Patent Description:
A mounting apparatus that reads fiducial marks on a component supply pallet and calculates a fixed position error thereof has been previously proposed (refer to, for example, Patent Document <NUM>). In this apparatus, a positional deviation between a component holding section and a component receiving section can be corrected to improve component receiving accuracy. Further, a mounting apparatus wherein pickup of components from a pallet with a positioning hole and a mark is stabilized by correcting the pickup position based on recognition of the mark has also been previously proposed (refer to, for example, Patent Document <NUM>).

Patent Document <NUM> proposes a pallet which can mount a part with high working efficiency. This part mounting device has a control circuit which controls an X-axis motor, a Y-axis motor, a Z-axis motor, a rotary motor, and a positioning recognition camera and which sequentially picks up images of recognition holes formed an a pallet. A distance and a direction of a shift between a position on which the pallet is practically placed and a position an which the pallet should originally be placed is determined by the control circuit based on the images of the recognition bales picked up by the positioning recognition camera and a position of the recognition holes arranged under a normal condition in a sucking position which is stored in a storage circuit. Then the control circuit corrects a position where a semiconductor chip to be mounted is sucked by a nozzle based on the determined distance and direction of the shift.

Patent Document <NUM> discloses an electronic component mounting system and method for a plurality of individual substrates held on a carrier, wherein an operation of calculating position correction data, which is used to correct the positional deviation to mount electronic components at proper positions, is performed for each individual substrate.

Patent Document <NUM> discloses a feeder component type determination method which comprises a positional accuracy measurement step which measures positional accuracies for at least some of the tape feeders. Positional accuracies of the tape feeders are taken into consideration in order to determine combinations of the tape feeders and the component types of the components housed in the carrier tapes to be mounted, thereby stabilizing component pickup operations and increasing production efficiency for printed circuit boards.

Patent Document <NUM> discloses a printing apparatus wherein individual positional data for positions of four object marks provided on a plurality of FPCs held on a conveyance tray are acquired and used so that a reference position in execution of printing in a printing unit can be determined with high precision.

The mounting apparatuses described in Patent Documents <NUM> and <NUM> are designed to stabilize component collection by using fiducial marks, but a more accurate or more efficient manner of component collection has not been taken into consideration in these previously proposed mounting apparatuses.

The present invention has been made in view of the above and aims to provide a mounting apparatus and a mounting method by which components are collected in a more accurate or more efficient manner.

To achieve an object described above, there is a mounting apparatus according to claim <NUM> and a mounting method according to claim <NUM>.

This mounting apparatus executes the first mode in which the correction value to correct the collection position of the component is obtained by making use of the fiducial marks of the tray member when the tray member is first moved to the collection position, and the second mode in which the correction value to correct the collection position of the component is obtained more frequently when the tray member is moved to the collection position repeatedly. In this apparatus, component collection is performed more accurately by executing the second mode, and component collection is performed more efficiently by executing the first mode. Here, "tray member" includes not only a tray main body but also a connecting section that is connected to the tray main body with positional accuracy ensured, and the fiducial marks may be provided on the connecting section.

Referring to the drawings, a preferred embodiment of the invention will be described below. <FIG> is a drawing showing a schematic example of a configuration of mounting apparatus <NUM> of mounting system <NUM>. <FIG> is a drawing showing an example of pallet <NUM> and tray member <NUM>. Mounting system <NUM> is, for example, as shown in <FIG>, a system for executing a mounting process of disposing component P on substrate S. Mounting system <NUM> includes mounting apparatus <NUM> and management computer (PC) <NUM>. In mounting system <NUM>, multiple mounting apparatuses <NUM> are arranged from an upstream to a downstream side. In <FIG>, only one mounting apparatus <NUM> is shown for convenience of description. Management PC <NUM> manages mounting job information including processing conditions in mounting apparatus <NUM>. In the embodiment, the left-and-right direction (i.e., the X-axis), the front-and-rear direction (i.e., the Y-axis), and the up-and-down direction (i.e., the Z-axis) are as shown in <FIG>.

The mounting apparatus <NUM> has substrate conveyance unit <NUM>, mounting unit <NUM>, component camera <NUM>, component supply unit <NUM>, and control unit <NUM>. Substrate conveyance unit <NUM> is a unit that loads, conveys, and fixes substrate S at the mounting position, and then unloads substrate S. Substrate conveyance unit <NUM> has a pair of conveyor belts which are provided with a space therebetween in the front-rear direction in <FIG> and are laid down in the left-right direction. Substrate S is conveyed by these conveyor belts.

Mounting unit <NUM> collects a component from component supply unit <NUM> and places the component on substrate S fixed by substrate conveyance unit <NUM>. Mounting unit <NUM> has head moving section <NUM>, mounting head <NUM>, and suction nozzle <NUM>. Head moving section <NUM> includes a slider, which is guided by guide rails to move in the XY direction, and a motor that drives the slider. Mounting head <NUM> is detachably mounted on the slider and is moved in the XY direction by head moving section <NUM>. One or more suction nozzles <NUM> are removably mounted on the underside of mounting head <NUM>. Suction nozzle <NUM> is a collection member for collecting components P using pressure. It should be noted that this collection member may be a mechanical chuck that grabs components P. In addition, mark camera <NUM> is provided on mounting head <NUM> to capture images of substrate S from above. Mark camera <NUM>, having an image-capturing area directed downwards, reads a reference position on substrate S or fiducial mark <NUM> affixed to tray member <NUM>. Mark camera <NUM> moves in the XY direction together with mounting head <NUM>.

Component camera <NUM> is disposed between substrate conveyance unit <NUM> and component supply unit <NUM>. Component camera <NUM> has an image-capturing area directed upwards, above component camera <NUM>. When suction nozzle <NUM> holding component P passes over component camera <NUM>, component camera <NUM> captures an image of the component P being held by the suction nozzle <NUM> from below and outputs the captured image to control unit <NUM>.

Component supply unit <NUM> includes multiple feeders, each feeder having a reel, and a tray unit that accommodates multiple trays. The feeder feeds tape, wound around the reel and holding components, thereby suppling components P to mounting unit <NUM>. The tray unit includes magazine section <NUM>, pallet <NUM>, and tray member <NUM>. Magazine section <NUM> accommodates multiple pallets <NUM>, each pallet <NUM> having a tray member <NUM> fixed thereto. Pallet <NUM> is moved by a moving mechanism (not shown) between an initial position (refer to the dotted lines in <FIG>) in magazine section <NUM> and a collection position (refer to the solid lines in <FIG>) where a component P is collected. As shown in <FIG>, tray member <NUM> includes tray main body <NUM>, fixing members <NUM>, and fiducial marks <NUM>. Tray main body <NUM> is a plate-shaped member having a large number of rectangular cavities, and the cavities accommodate components P. Fixing member <NUM> is a member for fixing tray main body <NUM> to pallet <NUM> and is connected to tray main body <NUM> while being positioned accurately. <FIG> shows an example in which tray main body <NUM> is fixed to pallet <NUM> at four locations using four fixing members <NUM>. Fiducial marks <NUM> are used to detect the position of tray main body <NUM>, and are formed on fixing members <NUM>. Fiducial marks <NUM> may be formed on the upper face of tray main body <NUM>.

The control unit <NUM> is configured as a microprocessor having CPU <NUM> as a main constituent element and includes memory section <NUM> for storing processing programs and the like. Control unit <NUM> outputs control signals to substrate conveyor unit <NUM>, mounting unit <NUM>, component camera <NUM>, and component supply unit <NUM>, and receives, as inputs, signals from mounting unit <NUM>, component camera <NUM>, and component supply unit <NUM>.

Next, operation of mounting system <NUM> of the embodiment that is configured as described above, particularly a process of correcting the position of a component P when a component P is collected from the tray unit, will be described. <FIG> is a flowchart showing an example of a tray component supply processing routine executed by CPU <NUM> of control unit <NUM>. This routine is stored in memory section <NUM> and is executed after mounting apparatus <NUM> has started a mounting process.

When this routine is started, CPU <NUM> of control unit <NUM> sets a mode for correcting the position of a component P that is to be collected from tray member <NUM> (step S100). This mode includes a first mode in which an image of fiducial marks <NUM> is captured to obtain a correction value when tray member <NUM> is first moved to the collection position at least when a new production starts or when trays are replaced, and a second mode in which a correction value is obtained more frequently than in the first mode. In a first mode, the <NUM> obtains a correction value for the collection position of a component P only for a first time, after which components P are collected with repeated use of the obtained correction value. In a second mode, CPU <NUM> obtains a correction value each time a tray member <NUM> is pulled out of magazine section <NUM>, after which components P are collected based on the newly obtained correction values. In step S100, a mode selected in advance by the operator may be set as the mode to be executed. Alternatively, a mode (for example, the second mode) set during an initial stage may be set as the mode to be executed.

Next, CPU <NUM> determines whether tray member <NUM> needs to be drawn out based on whether a component P in the tray unit will be collected (step S110). When CPU <NUM> determines that tray member <NUM> needs to be drawn out, CPU <NUM> performs control to move tray member <NUM> to the collection position (step S120). Next, CPU <NUM> determines whether tray member <NUM> is a tray member to be drawn out first (step S130). When CPU <NUM> determines that the tray member <NUM> is the tray member that is to be drawn out first, CPU <NUM> performs control such that mark camera <NUM> captures an image of fiducial marks <NUM> provided at three locations on tray member <NUM> (step S140) and obtains a correction value to correct the position, tilt, and deformation of tray member <NUM> based on the positions of fiducial marks <NUM> in the captured image (step S150). Here, CPU <NUM> executes a first correction process in which images of fiducial marks <NUM> provided at two locations on tray member <NUM> are captured to correct the position and tilt of tray member <NUM> and a second correction process in which images of fiducial marks <NUM> provided at three or more locations on tray member <NUM> are captured to correct the position, the tilt, and the deformation of tray member <NUM>. Here, the second correction process is executed when tray member <NUM> is first drawn out and the first correction process is executed when tray member <NUM> is drawn out for a second time and afterwards.

<FIG> is a drawing showing a positional deviation of tray main body <NUM>. <FIG> is a drawing showing a tilt of tray main body <NUM>. <FIG> is a drawing showing a deformation (i.e., an elongation) of tray main body <NUM>. As shown in <FIG>, a positional deviation of tray main body <NUM> can be observed from a difference between coordinates serving as references for fiducial marks <NUM> (dotted lines in figure) and coordinates of fiducial marks <NUM> in the captured image. Since a component P deviates in position in the same way as the position of tray main body <NUM>, the position of suction nozzle <NUM> may be shifted by the correction value so that the position of the suction nozzle <NUM> shifts in the same way as tray main body <NUM>. Further, as shown in <FIG>, the tilt of tray main body <NUM> can be observed from a tilt of a straight line that connects at least two fiducial marks <NUM>. A correction value of the tilt can be obtained from an amount of positional deviation that matches the tilt of tray main body <NUM>. Further, as shown in <FIG>, the deformation of tray main body <NUM> can be observed by observing how a third fiducial mark <NUM> deviates in position when at least two fiducial marks <NUM> are used as a reference. For example, as shown in <FIG>, when the distance between two points is constant while the distance to a third point differs indicates that tray main body <NUM> has expanded or contracted at a certain ratio. In this case, the value for shifting the position of suction nozzle <NUM> is obtained by taking the certain ratio into consideration. Further, when the third fiducial mark <NUM> deviates in the left-and-right direction, by obtaining a ratio how tray main body <NUM> is distorted in the left-and-right direction, the value for shifting the position of suction nozzle <NUM> is obtained by taking the ratio into consideration.

After step S150, CPU <NUM> stores the correction value and performs control such that mounting unit <NUM> collects components using the correction value (step S240). As a result of the position, tilt, and deformation of tray main body <NUM> being corrected, components P to be collected can be collected at an accurate position. Next, CPU <NUM> determines whether there is a component P to be collected next (step S250). If CPU <NUM> determines that there is a component P to be collected next, CPU <NUM> then determines whether the component P to be collected resides on another tray member <NUM> (step S260). When CPU <NUM> determines that the component P to be collected does not reside on another tray member <NUM>, that is, when the component P to be collected next resides on the tray member <NUM> that is currently in the collection position, CPU <NUM> executes steps S240 onward using the current correction value. On the other hand, when CPU <NUM> determines in step S260 that a component P to be collected next resides on another tray member <NUM>, the CPU <NUM> moves the tray member <NUM> that is currently in the collection position to the initial position (step S270) and executes steps S120 onward. That is, CPU <NUM> moves the relevant tray member <NUM> to the collection position in step S120 and determines in step S130 whether tray member <NUM> is being drawn out for a first time.

When it is determined that the tray member <NUM> is not being drawn out for a first time, that is, when it is determined that the relevant tray member <NUM> is being drawn out for a second time or onward, control unit <NUM> determines which mode is currently set (step S160). When it determined that the mode currently set is the second mode, assuming that correction values are obtained using the first correction process every time the tray member <NUM> is drawn out, CPU <NUM> performs control such that mark camera <NUM> capture images of fiducial marks <NUM> at two locations (step S170) to calculate correction values by which the position and tilt of tray main body <NUM> are to be corrected (step S180). For the correction value for deformation of tray main body <NUM>, the correction value obtained initially may be used repeatedly.

Next, CPU <NUM> determines whether the obtained correction values continue to stay within a permissible range (step S190). This determination is made to see whether a correction value needs to be obtained every time. For example, when there has been almost no change in the correction values obtained several times, even though the tray main body <NUM> is found to deviate in position or be tilted, the tray main body <NUM> can be considered fixed in place without deviating in position or tilting further from that state. In this case, even though the correction value obtained once is used repeatedly, the mounting unit <NUM> can ensure the suction position of components P is accurate. Here, the "predetermined permissible range" may be, for example, a range that is obtained empirically in which the correction values appear unchanged, and this predetermined permissible range can be a variable range of +/-<NUM>%. In addition, "continue" may be defined empirically as, for example, three consecutive times, five consecutive times, or the like. If the obtained correction values do not continue to stay within the predetermined permissible range, CPU <NUM> continues with steps S240 onward. On the other hand, if the obtained correction value continues to stay within the predetermined permissible range, CPU <NUM> shifts the mode to the first mode in which correction values are obtained less frequently (step S200) and then executes steps S240 onward.

On the other hand, if the first mode is set in step S160, information on the deviation of the collection position of the component P is obtained (step S210). The information on the positional deviation of the collection position includes an amount of positional deviation between component P and suction nozzle <NUM> when component P is collected by suction nozzle <NUM>. The deviation of the collection position can be obtained by capturing an image of component P by component camera <NUM> after the component P is collected by suction nozzle <NUM> in step S240. The information on the positional deviation may include, for example, multiple deviation amounts of the collection position obtained in the way described above after the determination is made in advance. Following this, CPU <NUM> determines whether the deviation amount of the collection position of the component P is outside of the permissible range (step S220). For example, the "permissible range" may be determined empirically as a range where even if there is a deviation in the collection position, the deviation has little influence on the mounting of the component P. When the deviation amount of the collection position of the component P is within the permissible range, the CPU <NUM> continues with steps S240 onward. On the other hand, when the deviation amount of the collection position of the component P is outside of the permissible range, CPU <NUM> shifts the mode to the second mode (step S230) and executes steps S240 onward in order to increase the accuracy with which the position of tray main body <NUM> is corrected. Then, when it determines in step S250 that there is no component to be collected next or that supply of components has been exhausted, CPU <NUM> ends this routine.

Here, the correspondence between constituent elements of the embodiment and constituent elements of the invention will be clarified. Tray member <NUM>, fiducial marks <NUM>, mark camera <NUM>, control unit <NUM>, and mounting unit <NUM> of the embodiment correspond to a tray member, fiducial marks, a mark camera, a control unit, and a mounting unit of the invention, respectively.

Control unit <NUM> of the embodiment described above executes the first mode of, at least when tray member <NUM> is first moved to the collection position, capturing the image of fiducial marks <NUM> and obtaining the correction value by which the collection position of the component P is corrected based on the positions of the fiducial marks <NUM> in the captured image. Further, the control unit <NUM> executes the second mode of, when the tray member <NUM> is moved to the collection position, capturing the image of the fiducial marks <NUM> and obtaining the correction value by which the collection position of the component P is corrected based on the positions of the fiducial marks <NUM> in the captured image more frequently than in the first mode. In the mounting apparatus, the component P can be collected more accurately by executing the second mode, or the component P can be collected more efficiently by executing the first mode. The first mode is a mode of obtaining a correction value when the tray member <NUM> is first moved to the collection position at least when a new production starts or when trays are replaced. In the mounting apparatus <NUM>, since components P can be collected using the correction value obtained upon resuming the start of new production or after the replacement of trays, components P can be collected more efficiently.

Further, since control unit <NUM> shifts the mode from the second mode to the first mode when the correction values obtained in the second mode continue to be within the permissible range, in this mounting apparatus, when the correction value continues to stay within the permissible range, that is, when the positional deviation of tray member <NUM> is small, executing the first mode in which the correction value is obtained less frequently enables components P to be collected more efficiently while highly accurate collection of components P continues. Furthermore, control unit <NUM> obtains information on the positional deviation of the component P collected by mounting unit <NUM> for collecting components P accommodated in tray member <NUM> (i.e., information on the deviation of the collection position) and shifts the mode from the first mode to the second mode when the positional deviation amount is outside of the permissible range. In this mounting apparatus, in the first mode, when the positional deviation of the component P collected is outside of the permissible range, that is, when the positional deviation of the component collected is large, the mode is shifted to the second mode, thereby making it possible to collect components more accurately. Then, in the second mode, the control unit <NUM> obtains a correction value every time a tray member <NUM> reaches the collection position, thereby making it possible to collect components P far more accurately.

Further, control unit <NUM> executes the first correction process of capturing an image of fiducial marks <NUM> at two locations on tray member <NUM> and obtaining a correction value by which the position and tilt of tray member <NUM> are corrected based on the positions of the fiducial marks <NUM> in the captured image. Further, control unit <NUM> executes the second correction process of capturing the image of fiducial marks <NUM> at three locations on tray member <NUM> and obtaining a correction value by which a position, a tilt, and deformation of the tray member <NUM> are corrected based on the positions of the fiducial marks <NUM> in the captured image. In this mounting apparatus, components can be collected more efficiently by executing the first correction process that uses the fiducial marks <NUM> at two locations, whereas components can be collected more accurately by executing the second correction process of correcting not only the position and the tilt of the tray member <NUM> but also the deformation thereof by using the fiducial marks <NUM> at three or more locations. Further, control unit <NUM> executes the second correction process when tray member <NUM> is first moved to the collection position at least when a new production is started or when trays are replaced and thereafter executes the first correction process. In this mounting apparatus, firstly, since not only the position and the tilt of the tray member <NUM> but also the deformation thereof is corrected, components can be collected more accurately, after which measuring a correction value for deformation is omitted, thereby making it possible to collect components P more efficiently.

It is to be understood that the present invention is not limited to the above-described embodiment and may be implemented in various modes provided they fall within the technical scope of the present invention, as defined by the appended claims.

For example, in the embodiment described above, the mode is described as being switched between a first mode and a second mode based on the fluctuation of the correction value and the deviation amount of the collection position. Alternatively, one of either the first mode or the second mode may be executed based on a setting made by an operator. In addition, the first mode is described as being a mode in which the correction value is obtained only when tray main body <NUM> is first moved. However, in the first mode, a correction value may be obtained periodically when tray main body <NUM> is moved for a second time onward as long as the frequency at which correction values are obtained is lower than in the second mode. Similarly, the second mode is described as being a mode of obtaining a correction value every time tray member <NUM> is drawn out of magazine section <NUM>. However, in the second mode, a correction value does not have to be obtained periodically as long as the frequency at which correction values are obtained is higher than in the first mode. Further, in the first mode, control unit <NUM> may shift the mode from the first mode to the second mode when the obtained correction value continues to be outside of the predetermined permissible range. In this mounting apparatus, when the correction value does not continue to be within the permissible range or the positional deviation of tray member <NUM> fluctuates greatly, the second mode is executed in which correction values are obtained at a high frequency so that components P are collected more accurately.

Although not particularly described in the embodiment described above, control unit <NUM> may execute the second mode when control unit <NUM> obtains information on a component P accommodated in tray main body <NUM> to find out whether the component P is a component that needs to be located in a predetermined highly accurate position. In this mounting apparatus, a component that needs to be located in a highly accurate position can be collected more accurately. Here, "a component that needs to be located in a highly accurate position" includes, for example, a component that is disposed on a component that has been disposed on the substrate before, a component that is disposed closely to a component that has been disposed on the substrate before, or the like.

Although not particularly described in the embodiment described above, for example, control unit <NUM> may execute the second correction process when control unit <NUM> obtains information on a component P accommodated in the tray member <NUM> to find out whether the component P is a component that needs to be located in a predetermined highly accurate position. In this mounting apparatus, a component that needs to be located in a highly accurate position can be collected more accurately.

In the embodiment described above, the second correction process is described as being executed when tray member <NUM> is first drawn out, and the first correction process is described as being executed when tray member <NUM> is drawn out for a second time onward. However, the invention is not limited thereto. For example, when the correction value obtained for deformation continues to be within the predetermined permissible range while the second correction process continues, control unit <NUM> may shift the correction process from the second correction process to the first correction process. In this mounting apparatus, since the correction of the deformation of tray member <NUM> is omitted when the deformation of tray member <NUM> fluctuates within the permissible range, components P can be collected more efficiently. Here, "while the second correction process continues" includes a continuation without intermission in which the second correction process is executed every time the tray member is moved as well as a continuation with intermission in which the second correction process is executed every predetermined count number the tray member is moved or after a predetermined length of time has elapsed after the tray member is moved. Further, the "predetermined permissible range" may be, for example, a range that is obtained empirically in which the correction values appear unchanged, and this predetermined permissible range can be a variable range of +/-<NUM>%. Further, when mounting unit <NUM> for collecting components P accommodated in tray member <NUM> obtains information on the deviation of the collection position of the component P collected and determines that the positional deviation is outside of the permissible range, control unit <NUM> may switch the correction process from the first correction process to the continuation of the second correction process. In this mounting apparatus, when the positional deviation of the component P collected is outside of the permissible range, that is, when the positional deviation of the component P collected is large, the second correction process that corrects not only the position and tilt but also the deformation of the tray member <NUM> continues, thereby making it possible to collect components more accurately.

In the embodiment described above, a configuration in which the second correction process is executed in the second mode while the first correction process is executed in the first mode is described as the main combination, however, the invention is not limited thereto. For example, various combinations may be made that include a configuration in which the second correction process is executed in the first mode while the first correction process is executed in the second mode.

In the embodiment described above, switching between the first mode and the second mode and switching between the first correction process and the second correction process are both described as being executed together, however, either of the two switching operations may be omitted. Even if this is implemented, components P can be collected more accurately, or components P can be collected more efficiently. Alternatively, in the embodiment described above, both the first mode and the second mode are provided, but one of them may be omitted. In the embodiment described above, both the first correction process and the second correction process are provided, but one of them may be omitted. Specifically, for example, control unit <NUM> may execute a mode (i.e., the first mode) of capturing an image of fiducial marks <NUM> when tray member <NUM> is first moved to the collection position and obtaining a correction value by which the collection position of components P is corrected based on the positions of the fiducial marks <NUM> in the captured image through a correction process (i.e., the second correction process) of capturing images of the fiducial marks <NUM> at three or more locations of the tray member <NUM> and obtaining a correction value by which the position, tilt, and deformation of the tray member <NUM> are corrected based on the positions of the fiducial marks <NUM> in the captured image. In this mounting apparatus, components P can be collected more efficiently by executing the first mode, and components P can be collected more accurately by executing the second correction process.

In the embodiment described above, fiducial marks <NUM> at three locations are described as being used in the second correction process, however, the invention is not limited thereto as long as fiducial marks <NUM> at three or more locations are used. In mounting apparatus <NUM>, since the image capturing time and the image analyzing time become longer as the number of image capturing locations increases, although the mounting process is highly accurate, mounting processing requires a certain length of time.

In the embodiment described above, the frequency with which correction values are obtained is described as a value that fluctuates. However, for example, when the correction value fluctuates within a range that does not require a predetermined correction, the correction itself may be omitted. In such a mounting apparatus, components P can be collected more efficiently by omitting corrections.

In the embodiment described above, the invention is described as being applied to mounting apparatus <NUM>. However, the invention is not limited thereto, and may be applied to a mounting method or a program that executes the mounting method. In this mounting method, the various modes of the mounting apparatus that have been described above may be adopted. Alternatively, steps may be added that can implement the various functions of the mounting apparatus described above.

The invention can be applied to the field of mounting electronic components.

Claim 1:
A mounting apparatus (<NUM>) for collecting and mounting components, comprising:
a tray member (<NUM>) configured to move between an accommodating position and a collection position, the tray member (<NUM>) having fiducial marks (<NUM>) in multiple positions, the tray member (<NUM>) being configured to accommodate components;
a collection member (<NUM>) for collecting components accommodated in the tray member (<NUM>);
an imaging section (<NUM>) configured to capture an image of the fiducial marks (<NUM>); and
a control unit (<NUM>) configured to execute a first mode of, at least when the tray member (<NUM>) is first moved to the collection position, controlling the imaging section (<NUM>) to capture an image of the fiducial marks (<NUM>) and obtaining a correction value by which the collection position of a component is corrected based on the positions of the fiducial marks (<NUM>) in the captured image,
characterized in that
the control unit (<NUM>) is further configured to execute a second mode of, when the tray member (<NUM>) is moved to the collection position, controlling the imaging section (<NUM>) to capture an image of the fiducial marks (<NUM>) and obtaining a correction value by which the collection position of a component is corrected based on the positions of the fiducial marks (<NUM>) in the captured image, the correction value of the second mode being obtained more frequently than in the first mode, wherein
the control unit (<NUM>) is configured to shift the mode from the second mode to the first mode when the correction values obtained in the second mode are continuously within a predetermined permissible range, and/or
the control unit (<NUM>) is configured to shift the mode from the first mode to the second mode when the control unit (<NUM>) obtains information on a positional deviation of a component collected by the collection member (<NUM>) and the positional deviation is outside of a predetermined permissible range, and/or
the control unit (<NUM>) is configured to execute the first mode or the second mode based on a setting made by an operator.