is captured, for example, with the shutter speed of the parts camera 90 set to 5 [ms], and the brightness value of the parts region 93a is, for example, about 60. If the region corresponding to the parts is this low in brightness, the control unit 40 may fail to perform image processing based on the captured image 93. Furthermore, even if the parts region 93a can be detected from the captured image 93, the contrast between the parts region 93a and the background region 93b will be 30, which may be judged as being below a predetermined value.

[0041] Thus, according to this embodiment, when the first condition and the second condition are satisfied, the control unit 40 changes the set value of the shutter speed of the parts camera 90 to a shorter time. That is, when it can be determined that there is no problem with the image quality of the captured image from the viewpoints of image processing and contrast, and the current shutter speed is sufficiently long, the shutter speed is shortened. As a result, the cycle time of the component mounter 10 can be shortened. Further, by shortening the shutter speed, the power consumption by the light source of the parts camera 90 can be reduced.

[0042] Particularly, the control unit 40 causes the parts camera 90 to execute imaging of a component during a period when the movement of the head unit 60 by the movement mechanism 50 is stopped. Therefore, the shortening of the shutter speed directly leads to the shortening of the movement stop period of the head unit 60, which greatly contributes to the shortening of the cycle time.

[0043] FIG. 8 shows the shutter speed return process executed by the control unit 40 in a flowchart. The control unit 40 can repeatedly execute the flowchart of FIG. 8 in parallel with repeatedly executing each of the flowcharts of FIGS. 3 and 4.

[0044] In step S300, the control unit 40 determines whether or not the above-described image processing has succeeded. If the control unit 40 can detect a component as a result of the image processing based on the captured image, it determines that the image processing has succeeded, that is, "Yes", and ends the flowchart of FIG. 8 once. On the other hand, if the control unit 40 cannot detect a component as a result of the image processing based on the captured image, it determines that the image processing has failed, that is, "No", and proceeds to step S310. If the captured image obtained by the parts camera 90 is, for example, the captured image 93 as shown in FIG. 7, the control unit 40 may fail in the image processing.

[0045] If the control unit 40 determines "No" in step S300, it initializes to 0 the count value of the number of consecutive successful part detections and the count value of the number of consecutive states where the contrast is equal to or greater than a predetermined value, which were described in relation to FIG. 4. On the other hand, if the control unit 40 determines "Yes" in step S300, it adds 1 to the count value of the number of consecutive successful part detections.

[0046] In step S310, the control unit 40 returns the set value of the shutter speed at which the parts camera 90 captures an image of the part to a longer time than the current set value, and then ends the flowchart of FIG. 8 once. That is, after the control unit 40 changes the set value of the shutter speed to a short time and fails in image processing, it returns the set value to the set value before the change. The set value of the shutter speed changed in step S310 is applied to subsequent step S120.

[0047] In step S310, the control unit 40 may, for example, return the set value of the shutter speed to an initial value predetermined corresponding to the part. The initial value of the shutter speed is the set value of the shutter speed applied without ever executing step S220. If the shutter speed is the initial value, there is no such situation that the shutter speed is short and the parts camera 90 cannot capture the necessary amount of light. By returning the set value of the shutter speed to the initial value, the control unit 40 can surely detect the part from the captured image by image processing again.

[0048] Alternatively, in step S310, the control unit 40 may return the set value of the shutter speed to the set value before the change by the most recent step S220. That is, the control unit 40 can return the set value of the shutter speed not to the initial value at once but step by step. By returning the set value of the shutter speed step by step, the effect of shortening the set value of the shutter speed even after failure in image processing can be retained to some extent.

[0049] Furthermore, the control unit 40 will not set the shutter speed to a value longer than the initial value. If the shutter speed at the time of determining "No" in step S300 is the initial value, the control unit 40 will not execute step S310. In this case, since the control unit 40 infers that there is a reason other than the shutter speed for the failure of image processing, it may, for example, notify the operator via the UI unit 88 that the part could not be detected for a reason other than the shutter speed.

[0050] It is possible that image processing may fail because the component that should be adsorbed by the suction nozzle 71 is not present, making it impossible to detect the component from the captured image. Therefore, the control unit 40 may determine "No" in step S300 and execute step S310 if the image processing fails a predetermined number of times consecutively. This makes it possible to avoid executing step S310 unnecessarily as much as possible.

[0051] The shutter speed setting of the parts camera 90, including the initial value, varies depending on the type of part. This is because the appropriate shutter speed for detection from the captured image differs depending on the characteristics of the part, such as its size and shape. For example, suppose that the parts that the suction nozzle 71 picks up are classified into multiple types, such as Type 1, Type 2, Type 3, etc. Each of these multiple types has a different initial shutter speed setting when the parts camera 90 takes a picture.

[0052] Therefore, the control unit 40 may execute the flowcharts in Figures 4 and 8 for each type of part. In other words, the control unit 40 makes a determination for each type of part as to whether the first condition and the second condition are met. If the control unit 40 determines, for example, that the first and second conditions are met for a first type of part, it changes the shutter speed setting for when the parts camera 90 images the first type of part to a shorter time. Also, if the control unit 40 determines "No" in step S300 for a second type of part, it returns the shutter speed setting for when the parts camera 90 images the second type of part to a longer time than the current setting.

[0053] The imaging unit assumed in this embodiment is not limited to the parts camera 90. The imaging unit may be, for example, a camera attached to the head unit 60 that can image parts held by the suction nozzle 71 while moving along the X-axis and Y-axis directions together with the rotary head 70. Even if the camera is configured to image parts while the head is moving, this embodiment allows for shortening the shutter speed of the camera, which in turn allows for, for example, an earlier start time for image processing, contributing to a shorter cycle time or reduced power consumption.

[0054] The specific examples of the technologies disclosed herein have been described in detail above, but these are merely illustrative and do not limit the scope of the claims. The technologies described in the claims include various modifications and changes to the specific examples described above. Furthermore, the technical elements described herein or in the drawings exhibit technical usefulness individually or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technologies illustrated herein or in the drawings achieve multiple objectives simultaneously, and achieving even one of these objectives constitutes technical usefulness in itself.

[0055] 10: Component mounting machine 12: Circuit board 20: Component supply device 30: Circuit board transport device 40: Control unit 50: Moving mechanism 60: Head unit 70: Rotary head 71: Suction nozzle 88: UI unit 90: Parts camera 91, 92, 93: Captured images 91a, 92a, 93a: Component area 91b, 92b, 93b: Background area

Claims

1. A component mounting machine comprising: a movable head having a suction nozzle; an imaging unit capable of imaging a component adsorbed by the suction nozzle; and a control unit that causes the imaging unit to image the component after the component has been adsorbed by the suction nozzle, and performs predetermined image processing based on the image obtained by the imaging unit to detect the component in the image, wherein the control unit changes the shutter speed setting value for imaging the component to a shorter time than the current setting value when a first condition is met, which is that the number of times the component has been continuously detected by the image processing is greater than or equal to a predetermined number, and a second condition is met, which is that the contrast between the region of the component and the background region of the component in the image is greater than or equal to a predetermined value.

2. The component mounting machine according to claim 1, wherein the control unit causes the imaging unit to perform imaging of the component during the period when the movement of the head is stopped.

3. The component mounting machine according to claim 1, wherein the control unit determines that the second condition is met when the state in which the contrast is equal to or greater than the predetermined value is consecutively established in a plurality of images obtained by the most recent plurality of imagings.

4. The component mounting machine according to claim 1, wherein the control unit determines that the second condition is met when the average value based on the contrast of each of the multiple images obtained from the most recent multiple imagings is equal to or greater than the predetermined value.

5. The component mounting machine according to claim 1, wherein the contrast is the difference in brightness between the region of the component and the background region.

6. The component mounting machine according to claim 1, wherein if the image processing fails after the control unit has changed the setting value to a shorter time, the setting value is returned to a predetermined initial value corresponding to the component.

7. The component mounting machine according to claim 1, wherein if the image processing fails after the control unit has changed the setting value to a shorter time, the setting value is returned to the setting value before the most recent change.

Images