Movement error detection apparatus of mounting head, and component mounting apparatus
A movement error detection apparatus includes a plurality of marks including a fifth mark (movable region inside mark) arranged in a movable region of a movable conveyor and first to fourth marks (movable region outside marks) arranged outside the movable region of the movable conveyor; a substrate recognition camera (imaging device to move together with a mounting head to image the first to fifth marks; and a projection device (auxiliary device) to assist an imaging. The first to fourth marks are arranged on a horizontal reference plane including a substrate, and the fifth mark is arranged at a position which is lower than the horizontal reference plane and at which the movable conveyor is not interfered. The projection device absorbs a height difference between the fifth mark and the horizontal reference plane to assist the substrate recognition camera in picking up a focused image of the fifth mark.
1. A movement error detection apparatus for a component mounting apparatus comprising
a substrate conveyance device including a fixed conveyor extending in a first direction and a movable conveyor which is movable in a second direction orthogonal to the first direction with respect to the fixed conveyor, and
a mounting head to mount a component on a substrate conveyed by the substrate conveyance device to a predetermined work position,
the movement error detection apparatus comprising:
a plurality of marks including
a movable-region-inside-mark arranged in a movable region of the movable conveyor and
a movable-region-outside-mark arranged outside the movable region of the movable conveyor,
an imager adapted to be attached to the mounting head and to move together with the mounting head to image the plurality of marks, and
an auxiliary device to assist an imaging, wherein
the movable-region-outside-mark is arranged on a horizontal reference plane extending along an upper face of the substrate arranged at the work position,
the movable-region-inside-mark is arranged at a position which is lower than the horizontal reference plane and at which the movable conveyor is not in contact with the movable-region-inside-mark, and
the auxiliary device absorbs a height difference between the movable-region-inside-mark and the horizontal reference plane to assist the imager in picking up a focused image of the movable-region-inside-mark.
2. The movement error detection apparatus according to claim 1 , wherein
the auxiliary device includes an illumination portion to radiate illumination light to the movable-region-inside-mark, and an optical system to guide light from the movable-region-inside-mark to the horizontal reference plane to form an image of the movable-region-inside-mark on the horizontal reference plane, and
the imager picks up an image of the movable-region-inside-mark formed on the horizontal reference plane.
3. The movement error detection apparatus according to claim 2 , wherein the auxiliary device forms a projected image of the movable-region-inside-mark on the horizontal reference plane.
4. The movement error detection apparatus according to claim 1 , wherein the auxiliary device includes a focal distance switching mechanism to switch a focal distance of the imager between a state where the movable-region-outside-mark is focused and a state where the movable-region-inside-mark is focused.
5. The movement error detection apparatus according to claim 1 , wherein the imager includes a first imager focused on the movable-region-outside-mark and the auxiliary device is a second imager focused on the movable-region-inside-mark.
6. A component mounting apparatus comprising:
a substrate conveyance device including a fixed conveyor extending in a first direction and a movable conveyor that is movable in a second direction orthogonal to the first direction with respect to the fixed conveyor;
a mounting head to mount a component on a substrate conveyed by the substrate conveyance device to a predetermined work position; and
the movement error detection apparatus according to claim 1 for detecting a movement error of the mounting head.