| 摘要 |
PURPOSE:To shorten the time for recognizing the holding position of a part and the mounting position on a board by recognizing the positional images of both a part and a board at the same time by one time of shifting operation of a shifting support unit. CONSTITUTION:The coordinate of the parts mounting position of a board 12 is calculated based on the design data being stored in advance, and based on it, the stop position of a shifting support unit 18 and the shifting direction in E direction of a camera 37 for recognition of a board are calculated. Next, the image pickup position of the part 39 sucked and held by the suction nozzle 38 of a suction head 35 is calculated, and a camera 28 for recognition of a part is shifted to the appropriate position in B direction on the side of the board 12. At the same time, the shifting support unit 18 is shifted to the stop position of the shifting support unit 18 being calculated by shifting it in C and D directions. Furthermore, the relative positional compensation is performed by analyzing the position image of the part 39 being recognized by the camera 28 for recognition of a part and the camera 37 for recognition of a board position and the part mounting position image of the board 12, respectively. |
