Patent ID: 11877401
Assignee: FUJI CORPORATION
Field: Audio-visual technology (Electrical engineering)
Classification: CPC H  G | IPC G  H

Claim 4:
5. A calculation method for calculating a position of the lead of a component held by a component holding tool in a work machine provided with a holding head provided with multiple component holding tools, the component holding tools including four suction nozzles equally spaced on a first circumference, a moving device configured to move the holding head in a horizontal plane direction and a vertical direction, a holding head rotating device configured to rotate the holding head, an imaging device provided with side lighting configured to emit light from a side direction onto leads of the components held by the component holding tools, the side lighting including four light sources that are evenly spaced on a second circumference, the calculation method comprising:
performing a series of operations including
lowering the holding head such that the leads of at least two components held by at least two of the multiple component holding tools enter a lighting range of the side lighting, and rotating the holding head such that the four suction nozzles face the four light sources in a first direction and a second direction perpendicular to each other, the first direction and the second direction being perpendicular to the vertical direction;
collectively imaging the leads of the at least two components based on reflected light of the side lighting that is reflected by the leads of the components; and
raising the holding head; and

calculating a position of the leads of the at least two components based on image data imaged in the collective imaging,
wherein the series of operations is performed only once to calculate the position of the leads of the at least two components.