A substrate position detection device includes: an irradiator that irradiates a predetermined range of a substrate with a predetermined light; an imager that takes an image of the predetermined range of the substrate irradiated with the predetermined light; a moving mechanism that causes a relative movement of the imager and the substrate; and a controller that: detects a position of the substrate by sequentially executing to a plurality of recognition objects on the substrate: a moving process of relatively moving the imager to a position corresponding to a predetermined recognition object among the plurality of recognition objects on the substrate; an imaging process of taking an image of the predetermined recognition object under a predetermined imaging condition; and a recognition process of recognizing the predetermined recognition object based on image data obtained by the imaging process.

A component mounting machine includes multiple component supply devices which respectively include multiple component supply units and are exchangeably equipped; a component transfer device in which a reference height as a reference of a lifting and lowering operation of a mounting nozzle is set; a height memory section which memorizes a height unique value that is unique for each component supply device and that is a height unique value based on unit heights of each component supply unit when the component supply device is equipped; and a height correction control section which corrects a lowering operation stroke amount of the mounting nozzle based on the height unique value of the equipped component supply device. Accordingly, an error in a height direction can be comprehensively absorbed and the component can be stably picked up by controlling a component pick-up operation of the mounting nozzle based on the height unique value.

An unmanned conveyance vehicle includes a monitoring section which includes, as monitoring regions for detecting obstacles, a first monitoring region and a second monitoring region which is capable of detecting obstacles that are more distant than the first monitoring region, and a light emitting section which emits light in the first monitoring region, in which when an obstacle is detected within the first monitoring region, a vehicle is caused to perform an emergency stop. Ordinarily, when the unmanned conveyance vehicle stops the light emission of the light emitting section and detects an obstacle within the second monitoring region, the unmanned conveyance vehicle causes the light emitting section to emit light. Accordingly, when an operator enters the second monitoring region, the operator is capable of recognizing a distance at which, when reached by the unmanned conveyance vehicle, the unmanned conveyance vehicle will perform the emergency stop.

Apparatus (200, 300, 400) for component positioning comprises at least one receptacle (212, 412) configured to receive a number of components (103) to be placed on a target substrate (108, 111), agitator (210, 410) configured to exert force impulses, such as abrupt force impulses, on the receptacle so as to cause the components to change their position inside the receptacle, inspection equipment (216, 316, 416) configured to verify the position of the components inside the receptacle, and pick and place equipment (206, 306, 406) configured to pick one or more components from the receptacle that fulfil a predefined position criterion and place the components on the target substrate. A related method for component positioning is presented.

A control device controls a control target apparatus including a moving part and an imaging device. The moving part is configured to change its position relative to a target as the moving part moves, and the imaging device is configured to acquire captured image of the target. Additionally, the control device includes a drive unit that drives the moving part, based on a drive command signal to move the moving part to a target position. Further, the control device includes a relative position estimation unit that calculates an estimated value of a relative position between the target and the imaging device, based on the drive command signal. Additionally, the control device includes a template image correction unit that corrects a preregistered template image, based on a time-series signal of the estimated value of the relative position within an imaging time of the imaging device, and a target position correction unit that corrects the target position using the corrected template image.

A receiving device for components. The receiving device is designed to be adjusted in a controlled manner relative to a deposit point at least partly along a first, second, and/or third axis by at least one linear drive and/or move a support guided by the receiving device along one of the first and/or second axes by a drive. The receiving device has a position sensor which is paired with a component deposit point in order to detect a component which has only been partly deposited in a pocket of the support at the component deposit point, where the position sensor is connected to the receiving device laterally of the support such that the position sensor is moved directly together with the receiving device.

A component supply device including a component storage device that stores a plurality of components, a component support member on which the components from the component storage device are dispersed, and a component return device that returns the components on the component support member to the component storage device, is provided. In a case where the necessary number of components exceeds the number of holdable components, return work of the components to the component container and dispersal work of the components to the component support section are carried out prior to holding the components from the component support section by the component holding tool.

A mounting system of the present disclosure includes a mounting line including multiple mounting machines aligned side by side in a predetermined arrangement direction and configured to mount components on a board, a supply device configured to move in the arrangement direction to convey members for use in the mounting machines and supply the members to the mounting machines, and a display section provided on each of the mounting machines and configured to change their display modes in accordance with a movement of the supply device.

A mark recognition device is applied to a substrate including a marked region. The mark recognition device includes; an image collecting mechanism and a first light source. The first light source emits a light beam, the light beam includes a first light beam and a second light beam. The first light beam is irradiated to the marked region of the substrate and blocked by a mark of the marked region to generate a marked orthographic projection on the image collecting mechanism. The second light beam is transmitted to the image collecting mechanism to form transmitted light. The image collecting mechanism recognizes the mark according to the marked orthographic projection of the mark and the second light beam. Recognition accuracy of the mark is effectively improved in embodiments of the present application.

A working system includes multiple modules constituting a work line, a moving body that moves along the work line in which the multiple modules are arranged to supply necessary members to each module, and a line constituent member constituting a part of the work line. The line constituent member can be installed on the moving path of the moving body and has a light projecting section that projects light toward the moving body along the moving path of the moving body. The moving body has a sensor configured to detect the presence of an interfering object; a light receiving section configured to receive light from the light projecting section, and a control section configured to monitor for the presence of the interfering object within a detection range of the sensor.