Patent Description:
Conventionally, there has been known a component mounter in which a component is picked up by suction force and mounted on a board. As such a component mounter, there is known a component mounter including a rotary head having multiple suction nozzles arranged thereon in such a manner as to be aligned in a circumferential direction (for example, Patent Literature <NUM>). In the component mounter described in Patent Literature <NUM>, a suction state of a component or the presence or absence of a component is inspected based on an image of the component picked up by the suction nozzle, the image resulting from imaging the component from a horizontal direction. Patent Literature <NUM> discloses a component mounter according to the preamble of independent claim <NUM>. Patent Literature <NUM> discloses prior art where, in a swivel head type component-mounting machine, Z axis driving to which a nozzle holder is dropped individually is formed in four around a swivel head, and it constitutes so that the nozzle holder may be dropped individually in a stop position of four places of a revolution orbit of a nozzle holder. When adsorption and mounting of parts are performed in a field near the boundary of movable area of a swivel head, While making it circle in a nozzle holder used as a candidate for downward to a position nearest to a boundary of movable area of a swivel head, A Z-axis motor of Z axis driving of a position nearest to a boundary of movable area of the swivel head is operated out of four Z axis driving, and a nozzle holder used as the candidate for downward is dropped. Patent Literature <NUM> proposes to provide a visual inspection device which can efficiently inspect outward appearance of six surfaces comprising upper/lower surfaces and four side surfaces of a chip part. A sucking head is provided respectively in a plurality of moving units rotating on its own axis by each prescribed angle associated with movement rotating around at a prescribed angle, a chip part, while rotating it on its own axis, is moved to rotate around. A side surface image of the chip part conveyed to be held by each of the sucking head is photographed by second to fifth cameras.

Incidentally, in the case of imaging a picked up component from a side thereof, there often occurs a case where the component is not oriented in a preferred direction when it is imaged, depending on the direction in which the component is picked up. For example, when a long side of a component is attempted to be imaged, a short side of the component is often imaged depending on the direction in which the component is picked up.

The present disclosure has been made in order to solve the problem described above, and a main object thereof is to image a held component more appropriately.

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

According to the present disclosure, there is provided a component mounter according to claim <NUM>.

The component mounter alternately and repeatedly performs the component pickup processing for causing the holding body to pick up the component in the component pickup position and the holding body revolving processing for locating the holding body that does not hold the component in the component pickup position, eventually allowing the multiple holding bodies to pick up and hold a component. Then, when performing the holding body revolving processing, the component mounter performs the holding body rotating processing for causing the multiple holding bodies to rotate on their axes so that the component holding angle of the component held to the holding body that is located in the component detection position through the current holding body revolving processing is changed to the detection angle that differs from the component holding angle of the component when the component is picked up. Due to this, the component picked up by the holding body in the component pickup position moves while being revolved and rotating on its axis through the holding body revolving processing and the holding body rotating processing and is eventually located in the component detection position by the orientation of the component being adjusted so that the component holding angle is changed to the detection angle. As a result, in case the detection angle is determined in advance so as to be an angle suitable for detection of the component, the held component can be detected more appropriately by the detection section.

Hereinafter, an embodiment of the present disclosure will be described by reference to drawings. <FIG> is a perspective view showing a schematic configuration of component mounter <NUM>, <FIG> is an explanatory diagram showing a schematic configuration of mounting head <NUM>, <FIG> is a plan view showing an arrangement of nozzles <NUM> and a schematic configuration of side camera <NUM>, and <FIG> is an explanatory diagram showing an electrical connection relationship of control device <NUM>. Note that in <FIG>, a left-right direction denotes an X-axis direction, a front (near side)-rear (far side) direction denotes a Y-axis direction, and an up-down direction denotes a Z-axis direction.

As shown in <FIG>, component mounter <NUM> includes component supply device <NUM>, board conveyance device <NUM>, XY robot <NUM>, mounting head <NUM>, part camera <NUM>, mark camera <NUM>, side camera <NUM>, and control device <NUM> (refer to <FIG>).

As to supply device <NUM>, multiple supply devices <NUM> are provided in such a manner as to be aligned side by side in the left-right direction (the X-axis direction) at a front side of component mounting device <NUM>. This component supply device <NUM> is configured as a tape feeder for pulling out tape <NUM> (refer to <FIG>) installing thereon components P that are disposed at predetermined intervals from a reel <NUM> to feed the tape at a predetermined pitch. Components installed on tape <NUM> are protected by a film covering a surface of tape <NUM>. When component P arrives at a predetermined component supply position, the film is peeled off to expose component P in question. In the present embodiment, component P is described as being component P of a rectangular parallelepiped shape having a substantially rectangular upper surface as shown in a plan view of <FIG>. Component P has a longitudinal direction and a lateral direction when seen from above and is installed on tape <NUM> in such a manner that the longitudinal direction extends along the left-right direction.

Board conveyance device <NUM> includes, as shown in <FIG>, a pair of conveyor belts <NUM>. <NUM> (only one of them is shown in <FIG>) provided in such a manner as to be spaced apart from each other in a front-rear direction while extending in the left-right direction. When board <NUM> is conveyed by conveyor belts <NUM>, <NUM> to arrive at a predetermined capture position, board <NUM> is supported by multiple support pints <NUM> erected to face a rear side board <NUM>.

As shown in <FIG>, XY robot <NUM> includes pair of left and right Y-axis guide rails <NUM>, <NUM> provided along the front-rear direction (Y-axis direction) and a Y-axis slider <NUM> spanning pair of left and right Y-axis guide rails <NUM>, <NUM>. XY robot <NUM> includes X-axis guide rails <NUM>, <NUM> provided on a front surface of Y-axis slider <NUM> along the left-right direction (X-axis direction) and X-axis slider <NUM> attached to X-axis guide rails <NUM> and <NUM>. X-axis slider <NUM> is movable in the X-axis direction by being driven by X-axis motor <NUM> (refer to <FIG>), and Y-axis slider <NUM> is movable in the Y-axis direction by being driven by Y-axis motor <NUM> (refer to <FIG>). Mounting head <NUM>, mark camera <NUM>, and side camera <NUM> are attached to X-axis slider <NUM>. Mounting head <NUM>, mark camera <NUM>, and side camera <NUM> are moved to any position on an XY-plane as a result of movement of XY robot <NUM>.

As shown in <FIG>, mounting head <NUM> includes head main body <NUM>, nozzle holders <NUM>, and nozzles <NUM>. Head main body <NUM> is a disk-like rotating body. Cylindrical reflective body 41a configured to reflect light is attached to a center of a lower surface of head main body <NUM> (refer to <FIG>). Multiple nozzle holders <NUM> are provided at predetermined intervals in a circumferential direction of head main body <NUM>, whereby mounting head <NUM> is configured as a rotary head. Nozzles <NUM> are attached to distal end portions of nozzle holders <NUM> in a replaceable fashion. Nozzles <NUM> are attached to head main body <NUM> via nozzle holders <NUM>, and are disposed along the circumferential direction of head main body <NUM>. In <FIG>, for the sake of easy viewing of nozzle holders <NUM>, reflective body 41a is omitted from illustration, and eight nozzle holders <NUM> and eight nozzles <NUM> are shown, but in the present embodiment, the number of nozzles <NUM> is <NUM> as shown in <FIG>. Therefore, the number of the nozzle holders <NUM> is also <NUM>. As shown in <FIG>, <NUM> nozzles <NUM> are sequentially referred to as nozzles 44A to <NUM> counterclockwise from nozzle <NUM> at the <NUM> o'clock position in the figure. Mounting head <NUM> includes R-axis driving device <NUM>, Q-axis driving device <NUM>, and Z-axis driving devices <NUM>, <NUM>. In <FIG>, as a matter of convenience in description, two nozzle holders <NUM> located in positions where they come into engagement with Z-axis driving devices <NUM>, <NUM> are shown by solid lines, and other nozzle holders <NUM> are shown by alternate long and short dash lines.

R-axis driving device <NUM> is a mechanism for revolving multiple nozzles <NUM> by rotating head main body <NUM>. This R-axis driving device <NUM> includes R shaft <NUM>, R-axis motor <NUM>, and R-axis position sensor <NUM> (refer to <FIG>). R shaft <NUM> extends in the up-down direction, and its lower end is attached to a central shaft of head main body <NUM>. R-axis motor <NUM> rotationally drives gear <NUM> in mesh engagement with R-axis gear <NUM> provided at an upper end of R shaft <NUM>. R-axis position sensor <NUM> detects a rotational position of R-axis motor <NUM>. In R-axis driving device <NUM>, R shaft <NUM> is rotationally driven by R-axis motor <NUM> via gear <NUM> and R-axis gear <NUM>, whereby head main body <NUM> is caused to rotate. As head body <NUM> rotates, multiple nozzle holders <NUM> and multiple nozzles <NUM> revolve in the circumferential direction together with head main body <NUM>. That is, when R-axis driving device <NUM> is driven, multiple nozzles <NUM> revolve along a revolution trajectory centered at a rotation axis of head main body <NUM>. R-axis driving device <NUM> can intermittently revolve nozzles <NUM> by a predetermined angle by intermittently rotating head main body <NUM> by a predetermined angle (for example, <NUM> degrees).

Here, on the revolution trajectory of nozzles <NUM>, one or more component pickup positions exist where nozzles <NUM> pick up component P from component supply device <NUM>. In the present embodiment, two nozzle positions N2, N5 shown in <FIG> constitute such component pickup positions, and when arriving at these component pickup positions, nozzles <NUM> pick up component P. Nozzle positions N2 and N5 are located in positions facing laterally diametrically each other across a center axis of the revolution trajectory of nozzles <NUM>. Nozzle position N2 is a position at a left end on the revolution trajectory of nozzles <NUM> (a <NUM> o'clock position in <FIG>), and nozzle position N5 is a position at a right end of the revolution trajectory of nozzles <NUM> (a <NUM> o'clock position in <FIG>). In <FIG>, nozzle <NUM> is located in nozzle position N2, and nozzle 44F is located in nozzle position N5. On the revolution trajectory, one or more component mounting positions also exist for mounting (mounting) component P held to nozzle <NUM> on board <NUM>. Component mounting positions are located in nozzle positions N2, N5, as with the component pickup positions. With nozzle <NUM> located in nozzle position N2 on the revolution trajectory of nozzles <NUM>, a position where nozzle <NUM> (nozzle 44A in <FIG>) directly ahead of nozzle <NUM> in nozzle position N2 is located is referred to as nozzle position N1, and a position where nozzle <NUM> (nozzle <NUM> in <FIG>) directly behind nozzle <NUM> in nozzle position N2 is located is referred to as nozzle position N3. Similarly, a position where nozzle <NUM> (nozzle <NUM> in <FIG>) directly ahead of nozzle <NUM> (nozzle 44F in <FIG>) in nozzle position N5 is located is referred to as nozzle position N4, and a position where nozzle <NUM> (nozzle 44E in <FIG>) directly behind nozzle <NUM> in nozzle position N5 is located is referred to as nozzle position N6. Nozzle positions N1, N3, N4, N6 are positions where side camera <NUM> images at least one of nozzle <NUM> and component P held by nozzle <NUM> and hence are also referred to as imaging positions. In the imaging positions, nozzle positions N1, N4 are position where side camera <NUM> images states of nozzles <NUM> before they pick up component P and are also referred to as pre-pickup imaging positions. In addition, in the imaging positions, nozzle positions N3, N6 are positions where side camera <NUM> images component P picked up and held to nozzle <NUM> and are also referred to as post-pickup imaging positions. The imaging positions are positions that differ from the component pickup positions. The component imaging position is an example of a component detection position.

Q-axis driving device <NUM> is a mechanism for causing multiple nozzles <NUM> to rotate (on their axes) synchronously. Q-axis driving device <NUM> includes two upper and lower Q-axis gears <NUM>, <NUM>, gears <NUM>, <NUM>, Q-axis motor <NUM>, and Q-axis position sensor <NUM> (refer to <FIG>). Two upper and lower Q-axis gears <NUM>, <NUM> are placed on and concentrically with R shaft <NUM> in such a manner as to rotate relatively. Gears <NUM> are provided at upper portions on nozzle holders <NUM> and are in mesh engagement with lower Q-axis gear <NUM> in such a manner as to slide in the up-down direction. Q-axis motor <NUM> rotationally drives gear <NUM> meshing with upper Q-axis gear <NUM>. Q-axis position sensor <NUM> detects a rotational position of Q-axis motor <NUM>. Q-axis driving device <NUM> rotationally drives Q-axis gears <NUM>, <NUM> by Q-axis motor <NUM>, thereby rotating gears <NUM> meshing with Q-axis gear <NUM> and rotating corresponding nozzle holders <NUM> on their axes in the same direction and by the same rotation amount (rotation angle). Accordingly, multiple nozzles <NUM> also rotate in synchronism with each other.

Z-axis driving devices <NUM>, <NUM> are provided at two locations on a turning (revolution) trajectory of nozzle holders <NUM> and lifts up and lowers nozzle holders <NUM> individually at the two locations. In the present embodiment, Z-axis driving devices <NUM>, <NUM> are provided in such a manner as to face each other diametrically laterally across the center of head main body <NUM>. A position where nozzle holder <NUM> can be lifted up and lowered by Z-axis driving device <NUM> is referred to as a lifting and lowering position. The lifting and lowering position is the same position as the component pickup position of nozzle <NUM> when seen from above. Z-axis driving device <NUM> includes Z-axis slider <NUM>, Z-axis motor <NUM>, and Z-axis position sensor <NUM> (refer to <FIG>). Z-axis slider <NUM> is attached to a ball screw <NUM> extending in the up-down direction in such a manner as to be lifted up and lowered. Z-axis slider <NUM> includes gripping section 71a configured to grip on engagement piece 42a extending laterally from nozzle holder <NUM>. Z-axis motor <NUM> lifts up and lowers Z-axis slider <NUM> by rotating ball screw <NUM>. Z-axis position sensor <NUM> detects a position of Z-axis slider <NUM> in the up-down direction. Z-axis driving device <NUM> drives Z-axis motor <NUM> to lift up and lower Z-axis slider <NUM> along ball screw <NUM>, thereby lifting up and lowering nozzle holder <NUM> integrated with Z-axis slider <NUM> and corresponding nozzle <NUM>. When nozzle holder <NUM> revolves together with head main body <NUM> and stops in the lifting up and lowering position where Z-axis driving device <NUM> is disposed, engagement piece 42a of nozzle holder <NUM> in question is gripped by gripping section 71a of Z-axis slider <NUM>. As a result, Z-axis driving device <NUM> lifts up and lowers nozzle holder <NUM> in the lifting up and lowering position and nozzle <NUM> in the component pickup position. As a result, at the time of picking up a component, nozzle <NUM> positioned in the component pickup position is lowered to pick up component P of component supply device <NUM>. In addition, at the time of mounting a component, nozzle <NUM> located in the component mounting position is lowered to mount component P held to nozzle <NUM> on board <NUM>. When nozzle holder <NUM> is caused to revolve and moves away from the lifting and lowering position, engagement piece 42a of nozzle holder <NUM> comes out of gripping section 71a of Z-axis slider <NUM>.

Nozzle <NUM> is a member for picking up component P from component supply device <NUM> and holding component P so picked up. Nozzle <NUM> sucks and holds component P when a negative pressure is supplied thereto via pressure adjustment valve <NUM> (refer to <FIG>) and releases component P in question when the atmospheric pressure or a positive pressure is supplied thereto. As shown in <FIG>, <FIG>, each of multiple nozzles <NUM> has at a lower end thereof end surface <NUM> configured to be brought into contact with component P when holding component P in question. End surface <NUM> has a shape having a longitudinal direction and a lateral direction when seen from a bottom thereof. More specifically, end surface <NUM> has a rectangular shape with rounded corners when viewed from the bottom thereof. The shape of end surface <NUM> may be elliptical in a bottom view. A shape of a suction port at a center of end surface <NUM> has a longitudinal direction and a lateral direction in a bottom view similarly to an external shape of end surface <NUM>. In the present embodiment, the suction port has a rectangular shape with rounded corners when viewed from the bottom as with end surface <NUM>. End surface <NUM> of nozzle <NUM> has a shape having a longitudinal direction and a lateral direction, and this shape of end surface <NUM> is suitable for holding component P having the shape similarly having the longitudinal direction and the lateral direction.

Each of multiple nozzles <NUM> is attached to corresponding nozzle holder <NUM> in such a manner that with an orientation of end surface <NUM> with respect to a radial direction of the revolution trajectory of nozzle <NUM> referred to as a nozzle angle, nozzle angles of adjacent nozzles <NUM> differ by <NUM> degrees. In the present embodiment, a direction along the longitudinal direction of end surface <NUM> is defined as the orientation of nozzle <NUM>, and an angle formed by this direction and the radial direction of the revolution trajectory is defined as nozzle angle θn. For example, in a state shown in <FIG>, as shown in a lower enlarged view, since the orientation of nozzle 44B (a direction indicated by an arrow) and the radial direction of the revolution trajectory (a direction indicated by an alternate long and short dash line) are parallel to each other, nozzle angle θn of nozzle 44B is <NUM>°. On the other hand, since an orientation of nozzle 44C lying adjacent to nozzle 44B is orthogonal to the radial direction of the revolution trajectory, nozzle angle θn of nozzle 44C is <NUM>°. With nozzle angle θn, when viewed from above, a direction turning clockwise from the radial direction of the revolution trajectory is referred as positive. As can be seen from <FIG>, as with nozzle 44B, nozzles 44D, 44F, <NUM>, 44J, and <NUM> have nozzle angle θn which is <NUM>°. Additionally, as with nozzle 44C, nozzles 44A, 44E, <NUM>, <NUM>, and <NUM> have nozzle angle θn which is <NUM>°. The reason that nozzle <NUM> is attached to head main body <NUM> while being oriented as described above will be described later. In addition, in disposing adjacent nozzles <NUM> in such a manner that their nozzle angles θn differ in the way described above, in the case where the orientation of nozzle <NUM> in which nozzle <NUM> can be attached to nozzle holder <NUM> is determined, orientations in which adjacent nozzle holders <NUM> are attached to head main body <NUM> need only be changed. In the present embodiment, the orientation of nozzle <NUM> is defined as the direction following the longitudinal direction of end surface <NUM>, but the orientation of nozzle <NUM> can be determined arbitrarily. For example, with the lateral direction of end surface <NUM> referred to as the orientation of nozzle <NUM>, the value of nozzle angle θn may be defined. Further, in the present embodiment, since end surface <NUM> is of <NUM>-fold symmetry, for example, nozzle angle θn=<NUM>° and nozzle angle θn=-<NUM>° are synonymous, and they do not have to be distinguished from each other.

As shown in <FIG>, part camera <NUM> is provided between component supply devices <NUM> and board conveyance device <NUM>. Part camera <NUM> images a posture of component P picked up by and held to nozzle <NUM> from below.

Mark camera <NUM> is provided on a lower surface of X-axis slider <NUM>. Mark camera <NUM> images a reference mark applied to component supply device <NUM> or images a reference mark provided on board <NUM>. Control device <NUM> specifies positions of components P installed on tape <NUM> or specifies a position of board <NUM> based on the positions of the reference marks in captured images.

Side camera <NUM> is a device configured to image an object located in one or more imaging positions (here, nozzle positions N1, N3, N4, N6) including one or more component imaging positions (here, nozzle positions N3, N6) from a side thereof. Side camera <NUM> images at least one of nozzle <NUM> located in the imaging position and component P held to nozzle <NUM> in question. Side camera <NUM> images component P held to nozzle <NUM> located in the component imaging position. As shown in <FIG>, side camera <NUM> includes camera main body <NUM> provided behind nozzle <NUM>, and housing <NUM> having an optical system unit that forms an optical path to camera main body <NUM>. Housing <NUM> is disposed in such a manner as to surround the right and left, and the rear of multiple nozzles <NUM>. First to fourth entrance ports 86a to 86d are formed in housing <NUM> in left front, left rear, right rear and right front positions of head main body <NUM>. First to fourth entrance ports 86a to 86d face nozzle positions N1, N3, N4, N6, respectively, in a one-to-one fashion. Additionally, multiple illuminants <NUM>, which are LEDs emitting light towards reflective body 41a attached to head main body <NUM>, are provided on an outer circumferential surface of housing <NUM> that faces multiple nozzles <NUM> (four on each of the left and right of head main body <NUM> in <FIG>). Housing <NUM> includes multiple mirrors 88a to <NUM> configured to reflect light in an interior thereof. Incidentally, housing <NUM> may include another optical system such as a prism configured to refract light instead of one or more of mirrors 88a to <NUM> or in addition to mirrors 88a to <NUM>. Mirrors 88a to 88e are disposed at a left side of housing <NUM> to form an optical path indicated by broken lines in the figure and guide light entering from first and second entrance ports 86a and 86b to mirror <NUM> disposed directly ahead of camera main body <NUM>. For example, light entering from first entrance port 86a is reflected sequentially by mirrors 88a, 88b, 88d, and 88e in this order and arrives at mirror <NUM>. Mirrors 88f to 88j are disposed at a right side of housing <NUM> to form an optical path indicated by broken lines in the figure and guide light entering from third and fourth entrance ports 86c and 86d to mirror <NUM>. Mirror <NUM> reflects light arriving from first to fourth entrance ports 86a to 86d and guides the light to camera main body <NUM>.

As a result, camera main body <NUM> images objects located in nozzle positions N1, N3, N4, and N6 and acquires image data representing one image in which obtained images are arranged in the left-right direction in the image. Therefore, camera main body <NUM> can simultaneously image nozzles <NUM> and component P located in nozzle positions N1, N3, N4, and N6 from sides thereof. The arrangement and shapes of first to fourth entrance ports 86a to 86d and mirrors 88a to <NUM> are adjusted so that the directions in which camera main body <NUM> images the individual imaging positions become directions following the radial direction of the revolution trajectory of nozzles <NUM>, that is, directions toward the center of the revolution trajectory of nozzles <NUM>. Camera main body <NUM> receives light emitted from illuminants <NUM> and reflected by reflective body 41a. Therefore, in the resulting image, nozzles <NUM> and components P that block light are displayed as black shadows.

As shown in <FIG>, control device <NUM> is configured as a microprocessor made up mainly of CPU91 and includes ROM92, HDD93, RAM94, input/output interface <NUM>, and the like in addition to CPU91. These are connected with one another via bus <NUM>. A detection signal from XY robot <NUM>, a detection signal from mounting head <NUM> (R-axis position sensor <NUM>, Q-axis position sensor <NUM>, Z-axis position sensors <NUM>, <NUM>), an image signal from part camera <NUM>, an image signal from mark camera <NUM>, an image signal from side camera <NUM>, and the like are inputted into control device <NUM> via input/output interface <NUM>. Control device <NUM> outputs control signals and the like to component supply device <NUM>, board conveyance device <NUM>, XY robot <NUM> (X-axis motor <NUM> and Y-axis motor <NUM>), mounting head <NUM> (R-axis motor <NUM>, Q-axis motor <NUM>, and Z-axis motors <NUM>, <NUM>), pressure adjustment valve <NUM>, part camera <NUM>, mark camera <NUM>, and side camera <NUM> via input/output interface <NUM>.

Next, the operation of component mounter <NUM> when it performs a component mounting process will be described. CPU91 of control device <NUM> controls the sections of component mounter <NUM> based on the production program received from a management device (not shown) to produce boards <NUM> on which multiple components are mounted. Specifically, CPU <NUM> controls the sections of component mounter <NUM>, causing nozzles <NUM> to pick up and hold components P supplied from component supply devices <NUM> and mount components P held to nozzles <NUM> sequentially on board <NUM>.

Here, a component pickup related process performed by nozzles <NUM> will be described in detail. <FIG> is a flowchart showing an example of a component pickup related process routine. A program for CPU <NUM> to execute the routine shown in <FIG> is stored in, for example, HDD93. In the component pickup related process, CPU <NUM> causes multiple nozzles <NUM> to sequentially pick up components P while causing in parallel nozzles <NUM> to pick up components P and side camera <NUM> to image nozzles <NUM> and components P for execution of a pickup error determination. <FIG> is an explanatory diagram showing how nozzles 44A, <NUM> are positioned in component pickup positions, <FIG> is an explanatory diagram showing a state where nozzles 44A, <NUM> pick up component P, <FIG> is an explanatory diagram showing a state where nozzles 44A, <NUM> are located in component imaging positions, <FIG> is an explanatory diagram showing a state where nozzles 44B, <NUM> pick up component P, <FIG> is an explanatory diagram showing a state where component pickup and pickup error determinations are completed on all nozzles <NUM>, and <FIG> is an explanatory diagram showing conditions of all nozzles <NUM> after nozzles <NUM> have picked up components in a comparison example. In the following description, nozzles 44A, <NUM> are described as being located in nozzle positions N1 and N4 as shown in <FIG> when the component pickup related process is started.

When starting this component pickup related process, firstly, CPU <NUM> moves nozzles <NUM> to above the component supply positions of component supply devices <NUM> (step S100). As shown in <FIG>, CPU <NUM> causes XY robot <NUM> to move mounting head <NUM> so that nozzles <NUM> located in the component pickup positions (nozzle positions N2, N5) are located directly above components P located in the component supply positions. Here, components located directly below nozzle positions N2, N5 are described as being components P of the same type.

Next, CPU <NUM> performs a pre-pickup imaging process, a component pickup process, and a post-pickup imaging process in parallel (step S110). The pre-pickup imaging process is a process for causing side camera <NUM> to image states of nozzles <NUM> located in pre-pickup imaging positions (nozzle positions N1, N4). The component pickup process is a process for causing mounting head <NUM> to cause at least one of nozzles <NUM> located in the component pickup positions (nozzle positions N2, N5) to pick up and hold component P. In the present embodiment, CPU <NUM> performs the component pickup process so that all (here, two) nozzles <NUM> located in the component pickup positions pick up and hold component P. In the component pickup process, CPU <NUM> lowers nozzles <NUM> located in the component pickup positions, applies a negative pressure to the suction ports of end surfaces <NUM> of nozzles <NUM>, causes nozzles <NUM> to suction pick up components P supplied to the component supply positions of component supply devices <NUM> at end surfaces <NUM>, and then lifts up nozzles <NUM>. The pre-pickup imaging process is a process for causing side camera <NUM> to image components P held to nozzles <NUM> located in the component imaging positions (nozzle positions N3, N6). As described above, since side camera <NUM> simultaneously images nozzle positions N1, N3, N4, and N6, side camera <NUM> simultaneously performs the pre-pickup imaging process and the post-pickup imaging process in one shot or one imaging process. Additionally, CPU <NUM> stores the captured image data in HDD <NUM>.

CPU <NUM> causes the component pickup process to be performed on nozzles <NUM> after the pre-pickup imaging process has been performed thereon, and causes the post-pickup imaging process on nozzles <NUM> after the component pickup process has been performed thereon. As a result, CPU <NUM> performs only the pre-pickup imaging process in step S110 that is executed for the first time after the component pickup related process routine is started. For example, in the state shown in <FIG>, CPU <NUM> performs only the pre-pickup imaging process on nozzles 44A, <NUM>. Although once the pre-pickup imaging process is performed, the post-pickup imaging process is also performed thereafter, CPU <NUM> need only store, for example, only the images of the pre-pickup imaging positions in the captured image data in HDD <NUM>.

Next, CPU <NUM> performs a pickup error determination process for determining on the presence or absence of an abnormality in components P held by nozzles <NUM> based on the images acquired in the pre-pickup imaging process and the post-pickup imaging process (step S120). Note that, since there are no nozzles <NUM> on which both the pre-pickup imaging process and the post-pickup imaging process have been completed in such a state that step S110 is executed for the first time after the component pickup related process routine is started, CPU91 omits the process in step S120 here and determines that there is occurring no pickup error.

Subsequently, CPU <NUM> determines whether the pickup process and the pickup error determination process have been completed on all nozzles <NUM> (step S130), and if it determines that the relevant processes have not yet been completed, CPU <NUM> performs in parallel a holding body revolving process for causing R-axis driving device <NUM> to revolve nozzles <NUM> and a holding body rotating process for causing Q-axis driving device <NUM> to cause nozzles <NUM> to rotate on their axes (step S140). In the holding body revolving process, CPU <NUM> revolves nozzles <NUM> by an amount corresponding to one nozzle (a pitch corresponding to one nozzle <NUM>). That is, in the present embodiment, nozzles <NUM> are revolved <NUM> degrees (=<NUM> degrees/<NUM>, which is the number of nozzles) in the clockwise direction when viewed from above. Therefore, when CPU <NUM> performs the holding body revolving process from the state shown in <FIG>, as shown in <FIG>, nozzles 44A and <NUM> move from the pre-pickup imaging positions (nozzle positions N1 and N4) to the component pickup positions (nozzle positions N2 and N5). Additionally, nozzles 44B and <NUM> newly move to arrive at the pre-pickup imaging positions. In the holding body rotation process, CPU <NUM> causes nozzles <NUM> to rotate on their axes by -<NUM>° with respect to the radial direction of the revolution trajectory of nozzles <NUM>. Here, as to the direction of rotation of nozzles <NUM> on their axes, when viewed from above, a clockwise direction is referred to as a positive direction. As a result, as shown in <FIG>, all multiple nozzles <NUM> rotate on their axes by -<NUM>° in synchronism with one another. Due to this, nozzle angles θn of nozzles <NUM> A and <NUM> that come to be located in the component pickup positions through the holding body revolving process of this time are changed from <NUM>° to <NUM>° through the holding body rotating process of this time. Further, nozzle angles θn of nozzles 44B and <NUM> that come to be located in the pre-pickup imaging positions through the holding body revolving process of this time are changed from <NUM>° to <NUM>° through the holding body rotation process of this time. The reason that the nozzles <NUM> are caused to rotate on their axes in this manner will be described later. In addition, CPU <NUM> causes nozzles <NUM> to rotate -<NUM>° on their axes for an odd-numbered holding body rotation process, and causes nozzles <NUM> to rotate <NUM>° on their axes for an even-numbered holding body rotation process. From the viewpoint of shortening the processing time, the holding body rotation process is preferably completed sometime from the end of the component pickup process in previous step S110 to the completion of the holding body revolving process, and in the present embodiment, both the processes are completed simultaneously. Further, in the structures of R-axis driving device <NUM> and Q-axis driving device <NUM> of the present embodiment, when R-axis driving device <NUM> revolves nozzles <NUM>, nozzles <NUM> also start rotating on their axes in association with the revolution of nozzles <NUM>. For example, when R-axis driving device <NUM> revolves nozzles <NUM> while Q-axis motor <NUM> is stopped, Q-axis gear <NUM> does not rotate and gears <NUM> revolve while rotating, and the nozzles <NUM> rotate on their axes by a predetermined angle corresponding to a revolution angle. When R-axis driving device <NUM> and Q-axis driving device <NUM> have such structures, CPU <NUM> controls Q-axis driving device <NUM> including a rotation angle generated in accordance with the revolution angle, causing nozzles <NUM> to rotate -<NUM>° (or <NUM>°) on their axes in such a state that the holding body revolving process and the holding body rotating process in step S140 are completed.

After having performed the process in step S140, CPU <NUM> performs the processes from step S110 on. Therefore, CPU <NUM> executes the process in step S110 for the second time. In step S110 performed for the second time, CPU <NUM> performs a pre-pickup imaging process on nozzles 44B, <NUM> that are located in the pre-pickup imaging positions and a component pickup process on nozzles 44A, <NUM> that are located in the component pickup positions. As a result, as shown in <FIG>, nozzles 44A, <NUM> pick up and hold component P. Here, component holding angle θp of component P will be described. Component holding angle θp is an orientation of component P held by nozzle <NUM> with respect to the radial direction of the revolution trajectory of nozzles <NUM>. In the present embodiment, a direction following the longitudinal direction of component P (directions indicated by arrows in enlarged views in <FIG>) is defined as an orientation of component P, and an angle formed by this direction and the radial direction of the revolution trajectory is defined as component holding angle θp. In component holding angle θp, a direction turning clockwise from the radial direction of the revolution trajectory, when seen from above, is referred to as positive. As described above, component P is installed on tape <NUM> with the longitudinal direction following the left-right direction, and the radial direction of the revolution trajectory also follows the left-right direction at the component pickup positions, and therefore, component holding angles θp of components P held in the component pickup positions become <NUM>°. In the present embodiment, the orientation of component P is defined as the direction following the longitudinal direction, but the orientation of component P can be determined arbitrarily. In addition, in the present embodiment, since component P has the shape of <NUM>-fold symmetry when viewed from above, for example, component holding angle θp=<NUM>° and component holding angle θp=<NUM>° are synonymous, and they do not have to be distinguished from each other.

At this time, as described above, nozzle angles θn of nozzles 44A, <NUM> located in the component pickup positions are <NUM>° through the holding body rotating process performed immediately before, and the longitudinal directions of end surfaces <NUM> and the longitudinal directions of components P picked up by nozzles <NUM> in question are oriented in the same direction. As a result, nozzles 44A, <NUM> can hold component P more appropriately. Note that even though nozzles <NUM> are caused to rotate on their axes while holding component P in processes from then on, since end surface <NUM> and component P rotate together, a difference between nozzle angle θn and component holding angle θp does not change to remain at a constant value. Therefore, in the present embodiment, nozzle angle θn and component holding angle θp are always equal to each other in such a state that nozzles <NUM> hold component P.

After the process in step S110 is performed in this way for the second time, CPU <NUM> determines that there is occurring no pickup error in step S120 because there are no nozzles <NUM> on which both the pre-pickup imaging process and the post-pickup imaging process have been completed. Then, CPU <NUM> determines in step S130 that the component pickup process and the pickup error determination process have not yet been completed on all nozzles <NUM> and performs the holding body revolving process and the holding body rotating process for the second time in step S140. In the holding body revolving process performed for the second time, CPU <NUM> revolves nozzles <NUM><NUM> degrees as done in the revolving process performed for the first time. As a result, as shown in <FIG>, nozzles 44A, <NUM> that hold component P move from the component pickup positions (nozzle positions N2, N5) to the post-pickup imaging positions (nozzle positions N3, N6). In addition, nozzles 44B, <NUM> newly move to arrive at the component pickup positions. That is, nozzles 44B, <NUM> that do not hold component P come to be located in the positions (nozzle positions N2 and N5) of nozzles 44A, <NUM> that pick up component P in the previous component pickup process. Then, nozzles 44C, <NUM> newly move to the pre-pickup imaging positions. In the holding body rotation process that is performed for the second time, CPU <NUM> causes nozzles <NUM> to rotate <NUM> degrees on their axes because it is the even numbered holding body rotating process. As a result, as shown in <FIG>, component holding angles θp of nozzles 44A, <NUM> that are located in the component imaging positions through the holding body revolving process performed this time are changed from <NUM>° to <NUM>° through the holding body rotating process of this time. Nozzle angles θn of nozzles 44B, <NUM> that are located in the component pickup positions through the holding body revolving process of this time are changed from <NUM>° to <NUM>° through the holding body rotating process of this time. Nozzle angles θn of nozzles 44C and 44I that are located in the pre-pickup imaging positions through the holding body revolving process of this time are changed from <NUM>° to <NUM>° through the present holding body rotating process performed this time.

After having performed the process in step S140 for the second time, CPU <NUM> executes the process in step S110 for the third time. In step S110 performed for the third time, CPU <NUM> executes a pre-pickup imaging process on nozzles 44C, 44I that are located in the pre-pickup imaging positions (nozzle positions N1, N4), executes a component pickup process on nozzles 44B, <NUM> that are located in the component pickup positions (nozzle positions N2, N5), and executes a post-pickup imaging process on nozzles 44A, <NUM> that are located in the component imaging positions (nozzle positions N3, N6). As a result, as shown in <FIG>, nozzles <NUM>, <NUM> pick up component P and hold component P in question at component holding angle θp=<NUM>°.

Next, CPU91 performs a pickup error determination process in step S120. Since due to the process in step S110 having been performed for the third time, the pre-pickup imaging process and the post-pickup imaging process are both completed on nozzles 44A, <NUM>, CPU <NUM> here performs a pickup error determination process on nozzles 44A, <NUM>. CPU <NUM> determines whether there is occurring a pickup error in components P held by nozzles 44A, <NUM> based on image data captured in the pre-pickup imaging process (pre-pickup imaging process performed three times before) performed on nozzles 44A, <NUM> that are located in the pre-pickup imaging positions and images captured in the post-pickup imaging process (post-pickup imaging process performed immediately before) performed on nozzles 44A, <NUM> that are located in the component imaging positions (post-pickup imaging positions). For example, CPU <NUM> recognizes a lower end position (a position corresponding to a lower surface of component P) of a region (here, a rectangular region) of pixels where component P is projected based on a difference in value of each pixel of image data before and after between same nozzle <NUM> picks up component P. Then, CPU91 determines whether the recognized position stays within a permissible range based on information (for example, a thickness of component P) on the shape of component P stored in advance in HDD <NUM>, and CPU <NUM> determines that there is no pickup error when it determines that the recognized position stays within the permissible range. As a result, in the case where no component P is held by nozzles <NUM> in the first place, or in the case where a component different in type from component P is erroneously held by nozzles <NUM>, CPU <NUM> can determine that there is occurring a pickup error.

If CPU <NUM> determines in step S120 that there is occurring no pickup error, determining in step S130 that the component P pickup process and the pickup error determination process have not yet been completed on all nozzles <NUM>, CPU <NUM> executes the processes from step S140 on. That is, CPU91 alternately and repeatedly performs the holding body revolving process and the holding body rotating process in step S140, and the pre-pickup imaging process, the component pickup process, and the post-pickup imaging process in step S110, and performs the pickup error determination process in step S120 on nozzle <NUM> on which the post-pickup imaging process has been performed. As a result, CPU91 performs the pre-pickup imaging process, the component pickup process, the post-pickup imaging process, and the pickup error determination process sequentially in this order on each of multiple nozzles <NUM>, whereby CPU <NUM> causes each nozzle <NUM> to pick up and hold component P and determines whether there is occurring a pickup error thereon. Then, if it determines in step S130 that the component P pickup process and the pickup error determination process have been completely performed on all nozzles <NUM>, CPU <NUM> ends this routine. In this state, as shown in <FIG>, nozzles 44F, <NUM> that last pick up component P are located in the component imaging positions (nozzle positions N3, N6). As shown in <FIG>, components P are held by multiple nozzles <NUM> in such a manner that component holding angles θp differ by <NUM> degrees between adjacent nozzles <NUM>.

If it ends the routine by determining in step S130 in the way described above that the component P pickup process and the pickup error determination process have been completely performed on all nozzles <NUM>, CPU <NUM> moves mounting head <NUM> to be located above part camera <NUM>, so that components P suction held to nozzles <NUM> are imaged by part camera <NUM> Then, postures of components P are recognized based on the captured images, and components P in question are mounted on board <NUM> by taking the postures so recognized into consideration.

If it determines in step S120 that there is occurring a pickup error, CPU <NUM> performs a pickup error-occurrence counteracting process (step S150) and ends the present routine halfway. As the pickup error occurrence counteracting process, CPU <NUM> performs, for example, a process for notifying a management device, not shown, of information informing an occurrence of a pickup error. As the pickup error occurrence counteracting process, CPU <NUM> may perform a process for discarding component P held by nozzle <NUM> on which the pickup error is determined to be occurring to a predetermined discard position. In addition, thereafter, CPU91 may cause nozzle <NUM> on which the pickup error has occurred to rotate on its axis and revolve nozzle <NUM> in question so that nozzle <NUM> in question is located in the pre-pickup imaging position while being oriented at nozzle angle θn=<NUM>° and perform the pre-pickup imaging process, the component pickup process, the post-pickup imaging process, and the pickup error determination process again on nozzle <NUM> in question.

In the component pickup related process routine described in detail above, as a result of CPU91 performing the holding body rotating process, component holding angles θp of components P held by multiple nozzles <NUM> are all <NUM>° in the component pickup positions, but relevant component holding angles θp become <NUM>° in the component imaging positions. Due to this, component P is held by nozzle <NUM> in such a state that the longitudinal direction thereof is perpendicular to the imaging direction (here, a direction towards the center of the revolution trajectory of nozzles <NUM>) of side camera <NUM>. As a result, side camera <NUM> images the long side of component P in the post-pickup imaging process. On the other hand, for example, let's consider a case where CPU <NUM> does perform the holding body rotating process, whereby component holding angle θp is <NUM>° at all times. In this case, as shown in <FIG>, side camera <NUM> images the short side of component P in the component imaging position. In the present embodiment, since the long side of component P is imaged in the post-pickup imaging process, the length of a lower end of component P imaged in the post-pickup imaging process becomes longer when compared with a case where the short side of component P is imaged as shown in <FIG>. Therefore, it becomes easy to recognize the lower end position of component P described in the pickup error determination process. As described above, in the present embodiment, by performing the holding body rotating process, component holding angle θp of nozzle <NUM> located in the component imaging position becomes an imaging angle suitable for imaging component P after it is picked up by nozzle <NUM> (here, <NUM>°). The imaging angle is an example of a detection angle.

In addition, each of multiple nozzles <NUM> takes the same value (here, <NUM>°) for nozzle angle θn when located in the component imaging position as when located in the pre-pickup imaging position. Therefore, even though end surface <NUM> has the longitudinal direction and the lateral direction, the apparent shape of nozzle <NUM> becomes the same in image data before and after component P is picked up. Therefore, CPU <NUM> can more easily recognize component P in the pickup error determination process.

Here, the correspondence relationship between the constituent elements of the present embodiment and constituent elements of the present disclosure will be clarified. Head main body <NUM> of the present embodiment corresponds to a rotating body of the present disclosure, nozzle <NUM> corresponds to a holding body, mounting head <NUM> corresponds to a mounting head, R-axis driving device <NUM> corresponds to a revolving mechanism, Q-axis driving device <NUM> corresponds to a rotating mechanism, side camera <NUM> corresponds to a detection section, and control device <NUM> corresponds to a control section.

In component mounter <NUM> that has been described in detail heretofore, in performing the holder revolving process, CPU <NUM> performs the holding body rotating process for causing multiple nozzles <NUM> to rotate on their axes so that component holding angle θp of component P held by nozzle <NUM> located in the component imaging position (nozzle positions N3, N <NUM>) through the holding body rotating process of this time becomes the imaging angle (=<NUM>°) that is different from component holding angle θp (=<NUM>°) at which component P is picked up. Therefore, component P picked by nozzle <NUM> in the component pickup position (nozzle positions N2, N5) moves with nozzle <NUM> revolving and rotating on its axis through the holding body revolving process and the holding body rotating process, respectively and eventually arrives at the component imaging position (nozzle positions N3, N6) while its orientation is adjusted in such a manner that component holding angle θp becomes the imaging angle (=<NUM>°). Due to this, in case the imaging angle is determined in advance so as to be an angle suitable for imaging component P, held component P can be imaged more appropriately by side camera <NUM>. In the present embodiment, when component holding angle θp is <NUM>°, since side camera <NUM> can image the long side of component P, the lower end position of component P can be recognized with good accuracy. Therefore, the imaging angle constitutes the angle suitable for imaging component P.

In addition, CPU <NUM> alternately and repeatedly performs the component pickup process for causing mounting head <NUM> to cause two or more (here, two) nozzles <NUM> that are located in the component pickup positions to pick up and hold component P and the holding body revolving process for causing R-axis driving device <NUM> to locate nozzles <NUM> that hold no component P individually in the positions (nozzle positions N2, N5) where components P have been picked up before. As a result, CPU <NUM> causes two or more nozzles <NUM> (here, two nozzles) to hold component P through one component pickup process and causes multiple (here, <NUM>) nozzles <NUM> to sequentially hold component P. Then, in the holding body revolving process, CPU <NUM> performs the holding body revolving process for controlling Q-axis driving device <NUM> so that component holding angle θp of each of components P held by two or more (here, two) nozzles <NUM> that are positioned in the component imaging positions through the holding body revolving process of this time becomes the imaging angle (=<NUM>°) that is different from component holding angle θp (=<NUM>°) of each of components P at which component P is picked up. Due to this, even in the case where two or more (here, two) nozzles <NUM> are caused to pick up component P through one component pickup process, the orientations of components P so picked up can be adjusted so that component holding angle θp of each of picked up components P constitutes the imaging angle when nozzles <NUM> so picked up are located in the component imaging positions.

Further, each of multiple nozzles <NUM> has the shape in which end surface <NUM> has the longitudinal direction and the lateral direction. Then, the orientations of multiple nozzles <NUM> are determined so that the difference between nozzle angle θn of nozzle <NUM> located in the component pickup position and nozzle angle θn of nozzle <NUM> located in the component imaging position is equal to the difference (= <NUM>°) between component holding angle θp (= <NUM>°) at which component P is picked up and the imaging angle (= <NUM>°) even with any nozzle <NUM> of multiple nozzles <NUM> located in the component pickup position. As a result, with the orientation of nozzle <NUM> to component P when picking up component P in question held in the appropriate state, component holding angle θp of component P picked up can be adjusted to the imaging angle (=<NUM>°) in the component imaging position. Therefore, component P can be picked up by nozzle <NUM> that is oriented appropriately, and component P in question can be imaged more appropriately. For example, let's consider a case where the component pickup related process routine described above is performed when multiple nozzles <NUM> are attached in such a manner that all the orientations of multiple nozzles <NUM> become the same nozzle angle θn. In this case, although component holding angle θp can be <NUM>° in the component pickup position and <NUM>° in the component imaging position, half nozzles <NUM> of the <NUM> nozzles <NUM> pick up and hold component P with nozzle angle θn and component holding angle θp shifted by <NUM>° from each other. That is, component P is held in such a state that the longitudinal direction of end surface <NUM> and the longitudinal direction of component P are orthogonal to each other. In the present embodiment, nozzle <NUM> can pick up component P more appropriately than in the case described above.

Furthermore, the difference between component holding angle θp and imaging angle at the time of picking up component P is <NUM>°. When component holding angle θp at which component P is picked up and the component holding angle suitable for imaging differ by <NUM>°, for example, in case component holding angle θp is the same at the time of picking up as at the time of imaging, it easily becomes difficult for component P to be imaged appropriately. Due to this, in such a case, it is highly significant that by performing the holding body rotating process, component P is given an imaging angle at which component holding angle θp becomes different from one resulting when component P is picked up when component P is located in the component imaging position.

The present invention is not limited in any way to the embodiment described heretofore, and needless to say, the present invention can be carried out in various forms without departing from the technical scope.

In the embodiment described above, the difference between component holding angle θρ and the imaging angle is <NUM>°, but the present invention is not limited thereto. For example, in the embodiment described above, when the difference between component holding angle θρ and the imaging angle is <NUM>°, CPU <NUM> may cause nozzles <NUM> to rotate on their axes by -<NUM>° in the odd-numbered holding body rotating processes rotation while causing nozzles <NUM> to rotate on their axes by <NUM>° in the even-numbered holding body rotating processes. Alternatively, CPU <NUM> may cause nozzles <NUM> to rotate on their axes by <NUM>° every time CPU <NUM> performs the holding body rotating process.

In the embodiment described above, the component imaging position is the position of the nozzle <NUM> located adjacent to nozzle <NUM> located in the component pickup position, but the present invention is not limited thereto. For example, in case the difference between component holding angle θp and the imaging angle is <NUM> degrees when the component imaging position is located two nozzles <NUM> away from nozzle <NUM> located in the component pickup position, CPU91 need only cause nozzles <NUM> to rotate on their axes by <NUM> degrees in the holding body rotating process.

In the embodiment described above, <NUM> nozzles <NUM> are arranged circumferentially at equal intervals, but the number of nozzles <NUM> is not limited to <NUM>, and hence, the number of nozzles <NUM> may be, for example, <NUM>, <NUM>, <NUM>, or the like. The number of nozzles <NUM> may be an even number or an odd number.

In the embodiment described above, the component pickup process is performed at both of the two component pickup positions, but the present invention is not limited thereto. The component pickup process need only be performed in at least one of the component pickup positions existing on the revolution trajectory of nozzles <NUM>. In addition, the number of component pickup positions existing on the revolution trajectory nozzles <NUM> is not limited to two, and hence, the number of component pickup positions may be one or three or more (for example, four).

In the embodiment described above, CPU <NUM> causes nozzles <NUM> to rotate on their axes by-<NUM>° in then odd-numbered holding body rotating processes and causes nozzles <NUM> to rotate on their axes by <NUM>° in the even-numbered holding body rotating processes, but the present invention is not limited thereto, and hence, CPU <NUM> may cause nozzles <NUM> to rotate on their axes by <NUM>° every time it performs the holding body rotating process, for example. When it is unnecessary to distinguish component holding angles θp that differ <NUM> degrees from each other due to, for example, component P having the <NUM>-fold symmetric shape when viewed from the upper surface side thereof as in the embodiment described above, component P may be caused to rotate on its axis by <NUM> degrees every time. However, since the orientations of components P in the component imaging positions can be made completely the same, it is preferable to cause components P to rotate on their axes in the same manner as in the present embodiment.

In the embodiment described above, the imaging angle is set at <NUM>°, but the imaging angle may be any angle suitable for imaging component P. For example, there may be a case where component P is held inclined to nozzle <NUM> when component P is picked up, and this inclined state is desired to be determined through the pickup error determination process from time to time. In such a case, since component P tends to be inclined in such a manner that the short side is inclined on many occasions, it is easier to determine the presence or absence of such an inclination based on an image by imaging the short side of component P while imaging component P along the longitudinal direction thereof. In such a case, the imaging angle is preferably <NUM>°. Then, in the case where component P is nevertheless installed on tape <NUM> in such a manner that the lateral direction of component P follows the lateral direction, component holding angle θp when component P is picked up becomes <NUM>°. Even in such cases, by CPU <NUM> performing the holding body rotating process in the same manner as in the embodiment described above, even though component holding angle θp when component P is picked up is <NUM>°, component holding angle θp in the component imaging position can be set at the imaging angle (=<NUM>°). As another example, there may be a case where component P has leads that project to both sides from a main body portion thereof. In this case, when it is desired to image the projecting leads, it is preferable that side camera <NUM> images the leads from a direction perpendicular to the direction in which the leads project. In such a case, with an orientation of component P in which the direction in which the leads of component P project becomes perpendicular to the radial direction of the revolution trajectory of nozzles <NUM> referred to as an imaging angle, the rotating angle in the holding body rotating process need only be determined so that component holding angle θp in the component imaging position becomes this imaging angle.

In the embodiment described above, side camera <NUM> performs imaging before and after component P is picked up, but side camera <NUM> need only perform imaging in at least the component imaging position (the post-pickup imaging position in the embodiment described above). In addition, side camera <NUM> is described as being a device configured to perform imaging in a direction toward the center of the revolution trajectory of nozzles <NUM>, but the present invention is not limited thereto. For example, side camera <NUM> may image nozzle position N3 from the left (a direction forming an angle of <NUM> degrees with the radial direction of the revolution trajectory) in the figure. In this case, in case component holding angle θp, that is the imaging angle in nozzle position N3 is <NUM>°, side camera <NUM> can image component P from the direction perpendicular to the longitudinal direction of component P, as in the present embodiment. Additionally, side camera <NUM> is configured to simultaneously image nozzle positions N1, N3, N4, and N6, but the present invention is not limited thereto, and hence, a side camera may be provided for each nozzle position.

In the embodiment described above, CPU <NUM> may perform a pre-pickup error determination process for confirming that component P is not held by nozzle <NUM> based on an image captured in the pre-pickup imaging process. For example, before and after step S120, CPU <NUM> may determine whether component P is held by nozzle <NUM> located in the pre-pickup imaging position (nozzle positions N1 and N4) based on the image obtained in the pre-pickup imaging process in step S110 performed immediately before. This determination may be performed, for example, in such a manner that CPU <NUM> recognizes the region of nozzle <NUM> in the image obtained and determines whether a region recognized as component P exists below the region of nozzle <NUM> that is recognized by CPU <NUM>. When it determines from the pre-pickup error determination process that there is occurring an error (nozzle <NUM> holds component P), CPU <NUM> may, for example, notify a management device, not shown, of information informing that a pre-pickup error is occurring or may perform a discarding process for discarding component P held by nozzle <NUM> on which the pre-pickup error is determined to be occurring to a predetermined discard position.

In the embodiment described above, components P picked up in nozzle positions N2, N5 are described as being of the same type, but components P of different types may be picked up there, or components P may be installed on tape <NUM> in different orientations.

In the embodiment described above, mounting head <NUM> includes nozzles <NUM> configured to pick up component P by making use of the negative pressure, but the present invention is not limited thereto, and hence, mounting head <NUM> need only include not only nozzles <NUM> but also holding bodies configured to hold a component. For example, mounting head <NUM> may include mechanical chucks configured to grip and hold component P instead of nozzles <NUM>.

In the embodiment described above, component mounter <NUM> includes side camera <NUM> as an imaging section, and this side camera <NUM> images components P held by nozzles <NUM> located in the component imaging positions from the side thereof. However, in addition to or in place of the imaging section configured to perform imaging, component mounter <NUM> need only include a detection section configured to detect component P held by nozzle <NUM> from the side thereof. In this case, the pre-pickup imaging position described above may be referred to as a pre-pickup detection position, the post-pickup imaging position may be referred to as a post-pickup detection position, the component imaging position may be referred to as a component detection position, and the imaging angle may be referred to as a detection angle. The detection section may detect component P held by nozzle <NUM> positioned in the detection position from the side thereof, for example, by shining light from a laser or an LED from the side. The detection section may detect nozzle <NUM> located in the pre-pickup detection position from the side thereof, or may detect the presence or absence of component P in a region where nozzle <NUM> located in the pre-pickup detection position holds component P (for example, a region below nozzle <NUM>) from the side.

The component mounter may be configured as follows.

In the component mounter, the component pickup position and the component detection position may each exist multiple, and the control section alternately and repeatedly performs the component pickup processing for causing the mounting head to cause two or more the holding bodies located in the component pickup positions to pick up and hold the component and the holding body revolving processing for causing the revolving mechanism to locate the holding body that does not hold the component in each of the positions of the two or more the holding bodies that pick up the component during the component pickup processing, and in executing the holding body revolving processing, the control section performs the holding body rotating processing for causing the rotating mechanism to change the component holding angle of each of the components held to the two or more the holding bodies located in the component detection positions through a current holding body revolving processing to the detection angle that differs from the component holding angle of the component when each of the components is picked up. In this way, even in the case where each of the two or more the holding bodies is caused to pick up a component through one component pickup operation, the orientations of the held components can be adjusted so that the component holding angle of each of the picked up components becomes the detection angle in the component detection position.

In the component mounter, each of the multiple holding bodies may be a nozzle in which an end surface configured to come into contact with the component when holding the component has a shape having a longitudinal direction and a lateral direction, and the multiple holding bodies are such that individual orientations of the multiple holding bodies are determined so that with an orientation of the end surface based on a radial direction of the revolution trajectory referred to as a nozzle angle, a difference between the nozzle angle of the holding body located in the component pickup position and the nozzle angle of the holding body located in the component detection position is equal to a difference between the component holding angle when the component is picked up and the detection angle even with any holding body of the multiple holding bodies located in the component pickup position. As a result, the component holding angle of the picked up component can be adjusted to the detection angle in the component detection position while the orientation of the nozzle to a component to be picked up is kept in an appropriate state. Therefore, the component can be picked up with the nozzle oriented in the appropriate direction, and the component can be detected more appropriately.

In the component mounter of the present disclosure, the difference between the component holding angle when the component is picked up and the detection angle may be <NUM>°. When the component holding angle when the component is picked up and the component holding angle suitable for detection differ by <NUM>°, for example, in case the component holding angle is the same when the component is picked up as when the component is detected, it easily becomes difficult for the component to be detected properly. Due to this, in such a case, it is highly significant that by performing the holding body rotating process, the component is given a detection angle at which the component holding angle becomes different in the component detection position from one resulting when the component is picked up.

In the component mounter, the component detection position may be a position of the holding body located adjacent to the holding body located in the component pickup position.

In the component mounter of the present disclosure, the detection section may be an imaging section configured to image a component held by the holding body located in one or more the component detection positions from a side thereof.

The present invention can be applied to various industries where components are mounted on boards.

Claim 1:
A component mounter (<NUM>) comprising:
a mounting head (<NUM>) which has a rotating body (<NUM>) and multiple holding bodies (<NUM>) arranged along a circumferential direction of the rotating body (<NUM>) and is configured to hold a component, the multiple holding bodies (<NUM>) revolving along a revolution trajectory caused by rotation of the rotating body (<NUM>), a component pickup position, where the holding bodies (<NUM>) are adapted to pick up a component, residing on the revolution trajectory;
a revolving mechanism (<NUM>) configured to revolve the multiple holding bodies (<NUM>) by rotating the rotating body (<NUM>);
a rotating mechanism (<NUM>) configured to cause the multiple holding bodies (<NUM>) to rotate respectively in synchronism with each other;
a detection section (<NUM>) configured to detect, from a side thereof, a component being held by the holding body (<NUM>) that is located in a component detection position which is different from the component pickup position on the revolution trajectory, and
a control section (<NUM>) configured to perform component pickup processing and holding body revolving processing alternately and repeatedly, the component pickup processing causing the mounting head (<NUM>) to enable the holding body (<NUM>) that is located in the component pickup position to pick up and hold a component, the holding body revolving processing causing the revolving mechanism (<NUM>) to locate, in the component pickup position, a holding body that does not hold a component,
characterized by
the control section (<NUM>) further configured to, when performing the holding body revolving processing, perform holding body rotating processing, which causes the rotating mechanism (<NUM>) to change a component holding angle of a component held to a holding body (<NUM>) located in the component detection position through the current holding body revolving processing to a detection angle that differs from the component holding angle of the component when the component was picked up, the component holding angle representing an orientation of the component based on a radial direction of the revolution trajectory.