Patent Description:
In a work machine, there is a work machine including a holding head having a component holding tool. In such a work machine, as described in Patent Literature <NUM>, a component held by the component holding tool is imaged by an imaging device, and a position of the component is calculated based on image data. Then, a component mounting work and the like are executed using the calculated position of the component.

If the mounting target component is a lead component having leads, the conventional work machine described above illuminates a tip of the lead with side illumination, and images the reflection light using the imaging device of a part camera positioned below lead component, and then, calculates the position of the tip of the lead based on the image data obtained by the imaging.

<FIG> shows a plan view of part camera <NUM> provided in the conventional work machine described above and <FIG> shows a cross-sectional view of an upper portion of part camera <NUM>. Rectangular plate member <NUM> is arranged on an upper edge of part camera <NUM>, and each of four laser lights <NUM> is arranged at four corners of plate member <NUM> toward the direction of irradiating a center portion with the side illumination light. As shown in <FIG>, plate member <NUM> is a member in which a part of a region including the center portion is transparent. The transparent region is formed in a rectangular shape and forms horizontal imaging region <NUM>. Reference mark mounting plate <NUM> (made of glass) is arranged surrounding imaging region <NUM>. Reference mark mounting plate <NUM> is configured to install reference mark 228a in imaging region <NUM> in order to image reference mark 228a using part camera <NUM>.

When imaging the tip of lead <NUM> of lead component <NUM> using part camera <NUM>, as shown in <FIG>, after lead component <NUM> is moved above part camera <NUM>, and lead component <NUM> is lowered such that lead <NUM> of lead component <NUM> falls within the irradiation range of side illumination <NUM> and within a depth of field of imaging device <NUM> (the range shown by a broken line in the drawing, hereinafter referred to as "vertical imaging range <NUM>"). As described above, when the tip of lead <NUM> of lead component <NUM> falls within vertical imaging range <NUM>, the light of side illumination <NUM>, that is, the laser light of laser light <NUM>, is reflected from the tip of lead <NUM>, and the reflection light is incident on part camera <NUM>. As a result, the tip of lead <NUM> is imaged by part camera <NUM>. Then, position coordinates of the tip of lead <NUM> in the horizontal direction (XY-direction) are calculated based on the image data obtained by imaging.

In addition, before or after imaging of lead component <NUM> by part camera <NUM>, reference mark 228a is imaged by part camera <NUM>. The position coordinates of part camera <NUM> in the XY-direction are calculated based on the image data obtained by the imaging.

Patent Application <CIT> relates to a work machine for mounting a component having a lead into a through hole, whereby the lead may be bent. A work machine includes work heads having a component holding tool for holding the component, and moving devices for moving the heads within the horizontal xy-plane and up-down along the vertical z-axis. A part camera includes an imaging device, a lens, and a vertical lighting and a lateral lighting. The work heads are moved such that the distal end of the component is irradiated from the side by the lateral lighting. A control device calculates the xy position of the component lead, based on captured image data of the distal end. A reference mark is formed on the lower surface of auxiliary plate of arm section that is part of component holding tool. Using the vertical lighting, the reference mark is irradiated from the bottom, and the controller calculates the xy position of reference mark from the captured image data of auxiliary plate. Then, the spacing distance between the distal end and the reference mark is calculated, and the component is mounted if the spacing distance is smaller than a threshold.

Incidentally, in the conventional work machine described above, since part camera <NUM> having a shallow depth of field is used, when lowering lead component <NUM> such that lead <NUM> falls within vertical imaging range <NUM>, lead <NUM> of lead component <NUM> may interfere with reference mark 228a. In order to avoid this interference, it is necessary to lower lead component <NUM> to the region of imaging region <NUM> where reference mark 228a is not arranged. In the example in <FIG>, since lead component <NUM> is smaller than imaging region <NUM>, lead component <NUM> can be lowered to a region where lead <NUM> of lead component <NUM> does not interfere with reference mark 228a.

However, there is a demand to handle lead component <NUM> having the larger size, that is, a size exceeding imaging region <NUM>. As a method for satisfying this demand, there is a method in which a part of lead entering imaging region <NUM> are sequentially imaged while moving lead component in the XY-direction in a state in which the lead falls within vertical imaging range <NUM>, and then, the multiple image data obtained in this way are combined to create the image data for the entire lead. It is conceivable to apply this method to the conventional work machine described above, however, in the first place, since it is not possible to lower lead component larger than imaging region <NUM> to the position where the lead falls within vertical imaging range <NUM> due to the above interference problem, it is not so easy to directly apply this method to the conventional work machine described above.

Therefore, an object of the present application is to provide a work machine capable of handling a work target component having a size exceeding the imaging region.

The above objective is achieved by the present invention defined by the features of the independent claim, with preferred embodiments being specified in the dependent claims.

According to the present application, even if a component is moved in the horizontal direction when imaging the component, since the component does not interfere with a reference mark, it is possible to calculate a position of a lead of the component having a larger size.

Hereinafter, an embodiment of the present application will be described in detail with reference to the accompanying drawings.

<FIG> shows component mounter <NUM>. Component mounter <NUM> is a device for executing a mounting work of components on circuit base material <NUM>. Component mounter <NUM> includes device main body <NUM>, base material conveyance holding device <NUM>, component mounting device <NUM>, mark camera <NUM>, part camera <NUM>, component supply device <NUM>, bulk component supply device <NUM>, and control device <NUM> (refer to <FIG>). Examples of circuit base material <NUM> include a circuit board and a base material having a three-dimensional structure, and examples of the circuit board include a printed wiring board and a printed circuit board.

Device main body <NUM> is configured with frame section <NUM> and beam section <NUM> overlaid on frame section <NUM>. Base material conveyance holding device <NUM> is arranged at the center of frame section <NUM> in the front-rear direction, and includes conveyance device <NUM> and clamp device <NUM>. Conveyance device <NUM> is a device that conveys circuit base material <NUM>, and clamp device <NUM> is a device that holds circuit base material <NUM>. As a result, base material conveyance holding device <NUM> conveys circuit base material <NUM> and holds circuit base material <NUM> fixedly at a predetermined position. In the description below, the conveyance direction of circuit base material <NUM> is referred to as X-direction, the horizontal direction which is perpendicular to that direction is referred to as Y-direction, and the vertical direction is referred to as Z-direction. That is, the width direction of component mounter <NUM> is X-direction, and the front-rear direction is Y-direction.

Component mounting device <NUM> is arranged in beam section <NUM> and includes two work heads <NUM> and <NUM> and work head moving device <NUM>. As shown in <FIG>, suction nozzles <NUM> are provided on the lower end surfaces of work heads <NUM> and <NUM>, and suction nozzle <NUM> picks up and holds the component. Suction nozzle <NUM> is rotated by a rotating device driven by a motor (not illustrated) as a driving source, to adjust the orientation of the picked up and held component. In addition, work head moving device <NUM> includes X-direction moving device <NUM>, Y-direction moving device <NUM>, and Z-direction moving device <NUM>. Then, two work heads <NUM> and <NUM> can be integrally moved to any position on frame section <NUM> by X-direction moving device <NUM> and Y-direction moving device <NUM>. In addition, work heads <NUM> and <NUM> are detachably attached to sliders <NUM> and <NUM>, and Z-direction moving device <NUM> individually moves sliders <NUM> and <NUM> in the up-down direction. That is, work heads <NUM> and <NUM> can be individually moved in the up-down direction by Z-direction moving device <NUM>.

Mark camera <NUM> is attached to slider <NUM> in a state of facing downward, and can move in the X-direction, Y-direction and Z-direction together with work head <NUM>. As a result, mark camera <NUM> images any position on frame section <NUM>. As shown in <FIG>, part camera <NUM> is arranged between base material conveyance holding device <NUM> and component supply device <NUM> on frame section <NUM> in a state of facing upward. As a result, part camera <NUM> images the components held by suction nozzles <NUM> of work heads <NUM> and <NUM>.

Specifically, as shown in <FIG>, part camera <NUM> includes imaging device <NUM>, lens <NUM>, vertical illumination <NUM>, and side illumination <NUM>. The imaging device <NUM> includes an imaging element (not illustrated) and is arranged with the light receiving surface facing upward. Lens <NUM> is fixed to the light receiving surface side, that is, the upper surface side of imaging device <NUM>, and vertical illumination <NUM> is arranged on lens <NUM> via box-shaped member <NUM>. Vertical illumination <NUM> includes generally annular-shaped outer shell member <NUM>, and outer shell member <NUM> has a shape that extends upward toward the outer edge. That is, outer shell member <NUM> has a shape in which the bottom portion of a bowl is removed, and is arranged in the upper end portion of box-shaped member <NUM> at the end portion on the side having the smaller inner diameter. Multiple LED lights <NUM> are provided inside of outer shell member <NUM>, and the multiple LED lights <NUM> irradiate the upward with the vertical illumination light.

In addition, side illumination <NUM> is configured with six laser lights <NUM> (only two laser lights are shown in <FIG>). Half of six laser lights <NUM> (three each) are arranged on the outside of both end portions facing rectangular plate member <NUM> arranged on the upper edge of outer shell member <NUM> of vertical illumination <NUM> in the direction of irradiating toward center portion of plate member <NUM> with the side illumination light. Each laser light <NUM> is installed on flange portion 120a provided on the outer surface of outer shell member <NUM>.

As shown in <FIG>, plate member <NUM> is a member in which a part of the region including the center portion is transparent. In the present embodiment, the transparent region is formed in a rectangular shape, and for example, forms horizontal imaging region <NUM>. Reference mark mounting plate <NUM> (for example, made of glass) is arranged on plate member <NUM> surrounding imaging region <NUM>. Reference mark mounting plate <NUM> installs reference mark 128a in imaging region <NUM> in order to image reference mark 128a using part camera <NUM>. In the present embodiment, reference mark mounting plate <NUM> has an outer shape formed in, for example, a rectangular shape, and a portion where imaging region <NUM> is positioned is cut off. However, reference mark 128a is printed on a portion protruding into imaging region <NUM> from inner end portion of reference mark mounting plate <NUM> such that reference mark 128a is imaged. Reference mark 128a is formed, for example, in a circular shape, and is printed on the front surface of reference mark mounting plate <NUM> in the present embodiment, but is not limited to this, and may be printed on the rear surface of reference mark mounting plate <NUM>. The method of using reference mark 128a will be described later.

Six laser lights <NUM> irradiate toward the center of plate member <NUM> with the side illumination light in the generally horizontal direction. Then, the vertical illumination light by vertical illumination <NUM> or the side illumination light by side illumination <NUM> is reflected by an imaging target component and is incident on lens <NUM>. Then, the light incident on lens <NUM> is incident on imaging device <NUM> and is detected by the imaging element of imaging device <NUM>. As a result, the imaging target component is imaged by part camera <NUM>.

Component supply device <NUM> is arranged at a first end portion in the front-rear direction of frame section <NUM>. Component supply device <NUM> includes tray-type component supply device <NUM> and feeder-type component supply device (refer to <FIG>) <NUM>. Tray-type component supply device <NUM> is a device for supplying components in a state of being placed on a tray. Feeder-type component supply device <NUM> is a device for supplying components by a tape feeder or a stick feeder (not shown).

Bulk component supply device <NUM> is arranged at a second end portion in the front-rear direction of frame section <NUM>. Bulk component supply device <NUM> is a device that aligns multiple components in a scattered state and supplies the components in the aligned state. That is, the device is a device that aligns the multiple components in any postures to a predetermined posture, and supplies the components having the predetermined posture. Examples of the components supplied by component supply device <NUM> and bulk component supply device <NUM> include electronic circuit components, components of a solar cell, components of a power module, or the like. In addition, examples of the electronic circuit components include components that have leads and components that do not have leads.

As shown in <FIG>, control device <NUM> includes controller <NUM>, multiple drive circuits <NUM>, and image processing device <NUM>. Multiple drive circuits <NUM> are connected to conveyance device <NUM>, clamp device <NUM>, work heads <NUM> and <NUM>, work head moving device <NUM>, tray-type component supply device <NUM>, feeder-type component supply device <NUM>, and bulk component supply device <NUM>, respectively. Controller <NUM> includes CPU, ROM, RAM, and the like, and is mainly configured by a computer, which is connected to multiple drive circuits <NUM>. As a result, the operation of t base material conveyance holding device <NUM>, component mounting device <NUM>, component supply device <NUM>, and the like is controlled by controller <NUM>. In addition, controller <NUM> is also connected to image processing device <NUM>. Image processing device <NUM> processes the image data obtained by mark camera <NUM> and part camera <NUM>, and controller <NUM> acquires various information from the image data.

In component mounter <NUM>, by the configuration described above, the component mounting work is performed on circuit base material <NUM> held in base material conveyance holding device <NUM>. In component mounter <NUM>, various components can be mounted on circuit base material <NUM>, but a case where lead component <NUM> having leads <NUM> (refer to <FIG> is mounted on circuit base material <NUM> will be described below.

Specifically, circuit base material <NUM> is conveyed to a work position, and is fixedly held by clamp device <NUM> at that position. Next, mark camera <NUM> moves above circuit base material <NUM> and images circuit base material <NUM>. Then, controller <NUM> calculates the position coordinates and the like of an insertion hole (not illustrated) formed in circuit base material <NUM> in the XY-direction based on the image data.

In addition, component supply device <NUM> or bulk component supply device <NUM> supplies lead component <NUM> at a predetermined supply position. Then, any one of work heads <NUM> and <NUM> moves above a supply position of the component and holds lead component <NUM> by suction nozzle <NUM>. As shown in <FIG>, suction nozzle <NUM> picks up and holds lead component <NUM> on the upper surface of component main body portion <NUM> of lead component <NUM>.

Next, work heads <NUM> and <NUM> holding lead component <NUM> move above part camera <NUM>, and lead component <NUM> held by suction nozzle <NUM> is imaged by part camera <NUM>. Then, controller <NUM> calculates the position coordinates of the tip of lead <NUM> of lead component <NUM> held by suction nozzle <NUM> in the XY-direction based on the image data.

Subsequently, work heads <NUM> and <NUM> holding lead component <NUM> move above circuit base material <NUM>, and correct an error in the holding position of circuit base material <NUM> and an error in the holding position of lead component <NUM>, and the like. Then, by lead component <NUM> being released by suction nozzle <NUM>, lead component <NUM> is mounted on circuit base material <NUM>.

As described above, in component mounter <NUM>, lead component <NUM> supplied by component supply device <NUM> or the like is held by suction nozzle <NUM>, and held lead component <NUM> is imaged. Then, the position coordinates of the tip of lead <NUM> in the XY-direction are calculated based on the image data, and lead <NUM> is inserted into the insertion hole of circuit base material <NUM> using the position coordinates of the tip of calculated lead <NUM>.

Specifically, when lead component <NUM> held by suction nozzle <NUM> is imaged, as shown in <FIG>, work heads <NUM> and <NUM> move above part camera <NUM> by the operation of X-direction moving device <NUM> and Y-direction moving device <NUM> of work head moving device <NUM>. Then, lead component <NUM> held by suction nozzle <NUM> is lowered by the operation of Z-direction moving device <NUM>. At this time, the operation of Z-direction moving device <NUM> is controlled such that the tip of lead <NUM> of lead component <NUM> held by suction nozzle <NUM> falls within the irradiation range of side illumination <NUM> and within a depth of field of imaging device <NUM> (the range shown by a broken line in the drawing, hereinafter referred to as "vertical imaging range <NUM>"). Here, the depth of field means a range of the distance between the subject in focus and the camera, and is also referred to as an imaging depth. When lead <NUM> of lead component <NUM> is imaged, only side illumination <NUM> is turned on and vertical illumination <NUM> is turned off in part camera <NUM>.

As described above, when the tip of lead <NUM> of lead component <NUM> falls within vertical imaging range <NUM>, the light of side illumination <NUM>, that is, the laser light of laser light <NUM> is reflected by the tip of lead <NUM>, and the reflection light is incident on imaging device <NUM> of part camera <NUM>. As a result, the tip of lead <NUM> is imaged by imaging device <NUM>. Then, controller <NUM> calculates the position coordinates of the tip of lead <NUM> in the XY-direction based on the image data obtained by imaging.

Before or after imaging of lead component <NUM> by part camera <NUM>, reference mark 128a is imaged by part camera <NUM>. In the present embodiment, each of two reference marks 128a are arranged at points which are symmetrical positions with the center point of imaging region <NUM> as a target point. As shown in <FIG>, since reference mark 128a is positioned within vertical imaging range <NUM>, the light of side illumination <NUM>, that is, the laser light of laser light <NUM>, is reflected from the tip portion of reference mark 128a, and the reflection light is incident on imaging device <NUM> of part camera <NUM>. As a result, the tip portion of reference mark 128a is imaged by imaging device <NUM>. Then, controller <NUM> calculates the position coordinates of part camera <NUM> in the XY-direction based on the image data obtained by imaging.

As described above, since part camera <NUM> is arranged between base material conveyance holding device <NUM> and component supply device <NUM> on frame section <NUM> in a state of facing upward in a fixed manner, the position of part camera <NUM> does not change. However, due to the heat generated during the operation of component mounter <NUM>, since errors may be contained in the image data, in order to correct the error, the position coordinates of part camera <NUM> is calculated, and the result of calculation is compared with the actual position coordinates of part camera <NUM>.

Next, a case where entire component main body portion <NUM> of lead component <NUM> held by suction nozzle <NUM> cannot be imaged by part camera <NUM> will be described. In such a case, for example, as shown in <FIG>, component main body portion <NUM> of lead component <NUM> is divided into four regions I1, I2, I3, and I4, and each region I1, I2, I3, and I4 is imaged by part camera <NUM> to acquire four image data. Each of regions I1, I2, I3, and I4 is set such that a part thereof overlaps with each other.

The image data of each region I1, I2, I3, and I4 is referred to as divided data. Each divided data is combined by controller <NUM>. By this combining, image data <NUM> of lead <NUM> of entire lead component <NUM> is created as shown in <FIG>. Then, controller <NUM> calculates the position coordinates of the tip of lead <NUM> in the XY-direction based on image data <NUM>.

As described above, in component mounter <NUM>, even if lead component <NUM> held by suction nozzle <NUM> does not fall within the visual field of part camera <NUM>, it is possible to specify the position coordinates of the tip of lead <NUM> of lead component <NUM> in the XY-direction.

When the tip of lead <NUM> of lead component <NUM> is divided to be imaged by part camera <NUM>, each divided region is imaged while moving lead component <NUM> in the XY-direction by the operation of X-direction moving device <NUM> and Y-direction moving device <NUM> in a state in which the tip of lead <NUM> falls within vertical imaging range <NUM> (refer to <FIG>), and then, the image data of each region is acquired. In the conventional work machine described above, as described above in the "Technical Problem", since lead <NUM> of lead component <NUM> interferes with reference mark 228a, it is not possible to move lead component <NUM> having the size exceeding imaging region <NUM> in the XY-direction.

Therefore, in the present embodiment, as part camera <NUM>, by adopting camera having lens <NUM> having a deep depth of field to expand vertical imaging range <NUM>, even if lead component <NUM> is moved to the XY-direction in a state in which the tip of lead <NUM> falls within vertical imaging range <NUM>, lead <NUM> of lead component <NUM> does not interfere with reference mark 128a. That is, even if the horizontal position of reference mark 128a and the imaging position of lead <NUM> of lead component <NUM> in the horizontal direction are different from each other, by adopting part camera <NUM> having lens <NUM> capable of imaging both reference mark 128a and lead <NUM>, the problem that lead <NUM> interferes with reference mark 128a can be solved.

As a result, the size of lead component <NUM> of the work target, which is a maximum of <NUM> square when the divided capturing is not performed, can be expanded to a maximum of <NUM> square when the divided capturing is performed.

Furthermore, in the present embodiment, the interval between laser lights <NUM> in the X-direction is expanded from <NUM> (refer to <FIG>) in the conventional work machine described above to <NUM> (refer to <FIG>). The reason for this expansion is because, when lead component <NUM> having the larger size is moved to XY-direction for divided capturing, lead component <NUM> will interfere with laser light <NUM>. However, in view of the problem in that the laser light of laser light <NUM> is reflected by the tip of lead <NUM>, and the light amount of the reflection light incident on part camera <NUM> is reduced by expanding the interval between laser lights <NUM> in the X-direction, and imaging device <NUM> may not be able to image the tip of lead <NUM>, in the present embodiment, the number of laser lights <NUM> is increased from <NUM> in the conventional work machine described above (refer to <FIG>, and the light amount of the reflection light incident on part camera <NUM> can be maintained or increased. Furthermore, another reason for increasing the number of laser lights <NUM> is to cope with the following problems: the problem in that, since the number of lead <NUM> also increases as the size of the imaging target of lead component <NUM> increases, lead <NUM> to be imaged may be behind other leads <NUM> and may not be imaged, and the problem in that, since lead component <NUM> approaches laser light <NUM> when lead component <NUM> is moved to the XY-direction for divided imaging, the laser light will be blocked by lead component <NUM> and lead <NUM> to be imaged will not be imaged, and the like.

When the divided capturing is performed after expanding the interval of laser lights <NUM> as described above, the size of lead component <NUM> of the work target, which was a maximum of <NUM> square before the expansion, can be expanded to a maximum of <NUM> square.

As described above, component mounter <NUM> in the present embodiment includes work heads <NUM> and <NUM> having suction nozzles <NUM>, X-direction moving device <NUM>, Y-direction moving device <NUM> and Z-direction moving device <NUM> that move work heads <NUM> and <NUM> in the horizontal direction and up-down direction, part camera <NUM> having side illumination <NUM> that irradiates lead <NUM> of lead component <NUM> held in suction nozzle <NUM> with light from the side, and controller <NUM>.

Controller <NUM> includes first imaging command section <NUM> that images at least one reference mark 128a provided at the end portion of the imaging range of part camera <NUM>, first calculation section <NUM> that calculates the position of part camera <NUM> based on the image data captured by first imaging command section <NUM>, lowering command section <NUM> that lowers work heads <NUM> and <NUM> such that lead <NUM> of lead component <NUM> held by suction nozzle <NUM> falls within an irradiation range of side illumination <NUM>, second imaging command section <NUM> that images lead <NUM> of lead component <NUM> based on the reflection light of the side illumination <NUM> by lead <NUM> of lead component <NUM>, and second calculation section <NUM> that calculates the position of lead <NUM> of lead component <NUM> based on the image data captured by second imaging command section <NUM>, and reference mark 128a is provided at a position below the imaging position where lead <NUM> of lead component <NUM> is imaged, and part camera <NUM> has lens <NUM> capable of imaging both reference mark 128a and lead <NUM> of lead component <NUM>.

As described above, in the component mounter <NUM> in the present embodiment, even if lead component <NUM> is moved in the horizontal direction when lead component <NUM> is imaged, since lead component <NUM> does not interfere with reference mark 128a, it is possible to calculate the position of lead <NUM> of lead component <NUM> having the larger size.

Incidentally, in the present embodiment, component mounter <NUM> is an example of the "work machine". Suction nozzle <NUM> is an example of the "component holding tool". Work heads <NUM> and <NUM> are examples of the "holding heads". X-direction moving device <NUM>, Y-direction moving device <NUM> and Z-direction moving device <NUM> are examples of the "moving device". Lead component <NUM> is an example of the "component". Part camera <NUM> is an example of the "imaging device". Controller <NUM> is an example of the "control device".

In addition, side illumination <NUM> includes at least <NUM> laser lights <NUM>, and half of laser light <NUM> among laser lights <NUM> are arranged outside of one end portion of the opposite both end portions of rectangular plate member <NUM> surrounding the imaging range of part camera <NUM> in the horizontal direction and half of laser lights <NUM> are arranged outside of the other end portion of the opposite both end portions of plate member <NUM> in the direction for irradiating toward the center portion of rectangular plate member <NUM> with the side illumination light.

As a result, even if lead component <NUM> is moved in the horizontal direction when lead component <NUM> is imaged, since lead component <NUM> does not interfere with side illumination <NUM>, it is possible to calculate the position of lead <NUM> of lead component <NUM> having a larger size.

Incidentally, laser light <NUM> is an example of the "light source". Rectangular plate member <NUM> is an example of the "rectangular plane".

In addition, controller <NUM> further includes moving command section <NUM> that moves lead component <NUM> held by suction nozzle <NUM> in the horizontal direction in a state in which the positions of work heads <NUM> and <NUM> lowered by lowering command section <NUM> is held, third imaging command section <NUM> that images a part of lead <NUM> of lead component <NUM> based on the reflection light by lead <NUM> of lead component <NUM> after movement by moving command section <NUM>, and data creation section <NUM> that combines the image data of a part of lead <NUM> of lead component <NUM> imaged by third imaging command section <NUM> and creates the image data of lead <NUM> of entire lead component <NUM>, and second calculation section <NUM> calculates the position of lead <NUM> of lead component <NUM> based on the image data of lead <NUM> of entire lead component <NUM> created by data creation section <NUM>.

As a result, it is possible to image lead <NUM> of lead component <NUM> having the size larger than the imaging range of part camera <NUM>.

In addition, reference mark 128a is provided at an end portion of the imaging range of part camera <NUM> in the horizontal direction, and at a position below the imaging position for imaging lead <NUM> of lead component <NUM> in the horizontal direction, and lens <NUM> included in part camera <NUM> is a lens that can image both reference mark 128a and lead <NUM> of lead component <NUM> even if the position of reference mark 128a in the horizontal direction and the imaging position of lead <NUM> of lead component <NUM> in the horizontal direction are different from each other.

Claim 1:
A work machine (<NUM>) comprising:
a holding head (<NUM>; <NUM>) having a component holding tool (<NUM>);
a moving device (<NUM>; <NUM>; <NUM>) configured to move the holding head in a horizontal direction and an up-down direction;
an imaging device (<NUM>) having side illumination (<NUM>) configured to irradiate a lead (<NUM>) of a component (<NUM>) held in the component holding tool with light from a side; and
a control device (<NUM>),
characterized in that the control device includes:
a first imaging command section (<NUM>) configured to image at least one reference mark (128a) installed on a reference mark mounting plate (<NUM>) such that the at least one reference mark is provided in an end portion of an imaging range (<NUM>) of the imaging device in the horizontal direction and at a position below an imaging position where the lead of the component is imaged in the horizontal direction,
wherein the reference mark mounting plate is arranged on a plate member (<NUM>) surrounding the imaging range of the imaging device in the horizontal direction,
a first calculation section (<NUM>) configured to calculate a position of the imaging device based on image data captured by the first imaging command section,
a lowering command section (<NUM>) configured to lower the holding head such that the lead of the component held by the component holding tool falls within an irradiation range of the side illumination,
a second imaging command section (<NUM>) configured to image the lead of the component based on reflection light of the side illumination by the lead of the component, and
a second calculation section (<NUM>) configured to calculate a position of the lead of the component based on the image data captured by the second imaging command section, and
the imaging device includes a lens (<NUM>) configured to image both the reference mark and the lead of the component.