Abstract:
An apparatus includes: a retainer moving between a shuttle and a socket; a presser holding a component; an adjuster moving the presser; a socket mark near the socket; a hand mark near the socket mark when the retainer is at a component mounting position; a first camera photographing a first image including the component and hand mark; a second camera photographing a second image including the socket mark and socket, and a third image including the socket mark and hand mark; a first calculator obtaining a first relative position between the socket mark and socket from the second image; a second calculator obtaining a second relative position between the socket mark and hand mark from the third image; and a third calculator obtaining a third relative position between the hand mark and component from the first image. The adjuster corrects the component&#39;s position based on the relative positions.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 12/127,236 filed on May 27, 2008 which claims priority to Japanese Patent Application No. 2007-165406 filed on Jun. 22, 2007, which is hereby expressly incorporated by reference herein in its entirety. 
    
    
     BACKGROUND 
     1. Technical Field 
     The present invention relates to a component transferring apparatus and an IC handler. 
     2. Related Art 
     In general, a testing apparatus (an IC handler) that inspects electronic components such as semiconductor chips includes a plurality of transferring robots to transfer the components. The transferring robots transfer an electronic component before inspection into an inspection socket to measure quality of the component, and then, retrieve the inspected component from the socket. 
     Specifically, for example, a supplying robot sucks and holds an electronic component before inspection and then releases the component to mount in a supply pocket of a shuttle. Next, the shuttle moves the electronic component to a position where a measuring robot is located to suck and hold the component. The measuring robot transfers the electronic component before inspection from the shuttle to the inspection socket. After inspection is finished, the measuring robot again sucks and holds the component inspected to transfer it from the inspection socket into a retrieval pocket of the shuttle. Then, the shuttle moves the inspected component to a position of a retrieving robot, where the retrieving robot releases the component into a retrieval tray in accordance with an inspection result. 
     When the robots sequentially transfer the electronic component to the inspection socket and the pockets, the component is needed to be mounted in a predetermined position in each of the inspection socket and the pockets. Particularly, in order to mount the electronic component in the inspection socket, it is necessary to suitably contact measuring terminals of the inspection socket with terminals of the electronic component. Thus, it is desirable to minimize a relative positional deviation between the electronic component and the inspection socket. Additionally, when the component is mounted in each pocket, reducing a relative positional deviation between the pocket and the component is desired. 
     In order to reduce the relative positional deviation between the electronic component and the inspection socket or the like, there is known a method. In this method, first, a camera photographs the electronic component, the inspection socket or the like to obtain image data. Next, an image processing of the data is performed to calculate the relative deviation amount, and then, based on a calculation result, positional correction is performed by only the relative deviation amount. 
     For example, there is disclosed a method for correcting a relative positional deviation between an electronic component and a socket or the like (e.g. WO 2003/023430). In an IC handler employed in the method, when an electronic component before inspection is transferred from a shuttle to a test device, a camera located between the shuttle and a test socket (the test device) photographs the component sucked and hold by a transfer head of a transferring apparatus. Additionally, a camera equipped with the transfer head photographs the test device. A controlling device of the IC handler performs the image processing of each image data obtained by the above photographing operations to calculate a relative deviation between the electronic component and the test device. Then, based on a calculation result, the controlling device operates an adjustment mechanism of the transferring apparatus to adjust a position of the transfer head so as to correct the relative deviation between the component and the test device. 
     Additionally, when transferring the inspected electronic component from the shuttle to a tray, a pick and place (P&amp;P) robot sucks and holds the component to transfer from the shuttle to the tray. The IC handler moves the P&amp;P robot to above a camera located within a movable range of the robot to allow the camera to photograph the component sucked by the robot. The controlling device of the IC handler performs the image processing of image data obtained from the photographing operation to calculate a relative deviation between the component and the tray. Then, based on a calculation result, the controlling device operates an adjustment mechanism of the robot to correct the relative deviation between the electronic component and the tray. 
     In the above method, however, in order to calculate a relative deviation between the transfer head and the test socket, the camera of the transfer head is needed to be located with a high precision. Furthermore, when a relative positional relationship between the transfer head and the camera is changed due to thermal expansion and contraction, vibration, or the like, it is impossible to detect the change to reflect a detection result in the calculation of the relative deviation. 
     Thus, there is disclosed a method for directly photographing an electronic component and a test device (e.g. Patent No. JP 3063899). The method provides an IC handler including a camera mounted on a supporting member with a mirror. The mirror is located between the electronic component and the test device to reflect both of the component and the test device thereon. When the component before inspection is hold by a transferring apparatus and located above the test device in a manner facing the test device, the camera simultaneously photographs both images of them reflected on the mirror. 
     However, in the above method, it is complicated to locate and adjust the mirror such that both the component and the test device can be reflected on the mirror. It is also difficult to locate and adjust the camera in order to photograph their mirror images. Moreover, when the electronic component and the test device are photographed, the mirror is located therebetween. Accordingly, locating and withdrawing the mirror is a time-consuming task. 
     SUMMARY 
     The present invention has been accomplished to solve the above problems. An advantage of the invention is to provide a component transferring apparatus that suitably mounts an electronic component in a socket in such a manner that changes such as mechanical distortion and thermal expansion and contraction can be reflected as needed. Another advantage of the invention is to provide an IC handler including the component transferring apparatus. 
     A component transferring apparatus according to a first aspect of the invention includes a shuttle, an inspection socket, a retaining device that moves between the shuttle and the inspection socket, a pressing device that is included in the retaining device to hold and transfer an electronic component, a position adjusting device that moves the pressing device to correct a position of the electronic component based on an image processing of image data obtained by photographing of the electronic component, a socket mark provided near the inspection socket, a hand mark provided on the retaining device such that the hand mark is positioned near the socket mark when the retaining device is moved to a mounting position where the electronic component hold by the pressing device is mounted in the inspection socket, a first camera provided on the shuttle to photograph a single image including the electronic component hold by the pressing device and the hand mark provided on the retaining device, a second camera that photograph a single image including the socket mark and the inspection socket and a single image including the socket mark and the hand mark of the retaining device moved to the mounting position, a first relative-position calculating unit that performs an image processing of data obtained by photographing of the single image including the socket mark and the inspection socket to obtain a first relative position between the socket mark and the inspection socket, a second relative-position calculating unit that performs an image processing of data obtained by photographing of the single image including the socket mark and the hand mark located at the mounting position to obtain a second relative position between the socket mark and the hand mark, and a third relative-position calculating unit that performs an image processing of data obtained by photographing of the single image including the electronic component and the hand mark to obtain a third relative position between the hand mark and the electronic component, wherein based on the first, the second, and the third relative positions, the position adjusting device corrects the position of the electronic component to mount the electronic component in the inspection socket. 
     In the component transferring apparatus of the above aspect, the socket mark is provided near the inspection socket. Thus, the inspection socket and the socket mark are photographed as the single image by the second camera, and the image processing of the image data obtained by the photographing operation is performed by the first relative-position calculating unit. In this manner, the first relative position between the inspection socket and the socket mark can be obtained. Additionally, the hand mark of the retaining device is located near the socket mark when the retaining device is located at the mounting position. Thus, the hand mark and the socket mark are photographed as the single image by the second camera, and then, the image processing of the image data obtained is performed by the second relative-position calculating unit. In this manner, the second relative position between the hand mark of the retaining device and the socket mark, namely, a relative position of the socket mark with respect to the retaining device can be obtained. Furthermore, the electronic component and the hand mark are photographed as the single image by the first camera, and then, the image processing of the data of the image is performed by the third relative-position calculating unit. In this manner, the third relative position between the electronic component and the hand mark, namely, the relative position of the electronic component with respect to the retaining device can be obtained. As a result, based on the first to the third relative positions, the position adjusting device can move the electronic component to a position suitable for the inspection socket. 
     Specifically, installation-induced distortion and thermal expansion and contraction occurring between the inspection socket and the socket mark are reflected in the first relative position. Additionally, the distortion and the temperature-induced change as above occurring between the socket mark and the hand mark (the retaining device) are reflected in the second relative position. Furthermore, a sucking position deviation of the electronic component with respect to the hand mark (the retaining device) is reflected in the third relative position. As a result, the electronic component can be suitably mounted in the inspection socket in such a manner that the installation-induced distortion and thermal expansion and contraction in the component transferring apparatus are reflected as needed. 
     Additionally, since the above-mentioned physical changes occurring in the component transferring apparatus can be reflected as needed, no calibration as an initial setting is again needed to correct those changes as above. This can reduce time and work required for the calibration. 
     Preferably, the component transferring apparatus includes a first mirror that is provided on the retaining device so as to reflect the socket mark and the hand mark located at the mounting position in a direction of the second camera and a second mirror that reflects the socket mark and the inspection socket in the direction of the second camera at a reflecting position above the inspection socket, in which the second camera is located at a position where the single image including the socket mark and the inspection socket cannot be directly photographed and also located at a position where the single image including the socket mark and the hand mark located at the mounting position cannot be directly photographed, as well as the second camera photographs the single image including the socket mark and the hand mark via the first mirror located at the mounting position and also photographs the single image including the socket mark and the inspection socket via the second mirror located at the reflecting position. 
     In the above apparatus, even when the second camera is located at the position where it is impossible for the camera to directly photograph the image including the socket mark and the inspection socket and the image including the socket mark and the hand mark, the second camera can photograph those images as in the case of direct photographing. Accordingly, the second camera can be located with greater freedom on a periphery of the retaining device and the inspection socket where the location position for the second camera is very limited. This can facilitate photographing of the socket mark and the inspection socket together and photographing of the socket mark and the hand mark together. 
     Additionally, the first and the second mirrors are provided, whereby the single second camera can be used to photograph both the single image including the socket mark and the inspection socket and the single image including the socket mark and the hand mark. This can help to simplify the structure of the component transferring apparatus. 
     In the component transferring apparatus of the first aspect, preferably, the shuttle includes the first camera, and the retaining device and the shuttle move to a first photographing position where the first camera photographs the single image including the electronic component and the hand mark, so as to allow the first camera to photograph the single image including the electronic component and the hand mark at the first photographing position. 
     In the above component transferring apparatus, the first camera is provided in the shuttle. Thus, it is unnecessary to provide a place for the first camera on the periphery of the retaining device and the inspection socket in which there are many limitations in the camera&#39;s location. Accordingly, the structure of the component transferring apparatus can be simplified and also the location of the first camera can be facilitated. 
     In the component transferring apparatus of the first aspect, preferably, the socket mark has a circular shape and the hand mark has an annular shape larger than the socket mark, so as locate the socket mark in the annular hand mark at the mounting position. 
     In the above apparatus, since the circular socket mark is located in the annular hand mark, a comparison between a center position of the socket mark and a center position of the hand mark can be easily made in the image processing for calculating the relative position therebetween. 
     In the component transferring apparatus of the first aspect, preferably, the socket mark includes at least two socket marks, and the hand mark is provided so as to correspond to each of the socket marks. 
     In the above apparatus, for example, using two socket marks and two hand marks enables detection of an inclination of a line connecting the two hand marks with respect to a line connecting the two socket marks. Thus, the inclination between the two lines, namely, an angular deviation between the lines can be calculated. Additionally, based on an inclination between the line connecting the socket marks and a first side of the socket, an angular deviation between the line connecting the socket marks and the first side of the socket can be calculated. Furthermore, based on an inclination between the line connecting the hand marks and a first side of the electronic component, an angular deviation between the line connecting the hand marks and the first side of the electronic component can be calculated. As a result, there can be obtained an angle of inclination of the first side of the electronic component and an angle of inclination of the first side of the inspection socket, whereby there can be calculated an angular deviation amount between the first side of the electronic component and the first side of the inspection socket. Consequently, the electronic component can be suitably mounted in the inspection socket by allowing the angular deviation amount therebetween to be “zero” so as to make the position of the electronic component coincident with the position of the inspection socket. 
     In the component transferring apparatus of the first aspect, preferably, the socket mark has a rectangular shape and the hand mark has a rectangular frame-like shape larger than the socket mark, so as to locate the socket mark in the frame-like hand mark at the mounting position. 
     In the above apparatus, even if the hand mark and the socket mark, respectively, include a single mark, center positions of the rectangular shapes of the marks can be compared with each other to calculate a relative position between the marks, as well as directions of the rectangular shapes of the marks can be compared with each other to calculate an angular deviation therebetween. Thus, it is possible to reduce the numbers of the hand mark and the socket mark. 
     In the component transferring apparatus of the first aspect, preferably, the first relative-position calculating unit obtains the first relative position from an average of first relative position values already obtained by a predetermined number of times of calculations, and the second relative-position calculating unit obtains the second relative position from an average of second relative position values already obtained by a predetermined number of times of calculations. 
     In the above apparatus, in order to obtain the first relative position between the socket mark and the inspection socket and the second relative position between the socket mark and the hand mark in which values are not abruptly fluctuated, using data obtained by the plurality of times of the calculations can stabilize values of the relative positions to be newly calculated 
     In the component transferring apparatus of the first aspect, preferably, when the second camera photographs the single image including the socket mark and the hand mark, the retaining device allows a distance between the hand mark and the second camera to be equal to a distance between the socket mark and the second camera. 
     In the above apparatus, the second camera can photograph the single image including the socket mark and the hand mark that are located in a situation which the distance of the socket mark from the second camera is equal to that of the hand mark from the second camera. If the distances are different from each other, an error is likely to occur in the image processing of the image data. However, in the above apparatus, the distances of the marks from the second camera are equalized so as to reduce such an error. Accordingly, the relative distance between the socket mark and the hand mark can be more suitably calculated. 
     In the component transferring apparatus of the first aspect, preferably, the hand mark is shorter than the socket mark, and the retaining device moves to the mounting position before moving to a position where the distance between the hand mark and the second camera is equal to the distance between the socket mark and the second camera. 
     In the above apparatus, when the second camera photographs the marks, the hand mark can be separated from the mounting position. This can prevent thermal transmission to the hand mark from the inspection socket or the like and thermal expansion and contraction in the hand mark, so that the relative position between the socket mark and the hand mark can be more suitably calculated. 
     In the component transferring apparatus of the first aspect, preferably, the third relative-position calculating unit obtains the third relative position every time the electronic component is mounted in the inspection socket; the first relative-position calculating unit obtains the first relative position every predetermined number of times of calculations for the third relative position; and the second relative-position calculating unit obtains the second relative position every predetermined number of times of calculations for the third relative position. 
     The above apparatus reduces calculation frequencies of the first relative position between the socket mark and the inspection socket and the second relative position between the socket mark and the hand mark in which values are less fluctuated. This can reduce time required for the component transferring apparatus to mount the electronic component in the inspection socket. 
     In the component transferring apparatus of the first aspect, preferably, the third relative-position calculating unit obtains the third relative position every time the electronic component is mounted in the inspection socket; the second relative-position calculating unit obtains the second relative position every time the electronic component is mounted in the inspection socket; and the first relative-position calculating unit obtains the first relative position every predetermined number of times of calculations for the third relative position. 
     The above apparatus reduces the calculation frequency of the first relative position between the socket mark and the inspection socket in which the fluctuation of values is the least. This can reduce the time required for the component transferring apparatus to mount the electronic component in the inspection socket. 
     In the component transferring apparatus of the first aspect, preferably, the third relative-position calculating unit obtains the third relative position every time the electronic component is mounted in the inspection socket; the first relative-position calculating unit obtains the first relative position every predetermined number of times of calculations for the third relative position; and the second relative-position calculating unit obtains the second relative position when the electronic component has been transferred to the mounting position. 
     In the above apparatus, the second relative position between the socket mark and the hand mark is obtained when the electronic component has been mounted in the inspection socket. This can omit an additional operation for obtaining the second relative position. 
     An IC handler according to a second aspect of the invention includes the component transferring apparatus according to the first aspect. 
     In the IC hander of the second aspect, the socket mark is provided near the inspection socket. Thus, the second camera photographs the single image including the inspection socket and the socket mark, and the first relative-position calculating unit performs the image processing of data of the image. Thereby, the first relative position between the inspection socket and the socket mark can be obtained. In addition, the hand mark provided on the retaining device is located near the socket mark when the retaining device is located at the mounting position. Accordingly, the second camera photographs the single image including the hand mark and the socket mark, and then, the second relative-position calculating unit performs the image processing of data of the image. Thereby the second relative position between the hand mark of the retaining device and the socket mark, namely, the relative position of the socket mark with respect to the retaining device can be obtained. Furthermore, the first camera photographs the single image including the electronic component and the hand mark, and then, the third relative-position calculating unit performs the image processing of data of the image. Thereby, the third relative position between the electronic component and the hand mark, namely, the relative position of the electronic component with respect to the retaining device can be obtained. As a result, based on the first to the third relative positions, the position adjusting device can move the electronic component to the position suitable for the inspection socket. 
     Specifically, installation-induced distortion and thermal expansion and contraction occurring between the inspection socket and the socket mark are reflected in the first relative position. Additionally, the distortion and the temperature-induced physical change as above occurring between the socket mark and the hand mark (the retaining device) are reflected in the second relative position. Furthermore, the sucking position deviation of the electronic component with respect to the hand mark (the retaining device) is reflected in the third relative position. As a result, the electronic component can be suitably mounted in the inspection socket in such a manner that installation-induced distortion and thermal expansion and contraction occurring in the IC handler are reflected as needed. 
     Furthermore, since the above-mentioned physical changes occurring in the IC handler can be reflected as needed, it is unnecessary to perform a calibration (an initial setting) again to correct the physical changes such as the distortion and the expansion and contraction. This can reduce time and work required for the calibration. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The invention will be described with reference to the accompanying drawings, wherein like numbers reference like elements. 
         FIG. 1  is a plan view showing a planar structure of an IC handler according to an embodiment of the invention. 
         FIGS. 2A and 2B , respectively, are a plan view showing a planar structure of a shuttle included in the embodiment and a front view showing a frontal structure of the shuttle. 
         FIGS. 3A and 3B , respectively, are a plan view showing a planar structure of an inspection section included in the embodiment and a front view showing a frontal structure of the inspection section. 
         FIGS. 4A ,  4 B, and  4 C, respectively, are a front view showing a frontal structure of a measuring robot included in the embodiment, a bottom view showing a bottom structure of the measuring robot, and a left side view showing a left side structure of the measuring robot. 
         FIGS. 5A and 5B , respectively, are a plan view showing a planar structure of a hand mark included in the embodiment and a sectional view of the hand mark taken along line  5 - 5  in  FIG. 5A . 
         FIG. 6  is a front view showing a frontal structure of each of a photographing device and a reflecting device included in the embodiment. 
         FIGS. 7A and 7B , respectively, are an illustrative view illustrating a photographing operation by a shuttle camera included in the embodiment and an illustrative view illustrating a photographing range. 
         FIGS. 8A and 8B , respectively, are an illustrative view illustrating a photographing operation by a chamber camera via a first reflector included in the embodiment and an illustrative view illustrating a photographing range of the chamber camera. 
         FIGS. 9A and 9B , respectively, are an illustrative view illustrating a photographing operation by a chamber camera via a second reflector included in the embodiment and an illustrative view illustrating a photographing range of the chamber camera. 
         FIG. 10  is a block diagram showing an electrical structure of the IC handler of the embodiment. 
         FIG. 11  is an illustrative view illustrating a device recognition processing of the embodiment. 
         FIG. 12  is an illustrative view illustrating a mark-position recognition processing of the embodiment. 
         FIG. 13  is an illustrative view illustrating a socket recognition processing of the embodiment. 
         FIG. 14  is a flowchart showing an example of a processing for transferring an IC chip T of the embodiment to inspect the chip. 
         FIG. 15  is a flowchart showing a socket recognition processing of the IC handler of the embodiment. 
         FIG. 16  is a flowchart showing a mark recognition processing of the IC handler of the embodiment. 
         FIG. 17  is a flowchart showing a device recognition processing of the IC handler of the embodiment. 
         FIG. 18  is a flowchart showing another example of the processing for transferring the IC chip T of the embodiment to inspect the chip. 
         FIG. 19  is a flowchart showing another example of the processing for transferring the IC chip T of the embodiment to inspect the chip. 
     
    
    
     DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Hereinafter, embodiments of the invention will be described in detail with reference to the drawings. 
     First Embodiment 
       FIGS. 1 to 17  will be referred to describe a first embodiment of the invention.  FIG. 1  is a plan view showing an IC handler  10  including a component transferring apparatus according to the first embodiment. 
     The IC handler  10  includes a base  11 , a safety cover  12 , a high temperature chamber  13 , a supplying robot  14 , a retrieving robot  15 , a first shuttle  16 , a second shuttle  17 , and a plurality of conveyors C 1  to C 6 . 
     The base  11  includes the above elements provided on a top surface thereof. The safety cover  12  encloses a large area of the base  11 , where there are housed the supplying robot  14 , the retrieving robot  15 , the first shuttle  16 , and the second shuttle  17 . 
     The conveyors C 1  to C 6  are provided on the base  11  such that first ends of the conveyors are located on an outside of the safety cover  12  and second ends thereof are located on an inside of the cover. Each of the conveyors C 1  to C 6  transfers a tray  18  that contains a plurality of IC chips T such as semiconductor chips as electronic components or threshold-setting components, from the outside to the inside of the safety cover  12  or from the inside to the outside of the cover. 
     The supplying robot  14  includes an X-axis frame FX, a first Y-axis frame FY 1 , and a supplying robot hand unit  20 . The retrieving robot  15  includes the X-axis frame FX, a second Y-axis frame YF 2 , and a retrieving robot hand unit  21 . The X-axis frame FX is arranged in an X direction. The first and the second Y-axis frames FY 1  and FY 2  are arranged such that both of the frames are parallel to each other in a Y direction, and also are supported movably in the X direction with respect to the X-axis frame FX. The first and the second Y-axis frames FY 1  and FY 2  are reciprocally moved along the X-axis frame FX in the X direction by each motor (not shown) disposed on the X-axis frame FX. 
     On a lower side of the first Y-axis frame FY 1 , the supplying robot hand unit  20  is supported movably in the Y direction. The supplying robot hand unit  20  is reciprocally moved along the first Y-axis frame FY 1  in the Y direction by each motor (not shown) disposed on the first Y-axis frame FY 1 . For example, the supplying robot hand unit  20  supplies pretest IC chips T contained in the tray  18  of the conveyor C 1  to the first shuttle  16 . 
     On a lower side of the second Y-axis frame FY 2 , the retrieving robot hand unit  21  is supported movably in the Y direction. The retrieving robot hand unit  21  is reciprocally moved along the second Y-axis frame FY 2  in the Y direction by each motor (not shown) disposed on the second Y-axis frame FY 2 . For example, the retrieving robot hand unit  21  supplies post-test IC chips T supplied to the first shuttle  16  to the tray  18  of the conveyor C 6 . 
     Between the supplying robot  14  and the retrieving robot  15  on the top surface of the base  11 , a first rail  30 A and a second rail  30 B, respectively, are arranged in parallel to the X-axis direction. The first rail  30 A includes the first shuttle  16  and the second rail  30 B includes the second shuttle  17 . The first and the second shuttles  16  and  17 , respectively, are reciprocally movable in the X-axis direction. 
     The first shuttle  16  includes an approximately planar base member  16 A that is elongated in the X-axis direction. On a bottom surface of the base member  16 A is provided a not-shown rail guide that is in sliding contact with the first rail  30 A. Then, the first shuttle  16  is reciprocally moved along the first rail  30 A by a first shuttle motor M 1  (See  FIG. 10 ) included in the first shuttle  16 . 
     On a left side on a top surface of the base member  16 A (on a side where the supplying robot  14  is located), a supply change kit  31  is exchangeably fixed by a screw or the like. 
     On a top surface of the supply change kit  31  are formed four rectangular pockets  32  for placing the IC chips T supplied from the supplying robot  14 . 
     Each of the pockets  32  retains each of the placed IC chips in a loosely fitting manner. Thus, the IC chip T is retained in a predetermined position of the pocket  32  when the first shuttle  16  is moved. 
     On a right side on the top surface of the base member  16 A (on a side where the retrieving robot  15  is located), a retrieval change kit  34  similar to the supply change kit  31  is exchangeably fixed by a screw or the like to retain the IC chip T in each pocket  32  as in the supply change kit  31 . 
     The second shuttle  17  has an approximately rectangular base member  17 A that is elongated in the X-axis direction. On a bottom surface of the base member  17 A is provided a not-shown rail guide in sliding contact with the second rail  30 B. The second shuttle  17  is reciprocally moved along the second rail  30 B by a second shuttle motor M 2  (See  FIG. 10 ) included in the second shuttle  17 . 
     On a left side on a top surface of the base member  17 A (on the side where the supplying robot  14  is located), the supply change kit  31  as in the base member  16 A is exchangeably fixed by a screw or the like to retain the IC chip T in each pocket  32  of the supply change kit  31 . Additionally, on a right side on the top surface of the base member  17 A (on the side where the retrieving robot  15  is located), the retrieval change kit  34  similar to the supply change kit  31  is exchangeably fixed by a screw or the like to retain the IC chip T in each pocket  32 . 
     As shown in  FIGS. 2A and 2B , at centers of the top surfaces of the first and the second shuttles  16  and  17 , a first shuttle camera  37  and a second shuttle camera  38 , each serving as a first camera, are respectively provided to photograph an object above each of the cameras. In other words, the first and the second shuttle cameras  37  and  38 , respectively, are operated to photograph the IC chip T retained at an upper position by a below-mentioned measuring robot  22  from a lower position so as to output data of an image obtained by the photographing operation. At a position immediately below the measuring robot  22 , an entire view of the retained IC chip T and surroundings of the chip can be photographed at one time. In addition, in the present embodiment, the first and the second shuttle cameras  37  and  38  are CCD cameras, but are not restricted to CCDs. 
     Between the first and the second shuttles  16  and  17  on the top surface of the base  11  is provided an inspection section  23 . As shown in  FIGS. 3A and 3B , the inspection section  23  includes an inspection socket  24  for mounting the IC chip T therein, and a first socket pin  25 A and a second socket pin  25 B. The first and second socket pins  25 A and  25 B are protrudingly provided on a socket pin arrangement line AY 1  that is set closer to the supplying robot  14  than is the inspection socket  24  and that is parallel to the Y direction. The first socket pin  25 A is provided on a side where the second shuttle  17  is located (a front side) and the second socket pin  25 B is provided on a side where the first shuttle  16  is located (a back side). In this case, center positions of the socket pins  25 A and  25 B are distant from each other by a length LSy in the Y direction (front and back directions). 
     The inspection socket  24  is used to perform an electrical inspection of the IC chip T mounted in the socket. The inspection socket  24  includes a plurality of contact terminals  24 T used for chip inspection. The contact terminals  24 T correspond to connection terminals B of the IC chip T as an object to be inspected (See  FIGS. 4A to 4C ). In the inspection socket  24 , the connection terminals B of the IC chip T are contacted with the contact terminals  24 T to be electrically connected with each other so as to perform the electrical inspection of the IC chip T. 
     As shown in  FIG. 3B , each of the socket pins  25 A and  25 B is formed to have a circular columnar shape with a diameter R 1  and a height LSz and is made of a material that is silver and that is hardly expanded and contracted or hardly distorted even if a temperature changes, such as a metal. At circular centers of top portions of the socket pins  25 A and  25 B, respectively, are provided socket marks  260  and  261 , respectively, used for image recognition. 
     The socket marks  260  and  261  are each made of a material that is circular and black, as well as is hardly expanded and contracted or hardly distorted even if a temperature changes, such as a metal. In other words, the socket pins  25 A and  25 B each have a color tone distinctively different from that of the socket marks  260  and  261 , so that the socket marks  260  and  261  can be suitably recognized in an image recognition processing. Additionally, centers of the socket marks  260  and  261  are arranged to be positioned on the socket pin arrangement line AY 1 . 
     In the inspection section  23 , the inspection socket  24  and the socket marks  260  and  261  are arranged to have a predetermined relative positional relationship. 
     Inside the high temperature chamber  13  is provided a not-shown rail that is arranged in the Y direction so as to stride above the first and the second shuttles  16 ,  17  and the inspection socket  24 . 
     At a lower portion of the rail, the measuring robot  22  is supported in a reciprocally movable manner in the Y direction and is reciprocally moved in the Y direction by a Y-axis motor MY (See  FIG. 10 ) provided on the rail. In other words, the measuring robot  22  is moved along the rail to mutually transfer the IC chip T between the shuttles  16 ,  17  and the inspection socket  24 . 
     Specifically, the measuring robot  22  acquires the IC chip T supplied from each of the shuttles  16  and  17  to arrange the IC chip T at a position immediately above the inspection socket  24 . Then, the measuring robot  22  lowers the IC chip T to allow the connection terminals B of the IC chip T to be abutted with the contact terminals  24 T of the inspection socket  24  from above and pushes a spring pin downward, so as to mount the IC chip T in the inspection socket  24 . After finishing an electrical inspection of the IC chip T mounted in the inspection socket  24 , the measuring robot  22  extracts the IC chip T mounted therein to locate the chip at a position immediately above the retrieval change kit  34 . Next, at the position immediately above the kit  34 , the measuring robot  22  lowers the IC chip T to contain the chip in a predetermined one of the pockets  32  of the kit  34 . 
     As shown in  FIG. 4A , the measuring robot  22  includes a supporting portion  22 A, a connecting portion  22 B, and a pressing and retaining portion  22 C of a retaining device. An upper portion of the supporting portion  22 A is supported so as to be reciprocally movable in the front and back directions (the Y direction) with respect to the not-shown rail. At a lower portion of the supporting portion  22 A, the connecting portion  22 B is connected and supported in a reciprocally movable manner in upper and lower directions (a Z direction) with respect to the portion  22 A. The connecting portion  22 B is reciprocally moved in the upper and lower directions by a Z-axis motor MZ (See  FIG. 10 ) of the supporting portion  22 A. A lower end of the connecting portion  22 B is fixed to the pressing and retaining portion  22 C that is reciprocally moved in the upper and lower directions along with the connecting portion  22 B. In short, the pressing and retaining portion  22 C of the measuring robot  22  is structured so as to be movable in the front and back directions (the Y direction) and the upper and lower directions (the Z direction) with respect to the rail. 
     The pressing and retaining portion  22 C is located so as to be positioned immediately above the inspection socket  24  when the measuring robot  22  is moved in the front and read direction (the Y direction) to be located in a middle position between the first and the second shuttles  16  and  17 . 
     At a lower portion of the pressing and retaining portion  22 C is provided a pressing device  26  that is to be facingly opposed to the inspection socket  24  and the pockets  32 . The pressing device  26  is structured to extend downward and to descend from an initial position as a descending-movement starting position to a suction starting position and a mounting position. 
     At a center of a lower portion of the pressing device  26  is provided a suction nozzle  27 . Specifically, after the suction nozzle  27  is facingly opposed to each pocket  32  of the supply change kit  31  containing the IC chip T and the inspection socket  24 , a top portion of the nozzle moves to the suction position to reach the IC chip T. Additionally, after the suction nozzle  27  is facingly opposed to each pocket  32  of the retrieval change kit  34  and the inspection socket  24 , the top portion of the nozzle that sucks and holds the IC chip T is moved to the mounting position of the socket to press the IC chip T. 
     At the top portion of the suction nozzle  27  is provided a not-shown suction hole. The suction hole communicates through an inside of the suction nozzle  27  to be connected to a sucking device  52  via a suction valve V 1  (See  FIG. 10 ). Specifically, when the suction nozzle  27  is connected to the sucking device  52  by switching of the suction valve V 1 , the suction hole of the suction nozzle  27  has a negative pressure, by which the suction hole of the nozzle sucks the IC chip T. Conversely, when connection of the suction valve V 1  is switched from the sucking device  52  to an atmosphere to connect the suction nozzle  27  to the atmosphere, the suction hole of the suction nozzle  27  has an atmospheric pressure, whereby the sucked IC chip T is released from the suction hole of the nozzle. 
     Inside the pressing and retaining portion  22 C is provided a position adjusting device  25  corresponding to the pressing device  26 . The position adjusting device  25  allows the pressing device  26  (the suction nozzle  27 ) to move in the right and left directions (the X direction) and the front and back directions (the Y direction) with respect to the pressing and retaining portion  22 C, and also is structured to rotate around a center axis of the suction nozzle  27  as a rotational center with respect to a horizontal surface (an XY plane). In other words, the position adjusting device  25  moves the IC chip T sucked and hold by the suction nozzle  27  in the right and left directions (the X direction) and the front and back directions (the Y direction), as well as rotates the center axis of the suction nozzle  27  as the rotational center to correct a position of the IC chip T. 
     The measuring robot  22  allows the position adjusting device  25  to move the center position of the suction nozzle  27  to a predetermined initial position coincident with a predetermined center position of a bottom surface of the pressing and retaining portion  22 C, as well as to rotate the center axis of the suction nozzle  27  to a predetermined initial angle where a rotational angle of the center axis of the nozzle is “zero”, before sucking and holding the IC chip T by the suction nozzle  27 . In other words, the suction nozzle  27  sucks and holds the IC chip T after being set to the predetermined initial position and the predetermined initial angle with respect to the pressing and retaining portion  22 C. 
     As shown in  FIGS. 4A to 4C , a pair of supporting posts  28 A is fixed on a side surface of the pressing and retaining portion  22 C facing the supplying robot  14 . The supporting posts  28 A are disposed to be extended downward from the side surface by a predetermined gap between the posts in the Y direction. A mark formation member  28 B is attached to lower portions of the supporting posts  28 A so as to be retained by both posts. 
     The mark formation member  28 B is, as shown in  FIGS. 5A and 5B , a rectangular planar member made of a material that is silver and that is hardly expanded and contracted or hardly distorted even if a temperature changes, such as a metal. Additionally, the mark formation member  28 B has the height LSz. 
     The mark formation member  28 B has two through-holes  28 H formed at a position where center positions of the holes are separated from each other by the distance LSy. Each of the through-holes  28 H has a cylindrical member  28 C inserted and fitted thereinside. The cylindrical members  28 C each have the height LSz and an inner diameter R 2  larger than the diameter R 1  of each of the first and the second socket pins  25 A and  25 B. In other words, when the mark formation member  28 B is lowered after being facingly opposed to the first and the second socket pins  25 A and  25 B, the first and the second socket pins  25 A and  25 B are inserted in the cylindrical members  28 C corresponding to the socket pins, respectively. In addition, a line connecting the center positions of the through-holes  28 H, namely, the center positions of the cylindrical members  28 C is referred to as a hand mark arrangement line AY 2 . The mark formation member  28 B is disposed with the pressing and retaining member  22 C such that the hand mark arrangement line AY 2  is approximately parallel to the Y direction. 
     The cylindrical members  28 C are each made of a material that is black and that is hardly expanded and contracted or hardly distorted even if a temperature changes, such as a metal. Additionally, annular surfaces of the cylindrical members  28 C located on a bottom surface  28 D of the mark formation member  28 B are referred to as a first bottom surface hand mark  280  and a second bottom surface hand mark  281  that each have an annular shape. Furthermore, annular surfaces of the cylindrical members  28 C located on a top surface  28 E of the mark formation member  28 B are referred to as a first top surface hand mark  282  and a second top surface hand mark  283  that each have an annular shape. 
     The first bottom surface hand mark  280  and the first top surface hand mark  282  having the same shape are separated from each other in the Z direction. Additionally, the second bottom surface hand mark  281  and the second top surface hand mark  283  having the same shape are also provided in the same manner as above. 
     When the first and the second socket pins  25 A and  25 B, respectively, are inserted in the cylindrical members  28 C, the first and the second top surface hand marks  282  and  283  are approximately as high as the first and the second socket marks  260  and  261 , whereby top surface positions of those marks are made coincident with each other. Furthermore, since the mark formation member  28 B has a color tone greatly different from that of the hand marks  280  to  283 , the hand marks  280  to  283  can be suitably recognized in the image recognition processing. 
     On the side surface of the pressing and retaining portion  22 C facing the supplying robot  14 , a first reflector  29  is provided at a position upper than the supporting posts  28 A. The first reflector  29  includes a first mirror  29 A. The first reflector  29  is retained on the side surface of the pressing and retaining portion  22 C facing the supplying robot  14  in such a manner that a planar mirror image of the mark formation member  28 B can be reflected on the first mirror  29 A. In other words, the first mirror  29 A can reflect the planar mirror mage of the mark formation member  28 B in a direction to the supplying robot  14  from the measuring robot  22  (in the left direction). 
     As shown in  FIG. 6 , inside the high temperature chamber  13  is provided a photographing device  40 . Specifically, on a side surface inside the high temperature chamber  13  facing the supplying robot  14  is provided a horizontal rail  41  that extends in a direction of the inspection section  23  (in the right direction of  FIG. 6 ). At a lower portion of the horizontal rail  41  is provided a vertical rail  42  that allows the horizontal rail  41  to move in the right and left directions (the X direction) by a horizontal motor M 3 X of the horizontal rail  41 . On a side surface of a front side of the vertical rail  42  (the surface facing the second shuttle  17 ) is provided a supporting board  43  that allows the vertical rail  42  to move in the upper and lower directions (the Z direction) by a vertical motor M 3 Z of the vertical rail  42 . On the supporting board  43  is provided a chamber camera  44 . The chamber camera  44  serves as a second camera and is located in a direction where the camera  44  can capture a left side surface of the measuring robot  22  arranged above the inspection section  23  in a photographing range. 
     Specifically, the chamber camera  44  is movable to a standby position where the camera does not interfere with the measuring robot  22  and to a photographing position for photographing operation by the horizontal motor M 3 X and the vertical motor M 3 Z that are drivingly controlled. Then, the chamber camera  44  located at the photographing position can capture the first mirror  29 A on the side surface of the measuring robot  22  in the photographing range to photograph the planar image of the mark formation member  28 B via the first mirror  29 A. In the present embodiment, the chamber camera  44  is a CCD camera but is not restricted to that. 
     As shown in  FIG. 6 , inside the high temperature chamber  13  is provided a reflector device  45 . Specifically, on a side surface inside the high temperature chamber  13  facing the retrieving robot  15  is provided a horizontal rail  46  that extends in the direction of the inspection section  23  (in the left direction of  FIG. 6 ). At a lower portion of the horizontal rail  46  is provided a vertical rail  47  that allows the horizontal rail  46  to move in the right and left directions (the X direction) by a horizontal motor M 4 X of the horizontal rail  46 . On a side surface of a front side of the vertical rail  47  (the surface facing the second shuttle  17 ) is provided a supporting board  48  that allows the vertical rail  47  to move in the upper and lower directions (the Z direction) by a vertical motor M 4 Z of the vertical rail  47 . On the supporting board  48  is provided a horizontal arm  48 A extending in the direction of the inspection section  23 . At a top portion of the horizontal arm  48 A is provided a second reflector  49 . The second reflector  49  includes a second mirror  49 A that reflects a planar mirror image of the inspection section  23  in the direction of the chamber camera  44  (in the left direction of  FIG. 6 ) when the second reflector  49  is moved and located above the inspection section  23 . 
     When the measuring robot  22  is located above the inspection section  23 , the second mirror  49 A is withdrawn to a withdrawing position in a direction of the retrieving robot  15  (in the right direction of  FIG. 6 ) so as not to interfere with the measuring robot  22 . Meanwhile, when the measuring robot  22  is not present above the inspection section  23 , the second mirror  49 A is maintained at a position as high as the chamber camera  44  to be moved and located at a reflecting position above the inspection section  23 . Then, after the second mirror  49 A is located at the reflecting position, the chamber camera  44  located at the photographing position can photograph planar images of the inspection socket  24 , the first and the second socket marks  260  and  261  of the inspection section  23  via the second mirror  49 A. 
     In the IC handler  10 , as shown in  FIG. 7A , the measuring robot  22  holding the IC chip T and the first shuttle  16  can be relatively moved to a first photographing position CP 1  where the first shuttle camera  37  can capture the IC chip T and the first and the second bottom surface hand marks  280  and  281  in a same visual field. 
     When the measuring robot  22  and the first shuttle camera  37  are relatively moved to the above position CP 1 , the IC chip T and the first and the second bottom surface hand marks  280  and  281  are captured in the visual field of the first shuttle camera  37 , namely, a photographing range L 1  so as to photograph the chip and the hand marks at one time, as shown in  FIG. 7B . 
     Data of an image obtained in the above photographing operation is used to perform a “device recognition processing”, which is an image recognition processing for obtaining coordinates of a center position DC (See  FIG. 7B ) of the IC chip T with respect to the first bottom surface hand mark  280  and an angular deviation of a first side of the IC chip T with respect to the hand mark arrangement line AY 2 . 
     As shown in  FIG. 8A , the measuring robot  22  located above the inspection socket  24  mounts the retained IC chip T in the inspection socket  24 . In this situation, the first and the second socket pins  25 A and  25 B, respectively, are inserted in the first and the second top surface hand marks  282  and  283 , respectively, with a clearance fit, so as to make positions of the top surface hand marks  282  and  283  coincident with positions of the top surfaces of the socket marks  260  and  261 . 
     When the chamber camera  44  is located at a second photographing position CP 2  where images of the top surface hand marks  282  and  283  are reflected via the first reflector  29 , the chamber camera  44  captures the top surface hand marks  282  and  283  and the socket marks  260  and  261  in a photographing range L 2  of the chamber camera  44 , as shown in  FIG. 8B , to photograph an image including those marks. 
     Data of the image photographed above is used to perform a “mark-position recognition processing”, which is an image recognition processing for obtaining coordinates of a center position of the first top surface hand mark  282  with respect to the first socket mark  260  and an angular deviation of the hand mark arrangement line AY 2  with respect to the socket pin arrangement line AY 1 . 
     Furthermore, when the measuring robot  22  is not located above the inspection section  23 , as shown in  FIG. 9A , the chamber camera  44  is positioned as high as the second mirror  49 A. Then, the second mirror  49 A is moved to a reflecting position RP where the chamber camera  44  captures the inspection socket  24  and the socket marks  260  and  261  in a same photographing range L 3 . Next, as shown in  FIG. 9B , the chamber camera  44  photographs the inspection socket  24  and the socket marks  260  and  261  at one time via the second mirror  49 A located at the reflecting position RP. 
     Data of an image photographed above is used to perform a “socket recognition processing”, which is an image recognition processing for obtaining coordinates of a center position SC of the inspection socket  24  with respect to the first socket mark  260  and an angular deviation of a first side of the inspection socket  24  with respect to the socket pin arrangement line AY 1 . 
     Next,  FIG. 10  will be referred to describe an electrical structure of the IC handler  10  that suitably mounts the IC chip T in the inspection socket  24 . 
     The IC handler  10  includes a controlling device  50  including first to third relative-position calculating units  66 - 68 , respectively. 
     In  FIG. 10 , the controlling device  50  includes a CPU  61 , a ROM  62 , a RAM  63 , an image processor  64 , and an image memory  65 . According to various data and various control programs stored in the ROM  62  and the RAM  63 , the controlling device  50  (the CPU  61 ) performs, for example, a processing that allows the IC handler to suck, hold, and extract an IC chip T before inspection from the pocket  32  of the supply change kit  31  to mount the chip in the inspection socket  24 . In the present embodiment, the RAM  63  includes an inspected-product counter memory that stores the counts of the IC chips T inspected. 
     The controlling device  50  is electrically connected to an input/output device  70 . The input/output device  70  has various switches and a condition display unit to output a command signal for starting execution of each of the foregoing processings, initial value data for executing each processing, and the like, to the controlling device  50 . 
     The controlling device  50  is also electrically connected to a Y-axis motor driving circuit  71  and a Z-axis motor driving circuit  72 , respectively. 
     The Y-axis motor driving circuit  71  receives a control signal CMY from the controlling device  50  and generates a driving signal DMY based on the control signal CMY to drivingly control the Y-axis motor MY by using the driving signal DMY. Additionally, the controlling device  50  receives a rotation amount SMY of the Y-axis motor MY detected by a Y-axis motor encoder EMY via the Y-axis motor driving circuit  71 . Thereby, the controlling device  50  acquires the position of the measuring robot  22  based on the rotation amount SMY. In short, the controlling device  50  drivingly controls the Y-axis motor MY to locate the pressing and retaining portion  22 C at the position above the inspection socket  24  and the position above the first shuttle  16  or the second shuttle  17 . 
     The Z-axis motor driving circuit  72  receives a control signal CMZ from the controlling device  50  and generates a driving signal DMZ based on the control signal CMZ to drivingly control the Z-axis motor MZ by using the driving signal DMZ. Additionally, the controlling device  50  receives a rotation amount SMZ of the Z-axis motor MZ detected by a Z-axis motor encoder EMZ via the Z-axis motor driving circuit  72 . Thereby, the controlling device  50  acquires the position of the pressing and retaining portion  22 C based on the rotation amount SMZ. In short, the controlling device  50  drivingly controls the Z-axis motor MZ to locate the pressing and retaining portion  22 C (the suction nozzle  27 ) at the initial position as the descending-movement starting position via the connecting portion  22 B. 
     The controlling device  50  is electrically connected to a valve driving circuit  73 . The valve driving circuit  73  drivingly controls the suction valve V 1  based on a control signal CV 1  input from the controlling device  50 . The controlling device  50  drivingly controls the suction valve V 1  to switch the connection of the suction hole of the suction nozzle  27  to either the sucking device  52  or the atmosphere. When the suction hole is connected to the sucking device  52 , the IC chip T is sucked and hold by an opening end of the suction nozzle  27 . 
     The controlling device  50  is also electrically connected to an electro-pneumatic regulator circuit  74  corresponding to the pressing device  26 . Based on a control signal C 26  input from the controlling device  50 , the electro-pneumatic regulator circuit  74  moves the pressing device  26  (the suction nozzle  27 ) from the initial position as the descending-movement starting position to a lower suction starting position or a lower mounting position with respect to the pressing and retaining portion  22 C by using an atmospheric pressure. 
     The controlling device  50  is electrically connected to the position adjusting device  25  of the pressing and retaining portion  22 C. Based on a control signal C 25  input from the controlling device  50 , the position adjusting device  25  controls to move the pressing device  26  (the suction nozzle  27 ) in the right and left directions (the X direction) and the front and back directions (the Y direction) with respect to the pressing and retaining portion  22 C, as well as controls to rotate the suction nozzle  27  around the center axis of the nozzle as a rotation center with respect to the horizontal plane (the XY plane). 
     The controlling device  50  is electrically connected to a first shuttle driving circuit  75  and a second shuttle driving circuit  76 , respectively. 
     The first shuttle driving circuit  75  receives a control signal CM 1  from the controlling device  50  and generates a driving signal DM 1  based on the control signal CM 1  to drivingly control the first shuttle motor M 1  by using the driving signal DM 1 . Then, the controlling device  50  drives the first shuttle motor M 1  to move the first shuttle  16  along the rail  30 A. In addition, the controlling device  50  receives a rotation amount SM 1  of the first shuttle motor M 1  detected by a first shuttle encoder EM 1  via the first shuttle driving circuit  75 . Thereby, the controlling device  50  acquires the position of the first shuttle  16  based on the rotation amount SM 1 . 
     The second shuttle driving circuit  76  receives a control signal CM 2  from the controlling device  50  and generates a driving signal DM 2  based on the control signal CM 2  to drivingly control the second shuttle motor M 2  by using the driving signal DM 2 . The controlling device  50  also drives the second shuttle motor M 2  to move the second shuttle  17  along the rail  30 B. In addition, the controlling device  50  receives a rotation amount SM 2  of the second shuttle motor M 2  detected by a second shuttle encoder EM 2  via the second shuttle driving circuit  76 . Thereby, the controlling device  50  acquires the position of the second shuttle  17  based on the rotation amount SM 2 . 
     The controlling device  50  is also electrically connected to a first shuttle camera driving circuit  77 , a second shuttle camera driving circuit  78 , and a chamber camera driving circuit  79 , respectively. 
     Based on a control signal C 37  input from the controlling device  50 , the first shuttle camera driving circuit  77  drivingly controls the first shuttle camera  37 . Then, the controlling device  50  drivingly controls the first shuttle camera  37  to acquire image data GD 1  for a “device recognition processing” obtained by the first shuttle camera  37 . Next, the controlling device  50  uses the acquired image data GD 1  to allow the image processor  64  to perform the image recognition processing (the device recognition processing) of the IC chip T sucked to the suction nozzle  27  and the first and the second bottom surface hand marks  280  and  281 . 
     As shown in  FIG. 11 , in the device recognition processing, a center position  280 C of the first bottom surface hand mark  280  is set as an original point to calculate relative coordinates (x3, y3) that describe a third relative position of the center position DC of the IC chip T with respect to the original point. Additionally, a center position  27 C of the suction nozzle  27  is set as an original point to calculate coordinates (x31, y31) that describe a sucking position deviation of the center position DC of the IC chip T with respect to the original point. 
     In addition, the device recognition processing is performed to calculate an angular deviation θ 3  that indicates a third relative position of the first side of the IC chip T with respect to the hand mark arrangement line AY 2 , namely, a rotation amount of the first side of the IC chip T corresponding to the hand mark arrangement line AY 2 . 
     Furthermore, the controlling device  50  stores the calculated relative coordinates (x3, y3), the sucking position deviation (x31, y31), and the angular deviation θ 3  in the RAM  63 . For calculation convenience, each value of the relative coordinates (x3, y3) and the angular deviation θ 3  is given based on a coordinate system used when the measuring robot  22  is viewed from an upper side. Additionally, a relative position of the first bottom surface hand mark  280  with respect to the measuring robot  22  is the same as that of the first top surface hand mark  282  with respect to the robot  22 . Thus, the center of the first top surface hand mark  282  is equal to the center position  280 C, and the values of the relative coordinates (x3, y3) are the same for both the first bottom surface hand mark  280  and the first top surface hand mark  282 . 
     Based on a control signal C 38  input from the controlling device  50 , the second shuttle camera driving circuit  78  drivingly controls the second shuttle camera  38 . Then, the controlling device  50  drivenly controls the second shuttle camera  38  to acquire the image data GD 1  for the “device recognition processing” obtained by the second shuttle camera  38 . The controlling device  50  uses the acquired image data GD 1  to allow the image processor  64  to perform the image recognition processing (the device recognition processing) of the IC chip T sucked to the suction nozzle  27  and the first and the second bottom surface hand marks  280  and  281 . Then, as shown in  FIG. 11 , the “device recognition processing” is performed, where the processing is the same as above and thus a description thereof will be omitted. 
     Based on a control signal C 44  input from the controlling device  50 , the chamber camera driving circuit  79  drivingly controls the chamber camera  44 . Then, the controlling device  50  drivingly controls the chamber camera  44  to acquire image data GD 2  for a “mark-position recognition processing” or image data GD 3  for a “socket recognition processing” obtained by the chamber camera  44 . 
     The controlling device  50  uses the acquired image data GD 2  for the “mark-position recognition processing” to allow the image processor  64  to perform an image recognition processing (the mark recognition processing) of the first and the second socket marks  260 ,  261  and the first and the second top surface hand marks  282 ,  283 . 
     As shown in  FIG. 12 , in the above mark recognition processing, a center position  260 C of the first socket mark  260  is set as an original point to calculate relative coordinates (x2 and y2) that describe a second relative position of the center position  280 C of the first top surface hand mark  282  with respect to the original point, namely, a positional deviation of the hand mark  282  with respect to the first socket mark  260 . 
     Additionally, the mark-position recognition processing is performed to calculate the angular deviation θ 2  indicating a second relative position of the hand mark arrangement line AY 2  with respect to the socket pin arrangement line AY 1 . Then, the controlling device  50  stores the relative coordinates and the angular deviation calculated above in the RAM  63 . 
     Furthermore, the controlling device  50  allows the image processor  64  to perform an image recognition processing (the socket recognition processing) of the first and the second socket marks  260 ,  261  and the first and the inspection socket  24  by using the acquired image data GD 3  for the “socket recognition processing”. 
     As shown in  FIG. 13 , in the socket recognition processing, the center position  260 C of the first socket mark  260  is set as an original point to calculate relative coordinates (x1 and y1) describing a first relative position of the center position SC of the inspection socket  24  with respect to the original point. Additionally, the socket recognition processing is also performed to calculate an angular deviation θ 1  indicating a first relative position of the first side of the inspection socket  24  with respect to the socket pin arrangement line AY 1 , namely, a rotation amount of the first side of the inspection socket  24  corresponding to the socket pin arrangement line AY 1  in the X direction and the Y direction, respectively. Then, the controlling device  50  stores the relative coordinates and the angular deviation calculated above in the RAM  63 . 
     Specifically, the controlling device  50  applies a rotational correction to the relative coordinates (x3, y3) of the center position DC of the IC chip T by the angular deviation θ 2 , and adds the relative coordinates (x2, y2) of the center position  280 C of the first top surface hand mark  282  to calculate relative positional coordinates (x23, y23) of the IC chip T with respect to the first socket mark  260 . Additionally, the controlling device  50  adds the angular deviation θ 2  of the hand mark arrangement line AY 2  to the angular deviation θ 3  of the IC chip T to calculate a relative angular deviation θ 23  with respect to the socket pin arrangement line AY 1 . 
     Furthermore, the controlling device  50  subtracts the calculated relative positional coordinates (x23, y23) from the relative coordinates (x1 and y1) of the center position SC of the inspection socket  24  to calculate a positional deviation amounts (Δx, Δy) of the center position DC of the IC chip T with respect to the center position SC of the inspection socket  24 . Additionally, the controlling device  50  subtracts the calculated relative angular deviation θ 23  from the angular deviation θ 1  of the inspection socket  24  to calculate an angular deviation amount Δθ of the IC chip T with respect to the inspection socket  24 . 
     Based on the positional deviation amounts (Δx, Δy), the angular deviation amount Δθ, and the sucking position deviation (x31, y31), the controlling device  50  makes the center position DC of the IC chip T coincident with the center position SC of the inspection socket  24 , as well as calculates the amounts of movements (the amounts of corrections) of the suction nozzle  27  in the X and the Y directions and the rotation angle so as to allow the angular deviation amount Δθ to be “zero”. Then, the controlling device  50  inputs a control signal C 25  calculated based on the correction amounts to the position adjusting device  25  to allow the suction nozzle  27  to rotate and move in the X and the Y directions so as to make the center position DC of the IC chip T coincident with the center position SC of the inspection socket  24 , namely, so as to correct the position of the IC chip T. 
     The controlling device  50  is electrically connected to a photographing device driving circuit  80  and a reflecting device driving circuit  81 , respectively. 
     The photographing device driving circuit  80  generates a driving signal D 3 X for the right and left directions (the X direction) and a driving signal D 3 Z for the upper and lower directions (the Z direction) based on a control signal C 40  from the controlling device  50 . Then, based on the driving signal D 3 X, the horizontal motor M 3 X is drivingly controlled to move the photographing device  40  (the chamber camera  44 ) in the right and left directions. Additionally, based on the driving signal D 3 Z, the vertical motor M 3 Z is drivingly controlled to move the photographing device  40  (the chamber camera  44 ) in the upper and lower directions. Furthermore, the controlling device  50  receives a rotation amount S 3 X of the horizontal motor M 3 X detected by a horizontal motor encoder E 3 X via the photographing device driving circuit  80 . Thereby, the controlling device  50  acquires the position of the chamber camera  44  in the right and left directions (the X direction) from the rotation amount S 3 X. Additionally, the controlling device  50  receives a rotation amount S 3 Z of the vertical motor M 3 Z detected by a vertical motor encoder E 3 Z via the photographing device driving circuit  80 . Thereby, the controlling device  50  acquires the position of the chamber camera  44  in the upper and lower directions (the Z direction) from the rotation amount S 3 Z. 
     Based on a control signal C 45  input from the controlling device  50 , the reflecting device driving circuit  81  generates a driving signal D 4 X for the right and left directions (the X direction) and a driving signal D 4 Z for the upper and lower directions (the Z direction). Based on the driving signal D 4 X, the horizontal motor M 4 X is drivingly controlled to move the reflecting device  45  (the second mirror  49 A) in the right and left directions. Additionally, based on the driving signal D 4 Z, the vertical motor M 4 Z is drivingly controlled to move the reflecting device  45  (the second mirror  49 A) in the upper and lower directions. The controlling device  50  receives a rotation amount S 4 X of the horizontal motor M 4 X detected by a horizontal motor encoder E 4 X via the reflecting device driving circuit  81 . Thereby, the controlling device  50  acquires the position of the second mirror  49 A in the right and left directions (the X direction) from the rotation amount S 4 X. Furthermore, the controlling device  50  receives a rotation amount S 4 Z of the horizontal motor M 4 Z detected by a horizontal motor encoder E 4 Z via the reflecting device driving circuit  81 . Thereby, the controlling device  50  acquires the position of the second mirror  49 A in the upper and lower directions (the Z direction) from the rotation amount S 4 Z. 
     Next,  FIGS. 14 to 17  will be referred to describe a series of steps for transferring the sucked and hold IC chip T from the first shuttle  16  to the inspection socket  24 , in the IC handler  10 . In this case, the inspection of the IC chip T is about to be started, and the IC chip T is yet to be sucked and hold by the measuring robot  22 . 
     First, upon a start of the inspection of the IC chip T, the controlling device  50  clears the inspected-product counter memory to “zero”. The counter memory records the numbers of the IC chips inspected (Step S 1 ). After clearing the counter memory to “zero”, the controlling device  50  performs the socket recognition processing (Step S 2 ). 
     In the socket recognition processing, as shown in  FIG. 15 , the controlling device  50  moves the second mirror  49 A to the reflecting position RP (Step S 2 - 1 ) and moves the chamber camera  44  to the second photographing position CP 2  (Step S 2 - 2 ). When the chamber camera  44  is moved to the second photographing position CP 2 , the controlling device  50  allows the chamber camera  44  to photograph the first and the second socket marks  260 ,  261  and the inspection socket  24  to acquire the image data GD 3  for the socket recognition processing (Step S 2 - 3 ). 
     After acquiring the image data GD 3  for the socket recognition processing, the controlling device  50  performs the socket recognition processing to calculate the relative coordinates (x1, y1) and the angular deviation θ 1  (Step S 2 - 4 ) so as to store the calculated relative coordinates and the angular deviation in the RAM  63  (Step S 2 - 5 ). After storing the coordinates and the angular deviation above in the RAM  63 , the controlling device  50  moves the chamber camera  44  to the standby position (Step S 2 - 6 ), and then, moves the second mirror  49 A to the withdrawing position (Step S 2 - 7 ) to complete the socket recognition processing. 
     Following the completion of the socket recognition processing, the controlling device  50  performs the mark-position recognition processing (Step S 3 ). 
     In the mark-position recognition processing, as shown in  FIG. 16 , the controlling device  50  moves the measuring robot  22  to above the inspection socket  24  (Step S 3 - 1 ), and then lowers the measuring robot  22  (Step S 3 - 2 ). After the measuring robot  22  descends, the socket pins  25 A and  25 B, respectively, are inserted in the corresponding cylindrical members  28 C, respectively. When the measuring robot  22  lowers the pressing and retaining portion  22 C to the original point, the top surface positions of the top surface hand marks  282  and  283  corresponding to the socket marks  260  and  261  are made coincident with those of the socket marks  260  and  261  (Step S 3 - 3 ). After that, the controlling device  50  moves the chamber camera  44  to the second photographing position CP 2  (Step S 3 - 4 ). When the chamber camera  44  moves to the position CP 2 , the controlling device  50  allows the chamber camera  44  to photograph the socket marks  260 ,  261  and the corresponding top surface hand marks  282 ,  283  via the first mirror  29 A provided on the left side surface of the measuring robot  22  to acquire the image data GD 2  for the mark-position recognition processing (Step S 3 - 5 ). 
     After acquiring the image data GD 2  for the mark-position recognition processing, the controlling device  50  performs the mark-position recognition processing to calculate the relative coordinates (x2, y2) and the angular deviation θ 2  (Step S 3 - 6 ) so as to store the calculated relative coordinates and the angular deviation in the RAM  63  (Step S 3 - 7 ). After storing the coordinates and the angular deviation above in the RAM  63 , the controlling device  50  moves the chamber camera  44  to the standby position (Step S 3 - 8 ) and moves the measuring robot  22  to a predetermined position (Step S 3 - 9 ) to complete the mark-position recognition processing. 
     Upon the completion of the mark-position recognition processing, the controlling device  50  supplies the IC chip T to each pocket  32  of the supply change kit  31  of the first shuttle  16  to transfer the IC chip T to the position where the chip is sucked and hold by the measuring robot  22  (Step S 4 ). When the measuring robot  22  transfers the IC chip T to the sucking and holding position, the controlling device  50  performs the device recognition processing (Step S 5 ). 
     In the device recognition processing, the suction nozzle  27  is located at a predetermined initial position and at a predetermined initial angle with respect to the measuring robot  22 . Then, as shown in  FIG. 17 , the suction nozzle  27  of the measuring robot  22  is lowered to the sucking position to allow the measuring robot  22  to suck and hold the IC chip T (Step S 5 - 1 ). When the IC chip T is sucked and hold by the measuring robot  22 , the controlling device  50  raises the measuring robot  22  (Step S 5 - 2 ) to move to the first photographing position CP 1  where the first shuttle camera  37  photographs the IC chip T and the bottom surface hand marks  280 ,  281  (Step S 5 - 3 ). After moving the measuring robot  22  to the position CP 1 , the controlling device  50  moves the first shuttle  16  to move the first shuttle camera  37  to the first photographing position CP 1  (Step S 5 - 4 ). When the measuring robot  22  and the first shuttle camera  37  are moved to the first photographing position CP 1 , the controlling device  50  allows the first shuttle camera  37  to photograph the IC chip T and the bottom surface hand marks  280  and  281  so as to acquire the image data GD 1  for the device recognition processing (Step S 5 - 5 ). 
     When acquiring the image data GD 1  for the device recognition processing, the controlling device  50  performs the device recognition processing. In the processing, the controlling device  50  calculates the sucking position deviation (x31, y31), the relative coordinates (x3, y3), and the angular deviation θ 3  (Step S 5 - 6 ) to store in the RAM  63  (Step S 5 - 7 ). Thereafter, the controlling device  50  starts to move the measuring robot  22  to mount the IC chip T in the inspection socket  24  (Step S 5 - 8 ). After starting the movement of the measuring robot  22 , the controlling device  50  starts to move the first shuttle  16  to a position for retrieving the IC chip T (Step S 5 - 9 ) to finish the device recognition processing. 
     Upon the completion of the device recognition processing, the controlling device  50  calculates the amounts of correction for making the central position DC of the IC chip T coincident with the center position SC of the inspection socket  24  based on the relative coordinates (x1, y1), (x2, y2), and (x3, y3) and the angular deviations θ 1 , θ 2 , and θ 3  stored in the RAM  63  (Step S 6 ). 
     In the calculation of the correction amounts, the controlling device  50  makes the center position DC of the chip coincident with the center position SC of the socket based on the sucking position deviation, the relative coordinates, and the angular deviations, as well as calculates the amounts of movements (the correction amounts) of the suction nozzle  27  in the X and the Y directions and the rotational angle so as to allow the angular deviation amount Δθ to be “zero”. After calculating the correction amounts, the controlling device  50  allows the measuring robot  22  to transfer the IC chip T to above the inspection socket  24  (Step S 7 ). 
     After transferring the IC chip T to above the socket, the controlling device  50  moves the position adjusting device  25  based on the calculated correction amounts to make the center position DC of the IC chip T coincident with the center position SC of the socket and also performs a positional correction to make an inclination of the first side of the IC chip T coincident with an inclination of the first side of the socket (Step S 8 ). 
     After correcting the positional the IC chip T, the controlling device  50  mounts the IC chip T in the inspection socket  24  (Step S 9 ) to perform an electrical inspection of the IC chip T. Upon the completion of the electrical inspection of the chip, the controlling device  50  allows the suction nozzle  27  to be located at the predetermined initial position and at the predetermined initial angle with respect to the measuring robot  22 , and allows the measuring robot  22  to extract the IC chip T from the inspection socket  24  to retrieve the chip and place in each pocket  32  of the retrieval change kit  34  of the first shuttle  16  (Step S 10 ). 
     After placing the IC chip T in the retrieval change kit  34 , the controlling device  50  moves the first shuttle  16  to allow the retrieving robot  15  to retrieve the chip. After the IC chip T is retrieved by the retrieving robot  15 , the controlling device  50  determines whether there is any next chip to be inspected (Step S 12 ). 
     If there is no next chip to be inspected (if NO at Step S 12 ), the controlling device  50  finishes the inspection of the IC chip T. Conversely, if there is a next chip to be inspected (if YES at Step S 12 ), the controlling device  50  adds 1 to the inspected-product counter (Step S 13 ) and then determines whether a predetermined number of chips were inspected (Step S 14 ). 
     When the predetermined number of chips have not been inspected (if NO at Step S 14 ), the controlling device  50  returns to Step S 4  to repeat the transfer and inspection of the IC chip T. In this case, the device recognition processing is performed to recalculate the relative coordinates (x3, y3) and the angular deviation θ 3 , whereas the socket recognition processing and the mark-position recognition processing are not performed. Thus, correction values are calculated using the relative coordinates (x2, y2) and (x1, y1) and the angular deviations θ 1  and θ 2  previously calculated and stored in the RAM  63 . Meanwhile, when the predetermined number of chips have been inspected (if YES at Step S 14 ), the controlling device  50  returns to Step S 1  to perform the socket recognition processing, the mark-position recognition processing, and the device recognition processing, whereby correction values are calculated to repeat the inspection of the IC chip T. 
     In addition, the IC handler  10  is also used to suck and hold the IC chip T from the second shuttle  17  to mount the chip in the inspection socket  24 . A series of steps performed are the same as those in the first shuttle  16 . Thus, a description of the steps using the second shuttle  17  will be omitted. 
     As described hereinabove, the component transferring apparatus and the IC handler according to the embodiment of the invention provide advantages as follows. 
     1. In the present embodiment, there are provided the first and the second socket marks  260  and  261 . The socket marks  260 ,  261  and the inspection socket  240  are photographed to perform the image recognition processing of the image data GD 3  obtained by the photographing operation. The image recognition processing provides the relative coordinates (x1, y1) of the inspection socket  24  with respect to the first socket mark  260  and the angular deviation  81  of the socket with respect to the socket pin arrangement line AY 1 . As a result, even if installation-induced distortion and thermal expansion and contraction occur in the IC handler  10 , the relative positional relationship between the inspection socket  24  and the first socket mark  260  can be obtained in such a manner as to reflect physical changes such as the distortion and the expansion and contraction as mentioned above. 
     2. In the embodiment, the first and the second top surface hand marks  282 ,  283 , respectively, are provided to be inserted in the first and the second socket marks  260 ,  261 , respectively. Thus, the socket mars  260 ,  261  and the corresponding hand marks  282 ,  283  are photographed to perform the image recognition processing of the image data GD 2  obtained by the photographing operation. The image recognition processing provides the relative coordinates (x2, y2) of the first top surface hand mark  282  with respect to the first socket mark  260  and the angular deviation θ 2  of the hand mark arrangement line AY 2  with respect to the socket pin arrangement line AY 1 . As a result, even if installation-induced distortion and thermal expansion and contraction occur in the IC handler  10 , there can be obtained an appropriate relative positional relationship between the first top surface hand mark  282  and the first socket mark  260 , namely, an appropriate relative positional relationship between the inspection section  23  and the measuring robot  22 . 
     In the embodiment, the relative coordinates (x1, y1) and the angular deviation  81  are obtained from the image data GD 3  for the socket recognition processing; the relative coordinates (x2, y2) and the angular deviation θ 2  are obtained from the image data GD 2  for the mark-position recognition processing; and the relative coordinates (x3, y3) and the angular deviation θ 3  are obtained from the image data GD 1  for the device recognition processing. Based on the relative coordinates (x1, y1), (x2, y2), and (x3, y3) and the angular deviation θ 2 , there is calculated the positional deviation amounts (Δx, Δy) between the center position SC of the inspection socket  24  and the center position DC of the IC chip T. Additionally, based on the angular deviations θ 1 , θ 2 , and θ 3 , there is calculated the angular deviation amount Δθ between the first side of the inspection socket  24  and the first side of the IC chip T. As a result, the relative positions of the inspection socket  24  and the IC chip T can be made coincident with each other, whereby the position of the IC chip T can be adjusted such that the angular deviation amount is made “zero”. 
     4. In the embodiment, the first and the second top surface hand marks  282 ,  283 , respectively, are provided to be inserted in the first and the second socket marks  260 ,  261 , respectively, where the hand marks and the socket marks have the same height. Thus, the chamber camera  44  can photograph all of the marks at one time. Additionally, in the image recognition processing in which the margin of error becomes larger if there is any difference in a height direction, the relative positional relationship between the socket marks  260 ,  261  and the corresponding top surface hand marks  282 ,  283  can be recognized with a high precision so as to calculate the relative positions and the angular deviation. 
     5. In the embodiment, the chamber camera  44  photographs the image data GD 2  for the “mark-position recognition processing” and the image data GD 3  for the “socket recognition processing”. In this manner, the single camera is used to photograph both of the two image data, and thus, the number of cameras can be reduced. Additionally, since the chamber camera  44  photographs those images via the first and second mirror  29 A and  49 A, respectively, the camera can be easily located on a periphery of the measuring robot  22  and the inspection section  23  in which the location position for the camera is very limited. 
     6. In the embodiment, the “device recognition processing” is performed for each IC chip T, whereas the “mark-position recognition processing” and the “socket recognition processing” are performed every time a predetermined number of the IC chips T are inspected. This can reduce the number of times of the image recognition processings during the steps for inspecting the IC chip T, which can shorten inspection time. Moreover, even if installation-induced distortion and thermal expansion and contraction occur in the IC handler, those changes can be reflected in calculation results of correction values obtained in every inspection of a predetermined number of the chips. 
     Modifications 
     For example, modifications of the above embodiment can be implemented as follows. 
     In the above embodiment, the chamber camera  44  photographs the image for the “mark-position recognition processing” and the image for the “socket recognition processing”, respectively, via the first mirror  29 A and the second mirror  49 A, respectively. However, the images for those recognition processings may be directly photographed by the camera. 
     In the above embodiment, the chamber camera  44  photographs the image for the “mark-position recognition processing” and the image for the “socket recognition processing” at the second photographing position CP 2 . However, those images may be photographed at mutually different positions. 
     In the above embodiment, the chamber camera  44  is used to photograph both of the image for the “mark-position recognition processing” and the image for the “socket recognition processing”. However, an exclusive camera for each of the images may be used to photograph each image. 
     In the above embodiment, there are provided the two socket marks  260 ,  261  and the two cylindrical members  28 C. However, the numbers of the socket marks and the cylindrical members (hand marks) are not restricted to two. 
     In the above embodiment, the socket marks  260 ,  261  and the hand marks  280  to  283  are circular in shape. However, those marks may be oval, polygonal, or cross-shaped. When such oval, polygonal, or cross-shaped marks are used, an angular deviation can be obtained from a single mark. 
     In the above embodiment, the socket pins  25 A and  25 B, respectively, are inserted in the cylindrical members  28 C. However, as long as the socket pins and the cylindrical members are arranged within the same viewing range of the camera, the arrangement manner of the pins and the members is not specifically restricted. For example, the socket pins  25 A,  25 B and the cylindrical members  28 C may be adjacently or separately arranged. Additionally, the heights of the socket pins and the cylindrical members are not restricted to the height LSz. 
     In the above embodiment, the socket pins  25 A,  25 B and the cylindrical members  28 C are each made of metal. However, the hand marks  280  to  283  may be provided on glass, since it is only necessary that the hand marks can be seen from upper and lower sides. In this case, even when the socket marks are superimposed on the hand marks provided on glass, both marks can be photographed together by a camera. Additionally, a hand mark appropriate for an image recognition processing can be easily drawn. 
     In the above embodiment, the first socket mark  260  is used as a reference point for the relative coordinates. However, the reference point may be provided at any position. 
     In the above embodiment, the positional deviation amounts (Δx, Δy) and the angular deviation amount AO are calculated. However, there may be calculated only a necessary deviation amount among the positional deviation amount in the X direction, the positional deviation amount in the Y direction, and the angular deviation amount. 
     In the above embodiment, the relative coordinates (x1, y1) and the angular deviation θ 1  are directly calculated by the “socket recognition processing”, and the relative coordinates (x2, y2) and the angular deviation θ 2  are directly calculated by the “mark-position recognition processing”. Then, based on the calculation results, the positional deviation amounts (Δx, Δy) and the angular deviation amount Δθ are calculated. Instead of that, a predetermined processing may be performed using the coordinates calculated by the “socket recognition processing”. For example, values calculated by a plurality of times of processings may be stored to obtain an average value in a predetermined number of times of the processings so as to calculate as the relative coordinates (x1, y1). Additionally, a predetermined processing may be performed using the angle calculated by the “socket recognition processing”. For example, values calculated by a plurality of times of processings may be stored to obtain an average value in a predetermined number of times of the processings so as to calculate as the angular deviation  81 . Furthermore, a predetermined processing as above may also be performed to calculate the relative coordinates (x2, Y2), the angular deviation θ 2 , the positional deviation amounts (Δx, Δy), or the angular deviation amount Δθ. 
     In the above embodiment, the measuring robot  22  transfers the single IC chip T into the single inspection socket  24 . However, the measuring robot  22  may transfer a plurality of IC chips T to mount in a plurality of inspection sockets  24 . In this case, the numbers of the shuttle cameras  37 ,  38 , the photographing device  40 , and the reflecting device  45  may be singular or plural. 
     In the above embodiment, in the image recognition processing, the single image including the bottom surface hand marks  280 ,  281  and the IC chip T is processed as the image data. However, a plurality of image data may be processed at one time. Similarly, the single image including the top surface hand marks  282 ,  283  and the corresponding socket marks  260 ,  261 , as well as the single image including the socket marks  260 ,  261  and the inspection socket  24  may also be processed as above in the image recognition processing. 
     In the above embodiment, when the top surface hand marks  282  and  283  are in contact with the inspection section  23 , the top surface positions of the hand marks  282  and  283  are made coincident with those of the socket marks  260  and  261 . However, instead of that, the top surface positions of the hand marks and the socket marks may be made coincident with each other in a position separated from the inspection section  23 . In this manner, the cylindrical members  28 C can be less influenced by a temperature rise in the inspection section  23 . 
     In that case, for example, the measuring robot  22  may be once lowered to the position where the top surface hand marks  282  and  283  contact with the inspection section  23 , namely, to the mounting position, and then, may be raised by a predetermined distance. Thereby, while eliminating an influence due to a change in the relative distance between the measuring robot  22  and the inspection section  23 , the hand marks  282  and  283  can be located at a position separated from the inspection section  23  by the predetermined distance. 
     In the above embodiment, every time the IC chip T is transferred to the inspection socket  24 , the “device recognition processing” is performed, whereas the “socket recognition processing” and the “mark-position recognition processing” are simultaneously performed every predetermined number of times of the chip transfer. However, an interval for performing the “socket recognition processing” and the “mark-position recognition processing” is not specifically restricted, and those processings may not be simultaneously performed. 
     For example, as shown in  FIG. 18 , the “mark-position recognition processing” may be performed every after the “device recognition processing”. 
     Additionally, for example, as shown in  FIG. 19 , when the IC chip T is mounted in the inspection socket  24 , the image for the “mark-position recognition processing” may be acquired to perform the “mark-position recognition processing”. Next, when mounting the IC chip T in the inspection socket  24 , the positional deviation amounts (Δx, Δy) and the angular deviation amount Δθ may be calculated based on relative coordinates calculated by the previous “mark-position recognition processing”.