| 摘要 |
PURPOSE:To mount parts in a highly reliable state by recognizing the shape of parts in the horizontal direction during a parts holding or transferring process performed immediately before the parts are mounted and, at the same time, the shape of parts in the vertical direction through an inclined mirror. CONSTITUTION:A suction nozzle 34 is positioned above an electronic parts P feeding device Al. An inclined mirror frame 11 which is moved together with a mobile body 12 in an interlocked state and provided with reflecting surfaces 11a inclined at about 45 deg. around the inner periphery of the frame 11 is positioned above the position Al, with the frame 11 being faced to the device Al. An elevating and lowering member 22 is lowered and the shape and position of parts P are roughly recognized with a recognition camera 53. When the shape of the parts P is adequate, a nozzle section 35 picks up the parts a and the member 22 is raised so as to bring the parts P up to s position inside the opening of the frame 11. Then a camera 35 recognizes the shapes of the parts of the four sides through the surfaces 11a of the frame 11 as well as that of the central part. Accordingly, bends in the vertical direction of leads on the four sides of the parts P can be detected respectively on the basis of the pictures of the four sides. Therefore, parts can be mounted in a highly reliable state. |
