Patent Description:
Conventionally, a component mounting system including a component mounting machine for mounting a component on a board and an inspection device for inspecting a mounting state of the component mounted on the board has been proposed (refer to Patent Literature <NUM>, for example). The component mounting system stores mounting and inspection data in which a component type, a mounting position coordinate, an inspection timing, and the like are associated with each other, executes component mounting based on the component type and the mounting position coordinate, and executes component inspection of a target component at the inspection timing.

Patent Literature <NUM> relates to inspecting mounted components. The component mounter has a camera mounted on the mounting head. It is mentioned that the camera may be used to inspect mounted components directly bevor components are mounted on top of the inspected components.

However, in the component mounting system described above, there is a case where it is not possible to sufficiently respond to a need of the users. In a component mounting machine for mounting an upper component (for example, frame component) on a lower component after the lower component is mounted on the board, when the upper component is mounted, the lower component is covered with the upper component and concealed by the upper component. Therefore, the mounting inspection of the lower component needs to be performed before the upper component is mounted. At this time, in a case where multiple lower components are mounted and each of the upper components is mounted on different lower components among the multiple mounted lower components, in order to enhance the reliability of the inspection (for example, in order to avoid the invading of foreign matter or the like after the mounting inspection of the lower component is performed until the upper component is mounted on the lower component), it is conceivable that the component mounting machine performs the mounting inspection of the multiple lower components at the timing immediately before mounting the upper component that comes on top of each. However, for a user who gives priority to the production efficiency than the reliability of the inspection, the inspection timing described above is not necessarily an appropriate timing.

In a component mounting machine that mounts multiple lower components on a board and mounts each of upper components on different lower components among the multiple lower components, a main object of the present disclosure is to provide a component mounting machine that can respond to different needs of users in a case where a mounting inspection of lower components is performed.

The present disclosure adopts the following means to achieve the main object described above.

A component mounting machine of the present disclosure that mounts a component on a board, the component mounting machine, and it is a gist to include a head configured to hold the component; a head moving device configured to move the head; an imaging device provided to move together with the head by the head moving device and configured to image the board; and a control device configured to execute a lower component mounting operation that controls the head and the head moving device so that a lower component is mounted on the board, an upper component mounting operation that controls the head and the head moving device so that an upper component is mounted on the lower component mounted on the board, and a lower component mounting inspection operation that controls the imaging device and the head moving device so as to image the board on which the lower component is mounted and performs a mounting inspection of the lower component based on a captured image of the board after the lower component mounting operation is performed and before the upper component mounting operation is performed, in which in a case where each of the upper components is mounted on different lower components among multiple lower components mounted on the board, the control device executes the lower component mounting inspection operation in an inspection mode selected from multiple inspection modes including a first inspection mode in which the mounting inspection of the lower component located below the upper component of a mounting target is performed immediately before the upper component mounting operation of each of the upper components is performed as an execution timing of the lower component mounting inspection operation and a second inspection mode in which all mounting inspections of the multiple lower components are successively performed.

The control device of the component mounting machine of the present disclosure executes the lower component mounting operation, the upper component mounting operation, and the lower component mounting inspection operation that performs the mounting inspection of the lower component after the lower component mounting operation is performed and before the upper component mounting operation is performed. In addition, in a case where each of the upper components is mounted on different lower components among multiple lower components mounted on the board, the control device executes the lower component mounting inspection operation in the inspection mode selected from multiple inspection modes including the first inspection mode and the second inspection mode. The first inspection mode is a mode in which the mounting inspection of the lower component located below the upper component of a mounting target is performed immediately before the upper component mounting operation of each of the upper components is performed as the execution timing of the lower component mounting inspection operation, and the second inspection mode is a mode in which all mounting inspections of multiple lower components are successively performed. As a result, it is possible to appropriately respond to user needs by performing the lower component mounting inspection operation in the first inspection mode for a user who gives a priority to the reliability of the inspection, and in the second inspection mode for a user who gives a priority to the production efficiency than the reliability of the inspection.

Next, embodiments for performing the present invention will be described using examples.

<FIG> is a configuration view illustrating an outline of a configuration of component mounting machine <NUM> of the present embodiment. <FIG> is an explanatory diagram illustrating an electrical connection relationship between control device <NUM> and management device <NUM> of component mounting machine <NUM>. In <FIG>, the left-right direction denotes the X-axis direction, the front-rear (depth) direction denotes the Y-axis direction, and the up-down direction denotes the Z-axis direction.

As illustrated in <FIG>, component mounting machine <NUM> is provided with component supply device <NUM> for supplying the component, board conveyance device <NUM> for conveying board S, head <NUM> for picking up (suction pickup) the component using suction nozzles <NUM>, head moving device <NUM> for moving head <NUM> in the X-axis direction and the Y-axis direction, and control device <NUM> (refer to <FIG>) for controlling the entire mounting machine. In addition, in addition to these devices, component mounting machine <NUM> also is provided with component camera <NUM> for imaging a posture of the picked-up component, nozzle station <NUM> for accommodating suction nozzle <NUM> for exchange, mark camera <NUM> for imaging a positioning reference mark attached to board S, and the like. Multiple component mounting machines <NUM> are arranged side by side in the board conveyance direction (X-axis direction) to form a production line. The production line is managed by management device <NUM>.

Component supply device <NUM> is configured as a tape feeder including, for example, a tape reel on which a carrier tape accommodating the components at predetermined intervals is wound, and a tape feeding mechanism for drawing the carrier tape from the tape reel by driving of a driving motor to feed the carrier tape to a component supply position. Component supply device <NUM> (tape feeder) is detachably attached to a feeder base (not illustrated) provided in component mounting machine <NUM>.

Board conveyance device <NUM> is provided with a pair of conveyor rails disposed at intervals in the Y-axis direction, and conveys board S from the left to the right in <FIG> (board conveyance direction) by driving the pair of conveyor rails.

As illustrated in <FIG>, head moving device <NUM> is provided with a pair of X-axis guide rails <NUM>, X-axis slider <NUM>, X-axis actuator <NUM> (refer to <FIG>), a pair of Y-axis guide rails <NUM>, Y-axis slider <NUM>, and Y-axis actuator <NUM> (refer to <FIG>). The pair of Y-axis guide rails <NUM> are disposed on an upper stage of housing <NUM> so as to extend parallel to each other in the Y-axis direction. Y-axis slider <NUM> is spanned by the pair of Y-axis guide rails <NUM>, and moves in the Y-axis direction along Y-axis guide rail <NUM> by the driving of Y-axis actuator <NUM>. The pair of X-axis guide rails <NUM> are disposed on a front surface of Y-axis slider <NUM> so as to extend parallel to each other in the X-axis direction. X-axis slider <NUM> is spanned by the pair of X-axis guide rails <NUM>, and moves in the X-axis direction along X-axis guide rail <NUM> by the driving of X-axis actuator <NUM>. Head <NUM> is attached to X-axis slider <NUM>, and head moving device <NUM> moves head <NUM> in the X-axis direction and the Y-axis direction by moving X-axis slider <NUM> and Y-axis slider <NUM>.

In the present embodiment, head <NUM> is configured as a rotary head including multiple (for example, four) nozzle holders arranged at equal angular intervals in the circumferential direction. Head <NUM> is provided with R-axis actuator <NUM> that pivots multiple nozzle holders in the circumferential direction, θ-axis actuator <NUM> that rotates (revolves) multiple nozzle holders, and Z-axis actuator <NUM> that raises and lowers (up and down) the nozzle holder at a predetermined pivoted position among multiple nozzle holders. Suction nozzle <NUM> is detachably attached to a tip portion of each nozzle holder. As illustrated in <FIG>, the suction port of suction nozzle <NUM> selectively communicates with negative pressure source <NUM>, positive pressure source <NUM>, and the air introduction port via solenoid valve <NUM>. Head <NUM> can pick up the component by acting a negative pressure on the suction port by driving solenoid valve <NUM> so that the suction port of suction nozzle <NUM> communicates with negative pressure source <NUM>. In addition, by driving solenoid valve <NUM> so that the suction port of suction nozzle <NUM> communicates with positive pressure source <NUM>, head <NUM> can act a positive pressure on the suction port to release the pickup of the component.

When the component picked up by suction nozzle <NUM> passes above component camera <NUM>, component camera <NUM> images the component and outputs the obtained captured image to control device <NUM>. Control device <NUM> determines the amount of positional deviation (amount of pickup deviation) of the picked-up component or determines the presence or absence of a pickup error by performing image processing of recognizing the component in the captured image.

Mark camera <NUM> is attached to X-axis slider <NUM>, and moves in the X-axis direction and the Y-axis direction together with head <NUM> by head moving device <NUM>. When board S is carried in, mark camera <NUM> images the positioning reference mark attached to board S, and outputs the obtained captured image to control device <NUM>. Control device <NUM> confirms the position of conveyed in board S by performing image processing for recognizing the positioning reference mark in the captured image.

As illustrated in <FIG>, control device <NUM> is configured as a microprocessor centered on CPU <NUM>, and is provided with ROM <NUM>, HDD <NUM>, RAM <NUM>, and input and output interface <NUM>, in addition to CPU <NUM>. These are electrically connected to one another via bus <NUM>. A position signal from X-axis position sensor <NUM> for sensing the position of X-axis slider <NUM>, a position signal from Y-axis position sensor <NUM> for sensing the position of Y-axis slider <NUM>, an image signal from component camera <NUM>, an image signal from mark camera <NUM>, and the like are input to control device <NUM> via input and output interface <NUM>. On the other hand, a control signal to component supply device <NUM>, a control signal to board conveyance device <NUM>, a drive signal to X-axis actuator <NUM>, a drive signal to Y-axis actuator <NUM>, a drive signal to R-axis actuator <NUM>, a drive signal to θ-axis actuator <NUM>, a drive signal to Z-axis actuator <NUM>, a drive signal to solenoid valve <NUM>, a drive signal to component camera <NUM>, a drive signal to mark camera <NUM>, and the like are output from control device <NUM> via input and output interface <NUM>. In addition, control device <NUM> is connected to management device <NUM> so as to be capable of bidirectional communication, and exchanges data and control signals with each other.

For example, management device <NUM> is a general-purpose computer, and is provided with CPU <NUM>, ROM <NUM>, HDD <NUM>, RAM <NUM>, input and output interface <NUM>, and the like, as illustrated in <FIG>. These are electrically connected to one another via bus <NUM>. An input signal from input device <NUM> such as a mouse and a keyboard is input to management device <NUM> via input and output interface <NUM>. In addition, an image signal to display <NUM> is output from management device <NUM> via input and output interface <NUM>. HDD <NUM> stores a production job of board S. Here, the production job of board S includes a production schedule such as which components are mounted on board S in which order in each component mounting machine <NUM>, and how many sheets of board S on which the components are mounted in this manner are prepared. Management device <NUM> generates a production job based on various types of data input by an operator via input device <NUM>, transmits the generated production job to each component mounting machine <NUM>, and thus instructs each component mounting machine <NUM> to start production.

Next, an operation of component mounting machine <NUM> of the present embodiment configured as described above will be described. In particular, as illustrated in <FIG>, in a case where lower components A and B are mounted on board S and upper component (frame component) C is mounted so as to cover different lower components among mounted lower components A and B from above, a mounting inspection to be performed on lower components A and B will be described. In <FIG>, the alphabetic character indicates a component type, and the numeral indicates the mounting order of the components. The mounting order of the components is determined according to a mounting sequence included in the production schedule. In the mounting sequence, in the present embodiment, the mounting order is determined so that the mounting of each component is efficiently performed. An example of the mounting sequence of components A to D is illustrated in <FIG>. The mounting of components according to the mounting sequence illustrated in <FIG> is performed as follows. That is, component mounting machine <NUM> first mounts lower components A-<NUM> to A-<NUM>, and B-<NUM> to B-<NUM> in order at designated mounting positions with lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM>, lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM>, and lower components A-<NUM> to A-<NUM>, B17, and B-<NUM> as one set, respectively. Next, component mounting machine <NUM> sequentially mounts other components D-<NUM> to D24 at designated mounting positions that do not interfere with upper components C-<NUM> to C-<NUM> to be mounted on lower components A-<NUM> to A-<NUM>, and B-<NUM> to B-<NUM> later. Component mounting machine <NUM> mounts upper component C-<NUM> on lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM>, upper component C-<NUM> on lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM>, and upper component C-<NUM> on lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM>.

Next, component mounting processing according to such a mounting sequence will be described. <FIG> is a flowchart illustrating an example of component mounting processing executed by CPU <NUM> of control device <NUM>. This processing is executed when the start of production is instructed by the operator. Control device <NUM> receives the production job transmitted from management device <NUM>, and executes the component mounting processing based on the received production job.

When the component mounting processing is executed, CPU <NUM> of control device <NUM> first controls board conveyance device <NUM> so that board S is carried in (Step S100). Subsequently, CPU <NUM> inputs mounting sequence data included in the production job (Step S110), and initializes a pickup number PP to the value <NUM> (Step S120). Next, CPU <NUM> controls head moving device <NUM> so that head <NUM> is located above the component supply position to which a target component is supplied according to the mounting sequence data (Step S130), and controls head <NUM> so that the target component is picked up by suction nozzle <NUM> (Step S140). Specifically, a pickup operation of the target component is performed by driving and controlling Z-axis actuator <NUM> so that suction nozzle <NUM> descends until the tip end (suction port) of suction nozzle <NUM> abuts on the target component, and driving and controlling solenoid valve <NUM> so that negative pressure acts on the suction port of suction nozzle <NUM>. CPU <NUM> determines whether an unpicked-up component having the same pickup number PP remains based on the mounting sequence data (Step S150). When it is determined that the unpicked-up component having the same pickup number PP remains, CPU <NUM> returns to Step S130 to repeat the pickup operation of the target component. For example, in a case where suction nozzle <NUM> is mounted on each of the four nozzle holders provided in head <NUM>, head <NUM> can hold up to four target components. Therefore, these target components are set to the same pickup number PP.

On the other hand, when it is determined that no unpicked-up component having the same pickup number PP remains, CPU <NUM> controls head moving device <NUM> so that head <NUM> is located above the target mounting position (Step S160). CPU <NUM> moves head <NUM> so that the picked-up component passes over component camera <NUM>, images the component when the component passes above component camera <NUM>, calculates the amount of pickup deviation of the component based on the obtained captured image, and corrects the target mounting position based on the calculated amount of pickup deviation. Subsequently, CPU <NUM> controls head <NUM> so that the target component is mounted at the target mounting position (Step S170). Specifically, the mounting operation of the target component is performed by driving and controlling Z-axis actuator <NUM> so that suction nozzle <NUM> descends until the target component abuts on the surface of board S, and driving and controlling solenoid valve <NUM> so that positive pressure acts on the suction port of suction nozzle <NUM>. CPU <NUM> determines whether an unmounted component is held in head <NUM> (Step S180). When it is determined that an unmounted component is held in head <NUM>, CPU <NUM> returns to Step S160, and repeats the processing for moving the target component above the target mounting position and mounting the target component at the target mounting position.

On the other hand, when it is determined that no unmounted component is held in head <NUM>, CPU <NUM> determines whether the current pickup number PP matches the inspection-related pickup number PP* (Step S190). When it is determined that the current pickup number PP matches the inspection-related pickup number PP*, CPU <NUM> inspects the lower component (Step S200) and proceeds to Step S210, and when it is determined that these numbers do not match each other, CPU <NUM> skips Step S200 and proceeds to Step S210. Here, the inspection-related pickup number PP* indicates the timing (inspection timing) at which the inspection of the lower component is performed. The inspection timing is set by inspection timing setting processing described later. In the present embodiment, the mounting inspection of the lower component is performed at a timing immediately after the mounting operation of all the target components in the pickup number PP having the same number as the inspection-related pickup number PP* is completed. The mounting inspection may be performed, for example, by imaging board S after the mounting operation of the component with mark camera <NUM>, performing image processing for recognizing the component in the obtained captured image, determining that the component is normally mounted when the recognition of the component is successful, and determining that the component is not normally mounted when the recognition of the component is unsuccessful. In addition, the mounting inspection may be performed by calculating the amount of mounting deviation (the positional deviation amount or the rotational deviation amount) of the component to board S from the recognition result of the component, determining that the component is normally mounted when the calculated amount of mounting deviation is within the allowable range, and determining that the component is not normally mounted when the calculated amount of mounting deviation exceeds the allowable range.

Next, CPU <NUM> determines whether the mounting sequence is terminated (Step S210). When it is determined that the mounting sequence is not terminated, CPU <NUM> increments the pickup number PP by the value <NUM> (Step S220), returns to Step S130, and repeats the processing for executing the pickup operation or the mounting operation of the target component at the updated pickup number PP and executing the inspection operation as required. When it is determined that the mounting sequence is terminated in Step S210, CPU <NUM> controls board conveyance device <NUM> so that board S is carried out (Step S230), and terminates the present processing.

Next, the inspection timing setting processing will be described. <FIG> is a flowchart illustrating an example of inspection timing setting processing executed by CPU <NUM> of management device <NUM>. When the inspection timing setting processing is executed, CPU <NUM> of management device <NUM> first receives a selection of the inspection mode (Step S300). This processing is performed, for example, by displaying an inspection mode selection screen for selecting an inspection mode on display <NUM>, and receiving an input of an inspection mode desired by the operator from among the selections displayed on the inspection mode selection screen via input device <NUM>. The selection of the inspection mode includes a first inspection mode and a second inspection mode. The first inspection mode is a mode in which an inspection timing is specified with priority given to the reliability of the inspection. On the other hand, the second inspection mode is a mode in which the inspection timing is specified with priority given to the production efficiency over the reliability of the inspection.

When the selection of the inspection mode is received, CPU <NUM> determines whether the received inspection mode is the first inspection mode (Step S310). When it is determined that the received inspection mode is the first inspection mode, CPU <NUM> creates inspection timing setting data so that the lower component located below the upper component is inspected at a timing immediately before mounting the upper component of a mounting target (Step S320), and terminates the present processing. On the other hand, when it is determined that the received inspection mode is not the first inspection mode but the second inspection mode, CPU <NUM> creates inspection timing setting data so that all lower components are successively inspected (Step S330), and terminates the present processing.

<FIG> are explanatory tables illustrating an example of inspection timing setting data. <FIG> illustrate inspection timing setting data used in a case where mounting work is performed according to the mounting sequence illustrated in <FIG> described above. In addition, in <FIG>, the numbers in the column of the related pickup number PP* (related PP number) indicate that the mounting inspection of the lower component is performed after all the target components in the numbers (pickup number PP) are mounted. In the mounting sequence of <FIG>, component mounting machine <NUM> mounts all four other components D-<NUM> to D-<NUM> at the pickup number PP = <NUM>, and then mounts one component C-<NUM> on mounted lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM> at the pickup number PP = <NUM>. After mounting component C-<NUM>, component mounting machine <NUM> mounts one component C-<NUM> on mounted lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM> at the pickup number PP = <NUM>. After mounting component C-<NUM>, component mounting machine <NUM> mounts one component C-<NUM> on mounted lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM> at the pickup number PP = <NUM>.

In the first inspection mode, as illustrated in <FIG>, the inspection of lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM> to be concealed below upper component C-<NUM> is performed at a timing immediately after last other component D-<NUM> is mounted at the pickup number PP = <NUM>, that is, at a timing immediately before upper component C-<NUM> is mounted at the pickup number PP = <NUM>. In addition, in the first inspection mode, the inspection of lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM> to be concealed below upper component C-<NUM> is performed at a timing immediately after upper component C-<NUM> is mounted at the pickup number PP = <NUM>, that is, at a timing immediately before upper component C-<NUM> is mounted at the pickup number PP = <NUM>. Furthermore, in the first inspection mode, the inspection of lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM> to be concealed below upper component C-<NUM> is performed at a timing immediately after upper component C-<NUM> is mounted at the pickup number PP = <NUM>, that is, at a timing immediately before upper component C-<NUM> is mounted at the pickup number PP = <NUM>. As described above, in the first inspection mode, the inspection of the lower component is performed at a timing immediately before the mounting of the upper component to be mounted on the lower component. In the first inspection mode, by ensuring that there is no time between the inspection of the lower component and the mounting operation of the upper component to be mounted on the lower component, it is possible to avoid the invading of foreign matter or the like after the inspection of the lower component is performed until the upper component is mounted on the lower component, so that the reliability of the inspection of the lower component can be enhanced.

On the other hand, in the second inspection mode, as illustrated in <FIG>, the inspection of all the lower components A-<NUM> to A-<NUM>, B-<NUM> to <NUM> to be concealed below upper components C-<NUM> to C-<NUM> is successively performed at a timing immediately after last other component D-<NUM> is mounted at the pickup number PP = <NUM>, that is, at a timing immediately before upper component C-<NUM> is mounted at the pickup number PP = <NUM>. As described above, in the second inspection mode, by collectively performing the inspection of all the lower components, the inspection time can be shortened, so that the production efficiency can be enhanced.

Since the selection of the first inspection mode and the second inspection mode can be arbitrarily performed by the operation of the user, it is possible to appropriately respond to the different needs of the user.

Here, the correspondence between the main elements of the embodiments and the main elements of the present invention described in the disclosure section of the invention will be described. That is, head <NUM> corresponds to the head, head moving device <NUM> corresponds to the head moving device, mark camera <NUM> corresponds to the imaging device, and control device <NUM> corresponds to the control device.

It goes without saying that the present invention is not limited to the above-described embodiments, and can be implemented in various aspects as long as it belongs to the technical scope of the invention of the present disclosure.

For example, in the above embodiment, the inspection timing setting data indicates that the inspection is performed after the mounting operation of all the target components is performed at the pickup number PP matching with the related pickup number PP*. However, as illustrated in <FIG>, the inspection timing setting data may indicate that the inspection is performed before the mounting operation of the first target component is performed at the pickup number PP matching the related pickup number PP*. In addition, the inspection timing setting data may indicate whether to execute the inspection at each pickup number PP at that timing, as illustrated in <FIG>.

In addition, in the above embodiment, the inspection timing setting data is provided separately from the mounting sequence data. However, the inspection timing setting data may be incorporated in the mounting sequence data and configured as work sequence data including the mounting work and the inspection work. As illustrated in <FIG>, the work sequence data is configured by associating work contents, a work target, and a work group number with each other for each work number. Component mounting machine <NUM> performs work on the work target associated with the work number in the order of the work number with the work contents associated with the work number. Here, the work contents include the mounting work of the target component and the mounting inspection of the target component. In addition, the work target includes a component type of the target component in a case of performing the mounting work, and includes information (inspection <NUM>, inspection <NUM>, and inspection <NUM>) for identifying the inspection target in a case of performing the mounting inspection. In addition, the work group number corresponds to the pickup number described above in the case of performing the mounting work.

In addition, in the above embodiment, component mounting machine <NUM> is configured to perform the mounting of the lower component, the mounting of the upper component, and the inspection of the lower component, and may also be configured to perform the inspection of the upper component in addition to these work. <FIG> is a flowchart illustrating component mounting processing of a modification example executed by CPU <NUM> of control device <NUM>. The same processing as those of the component mounting processing of the embodiment of each processing of the component mounting processing of the modification example are assigned with the same step numbers, and descriptions thereof will be omitted because the descriptions are duplicated.

When the component mounting processing of the modification example illustrated in <FIG> is executed, and it is determined in Step S190 that the current pickup number PP matches the inspection-related pickup number PP*, CPU <NUM> determines whether the inspection type is the lower component inspection (Step S240). When it is determined that the inspection type is the lower component inspection, CPU <NUM> inspects the lower component (Step S200), proceeds to Step S210, when it is determined that the inspection type is not the lower component inspection but the upper component inspection, inspects the upper component (Step S250), and proceeds to Step S210. <FIG> are explanatory tables illustrating inspection timing setting data of the modification example. <FIG> illustrate inspection timing setting data used in a case where the mounting work is performed according to the mounting sequence data in <FIG>. As illustrated in the figure, in the modification example, the inspection timing of the upper component is set so that the inspection of upper components C-<NUM> to C-<NUM> is performed after last upper component C-<NUM> among upper components C-<NUM> to C-<NUM> is mounted at the pickup number PP = <NUM> in both the first inspection mode and the second inspection mode.

In addition, in the above embodiment, the inspection mode is provided with the first inspection mode in which the mounting inspection of the lower component located below the upper component of the mounting target is performed immediately before mounting the upper component of the mounting target among multiple upper components, and the second inspection mode in which the mounting inspection of all the lower components is successively performed, and component mounting machine <NUM> performs the mounting inspection in the inspection mode selected from the first inspection mode and the second inspection mode. However, when a component is mounted according to the mounting sequence, component mounting machine <NUM> may execute the first inspection mode regardless of the user's selection in a case where the second inspection mode cannot be executed (for example, in a case where lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM> are mounted, and then upper components C-<NUM> are mounted before lower components A-<NUM> to A-<NUM>, B-<NUM>, and B-<NUM> are mounted).

Furthermore, in the above embodiment, the inspection mode is provided with the first inspection mode in which the mounting inspection of the lower component located below the upper component of the mounting target is performed immediately before mounting the upper component of the mounting target among multiple upper components, and the second inspection mode in which the mounting inspection of all the lower components is successively performed. However, other inspection modes different from the first inspection mode and the second inspection mode may be provided. For example, as another inspection mode, a third inspection mode may be provided in which the user can arbitrarily designate the execution timing of the mounting inspection of the lower component after the lower component is mounted based on the mounting sequence.

As described above, a component mounting machine of the present disclosure that mounts a component on a board, the component mounting machine, and it is a gist to include a head configured to hold the component; a head moving device configured to move the head; an imaging device configured to be provided to move together with the head by the head moving device and configured to image the board; and a control device configured to execute a lower component mounting operation that controls the head and the head moving device so that a lower component is mounted on the board, an upper component mounting operation that controls the head and the head moving device so that an upper component is mounted on the lower component mounted on the board, and a lower component mounting inspection operation that controls the imaging device and the head moving device so as to image the board on which the lower component is mounted and performs a mounting inspection of the lower component based on a captured image of the board after the lower component mounting operation is performed and before the upper component mounting operation is performed, in which in a case where each of the upper components is mounted on different lower components among multiple lower components mounted on the board, the control device executes the lower component mounting inspection operation in an inspection mode selected from multiple inspection modes including a first inspection mode in which the mounting inspection of the lower component located below the upper component of a mounting target is performed immediately before the upper component mounting operation of each of the upper components is performed as an execution timing of the lower component mounting inspection operation and a second inspection mode in which all mounting inspections of the multiple lower components are successively performed.

In such a component mounting machine of the present disclosure, the control device may perform the lower component mounting inspection operation in the inspection mode selected by an operation of an operator from the multiple inspection modes. As a result, the inspection mode can be easily selected.

In addition, in the component mounting machine of the present disclosure, the control device may execute an upper component mounting inspection operation that controls the imaging device and the head moving device so as to image the board on which the upper component is mounted after the upper component mounting operation is performed, and performs a mounting inspection of the upper component based on the captured image of the board. As a result, the component mounting machine can execute the mounting and the inspection of each of the lower component and the upper component by a single body.

The present invention can be applied in a manufacturing industry for the component mounting machine or the like.

Claim 1:
A component mounting machine (<NUM>) configured to mount components on a board (S), the component mounting machine (<NUM>) comprising:
a head (<NUM>) configured to hold the component;
a head moving device (<NUM>) configured to move the head (<NUM>);
an imaging device (<NUM>) provided to move together with the head (<NUM>) by the head moving device (<NUM>) and configured to image the board (S); and
a control device (<NUM>) configured to execute a lower component mounting operation for controlling the head (<NUM>) and the head moving device (<NUM>) so that a lower component is mounted on the board (S), an upper component mounting operation for controlling the head (<NUM>) and the head moving device (<NUM>) so that an upper component is mounted on the lower component mounted on the board (S), and a lower component mounting inspection operation for controlling the imaging device (<NUM>) and the head moving device (<NUM>) so as to image the board (S) on which the lower component is mounted and for performing a mounting inspection of the lower component based on a captured image of the board (S) after the lower component mounting operation is performed and before the upper component mounting operation is performed,
characterized in that
in a case where each of the upper components is mounted on different lower components among multiple lower components mounted on the board (S), the control device (<NUM>) is configured to execute the lower component mounting inspection operation in an inspection mode selected from multiple inspection modes,
including a first inspection mode in which the mounting inspection of the lower component located below the upper component of a mounting target is performed immediately before the upper component mounting operation of each of the upper components is performed as an execution timing of the lower component mounting inspection operation and a second inspection mode in which all mounting inspections of the multiple lower components are performed successively.