Surface mounting machine

The present invention relates to a surface mounter that takes out a component from a component supply unit by a movable head unit provided with a plurality of suction heads capable of sucking the component and mounts the component on a substrate.

Conventionally, as shown in Patent Document 1 below, in a surface mounter that transports components supplied from a component supply unit and mounts them on a substrate by a head unit provided with a plurality of suction heads (mounting heads). As means for imaging the parts sucked on the suction head and recognizing the suction state, the first parts recognition means equipped with a camera for image-taking parts attached to the head unit and the base of the mounting machine are used. A second component recognition means equipped with a fixedly attached camera for capturing components is provided.

Then, in the surface mounter disclosed in Patent Document 1, of the above two types of component recognition means, the first component recognition means attached to the head unit is used to use a small chip component such as an IC. By taking an image and imaging a large component such as a QFP with a second component recognizing means fixedly mounted on the base, the above two types of component recognizing means are used properly.<patcit num="1"><text>Japanese Patent Application Laid-Open No. 2005-150387</text></patcit>

<p> By the way, in the surface mounter described in Patent Document 1, in order to image a large component, the mounting machine is used between the time when the component is taken out from the component supply unit by the head unit and the time when the component is mounted on the substrate. Since it is necessary to move the head unit above the fixed second component recognition means provided on the base of the above, the component take-out position in the component supply unit, the second component recognition means, and the substrate. Depending on the positional relationship between the three parties, it may be necessary to largely bypass the movement path of the head unit between the time the component is taken out and the time it is mounted on the board. Therefore, in particular, when the ratio of large parts to the parts to be mounted on the board increases, the total moving distance of the head unit becomes long, and the time required to finish mounting all the parts on the board increases. The problem arises that efficiency is reduced.</p><p> The present invention has been made in view of the above circumstances, and effectively improves the mounting efficiency of parts by efficiently performing image recognition of parts sucked by the suction head regardless of the size of the parts. It is an object of the present invention to provide a surface mounter capable of capable.</p>

<p> To solve the above problems, the invention according to claim 1 of the present application takes out a component from a component supply unit by a movable head unit provided with a plurality of suction heads capable of sucking the component and mounts the component on a substrate. This is a surface mounter, and as a means for image recognition of the parts adsorbed on the plurality of suction heads, a camera for small parts that captures the parts at a relatively high magnification corresponding to the size of the small parts, and a large size It is characterized in that a camera for large parts that images a part at a relatively low magnification corresponding to the size of the part is attached to the head unit so as to be movable along the arrangement direction of the suction heads. Claim 1).</p><p> According to the present invention, the head unit is provided with both a camera for small parts that captures images at a high magnification suitable for small parts and a camera for large parts that captures images at a low magnification suitable for large parts. By moving either or both of the above along the arrangement direction of each suction head, the imaging can be properly performed regardless of the size of the component sucked by each suction head. Therefore, unlike the case where a fixed camera is provided on the base of the mounting machine and the large parts are imaged by the fixed camera, the head unit is moved above the fixed camera each time the large parts are imaged. It is possible to efficiently image the parts by each of the above cameras while the head unit moves from the parts supply unit to the board, and it is possible to effectively improve the mounting efficiency of the parts on the board.</p><p> In the invention according to claim 2 of the present application, the camera for small parts and the camera for large parts can be moved independently of each other.</p><p> According to this configuration, by driving the camera for small parts and the camera for large parts independently of each other, each camera can be moved at high speed, and the time required for imaging the parts can be effectively shortened. There is an advantage.</p><p> The invention according to claim 3 of the present application is in the case where the component to be imaged by the camera for small parts and the component to be imaged by the camera for large parts are mixed and sucked by the plurality of suction heads. , The above two cameras start moving at the same time or substantially at the same time to take an image of the component.</p><p> According to this configuration, unlike the case where the imaging operation of one of the camera for small parts and the camera for large parts is completed and then the imaging operation of the other is started, for example, both the small parts and the large parts are used. There is an advantage that the required time can be effectively shortened by imaging at substantially the same time.</p><p> In the invention according to claim 4 of the present application, the head unit is provided with a single ball screw shaft extending along the arrangement direction of the suction heads, and the ball screw shaft is provided with the camera for small parts and the camera for large parts. Is supported, and the rotation of the motor causes the camera for small parts and the camera for large parts to move in the axial direction of the ball screw shaft.</p><p> According to this configuration, there is an advantage that the number of parts of the ball screw shaft can be reduced and the device can be made compact.</p><p> The invention according to claim 5 of the present application is a surface mounter that takes out a component from a component supply unit by a movable head unit provided with a plurality of suction heads capable of sucking the component and mounts the component on a substrate. The control unit that comprehensively controls the operation of the mounting machine stores component size reference value data for distinguishing components into small components and large components, and mounts this component size reference value data and the above board on the board. By comparing the sizes of the parts to be mounted, the parts mounted on the substrate are classified into small parts imaged by the camera for small parts and large parts imaged by the camera for large parts. Based on the results, the operation of sucking only small parts to the plurality of suction heads and taking an image with the camera for small parts, the operation of sucking only large parts and taking an image with the camera for large parts, and the small size. One of the operations of mixing and sucking parts and large parts and taking an image by using a camera for small parts and a camera for large parts in combination is set by the control unit.</p><p> According to this configuration, the size of the component mounted on the substrate can be easily determined, and an appropriate image can be obtained in a short time regardless of the component size of the small component and the large component.</p>

<p> As described above, according to the surface mounter of the present invention, the image recognition of the component sucked by the suction head can be efficiently performed regardless of the component size, and the component mounting efficiency can be effectively improved. Can be done.</p>

1 and 2 are views schematically showing a surface mounter 1 according to an embodiment of the present invention. As shown in FIGS. 1 and 2, a conveyor 2 for transporting the printed circuit board 3 (hereinafter, simply abbreviated as the substrate 3) is arranged on the base 10 of the surface mounter 1, and the conveyor 2 is arranged. The substrate 3 transported to a predetermined mounting work position (position indicated by the alternate long and short dash line in FIG. 1) is positioned and held by a clamp mechanism (not shown). In the following description, the transport direction of the substrate 3 by the conveyor 2 is the X-axis direction, the direction orthogonal to the X-axis on the horizontal plane is the Y-axis direction, and the direction orthogonal to the X-axis and the Y-axis (that is, the vertical direction). The explanation will proceed in the Z-axis direction.

Parts supply units 4 for supplying parts are provided on both sides of the base 10 in the Y direction, and each of these parts supply units 4 is a large number of rows of tapes arranged side by side in the X-axis direction. It is composed of feeder 5. Each tape feeder 5 has a tape in which small pieces such as ICs, transistors, capacitors, and resistors are stored at predetermined intervals (supply pitch), and a reel for deriving the tape, which will be described later. The reel is configured to intermittently feed the tape as the parts in the tape are picked up by the head unit 6.

A head unit 6 for transporting parts is provided above the base 10. The head unit 6 is movably supported on the base 10 in the X-axis direction and the Y-axis direction, and can freely move between the substrate 3 positioned at the mounting work position and the component supply unit 4. It is configured as follows.

That is, a pair of fixed rails 9 extending in the Y-axis direction and a ball screw shaft 14 rotationally driven by the Y-axis servomotor 15 are arranged on the base 10 to support the head unit 6. The support member 7 is movably supported along the fixed rail 9 in the Y-axis direction, and the nut member 16 provided on the support member 7 is screwed with the ball screw shaft 14. Further, the support member 7 is provided with a guide member 13 extending in the X-axis direction and a ball screw shaft 12 rotationally driven by the X-axis servomotor 11, and is a nut member screwed with the ball screw shaft 12. The head unit 6 provided with (not shown) is supported so as to be movable in the X-axis direction along the guide member 13. Then, when the Y-axis servomotor 15 operates and the ball screw shaft 14 is rotationally driven, the support member 7 is screw-fed and moves integrally with the head unit 6 in the Y-axis direction, and the X-axis servomotor The head unit 6 is configured to move in the X-axis direction with respect to the support member 7 by operating 11 and rotationally driving the ball screw shaft 12.

The head unit 6 is equipped with a plurality of suction heads 20 for sucking and holding parts. In this embodiment, six suction heads 20 are arranged in a row in the X-axis direction. It is installed.

Each of these suction heads 20 is supported so as to be able to move in the Z-axis direction and rotate around the R-axis (head central axis) with respect to the main body of the head unit 6, and uses a servomotor (not shown) as a drive source. It is driven in each of the above directions by an elevating drive mechanism and a rotation drive mechanism.

A nozzle 20a for sucking parts is provided at the tip of each suction head 20. Each nozzle 20a is connected to a negative pressure supply means (not shown), and when the parts are taken out from the parts supply unit 4, the parts are supplied by supplying negative pressure to the tip of the nozzle 20a from the negative pressure supply means. Is being adsorbed.

Further, two cameras 21 and 22 as scan-type imaging means that can move along the arrangement direction (X-axis direction) of the suction heads 20 are attached to the head unit 6, and each of these cameras 21 is attached. , 22 allows the parts sucked by each of the suction heads 20 to be imaged during the transportation.

Each of the above cameras 21 and 22 is used properly according to the size of the suction component. For example, the camera 21 is used when imaging a relatively small component composed of a chip component such as an IC, and a relatively large camera such as a QFP is used. A camera 22 is used to image a component. In the following, the camera 21 for photographing small parts will be referred to as a camera for small parts, and the camera 22 for photographing large parts will be referred to as a camera for large parts.

Next, the specific configurations of the camera 21 for small parts and the camera 22 for large parts will be described with reference to FIGS. 3 and 4. Note that FIG. 3 is a rear view of the lower portion of the head unit 6 as viewed from the + Y side, and FIG. 4 is a side sectional view of the portion as viewed from the + X side.

First, the camera 21 for small parts will be described. The camera 21 for small parts has, as its main components, a camera body 25 equipped with a line sensor including, for example, a one-dimensional CCD image sensor, and a reflection for guiding an image of the suction component C to the camera body 25. It has a mirror 27, an illuminating body 29 for irradiating the adsorption component C with illuminating light, a camera body 25, a reflective mirror 27, and a support frame 31 for supporting the illuminating body 29.

The support frame 31 is provided with a window portion 31a that is open upward, and an image of the component C that is attracted to the suction head 20 is guided to the camera body 25 through the window portion 31a. That is, at the time of imaging the component C, the illumination body 29 is turned on with the window portion 31a arranged below the suction head 20, so that the component C is attracted to the lower end portion (nozzle 20a) of the suction head 20. An image of the lower surface of the component C is incident on the reflection mirror 27 through the window portion 31a, and the image of the component C reflected in different directions by the reflection mirror 27 is captured by the camera body 25. In FIG. 4, reference numeral 25a is a condenser lens portion, and the image of the component C reflected by the reflection mirror 27 is magnified to a predetermined magnification by passing through the condenser lens portion 25a, and then the camera. It is guided to the main body 25 (more specifically, a light receiving element provided inside the main body 25).

Then, the imaging operation of the component C by the camera 21 for small components is sequentially performed along with the movement of the camera 21 in the X-axis direction (the drive system thereof will be described in detail later), whereby each of the above adsorptions is performed. A plurality of parts C adsorbed on the head 20 are imaged non-stop.

On the other hand, the camera 22 for large parts also has a camera body 26, a reflection mirror 28, an illuminator 30, and a support frame 32, as in the case of the camera 21 for small parts. Further, reference numeral 32a in the figure is a window portion of the support frame 32, and 26a is a condenser lens portion of the camera body 26.

As described above, the camera 21 for small parts and the camera 22 for large parts basically have the same component configuration. However, each of these cameras 21 and 22 has a different size of component C suitable for imaging, for example, because lenses having different magnifications and apertures are used for the condensing lens portions 25a and 26a of the camera bodies 25 and 26. It is configured. Specifically, the camera 21 for small parts is configured to image part C at a relatively high magnification corresponding to the size of small parts such as ICs, and the other camera 22 for large parts is large such as QFP. It is configured to image component C at a relatively low magnification corresponding to the size of the component. That is, when the imaging target is a small component, it is necessary to magnify the component C to some extent in order to accurately check the adsorption state, while when the imaging target is a large component, it is enlarged too much. Since it is not possible to capture the entire image of component C, the optical systems of each of the above cameras 21 and 22 are set in order to perform imaging at an appropriate magnification (zoom magnification) according to the size of each component. ..

As described above, the two types of cameras 21 and 22 with different zoom magnifications have different sizes of component C suitable for imaging, but the specific range is the aperture of the condenser lens portions 25a and 26a. It can be set as appropriate according to the optical system such as magnification. The proper size of the part C that can be imaged by the camera 21 for small parts is, for example, a square with a side length of about 0.2 mm to 10 mm, and the proper size of the part C that can be imaged by the camera 22 for large parts is, for example, a square. In this case, the length of one side is set to about 5 mm to 30 mm.

Next, the drive system of the camera 21 for small parts and the camera 22 for large parts will be described. A guide rail 41 extending in the X-axis direction is attached to the head unit 6, and sliders 35 and 36 slidably provided along the guide rail 41 are used for the camera 21 for small parts and the large parts. Each support frame 31 and 32 of the camera 22 is attached.

Hollow motors 37 and 38 are built in each of the sliders 35 and 36, respectively, and one ball screw shaft 42 extending in the X-axis direction in parallel with the guide rail 41 holds the hollow motors 37 and 38, respectively. It is provided in a penetrating state. Further, a nut member (not shown) screwed with the ball screw shaft 42 is integrally connected to the hollow motors 37 and 38 in a state of being rotatable around the X axis. Then, the hollow motors 37 and 38 are operated to rotationally drive the nut member in the forward direction or the reverse direction, and the sliders 35 and 36 are screwed along the ball screw shaft 42 accordingly. The small component camera 21 and the large component camera 22 are configured to move individually in the + X direction or the -X direction.

Next, the control system of the surface mounter 1 configured as described above will be described with reference to the block diagram of FIG. As shown in this figure, the surface mounter 1 has a built-in control unit 50 for comprehensively controlling the operation of each part thereof. The control unit 50 is composed of a well-known CPU, various memories (RAM and ROM), etc., and its main functional elements are a main control unit 51, an image processing unit 52, a camera control unit 53, and an axis control unit. Has 54. Further, the control unit 50 stores component size reference value data for determining the component size.

The axis control unit 54 drives the X-axis servomotor 11 and the Y-axis servomotor 15 for moving the head unit 6, and a servomotor (not shown) for moving each suction head 20 in the vertical direction or the like. It controls the drive of.

The camera control unit 53 controls the operations of the camera bodies 25, 26, the illuminators 29, 30, and the hollow motors 37, 38 of the small component camera 21 and the large component camera 22, respectively. It controls the imaging operation of the component C by the cameras 21 and 22 (that is, the operation of imaging the component C while moving along the row of the suction heads 20).

The image processing unit 52 captures each image captured by the camera bodies 25 and 26 and performs predetermined image processing on those images.

The main control unit 51 is responsible for the central function of the control unit 50, and executes various operations while exchanging various data with other functional elements (52,53,54). As a result, the operations of the head unit 6 and the cameras 21, 22 and the like are controlled in an integrated manner.

Under the control of the control unit 50 configured as described above, the surface mounter 1 performs the component mounting operation as follows, for example.

When the mounting operation is started, the substrate 3 is first carried by the conveyor 2 to the mounting work position shown in FIG. 1 and positioned. Next, the head unit 6 moves above the component supply unit 4, and the component C is sucked and taken out from the predetermined tape feeder 5 in the component supply section 4 by each suction head 20 of the head unit 6.

When the removal of the component C from the component supply unit 4 is completed in this way, the head unit 6 starts moving toward the substrate 3 in order to transport the component C to the substrate 3. Then, in the middle of this movement, either or both of the camera 21 for small parts and the camera 22 for large parts are operated to take an image of the part C sucked by each of the suction heads 20.

Which camera captures the image is determined based on the size of the component size determined by the control unit 50. That is, the component size reference value data stored in advance in the control unit 50 is compared with the size of the component C mounted on the substrate 3. Then, when the component C mounted on the substrate 3 has a size of, for example, a square having a side length of less than 10 mm, it is determined that the component C is a small component to be imaged by the small component camera 21. If the length of one side of the square is 10 mm or more, it is determined that the square is a large component to be imaged by the large component camera 22. The size of component C is determined based on a mounting program (a program in which the mounting order of components, various operating parameters, etc. are defined) stored in the control unit 50 in advance.

Specifically, the imaging of the component C is performed, for example, as follows, depending on the size of the component C adsorbed on each of the suction heads 20. In the following, among the suction parts C, the parts that should be imaged by the camera 21 for small parts (for example, in the case of a square part, the length of one side is less than 10 mm) are selected by the small part C1 and the camera 22 for large parts. The part to be imaged (for example, in the case of a square part, the one with a side length of 10 mm or more) is called a large part C2.

(1) When the suction parts are only small parts As shown in FIG. 6, when the control unit 50 is set so that all the parts sucked on each suction head 20 are small parts C1 (that is, the control unit 50 is based on a pre-stored mounting program or the like. When only the small component C1 is attracted to each suction head 20), only the small component camera 21 moves along the row of the suction heads 20, and the small component camera 21 causes the small component C1 to move. Imaging is performed. At this time, the camera 22 for large parts that does not need to operate is retracted to the outside of the moving range of the camera 21 for small parts in advance.

(2) When the suction parts are only large parts As shown in FIG. 7, when the control unit 50 is set so that all the parts sucked on each suction head 20 are the large parts C2, only the camera 22 for large parts is in the row of the suction heads 20. The large component camera 22 captures images of each of the large component C2s. At this time, the camera 21 for small parts that does not need to operate is retracted to the outside of the moving range of the camera 22 for large parts in advance.

(3) When small parts and large parts are mixed in the suction parts As shown in FIG. 8, when the control unit 50 is set so that the small part C1 and the large part C2 are mixed in the parts sucked by each suction head 20, the camera for small parts is described above. Both 21 and the camera 22 for large parts are moved from the state where they are lined up in close proximity to perform imaging. Specifically, the cameras 21 and 22 start moving at the same time or with a slight time lag from one end of the moving range, and move together along the rows of the suction heads 20 as described above. The small component C1 and the large component C2 are shared and imaged. When the movement is started with a time lag, the small parts camera 21 starts moving, and then the large parts camera 22 starts moving with a slight delay.

Then, when the imaging of the component C (small component C1 and large component C2) adsorbed on each suction head 20 is completed as described above, the mounting of each component C on the substrate 3 is obtained by the above imaging. It is performed by reflecting the adsorption deviation of each component C obtained from the image. That is, when the head unit 6 moves to each mounting point on the substrate 3, the suction deviation of each component C examined based on the images captured by the cameras 21 and 22 (that is, the component sucked by each suction head 20). By appropriately correcting the amount of movement of the head unit 6 according to (positional deviation of C from the normal position) and the like, each component C is properly mounted on the substrate 3.

As described above, in the surface mounter 1 of the above embodiment, the component C is taken out from the component supply unit 4 by the movable head unit 6 provided with the plurality of suction heads 20 capable of adsorbing the component C, and the component C is taken out on the substrate 3. As a means for image recognition of the component C adsorbed on the plurality of suction heads 20, the size of the small component (for example, the component C1 shown in FIGS. 6 and 8) is relatively large. A camera 21 for small parts that captures component C at a high magnification, and a camera 22 for large components that images component C at a relatively low magnification corresponding to the size of the large component (for example, component C2 shown in FIGS. 7 and 8). Are attached to the head unit 6 so as to be movable along the arrangement direction of the suction heads 20. According to such a configuration, there is an advantage that the image recognition of the component C adsorbed on the suction head 20 can be efficiently performed regardless of the component size, and the mounting efficiency of the component C can be effectively improved. is there.

That is, in the above embodiment, the head unit 6 is provided with both the camera 21 for small parts that captures images at a high magnification suitable for small parts and the camera 22 for large parts that captures images at a low magnification suitable for large parts. By moving either or both of these cameras 21 and 22 along the arrangement direction of each suction head 20, the imaging is properly performed regardless of the size of the component C sucked by each of the suction heads 20. be able to. Therefore, unlike the case where a fixed camera is provided on the base 10 of the mounting machine 1 and a large component is imaged by the fixed camera, the head unit 6 is above the fixed camera each time a large component is imaged. It is not necessary to move the parts C, and the parts C can be efficiently imaged by the above-mentioned cameras 21 and 22 while the head unit 6 moves from the parts supply unit 4 toward the board 3. The mounting efficiency can be effectively improved.

Further, in the above embodiment, the component to be imaged by the small component camera 21 (small component C1 shown in FIG. 8) and the component to be imaged by the large component camera 22 (large component C2 shown in FIG. 8). However, when the two cameras 21 and 22 are sucked together by the plurality of suction heads 20, the two cameras 21 and 22 start moving at the same time or with a slight time lag (substantially at the same time), and the two cameras 21 and 22 start moving. Is configured to move together so as to be closely connected or connected at regular intervals to take an image of the component C. Therefore, for example, after the imaging operation of one of the above cameras 21 and 22 is completed. Unlike the case where the other imaging operation is started, there is an advantage that both the small component and the large component can be imaged substantially at the same time and the required time can be effectively shortened.

Further, in the above embodiment, the control unit 50 that comprehensively controls the operation of the surface mounting machine 1 stores component size reference value data for discriminating component C into small component C1 and large component C2. By comparing the component size reference value data with the size of the component C mounted on the substrate 3, the component C mounted on the substrate 3 is imaged by the camera 21 for small components. It is discriminated into a small part C1 and a large part C2 imaged by the camera 22 for large parts, and based on the result, only the small part C1 is sucked by the plurality of suction heads 20 and the camera 21 for small parts The operation of taking an image, the operation of sucking only the large part C2 and taking an image with the camera 22 for the large part, and the operation of sucking the small part C1 and the large part C2 together and sucking the small part camera 21 and the camera 22 for the large part Any of the operations of imaging in combination with the above control unit 50 is set by the control unit 50.

According to this configuration, the size of the component mounted on the substrate 3 can be easily determined, and an appropriate image can be obtained in a short time regardless of the component size of the small component C1 and the large component C2.

In the above embodiment, the camera 21 for small parts and the camera 22 for large parts can be moved independently of each other, but as a different embodiment, both the camera 21 for small parts and the camera 22 for large parts are both movable. Can be moved together by the same drive system. FIG. 9 is a diagram showing an example in the case of such a configuration. In the example of FIG. 9, the camera 21 for small parts and the camera 22 for large parts are both attached to a single slider 101 and integrated. A nut member 102 screwed with the ball screw shaft 42 is provided inside the slider 101, and a servomotor for rotationally driving the ball screw shaft 42 is provided at one end of the ball screw shaft 42. 103 is provided. Then, when the servomotor 103 operates and the ball screw shaft 42 is rotationally driven, the nut member 102 is screwed forward, and the slider 101 and the cameras 21 and 22 attached to the slider 101 are moved in the X-axis direction. It is configured to move integrally.

According to such a configuration, since the two cameras 21 and 22 can be moved by a single drive system including one servomotor 103, there is an advantage that the cost of the device can be reduced. .. However, if this is done, the weight of the driven body including the above two cameras 21 and 22 will increase, and there is a concern that it will be difficult to increase the moving speed thereof.

On the other hand, as in the above embodiment, the hollow motors 37 and 38 are provided in the camera 21 for small parts and the camera 22 for large parts, respectively, and the cameras 21 and 22 are driven by the driving force of each of the motors 37 and 38. When the motors are moved individually, the weight of the driven body driven by the motors 37 and 38 (that is, the individual weights of the cameras 21 and 22) can be reduced, so that the cameras 21 and 22 can be moved individually. Can be moved at a relatively high speed. As a result, the time required for imaging the component C can be effectively shortened. Therefore, for example, when the component C is mounted on the substrate 3 by the head unit 6, the head is before the imaging by the cameras 21 and 22 is completed. There is an advantage that it is possible to effectively suppress that the unit 6 reaches the substrate 3 and an extra waiting time is generated there.

Further, in the above embodiment, as shown in FIGS. 3 and 4, the two cameras 21 and 22 are moved in the X-axis direction along the single ball screw shaft 42, but they are provided in parallel. The two cameras 21 and 22 may be individually moved along the two ball screw shafts 42. As a specific configuration for realizing such a structure, for example, two ball screw shafts 42 extending in parallel in the X-axis direction are provided in the head unit 6, and these two ball screw shafts 42 are provided. It is conceivable that the cameras 21 and 22 are independently moved integrally with the nut members screwed by the ball screw shaft 42, which are individually rotationally driven by the two servomotors.

However, rather than such a configuration, as in the above embodiment, the head unit 6 is provided with a single ball screw shaft 42 extending along the arrangement direction (X-axis direction) of the suction heads 20, and the ball screw shaft is provided. It is better to move the camera 21 for small parts and the camera 22 for large parts independently according to the driving force of the two hollow motors 37 and 38 provided along the 42, so that the number of parts can be increased. It is advantageous in that it can be reduced and the device can be made compact.

Further, in the above embodiment, the camera bodies 25 and 26 of the camera 21 for small parts and the camera 22 for large parts are configured by a one-dimensional camera provided with a line sensor, but the camera bodies 25 and 26 are CCDs. A two-dimensional camera provided with an area sensor or the like may be used. In this case, by adopting strobe illumination that momentarily illuminates the component C, the camera is sucked by each suction head 20 as in the above embodiment. It is possible to image component C non-stop.

<figref num="1">It is a top view which shows typically the surface mounter which concerns on one Embodiment of this invention.</figref><figref num="2">It is a front view of the surface mounter.</figref><figref num="3">It is a rear view which looked at the lower part of the head unit from the + Y side, and is the figure for demonstrating the concrete structure of the camera for small parts and the camera for large parts provided in the said head unit.</figref><figref num="4">It is a side sectional view of the camera for small parts and the camera for large parts seen from the + X side.</figref><figref num="5">It is a block diagram which shows the control system of the said surface mounter.</figref><figref num="6">It is a figure for demonstrating the imaging operation performed when all the suction parts are small parts.</figref><figref num="7">It is a figure for demonstrating the imaging operation performed when all the suction parts are large parts.</figref><figref num="8">It is a figure for demonstrating the imaging operation performed when a small part and a large part are mixed in a suction part.</figref><figref num="9">It is a figure for demonstrating the surface mounter which concerns on other embodiment of this invention.</figref>

Code description

1 Surface mounter 3 Printed circuit board (board) 4 Parts supply 6 head unit 20 Suction head 21 Camera for small parts 22 Camera for large parts 37,38 Hollow motor (motor) 42 ball screw shaft 103 Servo motor (motor) C parts C1 small parts C2 large parts