WO2018150578A1

WO2018150578A1 - Component mounter

Info

Publication number: WO2018150578A1
Application number: PCT/JP2017/006152
Authority: WO
Inventors: 淳飯阪; 茂人大山
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2017-02-20
Filing date: 2017-02-20
Publication date: 2018-08-23
Also published as: JPWO2018150578A1; JP6734465B2

Abstract

A component mounter for: performing a pitch feeding operation, in which a component supply tape (24) is fed at a prescribed pitch at a time while a cover film (30) is peeled from the upper surface of the component supply tape using a tape feeder (23), and at each completion of the pitch feeding operation; suctioning, using a suction nozzle (27), a component (26) in a component housing recess (29) which has stopped at a prescribed component suctioning position; and mounting the component (26) onto a circuit substrate (12), wherein: the component in the component housing recess which has arrived at the component suctioning position due to the pitch feeding is imaged a plurality of times from above by a camera (34); the plurality of images obtained by the imaging performed a plurality of times are processed, and the position of the component in the component housing recess is identified for each of the images; and there is performed a component stoppage stability determination for determining, on the basis of the results of processing the plurality of images, the stability state of the component in the component housing recess immediately after the completion of the pitch feeding.

Description

部品実装機Component mounter

　本明細書は、テープフィーダにより部品供給テープをピッチ送りして、そのピッチ送り完了毎に該部品供給テープ内の部品を吸着ノズルで吸着して回路基板に実装する部品実装機に関する技術を開示したものである。 The present specification discloses a technology related to a component mounting machine that pitches a component supply tape by a tape feeder, and sucks a component in the component supply tape by a suction nozzle and mounts it on a circuit board every time the pitch feeding is completed. Is.

　部品供給テープは、所定ピッチで形成された部品収容凹部内に部品を収容して包装したものであり、部品実装機の稼働中は、テープフィーダにより該部品供給テープの上面からカバーテープ（トップテープ、カバーフィルム、トップフィルムとも呼ばれる）を剥離しながら前記所定ピッチずつテープ送りするピッチ送り動作を行い、そのピッチ送り完了毎に所定の部品吸着位置で停止した部品収容凹部内の部品を吸着ノズルで吸着して回路基板に実装するようにしている。 The component supply tape is obtained by storing and packaging components in a component receiving recess formed at a predetermined pitch. During operation of the component mounting machine, a cover tape (top tape) is applied from the upper surface of the component supply tape by a tape feeder. (Also called a cover film or a top film), a pitch feeding operation is performed in which the tape is fed by the predetermined pitch while peeling off, and the component in the component housing recess that stops at a predetermined component suction position every time the pitch feeding is completed is picked up by the suction nozzle. It is sucked and mounted on the circuit board.

　近年の部品実装速度の高速化に伴い、テープフィーダのピッチ送り速度を高速化して、部品供給テープの部品を部品吸着位置へピッチ送りする時間間隔を短くするとともに、吸着ノズルで部品を吸着する時間間隔を短くして単位時間当たりの部品吸着回数を増加させるようにしている。しかし、テープフィーダのピッチ送り速度を高速化するほど、ピッチ送り完了時に部品吸着位置で停止させる部品に作用する慣性力が大きくなるため、ピッチ送り完了直後に部品収容凹部内の部品が慣性により該部品収容凹部内の隙間分だけテープ送り方向に動いて該部品収容凹部の側壁に衝突して跳ね返されるという現象が発生する。これにより、ピッチ送り完了直後の部品収容凹部内での部品の停止状態が不安定となるため、部品吸着ミス（吸着失敗）、過大な部品吸着位置ずれ、部品吸着姿勢の異常（斜め吸着や立ち吸着等）といった部品吸着不良が発生しやすくなる。 With the recent increase in component mounting speed, the tape feeder pitch feed speed has been increased to shorten the time interval for pitch-feeding components on the component supply tape to the component pick-up position, and the time to pick up the components with the suction nozzle The interval is shortened to increase the number of parts picked up per unit time. However, the higher the pitch feed speed of the tape feeder, the greater the inertial force acting on the component that stops at the component suction position when pitch feeding is completed. A phenomenon occurs in which the gap moves in the tape feeding direction by the gap in the component receiving recess and collides with the side wall of the component receiving recess to be rebounded. As a result, the stopped state of the component in the component receiving recess immediately after the completion of pitch feeding becomes unstable, so component adsorption mistakes (adsorption failure), excessive component adsorption position deviation, component adsorption posture abnormalities (diagonal adsorption or Component adsorption failure such as adsorption) is likely to occur.

　この対策として、特許文献１（特開２００５－１５０１５８号公報）では、部品実装機の稼働中（生産中）に、吸着ノズルに吸着した部品を下方からカメラで撮像して、その画像を処理して部品吸着位置のずれ量を計測し、この部品吸着位置のずれ量の計測値をテープフィーダ毎に集計して、部品吸着位置のずれ量のばらつきをテープフィーダ毎に求めて、部品吸着位置のずれ量のばらつきが大きくなるほど、当該テープフィーダのピッチ送り速度を低下させるようにしている。 As a countermeasure against this, in Patent Document 1 (Japanese Patent Laid-Open No. 2005-150158), while the component mounting machine is in operation (during production), the part sucked by the suction nozzle is picked up by a camera from below and the image is processed. The amount of displacement of the component suction position is measured, and the measured value of the amount of displacement of the component suction position is aggregated for each tape feeder, and the variation in the amount of displacement of the component suction position is obtained for each tape feeder. The pitch feed speed of the tape feeder is decreased as the deviation amount becomes larger.

特開２００５－１５０１５８号公報JP 2005-150158 A

　上記特許文献１の構成では、部品実装機の稼働中（生産中）に部品吸着位置のずれ量のばらつきをテープフィーダ毎に求めて、その部品吸着位置のずれ量のばらつきから、テープフィーダのピッチ送り完了直後の部品の停止状態の安定度合いを推定することになる。このため、テープフィーダのピッチ送り速度が速すぎるためにピッチ送り完了直後の部品の停止状態が不安定になるような場合でも、それが事前に分からないために生産を開始して、部品吸着位置のずれ量のばらつきを判断できる状態になるまで生産を継続しなければならず、その間、部品吸着不良の発生頻度が高くなって生産能率が低下するだけでなく、部品実装精度が低下する要因にもなる。 In the configuration of Patent Document 1 described above, a variation in the amount of displacement of the component suction position is obtained for each tape feeder during operation (production) of the component mounter, and the pitch of the tape feeder is determined from the variation in the amount of displacement of the component suction position. The degree of stability of the stopped state of the part immediately after the completion of feeding is estimated. For this reason, even if the tape feeder's pitch feed speed is too fast and the stop state of the part immediately after the completion of pitch feed becomes unstable, production is started because it is not known in advance. Production must be continued until it is possible to determine the variation in the amount of deviation, and during that time, the frequency of occurrence of component adsorption failure increases, which not only decreases the production efficiency but also decreases the component mounting accuracy. Also become.

　上記課題を解決するために、所定ピッチで形成された部品収容凹部内に部品を収容して包装した部品供給テープを、テープフィーダにより該部品供給テープの上面からカバーテープを剥離しながら前記所定ピッチずつテープ送りするピッチ送り動作を行い、そのピッチ送り完了毎に所定の部品吸着位置で停止した該部品収容凹部内の部品を吸着ノズルで吸着して回路基板に実装する部品実装機において、前記ピッチ送りにより前記部品吸着位置に到達した前記部品収容凹部内の部品を上方から複数回撮像するカメラと、前記カメラで複数回撮像した複数の画像を処理してその画像毎に前記部品収容凹部内の部品の位置を認識する画像処理部と、前記画像処理部による前記複数の画像の処理結果に基づいて前記ピッチ送り完了直後の前記部品収容凹部内の部品の安定状態を判断する「部品停止安定性判断」を行う判断部とを備えた構成としたものである。 In order to solve the above-mentioned problem, a component supply tape in which components are accommodated and packaged in a component receiving recess formed at a predetermined pitch is removed from the upper surface of the component supply tape by a tape feeder while the cover tape is peeled off from the upper surface of the component supply tape In a component mounting machine that performs a pitch feeding operation for feeding tapes one by one and mounts the components in the component receiving recesses stopped at a predetermined component suction position with a suction nozzle each time pitch feed is completed, and mounts them on a circuit board. A camera that picks up the components in the component receiving recess that has reached the component suction position by feeding a plurality of times from above, and processes a plurality of images that are picked up multiple times by the camera, and for each image in the component receiving recess. An image processing unit for recognizing the position of the component, and the component immediately after completion of the pitch feed based on the processing results of the plurality of images by the image processing unit It is obtained by a configuration including a determination unit for performing "Parts Stop stability determination" to determine the stable state of the components Contents recess.

　この構成では、部品実装機の稼働開始前（生産開始前）に、テープフィーダをピッチ送り動作させてピッチ送り完了直後の部品収容凹部内の部品の安定状態を判断することができるため、ピッチ送り完了直後の部品の停止状態が不安定になるような場合には、部品実装機の稼働開始前に部品停止安定性判断の判断結果に基づいて適宜の対策を施してから部品実装機を稼働させることができる。 In this configuration, the pitch feeder can be operated to feed the pitch before the component mounter is started (before production is started), so that the stable state of the components in the component receiving recess immediately after the completion of pitch feeding can be determined. If the stop state of the component immediately after completion becomes unstable, take appropriate measures based on the judgment result of the component stop stability judgment before starting the operation of the component mounter, and then operate the component mounter be able to.

　この場合、前記部品停止安定性判断の判断結果を表示する表示部と、作業者が前記表示部に表示された前記部品停止安定性判断の判断結果を参照してテープフィーダのピッチ送り速度、ピッチ送りタイミング、前記吸着ノズルの部品吸着タイミングの少なくとも１つを変更する操作部とを備えた構成としても良い。このようにすれば、作業者が表示部に表示された部品停止安定性判断の判断結果を参照して、ピッチ送り完了直後の部品の停止状態が不安定な場合には、テープフィーダのピッチ送り速度を手動操作で遅くしたり、或は、吸着ノズルの部品吸着タイミングを遅らせてピッチ送り完了後に部品の停止状態が安定してから吸着ノズルで部品を吸着するようにしたり、或は、テープフィーダのピッチ送りタイミングを早めることでも、吸着ノズルの部品吸着タイミングを遅らせるのと同様の効果を得ることができる。 In this case, the display unit that displays the determination result of the component stop stability determination, and the pitch feed speed and pitch of the tape feeder with reference to the determination result of the component stop stability determination displayed by the operator on the display unit It is good also as a structure provided with the operation part which changes at least 1 of a feed timing and the component suction timing of the said suction nozzle. In this way, when the stop state of the component immediately after the completion of the pitch feed is unstable with reference to the judgment result of the component stop stability judgment displayed on the display unit by the operator, the pitch feed of the tape feeder is performed. Decrease the speed by manual operation, or delay the component suction timing of the suction nozzle to suck the component with the suction nozzle after the component stop state is stabilized after the pitch feed is completed, or the tape feeder The effect similar to delaying the component suction timing of the suction nozzle can be obtained by advancing the pitch feed timing.

　或は、前記部品停止安定性判断の判断結果に基づいてテープフィーダのピッチ送り速度、ピッチ送りタイミング、吸着ノズルの部品吸着タイミングの少なくとも１つを自動的に変更する制御部を備えた構成としても良い。このようにすれば、部品停止安定性判断の判断結果をテープフィーダのピッチ送り動作の制御や部品実装機の部品吸着動作の制御に自動的に反映させることができる。 Alternatively, a configuration may be provided that includes a controller that automatically changes at least one of the pitch feed speed of the tape feeder, the pitch feed timing, and the component suction timing of the suction nozzle based on the determination result of the component stop stability determination. good. In this way, the determination result of the component stop stability determination can be automatically reflected in the control of the pitch feeding operation of the tape feeder and the control of the component suction operation of the component mounting machine.

　ここで、部品停止安定性判断を行う時期は、部品実装機の稼働開始前（生産開始前）のみに限定されず、部品実装機の稼働中（生産中）にテープフィーダを交換する場合があるため、テープフィーダの交換後にも部品停止安定性判断を行うようにしても良い。テープフィーダを交換すると、ピッチ送り完了直後の部品の停止状態が不安定になる場合があるためである。 Here, the timing for determining the component stop stability is not limited to before the start of operation of the component mounter (before the start of production), and the tape feeder may be replaced while the component mounter is in operation (during production). Therefore, the component stop stability determination may be performed even after replacement of the tape feeder. This is because if the tape feeder is replaced, the stop state of the parts immediately after the completion of pitch feeding may become unstable.

　また、部品実装機の稼働中に吸着ノズルの部品吸着不良（部品吸着ミス、過大な部品吸着位置ずれ、部品吸着姿勢の異常等）の発生を監視する監視部を備え、前記監視部は、前記吸着ノズルの部品吸着不良の発生頻度又は連続発生回数が所定値以上になったときに、前記テープフィーダをピッチ送り動作させて、前記カメラ、前記画像処理部及び前記判断部を作動させて前記部品停止安定性判断を行うようにしても良い。このようにすれば、部品吸着不良の発生原因がピッチ送り完了直後の部品の停止状態が不安定なことによるものかどうかを判断することができ、その結果、ピッチ送り完了直後の部品の停止状態が不安定なことが部品吸着不良の発生原因と判明すれば、テープフィーダのピッチ送り速度を遅くしたり、ピッチ送りタイミングを早めたり、或は、吸着ノズルの部品吸着タイミングを遅らせたりするようにすれば良い。 And a monitoring unit that monitors the occurrence of a component suction failure of the suction nozzle (component suction error, excessive component suction position deviation, component suction posture abnormality, etc.) during operation of the component mounting machine, When the occurrence frequency or the number of consecutive occurrences of the component suction failure of the suction nozzle exceeds a predetermined value, the tape feeder is pitch-fed and the camera, the image processing unit, and the determination unit are operated to operate the component. You may make it perform stop stability judgment. In this way, it is possible to determine whether the cause of the component suction failure is due to the unstable stop state of the component immediately after the pitch feed is completed, and as a result, the stop state of the component immediately after the pitch feed is completed. If instability is found to be the cause of component adsorption failure, the pitch feed speed of the tape feeder is slowed, the pitch feed timing is advanced, or the component suction timing of the suction nozzle is delayed. Just do it.

　また、カメラの撮像タイミングは、ピッチ送り完了直後に部品収容凹部内の部品が慣性によりテープ送り方向に最も大きく動くタイミングを想定して決められたタイミングで１回目の撮像を行い、この１回目の撮像タイミングから所定時間経過後に２回目の撮像を行うように設定され、前記判断部は、前記１回目に撮像した画像から認識した部品の位置と前記２回目に撮像した画像から認識した部品の位置との差に基づいて前記ピッチ送り完了直後の前記部品収容凹部内の部品の安定状態を判断するようにしても良い。この際、１回目の撮像と２回目の撮像との間で部品の位置の差が大きければ、部品収容凹部内での部品の跳ね返り量が大きいことを意味するため、例えば、該部品の位置の差が所定の判定しきい値以上であれば、ピッチ送り完了直後の部品の停止状態が不安定と判断するようにすれば良い。 Also, the first imaging is performed at a timing determined by assuming that the component in the component accommodating recess moves most in the tape feeding direction due to inertia immediately after the pitch feeding is completed. It is set so that the second imaging is performed after a predetermined time has elapsed from the imaging timing, and the determination unit recognizes the position of the component recognized from the image captured at the first time and the position of the component recognized from the image captured at the second time. Based on the difference, the stable state of the component in the component receiving recess immediately after the pitch feeding is completed may be determined. At this time, if the difference in the position of the component between the first imaging and the second imaging is large, it means that the amount of rebound of the component in the component accommodating recess is large. If the difference is equal to or greater than a predetermined determination threshold value, it may be determined that the stopped state of the part immediately after the completion of pitch feeding is unstable.

　或は、カメラの撮像タイミングは、ピッチ送り完了と同時に１回目の撮像を行い、以後、一定時間間隔で２回目以降の撮像を周期的に行うように設定され、前記判断部は、撮像毎の部品の位置の変化量に基づいて前記ピッチ送り完了直後の前記部品収容凹部内の部品の安定状態を判断するようにしても良い。この際、撮像毎の部品の位置の変化量に基づいてピッチ送り完了から部品収容凹部内の部品が安定停止するまでの時間を判断して、部品収容凹部内の部品が安定停止してから吸着ノズルで部品を吸着するように、吸着ノズルの部品吸着タイミング又はテープフィーダのピッチ送りタイミングを補正するようにしても良い。 Alternatively, the imaging timing of the camera is set so that the first imaging is performed at the same time as the pitch feed is completed, and then the second and subsequent imaging is periodically performed at regular time intervals. Based on the amount of change in the position of the component, the stable state of the component in the component-accommodating recess immediately after completion of the pitch feed may be determined. At this time, the time from the completion of pitch feed to the stable stop of the component in the component receiving recess is determined based on the amount of change in the position of the component for each imaging, and the suction is performed after the component in the component receiving recess is stably stopped. The component suction timing of the suction nozzle or the pitch feed timing of the tape feeder may be corrected so that the component is sucked by the nozzle.

　また、前記判断部は、前記ピッチ送り完了後に前記部品収容凹部内の部品が安定停止する位置を判断し、前記判断部が判断した前記部品収容凹部内の部品が安定停止する位置に基づいて前記吸着ノズルで該部品を吸着する位置を補正するようにしても良い。 The determination unit determines a position where the component in the component receiving recess is stably stopped after the pitch feed is completed, and the determination unit determines the position where the component in the component receiving recess is stably stopped. The position where the component is sucked by the suction nozzle may be corrected.

　尚、前記判断部による部品停止安定性判断は、１回のみであっても良いが、判断精度を向上させるために、テープフィーダを複数回ピッチ送り動作させて部品停止安定性判断を複数回行い、複数回の判断結果の平均値又は中央値を最終的な判断結果とするようにしても良い。 The part stop stability judgment by the judgment unit may be performed only once. However, in order to improve the judgment accuracy, the part feeder stability judgment is performed a plurality of times by operating the tape feeder multiple times. The average value or median value of a plurality of determination results may be used as the final determination result.

　また、部品収容凹部内の部品を上方から撮像するカメラは、それ専用のカメラを設置しても良いが、部品実装機に標準装備されているマーク撮像用カメラを使用して部品収容凹部内の部品を撮像するようにすれば、部品実装機のコストアップも抑えることができる。 In addition, the camera for imaging the components in the component accommodating recess from above may be installed with a dedicated camera. However, the mark imaging camera provided as standard on the component mounter can be used to If the components are imaged, the cost of the component mounter can be suppressed.

図１は実施例１の部品実装機の構成を説明する側面図である。FIG. 1 is a side view illustrating the configuration of the component mounter according to the first embodiment. 図２は部品実装機の制御系の構成を示すブロック図である。FIG. 2 is a block diagram showing the configuration of the control system of the component mounter. 図３は部品供給テープの部品収容凹部内に収容された部品のピッチ送り完了直前の状態を示す拡大平面図である。FIG. 3 is an enlarged plan view showing a state immediately before completion of pitch feeding of the components accommodated in the component accommodating recess of the component supply tape. 図４は部品供給テープの部品収容凹部内に収容された部品のピッチ送り完了直後の状態を示す拡大平面図である。FIG. 4 is an enlarged plan view showing a state immediately after the completion of pitch feeding of the components accommodated in the component accommodating recesses of the component supply tape. 図５は部品供給テープの部品収容凹部内に収容された部品のピッチ送り完了から所定時間経過後の状態を示す拡大平面図である。FIG. 5 is an enlarged plan view showing a state after a predetermined time has elapsed from the completion of pitch feeding of the components accommodated in the component accommodating recess of the component supply tape. 図６は部品供給テープの部分拡大側面図である。FIG. 6 is a partially enlarged side view of the component supply tape. 図７は実施例１の部品停止安定性判断プログラムの処理の流れを示すフローチャートである。FIG. 7 is a flowchart illustrating the flow of processing of the component stop stability determination program according to the first embodiment. 図８は実施例２の部品停止安定性判断プログラムの処理の流れを示すフローチャートである。FIG. 8 is a flowchart showing the flow of processing of the component stop stability determination program of the second embodiment. 図９は実施例３の部品停止安定性判断プログラムの処理の流れを示すフローチャートである。FIG. 9 is a flowchart showing the flow of processing of the component stop stability determination program of the third embodiment.

　以下、３つの実施例１～３を説明する。 Hereinafter, three examples 1 to 3 will be described.

　実施例１を図１乃至図７に基づいて説明する。
　まず、図１に基づいて部品実装機の構成を説明する。 A first embodiment will be described with reference to FIGS.
First, the configuration of the component mounting machine will be described with reference to FIG.

　部品実装機のベース台１１上には、回路基板１２を搬送するコンベア１３が設けられている（以下、このコンベア１３による回路基板１２の搬送方向をＸ方向とし、その直角方向をＹ方向とする）。このコンベア１３を構成する２本のコンベアレール１３ａ，１３ｂとコンベアベルト１４ａ，１４ｂを支持する支持部材１５ａ，１５ｂのうち、片方の支持部材１５ａを、一定位置に固定し、その反対側の支持部材１５ｂのＹ方向位置を送りねじ機構（図示せず）等によってガイドレール１６に沿って調整することで、コンベア１３の幅（コンベアレール１３ａ，１３ｂの間隔）を回路基板１２の幅に合わせて調整できるようになっている。 A conveyor 13 for conveying the circuit board 12 is provided on the base table 11 of the component mounting machine (hereinafter, the conveyance direction of the circuit board 12 by the conveyor 13 is defined as the X direction, and the perpendicular direction thereof is defined as the Y direction. ). Of the

support members

15a and 15b that support the two

conveyor rails

13a and 13b and the

conveyor belts

14a and 14b constituting the conveyor 13, one support member 15a is fixed at a fixed position, and the opposite support member The width of the conveyor 13 (the interval between the conveyor rails 13a and 13b) is adjusted to the width of the circuit board 12 by adjusting the position in the Y direction of 15b along the guide rail 16 by a feed screw mechanism (not shown) or the like. It can be done.

　また、ベース台１１上のコンベア１３の側方には、フィーダセット台２２が設けられ、このフィーダセット台２２に複数のテープフィーダ２３がＹ方向に着脱可能にセットされている。各テープフィーダ２３には、部品供給テープ２４（図３乃至図６参照）が巻回されたリール２５がセットされ、該リール２５から引き出された部品供給テープ２４の先頭の部品２６が部品吸着位置（吸着ノズル２７で部品２６を吸着する位置）に位置するようにセットされる。尚、部品供給テープ２４は、図３乃至図６に示すように、部品供給テープ２４のベーステープであるキャリアテープ２８に所定ピッチで形成された部品収容凹部２９内に部品２６を収容して該キャリアテープ２８の上面にカバーテープ３０を剥離可能に貼着して構成したものである。 Also, a feeder set base 22 is provided on the side of the conveyor 13 on the base base 11, and a plurality of tape feeders 23 are set on the feeder set base 22 so as to be detachable in the Y direction. Each tape feeder 23 is set with a reel 25 around which a component supply tape 24 (see FIGS. 3 to 6) is wound, and a leading component 26 of the component supply tape 24 drawn out from the reel 25 is positioned at a component suction position. It is set so as to be located (position where the component 26 is sucked by the suction nozzle 27). As shown in FIGS. 3 to 6, the component supply tape 24 accommodates the component 26 in a component receiving recess 29 formed at a predetermined pitch on a carrier tape 28 which is a base tape of the component supply tape 24. The cover tape 30 is detachably attached to the upper surface of the carrier tape 28.

　テープフィーダ２３は、部品供給テープ２４の片方の側縁に沿って一定ピッチで形成された送り穴３１（図３乃至図５参照）にスプロケット（図示せず）の歯を噛み合わせて該スプロケットを回転させることで、該部品供給テープ２４を部品吸着位置の方向（Ｙ方向）へ送り、該部品吸着位置の手前で該部品供給テープ２４の上面からカバーテープ３０を剥離しながら部品２６の配列ピッチ（部品収容凹部２９の配列ピッチ）ずつテープ送りするピッチ送り動作を行い、そのピッチ送り完了毎に該部品吸着位置で停止した部品収容凹部２９内の部品２６を吸着ノズル２７で吸着して回路基板１２に実装する。このテープフィーダ２３には、ピッチ送り速度を複数段階又は無段階（連続的）に変更する操作部（図示せず）が設けられ、作業者がこの操作部を操作することで、ピッチ送り速度を複数段階又は無段階に変更できるように構成されている。 The tape feeder 23 meshes the teeth of a sprocket (not shown) with a feed hole 31 (see FIGS. 3 to 5) formed at a constant pitch along one side edge of the component supply tape 24, and the sprocket By rotating, the component supply tape 24 is fed in the direction of the component suction position (Y direction), and the arrangement pitch of the components 26 is peeled off from the upper surface of the component supply tape 24 before the component suction position. A pitch feed operation is performed in which the tape is fed in units (arrangement pitch of the component receiving recesses 29), and the component 26 in the component receiving recess 29 stopped at the component suction position is sucked by the suction nozzle 27 every time the pitch feed is completed. 12 is implemented. The tape feeder 23 is provided with an operation section (not shown) for changing the pitch feed speed to a plurality of stages or continuously (continuously), and the operator operates the operation section to change the pitch feed speed. It is configured so that it can be changed in a plurality of stages or continuously.

　この部品実装機には、実装ヘッド３２を部品吸着位置→部品撮像位置→部品実装位置の経路で移動させるヘッド移動装置３３（図２参照）が設けられている。実装ヘッド３２には、テープフィーダ２３により部品吸着位置に送られた部品２６を吸着する１本又は複数本の吸着ノズル２７が下向きに保持され、部品吸着動作時及び部品実装動作時に該吸着ノズル２７が下降／上昇するようになっている。 This component mounting machine is provided with a head moving device 33 (see FIG. 2) that moves the mounting head 32 along a path of a component suction position → component imaging position → component mounting position. The mounting head 32 holds one or a plurality of suction nozzles 27 for sucking the component 26 sent to the component suction position by the tape feeder 23. The suction nozzle 27 is used during the component suction operation and the component mounting operation. Is going down / up.

　また、ヘッド移動装置３３には、実装ヘッド３２と一体的に移動して回路基板１２の基準マーク等をその上方から撮像するマーク撮像用のカメラ３４が下向きに取り付けられている。部品実装機の所定位置には、吸着ノズル２７に吸着した部品２６をその下方から撮像する部品撮像用のカメラ３５が上向きに設置されている。 Also, the head moving device 33 is attached with a mark imaging camera 34 that moves integrally with the mounting head 32 and images a reference mark or the like of the circuit board 12 from above. At a predetermined position of the component mounting machine, a component imaging camera 35 that images the component 26 sucked by the suction nozzle 27 from below is installed upward.

　図２に示すように、部品実装機の制御装置４１（制御部）には、キーボード、マウス、タッチパネル等の入力装置４２（操作部）と、後述する図７の部品停止安定性判断プログラムや画像処理用部品形状データ等を記憶するハードディスク、ＲＡＭ、ＲＯＭ等の記憶装置４３と、液晶ディスプレイ、ＣＲＴ等の表示装置４４（表示部）が接続されている。 As shown in FIG. 2, the control device 41 (control unit) of the component mounter includes an input device 42 (operation unit) such as a keyboard, a mouse, and a touch panel, and a component stop stability determination program and image shown in FIG. A storage device 43 such as a hard disk, RAM, or ROM that stores processing component shape data, and a display device 44 (display unit) such as a liquid crystal display or a CRT are connected.

　この部品実装機の制御装置４１は、コンピュータを主体として構成され、部品実装機の各機能の動作を制御する制御部として機能すると共に、マーク撮像用のカメラ３４と部品撮像用のカメラ３５で撮像した画像を処理する画像処理部としても機能する。 The component mounter control device 41 is configured mainly by a computer, functions as a control unit that controls the operation of each function of the component mounter, and is imaged by the mark imaging camera 34 and the component imaging camera 35. It also functions as an image processing unit that processes the processed image.

　部品実装機の制御装置４１は、コンベア１３により所定位置に搬入されてクランプされた回路基板１２の基準マークをその上方からマーク撮像用のカメラ３４で撮像して該基準マークを画像認識し、該基準マークの位置を基準にして回路基板１２の各部品実装位置を計測すると共に、実装ヘッド３２を部品吸着位置→部品撮像位置→部品実装位置の経路で移動させて、テープフィーダ２３から供給される部品２６を実装ヘッド３２の吸着ノズル２７で吸着して該部品２６を部品撮像用のカメラ３５で撮像して、その撮像画像を処理して当該部品２６の位置を認識して吸着位置ずれ量を計測し、該吸着位置ずれ量を補正して該部品２６を回路基板１２に実装する。 The control device 41 of the component mounting machine picks up the reference mark of the circuit board 12 which is carried and clamped by the conveyor 13 and clamped from above with the camera 34 for picking up the mark, recognizes the reference mark, and recognizes the reference mark. Each component mounting position of the circuit board 12 is measured with reference to the position of the reference mark, and the mounting head 32 is moved from the component suction position → the component imaging position → the component mounting position to be supplied from the tape feeder 23. The component 26 is picked up by the pick-up nozzle 27 of the mounting head 32, the component 26 is picked up by a camera 35 for picking up the component, the picked-up image is processed, the position of the component 26 is recognized, and the amount of pick-up position deviation is determined The component 26 is mounted on the circuit board 12 by measuring and correcting the suction position deviation amount.

　部品実装速度を高速化して生産性を向上させるには、テープフィーダ２３のピッチ送り速度を高速化して、部品供給テープ２４の部品２６を部品吸着位置へピッチ送りする時間間隔を短くするとともに、吸着ノズル２７で部品２６を吸着する時間間隔を短くして単位時間当たりの部品吸着回数を増加させる必要がある。しかし、テープフィーダ２３のピッチ送り速度を高速化するほど、ピッチ送り完了時に部品吸着位置で停止させる部品２６に作用する慣性力が大きくなるため、ピッチ送り完了直後に部品収容凹部２９内の部品２６が図３の状態から慣性により該部品収容凹部２９内の隙間分だけテープ送り方向に動いて図４に示すように該部品収容凹部２９の側壁に衝突して図５に示すように跳ね返されるという現象が発生する。これにより、ピッチ送り完了直後の部品収容凹部２９内での部品２６の停止状態が不安定となるため、部品吸着ミス（吸着失敗）、過大な部品吸着位置ずれ、部品吸着姿勢の異常（斜め吸着や立ち吸着等）といった部品吸着不良が発生しやすくなる。 In order to improve the productivity by increasing the component mounting speed, the pitch feeding speed of the tape feeder 23 is increased, the time interval for pitch-feeding the component 26 of the component supply tape 24 to the component suction position is shortened, and the suction is performed. It is necessary to increase the number of component suction per unit time by shortening the time interval for sucking the component 26 by the nozzle 27. However, as the pitch feeding speed of the tape feeder 23 is increased, the inertial force acting on the component 26 that stops at the component suction position when the pitch feeding is completed increases. Therefore, the component 26 in the component housing recess 29 immediately after the pitch feeding is completed. 3 moves from the state of FIG. 3 in the tape feeding direction by inertia due to inertia, collides with the side wall of the component receiving recess 29 as shown in FIG. 4, and bounces back as shown in FIG. The phenomenon occurs. As a result, the stopped state of the component 26 in the component receiving recess 29 immediately after the completion of pitch feeding becomes unstable, so a component suction error (suction failure), an excessive component suction position shift, an abnormal component suction posture (oblique suction) And component adsorption failure such as standing adsorption).

　この対策として、本実施例１では、部品実装機の制御装置４１は、後述する図７の部品停止安定性判断プログラムを実行することで、部品実装機の稼働開始前（生産開始前）にテープフィーダ２３をピッチ送り動作させて部品吸着位置に到達した部品収容凹部２９内の部品２６を上方からマーク撮像用のカメラ３４で２回撮像し、２つの画像を処理してその画像毎に部品収容凹部２９内の部品２６の位置を認識する画像処理部として機能すると共に、２つの画像の処理結果に基づいてピッチ送り完了直後の部品収容凹部２９内の部品２６の安定状態を判断する「部品停止安定性判断」を行う判断部としても機能する。 As a countermeasure, in the first embodiment, the control device 41 of the component mounter executes a component stop stability determination program shown in FIG. 7 to be described later, so that the tape is recorded before the operation of the component mounter starts (before the start of production). The component 26 in the component receiving recess 29 that has reached the component suction position by the pitch feed operation of the feeder 23 is imaged twice by the mark imaging camera 34 from above, the two images are processed, and the component is stored for each image. “Part stop” that functions as an image processing unit for recognizing the position of the component 26 in the recess 29 and determines the stable state of the component 26 in the component receiving recess 29 immediately after the pitch feed is completed based on the processing results of the two images. It also functions as a determination unit that performs “stability determination”.

　この場合、カメラ３４の撮像タイミングは、ピッチ送り完了直後に部品収容凹部２９内の部品２６が慣性によりテープ送り方向に最も大きく動くタイミング（図４の状態になるタイミング）を想定して決められたタイミングで１回目の撮像を行い、この１回目の撮像タイミングから所定時間経過後に２回目の撮像を行うように設定され、前記１回目に撮像した画像から認識した部品２６の位置と前記２回目に撮像した画像から認識した部品２６の位置との差に基づいてピッチ送り完了直後の部品収容凹部２９内の部品２６の安定状態を判断するようにしている。この際、１回目の撮像と２回目の撮像との間で部品の位置の差が所定の判定しきい値以上に大きければ、部品収容凹部２９内での部品２６の跳ね返り量が大きいことを意味するため、ピッチ送り完了直後の部品２６の停止状態が不安定と判断するようにしている。 In this case, the imaging timing of the camera 34 is determined on the assumption that the component 26 in the component receiving recess 29 moves most greatly in the tape feeding direction due to inertia immediately after the pitch feeding is completed (timing to be in the state of FIG. 4). The first imaging is performed at the timing, and the second imaging is performed after a predetermined time has elapsed from the first imaging timing. The position of the component 26 recognized from the first captured image and the second imaging are set. Based on the difference from the position of the component 26 recognized from the captured image, the stable state of the component 26 in the component receiving recess 29 immediately after the completion of pitch feeding is determined. At this time, if the difference in the position of the component between the first imaging and the second imaging is larger than a predetermined determination threshold value, it means that the amount of rebound of the component 26 in the component accommodating recess 29 is large. Therefore, it is determined that the stop state of the component 26 immediately after the completion of pitch feeding is unstable.

　ここで、部品停止安定性判断を行う時期は、部品実装機の稼働開始前のみに限定されず、部品実装機の稼働中（生産中）にテープフィーダ２３を交換する場合があるため、テープフィーダ２３の交換後にも部品停止安定性判断を行うようにしている。テープフィーダ２３を交換すると、ピッチ送り完了直後の部品２６の停止状態が不安定になる場合があるためである。 Here, the timing of determining the component stop stability is not limited to before the operation of the component mounter is started, and the tape feeder 23 may be replaced while the component mounter is in operation (production). Even after the replacement of 23, the component stop stability determination is performed. This is because if the tape feeder 23 is replaced, the stop state of the component 26 immediately after the completion of pitch feeding may become unstable.

　更に、本実施例１では、部品実装機の制御装置４１は、部品実装機の稼働中に吸着ノズル２７の部品吸着不良（部品吸着ミス、過大な部品吸着位置ずれ、部品吸着姿勢の異常等）の発生を監視する監視部としても機能し、吸着ノズル２７の部品吸着不良の発生頻度又は連続発生回数が所定値以上になったときに、テープフィーダ２３をピッチ送り動作させて部品停止安定性判断を行うようにしている。このようにすれば、部品吸着不良の発生原因がピッチ送り完了直後の部品２６の停止状態が不安定なことによるものかどうかを判断することができる。 Further, in the first embodiment, the control device 41 of the component mounting machine causes the component suction failure of the suction nozzle 27 during the operation of the component mounting machine (component suction error, excessive component suction position deviation, component suction posture abnormality, etc.). It also functions as a monitoring unit that monitors the occurrence of the component, and when the occurrence frequency of the component suction failure of the suction nozzle 27 or the number of consecutive occurrences exceeds a predetermined value, the tape feeder 23 is pitch-feeded to determine the component stop stability. Like to do. In this way, it is possible to determine whether the cause of the component adsorption failure is due to the unstable stop state of the component 26 immediately after the completion of pitch feeding.

　部品停止安定性判断の判断結果は、表示装置４４に表示される。作業者は、表示装置４４に表示された部品停止安定性判断の判断結果を参照して、ピッチ送り完了直後の部品２６の停止状態が不安定な場合は、テープフィーダ２３の操作部（図示せず）又は部品実装機の入力装置４２を操作して、テープフィーダ２３のピッチ送り速度、ピッチ送りタイミング、吸着ノズル２７の部品吸着タイミングの少なくとも１つを変更するようにしている。このようにすれば、作業者が表示装置４４に表示された部品停止安定性判断の判断結果を参照して、ピッチ送り完了直後の部品２６の停止状態が不安定な場合は、テープフィーダ２３のピッチ送り速度を手動操作で遅くしたり、或は、吸着ノズル２７の部品吸着タイミングを遅らせてピッチ送り完了後に部品２６の停止状態が安定してから吸着ノズル２７で部品２６を吸着するようにしたり、或は、テープフィーダ２３のピッチ送りタイミングを早めることでも、吸着ノズル２７の部品吸着タイミングを遅らせるのと同様の効果を得ることができる。 The determination result of the component stop stability determination is displayed on the display device 44. The operator refers to the determination result of the component stop stability determination displayed on the display device 44. If the stop state of the component 26 immediately after the completion of pitch feeding is unstable, the operator operates the operation unit (not shown) of the tape feeder 23. Or the input device 42 of the component mounting machine is operated to change at least one of the pitch feed speed of the tape feeder 23, the pitch feed timing, and the component suction timing of the suction nozzle 27. In this way, when the stop state of the component 26 immediately after the completion of pitch feeding is unstable with reference to the determination result of the component stop stability determination displayed on the display device 44 by the operator, the tape feeder 23 The pitch feed speed is manually reduced, or the component suction timing of the suction nozzle 27 is delayed so that the component 26 is sucked by the suction nozzle 27 after the stop state of the component 26 is stabilized after the pitch feed is completed. Alternatively, the same effect as that of delaying the component suction timing of the suction nozzle 27 can be obtained by advancing the pitch feed timing of the tape feeder 23.

　以上説明した本実施例１の部品停止安定性判断は、部品実装機の制御装置４１によって図７の部品停止安定性判断プログラムに従って実行される。本プログラムは、部品実装機の制御装置４１の電源オン中にテープフィーダ２３毎に所定周期で実行される。本プログラムが起動されると、まず、ステップ１０１で、部品停止安定性判断実行タイミングであるか否かを、例えば次の（１）～（３）のいずれかに該当するか否かで判定する。 The component stop stability determination of the first embodiment described above is executed by the control device 41 of the component mounter according to the component stop stability determination program of FIG. This program is executed at predetermined intervals for each tape feeder 23 while the control device 41 of the component mounter is turned on. When this program is started, first, in step 101, it is determined whether or not it is the component stop stability determination execution timing, for example, whether it corresponds to one of the following (1) to (3). .

　（１）生産開始前でまだ部品停止安定性判断を実行していないとき
　（２）生産中に吸着ノズル２７の部品吸着不良の発生頻度又は連続発生回数が所定値以上になったとき
　（３）生産中にテープフィーダ２３が交換されたとき (1) When the component stop stability judgment is not yet executed before the start of production (2) When the frequency of occurrence of component suction failure or the number of consecutive occurrences of the suction nozzle 27 becomes a predetermined value or more during production (3) When the tape feeder 23 is replaced during production

　これら（１）～（３）のいずれにも該当しない場合は、部品停止安定性判断実行タイミングではないと判定され、以降の処理を行うことなく、本プログラムを終了する。 If none of these (1) to (3) applies, it is determined that it is not the timing for executing the component stop stability determination, and the program is terminated without performing the subsequent processing.

　一方、上記（１）～（３）のいずれかに該当する場合は、部品停止安定性判断実行タイミングであると判定され、ステップ１０２に進み、１ピッチ送り動作を行い、次のステップ１０３で、１回目の撮像タイミングになるまで待機する。ここで、１回目の撮像タイミングは、ピッチ送り完了直後に部品収容凹部２９内の部品２６が慣性によりテープ送り方向に最も大きく動くタイミング（図４の状態になるタイミング）を想定して決められている。 On the other hand, if any of the above (1) to (3) is satisfied, it is determined that it is the component stop stability determination execution timing, the process proceeds to step 102, a one-pitch feed operation is performed, and in the next step 103, Wait until the first imaging timing is reached. Here, the first imaging timing is determined on the assumption that the component 26 in the component accommodating recess 29 moves most greatly in the tape feeding direction due to inertia immediately after the pitch feeding is completed (timing to be in the state of FIG. 4). Yes.

　１回目の撮像タイミングになった時点で、ステップ１０４に進み、１回目の撮像を行い、その画像データを取り込んで画像メモリ（図示せず）に一時的に記憶する。この後、ステップ１０５に進み、２回目の撮像タイミングになるまで待機する。ここで、２回目の撮像タイミングは、１回目の撮像タイミングから所定時間経過後のタイミングに設定されている。 When the first imaging timing is reached, the process proceeds to step 104, where the first imaging is performed, the image data is taken in, and temporarily stored in an image memory (not shown). Thereafter, the process proceeds to step 105 and waits until the second imaging timing is reached. Here, the second imaging timing is set to a timing after a predetermined time has elapsed from the first imaging timing.

　２回目の撮像タイミングになった時点で、ステップ１０６に進み、２回目の撮像を行い、その画像データを取り込んで画像メモリ（図示せず）に一時的に記憶する。この後、ステップ１０７に進み、画像メモリに記憶されている２つの画像を処理して各画像の部品２６の位置を認識する。尚、１回目の撮像タイミングから２回目の撮像タイミングまでの待ち時間を利用して１回目の画像を高速で画像処理可能であれば、この待ち時間で１回目の画像を処理するようにしても良い。 When the second imaging timing is reached, the process proceeds to step 106, the second imaging is performed, the image data is taken in, and temporarily stored in an image memory (not shown). Thereafter, the process proceeds to step 107, where the two images stored in the image memory are processed to recognize the position of the component 26 in each image. If the first image can be processed at high speed using the waiting time from the first imaging timing to the second imaging timing, the first image may be processed with this waiting time. good.

　この後、ステップ１０８に進み、２つの画像の部品２６の位置の差が判定しきい値以上であるか否かを判定して、２つの画像の部品２６の位置の差が判定しきい値以上であると判定されれば、ステップ１０９に進み、ピッチ送り完了直後の部品２６の停止状態が不安定と判断する。一方、上記ステップ１０８で、２つの画像の部品２６の位置の差が判定しきい値よりも小さいと判定されれば、ステップ１１０に進み、ピッチ送り完了直後の部品２６の停止状態が安定と判断する。 Thereafter, the process proceeds to step 108, where it is determined whether or not the difference between the positions of the parts 26 in the two images is equal to or greater than the determination threshold value, and the difference between the positions of the parts 26 in the two images is equal to or greater than the determination threshold value. If it is determined, the routine proceeds to step 109, where it is determined that the stopped state of the component 26 immediately after the completion of pitch feeding is unstable. On the other hand, if it is determined in step 108 that the difference between the positions of the parts 26 in the two images is smaller than the determination threshold value, the process proceeds to step 110, where it is determined that the stopped state of the part 26 immediately after the completion of pitch feeding is stable. To do.

　その後、ステップ１１１に進み、上記ステップ１０９又は１１０で得られた判断結果を表示装置４４に表示して、本プログラムを終了する。作業者は、表示装置４４に表示された部品停止安定性判断の判断結果を参照して、ピッチ送り完了直後の部品２６の停止状態が不安定な場合は、テープフィーダ２３の操作部（図示せず）又は部品実装機の入力装置４２を操作して、テープフィーダ２３のピッチ送り速度、ピッチ送りタイミング、吸着ノズル２７の部品吸着タイミングの少なくとも１つを変更するようにすれば良い。 Thereafter, the process proceeds to step 111, the determination result obtained in

step

109 or 110 is displayed on the display device 44, and the program is terminated. The operator refers to the determination result of the component stop stability determination displayed on the display device 44. If the stop state of the component 26 immediately after the completion of pitch feeding is unstable, the operator operates the operation unit (not shown) of the tape feeder 23. Or the input device 42 of the component mounting machine may be operated to change at least one of the pitch feed speed of the tape feeder 23, the pitch feed timing, and the component suction timing of the suction nozzle 27.

　尚、図７の部品停止安定性判断プログラムでは、部品停止安定性判断を行う回数は１回のみであったが、判断精度を向上させるために、テープフィーダ２３を複数回ピッチ送り動作させて部品停止安定性判断を複数回行い、複数回の判断結果の平均値又は中央値を最終的な判断結果とするようにしても良い。 In the component stop stability determination program shown in FIG. 7, the component stop stability determination is performed only once. However, in order to improve the determination accuracy, the tape feeder 23 is pitch-operated a plurality of times to perform the component stop stability determination. The stop stability determination may be performed a plurality of times, and an average value or a median value of the determination results of the plurality of times may be used as a final determination result.

　以上説明した本実施例１では、生産開始前に、テープフィーダ２３をピッチ送り動作させてピッチ送り完了直後の部品収容凹部２９内の部品２６の安定状態を判断することができるため、ピッチ送り完了直後の部品２６の停止状態が不安定になるような場合には、生産開始前に部品停止安定性判断の判断結果に基づいてテープフィーダ２３のピッチ送り速度を遅くする等、適宜の対策を施してから生産を開始することができる。これにより、ピッチ送り完了直後の部品２６の停止状態が不安定なことが原因で部品吸着不良の発生頻度が高くなることを防止できて、生産能率の低下や部品実装精度の低下を防止できる。 In the first embodiment described above, since the tape feeder 23 is pitch-fed before the start of production, the stable state of the component 26 in the component-receiving recess 29 immediately after the completion of pitch feeding can be determined. When the stop state of the component 26 immediately after it becomes unstable, appropriate measures are taken such as slowing the pitch feed speed of the tape feeder 23 based on the determination result of the component stop stability determination before the start of production. Production can be started after that. As a result, it is possible to prevent the occurrence frequency of component adsorption failure from being increased due to the unstable stop state of the component 26 immediately after the completion of pitch feeding, and to prevent a decrease in production efficiency and a decrease in component mounting accuracy.

　更に、本実施例１では、テープフィーダ２３の交換後にも、テープフィーダ２３をピッチ送り動作させて部品停止安定性判断を行うようにしたので、テープフィーダ２３の交換によりピッチ送り完了直後の部品２６の停止状態が不安定になる場合にも、部品停止安定性判断の判断結果に基づいてテープフィーダ２３のピッチ送り速度を遅くする等、適宜の対策を施すことができる。 Furthermore, in the first embodiment, even after the tape feeder 23 is replaced, the tape feeder 23 is pitch-fed to determine the component stop stability. Therefore, the component 26 immediately after the completion of pitch feeding by replacing the tape feeder 23 is used. Even when the stop state becomes unstable, it is possible to take appropriate measures such as slowing the pitch feed speed of the tape feeder 23 based on the determination result of the component stop stability determination.

　また、吸着ノズル２７の部品吸着不良の発生頻度又は連続発生回数が所定値以上になったときに、テープフィーダ２３をピッチ送り動作させて部品停止安定性判断を行うようにしたので、部品吸着不良の発生原因がピッチ送り完了直後の部品２６の停止状態が不安定なことによるものかどうかを判断することができ、部品吸着不良の発生原因の究明が容易になる。また、ピッチ送り完了直後の部品２６の停止状態が不安定なことが部品吸着不良の発生原因と判明すれば、テープフィーダ２３のピッチ送り速度を遅くする等、適宜の対策を施すことができる。 In addition, when the occurrence frequency or the number of consecutive occurrences of the component suction failure of the suction nozzle 27 exceeds a predetermined value, the tape feeder 23 is pitch-fed and the component stop stability determination is performed. It is possible to determine whether or not the cause of the occurrence is that the stop state of the component 26 immediately after the completion of pitch feeding is unstable, and it becomes easy to investigate the cause of the component adsorption failure. Further, if it is determined that the stop state of the component 26 immediately after the completion of pitch feeding is unstable, it is possible to take appropriate measures such as reducing the pitch feeding speed of the tape feeder 23.

　尚、本実施例１では、部品実装機に標準装備されているマーク撮像用のカメラ３４を使用して部品収容凹部２９内の部品２６を撮像するようにしたので、部品実装機のコストアップを抑えることができる利点があるが、マーク撮像用のカメラ３４とは別に、部品収容凹部２９内の部品２６を上方から撮像する専用のカメラを設置するようにしても良い。 In the first embodiment, since the component 26 in the component receiving recess 29 is imaged using the mark imaging camera 34 that is standardly provided in the component mounter, the cost of the component mounter is increased. Although there is an advantage that it can be suppressed, a dedicated camera for imaging the component 26 in the component accommodating recess 29 from above may be installed separately from the mark imaging camera 34.

　次に、図８を用いて実施例２を説明する。但し、前記実施例１と実質的に同一部分については、説明を省略又は簡略化して、主として異なる部分について説明する。 Next, Example 2 will be described with reference to FIG. However, description of the substantially same parts as those of the first embodiment will be omitted or simplified, and different parts will be mainly described.

　前記実施例１では、部品停止安定性判断の判断結果に基づいてピッチ送り完了直後の部品２６の停止状態が不安定なことが判明した場合に、作業者がテープフィーダ２３のピッチ送り速度を遅くする等、適宜の対策を施すようにしたが、本実施例２では、部品実装機の制御装置４１は、テープフィーダ２３毎に図８の部品停止安定性判断プログラムを実行して、部品停止安定性判断の判断結果に基づいてピッチ送り完了直後の部品２６の停止状態が不安定と判断した場合に、制御装置４１からテープフィーダ２３の制御部へピッチ送り速度低下指示信号を出力してテープフィーダ２３のピッチ送り速度を自動的に所定量遅くした後、再度、テープフィーダ２３をピッチ送り動作させて部品停止安定性判断を行って、ピッチ送り完了直後の部品２６の安定状態を確認するようにしている。 In the first embodiment, when it is determined that the stop state of the component 26 immediately after the completion of pitch feed is unstable based on the determination result of the component stop stability determination, the operator decreases the pitch feed speed of the tape feeder 23. In the second embodiment, the control device 41 of the component mounting machine executes the component stop stability determination program of FIG. 8 for each tape feeder 23 to stabilize the component stop. When it is determined that the stop state of the component 26 immediately after the completion of pitch feeding is unstable based on the determination result of the sex judgment, a pitch feed speed reduction instruction signal is output from the control device 41 to the control unit of the tape feeder 23 to output the tape feeder. After the pitch feed speed of 23 is automatically decreased by a predetermined amount, the tape feeder 23 is again pitch-fed to determine the component stop stability, and the part immediately after the pitch feed is completed. So that to make sure the 26 stable state of.

　本実施例２で実行する図８の部品停止安定性判断プログラムは、ステップ１０１～１１０の処理が前記実施例１で説明した図７の部品停止安定性判断プログラムのステップ１０１～１１０の処理と同じであり、部品停止安定性判断を行った後の処理が異なるだけである。 In the component stop stability determination program of FIG. 8 executed in the second embodiment, the processing of steps 101 to 110 is the same as the processing of steps 101 to 110 of the component stop stability determination program of FIG. 7 described in the first embodiment. However, the processing after the determination of the component stop stability is different.

　すなわち、図８の部品停止安定性判断プログラムのステップ１０１～１１０で、テープフィーダ２３をピッチ送り動作させて部品停止安定性判断を行った結果、ピッチ送り完了直後の部品２６の停止状態が安定と判断した場合には、そのまま本プログラムを終了するが、ピッチ送り完了直後の部品２６の停止状態が不安定と判断した場合には、ステップ１１２に進み、制御装置４１からテープフィーダ２３の制御部へピッチ送り速度低下指示信号を出力してテープフィーダ２３のピッチ送り速度を自動的に所定量遅くする。そして、ステップ１１３に進み、１ピッチ戻し動作を行った後、再度、ステップ１０２～１０８の処理を実行して、再度、テープフィーダ２３をピッチ送り動作させて部品停止安定性判断を行って、ピッチ送り完了直後の部品２６の停止状態が安定と判断した場合には、そのまま本プログラムを終了するが、再度、ピッチ送り完了直後の部品２６の停止状態が不安定と判断した場合には、再度、ステップ１１２に進み、制御装置４１からテープフィーダ２３の制御部へピッチ送り速度低下指示信号を出力してテープフィーダ２３のピッチ送り速度を自動的に所定量遅くして、次のステップ１１３で、１ピッチ戻し動作を行って、再度、ステップ１０２～１０８の処理を実行する。これにより、ピッチ送り完了直後の部品２６の停止状態が安定していることが確認されるまで、テープフィーダ２３のピッチ送り速度を所定量ずつ遅くする。 That is, in steps 101 to 110 of the component stop stability determination program in FIG. 8, the component feeder stability determination is performed by causing the tape feeder 23 to perform the pitch feed operation. As a result, the stop state of the component 26 immediately after the completion of the pitch feed is stable. If it is determined, the program is terminated as it is, but if it is determined that the stopped state of the component 26 immediately after the completion of pitch feeding is unstable, the process proceeds to step 112 and the control device 41 moves to the control unit of the tape feeder 23. A pitch feed speed lowering instruction signal is output to automatically reduce the pitch feed speed of the tape feeder 23 by a predetermined amount. Then, proceeding to step 113, after performing a one-pitch return operation, the processing of steps 102 to 108 is executed again, and the tape feeder 23 is again pitch-fed to determine the component stop stability. If it is determined that the stop state of the component 26 immediately after the completion of feeding is stable, the program is terminated as it is. However, if it is determined that the stop state of the component 26 immediately after the completion of pitch feeding is unstable, again, Proceeding to step 112, a pitch feed speed reduction instruction signal is output from the control device 41 to the control unit of the tape feeder 23 to automatically reduce the pitch feed speed of the tape feeder 23 by a predetermined amount. A pitch return operation is performed, and the processing of steps 102 to 108 is executed again. As a result, the pitch feed speed of the tape feeder 23 is decreased by a predetermined amount until it is confirmed that the stopped state of the component 26 immediately after the completion of the pitch feed is stable.

　以上説明した本実施例２では、部品停止安定性判断の判断結果に基づいてピッチ送り完了直後の部品２６の停止状態が不安定と判断した場合に、テープフィーダ２３のピッチ送り速度を自動的に遅くするようにしたので、部品停止安定性判断の判断結果をテープフィーダ２３のピッチ送り動作の制御に自動的に反映させることができる。 In the second embodiment described above, when it is determined that the stop state of the component 26 immediately after the completion of pitch feeding is unstable based on the determination result of the component stop stability determination, the pitch feeding speed of the tape feeder 23 is automatically set. Since it is made late, the judgment result of the part stop stability judgment can be automatically reflected in the control of the pitch feeding operation of the tape feeder 23.

　尚、本実施例２では、部品停止安定性判断の判断結果に基づいてピッチ送り完了直後の部品２６の停止状態が不安定と判断した場合に、テープフィーダ２３のピッチ送り速度を自動的に遅くするようにしたが、吸着ノズル２７の部品吸着タイミングを自動的に遅らせてピッチ送り完了後に部品２６の停止状態が安定してから吸着ノズル２７で部品２６を吸着するようにしても良く、また、テープフィーダ２３のピッチ送りタイミングを自動的に早めることでも、吸着ノズル２７の部品吸着タイミングを遅らせるのと同様の効果を得ることができる。 In the second embodiment, when it is determined that the stop state of the component 26 immediately after the completion of pitch feeding is unstable based on the determination result of the component stop stability determination, the pitch feeding speed of the tape feeder 23 is automatically decreased. However, the component suction timing of the suction nozzle 27 may be automatically delayed so that the component 26 is sucked by the suction nozzle 27 after the stop state of the component 26 is stabilized after the pitch feed is completed. Even if the pitch feed timing of the tape feeder 23 is automatically advanced, the same effect as that of delaying the component suction timing of the suction nozzle 27 can be obtained.

　次に、図９を用いて実施例３を説明する。但し、前記実施例１，２と実質的に同一部分については、説明を省略又は簡略化して、主として異なる部分について説明する。 Next, Example 3 will be described with reference to FIG. However, description of parts substantially the same as those of the first and second embodiments will be omitted or simplified, and different parts will be mainly described.

　前記実施例１，２では、部品停止安定性判断を行う際に、ピッチ送り完了後に部品収容凹部２９内の部品２６を２回撮像して取得した２つの画像の部品２６の位置の差に基づいてピッチ送り完了直後の部品収容凹部２９内の部品２６の安定状態を判断するようにしたが、本実施例３では、部品実装機の制御装置４１は、テープフィーダ２３毎に図９の部品停止安定性判断プログラムを実行して、部品停止安定性判断を行う際に、テープフィーダ２３をピッチ送り動作させて、そのピッチ送り完了と同時に１回目の撮像を行い、以後、細かい一定時間間隔で２回目以降の撮像を周期的に行い、撮像毎の部品２６の位置の変化量に基づいてピッチ送り完了直後の部品収容凹部２９内の部品２６の安定状態を判断するようにしている。本実施例３では、ピッチ送り完了直後の部品収容凹部２９内の部品２６の安定状態を判断する指標として、ピッチ送り完了から部品収容凹部２９内の部品２６が安定停止するまでの時間、及び／又は、部品２６が安定停止する位置を判断する。以下、図９の部品停止安定性判断プログラムの処理内容を説明する。 In the first and second embodiments, when the component stop stability determination is made, based on the difference between the positions of the components 26 in the two images acquired by imaging the component 26 in the component accommodating recess 29 twice after the pitch feed is completed. The stable state of the component 26 in the component receiving recess 29 immediately after the pitch feed is completed is determined. However, in the third embodiment, the controller 41 of the component mounting machine stops the component in FIG. 9 for each tape feeder 23. When the stability determination program is executed to determine the component stop stability, the tape feeder 23 is pitch-fed and the first image is taken simultaneously with the completion of the pitch feed. The subsequent imaging is periodically performed, and the stable state of the component 26 in the component accommodating recess 29 immediately after the completion of pitch feeding is determined based on the amount of change in the position of the component 26 for each imaging. In the third embodiment, as an index for determining the stable state of the component 26 in the component receiving recess 29 immediately after the completion of pitch feeding, the time from the completion of pitch feeding until the component 26 in the component receiving recess 29 stably stops, and / or Alternatively, the position where the component 26 is stably stopped is determined. Hereinafter, processing contents of the component stop stability determination program of FIG. 9 will be described.

　図９の部品停止安定性判断プログラムは、部品実装機の制御装置４１の電源オン中にテープフィーダ２３毎に所定周期で実行される。本プログラムが起動されると、まず、ステップ２０１で、部品停止安定性判断実行タイミングであるか否かを、前記実施例１で説明した図７のステップ１０１と同様の方法で判定し、部品停止安定性判断実行タイミングではないと判定された場合は、以降の処理を行うことなく、本プログラムを終了する。 9 is executed at predetermined intervals for each tape feeder 23 while the control device 41 of the component mounter is turned on. When this program is started, first, in step 201, it is determined whether or not it is a component stop stability determination execution timing by the same method as in step 101 of FIG. If it is determined that it is not the stability determination execution timing, this program is terminated without performing the subsequent processing.

　一方、上記ステップ２０１で、部品停止安定性判断実行タイミングであると判定されれば、ステップ２０２に進み、１ピッチ送り動作を行い、次のステップ２０３で、ピッチ送りが完了するまで待機する。そして、ピッチ送りが完了した時点で、ステップ２０４に進み、撮像回数をカウントする撮像回数カウンタＮをインクリメントして（Ｎの初期値は０）、ステップ２０５に進み、１回目の撮像を行い、その画像データを取り込んで画像メモリ（図示せず）に一時的に記憶する。 On the other hand, if it is determined in step 201 that it is the component stop stability determination execution timing, the process proceeds to step 202, where a one-pitch feed operation is performed, and in step 203, the process waits until the pitch feed is completed. Then, when the pitch feed is completed, the process proceeds to step 204 where the imaging number counter N that counts the number of imagings is incremented (the initial value of N is 0), the process proceeds to step 205, and the first imaging is performed. Image data is captured and temporarily stored in an image memory (not shown).

　この後、ステップ２０６に進み、撮像回数カウンタＮの値（撮像回数）が所定値（３以上の値）に達したか否かを判定し、所定値に達していなければ、ステップ２０７に進み、次の撮像タイミングまでの所定時間が経過するまで待機する。ここで、所定時間は、ピッチ送り完了から部品収容凹部２９内の部品２６が安定停止するまでの標準的な時間内に３回以上撮像できる時間に設定されている。そして、所定時間が経過した時点で、再び、ステップ２０４～２０６の処理を実行して、次の撮像を行い、その画像データを取り込んで画像メモリに一時的に記憶するという処理を繰り返す。これにより、撮像回数カウンタＮの値（撮像回数）が所定値に達した時点で、撮像を終了して、ステップ２０６からステップ２０８に進み、画像メモリに記憶されているＮ個（所定値）の画像を処理して各画像の部品２６の位置を認識する。尚、撮像タイミング間の待ち時間を利用して各画像を高速で画像処理可能であれば、この待ち時間で各画像を処理するようにしても良い。 Thereafter, the process proceeds to step 206, where it is determined whether or not the value of the imaging number counter N (number of imagings) has reached a predetermined value (a value of 3 or more). If not, the process proceeds to step 207. Wait until a predetermined time until the next imaging timing elapses. Here, the predetermined time is set to a time during which imaging can be performed three or more times within a standard time from the completion of pitch feeding until the component 26 in the component housing recess 29 stably stops. Then, when the predetermined time has elapsed, the processing of steps 204 to 206 is executed again, the next imaging is performed, the processing of capturing the image data and temporarily storing it in the image memory is repeated. Thereby, when the value of the imaging number counter N (number of imaging times) reaches a predetermined value, the imaging is finished, the process proceeds from step 206 to step 208, and N (predetermined values) stored in the image memory. The image is processed to recognize the position of the component 26 in each image. If each image can be processed at high speed using the waiting time between the imaging timings, each image may be processed with this waiting time.

　この後、ステップ２０９に進み、各画像の部品２６の位置の変化量に基づいて、ピッチ送り完了から部品収容凹部２９内の部品２６が安定停止するまでの時間と、部品２６が安定停止する位置を判断し、次のステップ２１０で、判断結果を表示装置４４に表示して、本プログラムを終了する。作業者は、表示装置４４に表示された判断結果を参照して、ピッチ送り完了直後の部品２６の停止状態が不安定と判断する場合は、テープフィーダ２３の操作部（図示せず）又は部品実装機の入力装置４２を操作して、テープフィーダ２３のピッチ送り速度、ピッチ送りタイミング、吸着ノズル２７の部品吸着タイミング、部品吸着位置の少なくとも１つを変更するようにすれば良い。 Thereafter, the process proceeds to step 209, and based on the amount of change in the position of the component 26 in each image, the time from the completion of pitch feed until the component 26 in the component receiving recess 29 stably stops, and the position at which the component 26 stably stops. In the next step 210, the determination result is displayed on the display device 44 and the program is terminated. When the operator refers to the determination result displayed on the display device 44 and determines that the stop state of the component 26 immediately after the completion of pitch feeding is unstable, the operator operates the operation unit (not shown) or the component of the tape feeder 23. The input device 42 of the mounting machine may be operated to change at least one of the pitch feed speed of the tape feeder 23, the pitch feed timing, the component suction timing of the suction nozzle 27, and the component suction position.

　例えば、ピッチ送り完了から部品収容凹部２９内の部品２６が安定停止するまでの時間を判断すれば、部品収容凹部２９内の部品２６が安定停止してから吸着ノズル２７で部品２６を吸着するように、吸着ノズル２７の部品吸着タイミングを遅らせたり、或は、テープフィーダ２３のピッチ送りタイミングを早めたりするようにしても良い。 For example, if it is determined the time from the completion of pitch feeding until the component 26 in the component receiving recess 29 is stably stopped, the component 26 in the component receiving recess 29 is stably stopped and the suction nozzle 27 sucks the component 26. In addition, the component suction timing of the suction nozzle 27 may be delayed, or the pitch feed timing of the tape feeder 23 may be advanced.

　また、ピッチ送り完了後に部品収容凹部２９内の部品２６が安定停止する位置を判断すれば、吸着ノズル２７で部品２６を吸着する位置を該部品２６が安定停止する位置に補正するようにしても良い。 If the position where the component 26 in the component receiving recess 29 is stably stopped after the pitch feed is completed is determined, the position where the component 26 is sucked by the suction nozzle 27 is corrected to the position where the component 26 is stably stopped. good.

　本実施例３においても、部品停止安定性判断の判断結果に基づくテープフィーダ２３のピッチ送り速度、ピッチ送りタイミング、吸着ノズル２７の部品吸着タイミング、部品吸着位置の変更や補正は、部品実装機の制御装置４１が自動的に行うようにしても良い。 Also in the third embodiment, the tape feeder 23 pitch feed speed, pitch feed timing, suction nozzle 27 component suction timing, and component suction position change and correction based on the determination result of the component stop stability determination are performed by the component mounting machine. The control device 41 may perform this automatically.

　以上説明した本実施例３においても、前記実施例１，２と同様の効果を得ることができる。しかも、ピッチ送り完了から部品収容凹部２９内の部品２６が安定停止するまでの時間と安定停止する位置を判断できるため、テープフィーダ２３のピッチ送りタイミング、吸着ノズル２７の部品吸着タイミング、部品吸着位置のいずれかを補正する場合でも、その補正を精度良く行うことができる。 In the third embodiment described above, the same effects as in the first and second embodiments can be obtained. Moreover, since it is possible to determine the time from the completion of pitch feeding until the component 26 in the component receiving recess 29 is stably stopped and the position where the component 26 is stably stopped, the pitch feeding timing of the tape feeder 23, the component suction timing of the suction nozzle 27, and the component suction position. Even when one of the above is corrected, the correction can be performed with high accuracy.

　尚、図９の部品停止安定性判断プログラムでは、部品停止安定性判断を行う回数は１回のみであったが、判断精度を向上させるために、テープフィーダ２３を複数回ピッチ送り動作させて部品停止安定性判断を複数回行い、複数回の判断結果の平均値又は中央値を最終的な判断結果とするようにしても良い。 In the component stop stability determination program shown in FIG. 9, the component stop stability determination is performed only once. However, in order to improve the determination accuracy, the tape feeder 23 is pitch-operated a plurality of times to perform the component stop stability determination. The stop stability determination may be performed a plurality of times, and an average value or a median value of the determination results of the plurality of times may be used as a final determination result.

　その他、本発明は、上記実施例１～３に限定されず、例えば、部品実装機の構成を適宜変更しても良い等、要旨を逸脱しない範囲内で種々変更して実施できることは言うまでもない。 In addition, the present invention is not limited to the first to third embodiments. Needless to say, various modifications can be made without departing from the gist, for example, the configuration of the component mounting machine may be changed as appropriate.

　１２…回路基板、１３…コンベア、２２…フィーダセット台、２３…テープフィーダ、２４…部品供給テープ、２５…リール、２６…部品、２７…吸着ノズル、２８…キャリアテープ、２９…部品収容凹部、３０…カバーテープ、３２…実装ヘッド、３３…ヘッド移動装置、３４…マーク撮像用のカメラ、４１…制御装置（制御部，画像処理部，判断部）、４２…入力装置（操作部）、４４…表示装置（表示部） DESCRIPTION OF SYMBOLS 12 ... Circuit board, 13 ... Conveyor, 22 ... Feeder set stand, 23 ... Tape feeder, 24 ... Component supply tape, 25 ... Reel, 26 ... Component, 27 ... Adsorption nozzle, 28 ... Carrier tape, 29 ... Component accommodation recessed part, DESCRIPTION OF SYMBOLS 30 ... Cover tape, 32 ... Mounting head, 33 ... Head moving apparatus, 34 ... Camera for mark imaging, 41 ... Control apparatus (control part, image processing part, judgment part), 42 ... Input device (operation part), 44 ... Display device (display unit)

Claims

　所定ピッチで形成された部品収容凹部内に部品を収容して包装した部品供給テープを、テープフィーダにより該部品供給テープの上面からカバーフィルムを剥離しながら前記所定ピッチずつテープ送りするピッチ送り動作を行い、そのピッチ送り完了毎に所定の部品吸着位置で停止した該部品収容凹部内の部品を吸着ノズルで吸着して回路基板に実装する部品実装機において、
　前記ピッチ送りにより前記部品吸着位置に到達した前記部品収容凹部内の部品を上方から複数回撮像するカメラと、
　前記カメラで複数回撮像した複数の画像を処理してその画像毎に前記部品収容凹部内の部品の位置を認識する画像処理部と、
　前記画像処理部による前記複数の画像の処理結果に基づいて前記ピッチ送り完了直後の前記部品収容凹部内の部品の安定状態を判断する部品停止安定性判断を行う判断部と
　を備える、部品実装機。 A pitch feeding operation is performed in which a component supply tape that accommodates and wraps a component in a component accommodation recess formed at a predetermined pitch is tape-fed by the predetermined pitch while peeling the cover film from the upper surface of the component supply tape by a tape feeder. In a component mounter that sucks a component in the component-accommodating recess that is stopped at a predetermined component sucking position every time the pitch feed is completed with a suction nozzle and mounts it on a circuit board.
A camera that images the component in the component receiving recess that has reached the component suction position by the pitch feed a plurality of times from above;
An image processing unit that processes a plurality of images captured a plurality of times by the camera and recognizes the position of the component in the component housing recess for each image;
A component mounting machine comprising: a determination unit that determines a component stop stability determination that determines a stable state of a component in the component receiving recess immediately after completion of the pitch feeding based on a processing result of the plurality of images by the image processing unit. .
　前記判断部による前記部品停止安定性判断の判断結果を表示する表示部と、
　作業者が前記表示部に表示された前記部品停止安定性判断の判断結果を参照して前記テープフィーダのピッチ送り速度、ピッチ送りタイミング、前記吸着ノズルの部品吸着タイミングの少なくとも１つを変更する操作部と
　を備える、請求項１に記載の部品実装機。 A display unit for displaying a determination result of the component stop stability determination by the determination unit;
An operation in which an operator changes at least one of the pitch feed speed, pitch feed timing, and component suction timing of the suction nozzle with reference to the judgment result of the component stop stability judgment displayed on the display unit. The component mounter according to claim 1, further comprising: a unit.
　前記判断部による前記部品停止安定性判断の判断結果に基づいて前記テープフィーダのピッチ送り速度、ピッチ送りタイミング、前記吸着ノズルの部品吸着タイミングの少なくとも１つを自動的に変更する制御部を備える、請求項１又は２に記載の部品実装機。 A controller that automatically changes at least one of the pitch feed speed of the tape feeder, the pitch feed timing, and the component suction timing of the suction nozzle based on the determination result of the component stop stability determination by the determination unit; The component mounting machine according to claim 1 or 2.
　部品実装機の稼働開始前と前記テープフィーダの交換後の少なくとも一方の時期に、前記テープフィーダをピッチ送り動作させて前記カメラ、前記画像処理部及び前記判断部を作動させて前記部品停止安定性判断を行う、請求項１乃至３のいずれかに記載の部品実装機。 Stability of stopping the component by operating the camera, the image processing unit, and the determination unit by pitch-feeding the tape feeder at least one time before starting operation of the component mounting machine and after replacing the tape feeder The component mounter according to claim 1, which makes a determination.
　部品実装機の稼働中に前記吸着ノズルの部品吸着不良の発生を監視する監視部を備え、
　前記監視部は、前記吸着ノズルの部品吸着不良の発生頻度又は連続発生回数が所定値以上になったときに、前記テープフィーダをピッチ送り動作させて、前記カメラ、前記画像処理部及び前記判断部を作動させて前記部品停止安定性判断を行う、請求項１乃至４のいずれかに記載の部品実装機。 A monitoring unit that monitors the occurrence of component suction failure of the suction nozzle during operation of the component mounting machine,
The monitoring unit causes the tape feeder to perform a pitch feeding operation when the occurrence frequency or the number of consecutive occurrences of the component suction failure of the suction nozzle exceeds a predetermined value, and the camera, the image processing unit, and the determination unit The component mounter according to any one of claims 1 to 4, wherein the component stop stability determination is performed by operating a component.
　前記カメラの撮像タイミングは、前記ピッチ送り完了直後に前記部品収容凹部内の部品が慣性によりテープ送り方向に最も大きく動くタイミングを想定して決められたタイミングで１回目の撮像を行い、この１回目の撮像タイミングから所定時間経過後に２回目の撮像を行うように設定され、
　前記判断部は、前記１回目に撮像した画像から認識した部品の位置と前記２回目に撮像した画像から認識した部品の位置との差に基づいて前記ピッチ送り完了直後の前記部品収容凹部内の部品の安定状態を判断する、請求項１乃至５のいずれかに記載の部品実装機。 The imaging timing of the camera is the first imaging at a timing determined assuming that the component in the component receiving recess moves most in the tape feeding direction due to inertia immediately after the pitch feeding is completed. Is set to perform the second imaging after a predetermined time from the imaging timing,
The determination unit is configured to determine whether the position of the component recognized from the first captured image is different from the position of the component recognized from the second captured image. The component mounting machine according to claim 1, wherein a stable state of the component is determined.
　前記カメラの撮像タイミングは、前記ピッチ送り完了と同時に１回目の撮像を行い、以後、一定時間間隔で２回目以降の撮像を周期的に行うように設定され、
　前記判断部は、撮像毎の部品の位置の変化量に基づいて前記ピッチ送り完了直後の前記部品収容凹部内の部品の安定状態を判断する、請求項１乃至５のいずれかに記載の部品実装機。 The imaging timing of the camera is set so that the first imaging is performed simultaneously with the completion of the pitch feed, and then the second and subsequent imaging is periodically performed at regular time intervals.
The component mounting according to any one of claims 1 to 5, wherein the determination unit determines a stable state of the component in the component receiving recess immediately after the pitch feeding is completed based on a change amount of a component position for each imaging. Machine.
　前記判断部は、撮像毎の部品の位置の変化量に基づいて前記ピッチ送り完了から前記部品収容凹部内の部品が安定停止するまでの時間を判断する、請求項７に記載の部品実装機。 The component mounting machine according to claim 7, wherein the determination unit determines a time from the completion of the pitch feed to a stable stop of the component in the component receiving recess based on a change amount of a component position for each imaging.
　前記判断部が判断した前記ピッチ送り完了から前記部品収容凹部内の部品が安定停止するまでの時間に基づいて前記吸着ノズルの部品吸着タイミング又は前記テープフィーダのピッチ送りタイミングを補正する、請求項８に記載の部品実装機。 The component suction timing of the suction nozzle or the pitch feed timing of the tape feeder is corrected based on the time from the completion of the pitch feed determined by the determination unit to the stable stop of the components in the component housing recess. The component mounting machine described in 1.
　前記判断部は、前記ピッチ送り完了後に前記部品収容凹部内の部品が安定停止する位置を判断し、
　前記判断部が判断した前記部品収容凹部内の部品が安定停止する位置に基づいて前記吸着ノズルで該部品を吸着する位置を補正する、請求項１乃至９のいずれかに記載の部品実装機。 The determination unit determines a position where the component in the component receiving recess is stably stopped after the pitch feed is completed,
The component mounting machine according to claim 1, wherein the position at which the component is sucked by the suction nozzle is corrected based on the position at which the component in the component receiving recess determined by the determination unit is stably stopped.
　前記判断部は、前記テープフィーダを複数回ピッチ送り動作させてそのピッチ送り毎に前記カメラと前記画像処理部を作動させて前記部品停止安定性判断を複数回行い、複数回の判断結果の平均値又は中央値を最終的な判断結果とする、請求項１乃至１０のいずれかに記載の部品実装機。 The determination unit causes the tape feeder to perform a pitch feed operation a plurality of times, operates the camera and the image processing unit for each pitch feed, performs the component stop stability determination a plurality of times, and averages a plurality of determination results The component mounting machine according to claim 1, wherein a value or a median value is used as a final determination result.
　前記カメラとして、前記回路基板の基準マークを撮像するマーク撮像用カメラを使用する、請求項１乃至１１のいずれかに記載の部品実装機。 The component mounting machine according to any one of claims 1 to 11, wherein a mark imaging camera that images a reference mark of the circuit board is used as the camera.