Patent Description:
A component mounting system includes a holding tool for holding a component and a moving device for moving the holding tool, and a component held by the holding tool is mounted on a board or the like by controlling the operation of the moving device. Patent Literature below describes an example of such a component mounting system. Patent Literature <NUM> and Patent Literature <NUM> provide further component mounting system according to the prior art.

The object of the present invention is to provide a component mounting system capable of properly mounting components.

In order to solve the above problems, the present specification discloses a component mounting system comprising: a holding tool configured to hold a component; a moving device configured to move the holding tool; an electromagnetic motor for lowering the holding tool in order to mount the component on a board; a detection sensor configured to detect contact of a component held in the holding tool with a board; and a control device, performing a first mounting operation and a second mounting operation selectively, wherein the first mounting operation is an operation in which a component held by the holding tool is mounted on the board while executing foreign matter detection for detecting with the sensor whether there is foreign matter present at a planned mounting position, and the second mounting operation is an operation in which a component held by the holding tool is mounted on the board without executing the foreign matter detection, and wherein, in the foreign matter detection an actual component height of the component is calculated based on a detected value of an encoder of the electromagnetic motor, a target component height is set in advance based on the height dimensions of the component and the component mounting system is configured such that, if the detection sensor detects that a member has come in contact with the component, before actual component height is lowered to target component height, it is determined that foreign matter is present at the planned mounting position on the board, and with respect to the mounting operation for each of the components, the control device further is configured to control the lowering speed of the holding tool so as to mount the component to the board such that the time required for the first mounting operation is longer than the time required for the second mounting operation.

Further, in order to solve the above problems, the present specification discloses a component mounting system comprising: a holding tool configured to hold a component; a moving device configured to move the holding tool; an electromagnetic motor for lowering the holding tool in order to mount the component on a board; a detection sensor configured to detect contact of a component held in the holding tool with a board; and a control device, performing a first mounting operation and a second mounting operation selectively, wherein the first mounting operation is an operation in which a component held by the holding tool is mounted on the board while executing foreign matter detection for detecting with the sensor whether there is foreign matter present at a planned mounting position, and the second mounting operation is an operation in which a component held by the holding tool is mounted on the board without executing the foreign matter detection, and wherein, in the foreign matter detection an actual component height of the component is calculated based on a detected value of an encoder of the electromagnetic motor, a target component height is set in advance based on the height dimensions of the component and the component mounting system is configured such that, if the detection sensor detects that a member has come in contact with the component, before actual component height is lowered to target component height, it is determined that foreign matter is present at the planned mounting position on the board, and with respect to the production work of the same board type, the control device is configured to control the lowering speed of the holding tool such that the time required for the production work of the board using the first mounting operation is longer than the time required for the production work of the board using the second mounting operation.

According to the present disclosure, a first mounting operation and a second mounting operation are selectively performed, the first mounting operation being an operation in which a mounting operation is performed while executing foreign matter detection, and the second mounting operation being an operation in which a mounting operation is performed without executing foreign matter detection. With respect to the mounting operation for one component, the time required for the first mounting operation is longer than the time required for the second mounting operation. Alternatively, with respect to the production of the same board type, the time required to produce a board using the first mounting operation is longer than the time required to produce a board using the second mounting operation. Thus, it is possible to properly determine whether there is foreign matter present at the planned mounting position and properly perform the mounting operation for the components.

<FIG> shows component mounting machine <NUM>. Component mounting machine <NUM> is a device for mounting components on circuit substrate <NUM>. Component mounter <NUM> includes device main body <NUM>, substrate conveyance and holding device <NUM>, component mounting device <NUM>, mark camera <NUM>, height sensor <NUM>, part camera <NUM>, component supply device <NUM>, bulk component supply device <NUM>, and control device (refer to <FIG>) <NUM>. Circuit substrate <NUM> may be a circuit board, or a substrate or the like having a three-dimensional structure, and the circuit board may be a printed wiring board, a printed circuit board, or the like.

Device main body <NUM> includes frame section <NUM> and beam section <NUM> mounted on frame section <NUM>. Board conveyance and holding device <NUM> is provided at the center of frame section <NUM> in the front-rear direction and has conveyance device <NUM> and clamping device <NUM>. Conveyance device <NUM> is a device for conveying circuit substrate <NUM>, and clamping device <NUM> is a device for holding circuit substrate <NUM>. With this configuration, substrate conveyance and holding device <NUM> conveys circuit substrate <NUM> and fixedly holds circuit substrate <NUM> at a predetermined position. In the following description, the conveyance direction of circuit substrate <NUM> is referred to as the X-direction, the horizontal direction perpendicular to the direction is referred to as the Y-direction, and the vertical direction is referred to as the Z-direction. In other words, the width direction of component mounting machine <NUM> is the X-direction, and the front-rear direction is the Y-direction.

Component mounting device <NUM> is disposed on beam section <NUM> and has two work heads <NUM>, <NUM> and work head moving device <NUM>. Work head moving device <NUM> is composed of X-direction moving device <NUM>, Y-direction moving device <NUM>, and Z-direction moving device <NUM>. X-direction moving device <NUM> and Y-direction moving device <NUM> include electromagnetic motors (refer to <FIG>) <NUM>, <NUM>, respectively, whereby two work heads <NUM>, <NUM> are integrally moved to any position on frame section <NUM> by corresponding electromagnetic motors <NUM>, <NUM>. Z-direction moving device <NUM> includes electromagnetic motors (refer to <FIG>) <NUM>, <NUM>, whereby sliders <NUM>, <NUM> are individually moved in the up-down direction by corresponding electromagnetic motors <NUM>, <NUM>. Work heads <NUM>, <NUM> are detachably attached to slider <NUM>, <NUM>. As a result, work heads <NUM>, <NUM> are moved individually in the up-down direction by Z-direction moving device <NUM>.

Further, each of work heads <NUM>, <NUM> mount components on circuit substrates <NUM> and has suction nozzle <NUM> provided on the lower end. Suction nozzle <NUM> communicates with positive and negative pressure supply device (refer to <FIG>) <NUM> via negative pressure air and positive pressure air passages. Suction nozzle <NUM> picks up and holds electronic components by negative pressure and releases electronic components held by positive pressure. Work heads <NUM>, <NUM> also include detection sensor <NUM> for detecting contact of a component held by suction nozzle <NUM> with circuit substrate <NUM>.

Specifically, as shown in <FIG>, each of work heads <NUM>, <NUM> has holder <NUM>, having a generally cylindrical shape, holder <NUM> being held in the up-down direction in a slidable manner by holding shaft <NUM> at the lower portion of work heads <NUM>, <NUM>. Holder <NUM> is biased downward with respect to the work head by a compression coil spring (not shown). However, the downward biasing of holder <NUM> is restricted at a predetermined position with a stopper (not shown). Suction nozzle <NUM> is detachably held by holder <NUM>. With such a configuration, suction nozzle <NUM> is held by the lower face of work heads <NUM>, <NUM> in a manner so as to be pushed upward.

Detection sensor <NUM> is a non-contact-type photoelectric sensor and includes irradiation section <NUM> and light receiving section <NUM>, with light irradiated from irradiation section <NUM> being reflected off the side surface of holder <NUM>, and light receiving section <NUM> receiving the reflected light. Flange portion <NUM> is formed on the upper portion of the side surface of holder <NUM>, and the side surface of holder <NUM> is a stepped surface. When holder <NUM> has slid to the lowest point, light irradiated from irradiation section <NUM> is irradiated to flange portion <NUM> of holder <NUM>.

Therefore, the detected value by detection sensor <NUM> is different in the case where light irradiated from irradiation section <NUM> is reflected off flange <NUM> while holder <NUM> is positioned at the lowest point and in the case where light irradiated from irradiation section <NUM> is reflected off flange portion <NUM> while holder <NUM> is slid upward due to the differences in detected height. That is, as a result of suction nozzle <NUM>, held by holder <NUM>, being pushed upward by a predetermined amount from the lowest sliding point,
the point irradiated from irradiation section <NUM> to the side surface of holder <NUM> moves downward from flange portion <NUM> and the detection value of detection sensor <NUM> changes. With such a structure, when a component held by suction nozzle <NUM> comes in contact with circuit substrate <NUM>, the compression coil spring is further compressed and detection sensor <NUM> detects the fact that suction nozzle <NUM> has been pushed upward by a predetermined amount from the lowest sliding point. That is, detection sensor <NUM> detects contact of the component held by suction nozzle <NUM> with circuit substrate <NUM>. With this, as will be described in detail later, when mounting a component held by suction nozzle <NUM> to circuit substrate <NUM>, lowering of work head <NUM>, <NUM>, that is, the operation of electromagnetic motors <NUM>, <NUM> of Z-direction moving device <NUM> is controlled in consideration of, for example, the operating speed, the operating acceleration, or the operating time.

Mark camera <NUM> is attached to slider <NUM> while being oriented downward as shown in <FIG> and is caused to move in the X-direction, Y-direction and Z-direction together with work head <NUM>. Thus, mark camera <NUM> is moved to any position by the operation of work head moving device <NUM>, and mark camera <NUM> images any position on frame section <NUM>.

Further, height sensor <NUM> is also attached to slider <NUM>. Height sensor <NUM> is a length measuring sensor of the laser-beam reflection type and detects the height of circuit substrate <NUM> using a laser beam. That is, height sensor <NUM> is moved to a position above circuit substrate <NUM> held in clamping device <NUM> by the operation of work head moving device <NUM>. Height sensor <NUM> is then irradiates circuit substrate <NUM> with the laser beam and receives the beam reflected off circuit substrate <NUM>. Thus, the distance between circuit substrate <NUM> and height sensor <NUM> is the measured length, and the height of any position of circuit substrate <NUM> is detected.

Part camera <NUM> is disposed between substrate conveyance and holding device <NUM> and component supply device <NUM> on frame section <NUM> while being oriented upwards, as shown in <FIG>. Thus, work heads <NUM>, <NUM> holding a component are moved to a position above component camera <NUM> by the operation of work head moving device <NUM> enabling part camera <NUM> to image the component held by suction nozzle <NUM>.

Further, component supply device <NUM> is disposed at one end of frame section <NUM> in the front-rear direction. Component supply device <NUM> has tray-type component supply device <NUM> and feeder-type component supply device (refer to <FIG>) <NUM>. Tray-type component supply device <NUM> is a device configured to supply components placed on a tray. Feeder-type component supply device <NUM> is a device for supplying components with a tape feeder or a stick feeder (not shown).

Bulk component supply device <NUM> is provided at the other end of frame section <NUM> in the front-rear direction. Bulk component supply device <NUM> is a device for aligning multiple scattered components and supplying the components in an aligned state. That is, bulk component supply device <NUM> is a device for aligning multiple components in any orientation into a predetermined orientation and supplying the components in the predetermined orientation.

As shown in <FIG>, control device <NUM> includes controller <NUM>, multiple drive circuits <NUM>, and image processing device <NUM>. Multiple drive circuits <NUM> are connected to conveyance device <NUM>, clamping device <NUM>, electromagnetic motors <NUM>, <NUM>, <NUM>, <NUM>, positive and negative pressure supply device <NUM>, tray-type component supply device <NUM>, feeder-type component supply device <NUM>, and bulk component supply device <NUM>. Controller <NUM> includes a CPU, ROM, RAM, and the like, mainly consists of a computer, and is connected to multiple driving circuits <NUM>. Accordingly, the operations of substrate conveyance and holding device <NUM>, component mounting device <NUM>, and the like are controlled by controller <NUM>. Controller <NUM> is also connected to image processing device <NUM>. Image processing device <NUM> processes image data obtained by mark camera <NUM> and part camera <NUM>, and controller <NUM> acquires various types of information from the image data. Furthermore, controller <NUM> is also connected to detection sensor <NUM>, height sensor <NUM>, and acquires and calculates detection values from detection sensor <NUM> and height sensor <NUM>.

Being configured as described above, component mounter <NUM> mounts electronic components on circuit substrate <NUM> held by substrate conveyance and holding device <NUM>. Specifically, circuit substrate <NUM> is conveyed to a work position and is fixedly held by clamping device <NUM> at the position. Next, mark camera <NUM> moves to a position above circuit substrate <NUM> and images circuit substrate <NUM>. Then, controller <NUM> calculates the error or the like of the position at which circuit substrate <NUM> is held by clamping device <NUM> based on the imaging data.

Further, component supply device <NUM> or bulk component supply device <NUM> supplies electronic component (refer to <FIG>) <NUM> to a predetermined supply position. Then, either one of work heads <NUM>, <NUM> is moved to a position above the supply position of the component, and by lowering work head <NUM>/<NUM>, suction nozzle <NUM> attached to work head <NUM>/<NUM> picks up and holds electronic component <NUM>.

Next, work head <NUM>/<NUM> moves to a position above part camera <NUM>, and electronic component <NUM> held by suction nozzle <NUM> is imaged by part camera <NUM>. Then, controller <NUM> calculates the orientation and the like of electronic component <NUM> held in suction nozzle <NUM> based on the imaging data. Then, work head <NUM>/<NUM> for holding electronic component <NUM> is moved to a position above circuit substrate <NUM>, and by lowering work head <NUM>/<NUM>, the error in the holding position of circuit substrate <NUM>, the error in the holding orientation of the component, and the like are corrected, and the held component is mounted onto circuit substrate <NUM>.

When this occurs, in order to mount electronic component <NUM> held by work head <NUM>/<NUM> onto the upper face of circuit substrate <NUM>, the driving source for lowering work head <NUM>/<NUM>, that is, the operation of electromagnetic motors <NUM>, <NUM> of Z-direction moving device <NUM> are controlled based on the detection value by detection sensor <NUM>. Specifically, electromagnetic motor <NUM>/<NUM> performs position control in accordance with the detected value of the encoder, and at the time of operation of electromagnetic motor <NUM>/<NUM>, the actual height of electronic component <NUM> held by work head <NUM>/<NUM>, which is the height of the lower face of electronic component <NUM>, (hereinafter, referred to as "actual component height HR") is calculated based on the detected value of the encoder. On the other hand, along the Z-axis coordinate of the mounting position on the upper face of circuit substrate <NUM>, that is, the mounting height that is the target for electronic component <NUM> (hereinafter, referred to as "target component height HM") is set in advance based on the height dimensions and the like of electronic component <NUM>. Target component height HM is set to be located slightly below the Z-axis coordinate of the upper face of circuit substrate <NUM>.

However, in order to ensure proper mounting of electronic component <NUM> onto circuit substrate <NUM>, the detection value by detection sensor <NUM> is used. Specifically, due to errors and the like in the dimensions of electronic component <NUM>, even if actual component height HR decreases to target component height HM, there is a possibility that electronic component <NUM> held by suction nozzle <NUM> will not come in contact with the upper face of circuit substrate <NUM>. When holding of electronic component <NUM> by suction nozzle <NUM> is released in such a state, electronic component <NUM> cannot be properly mounted on circuit substrate <NUM>.

Therefore, even after actual component height HR is lowered to target component height HM, the operation of electromagnetic motor <NUM>/<NUM> is not stopped and work head <NUM>/<NUM> is further lowered. Electronic component <NUM> held by suction nozzle <NUM> then comes in contact with the upper face of circuit substrate <NUM>, and the contact of electronic component <NUM> with circuit substrate <NUM> is detected by detection sensor <NUM>. Then, at a predetermined timing at which the contact of electronic component <NUM> with circuit substrate <NUM> is detected by detection sensor <NUM>, the operation of electromagnetic motor <NUM>/<NUM> is stopped. That is, although the operation of electromagnetic motor <NUM>/<NUM> is controlled so that actual component height HR is lowered to target component height, if actual component height HR has not descended to target component height HM, the operation of electromagnetic motor <NUM>/<NUM> does not stop. Then, with the detection by detection sensor <NUM> of electronic component <NUM> coming in contact with circuit substrate <NUM> serving as a trigger, the operation of electromagnetic motor <NUM>/<NUM> stops.

Then, when the operation of electromagnetic motor <NUM>/<NUM> has stopped, a slight positive pressure is supplied to suction nozzle <NUM> to separate electronic component <NUM> from suction nozzle <NUM>. Thus, with the operation of electromagnetic motor <NUM>/<NUM> of Z-direction moving device <NUM> being controlled based on the detection value from detection sensor <NUM>, the holding of electronic component <NUM> by suction nozzle <NUM> is released while electronic component <NUM> is in contact with circuit substrate <NUM>. As a result, proper mounting of electronic component <NUM> to circuit substrate <NUM> is ensured. In order to shorten the cycle time, the electromagnetic motor <NUM>/<NUM> at the time of mounting electronic component <NUM> is operated at an output operating speed near or at the maximum output speed of electromagnetic motor <NUM>/<NUM>, and the moving speed of the holding tool for mounting electronic components is set specifically to a maximum speed of approximately <NUM>/sec (approximately <NUM> when converted to acceleration).

In addition, in component mounting machine <NUM>, it is possible to perform foreign matter detection in which it is determined by detection sensor <NUM> whether there is foreign matter at the planned mounting position when executing a mounting operation. Specifically, for example, as shown in <FIG>, when foreign matter <NUM> is present at the planned mounting position, electronic component <NUM> will be mounted on top of foreign matter <NUM> when the mounting operation of electronic component <NUM> is executed. In such a case, during the operation control of electromagnetic motor <NUM>, <NUM>, before actual component height HR is lowered to target component height HM, electronic component <NUM> held by suction nozzle <NUM> comes in contact with foreign matter <NUM>, and by the contact, detection sensor <NUM> detects that some member has come in contact with electronic component <NUM>. Thus, before actual component height HR is lowered to target component height HM, if detection sensor <NUM> detects that some member has come in contact with electronic component <NUM> held by suction nozzle <NUM>, it is likely that foreign matter <NUM> or a fallen component is present at the planned mounting position.

Therefore, in such a case, that is, if contact of electronic component <NUM> with some member is detected by detection sensor <NUM> before actual component height HR is lowered to target component height HM, electronic component <NUM> held by suction nozzle <NUM> is not released. That is, electronic component <NUM> is not mounted on circuit substrate <NUM>. Electronic component <NUM> held by suction nozzle <NUM> is then discarded in a waste box or the like, and the mounting operation of electronic component <NUM> is skipped. Thus, it is possible to prevent mounting of electronic component <NUM> on foreign matter <NUM>. Skipping of the mounting operation, the presence of foreign matter <NUM>, and the like are displayed on a panel device, and this fact is notified to the operator, and various actions are executed by the operator.

It should be noted that when the mounting operation is performed while the foreign matter detection is performed, the time required for the mounting operation per component is increased in the mounting operation of electronic component <NUM> as compared with the case where the mounting operation is performed without foreign matter detection. That is, as compared with the case where the mounting work is performed without executing foreign matter detection, the time required for the production operation of circuit substrate <NUM> is increased when the mounting operation is performed while executing foreign matter detection. In addition, in the case where a multiple of the same substrate type is produced, boards produced by performing the mounting operation while executing foreign matter detection takes longer to produce than boards produced by performing the mounting operation without executing foreign matter detection. More specifically, when a mounting operation is performed while foreign matter detection is performed, the lowering speed and lowering acceleration of work head <NUM>/<NUM>, that is, the operating speed and operating acceleration of electromagnetic motor <NUM>/<NUM> at the time of the mounting operation are limited to be low as compared with the case where the mounting operation is performed without foreign matter detection. This is because the faster work head <NUM>/<NUM> is lowered, the lower the detection accuracy of detection sensor <NUM>.

Specifically, as mounting target electronic component <NUM>, a component is used having a mounting surface that is flat with component dimensions being <NUM> square, and foreign matter <NUM> is placed in the center of the planned mounting position of the component. Incidentally, the size of foreign matter <NUM> is 1005c of an electronic component, that is, <NUM> in width × <NUM> in height. Then, the operation of electromagnetic motor <NUM>/<NUM> is controlled so that actual component height HR becomes target component height HM, and actual component height HR at the time at which electronic component <NUM> comes in contact with circuit substrate <NUM> is determined by detection sensor <NUM>. The difference between the specified actual component height HR and target component height HM is calculated as the detected height by detection sensor <NUM>. In addition, by changing the lowering speed and the lowering acceleration of work head <NUM>/<NUM>, the height is calculated twice in each of six operating modes: an operating mode at the maximum output (<NUM>% speed, <NUM>% acceleration) of electromagnetic motor <NUM>/<NUM>; an operating mode at the output (<NUM>% speed, <NUM>% acceleration) that suppresses the speed to <NUM>%; an operating mode at the output (<NUM>% speed, <NUM>% acceleration) that suppresses the speed to <NUM>% and acceleration to <NUM>%; an operating mode at the output (<NUM>% speed, <NUM>% acceleration) that suppresses the speed to <NUM>% and acceleration to <NUM>%; an operating mode at the output (<NUM>% speed, <NUM>% acceleration) that suppresses the speed to <NUM>% and acceleration to <NUM>%; and an operating mode at the output (<NUM>% speed, <NUM>% acceleration) that suppresses the speed to <NUM>% and acceleration to <NUM>%.

The results of comparing the detected heights (µm) for each of the six operating modes are shown in <FIG> and <FIG>. As can be seen, the more the speed and acceleration are suppressed, that is, the slower the lowering speed and lowering acceleration of work heads <NUM>, <NUM>, the higher the detected height (µm), and the faster the lowering speed and lowering acceleration of work heads <NUM>, <NUM>, the lower the detected height (µm). Further, the slower the lowering speed and lowering acceleration of work heads <NUM>/<NUM>, the smaller the variation in the detected height (µm), while the faster the lowering speed and lowering acceleration of work head <NUM>/<NUM>, the larger the variation in the detected height (µm). That is, the lower the lowering speed and lowering acceleration of work head <NUM>/<NUM>, the higher the detection accuracy of detection sensor <NUM>, and the faster the lowering speed and lowering acceleration of work head <NUM>/<NUM>, the lower the detection accuracy of detection sensor <NUM>. Specifically, for example, in the operation mode with an output in which the speed and acceleration were suppressed to <NUM>% and <NUM>%, respectively, the height of foreign matter <NUM> having a height of <NUM> (<NUM>) can be detected with an accuracy of about <NUM>. On the other hand, in the operating mode at the maximum output (speed <NUM>%, acceleration <NUM>%), foreign matter <NUM> having a height of <NUM> (<NUM>) can only be detected with an accuracy of about <NUM>.

Further, the further foreign matter <NUM> is placed toward the edge of the planned mounting position instead of the center of the planned mounting position, the more the detection accuracy of foreign matter <NUM> is reduced. Specifically, for example, when foreign matter <NUM> is in the center of the planned mounting position, in the operation mode with an output that suppresses the speed to <NUM> % and acceleration to <NUM>%, the height of foreign material <NUM> having a height of <NUM> (<NUM>) could be detected with an accuracy of about <NUM>. On the other hand, when foreign matter <NUM> is offset <NUM> from the center of the planned mounting position, even in the operation mode with an output that suppresses the speed to <NUM> % and acceleration to <NUM>%, the height of foreign matter <NUM> having a height of <NUM> (<NUM>) can only detected with an accuracy of about <NUM>.

Therefore, when the mounting operation is performed while performing foreign matter detection, it is necessary to limit the lowering speed and lowering acceleration of work head <NUM>/<NUM> during the mounting operation. However, when the lowering speed and lowering acceleration of work head <NUM>/<NUM> during the mounting operation are limited, it is preferable that the lowering speed and lowering acceleration limits be small since the mounting time and, in turn, the cycle time cannot be shortened.

Therefore, the operator can freely set the limits of the lowering speed and lowering acceleration to find a balance between the detection accuracy of detection sensor <NUM>, that is, the detection accuracy of foreign matter <NUM> and the cycle time. That is, if the operator gives priority to shortening the cycle time, the lowering speed and lowering acceleration of work head <NUM>/<NUM> are set so as to reduce the limits of the lowering speed and lowering acceleration, and if the operator gives priority to the detection accuracy of foreign matter <NUM>, the lowering speed and lowering acceleration of work head <NUM>/<NUM> are set so as to increase the limits of the lowering speed and lowering acceleration. As a result, it is possible to strike a balance between the detection accuracy of foreign matter <NUM> and the cycle time in accordance with the conditions of the mounting operation and the contents of the operation.

That is, in component mounting machine <NUM>, the mounting operation while executing foreign matter detection (hereinafter, referred to as the "first mounting operation") and the mounting operation without executing foreign matter detection (hereinafter, referred to as the "second mounting operation") can be selectively executed. In the second mounting operation, it is possible to reduce the cycle time by operating electromagnetic motors <NUM>, <NUM> at or near the maximum output which are set in advance so as not to affect the mounting operation or the mounting accuracy with vibrations generated by the mounting operation. On the other hand, in the first mounting operation, it is possible to detect foreign matter <NUM> by controlling the operation output of electromagnetic motor <NUM>/<NUM>, although the cycle time will increase. Furthermore, in the first mounting operation, since the operation output of electromagnetic motors <NUM>, <NUM> can be arbitrarily set, it is possible to balance the detection accuracy of foreign matter <NUM> and the cycle time. These can be set according to the type of component to be mounted and the type of board to be produced.

In the first mounting operation, foreign matter detection is performed to address the detection accuracy of foreign matter <NUM> in consideration of warping or the like of circuit substrate <NUM>. Specifically, for example, as shown in <FIG>, regardless of warping in circuit substrate <NUM>, without considering the warping of circuit substrate <NUM>, when the target component height is set, even though circuit substrate <NUM> is warped downward, the target component height may be set to HM1. Thus, the target component height is set to HM1, and when the operation of electromagnetic motor <NUM>/<NUM> is controlled so that actual component height HR becomes target component height HM, the detected value by detection sensor <NUM> is changed at the time at which actual component height HR becomes target component height HM1. That is, after actual component height HR is lowered to target component height HM1, the contact of electronic component <NUM> held by suction nozzle <NUM> is detected by detection sensor <NUM>. Therefore, in such a case, as described above, it is determined that the foreign matter <NUM> is not present at the planned mounting position, and electronic component <NUM> is detached from foreign matter <NUM>.

On the other hand, when the target component height is set, the target component height is set to HM2 (< HM1) in consideration of the warping of circuit substrate <NUM>. Thus, when the target component height is set to HM2, the contact of electronic component <NUM> held by suction nozzle <NUM> is detected by detection sensor <NUM> before actual component height HR is lowered to target component height HM2. In such a case, as described above, it is determined that foreign matter <NUM> is present at the planned mounting position, and electronic component <NUM> is not detached.

Therefore, in component mounting machine <NUM>, target component height HM is set in consideration of the warping of circuit substrate <NUM>. Specifically, when circuit substrate <NUM> is conveyed to the mounting operation position and positioned and held by clamping device <NUM>, work head <NUM>/<NUM> move to a position above circuit substrate <NUM>. Then, the height of circuit substrate <NUM> is detected by height sensor <NUM> attached to sliders <NUM>/<NUM> holding work head <NUM>/<NUM>. When this occurs, as shown in <FIG>, the positions 150a-i of circuit substrate <NUM>, such as being divided into nine segments, are measured by height sensor <NUM>, and the heights of circuit substrate <NUM> at each measurement position 150a-i are detected. Then, for example, based on measurement positions 150d, e, g, h of the four sites surrounding planned mounting position <NUM>, the height of circuit substrate <NUM> at planned mounting position <NUM> is calculated. Subsequently, target component height HM is calculated based on the height of circuit substrate <NUM> at planned mounting position <NUM>, the height of electronic component <NUM>, or the like. Thus, target component height HM is set in consideration of the warping of circuit substrate <NUM>. Detection of foreign matter <NUM> can be properly performed even when such warping occurs in circuit substrate <NUM> by controlling the operation of electromagnetic motor <NUM>/<NUM> so that actual component height HR becomes set target component height HM.

Component mounting machine <NUM> is an example of a component mounting system. Height sensor <NUM> is an example of a detection device. Controller <NUM> is an example of a control device. Work head moving device <NUM> is an example of a moving device. Suction nozzle <NUM> is an example of a holding tool. Detection sensor <NUM> is an example of a detection sensor and a photoelectric sensor.

In addition, the present invention is defined by the appended claims and is not limited to the embodiments described above and can be carried out in various modes in which various modifications and improvements are made to the embodiments based on the knowledge of those skilled in the art to which the present invention pertains. Specifically, for example, in the above-described embodiment, a reflection-type photoelectric sensor having irradiation section <NUM> and light receiving section <NUM> is employed as detection sensor <NUM>, but as long as the photoelectric sensor is a non-contact type photoelectric sensor, a radiation-type photoelectric sensor, a transmission-type photoelectric sensor, a reflector-type photoelectric sensor, or the like can be employed. A laser sensor, such as a height sensor, may be employed in place of the photoelectric sensor. Similarly, the present invention is not limited to a non-contact type photoelectric sensor, and a contact type sensor such as a probe may be used to detect the contact of electronic component <NUM> held by suction nozzle <NUM>. However, since a contact type sensor may have problems with durability, response range, response accuracy, and response time, it is preferable to use a non-contact type sensor.

Further, in the above embodiment, when the first mounting operation is performed, the operating speed and operating acceleration of electromagnetic motor <NUM> are limited as compared with the case where the second mounting operation is performed, but only one of the operating speed and the operating acceleration of electromagnetic motor <NUM> may be limited. In this manner, even when only one of the operating speed and the operating acceleration of electromagnetic motor <NUM> is limited, the presence or absence of foreign matter <NUM> can be properly determined.

Further, in the above embodiment, the same components, that is, when the first mounting operation is performed at the time of mounting electronic component <NUM>, as compared with the case where the second mounting operation is performed, the operating speed and the like of electromagnetic motor <NUM> are limited, and even if the components to be mounted in the first mounting operation and the second mounting operation are different, the operation speed and the like of electromagnetic motor <NUM> may be limited. That is, the operating speed and the like of the electromagnetic motor when mounting component A during the first mounting operation may be limited more than the operating speed and the like of the electromagnetic motor when mounting component B during the second mounting operation. However, since, in the case where dimensions of component A and component B are clearly different, generally, the bigger the component dimensions, the more limited is the operating speed and the like of the electromagnetic motor, the dimensions of component A and component B are substantially the same, that is, component A and component B are components of a group where the components have substantially the same size.

The attachment position of height sensor <NUM> is not limited to sliders <NUM>, <NUM>. Specifically, a moving body such as work heads <NUM>/<NUM> moving together with holder <NUM> may be fixedly attached to the path along which circuit substrate <NUM> is conveyed to the mounting work position. That is, it is sufficient to attach the moving body to a position at which the height at any position on the circuit substrate can be detected. For that purpose, multiple height sensors may be used, or a height sensor may be attached something that moves up and down provided the attachment position itself can also be detected.

Further, height sensor <NUM> may detect the planned mounting position itself instead of the position of circuit substrate <NUM>.

Further, the downward biasing means of holder <NUM> is not limited to a compression spring. An air damper, various elastic members, a magnetic damper, or the like may be used as a biasing means. Further, a similar means as the operating head for vertically operating the holding shaft with the electromagnetic motor may be employed as a biasing means to control and manage the output of the electromagnetic motor as a biasing force.

In view of the above, the biasing means, which is an embodiment, can be eliminated. For example, the output value of the electromagnetic motor for vertically moving the work head with the holding shaft may be replaced as a biasing means that changes to a biasing force by controlling and managing to replace the biasing force. In other words, in the embodiment, although the work head is vertically operated by the electromagnetic motor, a similar concept can be adopted as long as the electromagnetic motor is a mechanism for vertically operating the suction nozzle. For example, to the operating axis of the Z-axis slide, a similar mechanism as the mechanism in the component mounting machine in which the Z-axis slide moves up and down can be applied.

In the above embodiment, the present invention is applied to the mounting operation of electronic component <NUM> held by suction nozzle <NUM>, but may be applied to the mounting operation of electronic component <NUM> held by multiple gripping claws such as chucks.

Claim 1:
A component mounting system (<NUM>) comprising:
a holding tool (<NUM>) configured to hold a component (<NUM>);
a moving device (<NUM>) configured to move the holding tool (<NUM>);
an electromagnetic motor (<NUM>, <NUM>) for lowering the holding tool (<NUM>) in order to mount the component (<NUM>) on a board (<NUM>);
a detection sensor (<NUM>) configured to detect contact of a component (<NUM>) held by the holding tool (<NUM>) with the board (<NUM>); and a control device (<NUM>), configured to perform a first mounting operation and a second mounting operation selectively, wherein
the first mounting operation is an operation in which a component (<NUM>) held by the holding tool (<NUM>) is mounted on the board (<NUM>) while executing foreign matter detection for detecting with the sensor (<NUM>) whether there is foreign matter present at a planned mounting position, and the second mounting operation is an operation in which a component (<NUM>) held by the holding tool (<NUM>) is mounted on the board (<NUM>) without executing the foreign matter detection, and wherein,
in the foreign matter detection an actual component height (HR) of the component (<NUM>) is calculated based on a detected value of an encoder of the electromagnetic motor (<NUM>, <NUM>), a target component height (HM) is set in advance based on the height dimensions of the component (<NUM>) and
the component mounting system (<NUM>) is configured such that, if the detection sensor (<NUM>) detects that a member has come in contact with the component (<NUM>), before actual component height (HR) is lowered to target component height (HM), it is determined that foreign matter (<NUM>) is present at the planned mounting position on the board (<NUM>);
wherein with respect to the mounting operation for each of the components (<NUM>), the control device (<NUM>) is further configured to control the lowering speed of the holding tool (<NUM>) so as to mount the component (<NUM>) to the board (<NUM>) such that the time required for the first mounting operation is longer than the time required for the second mounting operation.