Component mounting machine

A component mounting machine comprising:

• a head that holds a nozzle capable of picking up a component so as to be movable upward and downward;
• a moving device for moving the head in a horizontal direction;
• a component supply device for supplying the component;
• a board holding device for holding a board on which the component is mounted;
• an imaging device provided between the component supply device and the board holding device for irradiating the component held by the nozzle with light to image the component from below;
• a storage device for storing an imageable range of the imaging device according to a type of component;
• a setting device for obtaining a clearance height at which an obstacle between the imaging device and a predetermined mounting position on the board can be avoided, extracting the imageable range of a component to be mounted from the storage device, and setting a target height of a lower surface of the component held by the nozzle when the nozzle passes above the imaging device such that the target height is closest to the clearance height within the imageable range;
• and
• a control device for controlling the nozzle, the head, and the moving device such that a component supplied by the component supply device is picked up by the nozzle, an operation of lifting the nozzle such that the lower surface of the component held by the nozzle is located at the target height and an operation of moving the nozzle to the imaging device are performed in parallel or sequentially, and, after the imaging using the imaging device, the nozzle is moved to the predetermined mounting position on the board such that the lower surface of the component held by the nozzle is located at the clearance height, or at the target height or the clearance height when the target height is equal to or more than the clearance height, and the component is mounted on the predetermined mounting position,
• wherein the imaging device includes an adjustment mechanism capable of changing a height of the imaging device, and
• wherein the control device updates the target height so as to approach the clearance height in a case where the target height does not coincide with the clearance height, and controls the adjustment mechanism of the imaging device such that a distance from the target height to the imaging device after the updating falls within an imageable range.

A component mounting machine comprising:

• a head that holds a nozzle capable of picking up a component so as to be movable upward and downward;
• a moving device for moving the head in a horizontal direction;
• a component supply device for supplying the component;
• a board holding device for holding a board on which the component is mounted;
• an imaging device provided between the component supply device and the board holding device for irradiating the component held by the nozzle with light to image the component from below;
• a storage device for storing an imageable range of the imaging device according to a type of component;
• a setting device for obtaining a clearance height at which an obstacle between the imaging device and a predetermined mounting position on the board can be avoided, extracting the imageable range of a component to be mounted from the storage device, and setting a target height of a lower surface of the component held by the nozzle when the nozzle passes above the imaging device such that the target height is closest to the clearance height within the imageable range;
• and
• a control device for controlling the nozzle, the head, and the moving device such that a component supplied by the component supply device is picked up by the nozzle, an operation of lifting the nozzle such that the lower surface of the component held by the nozzle is located at the target height and an operation of moving the nozzle to the imaging device are performed in parallel or sequentially, and, after the imaging using the imaging device, the nozzle is moved to the predetermined mounting position on the board such that the lower surface of the component held by the nozzle is located at the clearance height, or at the target height or the clearance height when the target height is equal to or more than the clearance height, and the component is mounted on the predetermined mounting position,
• wherein the head holds multiple of the nozzles,
• wherein the setting device extracts imageable ranges of respective components to be mounted from the storage device, obtains an overlapping range of all the read imageable ranges, and sets the target height so as to be closest to the clearance height within the overlapping range, and
• wherein the control device controls the nozzle, the head, and the moving device such that the component supplied by the component supply device is picked by the nozzle, the operation of lifting the nozzle such that the lower surface of the component held by the nozzle is located at the target height and the operation of moving the nozzle to the imaging device are performed in parallel or sequentially, and, after the imaging using the imaging device, the nozzle is moved to the predetermined mounting position on the board such that the lower surface of the component held by the nozzle is located at the clearance height, or at the target height or the clearance height when the target height is equal to or more than the clearance height, and the component is mounted on the predetermined mounting position.