| 摘要 |
The purpose of the present invention is to excellently pick up a plurality of components in a bulk state. The images of a plurality of components in a bulk state are captured to obtain captured image data. The obtained captured image data include individual image data representing each of the components. Each of the individual image data is compared with each of the shape data (572 (1) to (3)) of component data, thereby obtaining each of the postures of components, that is, the shape of the surface facing upward. Based on each of the postures of the components, components to be picked up are also extracted, and the nozzle diameter of a suction nozzle suitable for picking up a component and a pick-up height are obtained. For each of the components to be picked up, the suction nozzle is replaced if necessary and picking up is performed at the pick-up height. As a result, this makes it possible to pick up a larger number of components and prevent the damage of the suction nozzle during the pick-up operation and the damage of the components. |
