JP7580054B2 - Parts mounting equipment - Google Patents

Description

The present invention relates to a component mounting device that mounts components on a substrate.

Conventionally, there is known a component mounting device in which a mounting head picks up components supplied by a parts feeder and mounts them on a board. In such a component mounting device, a board transport unit supports and transports both ends of a board in the width direction using a pair of conveyors, and positions the board at a predetermined work position. Then, a table member with support pins standing upright is raised from below the positioned board, and the upper ends of the support pins are brought into contact with the underside of the board to support (support) the board. Once the board is supported by the support pins, a camera captures an image of the recognition mark provided on the board from above the board (for example, see Patent Document 1 below).

Here, the camera is mounted on the mounting head, and captures an image of the recognition mark while shining light from an illumination unit also mounted on the mounting head toward the board. The recognition mark on the board may be a through hole (hereinafter referred to as a board hole) that penetrates the board in the thickness direction. In this case, the camera recognizes the outline of the inner edge of the board hole based on the contrast between the brightness of the board surface and the brightness inside the board hole.

JP 2015-38930 A

However, when the outlines of the board holes are recognized as described above based on the contrast between the brightness of the board surface and the brightness inside the board holes, if the top surface of the support table is a light color, light (light reflected from the support table) is more likely to enter the camera from below the board through the board holes. This reduces the contrast between the brightness of the board surface and the brightness inside the board holes, making it difficult to clearly recognize the outlines of the board holes, which may reduce the accuracy of component mounting by the component mounting device.

The present invention aims to provide a component mounting device that can clearly identify through-holes that penetrate a substrate and mount components with high precision.

The component mounting device of the present invention is a component mounting device that mounts components on a substrate having a through hole penetrating in the thickness direction, and includes a substrate transporting section that supports and transports both widthwise ends of the substrate using a pair of conveyors and positions it at a predetermined work position, an illumination section that is disposed above the substrate transporting section and illuminates the substrate positioned at the work position, an imaging section that is disposed above the substrate transporting section and images the through hole while the substrate is illuminated by the illumination section, and a light reflection suppression means that suppresses light from reflecting upwardly at a position directly below the through hole or in the vicinity thereof below the substrate transporting section.

According to the present invention, through holes drilled through a substrate can be clearly recognized, and components can be mounted with high precision.

FIG. 1 is a side view of a main part of a component mounting device according to a first embodiment of the present invention. FIG. 1 is an enlarged perspective view of a part of a component mounting device according to a first embodiment of the present invention; FIG. 2 is a plan view of a substrate on which components are to be mounted by the component mounting device according to the first embodiment of the present invention; FIG. 1 is a perspective view of a lower support portion provided in a component mounting device according to a first embodiment of the present invention; FIG. 2 is a plan view of a lower support portion provided in the component mounting device according to the first embodiment of the present invention; FIG. 2 is a cross-sectional view showing an adhesive sheet, which is a light reflection suppressing means provided in the component mounting device according to the first embodiment of the present invention, together with a part of the support table. FIG. 2 is a block diagram showing a control system of the component mounting device according to the first embodiment of the present invention. FIG. 1 is a diagram showing an example of an image obtained by capturing an image of a board hole by a board recognition camera provided in a component mounting device according to the first embodiment of the present invention; FIG. 11 is a perspective view of a lower support portion provided in a component mounting device according to a second embodiment of the present invention; 10A and 10B are perspective views showing a pinhole insertion type sheet, which is a light reflection suppression means provided in a component mounting device according to a second embodiment of the present invention, together with a part of a support table. 10A and 10B are cross-sectional views showing a pinhole insertion type sheet, which is a light reflection suppression means provided in a component mounting device according to a second embodiment of the present invention, together with a part of a support table. 1A and 1B are cross-sectional views showing a mountain-shaped sheet, which is a modified example of a pinhole insertion type sheet that is a light reflection suppression means provided in a component mounting device according to a second embodiment of the present invention, together with a part of a support table. 10A and 10B are perspective views showing a pin-mounted sheet, which is a light reflection suppressing means provided in a component mounting device according to a second embodiment of the present invention, together with a support pin and a part of a support table. 1A is a plan view showing a pin-mounted sheet and a pinhole-inserted sheet, which are light reflection suppression means provided in a component mounting device according to a second embodiment of the present invention, together with a support pin and a part of a support table; FIG. 1B is a cross-sectional view showing the pin-mounted sheet and the pinhole-inserted sheet, which are light reflection suppression means provided in a component mounting device according to a second embodiment of the present invention, together with a support pin and a part of a support table; 10A and 10B are perspective views showing a pinhole insertion type bottomed tubular member, which is a light reflection suppression means provided in a component mounting device according to a second embodiment of the present invention, together with a part of a support table. 10A and 10B are perspective views showing a pin-mounted, bottomed tubular member, which is a light reflection suppressing means provided in a component mounting device according to a second embodiment of the present invention, together with a part of a support table. FIG. 13 is a perspective view of a lower support portion provided in the component mounting device according to the third embodiment of the present invention. FIG. 13 is a perspective view of a lower support portion provided in the component mounting device according to the fourth embodiment of the present invention; 13A and 13B are cross-sectional views showing a magnet sheet, which is a light reflection suppression means provided in a component mounting device according to a fourth embodiment of the present invention, together with a part of a support table.

(Embodiment 1)
1 shows a component mounting device 1 according to a first embodiment of the present invention. The component mounting device 1 is a device that repeatedly performs a component mounting operation of mounting components BH on a board KB, and includes a base 11, a board transport unit 12, a lower support unit 13, a parts feeder 14, a head moving mechanism 15, a mounting head 16, a component recognition camera 17, a board recognition camera 18, an illumination unit 19, and a control device 20. In this embodiment, for the sake of convenience, the left-right direction of the base 11 is defined as the X direction, and the front-rear direction of the base 11 is defined as the Y direction. The up-down direction is defined as the Z direction.

In FIG. 1, the board transport unit 12 is provided on a base 11. As also shown in FIG. 2, the board transport unit 12 transports the board KB supplied from the outside by supporting both ends in the width direction from below using a pair of conveyors 12a extending in the X direction, and positions the board KB at a predetermined working position determined near the center of the base 11.

In this embodiment, the substrate KB is a so-called multiple substrate, and as shown in FIG. 3, multiple (four in this case) individual regions R are formed by slits SL that penetrate the substrate KB (see also FIG. 2). Components BH are mounted in each individual region R, and in the future, they will be separated from one another at the slits SL and handled as individual mounting substrates. Each individual region R has multiple through holes (referred to as substrate holes KH) that penetrate the substrate KB in the thickness direction as recognition marks for that individual region R.

In Figures 1 and 2, the lower support unit 13 is provided below the board transport unit 12. The lower support unit 13 is a mechanism that lifts and supports the board KB, which has been positioned at the work position by the board transport unit 12, from below, and includes a lifting cylinder 21, a lower support table 22, and multiple lower support pins 23, as shown in Figure 2.

In FIG. 4, the support table 22 is made of a horizontal, flat table member. The support table 22 is made of a non-magnetic material (aluminum in this example), and on its upper surface, a number of support pin insertion holes 22H that penetrate the thickness direction and open upward are arranged in a matrix pattern. The surface of the support table 22 is the light color of aluminum. The support table 22 is raised and lowered by a lifting cylinder 21.

In FIG. 4, the lower support pin 23 is made of a pin-shaped member extending in the Z direction. On the lower side, an insertion protrusion 23T extends downward from the bottom surface of the base 23B. The lower support pin 23 can be attached (held) to the lower support table 22 by inserting the insertion protrusion 23T from above into the lower support pin insertion hole 22H provided in the lower support table 22 (FIG. 4).

In Figures 4 and 5, an adhesive sheet 31 is attached to the upper surface of the support table 22 as a light reflection suppression means. The adhesive sheet 31 is a sheet-like member, and its lower surface is attached to the upper surface of the support table 22. At least the upper surface (the surface that reflects light) of the adhesive sheet 31 is a dark color (preferably black), so that the reflection of light incident on that surface is suppressed.

The means for attaching the adhesive sheet 31 to the upper surface of the support table 22 is a double-sided adhesive tape 32 (Figure 6). The adhesive sheet 31 can be attached to any position on the support table 22, but here it is attached to the upper surface of the support table 22 in a position that covers the position directly below (or in the vicinity of) each of the multiple board holes KH of the board KB positioned at the work position.

In FIG. 1, a cart 14D is connected to the base 11, and the part feeders 14 are detachably attached to a feeder mounting section 14F provided on the upper part of the cart 14D. A plurality of part feeders 14 are arranged in a line in the width direction (X direction) of the feeder mounting section 14F. Each part feeder 14 continuously supplies parts BH to a part supply port 14K (FIG. 1) provided at the end closer to the board transport section 12.

In Figures 1 and 2, the head movement mechanism 15 is composed of, for example, an XY beam mechanism, and moves the mounting head 16 in a horizontal plane (within the XY plane). As shown in Figures 1 and 2, the mounting head 16 has multiple nozzles 16N extending downward. The mounting head 16 can raise and lower each nozzle 16N individually, and can also rotate around a vertical axis. The mounting head 16 generates a suction force at the lower end of the nozzle 16N, and picks up the part BH supplied by the part feeder 14.

In FIG. 1, the part recognition camera 17 is provided in the area between the board transport unit 12 and the part feeder 14 on the base 11. The part recognition camera 17 has an imaging optical axis facing upward. The part recognition camera 17 images, from below, the part BH that the mounting head 16 picks up by adsorbing it to the nozzle 16N.

In Figures 1 and 2, the board recognition camera 18 is attached to the mounting head 16 and moves in the XY plane together with the mounting head 16. The board recognition camera 18 has an imaging optical axis facing downward, and captures an image from above of the board hole KH of the board KB that has been positioned at the work position by the board transport unit 12.

In Figures 1 and 2, the lighting unit 19 is attached to the mounting head 16. The lighting unit 19 illuminates the board KB by emitting light downward.

In FIG. 1, the control device 20 is provided in the base 11. As shown in FIG. 7, the control device 20 includes a memory unit 41, a mounting operation control unit 42, and a recognition and judgment unit 43. The memory unit 41 stores a component mounting operation program, which is a program that specifies the order in which components BH are mounted on the board KB, as well as various data related to the components BH, etc.

The mounting operation control unit 42 performs a component mounting operation of mounting the components BH on the board KB by operating each unit of the component mounting device 1 according to the component mounting operation program stored in the memory unit 41. Specifically, the mounting operation control unit 42 controls the transport operation of the board KB by the pair of conveyors 12a provided in the board transport unit 12 and the lifting and lowering operation of the support table 22 by the lifting cylinder 21. The mounting operation control unit 42 also controls the supply operation of the components BH by each part feeder 14, the movement operation of the mounting head 16 by the head movement mechanism 15, the lifting and rotating operation of the nozzle 16N by the mounting head 16, and the suction operation of the components BH by the nozzle 16N.

The mounting operation control unit 42 also controls the imaging operation of the component BH by the component recognition camera 17. The image of the component BH obtained by the imaging of the component recognition camera 17 is sent to the recognition judgment unit 43 of the control device 20, which recognizes the component BH. The mounting operation control unit 42 also controls the lighting operation by the lighting unit 19 and the imaging operation of the component BH by the board recognition camera 18.

The image of the board hole KH obtained by the board recognition camera 18 is sent to the recognition and judgment unit 43 of the control device 20, where the board hole KH is recognized and the position of each individual piece region R is grasped. At this time, the recognition and judgment unit 43 recognizes the board hole KH based on the image of the board hole KH captured by the board recognition camera 18, which is an imaging unit, and based on the contrast between the brightness of the surface of the board KB and the brightness inside the board hole KH.

When performing component mounting work, the component mounting device 1 first receives and transports the board KB sent from the device upstream of the component mounting device 1 using the board transport unit 12, and positions it at the work position. After the board KB is positioned at the work position by the board transport unit 12, the component mounting device 1 operates the lifting cylinder 21 to raise the support table 22. This causes the entire support unit 13 to rise, and the tips of the multiple support pins 23 provided on the support table 22 come into contact with the underside of the board KB from below. After the tips of the support pins 23 come into contact with the underside of the board KB, the lifting cylinder 21 further pushes up the support table 22, causing the board KB to move upward away from the pair of conveyors 12a and be clamped by being pressed from below against a pair of board pressing members 12T (Figure 2) installed above the board transport unit 12.

When the board KB is clamped, the component mounting device 1 moves the mounting head 16 to above the board KB using the head movement mechanism 15. Then, the optical axis of the board recognition camera 18 is aligned with the center of the board hole KH, causing the board recognition camera 18 to capture an image of the board hole KH. When capturing an image using the board recognition camera 18, light is irradiated from the illumination unit 19 toward the surface of the board KB.

In the image GZ (FIG. 8) of the substrate hole KH captured by the substrate recognition camera 18, the surface of the substrate KB is illuminated and appears bright, while the inside of the substrate hole KH appears dark. This is because the light from the illumination unit 19 that passes through the substrate hole KH reaches the upper surface of the lower support table 22 directly below, but the light is suppressed from being reflected by the adhesive sheet 31 because the adhesive sheet 31 is attached to the upper surface of the lower support table 22. Therefore, the recognition judgment unit 43 of the control device 20 can clearly recognize the contour KHE of the inner edge of the substrate hole KH based on the contrast between the brightness of the surface of the substrate KB and the brightness inside the substrate hole KH. In this way, in the first embodiment, the recognition judgment unit 43 of the control device 20 is a recognition unit that recognizes the contour KHE of the inner edge of the substrate hole KH based on the contrast between the brightness of the surface of the substrate KB and the brightness inside the substrate hole KH obtained from the image GZ of the substrate hole KH (through hole) captured by the substrate recognition camera 18, which is the imaging unit.

Once the multiple board holes KH provided in each individual region R are recognized by the board recognition camera 18 as described above, the position of each individual region R is determined based on the positions of the multiple board holes KH. Then, the head movement mechanism 15 moves the mounting head 16 back and forth between the part feeder 14 and the board KB positioned at the work position, thereby mounting the components BH supplied by the part feeder 14 at the target positions (component mounting positions) determined on each individual region R.

After the mounting head 16 picks up the component BH supplied by the parts feeder 14 onto the nozzle 16N, it moves above the board KB on a path that passes above the component recognition camera 17. As the mounting head 16 passes above the component recognition camera 17 in this way, the component recognition camera 17 captures an image of the component BH picked up by the nozzle 16N from below. The image of the component BH thus obtained is sent to the control device 20, and the recognition judgment unit 43 recognizes the component BH. Then, based on the information obtained by recognizing the component BH, the operating parameters of the mounting head 16 are corrected when mounting the component BH at the target mounting position.

As the above movement of the mounting head 16 is repeated, when all the components BH to be mounted on the board KB have been mounted, the board transport unit 12 operates to transport the board KB to a downstream device. This completes the component mounting work for one board KB.

In this way, in the component mounting device 1 in embodiment 1, a light reflection suppression means (adhesive sheet 31) that suppresses light from reflecting upward is provided below the board hole KH of the board KB positioned at the work position, so that the amount of light that is reflected below the board KB (the upper surface of the support table 22) and then enters the board recognition camera 18 through the board hole KH is greatly reduced. As a result, the contrast between the surface of the board KB and the inside of the board hole KH in the image GZ of the board hole KH captured by the board recognition camera 18 is extremely high, and the contour KHE of the inner edge of the board hole KH can be clearly recognized.

(Embodiment 2)
Next, a description will be given of a second embodiment of the present invention. The component mounting device in the second embodiment differs from the component mounting device 1 in the first embodiment only in the light reflection suppressing means.

Figure 9 shows the under-receiving portion 13 provided in the component mounting device in embodiment 2. In embodiment 2, the light reflection suppression means includes a pin hole insertion type sheet 51, a pin attachment type sheet 52, a pin hole insertion type bottomed tubular member 53, and a pin attachment type bottomed tubular member 54, as shown in Figure 9.

In Figures 10(a) and (b), the pin hole insertion type sheet 51 is made of a sheet-like member equipped with a hole insertion portion 51T that is inserted into the pin insertion hole 22H of the support table 22. At least the upper surface (the surface that reflects light) of the pin hole insertion type sheet 51 is dark in color (preferably black), so that the reflection of light incident on that surface is suppressed.

When attaching the pin hole insertion type sheet 51 to the support table 22, the hole insertion portion 51T is inserted from above into the pin insertion hole 22H of the support table 22 (Fig. 10(a) → Fig. 10(b) and Fig. 11(a) → Fig. 11(b)). The pin hole insertion type sheet 51 can be attached to any location on the support table 22 where the pin insertion hole 22H is provided, but here it is attached to the upper surface of the support table 22 at a position that covers the position directly below (or in the vicinity of) each of the multiple board holes KH of the board KB positioned at the work position. If multiple pin hole insertion type sheets 51 inserted into adjacent pin insertion holes 22H interfere with each other, these pin hole insertion type sheets 51 are made to overlap each other vertically (Fig. 11(b)).

Figures 12(a) and (b) show a mountain-shaped sheet 51A and an inverted mountain-shaped sheet 51B as modified versions of the pinhole insertion type sheet 51. The mountain-shaped sheet 51A and the inverted mountain-shaped sheet 51B are not flat, but have a mountain-shaped (narrowing at the top) or inverted mountain-shaped (narrowing at the bottom) shape in side view. The mountain-shaped sheet 51A is a pinhole insertion type sheet 51 that has a mountain shape, and the inverted mountain-shaped sheet 51B is a pinhole insertion type sheet 51 that has an inverted mountain shape (Figure 12(a)). When the mountain-shaped sheet 51A and the inverted mountain-shaped sheet 51B are placed on the support table 22, the sloped portion of the mountain-shaped sheet 51A and the sloped portion of the inverted mountain-shaped sheet 51B are in contact with each other. This allows the height of the area that covers the surface of the support table 22 by the entire mountain-shaped sheet 51A and the inverted mountain-shaped sheet 51B to be almost uniform (Figure 12(b)).

13(a) and (b), the pin-mounted sheet 52 is made of a sheet-like member having a pin insertion hole 52H that is inserted and attached to the support pin 23 held on the support table 22, with the insertion protrusion 23T inserted into the pin insertion hole 22H of the support table 22 (i.e., held on the support table 22). At least the upper surface (the surface that reflects light) of the pin-mounted sheet 52 is a dark color (preferably black) so that reflection of light incident on that surface is suppressed.

When attaching the pin-mounted sheet 52 to the support table 22, the pin-mounted sheet 52 is positioned above the support pin 23 with the insertion protrusion 23T inserted into the pin insertion hole 22H of the support table 22 (held by the support table 22), and is lowered so that the support pin 23 is inserted into the pin insertion hole 52H (Fig. 13(a) → Fig. 13(b)). Then, the pin-mounted sheet 52 is attached to the support pin 23 so that the base 23B of the support pin 23 fits into the pin insertion hole 52H (Fig. 13(b)). The pin-mounted sheet 52 can be attached to any location on the support table 22 where the support pin 23 is attached, but here it is attached to the upper surface of the support table 22 in a position that covers the position directly below (or in the vicinity of) each of the multiple board holes KH of the board KB positioned at the work position.

By attaching a pin hole insertion type sheet 51 around the pin attachment type sheet 52 attached to the lower support pin 23, the area that the pin attachment type sheet 52 covers on the upper surface of the lower support table 22 can be expanded. In this case, as shown in Figures 14(a) and 14(b) (Figure 14(b) is a cross-sectional view taken along the line V-V in Figure 14(a)), by having the pin hole insertion type sheet 51 overlap the pin attachment type sheet 52 vertically, a relatively wide dark area can be formed near the lower support pin 23.

15(a) and (b), the pin hole insertion type bottomed tubular member 53 has a bottom 53a with a hole insertion portion 53T inserted into the pin insertion hole 22H, and a cylindrical side wall 53b extending upward from the bottom 53a. At least the upper surface of the bottom 53a and the surface of the side wall 53b (i.e., the light reflecting surface) of the pin hole insertion type bottomed tubular member 53 are dark in color (preferably black), so that the reflection of light incident on these surfaces is suppressed. When attaching the pin hole insertion type bottomed tubular member 53 to the support table 22, the hole insertion portion 53T is inserted into the pin insertion hole 22H of the support table 22 from above (Fig. 15(a) → Fig. 15(b)). The pin hole insertion type bottomed cylindrical member 53 can be attached to any location on the support table 22 where the pin insertion holes 22H are provided, but here it is attached to the top surface of the support table 22 in a position that covers the position directly below (or in the vicinity of) each of the multiple board holes KH of the board KB positioned at the work position.

16(a) and (b), the pin-mounted bottomed tubular member 54 has a bottom 54a with a pin insertion hole 54H that is inserted and attached to the lower support pin 23 held on the lower support table 22, with the insertion protrusion 23T inserted into the pin insertion hole 22H of the lower support table 22 (i.e., held on the lower support table 22), and a tubular side wall 54b that extends upward from the bottom 54a. At least the upper surface of the bottom 54a and the surface of the side wall 54b (i.e., the surface that reflects light) of the pin-mounted bottomed tubular member 54 are dark in color (preferably black), so that reflection of light incident on those surfaces is suppressed.

When attaching the pin-mounted bottomed tubular member 54 to the lower support table 22, the pin-mounted bottomed tubular member 54 is positioned above the lower support pin 23 in a state where the insertion protrusion 23T is inserted into the pin insertion hole 22H of the lower support table 22 (held by the lower support table 22), and is lowered so that the lower support pin 23 is inserted into the pin insertion hole 54H (Fig. 16(a) → Fig. 16(b)). Then, the pin-mounted bottomed tubular member 54 is attached to the lower support pin 23 so that the base 23B of the lower support pin 23 fits into the pin insertion hole 54H (Fig. 16(b)). The pin-mounted bottomed tubular member 54 can be attached to any location on the lower support table 22 where the lower support pin 23 is attached, but here it is attached to a position on the upper surface of the lower support table 22 that covers the position directly below (or in the vicinity of) each of the multiple board holes KH of the board KB positioned at the work position.

By attaching the above-mentioned pin hole insertion type bottomed tubular member 53 and pin attachment type bottomed tubular member 54 to the upper surface of the support table 22, the attached area can be made dark. Both the pin hole insertion type bottomed tubular member 53 and the pin attachment type bottomed tubular member 54 have a cylindrical side wall (side wall 53b or side wall 54b), which makes it easy to block light entering from the diagonal outside. Therefore, by placing the pin hole insertion type bottomed tubular member 53 or the pin attachment type bottomed tubular member 54 below the substrate hole KH, the inside of the substrate hole KH can be made darker in the image GZ of the substrate hole KH.

The light blocking effect of the side walls 53b, 54b of the pin hole insertion type bottomed tubular member 53 and the pin attachment type bottomed tubular member 54 is particularly effective when the light from the illumination unit 19 reaches the underside of the substrate KB not only from the substrate hole KH but also from the slit SL (FIG. 3) formed in the substrate KB (i.e., from not only directly above the position directly below the substrate hole KH on the support table 22 but also from an obliquely upward direction). The side walls 53b of the pin hole insertion type bottomed tubular member 53 may be detachable from its bottom 53a. Similarly, the side walls 54b of the pin attachment type bottomed tubular member 54 may be detachable from its bottom 54a.

In this way, in the component mounting device in embodiment 2, light reflection suppression means (pin hole insertion type sheet 51, pin attachment type sheet 52, pin hole insertion type bottomed tubular member 53, and pin attachment type bottomed tubular member 54) that suppresses light from reflecting upwards are provided below the board hole KH of the board KB positioned at the work position, so that the amount of light that is reflected below the board KB (the upper surface of the support table 22) and then passes through the board hole KH and enters the board recognition camera 18 is greatly reduced. Therefore, the contrast between the surface of the board KB and the inside of the board hole KH in the image GZ of the board hole KH captured by the board recognition camera 18 is extremely high, and as in the case of embodiment 1, the contour KHE of the inner edge of the board hole KH can be clearly recognized.

(Embodiment 3)
Next, a third embodiment of the present invention will be described. The component mounting device in the third embodiment differs from the component mounting device 1 in the first embodiment only in the light reflection suppressing means.

Figure 17 shows the support portion 13 provided in the component mounting device 1 in embodiment 3. In embodiment 3, at least the upper surface of the support table 22 is painted with a dark (preferably black) paint, and a dark coating film 22M is formed on at least the upper surface (the surface that reflects light) of the support table 22. The dark coating film 22M suppresses the reflection of light incident on the support table 22, and therefore functions as a light reflection suppression means.

In this way, in the component mounting device in the third embodiment, a light reflection suppression means (dark coating 22M) is provided below the board hole KH of the board KB positioned at the work position to suppress light from reflecting upwards, so that the amount of light that is reflected below the board KB (the upper surface of the support table 22) and then enters the board recognition camera 18 through the board hole KH is greatly reduced. Therefore, the contrast between the surface of the board KB and the inside of the board hole KH in the image GZ of the board hole KH captured by the board recognition camera 18 is extremely high, and as in the first embodiment, the outline KHE of the inner edge of the board KB can be clearly recognized. Note that instead of the dark coating 22M, the upper surface of the support table 22 may be surface-treated to make the upper surface dark. For example, the upper surface of the support table 22 may be darkened by performing an anodizing process on the upper surface of the support table 22 and adsorbing a dark dye into the inside of the holes of a porous layer formed on the upper surface of the support table 22.

(Embodiment 4)
Next, a description will be given of a fourth embodiment of the present invention. The component mounting device in the fourth embodiment differs from the component mounting device 1 in the first embodiment only in the light reflection suppressing means.

Figure 18 shows the lower support part 13 provided in the component mounting device 1 in the fourth embodiment. In the fourth embodiment, a plate member 22P, at least the upper surface of which is made of a magnetic material, is attached to the upper surface of the lower support table 22 by a number of screws 22S. A lower support pin 23G, which is configured by replacing the insertion protrusion 23T of the lower support pin 23 in the first embodiment with a magnet 23M embedded in the base 23B, is attached to the upper surface of the plate member 22P by being attracted by the magnetic force between the magnet 23M and the plate member 22P (see also Figures 19(a) and (b)).

The light reflection suppression means in the component mounting device 1 in the fourth embodiment is composed of a magnetic sheet 61 that is attached to the upper surface of the plate member 22P by magnetic force (Fig. 18 and Fig. 19(a) and (b)). At least the upper surface (the surface that reflects light) of the magnetic sheet 61 is dark (preferably black) in color, so that the reflection of light incident on that surface is suppressed. The magnetic sheet 61 can be attached to any position on the support table 22, but here it is attached to the upper surface of the support table 22 in a position that covers the position directly below (or in the vicinity of) each of the multiple board holes KH of the board KB positioned at the work position.

The magnetic sheet 61 may be made of a magnet itself (Fig. 19(a)), or may be configured as a magnetic sheet 61 as a whole by providing a magnet 61b on the underside of a sheet member 61a whose upper surface is a dark color (preferably black) (Fig. 19(b)). Here, if the surface (head) of the screw 22S is not painted a dark color, the surface is painted a dark color (preferably black).

In this way, in the component mounting device in embodiment 4, a light reflection suppression means (magnetic sheet 61) that suppresses light from reflecting upward is provided below the board hole KH of the board KB positioned at the work position, so that the amount of light that is reflected below the board KB (the upper surface of the lower support table 22) and then enters the board recognition camera 18 through the board hole KH is greatly reduced. Therefore, the contrast between the surface of the board KB and the inside of the board hole KH in the image GZ of the board hole KH captured by the board recognition camera 18 is extremely high, and the outline KHE of the inner edge of the board hole KH can be clearly recognized, as in embodiment 1. In addition, in embodiment 4, as in embodiment 3, if a dark (preferably black) coating is formed on at least the upper surface (the surface that reflects light) of the plate member 22P, the coating can be used as a light reflection suppression means.

As described above, the component mounting device 1 in embodiments 1 to 4 is provided with a light reflection suppression means below the board hole KH of the board KB positioned at the work position to suppress light from reflecting upward, so that the amount of light that is reflected below the board KB (the upper surface of the support table 22) and then passes through the board hole KH and enters the board recognition camera 18 is greatly reduced. As a result, the contrast between the surface of the board KB and the inside of the board hole KH in the image GZ of the board hole KH captured by the board recognition camera 18 is extremely high, and the contour KHE of the inner edge of the board hole KH can be clearly recognized. This also makes it possible to mount components BH on the board KB with high precision.

Although the embodiments of the present invention have been described so far, the present invention is not limited to the above, and various modifications are possible. For example, in the above-mentioned embodiment, the coating film 22M, the adhesive sheet 31, the pinhole insertion type sheet 51 (including the mountain-shaped sheet 51A and the inverted mountain-shaped sheet 51B), the pin-mounted type sheet 52, the pinhole insertion type bottomed tubular member 53, the pin-mounted type bottomed tubular member 54, and the magnet sheet 61 are shown as light reflection suppression means, but the light reflection suppression means may be any means that suppresses light from reflecting upward below the substrate transport section 12, and is not limited to those shown in the embodiment. In addition, the light reflection suppression means does not necessarily have to be attached to the lower support table 22, but may be provided below the substrate transport section 12.

To provide a component mounting device that can clearly recognize through-holes that penetrate a substrate and mount components with high precision.

REFERENCE SIGNS LIST 1 Component mounting device 12 Board transport section 12a Conveyor 18 Board recognition camera (imaging section)
19 Illumination unit 22 Support table (table member)
22H Pin insertion hole 22M Coating film (light reflection suppression means)
23, 23G Lower support pin 31 Adhesive sheet (light reflection suppression means) (sheet-like member)
43 Recognition judgment unit (recognition unit)
51 Pinhole insertion type sheet (light reflection suppression means) (sheet-like member)
51T: Hole insertion portion 51A: Mountain-shaped sheet (light reflection suppression means)
51B Inverted mountain-shaped sheet (light reflection suppression means)
52 Pin-mounted sheet (light reflection suppression means) (sheet-like member)
52H Pin insertion hole 53 Pin hole insertion type bottomed cylindrical member (light reflection suppression means)
53a: bottom portion 53b: side wall 53T: hole insertion portion 54: pin-mounted bottomed cylindrical member (light reflection suppression means)
54a: bottom portion 54b: side wall 54H: pin insertion hole 61: magnetic sheet (light reflection suppression means)
BH Parts KB Board KH Board hole (through hole)
KHE Inner edge contour GZ Image

Claims (12)

A component mounting device that mounts components on a substrate having a through hole penetrating in a thickness direction,
a substrate transport section that supports both ends of the substrate in a width direction by a pair of conveyors, transports the substrate, and positions the substrate at a predetermined work position;
an illumination unit that is disposed above the substrate transport unit and illuminates the substrate positioned at the work position;
an imaging unit that is disposed above the board transport unit and captures an image of the through hole in a state in which the board is illuminated by the illumination unit;
a light reflection suppression means for suppressing light from being reflected upward at a position directly below the through hole or in the vicinity thereof below the substrate transport unit;
A component mounting device comprising: The component mounting device according to claim 1, further comprising a recognition unit that recognizes the contour of the inner edge of the through hole based on the contrast between the brightness of the surface of the substrate and the brightness of the inside of the through hole obtained from the image of the through hole captured by the imaging unit. The component mounting device according to claim 1 or 2, wherein the light reflection suppression means suppresses light reflection by having a light reflecting surface that is a dark color. The component mounting device according to any one of claims 1 to 3, wherein the illumination unit is integral with the imaging unit and can freely move above the substrate. The component mounting device according to any one of claims 1 to 4, further comprising a table member that holds a lower support pin that supports the substrate positioned at the work position, and the light reflection suppression means is provided on the table member. The component mounting device according to claim 5, wherein the light reflection suppression means is made of a sheet-like member attached to the upper surface of the table member. The component mounting device according to claim 5, wherein the table member has a pin insertion hole into which the lower support pin is inserted from above, and the light reflection suppression means is made of a sheet-like member having a hole insertion portion that is inserted into the pin insertion hole. The component mounting device according to claim 5, wherein the light reflection suppression means is made of a sheet-like member having pin insertion holes that are inserted through the support pins held by the table member. The component mounting device according to claim 5, wherein the table member has a pin insertion hole into which the lower support pin is inserted from above, and the light reflection suppression means has a bottom portion with a hole insertion portion inserted into the pin insertion hole, and a cylindrical side wall extending upward from the bottom portion. The component mounting device according to claim 5, wherein the light reflection suppression means has a bottom portion having a pin insertion hole through which the lower support pin held by the table member is inserted and attached, and a cylindrical side wall extending upward from the bottom portion. The component mounting device according to claim 5, wherein the light reflection suppression means is a dark-colored coating formed on at least the upper surface of the table member. The component mounting device according to claim 5, wherein the table member comprises a plate member having at least an upper surface made of a magnetic material, and the light reflection suppression means comprises a magnetic sheet that is attached to the upper surface of the plate member by being attracted by magnetic force.

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