Work machine

A work machine comprising a work head configured to hold an electrical component having multiple lead terminals; a moving device configured to move the work head in the up-down direction; an imaging device configured to image the electrical component held with work head while being illuminated from the side; and a control device configured to control the operation of the work head and the moving device; wherein the control device calculates the inclination of an electrical component held by the work head based on imaging data of lead terminals of the electrical component imaged by the imaging device while the work head is moved in the up-down direction by the moving device, so that the mounting work of the electrical component is performed by taking the calculated inclination into account.

TECHNICAL FIELD

The present disclosure relates to a work machine for performing a mounting operation of electrical components having multiple lead terminals.

BACKGROUND ART

As described in the following Patent Literature, some work machines perform mounting work of electrical components having multiple lead terminals.

PATENT LITERATURE

BRIEF SUMMARY

Technical Problem

The object of the present disclosure is to appropriately perform mounting work of electrical components having multiple lead terminals.

Solution to Problem

In order to solve the above problem, the present specification discloses a work machine for performing a mounting work of an electrical component, the work machine comprising: a work head configured to hold the electrical component having multiple lead terminals; a moving device configured to move the work head in the up-down direction; an imaging device configured to image the electrical component held with work head while being illuminated from the side; and a control device configured to control the operation of the work head and the moving device; wherein the control device calculates the inclination of an electrical component held by the work head based on imaging data of lead terminals of the electrical component imaged by the imaging device while the work head is moved in the up-down direction by the moving device, the mounting work of the electrical component being performed by taking the calculated inclination into account.

Advantageous Effects

According to the present disclosure, the inclination of the electrical component held in the work head is calculated based on the imaging data of the lead terminals of the electrical component imaged by the imaging device while the work head is moved in the up-down direction, and the mounting work of the electrical component is performed taking the inclination into account. With this configuration, it is possible to appropriately perform mounting work of electrical component having multiple lead terminals.

DESCRIPTION OF EMBODIMENTS

Hereinafter, as a form for carrying out the present disclosure, an embodiment of the present disclosure will be described in detail with reference to the drawings.

(A) Configuration of the Component Mounting Machine

FIG.1shows component mounting machine10. Component mounting machine10is a device for executing the mounting of components to circuit substrate12. Component mounting machine10includes device main body20, substrate conveyance and holding device22, component mounting device24, mark camera26, part camera28, component supply device30, bulk component supply device32, and control device (seeFIG.5)36. Examples of circuit substrates12include circuit boards, substrates having a three-dimensional structure, and the like, and examples of circuit boards include a printed wiring board, a printed circuit board, and the like.

Device main body20includes frame section40and beam section42, which is overlaid on frame section40. Substrate conveyance and holding device22is disposed at the center in the front-rear direction of frame section40, and has conveyance device50and clamping device52. Conveyance device50is a device for conveying circuit substrate12, and clamping device52is a device for holding circuit substrate12. Thus, substrate conveyance and holding device22conveys circuit substrate12and holds circuit substrate12in a fixed manner at a predetermined position. In the following description, the conveyance direction of circuit substrate12is referred to as the X-direction, the horizontal direction perpendicular to the X-direction is referred to as the Y-direction, and the vertical direction is referred to as the Z-direction. That is, the width direction of component mounting machine10is the X-direction, and the front-rear direction is the Y-direction.

Component mounting device24is disposed on beam section42and has two work heads56,58and work head moving device62. Work head moving device62, as shown inFIG.2, is constituted by X-direction moving device63, Y-direction moving device64, and Z-direction moving device65. X-direction moving device63and Y-direction moving device64each have an electromagnetic motor (seeFIG.5)66,68, and with the actuation of each electromagnetic motor66,68, two work heads56,58move integrally to any position on frame section40. Z-direction moving device65includes electromagnetic motors (refer toFIG.5)70,72, whereby sliders74,76are individually moved in the up-down direction by corresponding electromagnetic motors70,72. Work heads56,58are detachably attached to sliders74,76. As a result, work heads56,58are moved individually in the up-down direction by Z-direction moving device65.

Further, each of work heads56,58is configured to mount a component to circuit substrate12, and, as shown inFIG.3, includes head main body80, suction nozzle82, nozzle pivoting device84, and nozzle rotation device86.FIG.3shows work head56,58with the cover (not shown) is removed. Head main body80is detachably attached to slider74,76. Suction nozzle82is detachably attached to the lower end of holder88and communicates with positive and negative pressure supply device (seeFIG.5)90via negative pressure air and positive pressure air passages. Suction nozzle82then picks up and holds the electronic component by negative pressure, and then releases the held electronic component by positive pressure. Holder88is bendable at support shaft92, and by the operation of nozzle pivoting device84, holder88is bent 90 degrees upward. Thus, suction nozzle82, which is attached to the lower end of holder88, is rotated 90 degrees to the pivoted position. That is, suction nozzle82is pivoted between the non-pivoted position and the pivoted position by the operation of nozzle pivoting device84. Of course, it is also possible to position a stop at an angle between the non-pivoted position and the pivoted position. Further, nozzle rotation device86rotates suction nozzle82around its axis.

Further, mark camera26, as shown inFIG.2, is attached to slider74in a downward-facing state, and together with work head56, moves in the X-direction, Y-direction, and Z-direction. Thus, mark camera26is moved to any position by the operation of work head moving device62, and mark camera26images any position on frame section40.

Further, as shown inFIG.1, part camera28is disposed between substrate conveyance and holding device22and component supply device30on frame section40, and faces upward. Thus, work head56/58holding the component is moved to a position above component camera28by the operation of work head moving device62enabling part camera28to image the component held by suction nozzle82. Specifically, as shown inFIG.4, part camera28includes imaging device100, lens102, and laser lighting104. Imaging device100has an imaging element (not shown) and is disposed with the light receiving face upward. Lens102is fixed to the light receiving face of imaging device100, that is, the upper face inFIG.4, and laser lighting104is provided on lens102via box-shaped member105and the like. Laser lighting104is composed of four laser irradiation devices (only two laser irradiation devices are shown in theFIG.106. Four laser irradiation devices106are arranged at four equidistant positions so as to surround the component held by suction nozzle82from the periphery. Four laser irradiation devices106then irradiate toward the component held by suction nozzle82from the four lateral locations. As a result, the component held by suction nozzle82is imaged by imaging device100.

Component supply device30is provided at one end in the front-rear direction of frame section40as shown inFIG.1. Component supply30has tray-type component feeder110and feeder-type component feeder (seeFIG.5)112. Tray-type component feeder110is a device for supplying components placed on tray (seeFIG.6)116. Feeder-type component feeder112is a device for supplying components by a tape feeder or a stick feeder (not shown).

Bulk component supply device32is disposed at the other end in the front-rear direction of frame section40. Bulk component supply device32is a device for aligning multiple scattered components and supplying the components in an aligned state. That is, bulk component supply device32is a device for aligning multiple components in any orientation to a predetermined orientation and supplying the components in the predetermined orientation.

Control device36, as shown inFIG.5, includes controller120, multiple drive circuits122, and image processing device126, as shown inFIG.5. Multiple drive circuits122are connected to conveyance device50, clamping device52, electromagnetic motors66,68,70,72, positive and negative pressure supply device90, tray-type component supply device110, feeder-type component supply device112, and bulk component supply device32. Controller120includes a CPU, ROM, RAM, and the like and is mainly a computer connected to multiple drive circuits122. With this configuration, controller120controls operations of substrate conveyance and holding device22, component mounting device24, and the like. Controller120is also connected to image processing device126. Image processing device126processes image data obtained by mark camera26and part camera28, and controller120acquires various types of information from the image data.

(B) Operation of the Component Mounting Machine

Being configured as described above, component mounter10mounts components on circuit substrate12held by substrate conveyance and holding device22. In component mounting machine10, it is possible to mount various components, and the mounting operation of lead component150will be described below. Lead component150, as shown inFIG.6, consists of block-shaped component main body152and seven leads154protruding from the bottom face of component main body152. The lengths of seven leads154are all the same.

Further, in component mounting machine10, component mounting work is performed on circuit substrate12conveyed in, but circuit substrate12with connector component (seeFIG.7)160already mounted is conveyed into component mounting machine10. As shown inFIG.7, connector component160has seven insertion holes162, and lead component150is mounted in connector component160by way of seven leads154of lead component150being inserted into the seven insertion holes162.

Specifically, when circuit substrate12in which connector component160is mounted is conveyed into component mounting machine10, circuit substrate12is conveyed to the work position and is held by clamping device52in a fixed manner at the work position. Next, mark camera26is moved to a position above circuit substrate12and images circuit substrate12. Then, based on the imaging data, controller120calculates the error in the holding position of circuit substrate12by clamping device52, the positions of insertion holes162of connector component160mounted on circuit substrate12, and the like.

Further, as shown inFIG.6, in tray-type component feeder110of component supply device30, lead component150placed on tray116is supplied. Lead component150is placed on top of tray116so that the bottom face of component main body152of lead component150, from which leads154extend out, is perpendicular to the top face of tray116and a side face of component body152faces upward with leads154being extended parallel to the top face of tray116. One of work heads56,58is then moved by the operation of work head moving device62to a position above lead component150placed on tray116and a lateral face of component main body152of lead component150is picked up and held by suction nozzle82. When lead component150is picked up and held by suction nozzle82, as shown inFIG.3, suction nozzle82is positioned in the non-pivoted position which is in a vertically downward direction. Therefore, lead component150, held by suction nozzle82in the non-pivoted position, is in an orientation in which the lateral face of component main body152faces upward and leads154are directed laterally.

Then, when lead component150is held by suction nozzle82, suction nozzle82pivots to the pivoted position, which is horizontal, by operation of nozzle pivoting device84. In this situation, suction nozzle82is adjusted by the operation of nozzle rotation device86before holding lead component150so that leads154of lead component150held by suction nozzle82in the pivoted position will be directed vertically downward. That is, the pivoting angle of suction nozzle82is adjusted by the operation of nozzle rotation device86before suction nozzle82holds lead component150so that the pivoting direction of suction nozzle82coincides with the extending direction of leads154of lead component150placed on tray116. In this way, lead component150held by suction nozzle82in the pivoted position is in an orientation in which leads154extend downward in the vertical direction.

Next, when suction nozzle82pivots to the pivoted position, work head56/58moves above part camera28and leads154of lead component150held by suction nozzle82are imaged by part camera28. Specifically, as work head56/58moved to a position above part camera28descends and all leads154, that is, the seven leads, of lead component150held by suction nozzle82are irradiated with laser light emitted from laser irradiation devices106of part camera28from the side as shown inFIG.8. At this time, the light irradiated from laser irradiation devices106is reflected by leads154of lead component150held by suction nozzle82and the reflected light falls on lens102. The light incident on lens102enters imaging device100and is detected with the imaging element of imaging device100. As a result, imaging data of the distal ends of leads154of lead component150held by suction nozzle82is obtained. Image166shown inFIG.8is an image of seven leads154shown by the imaging data from imaging device100, and by analyzing the imaging data in controller120together with the timing of the imaging, the imaging height, and the like, the positions of all leads154of lead component150are calculated.

Next, the operations of X-direction moving device63and Y-direction moving device64are controlled so that the coordinates of the distal ends of leads154of lead component150in the XY-direction coincide with the coordinates of insertion holes162of connector component160in the XY-direction. As a result, when work head56/58is moved along the XY-direction, the positions of the distal ends of leads154of lead component150and the positions of insertion holes162of connector component160overlap in the up-down direction. Then, by the operation of Z-direction moving device65, work head56/58is lowered and leads154of lead component150held by suction nozzle82are inserted into insertion holes162of connector component160, as shown inFIG.7. This mounts lead component150in connector component160already mounted on circuit substrate12.

Thus, in component mounting machine10, by way of leads154of lead component150being inserted into insertion holes162of connector component160, lead component150is mounted to connector component160. However, if lead component150held by suction nozzle82is tilted as shown inFIG.9, when leads154are inserted into insertion holes162of connector component160, there is a possibility that leads154will not be inserted into insertion holes162as a result of coming in contact with surfaces outside the insertion holes on the top surface of connector component160or inner wall surfaces of insertion holes162. In addition, leads154may be bent and lead component150may become damaged.

Therefore, in component mounting machine10, based on the imaging data of leads154of lead component150from part camera28, the inclination of lead component150held by suction nozzle82is calculated and mounting work is executed taking the inclination into account. That is, the calculated inclination is corrected, and leads154of lead component150are then inserted into insertion holes162of connector component160.

Specifically, after lead component150is picked up by suction nozzle82and suction nozzle82is pivoted to the pivoting position, work head56/58moves to a position above part camera28by the operations of X-direction moving device63and Y-direction moving device64and is lowered by the operation of Z-direction moving device65. At this time, as shown inFIG.10, work head56/58is lowered to a position where laser light is irradiated to all leads154of lead component150by laser irradiation devices106. When leads154are imaged with part camera28, all leads154, that is, seven leads154, of lead component150are captured in image170based on the captured imaging data.

Then, without moving work head56/58in the right-left direction, leads154are imaged each time work head56/58is raised by a predetermined distance. That is, without operating X-direction moving device63and Y-direction moving device64and while work head56/58is raised at a constant speed by the operation of only Z-direction moving device65, leads154are imaged each time a predetermined time has elapsed. Each time leads154are imaged, the imaging data is analyzed, and the height of lead component150when the number of leads154indicated by the imaging data (specifically, the number of end surfaces which are the distal ends of the leads) has changed and the number of leads at that time are stored, lead component150being the lead component held by work head56/58at the time of capturing the imaging data.

For example, when work head56/58is raised from the position shown inFIG.10to the position shown inFIG.11, at the position of work head56/58shown inFIG.11, the laser beam irradiated from laser irradiation device106does not irradiate one lead of all leads154, that is, seven leads of lead component150and irradiates only six leads. At this time, when leads154are imaged with part camera28, in image172based on the captured imaging data, the laser light irradiated to six leads154of seven leads154of lead component150is reflected, and the six leads are captured as an image with the part camera. That is, as work head56/58is raised, the number of leads154indicated by the imaging data decreases from seven to six. Therefore, the height (H1) of work head56/58at the time of imaging at which the number of imaged lead distal ends changed and the numerical change in the number of imaged leads (1) are stored.

Subsequently, when work head56/58is further raised, as shown inFIG.12, the laser light irradiated from laser irradiation device106is not irradiated to three leads of the seven leads of lead component150and is irradiated to only four leads. At this time, when leads154are imaged with part camera28, in image174based on the captured imaging data, four leads154of seven leads154of lead component150are imaged. That is, as work head56/58is raised, the number of leads154indicated by the imaging data decreases from seven to four. As a result, the height (H2) of work head56/58at the time of imaging and the numerical change in the number of imaged leads (3) are stored.

When work head56/58is further raised, as shown inFIG.13, the laser light irradiated from laser irradiation device106is not irradiated to five leads of the seven leads of lead component150and is irradiated to only two leads. At this time, when leads154are imaged with part camera28, in image176based on the captured imaging data, two leads154of seven leads154of lead component150are imaged. That is, as work head56/58is raised, the number of leads154indicated by the imaging data decreases from seven to two. As a result, the height (H3) of work head56/58at the time of imaging and the numerical change in the number of imaged leads (5) are stored.

Thus, when leads154are imaged multiple times while work head56/58is being raised, the inclination of lead component150is calculated based on the multiple pieces of imaging data obtained by imaging multiple times. That is, the inclination of lead component150is calculated based on imaging data captured at the times at which the number of leads154indicated by the imaging data changes.

Specifically, in the imaging data (refer toFIG.11) captured when the height of work head56/58is H1, the numerical change in the number of leads is 1, and in the imaging data (seeFIG.12) captured when the height of work head56/58is H2, the numerical change in the number of leads is 3. That is, while the position of work head56/58rises in the up-down direction from H1 to H2, two leads154rise upward from the laser light irradiation position. Therefore, as shown inFIG.14, the following equation is satisfied if inter-lead distance is W. Note that inter-lead distance W is the distance between the center of the end face which is the distal end of a first lead154and the center of the end face which is the top of a second lead154located next to the first lead154.
Sin θ=(H2−H1)/2W

Thus, the inclination angle θ of lead component150is calculated. The inclination angle θ of lead component150is an angle indicating the inclination in the up-down direction of lead component150, and is the inclination angle with respect to the right-left direction, or more strictly speaking, the horizontal direction. In other words, the inclination angle θ is an angle indicating the inclination in the right-left direction of leads154, and is the inclination angle in which leads154extend out with respect to the up-down direction, or more strictly speaking, the vertical direction. This assumes that leads154of lead component150extend in a direction orthogonal to and linearly with respect to the plane from which leads of component main body152extend and that leads154are not warped or bent.

In the imaging data (seeFIG.11) captured when the height of work head56/58is H1, the numerical change in the number of leads is 1, and in the imaging data (seeFIG.13) captured when the height of work head56/58is H3, the numerical change in the number of leads is 5. That is, while work head56/58is raised from H1 to H3, four leads154are raised above the laser light irradiation position. Therefore, as shown inFIG.15, the following equation is satisfied if inter-lead distance is W.
Sin θ=(H3−H1)/4W

Thus, the inclination angle θ of lead component150is calculated.

Incidentally, the average value of the values calculated in the above two equations is considered the inclination angle θ of lead component150. Then, when the inclination angle θ of lead component150is calculated, mounting work is executed taking the inclination angle θ into account. First, as a factor which may have caused the inclination of lead component150held by suction nozzle82, one possibility is that lead component150was placed on tray116in an inclined manner before being held by suction nozzle82. That is, as shown inFIG.16, in a case in which lead component150shown in the upper portion of the figure is placed on tray116with no angle, lead component150shown in the lower portion of the figure is placed on tray116with a predetermined angle θ. In such a case, when lead component150placed in this manner with an inclination is held by suction nozzle82, lead component150held by suction nozzle82may be inclined with a predetermined angle θ.

In view of this, when the inclination angle θ of lead component150is calculated as described above, lead component150held by suction nozzle82is returned onto tray116so as to be placed on tray116without an inclination. Specifically, when the inclination angle θ of lead component150is calculated, suction nozzle82is first pivoted from the pivoted position, in which the lead component is held, to the non-pivoted position. Next, in the non-pivoted position, suction nozzle82is rotated about the vertical axis by an angle corresponding to an angle obtained by adding or subtracting the calculated inclination angle θ. Work head56/58then moves above tray116, and lead component150held by suction nozzle82is placed on tray116. Thus, lead component150held in an inclined manner by suction nozzle82, that is, lead component150placed on tray116in an inclined manner before being held by suction nozzle82, as shown inFIG.6, is placed on tray116without an inclination by correcting the inclination having an inclination angle of θ.

Then, when lead component150held by suction nozzle82is returned onto tray116, lead component150is picked up again by suction nozzle82. Holding of lead component150by suction nozzle82is performed by the same method as described above. As a result, lead component150can be picked up by suction nozzle82without an inclination. Then, lead component150held without inclination by suction nozzle82is mounted to connector component160. In this way, in component mounting machine10, based on the imaging data of leads154of lead component150by part camera28which images in an upward direction, the inclination of lead component150held by suction nozzle82is calculated and mounting work taking into account the inclination is executed. As a result, it is possible to appropriately perform the mounting work of lead component150.

Further, in component mounting machine10, mounting work is performed taking into account the inclination of lead component150with a method different from the above-described method, that is, a method in which lead component150held in suction nozzle82is returned to tray116utilizing the calculated inclination angle θ of lead component150. Specifically, based on the calculated inclination angle θ of lead component150, the deviation amount OXY of the coordinates in the XY-direction of the ends of leads154on the component main body152side, that is, the proximal ends of leads154and the coordinates in the XY-direction of the distal ends of leads154are calculated.

Specifically, as described above, since the inclination angle θ of lead component150can also be said to be the inclination angle in the direction in which leads154extend from the component main body152side with respect to the vertical direction, the following equation holds when the length of leads154is L as shown inFIG.17.
Sin θ=L/ΔXY

Using this, the deviation ΔXY in the coordinates in the XY-direction of the proximal ends of leads154and the coordinates in the XY-direction of the distal ends of leads154is calculated.

The operation of work head moving device62is controlled by combining the calculated deviation ΔXY in the XY-direction and the lowering amount in the Z-direction of work head56/58necessary to insert leads154of lead component150into insertion holes162of connector component160. That is, as shown inFIG.18, the operation of work head moving device62is controlled by combining the movement in the lateral direction by X-direction moving device63and Y-direction moving device64with the movement in the vertical direction by Z-direction moving device65. As a result, moving in the right-left direction while work head56/58is lowered allows leads154of lead component150in the inclined state to be properly inserted into insertion holes162of connector component160regardless of the inclination angle θ of lead component150. That is, by performing control so as to coordinate right-left movement and up-down movement, leads154of lead component150in the inclined state can be properly inserted into insertion holes162of connector component160. In the up-down direction, for the segment after the distal ends of leads154are inserted into insertion holes162until the proximal ends of the leads are inserted into insertion holes162, movement in the right-left and up-down directions are controlled in a coordinated manner, and for the segment from the start of lowering work head56/58to when the distal ends of leads154are inserted into insertion holes162, by directing the movement in a coordinated manner as the leads are inserted along the insertion holes, warping of the leads by the leads coming in contact with the insertion holes is less likely to occur, and the load on the lead component is reduced compared with the case of directing movement in a straight line without controlling in the right-left direction. Such a load can be detected by the moving torque of the moving device for operating the work head. If the load is equal to or greater than the threshold, it is determined that the component is warped or bent between the lead distal end and the component main body surface, that is, the component is an unsuitable component.

However, if the inclination angle θ of lead component150is too large, even if an attempt is made to insert leads154into insertion holes162by combining the movement of work head56/58in the right-left direction and the movement in the up-down direction, there is a possibility that leads154cannot be properly inserted into insertion holes162. Therefore, when the calculated inclination angle θ of lead component150is larger than a threshold value, lead component150held by suction nozzle82is discarded as a pickup error in a discard box (not shown).

Lead component150held by suction nozzle82may tilt due not only to the orientation of lead component150placed on tray116but also to the structure of work head56/58. Specifically, for example, there are cases in which lead component150held by suction nozzle82tilts due to a deviation in the holding angle of suction nozzle82by holder88, a deviation of support shaft92in holder88, a deviation in the rotation angle of suction nozzle82by nozzle pivoting device84, and the like. Therefore, in component mounting machine10, before mounting work is executed, the inclination angle of a master component is calculated using a master component of lead component150.

Specifically, lead component150having a high dimensional accuracy is used as a master component. That is, lead component150used as a master component is manufactured with a range of error that is considerably smaller than the allowable tolerance with respect to the length of leads154, the extending direction of leads154from component main body152, the flatness of each surface of component main body152, and the like. The inclination angle of the master component held by suction nozzle82is then calculated according to the same method as lead component150used in the mounting work. In this case, the inclination angle of the calculated master component is considered to be caused by the structure of work head56/58. Therefore, the master component is held by the work head, imaged in the same manner as the lead component, and when the inclination angle calculated based on the image data is larger than a threshold value, the calculated data is identified as being due to work head56/58, and the operator is notified of this information through an operation panel or the like, and exchange, inspection, repair, or the like of the work head, holding tool provided in the work head, or a component constituting the work head, for which the notification pertains to, is performed. On the other hand, when the work head holds the master component and the inclination angle of the master component calculated based on the imaging data of the held master component is equal to or less than the threshold value, with the inclination angle of the master component being considered a characteristic value of the work head that holds the master component, the mounting work is executed taking the inclination angle of the master component into account in the inclination angle θ of lead component150during the mounting work. As a result, even when lead component150held by suction nozzle82is inclined due to the structure of work head56/58, it is possible to ensure appropriate mounting work of lead component150.

Component mounting machine10is an example of a work machine. Part camera28is an example of an imaging device. Control device36is an example of a control device. Work head56/58is an example of a work head. Work head moving device62is an example of a moving device. Lead component150is an example of an electrical component. Lead154is an example of a lead terminal.

In addition, the present disclosure is not limited to the above examples, and can be implemented in various modes with various changes and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiment, the inclination of the component is calculated based on the imaging data of leads154of lead component150, but the inclination of the component may be calculated based on the imaging data of a lead terminal such as a pin, a terminal, or a bump. That is, various types of lead terminals, such as insertion holes, through holes, recesses, hooks, positioning portions, and the like, can be applied to the present disclosure. Further, the present embodiment is practical from the standpoint that leads154are tangible positioning portions, given that in order to insert leads154of lead component150into insertion holes162of connector component160, the inclination of the component is obtained by imaging the multiple leads154and calculating the inclination. On the other hand, even if all multiple leads154are bent in a predetermined direction from a direction orthogonal to the plane which leads154extend from component main body152, the component can be mounted to the connector if the distance between each lead is maintained constant.

Further, in the above embodiment, leads154are imaged by raising work head56/58at the time of imaging, but lead154may be imaged by lowering work head56,58at the time of imaging. Alternatively, leads154may be imaged while repeating the up-down movement. Incidentally, the up-down direction here, is not limited to the Z-direction, or strictly speaking, the vertical direction, but is a concept which includes obliquely upward directions and obliquely downward directions.

Further, in the above embodiment, lead component150is mounted to connector component160mounted on circuit substrate12. That is, lead component150is indirectly mounted to circuit substrate12via connector component160. On the other hand, lead component150may be directly attached to circuit substrate12. That is, lead component150may be attached to circuit substrate12by way of leads154of lead component150being inserted into through holes or the like in circuit substrate12.

Further, in the above embodiment, lead component150is placed on the tray with the placement surface being a surface other than the surface which leads154extend from component main body152, but the surfaces of extended leads, that is, the distal ends thereof may be set as the placement surface. If components are placed in such an orientation, nozzle pivoting device84does not need to be actuated nor is nozzle pivoting device84itself necessary. However, if components are placed in such an orientation, there is also the problem that the position of leads154cannot be imaged by imaging from above. In addition, as in the present embodiment, in addition to being able to acquire the inclination angle of the component held in the actual mounting orientation, the same method is applied due to the fact that the cause can be estimated to be on the side of the work head holding the component.

Further, when lead component150is placed on the tray with the surface extended by lead154, that is, with the distal ends of leads154as the placement surface, the positions of leads154cannot be imaged by imaging from above, as described above. Therefore, when lead component150is placed in such an orientation, it is impossible to calculate the inclination angle of the component from the imaging data by imaging from above. Further, even in the case in which lead component150is placed with a placement surface other than the surface which leads154extend from component main body152, the inclination angle cannot be calculated from the imaging data by imaging from above even if the placement surface is inclined in the up-down direction with respect to the top surface of the tray, that is, the horizontal plane. On the other hand, in such a case, the three-dimensional inclination angle of the component can be calculated by applying the present disclosure. That is, lead component150is held by work head56/58in an orientation in which leads154face downward, and by imaging lead component150held by work head56/58from below, the three-dimensional inclination angle of the component can be calculated based on the imaging data.

Further, in the above embodiment, although the inclination in the up-down direction of lead component150is calculated, the inclination in the right-left direction of the component, the inclination in the axial direction of a predetermined axis, various inclinations such as the inclination with respect to a predetermined plane, and the like may be calculated.

Further, in the above embodiment, by returning the component held by suction nozzle82to tray116or by controlling the right-left direction and the up-down direction of work head56/58in a coordinated manner based on the inclination angle of the component, mounting work in which the inclination angle of the component is corrected is executed. Mounting work in which the inclination angle is corrected may be performed not only by this method but by other methods as well. For example, mounting work may be executed by pivoting suction nozzle82with nozzle pivoting device84by correcting the inclination angle of the component held in the suction nozzle. In such a case, the component is returned to the tray or mounted by lowering the lead component held in the work head only in the Z-axis direction.

Further, in the above embodiment, an XYZ-type robot was used as a moving device for moving work head56/58, but an XY-type robot may be used. However, in the case where an XY-type robot is used, the moving device is a device including a lifting and lowering device or the like for lifting and lowering suction nozzle82. A multi-joint type robot arm can also be used as a moving device. Since a multi-joint robot arm is movable in all directions due to each axis operating in a coordinated manner, by employing a multi-joint robot arm, the right-left movement and up-down movement of work head56/58are utilized and can be suitably controlled.

In the above embodiment, although leads154are imaged multiple times while work head56/58is raised, leads154may be continuously imaged one time. That is, by increasing the exposure time, leads154may be continuously imaged while work head56,58is raised.

Further, in the above embodiment, the inclination of lead component150is calculated based on the imaging data captured at the timing when the number of leads154of lead component150indicated by the imaging data changes, but the timing is a concept including the period from the time when the number of leads154changes to the time a predetermined time elapses.

In the above embodiment, lead component150having high dimensional accuracy is used as the master component, but as long as the leads can be reproduced with high accuracy, it is possible to use a variety of lead components150. For example, a shape similar to leads154that reflects light by printing or the like may be formed on a predetermined surface of the block-shaped component, and the inclination of the component may be calculated based on the imaging data of the formed shape.

Further, the light irradiated from the side at the time of imaging of the leads is not limited to laser light. In order to accurately determine the position of the distal ends of leads, it is desirable to use not diffuse light but parallel light and to limit the width of the light to be irradiated.

In the above embodiment, suction nozzle82is used as a holding tool for holding the component, but a chuck or the like having multiple gripping claws may be used.

REFERENCE SIGNS LIST