Patent Description:
In the conventional art, as an inspection device used in a mounting device, there has been proposed a device that executes missing component inspection and inspects a foreign object on a board from which a missing component is detected (refer to Patent Literature <NUM>, for example). In this inspection device, the foreign object inspection is not performed on a board from which a missing component is not detected, whereas the foreign object inspection is preferentially performed on a board from which a missing component is detected with respect to the periphery of a position where the missing component is detected or a region where the component is moved. Thus, in this inspection device, it is possible to further suppress the occurrence of a defective board. As a mounting device, a device that exchanges feeders by using an exchange robot that is moved between a storage container that stores a feeder holding a component and a supply section that supplies a component has been proposed (refer to Patent Literature <NUM>, for example). In this mounting device, feeders can be automatically exchanged by the exchange robot.

Patent Application <CIT> relates mounting components on a circuit board / mount point, and in particular to recovery processing when component is missing. A component mounter includes pick-up nozzles to pick up a component, a component supply unit holding components in a feeder, and a XY robot moving a multi-nozzle mounting head. Further, the component mounter includes nozzle stations which hold replacement pickup nozzles exchangeable with the nozzles of the multi-component nozzle head. The multi-component nozzle head has a mount point cameras, capturing (i) an image of the mounting state of the component held by the respective nozzles and (ii) an image of the mount point where the component is mounted. Whether a component is missing is detected, based on whether or not an image of said component exists in image information (i.e. image of the mount point). If the component is missing, a recovery process is performed in which the missing component is identified, picked up from the component supply unit, and remounted at the mount point.

Patent Application <CIT> relates to mounting of a component on a circuit board. A camera <NUM> is located above the circuit board to observe provision of the component by mounting it to the board. When the camera <NUM> detects that the component is not mounted, the missing component is re-mounted to the circuit board.

However, in the inspection device in Patent Literature <NUM> described above, although the foreign object inspection is considered, countermeasures against a missing component have not been sufficiently considered. Thus, in this inspection device, the production efficiency is not favorable, for example, an operator is required to perform an operation such as solving a missing component. In Patent Literature <NUM> described above, a missing component or a foreign object is not considered. As described above, it is desirable to execute production more efficiently in a system including a mounting device.

The present disclosure has been made in view of such problems, and a principal object thereof is to provide a mounting device, a mounting system, and an inspection and mounting method capable of more efficiently executing production.

The present disclosure employs the following means in order to achieve the above principal object.

Therefore, it is possible to execute production more efficiently compared with a case where an operator executes an operation for a missing component.

Hereinafter, the present embodiment will be described with reference to the drawings. <FIG> is a schematic explanatory diagram illustrating an example of mounting system <NUM> of the present disclosure. <FIG> is an explanatory diagram schematically illustrating configurations of mounting device <NUM> and board S. In the present embodiment, a left-right direction (X-axis), a front-rear direction (Y- axis), and an up-down direction (Z-axis) are as illustrated in <FIG> and <FIG>.

Mounting system <NUM> is configured as, for example, a production line in which mounting devices <NUM> executing a mounting process for components P on board S serving as a mounting target are arranged in a conveyance direction of board S. Here, a mounting target is described as board S but is not particularly limited as long as component P is mounted thereon, and may be a substrate having a three-dimensional shape. As illustrated in <FIG>, mounting system <NUM> is configured to include printing device <NUM>, printing inspection device <NUM>, storage section <NUM>, management PC <NUM>, mounting device <NUM>, automatic conveyance vehicle <NUM>, loader <NUM>, host PC <NUM>, and the like. Printing device <NUM> is a device that prints a solder paste or the like on board S. Printing inspection device <NUM> is a device that inspects a state of the printed solder.

Mounting device <NUM> is a device that picks up component P and mounts component P on board S. Mounting device <NUM> has a function of executing a mounting inspection process for inspecting whether a component on board S is missing or not or a state of a component disposed on board S. Mounting device <NUM> includes board processing section <NUM>, supply section <NUM>, pickup/imaging section <NUM>, mounting section <NUM>, and mounting control section <NUM>. As illustrated in <FIG>, mounting control section <NUM> is configured as a microprocessor centered on CPU <NUM>, and controls the entire device. Mounting control section <NUM> includes memory section <NUM> and inspection section <NUM>. Memory section <NUM> stores mounting condition information <NUM>, board information <NUM>, and the like. Mounting condition information <NUM> is a production job, and includes information such as information of component P, a disposition order in which component P is mounted on board S, a disposition position, an attachment position of feeder <NUM> from which component P is picked up, and the like. Board information <NUM> is information for managing the mounting state or the like of board S, and includes, for example, a picked-up state or an inspection result when component P is mounted, and a remounting result of a missing component. The missing component means that component P is not present on board S for some reason although a mounting process for component P is performed. Board information <NUM> is transmitted to host PC <NUM> and stored as a board information database for production management. Inspection section <NUM> is, for example, a functional block that inspects a state of board S or disposed component P based on an image obtained by imaging board S. Mounting control section <NUM> outputs control signals to board processing section <NUM>, supply section <NUM>, and mounting section <NUM>, and also receives signals from board processing section <NUM>, supply section <NUM>, and mounting section <NUM>.

Board processing section <NUM> is a unit that carries in, conveys, fixes at a mounting position, and carries out board S. Board processing section <NUM> has a pair of conveyor belts extending in the left-right direction and spaced apart from each other in the front-rear direction in <FIG>. Board S is conveyed by these conveyor belts. Board processing section <NUM> includes two pairs of the conveyor belts, and can convey and fix two boards S simultaneously. Supply section <NUM> is a unit that supplies component P to mounting section <NUM>. Supply section <NUM> attaches feeder <NUM> including a reel around which a tape serving as a holding member holding component P is wound to at least one attachment section. Feeder <NUM> includes a controller (not illustrated). The controller stores information such as an ID of the tape included in feeder <NUM>, the type of component P, and the remaining number of components P. When feeder <NUM> is attached to the attachment section, the controller transmits information regarding feeder <NUM> to mounting control section <NUM>. Supply section <NUM> includes a tray unit having tray <NUM> serving as a holding member on which multiple components P are arranged and placed.

Pickup/imaging section <NUM> is a device that captures images of one or more components P in a state of being picked up and held by mounting head <NUM>. Pickup/imaging section <NUM> is disposed between board processing section <NUM> and supply section <NUM>. An imaging range of pickup/imaging section <NUM> is located above pickup/imaging section <NUM>. Pickup/imaging section <NUM> captures an image of component P when mounting head <NUM> holding component P passes over pickup/imaging section <NUM>, and outputs the captured image to mounting control section <NUM>. Based on the captured image, mounting control section <NUM> may execute, for example, inspection as to whether a shape and a part of component P are normal, or detection of a deviation amount of a position, rotation, or the like at the time of picking up component P.

Mounting section <NUM> is a unit that picks up component P from supply section <NUM> and disposes component P on board S fixed to board processing section <NUM>. Mounting section <NUM> includes head moving section <NUM>, mounting head <NUM>, nozzle <NUM>, inspection/imaging section <NUM>, and nozzle storage section <NUM>. Head moving section <NUM> includes a slider moved by being guided by guide rails in the XY-directions, and a motor that drives the slider. Mounting head <NUM> picks up one or more components P and is moved in the XY-directions by head moving section <NUM>. Mounting head <NUM> is detachably attached to the slider. One or more nozzles <NUM> are detachably attached to a lower surface of mounting head <NUM>. Nozzle <NUM> picks up component P by using a negative pressure. A pickup member that picks up component P may be a mechanical chuck or the like that mechanically holds component P in addition to nozzle <NUM>. Inspection/imaging section <NUM> is a camera that captures an image of a region below mounting head <NUM>, and captures an image of, for example, not only component P disposed on board S but also a reference mark, a 2D code, or the like formed on board S. Inspection/imaging section <NUM> is disposed on the lower surface side of the slider to which mounting head <NUM> is attached, and is moved in the XY-directions in accordance with the moving of mounting head <NUM>. Inspection/imaging section <NUM> outputs the image data of multiple missing component inspection regions A (refer to <FIG>) set on board S on which component P is disposed to mounting control section <NUM>. Mounting control section <NUM> causes inspection section <NUM> to analyze the image data.

Storage section <NUM> is a storage location for temporarily storing feeder <NUM> used in mounting device <NUM>. Storage section <NUM> is provided under a conveyance device between printing inspection device <NUM> and mounting device <NUM>. Storage section <NUM> has an attachment section in the same manner as supply section <NUM>. When feeder <NUM> is connected to the attachment section, the controller of feeder <NUM> transmits the information regarding feeder <NUM> to management PC <NUM>. In storage section <NUM>, feeder <NUM> may be transported by automatic conveyance vehicle <NUM>, or feeder <NUM> may be transported by an operator. Management PC <NUM> is a device that manages feeder <NUM>, stores execution data or the like executed by loader <NUM>, and manages loader <NUM>. Automatic conveyance vehicle <NUM> automatically conveys feeder <NUM>, a member used in mounting system <NUM>, and the like between a warehouse (not illustrated) and storage section <NUM>. The warehouse stores feeder <NUM> and other members.

Loader <NUM> is a mobile work device, which is a device that is moved in a moving region in front of mounting system <NUM> (refer to dotted lines in <FIG>), and automatically collects and provides members or the like necessary for a mounting process, such as feeder <NUM> of mounting device <NUM>. Loader <NUM> includes moving control section <NUM>, memory section <NUM>, accommodation section <NUM>, exchange section <NUM>, moving section <NUM>, and communication section <NUM>. Moving control section <NUM> is configured as a microprocessor centered on CPU <NUM> and controls the entire device. Moving control section <NUM> controls the entire device such that feeder <NUM> is collected from supply section <NUM> or feeder <NUM> is provided to supply section <NUM>, and feeder <NUM> is moved to and from storage section <NUM>. Memory section <NUM> is, for example, an HDD that stores various data such as a processing program. Accommodation section <NUM> has an accommodation space for accommodating feeder <NUM>. Accommodation section <NUM> is configured to be able to accommodate, for example, four feeders <NUM>. Exchange section <NUM> is a mechanism that moves feeder <NUM> in and out as well as moving feeder <NUM> in the up-down direction. Exchange section <NUM> has a clamp section that clamps feeder <NUM>, a Y-axis slider that moves the clamp section in the Y-axis direction (front-rear direction), and a Z-axis slider that moves the clamp section in the Z-axis direction (up-down direction). Exchange section <NUM> executes attachment and detachment of feeder <NUM> at mounting attachment section <NUM>, and attachment and detachment of feeder <NUM> at buffer attachment section <NUM>. Moving section <NUM> is a mechanism that moves loader <NUM> in the X-axis direction (the left-right direction) along X-axis rail <NUM> disposed in front of mounting device <NUM>. Communication section <NUM> is an interface that performs exchange of information with external devices such as management PC <NUM> and mounting device <NUM>. Loader <NUM> outputs the current position or details of executed work to management PC <NUM>. Loader <NUM> is capable of collecting and providing feeder <NUM>, but may be configured to collect and provide members related to the mounting process, such as mounting head <NUM>, nozzle <NUM>, a solder cartridge, a screen mask, and a backup pin for supporting a board.

Host PC <NUM> (refer to <FIG>) is configured as a server that stores and manages information used by each device of mounting system <NUM>, for example, a production planning data including multiple pieces of mounting condition information <NUM> and a board information database including multiple pieces of board information <NUM>.

Next, an operation of mounting system <NUM> according to the present embodiment configured as described above, first, a process in which mounting device <NUM> mounts component P on board S will be described. <FIG> is a flowchart illustrating an example of a mounting process routine executed by CPU <NUM> of mounting control section <NUM> of mounting device <NUM>. This routine is stored in memory section <NUM> of mounting device <NUM> and executed in accordance with a starting instruction from an operator. When this routine is started, first, CPU <NUM> reads and acquires mounting condition information of board S to be produced this time (S100). CPU <NUM> reads mounting condition information <NUM> that is acquired from host PC <NUM> and stored in memory section <NUM>. Next, CPU <NUM> causes board processing section <NUM> to convey board S to a mounting position and to perform a process of fixing board S (S110). Next, CPU <NUM> sets a component that is a pickup target based on mounting condition information <NUM> (S120), causes mounting head <NUM> to pick up component P from feeder <NUM> at a preset position and to move component P above pickup/imaging section <NUM> (S130).

Next, CPU <NUM> causes pickup/imaging section <NUM> to perform a process of imaging component P in the state of being picked up by mounting section <NUM>, and calculates a deviation amount based on a reference position (S140). <FIG> is an explanatory diagram illustrating an example of mounting head <NUM> having picked up component P when viewed from the bottom. <FIG> illustrates an example in which mounting head <NUM> includes four nozzles <NUM>. In <FIG>, component P at the reference position is indicated by dotted lines. As illustrated in <FIG>, a positional deviation in the XY-coordinate directions occurs in component Pa with respect to the reference position, and a rotational deviation in which the component is rotated with respect to the reference position to cause an inclination occurs in component Pb. As described above, in mounting section <NUM>, a picked-up state of component P may be changed. When the deviation amount is calculated, CPU <NUM> checks whether the positional deviation amount of component P is within a threshold value, exceeds the threshold value and within an allowable value, or exceeds the allowable value (S150). In mounting device <NUM>, a predetermined threshold value at which a probability of a missing component or the like occurring when exceeding a positional deviation amount of component P in a picked-up state of component P is increased is empirically determined, and an allowable value that is larger than the threshold value and at which a normal product cannot be obtained even if component P is disposed on board S when exceeding the threshold value is also empirically determined.

When the positional deviation amount of component P exceeds the threshold value and is within the allowable value in S150, CPU <NUM> stores component P as a missing predicted component in board information <NUM> (S160). In this case, CPU <NUM> stores a disposition position number of corresponding component P in association with information as the misssing predicted component in board information <NUM> including identification information (ID) of board S After S160 or when the positional deviation amount of component P is within the threshold value in S150, CPU <NUM> checks whether the rotational deviation amount of component P is within the threshold value, exceeds the threshold value and within the allowable value, or exceeds the allowable value (S170). In mounting device <NUM>, a predetermined threshold value at which a probability of a missing component or the like occurring when exceeding a rotational deviation amount in a picked-up state of component P is increased is empirically determined, and an allowable value that is larger than the threshold value and at which a normal product cannot be obtained even if component P is disposed on board S when exceeding the threshold value is also empirically determined.

When the rotational deviation amount of component P exceeds the threshold value and is within the allowable value in S170, corresponding component P is stored in board information <NUM> as a missing predicted component (S180). In this case, CPU <NUM> stores a disposition position number of corresponding component P in association with information as the missing predicted component in board information <NUM> including identification information (ID) of board S. As described above, the information obtained from an image captured by pickup/imaging section <NUM> and possibly leading to a defect thereafter is stored in board information <NUM>. According to board information <NUM>, it is possible to manage by which mounting device <NUM> component P mounted may be defective.

On the other hand, when the positional deviation amount of component P exceeds the allowable value in S150, or when the rotational deviation amount of component P exceeds the allowable value in S170, CPU <NUM> determines that a board on which component P is to be mounted will be a defective board, sets corresponding component P as a non-mounting component not used for a mounting process, and then performs a process of discarding component P (S190). In a case where mounting head <NUM> holds multiple components P, when there is a non-mounting component among components, CPU <NUM> discards the non-mounting component in a predetermined discarding location after disposing normal components P on board S. Components P instead of discarded components P may be collectively mounted at the end of the mounting process of mounting device <NUM>.

After S190, after S180, or when the rotational deviation amount of component P is within the threshold value in S170, CPU <NUM> causes mounting section <NUM> to execute a process of disposing component P (S200). Subsequently, CPU <NUM> determines whether the mounting process for board S that is currently fixed to the mounting position has been finished (S210), and executes the processes in and after S120 when the mounting process has not been finished. That is, CPU <NUM> sets component P to be picked up and disposed next, causes mounting section <NUM> to pick up component P, stores missing predicted component information in board information <NUM> according to a state of component P, or executes a process of disposing component P on board S while discarding a non-mounting component (S120 to S200). On the other hand, when the mounting process for board S that is currently fixed to the mounting position is finished in S210, CPU <NUM> executes a missing component inspection and remounting process (S220). The missing component inspection and remounting process, which will be described later in detail, is a process of inspecting the presence or absence of a missing component on board S, and executing a remounting process for the corresponding component when a component is missing. After the missing component inspection and remounting process in S220 is executed, CPU <NUM> causes board processing section <NUM> to discharge board S for which the mounting has been finished (S230), and determines whether or not production of all boards S set in mounting condition information <NUM> has been completed (S240). When the production of all boards S has not been completed, CPU <NUM> executes the processes in and after S110, whereas when the production of all boards S has been completed, CPU <NUM> finishes this routine. Since such mounting process is executed by each of mounting devices <NUM>, information regarding a position where a missing predicted component is present in specific board S is integrated and stored in board information <NUM>.

Here, the missing component inspection and remounting process in S220 will be described. <FIG> is a flowchart illustrating an example of the missing component inspection and remounting process routine. This routine is stored in memory section <NUM> of mounting device <NUM>, and is executed in S220 of the mounting process routine after the mounting process in current mounting device <NUM> is finished. When this routine is started, first, CPU <NUM> reads and acquires board information <NUM> of board S which is fixed to board processing section <NUM> and for which a mounting process in mounting device <NUM> is finished (S300). Next, in S310, CPU <NUM> sets missing component inspection region A corresponding to the missing predicted component. CPU <NUM> may determine whether or not there is a missing predicted component in entire missing component inspection region A of board S on which the inspection is executed by mounting device <NUM>, and may omit the missing component inspection process without setting missing component inspection region A when there is no missing predicted component. In this case, when there is a missing predicted component, CPU <NUM> may set a region including a disposition region in which the missing predicted component is disposed as missing component inspection region A, and execute the missing component inspection process. In this mounting device <NUM>, since the missing component inspection process is executed only on a region where a missing component may occur, it is possible to further reduce the inspection time.

Next, CPU <NUM> causes inspection/imaging section <NUM> to perform a process of imaging set missing component inspection region A (S320). CPU <NUM> controls head moving section <NUM> to move inspection/imaging section <NUM> onto missing component inspection region A of board S, and causes inspection/imaging section <NUM> to image missing component inspection region A. Next, CPU <NUM> determines whether or not a component is missing in a captured image by using a reference image captured when component P is appropriately disposed (S330). When a component is missing in imaged missing component inspection region A, a foreign object inspection region corresponding to a position of the missing component is set (S340), and a foreign object inspection process of inspecting a foreign object on board S is executed (S350). This foreign object inspection process is inspection because a component that has missed is present as a foreign object anywhere in board S, so that a defective board will not be manufactured. The setting of the foreign object inspection region may be, for example, a region around the missing component position where the presence of the foreign object adversely affects board manufacturing. For example, the foreign object inspection region may be set to a region where component P is not currently disposed and component P is disposed by next mounting device <NUM> or after, a disposition region of component P having a special shape in which component P that is missing enters a lower part of already disposed component P, a disposition region of an expensive component, or the like. For example, in a region where component P is not disposed has a low possibility that a defective board will occur due to the presence of a foreign object, the foreign object inspection may be omitted. The foreign object inspection process may be performed, for example, by capturing an image of set missing component inspection region A with inspection/imaging section <NUM>, and comparing the captured image with an image obtained by appropriately disposing component P on board S.

Subsequently, CPU <NUM> determines whether or not there is a foreign object in missing component inspection region A (S360), and notifies the operator of the presence of the foreign object (S370). The operator may be notified, for example, by displaying a message indicating the presence of the foreign object on the operation panel or outputting a sound. In this case, CPU <NUM> may temporarily stop the operation of mounting device <NUM>, obtain an input for restart from the operator, and then perform the processes in and after S370. On the other hand, when there is no foreign object in missing component inspection region A in S360, CPU <NUM> executes a remounting process for component P that is the missing component (S380 to S400). In the remounting process, CPU <NUM> determines whether or not component P that is the missing component is held in feeder <NUM> or tray <NUM> and is present in supply section <NUM> (S380), and outputs a command for causing loader <NUM> to provide and convey component P when there is no corresponding component P in supply section <NUM> (S390). For example, in <FIG>, when component P1 is a component mounted by this mounting device <NUM>, component P1 is substantially present in supply section <NUM>. On the other hand, when component P2 is mounted before this mounting device <NUM>, component P2 may not be present in supply section <NUM>. In this case, for example, CPU <NUM> causes loader <NUM> to provide component P2 in storage section <NUM> to supply section <NUM>. Component P in storage section <NUM> is managed by management PC <NUM>, so that whether or not missing component P is present in storage section <NUM> may be ascertained from the management information of management PC <NUM>. When there is no corresponding component P in storage section <NUM>, CPU <NUM> may cause automatic conveyance vehicle <NUM> to convey corresponding component P to storage section <NUM>. After outputting the command in S390, CPU <NUM> waits until component P is conveyed to supply section <NUM>, and executes the following processes after component P is conveyed to supply section <NUM>. When this command is received, loader <NUM> moves feeder <NUM> or tray <NUM> holding corresponding component P from storage section <NUM> to mounting device <NUM> for which an instruction is given.

After S390 or when missing component P is present in supply section <NUM> in S380, CPU <NUM> causes mounting section <NUM> to execute a remounting process for missing component P (S400). In the remounting process, CPU <NUM> causes mounting head <NUM> to pick up corresponding component P from supply section <NUM>, and moves component P to a position of the missing component ascertained in S330 and disposes component P. Nozzle <NUM> for picking up missing component P may be predicted in advance, stored in nozzle storage section <NUM> of mounting section <NUM>, or may be moved from storage section <NUM> by loader <NUM>. Mounting head <NUM> is also the same as nozzle <NUM>. As described above, since mounting device <NUM> has the function of the inspection device and the function of the mounting device, it is possible to easily remount component P that is a missing component after the missing component inspection is performed.

After S400, after S370, or when no component is missing in missing component inspection region A in S330, CPU <NUM> determines whether or not there is next missing component inspection region A (S410), and executes the processes in and after S310 when there is next missing component inspection region A. That is, CPU <NUM> sets next missing component inspection region A in S310, performs the missing component inspection process, and executes the foreign object inspection process or the remounting process as necessary. On the other hand, when there is no next missing component inspection region A in S410, that is, when all the missing component inspections are executed, information regarding details of the executed processes is included in board information <NUM>, updated, and stored in memory section <NUM> (S420), and this routine is finished.

Here, correspondence relationships between configuration element of the present embodiment and configuration element of the present disclosure will be clarified. Supply section <NUM> of the present embodiment corresponds to a supply section, mounting section <NUM> corresponds to a mounting section, inspection/imaging section <NUM> corresponds to an inspection/imaging section, mounting control section <NUM> corresponds to a control section, feeder <NUM> and tray <NUM> correspond to a holding member, nozzle <NUM> and the mechanical chuck correspond to a pickup member, and pickup/imaging section <NUM> corresponds to pickup/imaging section. In the present embodiment, an example of the inspection and mounting method of the present disclosure is also clarified by describing the operation of mounting device <NUM>.

In mounting device <NUM> of the present embodiment described above, the missing component inspection process of detecting whether a component P on board S is missing or not is executed by using a captured image of board S serving as a mounting target, and when component P is missing, mounting section <NUM> is controlled to pick up missing component P from supply section <NUM> and dispose component P on board S. Since mounting device <NUM> has a configuration for executing the mounting process and a configuration for executing the inspection process, it is possible to remount this missing component P after executing the missing component inspection. Therefore, it is possible to execute production more efficiently compared with a case where an operator executes an operation for a missing component. Mounting system <NUM> includes multiple mounting devices <NUM>, and CPU <NUM> executes the missing component inspection process on board S on which the mounting process is performed by other mounting device <NUM>, and controls mounting section <NUM> to pick up missing component P that should have been mounted by other mounting device <NUM> from supply section <NUM> and dispose missing component P on board S when component P is missing. In this mounting device <NUM>, since missing component P that should have been mounted by other mounting device <NUM> can also be remounted, production can be executed more efficiently.

Supply section <NUM> is provided with feeder <NUM> or tray <NUM> as a holding member that holds component P, and mounting system <NUM> further includes loader <NUM> as a mobile work device including accommodation section <NUM> that accommodates feeder <NUM> or the like to collect feeder <NUM> from supply section <NUM> and/or to attach feeder <NUM> or the like to supply section <NUM>. In this case, when component P on board S is missing and missing component P is not present in supply section <NUM>, CPU <NUM> moves feeder <NUM> holding the missing component to the supply section by loader <NUM>. In this mounting device <NUM>, even in a case where component P mounted by other mounting device <NUM> is not present in mounting device <NUM>, component P can be secured, and thus production can be executed more reliably and efficiently. When component P on board S is missing and nozzle <NUM> serving as a pickup member that picks up missing component P is not in mounting section <NUM>, CPU <NUM> causes loader <NUM> to move nozzle <NUM> for picking up this missing component P to mounting section <NUM>. In this mounting device <NUM>, even in a case where a pickup member for picking up component P mounted by other mounting device <NUM> is not present in this mounting device <NUM>, component P can be picked up, and thus production can be executed more reliably and efficiently.

CPU <NUM> executes the missing component inspection process by using a captured image of component P captured by inspection/imaging section <NUM> and in a state in which component P is picked up by mounting section <NUM>. In this mounting device <NUM>, it is possible to execute production more efficiently by using a captured image of component P in a picked-up state. CPU <NUM> executes the missing component inspection process on a disposition region in which component P for which a value of a rotational position as a pickup position or a pickup posture of component P obtained from the captured image of component P in a state of being picked up by mounting section <NUM> exceeds a predetermined threshold value is disposed. In mounting device <NUM>, since a region where the missing component inspection process is executed is specified based on the picked-up state of component P, the production can be executed more efficiently by executing the missing component inspection process more efficiently. CPU <NUM> acquires, from board information <NUM>, information regarding a pickup position or a pickup posture of component P obtained based on a captured image that is captured by pickup/imaging section <NUM> of other mounting device <NUM>, and executes the missing component inspection process. In this mounting device <NUM>, production can be executed more efficiently by executing the missing component inspection process by using information obtained by other mounting devices <NUM>.

When component P on board S is missing, CPU <NUM> executes the foreign object inspection process for detecting a foreign object present on board S. In mounting device <NUM>, the production can be executed more efficiently by executing the foreign object inspection process only when component P is missing. CPU <NUM> executes the foreign object inspection process on some or all of regions where component P is mounted on board S. In mounting device <NUM>, production can be executed more efficiently by executing the foreign object inspection process only on a region related to component mounting. Since CPU <NUM> executes the foreign object inspection process on a region where component P is mounted in the subsequent mounting process, a disposition region of a component having a special shape in which a missing component is embedded, or a disposition region of an expensive component, it is possible to further suppress the occurrence of a defective board, an increase in production cost, or the like.

Needless to say, the present disclosure is not limited to the embodiment that has been described, and can be carried out in various forms without departing from the technical scope of the appended claims.

For example, in the above embodiment, the missing component inspection process is executed on component P of board S that has been subjected to the mounting process by other mounting device <NUM>; however, the configuration is not particularly limited to this, and the missing component inspection process may be performed on only component P that has been subjected to the mounting process by current mounting device <NUM>. In this mounting device <NUM>, since component P is inevitably present in mounting section <NUM>, it is easy to perform the remounting process. Loader <NUM> conveys component P when there is no component P to be remounted; however, the configuration is not particularly limited to this, and loader <NUM> may be omitted, and component P may be conveyed by automatic conveyance vehicle <NUM> or may be conveyed by an operator.

In the above embodiment, pickup/imaging section <NUM> captures an image in a state in which component P is picked up by mounting head <NUM> and executes the missing component inspection process by using the captured image; however, the configuration is not particularly limited to this, and the missing component inspection process may be executed without using a deviation amount obtained by using the captured image from pickup/imaging section <NUM>. In particular, CPU <NUM> may execute the missing component inspection process on all the regions of board S. Similarly, in the above embodiment, the foreign object inspection region is set and the foreign object inspection process is performed only on that region; however, the configuration is not particularly limited to this, and the foreign object inspection process may be executed on all the regions of board S. This mounting device <NUM> requires an inspection time but can execute more reliable missing component inspection and foreign object inspection.

In the above embodiment, the present disclosure is described as mounting system <NUM> or mounting device <NUM>, but may be a control method for mounting device <NUM> or a program for realizing the control method for mounting device <NUM>.

Here, the mounting device, the mounting system, and the inspection and mounting method of the present disclosure may be configured as follows. For example, in the mounting device according to the present disclosure, the mounting system may include the multiple mounting devices, the control section may execute the missing component inspection process on the mounting target that has been subjected to a mounting process by other mounting device, and when a component is missing, control the mounting section to pick up the missing component that should have been mounted by the other mounting device from the supply section and dispose the missing component on the mounting target. In this mounting device, since a missing component that should have been mounted by other mounting device can also be remounted, production can be executed more efficiently.

In the mounting device according to the present disclosure used in the mounting system including the multiple mounting devices, the supply section may be provided with a holding member holding the component, and the mounting system may further include a mobile work device including an accommodation section that accommodates the holding member to collect the holding member from the supply section and/or to move the holding member to the supply section, and the control section may cause the mobile work device to move the holding member holding a missing component to the supply section when a component on the mounting target is missing and the missing component is not present in the supply section. In this mounting device, even in a case where a component mounted by other mounting device is not present in the mounting device, the component can be secured, and thus production can be executed more reliably and efficiently.

In the mounting device according to the present disclosure used in the mounting system including the multiple mounting devices, the mounting section may be able to attach and detach a pickup member that picks up the component, the supply section may be provided with a holding member holding the component, the mounting system may further include a mobile work device including an accommodation section that accommodates the holding member to collect the holding member from the supply section and/or to move the holding member to the supply section, and the control section may cause the mobile work device to move the pickup member that picks up a missing component to the mounting section when a component on the mounting target is missing and the pickup member that picks up the missing component is not present in the mounting section. In this mounting device, even in a case where the pickup member that picks up a component mounted by other mounting device is not present in the mounting device, the component can be picked up, and thus production can be executed more reliably and efficiently.

The mounting device of the present disclosure may include a pickup/imaging section that captures an image of the component in a state of being picked up by the mounting section, and the control section may execute the missing component inspection process by using the captured image of the component in a state of being picked up by the mounting section. In this mounting device, it is possible to execute production more efficiently by using the captured image of the component in a picked-up state.

In the mounting device of the present disclosure including the pickup/imaging section, when the captured image of the component in a state of being picked up by the mounting section is used, the control section may execute the missing component inspection process on a disposition region in which the component for which a value of a pickup position and/or a pickup posture of the component obtained from the captured image exceeds a predetermined threshold value is disposed. In this mounting device, since the region for executing the missing component inspection process is specified based on the picked-up state of the component, it is possible to execute production more efficiently by executing the missing component inspection process more efficiently.

In the mounting device of the present disclosure including the pickup/imaging section, the mounting system may include the multiple mounting devices, and the control section may acquire information regarding the pickup position and/or the pickup posture of the component based on the captured image that is captured by the pickup/imaging section of other mounting device, and execute the missing component inspection process. In this mounting device, production can be executed more efficiently by executing the missing component inspection process by using the information obtained by other mounting device.

The control section may control the inspection/imaging section to execute a foreign object inspection process for detecting a foreign object present on the mounting target when a component on the mounting target is missing. In this mounting device, production can be executed more efficiently by executing the foreign object inspection process only when a component is missing. In this case, the control section may execute the foreign object inspection process on some or all of regions where components are mounted on the mounting target. In this mounting device, production can be executed more efficiently by executing the foreign object inspection process only on a region related to component mounting. In this case, the control section may execute the foreign object inspection process on a region where a component is to be mounted in the subsequent mounting process, a disposition region where a component having a special shape is disposed, or a disposition region where an expensive component is disposed.

The mounting system of the present disclosure includes any of the mounting devices described above. Since the mounting system has any of the mounting devices described above, it is possible to achieve the same effects.

The inspection and mounting method of the present disclosure is a method used in a mounting system having a mounting device including a supply section that holds a component, a mounting section that picks up the component from the supply section and performs a mounting process for the component on a mounting target, and an inspection/imaging section that captures an image of the mounting target, the inspection and mounting method including: (a) a step of executing a missing component inspection process of detecting whether a component on the mounting target is missing or not by using a captured image of the mounting target; and (b) a step of, when a component is missing in the step (a), controlling the mounting section to pick up the missing component from the supply section and dispose the missing component on the mounting target.

In this inspection and mounting method, similarly to the mounting device described above, since it is possible to remount missing component P after the missing component inspection is executed, it is possible to more efficiently execute the production. The inspection and mounting method may employ the aspect of the mounting device described above, or may include a step of expressing the function of the mounting device described above.

The mounting device, the mounting system, and the inspection and mounting method of the present disclosure can be used in electronic component mounting fields.

Claim 1:
A mounting device (<NUM>) used in a mounting system (<NUM>) including multiple mounting devices (<NUM>), the mounting device comprising:
a supply section (<NUM>) configured to hold a component (P) wherein the supply section is provided with a holding member (<NUM>; <NUM>) holding the component;
a mounting section (<NUM>) configured to pick up the component from the supply section and perform a mounting process for the component on a mounting target (S);
an inspection/imaging section (<NUM>) configured to capture an image of the mounting target; and
a control section (<NUM>) configured to:
- execute a missing component inspection process of detecting whether a component (P) on the mounting target is missing or not by using a captured image of the mounting target, and,
- control, when a component (P) is missing, the mounting section to pick up the missing component from the supply section and dispose the missing component on the mounting target;
characterized in that
the mounting system further includes a mobile work device (<NUM>) including an accommodation section (<NUM>) configured to accommodate the holding member to collect the holding member from the supply section and/or to move the holding member to the supply section, and
the control section is further configured to:
- execute the missing component inspection process on the mounting target that has been subjected to a mounting process by other mounting device, and
- control, when a component is missing, the mounting section to pick up the missing component that should have been mounted by the other mounting device from the supply section and dispose the missing component on the mounting target,
so as to cause the mobile work device to move the holding member holding the missing component to the supply section when a component (P) on the mounting target is missing and the missing component is not present in the supply section.