Component mounter
A component mounter for holding a component and for mounting the component on a surface of a board includes a head, a horizontal moving device, a vertical moving device, a mounting control device, and an imaging device. The imaging device is configured to image an imaging target by receiving incident light from the imaging target on an imaging element via an optical system. The optical system includes a first optical system configured to guide incident light from a direction of a side surface of a nozzle tip to a first region of the imaging element, and a second optical system configured to guide incident light from a direction of the surface of the board to a second region of the imaging element. The imaging device is configured to image an image via the first optical system and the second optical system.
1. A component mounter configured to hold a component and mount the component on a surface of a board, the component mounter comprising:
a head having a nozzle configured to hold the component at a nozzle tip of the nozzle;
a horizontal moving device configured to move the head in a horizontal direction with respect to the surface of the board;
a vertical moving device configured to move the nozzle in a vertical direction with respect to the surface of the board, the nozzle oriented in the vertical direction;
a mounting control device configured to perform mounting operation of mounting the component held by the nozzle at a mounting position on the surface of the board by moving the head using the horizontal moving device such that the nozzle is positioned above the mounting position on the surface of the board and lowering the nozzle using the vertical moving device; and
an imaging device provided on the head and configured to image an imaging target by receiving incident light from the imaging target on an imaging element via an optical system,
wherein
the optical system includes:
an upper incident opening formed at a position facing a base section of the nozzle positioned at the mounting position,
a lateral incident opening formed at a position lower than and horizontally from the upper incident opening,
a first optical system configured to guide incident light entering the lateral incident opening from a direction of a side surface of the nozzle tip to a first region of the imaging element, the side surface being viewable in the horizontal direction, and
a second optical system configured to guide incident light entering the upper incident opening from a direction of the surface of the board to a second region of the imaging element in a state with the nozzle above the surface of the board,
the imaging device is configured to be able to image an image of the side surface of the nozzle tip and an image of the surface of the board respectively via the first optical system and the second optical system, and
the optical system includes a left mirror, a right mirror, a middle mirror arranged between the left mirror and the right mirror, an upper mirror arranged at the upper incident opening, a first rear mirror arranged rearward of the middle mirror and the upper mirror, and a second rear mirror arranged above the first rear mirror.
2. The component mounter according to claim 1 , wherein
the head is a rotary type head provided with multiple nozzles in a circumferential direction and configured to revolve the multiple nozzles in the circumferential direction,
the mounting control device performs mounting operation of mounting the component held by the nozzle at the mounting position on the surface of the board by moving the head using the horizontal moving device such that a mounting target nozzle out of the multiple nozzles is positioned above the mounting position on the surface of the board and lowering the mounting target nozzle using the vertical moving device, and
the imaging device is able to image
a first image that is at least one of a side image of the nozzle tip of a pre-mounting nozzle used to perform mounting operation of the component after the mounting target nozzle or a side image of the nozzle tip of a post-mounting nozzle used to perform mounting operation of the component before the mounting target nozzle, and
a second image that is an image of surface of the board when the mounting target nozzle is performing mounting operation of the component, respectively via the first optical system and the second optical system.
3. The component mounter according to claim 2 , wherein
the optical system includes a third optical system configured to guide incident light from a direction of the mounting target nozzle to a third region of the imaging element, and the imaging device is configured to image the first image, the second image, and a third image that is an image of the mounting target nozzle respectively via the first optical system, the second optical system, and the third optical system.
4. The component mounter according to claim 1 , further comprising:
an imaging control device configured to control the imaging device such that the image of the surface of the board is imaged at a first timing at which the component held by the nozzle contacts the surface of the board when the nozzle is lowered by the vertical moving device.
5. The component mounting according to claim 4 , wherein
the imaging control device is configured to control the imaging device such that, after the first timing, the side image of the nozzle tip is imaged after performing mounting operation of the component, and further provided is a determining device configured to determine whether the nozzle correctly mounted the component based on the image of the surface of the board imaged at the first timing and the side image of the nozzle tip imaged after the first timing.
6. The component mounter according to claim 1 , further comprising:
an imaging control device configured to control the imaging device such that the image of the surface of the board is imaged at a second timing at which the nozzle has been raised by a specified amount by the vertical moving device after the nozzle has performed mounting operation of the component.
7. The component mounting according to claim 6 , wherein
the imaging control device is configured to control the imaging device such that, before the second timing, the side image of the nozzle tip of the nozzle yet to perform mounting operation of the component is imaged, and further provided is a determining device configured to determine whether the nozzle correctly mounted the component based on the image of the surface of the board imaged at the second timing and the side image of the nozzle tip imaged before the second timing.
8. The component mounter according to claim 1 , further comprising:
an imaging control device configured to control the imaging device such that the image of the surface of the board is taken at a first timing when the nozzle is lowered by the vertical moving device and at a second timing when the nozzle is raised by the vertical moving device.
9. A component mounter configured to hold a component and mount the component on a surface of a board, the component mounter comprising:
a rotary type head provided with multiple nozzles in a circumferential direction and configured to revolve the multiple nozzles in the circumferential direction;
a horizontal moving device configured to move the head in a horizontal direction with respect to the surface of the board;
a vertical moving device configured to move the nozzle in a vertical direction with respect to the surface of the board;
a mounting control device configured to perform mounting operation of mounting the component held by the nozzle at a mounting position on the surface of the board by moving the head using the horizontal moving device such that a mounting target nozzle out of the multiple nozzles is positioned above the mounting position on the surface of the board and lowering the mounting target nozzle using the vertical moving device in the vertical direction, the mounting target nozzle oriented in the vertical direction, and
an imaging device provided on the head and configured to image an imaging target by receiving incident light from the imaging target on an imaging element via an optical system,
wherein the imaging device is able to image:
at least one of a side image of the nozzle tip of a pre-mounting nozzle used to perform mounting operation of the component after the mounting target nozzle or a side image of the nozzle tip of a post-mounting nozzle used to perform mounting operation of the component before the mounting target nozzle, and
an image of surface of the board when the mounting target nozzle is performing mounting operation of the component, and
wherein the optical system includes:
an upper incident opening formed at a position facing a base section of the mounting target nozzle positioned at the mounting position,
a lateral incident opening formed at a position lower than and horizontally from the upper incident opening,
a first optical system configured to guide incident light entering the lateral incident opening from a direction of a side surface of the nozzle tip of the pre-mounting nozzle or the post-mounting nozzle to a first region of the imaging element, the side surface being viewable in the horizontal direction, and
a second optical system configured to guide incident light entering the upper incident opening from a direction of the surface of the board to a second region of the imaging element when the mounting target nozzle is performing mounting operation of the component.
10. The component mounter according to claim 9 , further comprising:
an imaging control device configured to control the imaging device such that the image of the surface of the board is taken at a first timing when the mounting target nozzle is lowered by the vertical moving device and at a second timing when the mounting target nozzle is raised by the vertical moving device.
11. The component mounter according to claim 9 , wherein the optical system includes a left mirror, a right mirror, a middle mirror arranged between the left mirror and the right mirror, an upper mirror arranged at the upper incident opening, a first rear mirror arranged rearward of the middle mirror and the upper mirror, and a second rear mirror arranged above the first rear mirror.