| 摘要 |
PURPOSE:To recognize a divisional visual field even a large-sized SOP component which cannot be contained in one visual field and to mount it by moving it to a next screen as movement of a stationary amount at a side having no lead, and deciding a moving distance of a side having a lead according to coordinates data of a reference lead. CONSTITUTION:When a large-sized SOP component 11 is recognized by four divisions, a screen is so moved over a recognition camera 13 by a robot 12 as to be sequentially recognized for a visual field of upper left, upper right, lower right, lower left parts of the component 11, images are processed by a recognition processor 14 at the respective visual fields, and coordinates data of a reference lead are input to a CPU 15. The CPU 15 so controls the robot 12 through an NC robot controller 16 as to move to a next screen of a stationary amount if the side of the component 11 does not have a lead in a screen moving direction and to move to a next screen of a movable amount decided according to coordinates data of the reference lead if it has the lead in the screen moving direction. Four division recognitions of the component 11 are sequentially conducted to recognize the entire component, its attitude is corrected, etc., and the component 11 is mounted. |
