Patent Publication Number: US-11051437-B2

Title: Loose component supply device and component mounter

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a division of U.S. application Ser. No. 15/314,013 filed Nov. 25, 2016, the entire contents of which is incorporated herein by reference. U.S. application Ser. No. 15/314,013 is a 371 of International Application No. PCT/JP2014/064713 filed Jun. 3, 2014. 
    
    
     TECHNICAL FIELD 
     The present application relates to a component supply device that supplies multiple components in a loose state and a to component mounter that picks up loose components and mounts them on a circuit board. 
     BACKGROUND ART 
     With the loose component supply device disclosed in patent literature 1, image data is acquired by imaging multiple components supported in a loose state on a component support surface using an imaging device. Then, based on the image data, from the multiple components, a target component that is able to be picked up is extracted, and the position of the pickup target components is acquired. A robot is moved to the position and the pickup target component is picked up. 
     CITATION LIST 
     Patent Literature 
     Patent Literature 1 
     JP-A-H10-202569 
     SUMMARY 
     An object of the present disclosure is to pick up in a suitable manner each component of multiple components in a loose state. 
     The present disclosure changes a component holding tool that picks up a component and changes the height of the component holding tool when picking up the component based on image data obtained by imaging multiple components of the same type that are in a loose state. 
     Loose state refers to a state in which the orientation of each component is random; multiple components of the same type refers to components for which the shape, size, mass, construction, and the like is the same for each. Each of the multiple components may be components that include multiple surfaces that have a different size or shape, but even if all of these multiple surfaces have a size or shape different to each other, it is acceptable if the size and shape of a portion of the multiple surfaces is the same. For multiple components with a different orientation, there are cases in which the size and shape of the upwards facing surface is different, and there are cases in which the height to the upward facing surface is different. For this, by acquiring the orientation of each of the multiple components based on the image data and changing the component holding tool based on the size and shape of the upwards facing surface, it is possible to pick up a larger quantity of components. Changing the component holding tool refers to exchanging the component holding tool, changing the position of the component holding tool that picks up the component, and the like. Also, by changing the height of the component holding tool when picking up a component based on the height to the upward facing surface, it is possible to effectively prevent damage to pickup target components and damage to component holding tools. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a perspective view showing a component mounter of a first embodiment of the present disclosure. The component mounter includes a loose component supply device of a first embodiment of the present disclosure. 
         FIG. 2  is a perspective view showing a component mounting device of the above component mounter. 
         FIG. 3  is a perspective view showing the above loose component supply device. 
         FIG. 4  is a perspective view showing a component supply unit of the above loose component supply device. 
         FIG. 5  is a side view cross section showing a component supply device of the above component supply unit. 
         FIG. 6  is a perspective view showing a component support member positioned at a retract end position in the above component supply unit. 
         FIG. 7  is a perspective view showing a supply device oscillating device of a component scattering device of the above component supply unit. 
         FIG. 8  is a perspective view of the above supply device oscillating device and a component returning device of the above component supply unit. 
         FIG. 9  is a side view illustrating operation of the above supply device oscillating device. 
         FIGS. 10A to 10C  illustrate operation of returning components to the component supply device by the above component returning device. 
         FIG. 11  is a perspective view showing a state in which a component collection container of the above component returning device is returning components to the component supply device. 
         FIG. 12  is a perspective view showing a component holding head and component holding head moving device of a component transfer device. 
         FIG. 13A  is a perspective view of the above component holding head with a suction nozzle in a non-pivoted position.  FIG. 13B  is a perspective view of the above component holding head with the suction nozzle in a pivoted position.  FIG. 13C  is a conceptual view of a nozzle attachment device included in the above component holding head. 
         FIG. 14  is a perspective view of a component carrier of a shuttle device of the above component transfer device. 
         FIG. 15A  is a front side cross section showing a component receiving member of the above component carrier.  FIG. 15B  is a front side cross section showing a state with a leaded component stored in the above component carrier. 
         FIG. 16  are perspective views of an example component supplied by the above loose component supply device.  FIG. 16A  is a perspective view of the component with the front surface facing upwards.  FIG. 16B  is a perspective view of the component with the rear surface facing upwards. 
         FIG. 17  is a block diagram conceptually showing control devices of the above component mounter. 
         FIGS. 18A to 18F  show the size and shape from above of a component in a loose state supported on a component support section. 
         FIG. 19  is a conceptual diagram showing component data stored in a storage section of the above control device. 
         FIG. 20  conceptually illustrates image data. 
         FIG. 21  is a flowchart representing an image processing program stored in the storage section of the above control device. 
         FIG. 22  is a flowchart representing a control program for pickup and so on stored in the storage section of the above control device. 
         FIG. 23  is a side view showing the relationship between the component returning device of one component supply unit of a set of five when returning components and the component holding head of a component transfer device of another component supply unit. 
         FIG. 24A  is a front view showing a chuck that can be attached to and removed from a holding tool attachment section of the component holding head of a loose component supply device of a second embodiment of the present disclosure.  FIG. 24B  is a conceptual diagram showing component data stored in a storage section of a control device of a component mounter of a second embodiment of the present disclosure. 
         FIG. 25  is a perspective view showing a portion of a loose component supply device of a third embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Hereinafter embodiments of the present disclosure are described with reference to the drawings. 
     First Embodiment 
       FIG. 1  shows a component mounter (an example of an electronic circuit assembly device) of a first embodiment of the present disclosure. The component mounter includes items such as device main body  10 , board conveying and holding device  14  that conveys and holds circuit board  12  (hereinafter also referred to as board  12 ) as a circuit substrate, component supply device  16 , loose component supply device  18  of a first embodiment of the present disclosure, component mounting device  20 , imaging devices  22  and  24 , and control device  26  (refer to  FIG. 17 ). Circuit substrates include printed wiring boards, printed circuit boards, substrates including three-dimensional features, and so on. Circuit board is a general term that includes printed wiring boards and printed circuit boards. Except for the portion relating to the present disclosure, this component mounter has a configuration similar to an electronic circuit assembly device disclosed in JP-A-2011-253869, thus similar portions will be described only briefly. 
     Board conveying and holding device  14  is positioned centrally inside the component mounter in the front-rear direction, and includes conveyance device  30  that conveys boards  12 , clamp device  32  as a holding device that holds board  12 , and so on. Board conveying and holding device  14  conveys board  12  in a horizontal orientation horizontally and holds board  12  at a predetermined position. In the present embodiment, the conveyance direction of board  12  (hereinafter also referred to as the board conveyance direction) is the X direction, the width direction of board  12  is the Y direction, and the vertical up-down direction is the Z direction. The X direction, Y direction, and Z direction are perpendicular to each other. Also, the sideways direction and width direction of the component mounter is the X direction and the front-rear direction is the Y direction. 
     Component supply device  16  includes tray type component supply device  42  that supplies electronic components (hereinafter also referred to as components) via tray  40  and that is provided in front of board conveying and holding device  14 , and a feeder type component supply device that supplies components via tape feeders, which are not shown. Loose component supply device  18  is provided to the rear of board conveying and holding device  14 ; details are described later. Components supplied via these component supply device  16  and loose component supply device  18  include electronic circuit components, configuration components for solder cells, configuration components for power modules, and the like. Among electronic circuit components, there are those with leads and there are those without leads. 
     Component mounting device  20  includes work heads  50  and  52 , and work head moving device  54 . Work head moving device  54  is provided with X-direction moving device  60  (refer to  FIG. 2 ), Y-direction moving device  62 , and Z-direction moving devices  64  and  66 . Work heads  50  and  52  are moved together to any position on a horizontal plane by X-direction moving device  60  and Y-direction moving device  62 , and are each moved independently in the Z direction by Z-direction moving devices  64  and  66  respectively. Work head moving device  54  is configured to be able to move work heads  50  and  52  in a range covering from tray  40  and the like of component supply device  16  to the component transfer position of loose component supply device  18 . Work heads  50  and  52  are each provided with a component holding tool  70  (refer to  FIG. 2 ) such as a chuck or a suction nozzle, and are mounting heads that pick up a component and mount the component on board  12 . 
     Imaging device  22  is moved together with work head (hereinafter also referred to as a mounting head)  50  in the X, Y, and Z directions. Imaging device  24  is fixedly provided on a portion of device main body  10  between board conveying and holding device  14  and the component supply section of component supply device  16 . 
     Loose component supply device  18  arranges multiple components that are in a loose state, that is, in a state of random orientation, to have a specified orientation, to be in a state able to be transferred to component mounting device  20 , that is, to be in a state able to be received by component mounting device  20 . As shown in  FIG. 1 , the entirety or a portion of loose component supply device  18  is detachably provided on a rear section of device main body  10  behind board conveying and holding device  14 . As shown in  FIG. 3 , loose component supply device  18  includes main body  80 , component supply device  82 , component scattering device  84 , component transfer device  86 , component returning device  88 , and imaging device  90 . Component supply device  82  is configured from component scattering device  84  and component returning device  88  both attached to shared frame  94 . Hereinafter this configuration is also referred to as component supply unit  96 . Multiple (in this embodiment, five) component supply units  96  are provided lined up in a row in a sideways direction (X direction) on main body  80 . 
     Component Supply Device  82   
     As shown in  FIG. 4 , component supply device  82  includes component housing section  100  and component supply section  102 . Component housing section  100  is provided on an upper section of component supply device  82 , and is configured from a container that is open in the upwards direction, with the lower surfaces of the container configured from a pair of inclined surfaces  104  and  106 . As shown in  FIG. 5 , inclined surfaces  104  and  106  are inclined to approach each other as they get lower, with the lower end section of each protruding downwards such that opening  108  extends in a sideways direction. Among inclined surfaces  104  and  106 , inclined surface  104  provided at the front side of component supply device  82  has a gentler incline than inclined surface  106 , and opening  108  is positioned at the rear section of component housing section  100 . Component supply section  102  is provided with component supply surface  110  provided below component housing section  100 . Component supply surface  110  is an inclined surface inclined downwards the further forwards it goes, and the leading end section thereof is configured from component ejection section  112 . The incline of component supply surface  110  is gentler than that of inclined surface  104 . Also, member  114  is provided on the front end of component supply surface  110  as a plate lip that extends downwards from component supply surface  110 . The dimension of opening  108  in the front-rear direction is somewhat larger than the size of the components to be housed. 
     As shown in  FIG. 4 , with component supply device  82 , pair of hooks  120  (one hook  120  is shown in  FIG. 4 ) provided at both edge sections in the sideways direction of the upper rear section of component housing section  100  are engaged from above on support shaft  122  provided on the upper rear section of frame  94 , and are supported to be detachable and rotatable around a horizontal axis line parallel to the sideways direction (X direction). Also, as shown in  FIG. 6 , component supply device  82  is provided with plate holding sections  124  that protrude horizontally, each provided on a lower section of the front sections of the pair of walls parallel to the front-rear direction, and is supported from below and rests on horizontal plate-shaped support sections  126  provided on frame  94  to be relatively movable in the vertical direction. In a state with component supply device  82  supported by frame  94 , each of inclined surface  104  and component supply surface  110  are inclined at a predetermined angle with respect to a horizontal plane, in the present embodiment, around 15 degrees and around 10 degrees; lip member  114  is positioned in a vertical plane. There are multiple component supply devices  82  with a different dimension for opening  108  or a different inclination angle for at least one of the above inclined surfaces  104  and  106 , and component supply surface  110 , such that the components to be supplied by component supply unit  96  can be changed simply by exchanging component supply device  82 . 
     Component Scattering Device  84   
     As shown in  FIG. 4 , component scattering device  84  includes component support member  150 , component support member moving device  152  that is a relative moving device for moving component support member  150  and component supply device  82  relative to each other, and supply device oscillating device  154 . Component support member  150  includes component support section  156  that is a long rectangular plate, and pair of leg sections  158 . Leg sections  158  are flat plates and are provided protruding both above and below upper surface  160  that is the flat upper surface of component support section  156 . Component support member moving device  152  includes slide  164  and slide driving device  166  (refer to  FIG. 17 ). Slide driving device  166  is configured from a rodless cylinder in the present embodiment. 
     Component support member  150  is fixed to slide  164  at pair of leg sections  158 ; slide  164  is guided along pair of guide rails  168  by slide driving device  166  such that component support member  150  is moved parallel to upper surface  160 , that is, horizontally, in the front-rear direction, just below the lower end of lip member  114 . Also, as shown in  FIG. 4 , component support member  150  is moved to and from a component supply position at which the entirety of upper surface  160  is positioned forward of component supply device  82 , and a retract position at which the front edge of upper surface  160  is positioned at the front edge of component supply device  82 . 
     As shown in  FIG. 7 , supply device oscillating device  154  of the present embodiment includes cam member  180 , cam follower  182  and stopper  184  that configures a rotation limit regulating member. Cam member  180  is a flat plate and is fixed on an outer wall of one of the pair of leg sections  158  parallel to the front-rear direction. Multiple teeth  190  are provided on cam member  180  at a regular interval in a direction parallel to the front-rear direction. Each of multiple teeth  190  are configured from inclined surface  192  inclined to be higher the further it extends to the rear, and vertical surface  194  that extends vertically downwards from the upper end of inclined surface  192 ; cam surface  196  formed as multiple protrusions and recesses lined up in a straight line in a direction parallel to the front-rear direction is configured from these inclined surfaces  192  and vertical surfaces  194 . As shown in  FIG. 4 , in the present embodiment, cam member  180  is provided on a portion of component support member  150  in the front-rear direction; among the range of upper surface  160 , the portion in the front-rear direction corresponding to cam follower  180  functions as component support surface  198 . 
     As shown in  FIG. 8 , cam follower  182  includes lever  202  provided on an outer surface of component supply device  82  to be rotatable around an axis line parallel to the sideways direction via bracket  200 , and roller  204  provided on a free end of lever  202  to be rotatable around an axis line parallel to the sideways direction. Lever  202  is biased such that roller  204  moves forward by torsion coil spring  206  (refer to  FIG. 9 ) that is a spring member forming a type of biasing means. Stopper  184  is provided on bracket  200  and forms a protrusion that regulates the rotation limit of lever  202  due to the biasing of torsion coil spring  206 . As shown in  FIG. 7 , in a state with the rotation limit regulated, cam follower  182  is positioned to protrude downwards from component supply device  82  in a vertical direction. 
     Component Returning Device  88   
     As shown in  FIG. 11 , component returning device  88  includes lip member  114 , component collection container  220 , component collection container raising and lowering device  222  that forms a relative raising and lowering device, and operation conversion mechanism  224 . Component collection container raising and lowering device  222  includes raising and lowering member  226  that forms a movable member, and air cylinder  228  that forms a raising and lowering member driving device. Air cylinder  228  is provided facing up at a position between the pair of guide rails  168 ; raising and lowering member  226  is raised and lowered with respect to component supply device  82  by the extending and retracting of piston rod  230 . Air cylinder  228  is fixed to the front end of slide  164 ; raising and lowering member  226  is moved forwards and backwards together with component support member  150 . 
     Component collection container  220  is attached to raising and lowering member  226  via shaft  232  to be rotatable around an axis line horizontal and parallel to the sideways direction (X direction), and is provided to be raisable and lowerable on the front end section of component support member  150 . Component collection container  220 , by the raising and lowering of raising and lowering member  226 , is raised and lowered to, as shown in  FIG. 10A , a lower end position below upper surface  160  of component support member  150 , and, as shown in  FIG. 11 , an upper end position above component supply device  82 . 
     Also, component collection container  220  is rotated above raising and lowering member  226  to and from a component receiving position in which the lower surface of component collection container  220  is horizontal and the container is open upwards, and a component ejection position in which component collection container  220  is vertical, thus ejecting components to component supply device  82 . Component collection container  220  is biased in a rotation direction towards the component receiving position by a torsion coil spring (not shown) that forms a biasing means. The rotation limit of component collection container  220  by this biasing is regulated by the pair of stoppers  234 , and component collection container  220  is usually at the component receiving position. Rear wall  236  of component collection container  220  is inclined to point down the further it goes towards the rear at the component ejection position. 
     As shown in  FIG. 11 , operation conversion mechanism  224  includes pair of rollers  240  that form an engaging section provided on component collection container  220 , and pair of engaged surfaces  242  that form an engaged section provided on frame  94 . In  FIG. 11 , only one roller  240  and one engaged surface  242  are shown. As shown in  FIG. 8 , roller  240  is attached to a protruding end of fixed support member  244  that protrudes rearwards from component collection container  220  positioned at the component receiving position so as to be rotatable around an axis line parallel to the sideways direction. Engaged surface  242  is provided on a portion corresponding to the upper section of component housing section  100  of frame  94 , and is a horizontal surface that faces downwards. 
     Shutter  250  is arranged on the leading edge of component support member  150  to be raisable and lowerable between component support member  150  and component collection container  220 . Shutter  250  is raised and lowered in accordance with the raising and lowering of component collection container  220 ; the raising and lowering of shutter  250 , as shown in  FIG. 10C , is guided by protruding sections  254  provided on the leading edge of slide  164  engaging with pair of elongated holes  252  in a movable manner. Also, shutter  250  is biased upwards by compression coil spring  255  as a biasing means that engages with pair of rods  253  established on slide  164 . 
     As shown in  FIG. 10A , protruding engaging section  256  provided on the rear section of raising and lowering member  226  engages from above protruding engaging section  258  provided on the lower section of shutter  250  when component collection container  220  is at the lower end position. By this, the raising of shutter  250  due to the biasing force of compression coil spring  255  is prevented, and shutter  250  is held in a non-blocking positioning below upper surface  160  of component support member  150 . 
     As shown in  FIG. 10B , shutter  250  is allowed to move up in accordance with the upwards movement of component collection container  220 . Shutter  250  moves up with the upwards movement of component collection container  220 , but the raising limit of shutter  250  is regulated by the lower end of elongated holes  252  contacting protruding sections  254 . Shutter  250  protrudes upwards higher than component supply surface  110  of component supply unit  96 , to be in a blocking position that prevents components from falling from component supply surface  110 . 
     Imaging Device  90   
     As shown in  FIG. 3 , imaging device  90  is, for example, provided with a CCD camera or a CMOS camera as an imaging instrument. Imaging device moving device  270  that moves imaging device  90  includes slide  272  and slide driving device  274  (refer to  FIG. 17 ). Slide driving device  274  includes an electric motor, which is not shown, and indexing screw mechanism  278 . Indexing screw mechanism  278  includes nut  280  and indexing screw  282 ; indexing screw  282  is rotated by the electric motor such that slide  272  is moved to any position in the sideways direction guided by guide rail  284 . Slide driving mechanism  274  is provided on main body  80  such that imaging means  90  provided on slide  272  is positioned above component support surface  198  of component support member  150  positioned at the component supply position. Also, imaging device  90  has a lens pointing downwards and positioned opposite and facing component support surface  198 . 
     Imaging device  90  is moved by imaging device moving device  270  to be positioned selectively facing each of component support surfaces  198  of the five sets of component supply units  96 ; at each of the five imaging positions, multiple components on the respective component support surfaces  198  are imaged. 
     The imaging region of imaging device  90  is determined by factors such as the characteristics of the lens and the distance to the imaging target; in the present embodiment, the region is set to include the entirety of component support surface  198 . Thus, image data for the entirety of component support surface  198  can be acquired by imaging once with imaging device  90 . Note that, the imaging area does not necessarily have to include the entirety of component support surface  198 , a portion of component support surface  198  is sufficient. In cases in which the imaging region is a portion of component support surface  198  but it is necessary to acquire image data for the entirety of component support surface  198 , imaging of component support surface  198  may be split between multiple imagings. In this case, it is desirable for imaging device moving device  270  to be able to move imaging device in a front-rear direction as well. 
     Component Transfer Device 
     As shown in  FIG. 12 , component transfer device  86  includes component holding head  300 , component holding head moving device  302 , and multiple (two in the present embodiment) shuttle devices  304  and  306  (refer to  FIG. 3 ). 
     Component Holding Head Moving Device 
     Component holding head moving device  302  includes X-direction moving device  320 , Y-direction moving device  322 , and Z-direction moving device  324 , and moves component holding head  300  in the X, Y and Z directions. Y-direction moving device  322  is provided on main body  80 , and includes Y slide  326 , and Y slide driving device  328 . Y slide driving device is provided with electric motor  330   y , and indexing screw mechanism  336   y  that includes indexing screw  332   y  and nut  334   y ; Y slide driving device  328  moves Y slide  326  provided to be movable as one with nut  334   y  to any position in the Y-axis direction guided by pair of guide rails  338   y.    
     X direction driving device  320  is provided on Y slide  326  and includes X slide  340  and X slide driving device  342 . Z direction driving device  324  is provided on X slide  340  and includes Z slide  344  and Z slide driving device  346 . X slide driving device  342  and Z slide driving device  346  have a similar configuration to Y slide driving device  328 , and configuration elements with the same reference numbers suffixed by x or z correspond to configuration elements of Y slide driving device  328  with the same use, thus descriptions of these are omitted. 
     Component Holding Head 
     Component holding head  300  is provided on Z-axis slide  344 . Component holding head  300  is moved by component holding head moving device  302  together with Z direction moving device  324  to a height region between imaging device  90  and component support surface  198 . Within this height region, component holding head  30  is moved to any position in the horizontal and vertical directions. Thus, imaging device  90  and component holding head  300  are positioned above component support surface  198  of the same component supply unit  96  at the same time, and component holding head  300 , by being moved in a horizontal direction that is at least one of the X and Y directions, is positioned above component support surface  198 , and moved to and from a functional position at which a component can be picked up from component support surface  198 , and a retract position separated from the functional position. As shown in  FIGS. 13A,13B, and 13C , component holding head  300  includes (1) head main body  360  provided as one with Z slide  344 , (2) suction nozzle  362  that forms a component holding tool, (3) nozzle rotating device  364  that forms a holding tool rotating device, (4) nozzle pivoting device  366  that forms a holding tool pivoting device, (5) nozzle attachment device  368  that forms a holding tool attachment device, and the like. 
     Nozzle pivoting device  366  pivots suction nozzle  362  around an axis line that extends in the horizontal direction, and includes link mechanism  370  and link mechanism driving device  372 . Link mechanism driving device  372  includes raising and lowering member  374  that forms a driving member, and raising and lowering member driving device  376 . Raising and lowering member driving device  376  is provided with electric motor  378  and indexing screw mechanism  384  that includes indexing screw  380  and nut  382 ; the rotation of electric motor  378  is transmitted to indexing screw  380  via timing pulleys  386  and  388  and timing belt  390 , such that raising and lowering member  374  is raised and lowered. Spline shaft  392  is attached to raising and lowering member  374  extending vertically downwards. An end of lever  394  is attached to the lower end of spine shaft  392  via axis  395  so as to be rotatable around a horizontal axis line, and suction nozzle  362  is detachably held on the lower end of spline shaft  392  by nozzle holding member  396  that forms a component holding tool holding member. 
     Arm  400  is established on lever  394  in a direction at a right angle to the rotation axis of lever  394 , and on a protruding end of arm  400  a pair of rollers  402  (only one roller is shown) is attached so as to be rotatable around an axis line parallel to the rotation axis line of lever  394 , thus configuring a cam follower. Each of the pair of rollers  402  is engaged with pair of horizontal elongated holes  406  (only one elongated hole  406  is shown) of cam member  404  provided on head main body  360  so as to be not movable in the vertical direction. As shown in  FIG. 13A , in a state in which raising and lowering member  374  is at the upper limit position, suction nozzle  362  is in a non-pivoted position aligned with spline shaft  392 . When raising and lowering member  374  is lowered, lever  394  is rotated due to the lowering of rollers  402  being prevented by cam member  404 , such that suction nozzle  362  is pivoted around a horizontal pivoting axis line. In a state in which raising and lowering member  374  is lowered to the lower limit position, as shown in  FIG. 13B , suction nozzle  362  is pivoted 90 degrees and the axis line of suction nozzle  362  is horizontal. The non-pivoted position and the 90 degree pivoted position are decided by position control of raising and lowering member  374  performed by control of electric motor  378 . Suction nozzle  362  is also able to be held at any position between the non-pivoted position and the 90 degree pivoted position. 
     Nozzle rotating device  364  includes electric motor  410 , which is attached to head main body  360  via an attachment member that is not shown, and rotation transmitting device  412 . Rotation transmitting device  412  includes gear  414  attached to an output shaft of electric motor  410 , and fixed gear  418  that is fixed to spline member  416  engaged with spline shaft  392  so as to be movable in an axis direction and not rotatable; rotation transmitting device  412  rotates spline shaft  392  around a vertical axis line to any angle in forward and reverse directions. Rotation is transmitted to spline shaft  392  at whichever position in the vertical direction, such that suction nozzle  362  is rotatable to any angle around a vertical axis line that is an axis perpendicular to the horizontal component surface  198 . Cam member  404  is fixed to spline member  416 , and is rotated together with spline shaft  392  and suction nozzle  362  such that suction nozzle  362  is able to be pivoted at any rotational position. 
     Nozzle attachment device  368  is configured such that suction nozzle  362  is detachably attached to nozzle holding member  396 . As shown in  FIG. 13C , nozzle attachment device  368  includes (1) recess section  420  provided in the surface of nozzle holding member  396  that contacts suction nozzle  362 , (2) negative pressure source  422   v  and positive pressure source  422   p , (3) and electromagnetic valves (in the present embodiment an electromagnetic opening and closing valve)  424   c  and  d  provided between each of recess section  420  and negative pressure source  422   v , and recess section  420  and positive pressure source  422   p ; negative pressure and positive pressure are selectively supplied to recess  420  by controlling electromagnetic valves  424   c  and  d . When negative pressure is applied in a state with the opening of recess section  420  covered due to suction nozzle  362  contacting the contact surface of nozzle holding member  396 , a negative pressure chamber is formed by recess section  420  and the like. This negative pressure chamber causes suction nozzle  362  to be attached to nozzle holding member  396  in a state with negative pressure maintained, while suction nozzle  362  is released by positive pressure being supplied to recess section  420 . 
     Suction nozzle  362  picks up and holds a component using negative pressure; there are multiple types of suction nozzles  362  with different sizes of pickup pipe pickup surfaces (for example, these can be represented by a nozzle diameter, which is the diameter of the nozzle pipe). Because the strength of the negative pressure supplied to suction nozzle  362  is substantially regular, components can be held by a larger force (hereinafter also referred to as holding force) the larger the nozzle diameter is. As shown in  FIG. 3 , nozzle housing device  430  that houses multiple types of suction nozzles  362  with different nozzle diameters is provided on main body  80 . Nozzle housing device  430  includes nozzle holding member  432  that has multiple recesses capable of housing a suction nozzle  362 , shutter moving device  434  (refer to  FIG. 17 ) that moves a shutter, which is not shown, provided on an upper surface of nozzle holding member  432  to and from a removal prevention position and a removal allowance position. Component holding head  300  is moved to nozzle housing device  430  as required such that suction nozzles  362  can be exchanged automatically. 
     Shuttle Device 
     As shown in  FIG. 3 , shuttles  304  and  306  each include component carriers  450  and  452 , and component carrier moving devices  454  and  456 , and are provided lined up in the sideways direction on the front side of component supply unit  96  of main body  80 . In the present embodiment, component receiving member  460  is provided on each of carrier  450  and  452 , with multiple (in the present embodiment, five) thereof being detachably held lined up in the sideways direction. As shown in  FIG. 14 , component receiving member  460  engages with recess section  462  of component carriers  450  and  452 , and is positioned respectively in the front-rear direction and the sidewards direction by protruding sections  464  and  466 . 
     In the present embodiment, electronic circuit components with leads (hereinafter also referred to as leaded components)  480  shown in  FIGS. 16A and 168  are supplied by loose component supply device  18 . Leaded components  480  are configured from component main body  482 , which is block-shaped, and two leads  484  that protrude from the bottom surface of component main body  482 . 
     As shown in  FIG. 14 , component reception recess  500  is provided in component receiving member  460 . Component reception recess  500  is provided in accordance with the shape and size of the component to be housed, and component reception recess  500  of component receiving member  460  into which a leaded component can enter includes, for example, as shown in  FIG. 15A , main body reception recess  502  opening at the upper surface of component receiving member  460 , and lead reception recess  504  opening at the lower surface of main body reception recess  502 . The surface is cut away at the opening edge section of main body reception recess  502 , such that guidance surface  506  that guides the entry of the component is formed, thus configuring a guiding section. As shown in  FIG. 158 , leaded component  480  is housed in lead reception recess  504  with leads  484  pointing downwards by component receiving member  460 ; component main body  482  is positioned in the horizontal direction by engaging with main body reception recess  502 , and is supported from below by upward facing component support surface  508  configured from the bottom surface of main body reception recess  502 , and is received in a state positioned in the vertical direction. 
     As shown in  FIG. 14 , there are multiple types of component receiving members  460  with component reception recesses  500  of different sizes and shapes, which are exchanged by operators. A component receiving member that has the dimensions of multiple component receiving members  460  may be held by component carriers  450  and  452 . 
     As shown in  FIG. 3 , component carrier moving devices  454  and  456  have a similar configuration, thus only one will be described; for the other, the same reference numbers apply to corresponding configuration elements, and descriptions are omitted. 
     Moving device main body  520  of component carrier moving device  454  is provided with endless belt  522  and belt rotating device  524  (refer to  FIG. 17 ) provided on main body  80  parallel in a front-back direction. Belt  522  is wound around multiple pulleys that are rotatable around an axis line parallel to the sideways direction of moving device main body  520 , and are locked to component carrier  450 . Belt  522  is rotated by the pulleys being rotated by an electric motor (not shown), such that component carrier  450  is moved in a front-rear direction being guided by pair of guide rails  530  (one guide rail  530  is shown in  FIG. 3 ) Component carriers  450  are each moved independently to and from a component receiving section positioned at a front section among the moving range of component holding head  300 , close to component holding head moving device  302 , and adjacent to component supply unit  96 , and a component receiving position positioned at a rear section of the moving range of mounting heads  50  and  52  close to component mounting device  20 . Component carrier  450  is positioned at the component receiving position and the component transfer position by a stopper (not shown) provided on moving device main body  520 . 
     Control Device 
     As shown in  FIG. 17 , control device  26  includes (a) overall control device  26   a , (b) individual control devices (only individual control device  550  of loose component supply device  18  is shown) of board conveying and holding device  14 , component supply device  16 , loose component supply device  18 , and the like, and (c) imaging processing device  552  as an image data processing device, and the like. Overall control device  26   a , individual control devices  550  and the like, and imaging processing device  552  are configured mainly from a computer, and are connected so as to be able to communicate with each other. Overall control device  26   a  performs overall control of board conveying and holding device  14 , component supply device  16 , loose component supply device  18 , component mounting deice  20 , and the like, via the individual control devices  550 . 
     For loose component supply device  18 , individual control devices  550  are provided with performing section  550   c , input/output section  550   i , and storage section  550   m ; imaging device moving device  270 , component holding head  300  of component transfer device  86 , component holding head moving device  302 , nozzle housing device  430 , shuttle devices  304  and  306 , image processing device  552 , and the like are connected to individual control devices  550 . 
     Note that, the configuration of control device  26  is not limited to that of the present embodiment. For example, it is possible to not provide overall control device  26   a , and to instead control each device  14 ,  16 ,  18 ,  20 , and so on with individual control devices  550  or the like (it is desirable that individual control devices be able to communicate with each other); or it is possible not to provide individual control devices  550 , and to instead control each device  14 ,  16 ,  18 ,  20 , and the like using overall control device  26 . Also, image processing device  552  may be configured as part of an individual control device  550  or as part of overall control device  26   a.    
     Operation 
     Board  12  is loaded into the component by board conveying and holding device  14 , and then stopped and clamped at a predetermined position. Next, mounting heads  50  and  52  are moved to assemble components supplied by component supply device  16  and loose component supply device  18  on board  12 . 
     In loose component supply device  18 , leaded components  480  are supplied by five sets of component supply units  96 . Because component supply operation is the same for each of these five component supply units  96 , operation will be described for one set of the five sets of component supply units  96 . 
     Multiple of the same type of leaded components  480  are inserted into component housing section  100  of component supply device  82  by an operator. When components are inserted, as shown in  FIG. 6 , component support member  150  is in the retract position. With component insertion, some components pass through opening  108  and fall on component supply surface  110 , then move to the component ejection section  112  side via the incline of component supply surface  110 , and are spread out on component supply surface  110 . If leaded components  480  get stuck and blocked in opening  108 , components are stopped from falling onto component supply surface  110 , and multiple leaded components  480  inside component housing section  100  are housed in a loose state in a random orientation stacked on each other. Even if leaded components  480  that have fallen onto component supply surface  110  move beyond component ejection section  112 , they are housed in component collection container  220 . Component collection container  220  is positioned together with component support member  150  at the retract position, and is at the lower limit position, that is, the component receiving position. 
     After components are inserted, component support member  150  is advanced and moved forwards from below component supply device  82 . When cam member  180  contacts cam follower  182 , roller  204  moves up in accordance with inclined surface  192  of tooth  190 , then when reaching vertical surface  194 , drops down after riding over tooth  190 . Cam follower  182  is biased to engage with tooth  190  by a tension coil spring and the rotational limit is regulated by stopper  184 ; when component support member  150  is advanced, roller  204  is maintained in a state engaged with tooth  190 , and as shown in  FIG. 7 , without lever  202  being rotated, cam follower  182  rides over tooth  190  together with component supply device  82 . Cam follower  182  rides over multiple teeth  190  one by one, and by the repeated raising and lowering the front section of component supply device  82  is raised and lowered, thus being oscillated in the vertical direction. Here, the lifting up from support shaft  122  of component supply device  82  is reversed by the weight of component supply device  82  itself. 
     Components on component supply surface  110  are moved forward by the incline of component supply surface  110  and the oscillating, and as shown in  FIG. 7 , are ejected from component ejection section  112  onto component support surface  198 . Here, leaded components  480  are prevented from falling by the pair of leg sections  158  that protrude up from upper surface  160 . Also, by the oscillation of component supply device  82 , leaded components  480  stuck in opening  108  are scattered and thus fall onto component supply surface  110 , and leaded components inside component housing section  100  pass through opening  108  and are ejected by falling onto component supply surface  110 . In accordance with the advancing of component support member  150 , a different portion of component support surface  198  is consecutively made to correspond with component ejection section  112 , thus the surface area of component support surface  198  is increased, such that leaded components  480  are supported consecutively. The advancing direction of component support member  150  is the forward direction, and the retracting direction is the reverse direction; while component support member  150  is being advanced, component supply device  82  is oscillated only when cam follower  204  rides over cam member  180 , such that leaded components  480  are ejected from component ejection section  112 . Cam member  180  separates from cam follower  182  before component support member  150  reaches the component supply position, and component support member  150  is advanced, but component supply device  82  is not oscillated and components are not ejected. Thus, with component support member  150  arrived at the component supply position, among upper surface  160 , multiple of the same type of leaded components  480  are supported on component support surface  198  in a scattered state. 
     After component support member  150  is stopped, imaging device  90  is moved and the multiple leaded components  480  on component support surface  198  are imaged. The multiple leaded components  480  are the same as each other and are in a scattered state. In the present embodiment, pickup target components are determined based on the image data that is acquired by the imaging by imaging device  90 . Also, those pickup target components are picked up and held by suction nozzles  362  according to parameters (conditions) acquired based on the image data, component holding head  300  is moved by holding head moving device  302 , and leaded components  480  are held by component receiving member  460  of component carriers  450  and  452 . The multiple leaded components  480  scattered on component support surface  198  are aligned on component carriers  450  and  452 . 
     Determination of Pickup Target Components and Determination of Pickup and Transport Conditions 
     Determination of Pickup Target Components 
     For leaded components  480 , as shown in  FIGS. 16A and 16B , component main body  482  is configured from four side surfaces  486  at right angles to each other. Thus, in a state in which a leaded component  480  is resting on component support surface  198  on one of the four sides  486 , the upward-facing surface opposite to that surface is parallel to component support surface  198 , and leads  484  are parallel to component support surface  198 . Also, three of the four sides  486  ( 486   a ,  486   b , and  486   c ) are configured from pickup surfaces that cover the opening of the suction pipe of suction nozzle  362  and that have a surface area able to be picked up that prevents leaking of the negative pressure. However, one of the surfaces  486  ( 486   d ), as shown in  FIG. 16B , is provided with indent  488 , which makes pickup difficult even if a pickup nozzle with a small nozzle diameter is used. 
     Due to this, leaded components  480  that are oriented such that leads  484  extend parallel to component support surface  198 , independent from other leaded components  480 , and, as shown in  FIGS. 18A to 18C , are oriented with side surface  486   c ,  486   b , or  486   a , for which pickup is possible, facing upwards, are pickup target components  480   t  (hereinafter, among leaded components  480 , pickup target components are designated by a lower case t). Conversely, as shown in  FIGS. 18D to 18F , leaded components with an inclined orientation and leaded components  480  with leads  484  parallel to component support surface  198  but with difficult-to-pickup side surface  486   d  facing upwards, are non-pickup target components  480   s  (hereinafter, among leaded components  480 , non-pickup target components are designated by a lower case s). Hereinafter, side surface  486   a  is sometimes referred to as the front surface, and side surface  486   d  as the rear surface. 
     Nozzle Selection 
     For example, the surface area of the portion that can be picked up by suction nozzle  362  differs for each of side surfaces  486   a  to  486   c  that can be picked up. The surface area of the portion of side surface (front surface)  486   a  that can be picked up is large, while the surface area of the portion of side surfaces  486   b  and  486   c  that can be picked up is small. Thus, as shown in  FIG. 18C , for pickup target components  480   t  oriented with side surface (front surface)  486   a  facing upwards, a pickup nozzle  362  with a large nozzle diameter is selected; and as shown in  FIGS. 18A and 18B , for pickup target components  480   t  oriented with side surface  486   b  or  486   c  facing upwards, a pickup nozzle  362  with a small nozzle diameter is selected. 
     Pickup Height 
     Even for the same leaded component  480 , depending on the orientation, because the height (which is the height from component support surface  198  to the surface facing upwards [non-supported surface], hereinafter referred to simply as height) is different, the height of the opening at the lower end of the suction pipe of suction nozzle  362  during pickup is determined depending on the orientation. As shown in  FIG. 16A  and  FIG. 19 , the height of leaded component  480  oriented with front surface  486   a  facing upwards is Lb, while the height for leaded component  480  oriented with side surfaces  486   b  or  486   c  facing upwards is La. For this leaded component  480 , La is larger than Lb (La&gt;Lb). 
     Maximum Acceleration Level 
     As described above, the holding force of leaded component  480  by suction nozzle  362  is larger for large nozzle diameters than it is for small nozzle diameters. Also, for leaded components  480  of the same mass held by suction nozzle  362 , a leaded component  480  is less likely to separate from suction nozzle  362  due to a large inertial force, that is, a large acceleration, for a large holding force compared to for a small holding force. Thus, the transport acceleration of component holding head  300  can be larger for a large nozzle diameter than a small nozzle diameter. From the above, the maximum value of the transport acceleration that can be used (allowable transport acceleration) is larger when a pickup nozzle with a large nozzle diameter is selected than when a pickup nozzle with a small nozzle diameter is selected. 
     Component Data 
     Component data  570 ( n ) (n=1, 2, 3) is predetermined data of each of pickup target components  480   t  shown by  FIGS. 18A to 18C , which are a portion of the multiple leaded components  480 , and is based on the orientation of the leaded components  480 . This component data  570 ( n ) is stored in storage section  550   m  of individual storage device  55 . Component data  570 ( 1 ) relates to pickup target component  480   t ( 1 ) for which front surface  486   a  is facing upwards (the suffix ( 1 ) is added to correspond to the component data; a similar suffix is added to the other pickup target components); component data  570 ( 2 ) and ( 3 ) relate to pickup target components  480   t ( 2 ) and ( 3 ) for which side surfaces  486   b  and  c  respectively are facing upwards. As shown in  FIG. 19 , each component data  570  contains [1] shape data  572 ( n ) that represents the plan view shape (including the shape of the upward facing surface), and [2] data that represents conditions (parameters) that relate to transport of component head  300  and pickup of pickup target component  480   t . Data that represents parameters of [2] (hereinafter also referred to as parameters related to pickup and so on of pickup target component  480   t ) includes at least one of (i) nozzle diameter data  574 ( n ) that represents the nozzle diameter (pickup nozzle type) of pickup nozzle  362  used to pick up pickup target component  480   t  (which is an example of holding tool type specification data), (ii) maximum acceleration data  576 ( n ) that represents the maximum value (control value) of acceleration (which includes an absolute value of the deceleration) for transporting component holding head  300  that is holding a leaded component to component receiving member  460  positioned at the component receiving position, and (iii) pickup height data  578 ( n ) that represents the pickup height (the height of the opening at the lower end of the suction pipe of suction nozzle  362 ) when suction nozzle  362  picks up pickup target component  480   t.    
     Image Data 
     An example of image data is shown conceptually in  FIG. 20 . As shown in  FIG. 20 , individual image data  582 ( k ) (k=1, 2, 3 . . . ) that is multiple image data that corresponds to each of the multiple leaded components  480  is included in image data  580 . Individual image data  582 ( k ) is image data that represents the size and shape of each plan view of leaded component  480 . It is possible to determine whether each leaded component is a pickup target component based on individual image data  582 ( k ). 
     Image Processing 
     (I) Image data  580  is processed based on component data  570 ( 1 ). From component data  570 ( 1 ), shape data  572 ( 1 ) and individual image data  582 ( k ) (k=1, 2, 3 . . . ) are compared with each other, and individual image data  582 ( k ) that matches shape data  572 ( 1 ) of component data  570 ( 1 ) is extracted. Then, leaded component  480  that corresponds to matching individual image data  582 ( k ) is set as pickup target component  480   t ( 1 ). When comparing, at least one of shape data  572 ( 1 ) and individual image data  582 ( 1 ) is rotated. Then, based on at least one of the rotation angles that matches, the orientation (angle θ) of pickup target component  480   t ( 1 ) is determined. Angle θ is the angle between reference line A with XY coordinates (for example, a line parallel to the X direction or Y direction), and reference line B of individual image data  572 ( k ) (for example, this may be a line parallel to lead  484 ) (for example, the angle may be defined based on positive angles being in a clockwise direction). Also, the XY coordinate position of individual image data  572 ( k ) is acquired based on image data that corresponds to a predetermined reference position mark (for example, which may be formed on component support surface  198  or the like); the XY coordinate position of pickup target component  480   t ( 1 ) corresponding to individual image data  572 ( k ) is acquired. The above acquired data representing the angle θ and data representing the XY coordinate position of pickup target component  480   t  (hereinafter also referred to as position and angle data) is stored. 
     Also, parameters related to pickup and so on of pickup target component  480   t ( 1 ) are decided as, among component data  570 , nozzle diameter data  574 ( 1 ), pickup height data  578 ( 1 ), and maximum transport acceleration data  576 ( 1 ). 
     (II) Image data  580  is processing based on component data  570 ( 2 ). From component data  570 ( 2 ), shape data  572 ( 2 ) and individual image data  582 ( k ) (or, from individual image data  582 ( k ), items excluding items determined as pickup target component  480   t ( 1 )) are compared, and items that match shape data  572 ( 2 ) are extracted. Leaded components  480  that correspond to extracted individual image data  582 ( k ) are set as pickup target component  480   t ( 2 ), the XY coordinate positions and angle θ of each pickup target component  480 ( t ) are acquired, and the position and angle θ data is stored. Also, parameters related to pickup and so on of pickup target component  480   t ( 2 ) are decided as, among component data  570 , nozzle diameter data  574 ( 2 ), pickup height data  578 ( 2 ), and maximum transport acceleration data  576 ( 2 ). 
     (III) Image data  580  is processed based on component data  570 ( 3 ). In a similar manner, components corresponding to individual image data  582 ( k ) that matches shape data  572 ( 3 ) of component data  570 ( 3 ) are set as pickup target components  480   t ( 3 ), and the position and angle data is acquired and stored. Further, parameters related to pickup and so on of pickup target component  480   t ( 3 ) are determined based on component data  570 ( 3 ). 
     As described above, image processing is performed multiple times, and in the present embodiment, processing that determines pickup target component  480   t ( n ) by comparing each of shape data  572 ( n ) of component data  570 ( n ) and individual image data  582 ( k ), and acquiring the orientation of a leaded component corresponding to individual image data  582 ( k ) is considered to be one set of image processing. Acquiring and storing the position and angle data of pickup target component  480   t ( n ) may be included in image processing. Also, the number of times image processing is performed is determined by the quantity of component data  570 ( n ), which depends on the shape of leaded component  480 . 
     Image Processing is Performed by Running the Image Processing Program Shown in the Flowchart in  FIG. 21 . 
     In step  1  (hereinafter also referred to as S 1 , with similar notation used for other steps), imaging device  90  performs imaging of multiple leaded components  480  supported in a loose state on component support surface  198 , and image data is acquired. In S 2 , count value n of the counter that counts the number of times image processing has been performed is given an initial value of one; in S 3 , component data  570 ( 1 ) used in the first image processing is read. In S 4 , each of shape data  572 ( 1 ) and individual image data  582 ( k ) is compared one by one and determination is performed as to whether they match. In a case in which a match is determined, the XY coordinate position and angle θ of that individual image data  582 ( k ) are acquired. Then, the leaded component corresponding to that individual image data  582 ( k ) is set as pickup target component  480   t ( 1 ) and the position and angle data thereof are stored. 
     In S 6 , it is determined whether all individual image data  582 ( k ) included in individual image data  580  has been compared to shape data  572 ( 1 ). If the above determination is no, S 4  to S 6  are performed again, determination is performed as to whether each individual image data  582 ( k ) matches shape data  572 ( 1 ), and in a case that a match is determined, acquisition and so on of the position and angle of individual image data  582 ( k ) is performed. 
     For example, in  FIG. 20 , because it is determined that individual image data  582 ( 1 ) matches shape data  572 ( 1 ), the XY coordinate position and angle  81  of individual image data  582 ( 1 ) are acquired. The leaded component  480  corresponding to individual image data  582 ( 1 ) is set as pickup target component  480   t ( 1 ), and the position and angle of pickup target component  480   t ( 1 ) are acquired and stored. Because individual image data  582 ( 2 ) does not match shape data  572 ( 1 ), the determination in S 4  is no, and the position and angle and so on are not acquired. There is no match with individual image data  582 ( 3 ) either. Then, when determination of a match with shape data  572 ( 1 ), and acquisition and storing of positions and angles in a case of a match, are completed for all individual image data  582 ( k ), the determination in S 6  is yes, and first image processing ends. 
     Next, in S 7 , one is added to the count value. In S 8 , it is determined whether count value n is larger than a predetermined quantity Nc (which is a predetermined number of times to perform image processing, corresponding to the quantity of component data  570 ( n ); in the present embodiment, Nc=3). In a case in which the count value is Nc or fewer, in S 3 , count value two, that is, component data  570 ( 2 ) used for the second image processing is read, and in a similar manner as above, in S 4  to S 6 , determination is performed as to whether each individual image data  582 ( k ) (items for which a match with shape data  572 ( 1 ) was determined may be excluded) matches shape data  572 ( 2 ), and in a case that a match is determined, the position and angle of pickup target component  480   t  corresponding to matching individual image data  582 ( k ) are acquired and stored. 
     For example, individual image data  582 ( 2 ) is determined to match shape data  572 ( 2 ), and the leaded component corresponding to individual image data  582 ( 2 ) is set as pickup target component  480   t ( 2 ). Further, the position and angle θ 2  are acquired, and the position and angle data are stored. It is determined that individual image data  582 ( 3 ) and  582 ( 4 ) do not match. When processing is complete for all individual image data  582 ( k ), the determination in S 6  is yes, and second image processing ends. Next, after S 7  and S 8 , third image processing is performed in the same way, with component data  570 ( 3 ) used in third image processing being read, determination performed as to whether each individual image data  582 ( k ) matches shape data  572 ( 3 ), and in a case that a match is determined, the position and angle are acquired and stored. For example, because it is determined that individual image data  582 ( 5 ) matches shape data  572 ( 3 ), the leaded component corresponding to individual image data  582 ( 5 ) is set as pickup target component  480   t ( 3 ), and the position and angle θ 5  of pickup target component  480   t ( 3 ) are acquired and stored. In S 7 , one is added to the count value n, thus becoming four, which means that the determination in S 8  is yes, ending the program and the third image processing. Note that, leaded components  480  corresponding to, from individual image data  582 ( k ) included in image data  580 , individual image data  582 ( k ) that does not match any one of shape data  572 ( 1 ) to ( 3 ) are set as non-pickup target component  480   s.    
     Next, with regard to each of pickup target components  480   t ( 1 ) to ( 3 ), exchange of suction nozzle  362 , pickup, transport and so on of pickup target component  480   t  is performed under the conditions decided by shape data  570 ( 1 ) to ( 3 ), and component holding head  300 , holding head moving device  302 , and so on are controlled by running the control program for pickup and so on shown by the flowchart in  FIG. 22 . In S 21 , count value m of the counter that counts component data  570 ( n ) is given an initial value of one; in S 22 , nozzle diameter data  574 ( 1 ), pickup height data  578 ( 1 ), maximum acceleration data  576 ( 1 ) of component data  570 ( 1 ) are read, and the position and angle data of each pickup target component  480   t ( 1 ) stored by the running of S 5  of the image processing program are read. 
     Then, in S 23 , based on nozzle diameter data  574 ( 1 ), it is determined whether it is necessary to exchange suction nozzle  362 . In a case in which exchange is necessary, the determination is yes, and nozzle exchange is performed in S 24 . Component holding head  300  is moved to the specified position of nozzle housing device  430 , the attached suction nozzle  362  is released, and a suction nozzle determined by nozzle diameter data  574 ( 1 ) is attached. In nozzle housing device  430 , a shutter is moved to the removal allowance position by shutter moving device  434 , and in component holding head  300 , removing and attaching of suction nozzle  362  is performed by controlling electromagnetic valves  424   c  and  d . S 24  is not performed in a case in which exchange of suction nozzle  362  is not required. 
     In the present embodiment, because one suction nozzle is held by component holding head  300  as a component holding tool, in a case in which the determination in S 23  is yes, the suction nozzle after exchange corresponds to a specified component holding tool, and in a case in which determination in S 23  is no, the suction nozzle held at that point corresponds to a specified component holding tool. 
     In S 25 , component holding head  300  is moved to the position decided by the position and angle data, and pickup target component  480   t ( 1 ) is picked up at a height decided by pickup height data  578 ( 1 ). Pickup target component  480 ( 1 ) is picked up by suction and held by suction nozzle  362  being moved to the pickup height and negative pressure being supplied. 
     Also, during pickup of the component, suction nozzle  362  is positioned at the non-pivoted position; suction nozzle  362  is pivoted to the 90 degree pivoted position while being moved to the component carrier, such that leads  484  are made to point down. However, because the pivoting direction is fixed as one direction, suction nozzle  362  is rotated on its own axis in a state positioned at the non-pivoted position by an angle determined based on the angle θ, the perpendicular pivoting plane of suction nozzle  362  is made to be parallel to a perpendicular plane parallel to the lengthwise direction of leads  484  of components  480  loaded on component support surface  198 , and leads  484  are rotated to be facing downwards by the pivoting. 
     After the attachment of suction nozzle  362  or pickup of pickup target component  480   t ( 1 ), spline shaft  392  is rotated around its own axis, and a rotation point around a vertical line of component main body  482  is aligned with a rotation point of main body reception recess  502 . 
     After pickup and holding of the pickup target component, in S 26 , suction nozzle  362  (component holding head  300 ) is transported to component receiving member  460  at the component receiving position. After accelerating, component holding head  30  moves at a constant speed, and then decelerates; because there is a limit on the size of the acceleration or deceleration, transport is performed so that the acceleration (deceleration) does not exceed that represented by maximum acceleration data  576 ( 1 ). By this, the inertial force acting on leaded component  480  held by suction nozzle  362  is restricted, such that the leaded component  480  does not separate from the suction nozzle easily. At the component receiving position, component holding head  300  is lowered, and leaded component  480  is housed in component reception recess  500  while being guided by guiding surface  506 . Then, the supply of negative pressure to suction nozzle  362  is stopped, thus releasing leaded component  480 , after which component holding head  300  is raised, and suction nozzle  362  is returned to the non-pivoted position by being pivoted. 
     In S 27 , it is determined whether all of the pickup target components  480   t ( 1 ) corresponding to component data  570 ( 1 ) are housed in component receiving member  460  of component carriers  450  and  452 . If the determination is no, S 25  to S 27  are repeated. Component holding head  300  is moved to the position of the next pickup target component  480   t ( 1 ) decided by the position and angle data, and then the pickup target component  480   t ( 1 ) is picked up and transported to component receiving member  460 . In a case where there are multiple pickup target components  480   t ( 1 ), they are picked up one by one according to a predetermined order. 
     Then, when all the pickup target components  480   t ( 1 ) have been moved to component receiving member  460 , the determination in S 27  is yes, and in S 28 , one is added to count value m, and in S 29  it is judged whether the count value is larger than (Nd=3). If not all the pickup target components  480   t ( 1 ) have been moved to component receiving member  460 , the determination in S 27  is no, processing returns to S 22 , component data  570 ( 2 ) of count value two is read, and position and angle data of each pickup target component  480   t ( 2 ) is read. 
     S 23  to S 27  are performed in a similar manner. Because nozzle diameter data  574 ( 2 ) differs from nozzle diameter data  574 ( 1 ), the determination for S 23  is yes, and in S 24  exchange of suction nozzle  362  is performed. Further, in S 25  and S 26 , pickup target components  480   t ( 2 ) are moved to component receiving member  460 . S 25  to S 27  are performed repeatedly, and when all the pickup target components  480   t ( 2 ) have been moved to component receiving member  460 , the determination for S 27  is yes, and in S 28  one is added to count value m. Similar actions are performed for component data  570 ( 3 ), and when all the pickup target components  480   t ( 3 ) have been moved to component receiving member  460 , the determination for S 27  and S 29  is yes, and the program ends. Pickup target components  480   t ( 1 ) to ( 3 ) supported on component support surface  198  are arranged in the same predetermined orientation on component carriers  450  and  452  by being moved to and held in component receiving member  460 . 
     Then, when leaded components  480  are held in every component receiving member  460  of the component carrier positioned at the component receiving position, that component carrier is moved to the component transfer position. Mounting heads  50  and  52  of component mounting device  20  are moved to the component carrier positioned at the component transfer position, and leaded components  480  held by component receiving members  460  are picked up by component holding tools  70 . All leaded components  480  have the same orientation, that is, are housed in component receiving members  460  with leads  484  pointing downwards and the upper surface that faces the bottom surface to which leads  484  are attached facing upwards, and component holding tool  70  (for example, a chuck), is able to pick up all lead components  480  favorably. 
     As described above, in the present embodiment, by processing based on component data  570 ( n ) of image data  300 , the orientation of multiple leaded components  480  in a loose state is distinguished and acquired, pickup target components  480   t ( 2 ) are determined, and the nozzle diameter, pickup height, and transport acceleration maximum value are acquired. As a result, multiple leaded components  480  in a loose data can be picked up favorably, and can be moved to component receiving member  460  favorably. 
     For example, for suction nozzle  362 , an item which a nozzle diameter of a size suitable for the size and shape and so on of the surface facing upwards of pickup target component  480   t  is used. Supposing that a suction nozzle  362  with a large nozzle diameter is used for all the pickup target components  480   t ; in this case, for leaded components  480  with an orientation shown in  FIGS. 18A and 18B , because the surface that can be picked up on the upwards facing surface is small, these components are set as non-pickup target components. That is, only leaded component  480  with the orientation shown in  FIG. 18C  is set as a pickup target component. However, if a suction nozzle with a nozzle diameter suitable for the size and shape and so on of the upwards facing surface is selected, leaded components  480  with an orientation shown in  FIGS. 18A and 18B  are also set as pickup target components. As a result, because it is possible to increase the quantity of leaded components  480  that can be picked up in one supply of loose components, it is possible to reduce the quantity of returned leaded components  480  (the quantity of non-pickup target component  480   s ). 
     Also, in a case in which suction nozzle  362  with a small nozzle diameter is used for all pickup target components  480   t , although time is not required for exchanging suction nozzle  362 , the transport time becomes longer. In particular, in a case in which the pickup height is high, because the orientation of the component during transport and the like is unstable, it is normal to specify a low value for maximum acceleration, which means that transport time becomes longer. In contrast, if a pickup nozzle with a large nozzle diameter is used for pickup target component  480   t ( 1 ), it is possible to use a large maximum acceleration when transporting pickup target component  480   t ( 1 ), thus shortening the transport time. 
     Components designated as non-pickup target components  480   s  remain on component support surface  198 , but these non-pickup target components  480   s  are returned to component supply device  82  by component returning device  88 . As shown in  FIG. 8 , non-pickup target components  480   s  are prevented from retreating by lip member  114  and are moved forward with respect to component support member  150 , and fall down into component collection container  220 . During the retraction of component support member  150 , a force in the same direction as the retract direction of component support member  150  acts on cam follower  182  from cam member  180 , and stopper  234  allows free rotation of cam follower  182  in this direction. By this, as shown in  FIGS. 8 and 9 , cam follower  182  rotates with respect to component supply device  82  against the biasing force of torsion coil spring  206  and rides over tooth  190 , such that component support member  150  is retracted without oscillating component supply device  82 . Thus, components do not fall from component housing section  100  onto component supply surface  110  and are not ejected to component support surface  198 . 
     As shown in  FIG. 10A , after component support member  150  has moved to the retract position, as shown in  FIG. 10B , component collection container  220  is raised with respect to component supply device  82 . In accordance with the raising of component collection container  220 , shutter  250  is raised by the biasing of compression coil spring  255 , and as shown in  FIG. 10C , covers component ejection section  112  in the blocking position. Roller  240  is raised along an outer surface of component supply device  82  together with component collection container  220 . Component collection container  220  is raised further after the movement of shutter  250  to the blocking position, and at the end stage of raising and lowering movement in which component collection container  220  is raised to near the upper limit position, as shown in  FIG. 11 , roller  240  contacts engaging surface  242 , such that raising is prevented. By this, component collection container  220 , while being further raised to the upper limit position, is rotated against the biasing force of the torsion coil spring to the component ejection position, and collected components  480  are ejected into component housing section  100 . In a state with component collection container  220  rotated to the component ejection position, the bottom surface of component collection container  220  is vertical, and rear wall  236  faces further towards component housing section  100  the further it goes down, such that leaded components  480  are ejected to component housing section  100  guided by rear wall  236  without any leaded components  480  being left behind. 
     During the returning of components to component supply device  82  by any one of the five component supply units  96 , imaging device  90  and component holding head  300  are able to perform imaging, pickup, and so on of components  480  at a different component supply unit  96 . As shown in  FIG. 23 , component returning is performed with component support member  150  in a state returned to the retract position; component support surface  198  is provided on the front side of component support member  150 , so imaging and holding of components  480  on component support surface  198  is able to be performed without interference with component collection container  220 . 
     Also, by removing the portion of loose component supply device  18  excluding shuttle devices  304  and  306  from device main body  10 , it is possible to easily perform maintenance on loose component supply device  18 . 
     Note that, before picking up pickup target component  480   t , the position of pickup target component  480   t  can be checked based on image data obtained by imaging component support surface  198  of imaging device  90 . By this, it is possible to pick up pickup target component  480   t  more reliably. 
     Imaging by imaging device  90  is performed before each pickup of leaded component  480  by component holding head  300 , and after suction nozzle  362  (component holding head  300 ) has held leaded component  480  of component support surface  198 , transport to component receiving member  460  is performed in parallel. Because component holding head  300  is moved to a height region between imaging device  90  and component support surface  198 , there is no interference with imaging device  90  and component holding head  300 . Therefore, imaging device  90  remains at a position above component support surface  198 , and imaging is performed after component holding head  300  that is holding leaded component  480  has retracted. By this, for example, even if the position or orientation of pickup target component  480   t  scheduled to be picked up next on one of the component supply units  96  is changed due to pickup operation or the like of the previous leaded component  480 , that change can be obtained. 
     Also, component holding head  300  is not limited to the above embodiment. For example, various types of heads may be used, such as a head that is able to hold multiple suction nozzles with different nozzle diameters in a ring shape, or a head able to hold multiple of the above suction nozzles in a straight line separated by regular intervals. Further, component holding head  300  may be changed between each of the above heads either automatically or manually. Further, component holding head  300 , in a case of a head able to hold multiple suction nozzles, a suction nozzle decided according to nozzle diameter data  574  is positioned at a predetermined pickup position, and accordingly, the suction nozzle that picks up the pickup target component is changed. In the present embodiment, a suction nozzle at a fixed position corresponds to a specified component holding tool. 
     Further, it is possible for a component supported by component support surface  198  to be picked up by suction nozzle  362  and to be supplied to board  12  directly. In this case, the movement range of component holding head  300  by component holding head moving device  302  is a range including held board  12 . 
     In the present embodiment, (1) a loose component support section is configured from component support surface  198  and so on. (2) A component transfer section is configured from component carriers  450  and  452 . (3) It can be considered to configure a holding tool changing device from nozzle attachment device  368  or the like, and it can be considered to configure the holding tool changing device from, for example, among nozzle attachment device  368  and control device  26 , a portion that runs or a portion that memorizes S 24  of the control program for pickup and the like shown in the flowchart of  FIG. 22 . The holding tool changing device is also the holding tool exchanging device. (4) A change-use moving section is configured from a section or the like from among holding head moving device  302  that moves component holding head  300  between component support surface  198  and nozzle housing device  430 . (5) A pickup-use moving section is configured from a section or the like from among holding head moving device  302  that raises suction nozzle  362  to the pickup height. (6) An acceleration limiting moving device is configured from a section or the like that moves component holding head  300  without exceeding the acceleration decided by the maximum acceleration data of holding head moving device  302 . (7) A component data storage section is configured from storage section  550   m  or the like of control device  26 . A component data storage section may be provided in overall control device  26   a . (8) A loose component supply device control device is configured from, among control device  26 , a portion that stores a pickup and the like control program, a portion that runs the control program, a component data storage portion, and the like. Also, a pickup height acquisition section is configured from, among loose component supply device control device, a component data storage section, a portion that stores S 22 , a portion that runs S 22 , and the like; a pickup height control section is configured from a portion that stores S 25 , a portion that runs S 25 , and the like. (9) A next process may be a “step for mounting components on board  12 ” performed at component mounting device  20 , a “step for processing” performed with respect to component mounted on board  12 , or with respect to board  12  on which components are mounted (for example, a cut and clinch step in which leads are cut and bent, a solder application step in which solder is applied to leaded components, a step for performing heat processing or the like on board  12 , a step of unloading from the component mounting device, and the like). 
     Embodiment 2 
     Chuck  580  shown in  FIG. 24  may be attached to the holding tool holding member of the component holding head. Chuck  580  includes a pair of claws  582   p  and  q  held on a chuck main body, slide-type driving device  584  that moves the pair of claws  582   p  and  q  towards and away from each other, and the like. The width of pickup target components that can be grasped by chuck  580  is decided in advance. 
     In the present embodiment, because the component holding tool is chuck  580 , as shown in  FIG. 18D , leaded component  480  for which difficult-to-pick-up side surface  486   d  is facing upwards is also set as pickup target component  480   t ( 4 ). Even if the upward facing surface is a surface with a shape that is difficult to pick up, side surfaces  486   b  and  c  that are opposite each other can be grasped by the pair of claws  582   p  and  q . For example, leaded component  480  corresponding to individual image data  582 ( 4 ) included in image data  580  shown in  FIG. 20 , is set as pickup target component  480   t.    
     An example of component data  590 ( n ) of leaded component  480  in the present disclosure is conceptually shown in  FIG. 24B . Component data  590 ( n ) (n=1, 2, 3, 4) each includes data representing [1] shape data  592 , and [2] parameters concerned with pickup and the like of pickup target components  480   t . At least one of (i) chuck width data  594 ( n ) that represents the chuck width of the chuck for grasping the pickup target component (the width of a component that can be grasped by the pair of claws  582   p  and  q ), and (ii) pickup height data  596 ( n ) and the like. A chuck with a large chuck width is selected for pickup target components  480   t ( 1 ) and ( 4 ); a chuck with a small chuck width is selected for pickup target components  480   t ( 2 ) and ( 3 ). However, in a case in which the holding power for leaded component  480  by chuck  580  is substantially the same despite a difference in width of pickup target components  480   t , it is possible to have a maximum acceleration of the same size even if the orientation of pickup target component  480   t  changes. In this case, data representing parameters related to pickup and so on of pickup target component  480   t  do not necessarily have to contain maximum acceleration data. 
     In the present embodiment, image processing is performed four times by comparing image data  580  and each of shape data  592 ( 1 ) to ( 4 ), to decide pickup target components  480 ( 1 ) to ( 4 ). Also, each of these pickup target components  480   t ( 1 ) to ( 4 ) is picked up by chuck  580 , and arranged on component carriers  450  and  452  by being moved to component receiving member  460 . 
     Embodiment 3 
     As shown in  FIG. 25 , it is possible to provide manual loading component tray  600  that forms a manual loading component support member in a detachable manner instead of component supply unit  96 . Manual loading component tray  600  is provided with flat component support surface  602  and multiple components  604  are supported on component support surface  602  in a loose state. 
     Components  604  are loaded on manual loading component tray  600  by an operator after attaching manual loading component tray  600  to main body  80 , or before attaching manual loading component tray  600  to main body  80  and outside of loose component supply device. Supply of components using such a manual loading component tray is appropriate when supplying components with leads that bend easily, components that should not contact each other, components for which oscillation is not desirable, large components, and so on. 
     Note that, the size of manual loading component tray is not restricted. For example, the size may be with a width substantially the same as the width as component supply unit  96 , or may be larger than the width of component supply unit  96 . 
     Other Embodiments 
     Note that, the present disclosure is not limited to the above example embodiments, and various changed or improved methods of embodiment are possible based on the knowledge of someone skilled in the art. Also, the above multiple embodiments may be applied in combination with one another. For example, in a case in which component support member  150  or manual loading component tray  600  is arranged inside the movement range of mounting head  50  and  52  by work head moving device  54 , components  480  and  604  in a loose state may be picked up directly by mounting heads  50  and  52  and then mounted directly on board  12 . In this case, multiple components  480  and  604  supported in a loose state on component support member  150  or manual loading component tray  600  may be imaged by imaging device  22  provided on mounting head  50 . 
     Also, component holding tool  70  may be held on mounting heads  50  and  52  so as to be pivotable around a horizontal axis line, such that components  480  and  604  supported in a loose state on component support member  150  or manual loading component tray  600  are pivotable around a horizontal axis line by component holding tool  70 . In a similar manner as to the first embodiment, the orientation of loose components  480  and  604  is acquired based on image data, and exchange of component holding tool  70  is performed accordingly, with pickup being performed at the height decided by the orientation of the pickup target component, and transport being performed without exceeding the maximum acceleration decided by the orientation. 
     Alternatively, components  480  and  604  supported in a loose state on component support member  150  or manual loading component tray  600  may be held by component holding tool  70  (non-pivotable component holding tool) of mounting heads  50  and  52 . In the present embodiment, based on image data, components are held by mounting heads  50  and  52 , components with an orientation that allows pickup are set as pickup target components, and the pickup height and the like are acquired. Mounting heads  50  and  52  are moved to the position of a pickup target component, and the pickup target component is picked up at the acquired height. The present embodiment is appropriate for mounting of components without leads. Note that, at least one of mounting  50  and  52  may be a head capable of holding multiple component holding tools provided in a circle or lined up in a straight line. 
     In the present embodiment, manual loading component tray  600  and the like corresponds to a mounting-use loose component support section, imaging device  22  corresponds to a mounting-use imaging device, component holding tool  70  corresponds to a mounting-use component holding tool, mounting heads  50  and  52  correspond to a mounting-use component holding head, and work head moving device  54  corresponds to a mounting-use holding head moving device. Also, mounting-use holding head movement control device is configured from a portion that controls work head moving device  54  of control device  26  (including the individual control device of mounting device  20 ) and the like. A pickup height acquisition section is configured from, among the mounting-use holding head movement control device, for example, a section that acquires the pickup height based on image data; a pickup height movement control section is configured from, for example, a section that controls work head moving device  54  based on the pickup height. 
     REFERENCE SIGNS LIST 
     
         
           18 : loose component supply device;  20 : component mounting device;  26 : control device;  82 : component supply device;  84 : component scattering device;  86 : component transfer device;  88 : component returning device;  90 : imaging device;  198 : component support surface;  220 : component collection container;  364 : nozzle rotating device;  366 : nozzle pivoting device;  368 : nozzle attachment device;  450 ,  452 : component carrier;  550 : individual control device;  550   m : storage section;  552 : image processing device;  570 ,  590 : component data