JP7755779B2 - Component mounter, lead component rotation angle calculation method, and lead component rotation angle calculation program - Google Patents

Description

This invention relates to component mounting technology for mounting lead components onto a substrate using a mounting head, and in particular to technology for calculating the rotation angle of lead components.

In component mounters that mount lead components onto a board using a mounting head, the rotation angle of the lead component is calculated based on an image of the lead component held by the mounting head in order to mount the lead component at the appropriate rotation angle relative to the board. For example, in Patent Document 1, a line passing through the tips of each of the multiple leads lined up in a straight line along the side of the lead component is calculated using the least squares method. The rotation angle of the lead component is then calculated based on the slope of this line. In Patent Document 2, the rotation angle of the lead component is calculated for two parallel sides based on the slope of a line connecting the center of the arrangement range of the tips of the multiple leads along one side and the center of the arrangement range of the tips of the multiple leads along the other side.

Special Publication No. 7-67036 Special Publication No. 8-31715

In the former method, if the width of the arrangement range of multiple leads along the side of the lead component is wide, the calculation error in the rotation angle of the lead component tends to be small, but if this width is narrow, the calculation error in the rotation angle of the lead component tends to be large. In the latter method, if the distance between the two parallel sides along which multiple leads are arranged is wide, the calculation error in the rotation angle of the lead component tends to be small, but if this width is narrow, the calculation error in the rotation angle of the lead component tends to be large. In other words, regardless of which method is used, the calculation error in the rotation angle of the lead component may be large depending on the configuration of the lead component.

This invention was developed in consideration of the above-mentioned problems, and aims to make it possible to calculate the rotation angle of a lead component with high accuracy regardless of the configuration of the lead component.

A component mounter according to a first aspect of the present invention includes a mounting head that holds a lead component having a rectangular component body; a component imaging unit that captures a lead component image showing the lead component held in the mounting head; an image acquisition unit that acquires the lead component image captured by the component imaging unit; an array angle calculation unit that calculates, based on the lead component image, at least one of a first array angle indicating the direction in which the tips of multiple first leads arranged along a first target side and a second target side parallel to the first target side, the lead array angle, the first array angle indicating the direction in which the tips of multiple second leads arranged along the second target side; and a line connecting the geometric center of the tips of each of the multiple first leads and the geometric center of the tips of each of the multiple second leads. The system includes a geometric center straight-line angle calculation unit that calculates the geometric center straight-line angle indicating the line direction based on a lead component image; a data selection unit that selects a calculation reference angle used to calculate the rotation angle of the lead component from among the lead arrangement angle and the geometric center straight-line angle; and a rotation angle calculation unit that calculates the rotation angle of the lead component based on the calculation reference angle selected by the data selection unit from the lead arrangement angle and the geometric center straight-line angle. The data selection unit selects the calculation reference angle based on arrangement width information indicating at least one of a first lead arrangement width indicating the width of a first range in which the tips of multiple first leads are arranged along a first object side and a second lead arrangement width indicating the width of a second range in which the tips of multiple second leads are arranged along a second object side, and center-to-center distance information indicating the center-to-center distance indicating the distance between the center of the first range and the center of the second range.

A rotation angle calculation method according to a first aspect of the present invention includes the steps of: acquiring a lead component image showing a lead component having a rectangular component body; calculating, based on the lead component image, at least one of a first arrangement angle indicating the direction in which the tips of multiple first leads arranged along a first target side and a second target side parallel to the first target side, among multiple sides defining the periphery of the component body of the lead component, and a second arrangement angle indicating the direction in which the tips of multiple second leads arranged along the second target side; and calculating a geometric center-to-geometric center angle indicating the direction of a line connecting the geometric center of the tips of each of the multiple first leads and the geometric center of the tips of each of the multiple second leads. The method includes a step of calculating the rotation angle of the lead component based on an image of the lead component, a step of selecting a calculation reference angle used to calculate the rotation angle of the lead component from the lead arrangement angle and the angle between the geometric centers, and a step of calculating the rotation angle of the lead component based on the calculation reference angle selected from the lead arrangement angle and the angle between the geometric centers. The calculation reference angle is selected based on arrangement width information indicating at least one of a first lead arrangement width indicating the width of a first range in which the tips of multiple first leads are arranged along a first target side and a second lead arrangement width indicating the width of a second range in which the tips of multiple second leads are arranged along a second target side, and center-to-center distance information indicating the center-to-center distance indicating the distance between the center of the first range and the center of the second range.

In the first aspect of the present invention configured as described above, the rotation angle of a lead component is calculated based on a lead component image showing the lead component. In particular, the calculation reference angle used to calculate the rotation angle of the lead component is selected from the lead arrangement angle and the geometric center line angle, using a first target side and a second target side parallel to the first target side, among multiple sides defining the periphery of the component body of the lead component, as targets. Here, the lead arrangement angle is at least one of a first arrangement angle indicating the direction in which the tips of the first leads arranged along the first target side are arranged, and a second arrangement angle indicating the direction in which the tips of the second leads arranged along the second target side are arranged. Furthermore, the geometric center line angle indicates the direction of a line connecting the geometric center of the tips of each of the multiple first leads and the geometric center of the tips of each of the multiple second leads. Therefore, by selecting the lead arrangement angle as the calculation reference angle, the rotation angle of a lead component with a wide arrangement range of multiple leads along the first target side (second target side) can be calculated with high accuracy. On the other hand, by selecting the geometric center-to-geometric center straight-line angle as the calculation reference angle, the rotation angle of a lead component having a wide gap between a first object edge and a second object edge along which multiple leads are arranged can be calculated with high accuracy. In contrast, the calculation reference angle is selected based on array width information indicating at least one of a first lead array width indicating the width of a first area in which the tips of multiple first leads are arranged along the first object edge and a second lead array width indicating the width of a second area in which the tips of multiple second leads are arranged along the second object edge, and center-to-center distance information indicating the center-to-center distance between the center of the first area and the center of the second area. Therefore, by selecting a calculation reference angle appropriate for the configuration of the lead component, the rotation angle of the lead component can be calculated based on this reference calculation angle. As a result, the rotation angle of the lead component can be calculated with high accuracy regardless of the configuration of the lead component.

The mounter may also be configured so that the array width information indicates a first lead array width and a second lead array width, and the data selection unit executes a comparison and selection process that selects a calculation reference angle based on a comparison between the total array width, which is the sum of the first lead array width and the second lead array width, and the center-to-center distance. This makes it possible to calculate the rotation angle of the lead component with high accuracy based on a calculation reference angle appropriate for the configuration of the lead component.

The mounter may also be configured so that, in the comparison and selection process, the lead arrangement angle is selected as the calculation reference angle when the total arrangement width is wider than the center-to-center distance, and the geometric center-to-center straight-line angle is selected as the calculation reference angle when the total arrangement width is narrower than the center-to-center distance. This makes it possible to calculate the rotation angle of the lead component with high accuracy based on the calculation reference angle appropriate for the lead component configuration.

In this case, the mounter may be configured so that, in the comparison and selection process, if the total array width and the center-to-center distance are equal, the lead array angle is selected as the calculation reference angle. Alternatively, in the comparison and selection process, if the total array width and the center-to-center distance are equal, the mounter may be configured so that, in the comparison and selection process, the geometric center-to-center linear angle is selected as the calculation reference angle.

The mounter may also be configured so that the data selection unit selects the lead arrangement angle as the calculation reference angle when the line connecting the center of the first range and the center of the second range is inclined with respect to the line perpendicular to the first target side. In other words, when the line connecting the center of the first range and the center of the second range is inclined with respect to the line perpendicular to the first target side, the calculation of the rotation angle based on the angle between the geometric centers may contain a large error. Therefore, by selecting the lead arrangement angle as the calculation reference angle, it is possible to calculate the rotation angle of the lead component with high accuracy.

Various methods for acquiring the array width information and center-to-center distance information used in the comparison and selection process are possible. For example, the mounter may be configured to further include a memory unit that stores array width information and center-to-center distance information, and the data selection unit selects the calculation reference angle based on the array width information and center-to-center distance information stored in the memory unit. Alternatively, the mounter may be configured to further include an information calculation unit that calculates array width information and center-to-center distance information based on a lead component image, and the data selection unit selects the calculation reference angle based on the array width information and center-to-center distance information calculated by the information calculation unit.

Various timings are conceivable for selecting the calculated reference angle. Typically, the mounter may be configured so that the data selection unit selects the calculated reference angle at the timing between when the component is held by the mounting head and when it is mounted on the board. Alternatively, the mounter may be configured so that the data selection unit pre-selects the calculated reference angle before the mounting head begins mounting the lead component on the board.

The component mounter may also be configured so that the lead component has multiple sides: a first side, a second side parallel to the first side, a third side, and a fourth side parallel to the third side; the data selection unit acquires a first calculated reference angle resulting from selecting a calculation reference angle using the first and second sides as the first and second target sides, and a second calculated reference angle resulting from selecting a calculation reference angle using the third and fourth sides as the first and second target sides; and the rotation angle calculation unit calculates the rotation angle of the lead component based on the first calculated reference angle and the second calculated reference angle. With this configuration, the rotation angle of the lead component can be calculated based on the leads arranged on each of the four sides (first, second, third, and fourth sides) that define the periphery of the component body of the lead component.

A component mounter according to a second aspect of the present invention includes a mounting head that holds a lead component having a rectangular component body, a plurality of first leads arranged along a first side that defines the periphery of the component body, a plurality of second leads arranged along a second side that is parallel to the first side and defines the periphery of the component body, a plurality of third leads arranged along a third side that is perpendicular to the first side and defines the periphery of the component body, and a plurality of fourth leads arranged along a fourth side that is parallel to the third side and defines the periphery of the component body, a component imaging unit that captures a lead component image showing the lead component held in the mounting head, an image acquisition unit that acquires the lead component image captured by the component imaging unit, and a first arrangement angle that indicates the direction in which the tips of the first leads are arranged, a second arrangement angle that indicates the direction in which the tips of the second leads are arranged, and a direction in which the tips of the third leads are arranged. The system includes an arrangement angle calculation unit that calculates, based on a lead component image, a third arrangement angle that indicates the direction in which the tips of the fourth leads are arranged, and a fourth arrangement angle that indicates the direction in which the tips of the fourth leads are arranged; an arrangement width calculation unit that calculates, based on the lead component image, a first lead arrangement width that indicates the width in which the tips of the multiple first leads are arranged along the first side, a second lead arrangement width that indicates the width in which the tips of the multiple second leads are arranged along the second side, a third lead arrangement width that indicates the width in which the tips of the multiple third leads are arranged along the third side, and a fourth lead arrangement width that indicates the width in which the tips of the multiple fourth leads are arranged along the fourth side; and a rotation angle calculation unit that calculates, as the rotation angle of the lead component, a weighted average value of the first arrangement angle, second arrangement angle, third arrangement angle, and fourth arrangement angle, using the first lead arrangement width, second lead arrangement width, third lead arrangement width, and fourth lead arrangement width as weighting coefficients.

A method for calculating the rotation angle of a lead component according to a second aspect of the present invention includes the steps of acquiring a lead component image showing a lead component having a rectangular component body, a plurality of first leads arranged along a first side that defines the periphery of the component body, a plurality of second leads arranged along a second side that is parallel to the first side and that defines the periphery of the component body, a plurality of third leads arranged along a third side that is perpendicular to the first side and that defines the periphery of the component body, and a plurality of fourth leads arranged along a fourth side that is parallel to the third side and that defines the periphery of the component body, and calculating a first arrangement angle indicating the direction in which the tips of the first leads are arranged, a second arrangement angle indicating the direction in which the tips of the second leads are arranged, a third arrangement angle indicating the direction in which the tips of the third leads are arranged, and a fourth arrangement angle indicating the direction in which the tips of the fourth leads are arranged. The method includes a step of calculating, based on a lead component image, a fourth arrangement angle indicating the direction in which the tips of the plurality of first leads are arranged; a step of calculating, based on the lead component image, a first lead arrangement width indicating the width in which the tips of the plurality of second leads are arranged along the first side, a second lead arrangement width indicating the width in which the tips of the plurality of second leads are arranged along the second side, a third lead arrangement width indicating the width in which the tips of the plurality of third leads are arranged along the third side, and a fourth lead arrangement width indicating the width in which the tips of the plurality of fourth leads are arranged along the fourth side; and a step of calculating a weighted average of the first arrangement angle, second arrangement angle, third arrangement angle, and fourth arrangement angle as the rotation angle of the lead component, using the first lead arrangement width, second lead arrangement width, third lead arrangement width, and fourth lead arrangement width as weighting coefficients.

In a second aspect of the present invention configured as described above, the rotation angle of a lead component is calculated based on a lead component image showing the lead component. The lead component has a rectangular component body, a plurality of first leads arranged along a first side that defines the periphery of the component body, a plurality of second leads arranged along a second side that is parallel to the first side and defines the periphery of the component body, a plurality of third leads arranged along a third side that is perpendicular to the first side and defines the periphery of the component body, and a plurality of fourth leads arranged along a fourth side that is parallel to the third side and defines the periphery of the component body. In particular, a first arrangement angle indicating the direction in which the tips of the first leads are arranged, a second arrangement angle indicating the direction in which the tips of the second leads are arranged, a third arrangement angle indicating the direction in which the tips of the third leads are arranged, and a fourth arrangement angle indicating the direction in which the tips of the fourth leads are arranged are calculated based on the lead component image. Furthermore, a first lead arrangement width indicating the width of the arrangement of the tips of the multiple first leads along the first side, a second lead arrangement width indicating the width of the arrangement of the tips of the multiple second leads along the second side, a third lead arrangement width indicating the width of the arrangement of the tips of the multiple third leads along the third side, and a fourth lead arrangement width indicating the width of the arrangement of the tips of the multiple fourth leads along the fourth side are calculated based on the lead component image. Then, a weighted average of the first arrangement angle, the second arrangement angle, the third arrangement angle, and the fourth arrangement angle is calculated as the rotation angle of the lead component, using the first lead arrangement width, the second lead arrangement width, the third lead arrangement width, and the fourth lead arrangement width as weighting coefficients. With this configuration, it is possible to increase the influence on the calculation result of the rotation angle of the lead component of the position of the tips of each of the multiple leads with a wide arrangement width, which is advantageous for calculating the rotation angle with high accuracy, while reducing the influence on the calculation result of the rotation angle of the lead component of the position of the tips of each of the multiple leads with a narrow arrangement width, which is disadvantageous for calculating the rotation angle with high accuracy. As a result, it is possible to calculate the rotation angle of the lead component with high accuracy regardless of the configuration of the lead component.

The system also includes an image acquisition unit that acquires lead component images captured by the component imaging unit, a geometric center line angle calculation unit that calculates, based on the lead component images, a first geometric center line angle indicating the direction of a line connecting the geometric center of the tip of each of the multiple first leads and the geometric center of the tip of each of the multiple second leads, and a second geometric center line angle indicating the direction of a line connecting the geometric center of the tip of each of the multiple third leads and the geometric center of the tip of each of the multiple fourth leads, and a first center distance between the geometric center of the tip of each of the multiple first leads and the geometric center of the tip of each of the multiple second leads, and The mounter may further include a center distance calculation unit that calculates, based on the lead component image, a second center distance between the geometric center of the tip of each of the plurality of third leads and the geometric center of the tip of each of the plurality of fourth leads, and the rotation angle calculation unit calculates, as the rotation angle of the lead component, a weighted average of the first arrangement angle, the second arrangement angle, the third arrangement angle, the fourth arrangement angle, the first geometric center line angle, and the second geometric center line angle, using the first lead arrangement width, the second lead arrangement width, the third lead arrangement width, the fourth lead arrangement width, the first center distance, and the second center distance as weighting factors. This configuration can increase the influence on the calculation result of the rotation angle of the lead component of the position of the tips of leads with a wide center distance, which is advantageous for calculating the rotation angle with high accuracy, while reducing the influence on the calculation result of the rotation angle of the lead component of the position of the tips of leads with a narrow center distance, which is disadvantageous for calculating the rotation angle with high accuracy. As a result, it is possible to calculate the rotation angle of the lead component with high accuracy regardless of the configuration of the lead component.

A component mounter according to a third aspect of the present invention includes a mounting head that holds a lead component having a rectangular component body, a plurality of first leads arranged along a first side that defines the periphery of the component body, a plurality of second leads arranged along a second side that is parallel to the first side and that defines the periphery of the component body, a plurality of third leads arranged along a third side that is perpendicular to the first side and that defines the periphery of the component body, and a plurality of fourth leads arranged along a fourth side that is parallel to the third side and that defines the periphery of the component body; a component imaging unit that captures an image of the lead component held by the mounting head; an image acquisition unit that acquires the lead component image captured by the component imaging unit; and a geometric center linear angle calculation unit that calculates, based on the lead component image, a first inter-geometric center linear angle that indicates the direction of a line connecting the geometric center of the tip of each of the plurality of first leads and the geometric center of the tip of each of the plurality of second leads, and a second inter-geometric center linear angle that indicates the direction of a line connecting the geometric center of the tip of each of the plurality of third leads and the geometric center of the tip of each of the plurality of fourth leads. The system includes a rotation angle calculation unit, a center distance calculation unit that calculates, based on a lead component image, a first center-to-center distance between the geometric center of the tip of each of the multiple first leads and the geometric center of the tip of each of the multiple second leads, and a second center-to-center distance between the geometric center of the tip of each of the multiple third leads and the geometric center of the tip of each of the multiple fourth leads, and a rotation angle calculation unit that calculates, as the rotation angle of the lead component, a weighted average of the first geometric center-to-center straight-line angle and the second geometric center-to-center straight-line angle, using the first center-to-center distance and the second center-to-center distance as weighting coefficients.

A method for calculating the rotation angle of a lead component according to a third aspect of the present invention includes the steps of acquiring a lead component image showing a lead component having a rectangular component body, a plurality of first leads arranged along a first side that defines the periphery of the component body, a plurality of second leads arranged along a second side that is parallel to the first side and that defines the periphery of the component body, a plurality of third leads arranged along a third side that is perpendicular to the first side and that defines the periphery of the component body, and a plurality of fourth leads arranged along a fourth side that is parallel to the third side and that defines the periphery of the component body; and calculating a first inter-geometric center straight-line angle indicating the direction of a line connecting the geometric center of the tip of each of the plurality of first leads and the geometric center of the tip of each of the plurality of second leads, and a second inter-geometric center angle indicating the direction of a line connecting the geometric center of the tip of each of the plurality of second leads. The method includes a step of calculating, based on a lead component image, a second geometric center straight-line angle indicating the direction of a line connecting the geometric center of the tip of each of the third leads and the geometric center of the tip of each of the multiple fourth leads; a step of calculating, based on the lead component image, a first center-to-center distance between the geometric center of the tip of each of the multiple first leads and the geometric center of the tip of each of the multiple second leads and a second center-to-center distance between the geometric center of the tip of each of the multiple third leads and the geometric center of the tip of each of the multiple fourth leads; and a step of calculating, as the rotation angle of the lead component, a weighted average of the first geometric center straight-line angle and the second geometric center straight-line angle, using the first center-to-center distance and the second center-to-center distance as weighting coefficients.

In a third aspect of the present invention configured as described above, the rotation angle of a lead component is calculated based on a lead component image showing the lead component. The lead component includes a rectangular component body, a plurality of first leads arranged along a first side that defines the periphery of the component body, a plurality of second leads arranged along a second side that is parallel to the first side and defines the periphery of the component body, a plurality of third leads arranged along a third side that is perpendicular to the first side and defines the periphery of the component body, and a plurality of fourth leads arranged along a fourth side that is parallel to the third side and defines the periphery of the component body. In particular, a first inter-geometric center linear angle indicating the direction of a line connecting the geometric center of the tip of each of the first leads to the geometric center of the tip of each of the second leads, and a second inter-geometric center linear angle indicating the direction of a line connecting the geometric center of the tip of each of the third leads to the geometric center of the tip of each of the fourth leads are calculated based on the lead component image. Furthermore, a first center-to-center distance between the geometric center of the tip of each of the multiple first leads and the geometric center of the tip of each of the multiple second leads, and a second center-to-center distance between the geometric center of the tip of each of the multiple third leads and the geometric center of the tip of each of the multiple fourth leads, are calculated based on the lead component image. Then, a weighted average of the first and second geometric center-to-center linear angles, with the first and second center-to-center distances used as weighting factors, is calculated as the rotation angle of the lead component. This configuration increases the influence on the calculation results of the rotation angle of the lead component of the position of the tips of leads with a wide center-to-center distance, which is advantageous for calculating the rotation angle with high accuracy, while reducing the influence on the calculation results of the rotation angle of the lead component of the position of the tips of leads with a narrow center-to-center distance, which is disadvantageous for calculating the rotation angle with high accuracy. As a result, it is possible to calculate the rotation angle of the lead component with high accuracy regardless of the configuration of the lead component.

The lead component rotation angle calculation program of the present invention causes a computer to execute the above-mentioned lead component rotation angle calculation method.

As described above, according to the present invention, it is possible to calculate the rotation angle of a lead component with high accuracy regardless of the configuration of the lead component.

1 is a plan view schematically showing an example of a component mounter according to the present invention; FIG. 2 is a block diagram showing an electrical configuration of the component mounter of FIG. 1 . FIG. 3 is a bottom view schematically showing a component to be imaged by the component recognition camera. FIG. 2 is a side view schematically showing a component to be imaged by the component recognition camera. 10 is a flowchart showing an example of component recognition executed in a component mounter. 5 is a flowchart showing an example of rotation angle calculation executed in the component recognition of FIG. 4 . 6 is a diagram showing the details of calculations executed in steps S201 and S202 of the rotation angle calculation in FIG. 5; 6 is a diagram showing the details of calculations executed in steps S201 and S202 of the rotation angle calculation in FIG. 5; 6 is a diagram showing the details of steps S204 and S205 of the rotation angle calculation in FIG. 5; 6 is a diagram showing the details of steps S206 and S207 of the rotation angle calculation in FIG. 5; 5 is a flowchart showing a first modified example of rotation angle calculation executed in the component recognition of FIG. 4 . FIG. 9 is a diagram schematically showing the contents executed in a first modified example of the rotation angle calculation in FIG. 8 . 5 is a flowchart showing a second modified example of rotation angle calculation executed in the component recognition of FIG. 4 . FIG. 11 is a diagram schematically illustrating the contents executed in a second modified example of the rotation angle calculation in FIG. 10 . 10 is a flowchart showing an example of calculation reference angle selection executed before component mounting starts. 13 is a flowchart showing an example of calculation of a rotation angle when the calculation reference angle selection of FIG. 12 is executed in advance. 10 is a flowchart showing a third modified example of rotation angle calculation executed in the component recognition of FIG. 4 . 10 is a flowchart showing a fourth modified example of rotation angle calculation executed in the component recognition of FIG. 4 . FIG. 16 is a diagram schematically showing the contents executed in a fourth modified example of the rotation angle calculation in FIG. 15 .

Figure 1 is a plan view schematically illustrating an example of a component mounter according to the present invention, and Figure 2 is a block diagram illustrating the electrical configuration of the component mounter of Figure 1. Figure 1 appropriately illustrates the horizontal Gx direction, the Gy direction perpendicular to the Gx direction, and the vertical Gz direction. This component mounter 1 includes a controller 100, as shown in Figure 2. The controller 100 controls each component of the device, thereby mounting components 9 at each mounting location on a board B. The controller 100 includes an arithmetic processing unit 110, which is a processor comprised of a CPU (Central Processing Unit) and RAM (Random Access Memory), and a memory unit 120, which is a storage device comprised of an HDD (Hard Disk Drive) or SSD (Solid State Drive). The memory unit 120 stores a component recognition program P that causes the arithmetic processing unit 110 to execute component recognition, as described in detail below. Furthermore, the controller 100 has a drive control unit 130 that controls the drive system of the component mounter 1, a valve control unit 140 that controls the negative pressure used to pick up the components 9, and an imaging control unit 150 that controls the imaging system of the component mounter 1, and the calculation processing unit 110 comprehensively manages the operation of each control unit 130, 140, and 150.

The controller 100 also has a communication IF 160 that communicates with a server computer S that is provided separately from the component mounter 1. A component recognition program P is stored in the storage device of this server computer S, and the component recognition program P downloaded from the server computer S by the communication IF 160 is stored in the storage unit 120. Note that the component recognition program P does not have to be provided by downloading it from the server computer S. In other words, the component recognition program P may be provided by a USB (Universal Serial Bus) memory or the like that stores the component recognition program P.

As shown in FIG. 1, the component mounter 1 has a pair of conveyors 12, 12 arranged in parallel in the Gx direction on a base 11, and each conveyor 12 transports a board B in the Gx direction. The component mounter 1 mounts components onto a board B that has been transported by each conveyor 12 from the upstream side in the Gx direction (board transport direction) to a board support position 12B (the position of board B in FIG. 1) and then transports the board B, on which component mounting has been completed, from the board support position 12B to the downstream side in the Gx direction by each conveyor 12.

The mounter 1 is provided with a pair of Y-axis rails 21, 21 extending in the Gy direction, a Y-axis ball screw 22 extending in the Gy direction, and a Y-axis motor My that rotates the Y-axis ball screw 22. An X-axis rail 23 extending in the Gx direction is supported by the pair of Y-axis rails 21, 21 so that it can move in the Gy direction and is fixed to the nut of the Y-axis ball screw 22. An X-axis ball screw 24 extending in the Gx direction and an X-axis motor Mx that rotates the X-axis ball screw 24 are attached to the X-axis rail 23. A head unit 25 is supported on the X-axis rail 23 so that it can move in the Gx direction and is fixed to the nut of the X-axis ball screw 24. Therefore, the drive control unit 130 can rotate the Y-axis ball screw 22 using the Y-axis motor My to move the head unit 25 in the Gy direction, or rotate the X-axis ball screw 24 using the X-axis motor Mx to move the head unit 25 in the Gx direction.

Two tray component supply units 3 are lined up in the Gx direction on one side of the pair of conveyors 12, 12 in the Gy direction. Each tray component supply unit 3 has a configuration similar to the tray component supply device shown in, for example, JP 2015-179709 A, and supplies components 9 (lead components) using trays 32 pulled out along with the pallet to a component removal position 31 provided on the top surface of the base 11. This tray 32 has multiple component supply locations 33 arranged in a matrix (3 rows and 5 columns in the example of Figure 1), and components 9 are stored in each component supply location 33.

On the other side of the pair of conveyors 12, 12 in the Gy direction, two tape component supply units 4 are lined up in the Gx direction. Multiple tape feeders 41 are lined up in the Gx direction and detachably attached to each tape component supply unit 4. The tape feeders 41 extend in the Gy direction and have a component supply point 43 at their tip on the head unit 25 side in the Gy direction. A tape containing small chip components such as integrated circuits, transistors, and capacitors at predetermined intervals is loaded into the tape feeder 41. The tape feeder 41 intermittently feeds the tape in the Gy direction toward the head unit 25, feeding the components on the tape in the Gy direction and supplying them sequentially to the component supply points 43.

The head unit 25 has multiple (five) mounting heads 5 aligned in a line in the Gx direction. Each mounting head 5 extends parallel to the Gz direction, and a nozzle is attached to the bottom end of each mounting head 5. Each mounting head 5 receives driving force from an X-axis motor Mx and a Y-axis motor My, which operate under the control of the drive control unit 130, and moves in the Gx and Gy directions along with the head unit 25. The component mounter 1 also has a Z-axis motor Mz and an R-axis motor Mr connected to each mounting head 5. Each mounting head 5 raises and lowers its nozzle with the driving force from the Z-axis motor Mz, which operates under the control of the drive control unit 130, and rotates the nozzle in the R direction with the driving force from the R-axis motor Mr, which operates under the control of the drive control unit 130. Here, the R direction is the direction of rotation around an axis of rotation parallel to the Gz direction. Furthermore, the component mounter 1 has a negative pressure generator 6 that communicates with each mounting head 5, and the valve control unit 140 controls the opening and closing of a valve installed between the negative pressure generator 6 and the mounting head 5, thereby adjusting the air pressure applied to the nozzle of the mounting head 5. The mounting head 5 then uses the air pressure adjusted in this way to pick up and mount components using the nozzle.

In other words, the mounting head 5 lowers the nozzle positioned above the component supply point 33 on the tray 32 until it abuts against the component 9 stored in the component supply point 33, and then raises the nozzle while suctioning the component 9 using the negative pressure supplied to the nozzle. Next, the mounting head 5 moves above the mounting point of board B supported at board support position 12B, lowers the nozzle until the component 9 abuts against the mounting point of board B, and then mounts the component 9 at the mounting point of board B using atmospheric or positive pressure supplied to the nozzle. Components supplied to the component supply point 43 by the tape feeder 41 are similarly picked up and mounted.

The component mounter 1 further includes a component recognition camera 7 attached to the base 11 and facing upward. The component recognition camera 7 has a solid-state imaging element and captures an image of the object by detecting light from the object with the solid-state imaging element. In particular, the component recognition camera 7 captures an image of the component 9 picked up by the nozzle of the mounting head 5 while facing the component 9 from below, thereby obtaining a component image I showing the component 9 from a bottom view. Specifically, the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My to position the component 9 picked up by the nozzle of the mounting head 5 facing the component recognition camera 7 from above. The imaging control unit 150 then causes the component recognition camera 7 to capture an image and receives the component image I captured by the component recognition camera 7 from the component recognition camera 7. The drive control unit 130 and imaging control unit 150 cooperatively perform these operations in accordance with commands from the calculation processing unit 110, and the component image I captured by the component recognition camera 7 is transmitted to the calculation processing unit 110 via the imaging control unit 150.

Figure 3A is a bottom view that schematically shows a part that is the object of imaging by the part recognition camera, and Figure 3B is a side view that schematically shows a part that is the object of imaging by the part recognition camera. Both figures show a horizontal direction Ex and a direction Ey that is perpendicular to direction Ex.

Component 9 has a package 90 that is rectangular in bottom view, and package 90 has four sides 911, 912, 913, and 914 that define the periphery of package 90 in bottom view. Sides 911 and 912 are parallel to direction Ey and have the same length, and sides 913 and 914 are parallel to direction Ex and have the same length. In other words, sides 911 and 912 face each other at a distance equal to the length of side 913 (or side 914), sides 913 and 914 face each other at a distance equal to the length of side 911 (or side 912), and sides 911 and 912 are perpendicular to sides 913 and 914, respectively.

Furthermore, component 9 has multiple leads 91 arranged at equal pitch in direction Ey along side 911. In bottom view, each lead 91 extends parallel to direction Ex from side 911 of package 90 and has a predetermined width in direction Ey. Also, component 9 has multiple leads 92 arranged at equal pitch in direction Ey along side 912. In bottom view, each lead 92 extends parallel to direction Ex from side 912 of package 90 and has a predetermined width in direction Ey. In this way, component 9 is a so-called lead component having leads 91, 92.

Figure 4 is a flowchart showing an example of component recognition performed in a component mounter, Figure 5 is a flowchart showing an example of rotation angle calculation performed in the component recognition of Figure 4, Figures 6A and 6B are diagrams schematically showing the contents of the calculations performed in steps S201 and S202 of the rotation angle calculation of Figure 5 for different types of components, Figure 7A is a diagram schematically showing the contents performed in steps S204 and S205 of the rotation angle calculation of Figure 5, and Figure 7B is a diagram schematically showing the contents performed in steps S206 and S207 of the rotation angle calculation of Figure 5. Note that Figures 6A and 7A show components 9 of the same type, and Figures 6B and 7B show components 9 of the same type.

6A, 6B, 7A, and 7B show an XY coordinate system consisting of an X coordinate axis parallel to the horizontal direction and a Y coordinate axis perpendicular to the X coordinate axis. This XY coordinate system corresponds to the coordinate system used by the calculation processing unit 110 to perform calculations (image processing) on the part image I and recognize the part 9 shown in the part image I. In particular, of the directions Ex and Ey set for the part 9, direction Ex corresponds to the X coordinate axis, and direction Ey corresponds to the Y coordinate axis. In other words, when the rotation angle θ of the part 9 around the rotation axis parallel to the vertical direction is zero, direction Ex is parallel to the X coordinate axis, and direction Ey is parallel to the Y coordinate axis. However, the positional relationship between directions Ex and Ey and the XY coordinate system is not limited to this example, and the XY coordinate system can be set in any manner relative to directions Ex and Ey. Furthermore, the X coordinate axis is parallel to the Gx direction, and the Y coordinate axis is parallel to the Gy direction. However, the X coordinate axis and the Y coordinate axis do not necessarily have to be parallel to the Gx direction and the Gy direction, respectively.

The component recognition in FIG. 4 is executed by the arithmetic processing unit 110 in accordance with the component recognition program P. In this component recognition step S100, a component image I is acquired. Specifically, the arithmetic processing unit 110 controls the drive control unit 130 to position the component 9 picked up by the nozzle of the mounting head 5 facing the component recognition camera 7 from above. The arithmetic processing unit 110 then controls the imaging control unit 150 to cause the component recognition camera 7 to capture an image of the component 9 and acquire the component image I. In this way, the component image I acquired by the component recognition camera 7 is transmitted to the arithmetic processing unit 110 via the imaging control unit 150.

In step S200, the rotation angle θ of part 9 is calculated based on part image I acquired in step S100. Here, the rotation angle θ of part 9 is the angle at which part 9 rotates around a rotation axis parallel to the vertical direction, and in the examples of Figures 6A, 6B, 7A, and 7B, the angle of direction Ex relative to the X coordinate axis (in other words, the angle of direction Ey relative to the Y coordinate axis) corresponds to the rotation angle θ.

In step S201 of the rotation angle calculation in Figure 5, the calculation processing unit 110 obtains the lead arrangement widths W91 and W92 of the leads 91 and 92. The specific calculation content in step S201 is explained in detail below using Figures 6A and 6B.

The position of the tip T91 of each of the multiple leads 91 is calculated based on the component image I. Here, the tip T91 of the lead 91 refers to the end of the lead 91 opposite the end facing the package 90 in the direction Ex, which is the extension direction of the lead 91. The position of the tip T91 is also the position of the center C91 of the tip T91 in the direction Ey, which is the width direction of the lead 91. The range between the centers C91 of the two leads 91 located at both ends of the multiple leads 91 in the direction Ey, which is the arrangement direction of the multiple leads 91, is calculated as the lead arrangement range R91 of the lead 91, and the width of the lead arrangement range R91 is calculated as the lead arrangement width W91. Similarly, the position of the tip T92 of each of the multiple leads 92 is calculated based on the component image I. The range between the centers C92 of the two leads 92 located at both ends of the multiple leads 92 in the direction Ey, which is the arrangement direction of the multiple leads 92, is calculated as the lead arrangement range R92 of the lead 92, and the width of the lead arrangement range R92 is calculated as the lead arrangement width W92.

Furthermore, in step S202 of the rotation angle calculation in Figure 5, the calculation processing unit 110 obtains the center-to-center distance D. The specific calculation content in step S202 is explained in detail below using Figures 6A and 6B.

As described above, in step S201, the positions of the tips T91 of the multiple leads 91 arranged in the direction Ey, i.e., the centers C91, are calculated. In contrast, in step S202, the geometric center G91 of the positions (centers C91) of the multiple tips T91 calculated in step S201 is calculated. That is, the average of the XY coordinates (X, Y) of each of the multiple centers C91 is calculated as the geometric center G91. Similarly, the geometric center G92 of the positions (centers C92) of the multiple tips T92 is calculated. That is, the average of the XY coordinates (X, Y) of each of the multiple centers C92 is calculated as the geometric center G92. The distance between the geometric centers G91 and G92 is then calculated as the center-to-center distance D.

In step S203, the calculation reference angle used to calculate the rotation angle θ of component 9 is selected from the lead arrangement angle and the geometric center line angle. Specifically, if the sum of lead arrangement width W91 and lead arrangement width W92 is equal to or greater than the center-to-center distance D (if W91 + W92 ≧ D), the lead arrangement angle is calculated as the calculation reference angle. On the other hand, if the sum of lead arrangement width W91 and lead arrangement width W92 is less than the center-to-center distance D (if W91 + W92 < D), the geometric center line angle is calculated as the calculation reference angle.

If the lead arrangement angle is selected as the calculation reference angle in step S203, steps S204 and S205 are executed. In step S204, a regression line L91 representing the position (center C91) of each of the multiple leads 91 is calculated using the least squares method, and a rotation angle θ91 of the regression line L91 centered on a rotation axis parallel to the vertical direction is calculated (Figure 7A). This rotation angle θ91 (first arrangement angle) indicates the direction in which the tips T91 of the multiple leads 91 are arranged. Similarly, a regression line L92 representing the position (center C92) of each of the multiple leads 92 is calculated using the least squares method, and a rotation angle θ92 of the regression line L92 centered on a rotation axis parallel to the vertical direction is calculated (Figure 7A). This rotation angle θ92 (second arrangement angle) indicates the direction in which the tips T92 of the multiple leads 92 are arranged. Then, in step S205, the average of the rotation angles θ91 and θ92 is calculated as the rotation angle θ of the component 9.

If the geometric center line angle is selected as the calculation reference angle in step S203, steps S206 and S207 are executed. In step S206, the geometric center line Lg, which is the line connecting the geometric centers G91 and G92, is calculated, and the rotation angle θg of the geometric center line Lg about a rotation axis parallel to the vertical direction is calculated (Figure 7B). In other words, the rotation angle θg indicates the direction of the geometric center line Lg. Then, in step S207, the rotation angle θg is determined as the rotation angle θ of part 9.

In the embodiment described above, the rotation angle θ of component 9 (lead component) is calculated based on component image I (lead component image) showing component 9 (lead component) (steps S204, S205, S206, S207). This component 9 has a rectangular package 90 (component body), multiple leads 91 (first leads) arranged along an edge 911 (first target edge) that defines the periphery of package 90, and multiple leads 92 (second leads) arranged along an edge 912 (second target edge) that defines the periphery of package 90 and is parallel to edge 911. In particular, the calculation reference angle used to calculate the rotation angle θ of component 9 is selected from rotation angles θ91, θ92 (lead arrangement angles) and rotation angle θg (geometric center-to-center linear angle) (step S203). Therefore, by selecting the rotation angles θ92, θ92 as the calculation reference angle, it is possible to accurately calculate the rotation angle θ of a component 9 having wide lead arrangement widths W91, W92 of the lead arrangement ranges R91, R92 of the multiple leads 91, 92 along the sides 911, 912. On the other hand, by selecting the rotation angle θg as the calculation reference angle, it is possible to accurately calculate the rotation angle θ of a component 9 having a wide distance (center-to-center distance D) between the sides 911 and 912 along which the multiple leads 91, 92 are arranged. In response to this, a lead arrangement width W91 (first lead arrangement width) indicating the width of the lead arrangement range R91 (first range) in which the tips T91 of the multiple leads 91 are arranged along the side 911, and a lead arrangement width W92 (second lead arrangement width) indicating the width of the lead arrangement range R92 (second range) in which the tips of the multiple leads 92 are arranged along the side 912 are obtained (step S201). Additionally, a center-to-center distance D indicating the distance between the center (geometric center G91) of lead arrangement range R91 and the center (geometric center G91) of lead arrangement range R92 is acquired (step S202). Then, a calculation reference angle is selected based on the lead arrangement widths W91 and W92 (arrangement width information) and the center-to-center distance D (center-to-center distance information) (step S203). Therefore, a calculation reference angle appropriate for the configuration of component 9 can be selected, and the rotation angle θ of component 9 can be calculated based on this reference calculation angle (steps S204, S205, S2106, S207). As a result, it is possible to calculate the rotation angle θ of component 9 with high accuracy, regardless of the configuration of component 9.

Furthermore, the calculation processing unit 110 acquires the lead arrangement width W91 and lead arrangement width W92 (arrangement width information) in step S201, and acquires the center-to-center distance D (center-to-center distance information) in step S202. Then, in step S203, the calculation processing unit 110 (data selection unit) selects a calculation reference angle based on a comparison between the total arrangement width (W91 + W92), which is the sum of the lead arrangement width W91 and the lead arrangement width W92, and the center-to-center distance D (comparison and selection process). This makes it possible to calculate the rotation angle θ of component 9 with high accuracy based on the calculation reference angle appropriate for the configuration of component 9.

Furthermore, in step S203 (comparison and selection process), if the total array width (W91 + W92) is wider than the center-to-center distance D, the rotation angles θ91 and θ92 (lead array angles) are selected as the calculation reference angles, while if the total array width (W91 + W92) is narrower than the center-to-center distance D, the rotation angle θg (linear angle between geometric centers) is selected as the calculation reference angle. This makes it possible to calculate the rotation angle θ of component 9 with high accuracy based on the calculation reference angle appropriate for the configuration of component 9.

Figure 8 is a flowchart showing a first variant of the rotation angle calculation performed in the component recognition of Figure 4, and Figure 9 is a diagram showing the details executed in the first variant of the rotation angle calculation of Figure 8. The difference between the rotation angle calculations of Figure 8 and Figure 5 is that the calculation details are changed based on whether or not there is an offset between the arrangement of leads 91 and 92 of component 9 (step S208). Here, the explanation will focus on the differences from Figure 5, and parts that are common to Figure 5 will be assigned the same reference numerals and will not be explained further.

As shown in FIG. 9 , component 9 has multiple leads 91 arranged at equal intervals in direction Ey along side 911, and multiple leads 92 arranged at equal intervals in direction Ey along side 912. However, the center (geometric center G91) of lead arrangement range R91 (first range) in which tips T91 of multiple leads 91 are arranged and the center (geometric center G92) of lead arrangement range R92 (second range) in which tips T92 of multiple leads 92 are arranged are offset in direction Ex, which is the extension direction of side 911, and a line Ld connecting these centers (geometric centers G91, G92) is inclined with respect to a line Lo perpendicular to sides 911 and 912. The inclination angles α1 and α2 of line Ld with respect to line Lo depend on the state of leads 91 and 92 of component 9.

9 , leads 91 and 92 are bent inward compared to leads 91 and 92 in "Lead State 1" of FIG. 9 . Therefore, in "Lead State 1" of FIG. 9 , a gap Δ1 exists between the tip T91 of lead 91 and the tip T92 of lead 92 in direction Ex. In "Lead State 2" of FIG. 9 , a gap Δ2, shorter than gap Δ1, exists between the tip T91 of lead 91 and the tip T92 of lead 92 in direction Ex. Therefore, the inclination angle α1 of line Ld relative to line Lo in "Lead State 1" is different from the inclination angle α2 of line Ld relative to line Lo in "Lead State 2." In other words, when line Ld connecting geometric centers G91 and G92 is inclined relative to line Lo (in other words, when there is an offset), the rotation angle θg ( FIG. 7B ) varies depending on the state of leads 91 and 92. Therefore, it is not appropriate to determine the rotation angle θ of component 9 based on the rotation angle θg.

In the rotation angle calculation shown in FIG. 8, the calculation processing unit 110 checks whether the component 9 has an offset (step S208). Whether the component 9 has an offset can be determined, for example, based on the configuration of the component 9 as defined by a standard. Alternatively, information indicating that the component 9 has an offset may be stored in advance in the storage unit 120, and the determination may be made based on this information. If the component 9 does not have an offset ("NO" in step S208), steps S201 to S207 are executed in the same manner as described above.

On the other hand, if the component 9 has an offset ("NO" in step S208), the calculation processing unit 110 skips steps S201 to S203 and proceeds to step S204. In step S204, the positions (centers C91, C92) of the tips T91, T92 of the multiple leads 91, 92 are calculated based on the component image I. Furthermore, a regression line L91 representing the position (center C91) of each of the multiple leads 91 is calculated using the least squares method, and a rotation angle θ91 of the regression line L91 about a rotation axis parallel to the vertical direction is calculated. Similarly, a regression line L92 representing the position (center C92) of each of the multiple leads 92 is calculated using the least squares method, and a rotation angle θ92 of the regression line L92 about a rotation axis parallel to the vertical direction is calculated. Then, in step S205, the average of the rotation angles θ91 and θ92 is calculated as the rotation angle θ of the component 9.

In this modification, when the line Ld connecting the center (geometric center G91) of the lead arrangement range R91 (first range) and the center (geometric center G92) of the lead arrangement range R92 (second range) is inclined with respect to the line Lo perpendicular to sides 911 and 912 (in other words, the extension direction of leads 91 and 92) (i.e., when component 9 has an offset), the calculation processing unit 110 (data selection unit) does not execute step S203 (comparison and selection process) and selects rotation angles θ91 and θ92 (lead arrangement angles) as the calculation reference angles. In other words, when component 9 has an offset, the calculation of the rotation angle θ of component 9 based on rotation angle θg (angle between geometric centers) may contain a large error. Therefore, by selecting rotation angles θ91 and θ92 (lead arrangement angles) as the calculation reference angles without executing step S203 (comparison and selection process), it is possible to calculate the rotation angle θ of component 9 with high accuracy.

Figure 10 is a flowchart showing a second variant of the rotation angle calculation performed in the part recognition of Figure 4, and Figure 11 is a diagram showing the details performed in the second variant of the rotation angle calculation of Figure 10.

The component 9 shown in FIG. 11 has multiple leads 91 arranged at equal pitch in the direction Ey along the side 911. In bottom view, each lead 91 extends parallel to the direction Ex from the side 911 of the package 90 and has a predetermined width in the direction Ey. The component 9 also has multiple leads 92 arranged at equal pitch in the direction Ey along the side 912. In bottom view, each lead 92 extends parallel to the direction Ex from the side 912 of the package 90 and has a predetermined width in the direction Ey.

The component 9 further has a plurality of leads 93 arranged at equal intervals in the direction Ex along the side 913. In bottom view, each lead 93 extends parallel to the direction Ey from the side 913 of the package 90 and has a predetermined width in the direction Ex. The component 9 also has a plurality of leads 94 arranged at equal intervals in the direction Ex along the side 914. In bottom view, each lead 94 extends parallel to the direction Ey from the side 914 of the package 90 and has a predetermined width in the direction Ex.

In step S211 of calculating the rotation angle in Figure 10, the calculation processing unit 110 calculates the rotation angles θ91, θ92, θ93, and θ94 (lead arrangement angles) that indicate the directions in which the tips T91, T92, T93, and T94 of the leads 91, 92, 93, and 94, respectively, are arranged, based on the component image I.

In other words, the positions of the tips T91 of the multiple leads 91 arranged in the direction Ey, i.e., the centers C91, are calculated. Then, a regression line L91 representing the position (centers C91) of each of the multiple leads 91 is calculated using the least squares method, and the rotation angle θ91 (lead arrangement angle) of the regression line L91 about a rotation axis parallel to the vertical direction is calculated. This rotation angle θ91 (first arrangement angle) indicates the direction in which the tips T91 of the multiple leads 91 are arranged.

Similarly, the positions of the tips T92 of the multiple leads 92 arranged in the direction Ey, i.e., the centers C92, are calculated. Then, a regression line L92 representing the position (centers C92) of each of the multiple leads 92 is calculated using the least squares method, and the rotation angle θ92 (lead arrangement angle) of the regression line L92 about a rotation axis parallel to the vertical direction is calculated. This rotation angle θ92 (second arrangement angle) indicates the direction in which the tips T92 of the multiple leads 92 are arranged.

The positions of the tips T93 of the multiple leads 93 arranged in the direction Ex, i.e., the centers C93, are calculated. A regression line L93 representing the positions (centers C93) of each of the multiple leads 93 is then calculated using the least squares method, and a rotation angle θ93 (lead arrangement angle) of the regression line L93 centered on a rotation axis parallel to the vertical direction is calculated. This rotation angle θ93 (third arrangement angle) indicates the direction in which the tips T93 of the multiple leads 93 are arranged.

Similarly, the positions of the tips T94 of the multiple leads 94 arranged in the direction Ex, i.e., the centers C94, are calculated. Then, a regression line L94 representing the positions (centers C94) of each of the multiple leads 94 is calculated using the least squares method, and the rotation angle θ94 (lead arrangement angle) of the regression line L94 centered on a rotation axis parallel to the vertical direction is calculated. This rotation angle θ94 (fourth arrangement angle) indicates the direction in which the tips T94 of the multiple leads 94 are arranged.

In step S212, the calculation processing unit 110 calculates the lead arrangement widths W91, W92, W93, and W94 of leads 91, 92, 93, and 94, respectively, based on the component image I.

In other words, in the direction Ey, which is the arrangement direction of the multiple leads 91, the range between the centers C91 of the two leads 91 located at both ends of the multiple leads 91 is obtained as the lead arrangement range R91 of the leads 91. Then, the width of the lead arrangement range R91 is calculated as the lead arrangement width W91.

Similarly, in the direction Ey, which is the arrangement direction of the multiple leads 92, the range between the centers C92 of the two leads 92 located at both ends of the multiple leads 92 is obtained as the lead arrangement range R92 of the leads 92, and the width of the lead arrangement range R92 is calculated as the lead arrangement width W92.

Furthermore, in the direction Ex, which is the arrangement direction of the multiple leads 93, the range between the centers C93 of the two leads 93 located at both ends of the multiple leads 93 is obtained as the lead arrangement range R93 of the leads 93. Then, the width of the lead arrangement range R93 is calculated as the lead arrangement width W93.

Similarly, in the direction Ex, which is the arrangement direction of the multiple leads 94, the range between the centers C94 of the two leads 94 located at both ends of the multiple leads 94 is obtained as the lead arrangement range R94 of the leads 94. Then, the width of the lead arrangement range R94 is calculated as the lead arrangement width W94.

Note that the order in which steps S211 and S212 are executed is not limited to this example. Therefore, step S212 may be executed before step S211.

In step S213, the calculation processing unit 110 (rotation angle calculation unit) calculates the weighted average value of rotation angles θ91, θ92, θ93, and θ94, using lead arrangement widths W91, W92, W93, and W94 as weighting factors, as the rotation angle θ of the component 9. That is, the following equation is used: θ=(W91×θ91+W92×θ92+W93×θ93+W94×θ94)/(W91+W92+W93+W94).
The rotation angle θ of the part 9 is calculated based on the above.

In this modified example, the rotation angle θ of component 9 (lead component) is calculated based on component image I (lead component image) showing component 9 (lead component). This component 9 has a rectangular package 90 (component body), and the periphery of package 90 is defined by side 911 (first side), side 912 (second side), side 913 (third side), and side 914 (fourth side). Sides 911 and 912 are parallel to each other, sides 913 and 914 are parallel to each other, and sides 911, 912 are perpendicular to sides 913, 914. Component 9 also has a plurality of leads 91 (first leads) arranged along side 911, a plurality of leads 92 (second leads) arranged along side 912, a plurality of leads 93 arranged along side 913, and a plurality of leads 94 (fourth leads) arranged along side 914.

In particular, rotation angle θ91 (first arrangement angle) indicating the direction in which tip T91 of lead 91 is arranged, rotation angle θ92 (second arrangement angle) indicating the direction in which tip T92 of lead 92 is arranged, rotation angle θ93 (third arrangement angle) indicating the direction in which tip T93 of lead 93 is arranged, and rotation angle θ94 (fourth arrangement angle) indicating the direction in which tip 94 is arranged are calculated based on component image I (step S211). Furthermore, a lead arrangement width W91 (first lead arrangement width) indicating the width across which tips T91 of multiple leads 91 are arranged along side 911, a lead arrangement width W92 (second lead arrangement width) indicating the width across which tips T92 of multiple leads 92 are arranged along side 912, a lead arrangement width W93 (third lead arrangement width) indicating the width across which tips T93 of multiple leads 93 are arranged along side 913, and a lead arrangement width W94 (fourth lead arrangement width) indicating the width across which tips T94 of multiple leads 94 are arranged along side 914 are calculated based on component image I (step S212). Then, a weighted average of rotation angles θ91, θ92, θ93, and θ94, with lead arrangement widths W91, W92, W93, and W94 used as weighting coefficients, is calculated as the rotation angle θ of component 9 (step S213). With this configuration, the influence on the calculation results of the rotation angle θ of the component 9 of the positions (centers C91, C92) of the tips T91, T92 of the multiple leads 91, 92 with wide lead arrangement widths W91, W92, which is advantageous for calculating the rotation angle θ with high accuracy, can be increased, while the influence on the calculation results of the rotation angle θ of the component 9 of the positions (centers C93, C94) of the tips T93, T94 of the multiple leads 93, 94 with narrow lead arrangement widths W93, W94, which is disadvantageous for calculating the rotation angle θ with high accuracy, can be reduced. As a result, it is possible to calculate the rotation angle θ of the component 9 with high accuracy regardless of the configuration of the component 9.

As explained above, in this embodiment, the component mounter 1 corresponds to an example of a "component mounter" of the present invention, the mounting head 5 corresponds to an example of a "mounting head" of the present invention, the component recognition camera 7 corresponds to an example of a "component imaging unit" of the present invention, the component 9 corresponds to an example of a "lead component" of the present invention, the package 90 corresponds to an example of a "component body" of the present invention, the lead 91 corresponds to an example of a "first lead" of the present invention, the lead 92 corresponds to an example of a "second lead" of the present invention, the lead 93 corresponds to an example of a "third lead" of the present invention, the lead 94 corresponds to an example of a "fourth lead" of the present invention, the edge 911 corresponds to an example of a "first target edge" or "first edge" of the present invention, and the edge 912 corresponds to an example of a "second target edge" or "third target edge" of the present invention. the side 913 corresponds to an example of the "third side" of the present invention, the side 914 corresponds to an example of the "fourth side" of the present invention, the arithmetic processing unit 110 corresponds to an example of the "image acquisition unit" of the present invention, the arithmetic processing unit 110 corresponds to an example of the "arrangement width calculation unit" of the present invention, the arithmetic processing unit 110 corresponds to an example of the "arrangement angle calculation unit" of the present invention, the arithmetic processing unit 110 corresponds to an example of the "inter-geometric center straight line angle calculation unit" of the present invention, the arithmetic processing unit 110 corresponds to an example of the "data selection unit" of the present invention, the arithmetic processing unit 110 corresponds to an example of the "rotation angle calculation unit" of the present invention, the arithmetic processing unit 110 corresponds to an example of the "information calculation unit" of the present invention, the arithmetic processing unit 110 corresponds to an example of the "computer" of the present invention, and the center distance D is the geometric center G91 and the geometric center G92 correspond to an example of the "geometric center" of the present invention; the component recognition program P corresponds to an example of the "lead component rotation angle calculation program" of the present invention; the lead arrangement range R91 corresponds to an example of the "first range" of the present invention; the lead arrangement range R92 corresponds to an example of the "second range" of the present invention; the server computer S corresponds to an example of the "recording medium" of the present invention; the tip T91, the tip T92, the tip T93, and the tip T94 correspond to an example of the "tips" of the present invention; the lead arrangement width W91 corresponds to an example of the "first lead arrangement width" and "arrangement width information" of the present invention; and correspond to an example of "arrangement width information", lead arrangement width W93 corresponds to an example of the "third lead arrangement width" of the present invention, lead arrangement width W94 corresponds to an example of the "fourth lead arrangement width" of the present invention, rotation angle θ corresponds to an example of the "rotation angle" of the present invention, rotation angle θ91 corresponds to an example of the "first arrangement angle" and "lead arrangement angle" of the present invention, rotation angle θ92 corresponds to an example of the "second arrangement angle" and "lead arrangement angle" of the present invention, rotation angle θ93 corresponds to an example of the "third arrangement angle" of the present invention, rotation angle θ94 corresponds to an example of the "fourth arrangement angle" of the present invention, rotation angle θg corresponds to an example of the "angle between geometric centers" of the present invention, and step S203 corresponds to an example of the "comparison and selection process" of the present invention.

The present invention is not limited to the above embodiment, and various modifications can be made to the above without departing from the spirit of the invention. For example, in the example of FIG. 5 above, if the total array width (W91 + W92) and the center-to-center distance D are equal in step S203, the rotation angles θ91 and θ92 (lead array angles) are selected as the calculation reference angles. However, the above example may be modified so that if the total array width (W91 + W92) and the center-to-center distance D are equal in step S203, the center-to-center distance D (linear angle between geometric centers) is selected as the calculation reference angle.

Furthermore, various methods for acquiring the lead arrangement widths W91, W92 (arrangement width information) and center-to-center distance D (center-to-center distance information) in steps S201 and S202 of the example in Figure 5 above are envisioned. That is, in the above example, the calculation processing unit 110 (information calculation unit) calculates the lead arrangement widths W91, W92 (arrangement width information) and center-to-center distance D (center-to-center distance information) based on component image I. In other words, the lead arrangement widths W91, W92 (arrangement width information) and center-to-center distance D (center-to-center distance information) are extracted from the component 9 shown in component image I. However, this information can be obtained in advance based on the configuration of the component 9 as defined by the standard. Therefore, the lead arrangement widths W91, W92 (arrangement width information) and center-to-center distance D (center-to-center distance information) required based on the specifications of component 9 may be stored in advance in the memory unit 120, and the calculation processing unit 110 (data acquisition unit) may acquire the lead arrangement widths W91, W92 (arrangement width information) and center-to-center distance D (center-to-center distance information) from the memory unit 120 (steps S201, S202).

In the above example, the calculated reference angle is selected from the lead arrangement angle and the geometric center line angle at the timing from when the component 9 is picked up by the mounting head 5 from the component supply location 43 to when it is mounted on the board B. However, the timing for selecting the calculated reference angle is not limited to this. In other words, as shown in FIG. 12 , the calculated reference angle may be selected in advance before the mounting head 5 starts picking up the component 9 from the component supply location 43 and mounting it on the board B.

Figure 12 is a flowchart showing an example of calculation reference angle selection that is executed before component mounting begins, and Figure 13 is a flowchart showing an example of rotation angle calculation when the calculation reference angle selection of Figure 12 is executed in advance. Before starting the flowchart of Figure 12, the lead arrangement widths W91 and S92 and center-to-center distance D of component 9 are determined based on the specifications of that component 9 and are stored in advance in storage unit 120. Then, in step S221, processing unit 110 acquires the lead arrangement widths W91 and W92 of leads 91 and 92 from storage unit 120. In addition, in step S222, processing unit 110 acquires the center-to-center distance D from storage unit 120. In step S223, similar to the above, the calculation reference angle used to calculate the rotation angle θ of component 9 is selected from the lead arrangement angle and the geometric center-to-center straight-line angle.

If the lead arrangement angle is selected as the calculation reference angle in step S223, calculation reference angle information indicating that the calculation reference angle when determining the rotation angle θ of the component 9 is the lead arrangement angle is stored in the memory unit 120 (step S224). On the other hand, if the geometric center straight line angle is selected as the calculation reference angle in step S223, calculation reference angle information indicating that the calculation reference angle when determining the rotation angle θ of the component 9 is the geometric center straight line angle is stored in the memory unit 120 (step S225).

As shown in FIG. 13, in this configuration, when calculating the rotation angle θ of the part 9 indicated by part image I based on that part image I, the calculation processing unit 110 reads the calculation reference angle information stored in the memory unit 120 (step S231). Then, the calculation processing unit 110 calculates the rotation angle θ of the part 9 based on the calculation reference angle indicated by the calculation reference angle information (steps S203 to S207).

Furthermore, the application of the embodiment in which the rotation angle is calculated by selecting a calculation reference angle is not limited to components 9 with leads on two sides as illustrated in Figures 6A, 6B, 7A, and 7B, but may also be to components 9 with leads on four sides as illustrated in Figure 11. For the latter components 9, rotation angle calculation can be performed, for example, as shown in Figure 14.

Figure 14 is a flowchart showing a third modified example of the rotation angle calculation performed in the component recognition of Figure 4. In step S241, the calculation processing unit 110 selects two parallel sides 911 and 912 (first pair) of the four sides 911, 912, 913, and 914 of the component 9 as targets. Then, steps S201 to S204 and S206 are performed in the same manner as described above for the lead 91 arranged along side 911 (first target side) and the lead 92 arranged along side 912 (second target side).

In step S242, the calculation processing unit 110 selects two parallel sides 913, 914 (second pair) that are different from the first pair of four sides 911, 912, 913, and 914 of the component 9 as targets. Then, steps S201 to S204 and S206 are executed in the same manner as described above for the leads 93 arranged along side 913 (first target side) and the leads 94 arranged along side 914 (second target side).

In step S243, the calculation processing unit 110 calculates the average of the calculated reference angle (lead arrangement angle/straight line angle between geometric centers) selected for the leads 91 and 92 on sides 911 and 912 and the calculated reference angle (lead arrangement angle/straight line angle between geometric centers) selected for the leads 93 and 94 on sides 913 and 914 as the rotation angle θ of the component 9.

In this modified example, part 9 has side 911 (first side), side 912 parallel to side 911, side 913, and side 914 (fourth side) parallel to side 913. In response, the calculation processing unit 110 (data selection unit) acquires a first calculated reference angle (the angle selected in the first step S203) resulting from selecting a calculation reference angle for sides 911 and 912 (the first and second target sides), and a second calculated reference angle (the angle selected in the second step S203) resulting from selecting a calculation reference angle for sides 913 and 914 (the first and second target sides). The calculation processing unit 110 (rotation angle calculation unit) then calculates the rotation angle θ of part 9 based on the calculation reference angles (first and second calculated reference angles) selected in the first and second steps S203 (steps S204, S206, S243). With this configuration, the rotation angle θ of the component 9 can be calculated based on the leads 91, 92, 93, and 94 arranged on each of the four sides 911, 912, 913, and 914 that define the periphery of the package 90 of the component 9.

In addition, in the rotation angle calculation in Figure 10, the rotation angle θ of the component 9 is calculated based on a weighted average of the lead arrangement angles. However, as shown in Figures 15 and 16, the rotation angle θ of the component 9 may also be calculated based on a weighted average of the linear angles between the geometric centers.

Figure 15 is a flowchart showing a fourth variant of the rotation angle calculation performed in the part recognition of Figure 4, and Figure 16 is a diagram showing a schematic diagram of the content performed in the fourth variant of the rotation angle calculation of Figure 15. The part 9 shown in Figure 16 has the same configuration as the part 9 shown in Figure 10.

In step S251 of the rotation angle calculation in Figure 15, the calculation processing unit 110 calculates the rotation angle θg1 (angle between geometric centers) of the geometric center line Lg1 between leads 91 and 92, and the rotation angle θg2 (angle between geometric centers) of the geometric center line Lg2 between leads 93 and 94, based on the component image I.

Specifically, the geometric center G91 of the positions (center C91) of the multiple tips T91 of the multiple leads 91 is calculated. The geometric center G92 of the positions (center C92) of the multiple tips T92 of the multiple leads 92 is calculated. Then, the geometric center line Lg1, which is the line connecting the geometric center G91 and the geometric center G92, is calculated, and the rotation angle θg1 of the geometric center line Lg1 about a rotation axis parallel to the vertical direction is calculated.

Similarly, the geometric center G93 of the positions (center C93) of the multiple tips T93 of the multiple leads 93 is calculated. Also, the geometric center G94 of the positions (center C94) of the multiple tips T94 of the multiple leads 94 is calculated. Then, a geometric center line Lg2, which is a line connecting the geometric center G93 and the geometric center G94, is calculated, and the rotation angle θg2 of the geometric center line Lg2 about a rotation axis parallel to the vertical direction is calculated.

In step S252, the calculation processing unit 110 calculates the center-to-center distance D1 between leads 91 and 92 and the center-to-center distance D2 between leads 93 and 94 based on the component image I. That is, the distance between geometric centers G91 and G92 is calculated as center-to-center distance D1, and the distance between geometric centers G93 and G94 is calculated as center-to-center distance D2. Note that the order in which steps S251 and S252 are performed is not limited to this example. Therefore, step S252 may be performed before step S251.

In step S253, the calculation processing unit 110 (rotation angle calculation unit) calculates the weighted average value of the rotation angles θg1 and θg2 using the center-to-center distances D1 and D2 as weighting factors as the rotation angle θ of the component 9. That is, the following equation is used: θ=(D1×θg1+D2×θg2)/(D1+D2)
The rotation angle θ of the part 9 is calculated based on the above.

In this embodiment, the rotation angle θ of component 9 is calculated based on component image I (lead component image) showing component 9 (lead component). In particular, the rotation angle θg1 (first geometric center line angle) of the geometric center line Lg1 and the rotation angle θg2 (second geometric center line angle) of the geometric center line Lg2 are calculated based on component image I (step S251). Here, the rotation angle θg1 is the angle indicating the direction of the geometric center line Lg1 connecting the geometric center G91 of the tip T91 of each of the multiple leads 91 (first leads) and the geometric center G92 of the tip T92 of each of the multiple leads 92 (second leads). Furthermore, the rotation angle θg2 is the angle indicating the direction of the geometric center line Lg2 connecting the geometric center G93 of the tip T93 of each of the multiple leads 93 (third leads) and the geometric center G94 of the tip T94 of each of the multiple leads 94 (fourth leads). Furthermore, a center-to-center distance D1 (first center-to-center distance) and a center-to-center distance D2 (second center-to-center distance) are calculated based on the component image I (step S252). Here, the center-to-center distance D1 is the distance between the geometric center G91 of the tip T91 of each of the multiple leads 91 and the geometric center G92 of the tip T92 of each of the multiple leads 92. The center-to-center distance D2 is the distance between the geometric center G93 of the tip T93 of each of the multiple leads 93 and the geometric center G94 of the tip T94 of each of the multiple leads 94. Then, a weighted average of the rotation angles θg1 and θg2, using the center-to-center distance D1 and the center-to-center distance D2 as weighting factors, is calculated as the rotation angle θ of the component 9 (step S253). With this configuration, it is possible to increase the influence of the position of the tips of leads with a wide center-to-center distance, which is advantageous for calculating the rotation angle θ with high accuracy, on the calculation results of the rotation angle θ of the component 9, while reducing the influence of the position of the tips of leads with a narrow center-to-center distance, which is disadvantageous for calculating the rotation angle θ with high accuracy, on the calculation results of the rotation angle θ of the component 9. As a result, it is possible to calculate the rotation angle θ of the component 9 with high accuracy regardless of the configuration of the component 9.

Furthermore, the rotation angle calculations in Figures 10 and 15 may be used in combination. In this case, steps S211, S212, S251, and S252 are executed, and then the weighted average is calculated using these results. Specifically, the calculation processing unit 110 (rotation angle calculation unit) calculates the weighted average of rotation angles θ91, θ92, θ93, θ94, θg1, and θg2, using lead arrangement widths W91, W92, W93, and W94 and center-to-center distances D1 and D2 as weighting factors, as the rotation angle θ of component 9.

1... Component mounter 5... Mounting head 7... Component recognition camera (component imaging unit)
9...Components (lead components)
90...Package (component body)
91...Lead (1st lead)
92...Lead (2nd lead)
93...Lead (3rd lead)
94...Lead (4th lead)
911...side (first side)
912...side (second side)
913...side (third side)
914...side (4th side)
110...Calculation processing unit (image acquisition unit, array width calculation unit, array angle calculation unit, geometric center line angle calculation unit, data selection unit, rotation angle calculation unit, information calculation unit, computer)
D... Center-to-center distance (center-to-center distance information)
G91, G92... Geometric center P... Component recognition program (lead component rotation angle calculation program)
R91...read sequence range (first range)
R92...read sequence range (second range)
S...Server computer (recording medium)
T91, T92, T93, T94... Tip W91... Lead arrangement width (first lead arrangement width, arrangement width information)
W92: Lead arrangement width (second lead arrangement width, arrangement width information)
W93: Lead arrangement width (third lead arrangement width)
W94: Lead arrangement width (fourth lead arrangement width)
θ...Rotation angle θ91...Rotation angle (first arrangement angle, lead arrangement angle)
θ92: Rotation angle (second arrangement angle, lead arrangement angle)
θ93: rotation angle (third arrangement angle)
θ94: rotation angle (fourth arrangement angle)
θg: rotation angle (angle between geometric centers)
S203: Step S203 (comparison and selection process)

Claims (17)

a mounting head that holds a lead component having a rectangular component body;
a component imaging unit that captures a lead component image showing the lead component held by the mounting head;
an image acquisition unit that acquires the lead component image captured by the component imaging unit;
an arrangement angle calculation unit that calculates, based on the lead component image, at least one of a first arrangement angle indicating a direction in which tips of a plurality of first leads arranged along the first object side and a second object side parallel to the first object side, the first arrangement angle indicating a direction in which tips of a plurality of second leads arranged along the second object side are arranged, for a first object side and a second object side that are targets among a plurality of sides that define a periphery of the component body of the lead component;
a geometric center straight line angle calculation unit that calculates, based on the lead component image, a geometric center straight line angle indicating the direction of a straight line connecting the geometric center of the tip of each of the plurality of first leads and the geometric center of the tip of each of the plurality of second leads;
a data selection unit that selects a calculation reference angle used to calculate a rotation angle of the lead component from the lead arrangement angle and the angle between geometric centers;
a rotation angle calculation unit that calculates a rotation angle of the lead component based on the calculation reference angle selected by the data selection unit from the lead arrangement angle and the geometric center line angle,
The data selection unit selects the calculation reference angle based on array width information indicating at least one of a first lead array width indicating the width of a first range in which the tips of the multiple first leads are arrayed along the first target edge and a second lead array width indicating the width of a second range in which the tips of the multiple second leads are arrayed along the second target edge, and center-to-center distance information indicating a center-to-center distance indicating the distance between the center of the first range and the center of the second range. the array width information indicates the first lead array width and the second lead array width,
2. The component mounter according to claim 1, wherein the data selection unit executes a comparison and selection process to select the calculation reference angle based on a comparison between a total arrangement width, which is the sum of the first lead arrangement width and the second lead arrangement width, and the center-to-center distance. A component mounter as described in claim 2, wherein, in the comparison and selection process, if the total array width is wider than the center-to-center distance, the lead array angle is selected as the calculation reference angle, and if the total array width is narrower than the center-to-center distance, the geometric center-to-center linear angle is selected as the calculation reference angle. A component mounter as described in claim 3, wherein, in the comparison and selection process, if the total arrangement width and the center-to-center distance are equal, the lead arrangement angle is selected as the calculation reference angle. A component mounter according to claim 3, wherein, in the comparison and selection process, if the total array width and the center-to-center distance are equal, the geometric center-to-center straight-line angle is selected as the calculation reference angle. The mounter described in claim 1, wherein the data selection unit selects the lead arrangement angle as the calculation reference angle when a line connecting the center of the first range and the center of the second range is inclined with respect to a line perpendicular to the first target side. a storage unit for storing the arrangement width information and the center-to-center distance information;
The mounter according to claim 1 , wherein the data selection unit selects the calculation reference angle based on the arrangement width information and the center-to-center distance information stored in the storage unit. further comprising an information calculation unit that calculates the arrangement width information and the center-to-center distance information based on the lead component image,
The mounter according to claim 1 , wherein the data selection unit selects the calculation reference angle based on the arrangement width information and the center-to-center distance information calculated by the information calculation unit. A component mounter according to any one of claims 1 to 6, wherein the data selection unit preselects the calculation reference angle before the mounting head begins mounting the lead component onto the board. the lead component has, as the plurality of sides, a first side, a second side parallel to the first side, a third side, and a fourth side parallel to the third side;
the data selection unit acquires a first calculated reference angle that is a result of selecting the calculated reference angle with the first side and the second side as the first target side and the second target side, and a second calculated reference angle that is a result of selecting the calculated reference angle with the third side and the fourth side as the first target side and the second target side,
7. The component mounter according to claim 1, wherein the rotation angle calculation unit calculates the rotation angle of the lead component based on the first calculation reference angle and the second calculation reference angle. acquiring a lead component image showing a lead component having a rectangular component body;
a step of calculating, based on the lead component image, at least one of a first arrangement angle indicating a direction in which tips of a plurality of first leads arranged along the first object side and a second object side parallel to the first object side, the first arrangement angle indicating a direction in which tips of a plurality of second leads arranged along the second object side are arranged, as a lead arrangement angle for a first object side and a second object side parallel to the first object side that are targets among a plurality of sides defining a periphery of the component body of the lead component;
calculating, based on the lead component image, an angle between geometric centers that indicates the direction of a line connecting the geometric center of the tip of each of the plurality of first leads and the geometric center of the tip of each of the plurality of second leads;
selecting a calculation reference angle used to calculate a rotation angle of the lead component from the lead arrangement angle and the angle between geometric centers;
calculating a rotation angle of the lead component based on the calculation reference angle selected from the lead arrangement angle and the angle between the geometric centers;
A method for calculating the rotation angle of a lead component, which selects the calculation reference angle based on array width information indicating at least one of a first lead array width indicating the width of a first range in which the tips of the multiple first leads are arrayed along the first target side and a second lead array width indicating the width of a second range in which the tips of the multiple second leads are arrayed along the second target side, and center-to-center distance information indicating a center-to-center distance indicating the distance between the center of the first range and the center of the second range. a mounting head that holds a lead component having a rectangular component body, a plurality of first leads arranged along a first side that defines the periphery of the component body, a plurality of second leads arranged along a second side that is parallel to the first side and defines the periphery of the component body, a plurality of third leads arranged along a third side that is perpendicular to the first side and defines the periphery of the component body, and a plurality of fourth leads arranged along a fourth side that is parallel to the third side and defines the periphery of the component body;
a component imaging unit that captures a lead component image showing the lead component held by the mounting head;
an image acquisition unit that acquires the lead component image captured by the component imaging unit;
an arrangement angle calculation unit that calculates, based on the lead component image, a first arrangement angle indicating a direction in which the tips of the first leads are arranged, a second arrangement angle indicating a direction in which the tips of the second leads are arranged, a third arrangement angle indicating a direction in which the tips of the third leads are arranged, and a fourth arrangement angle indicating a direction in which the tips of the fourth leads are arranged;
an arrangement width calculation unit that calculates, based on the lead component image, a first lead arrangement width indicating a width in which the tips of the plurality of first leads are arranged along the first side, a second lead arrangement width indicating a width in which the tips of the plurality of second leads are arranged along the second side, a third lead arrangement width indicating a width in which the tips of the plurality of third leads are arranged along the third side, and a fourth lead arrangement width indicating a width in which the tips of the plurality of fourth leads are arranged along the fourth side;
a rotation angle calculation unit that calculates a weighted average value of the first arrangement angle, the second arrangement angle, the third arrangement angle, and the fourth arrangement angle as a rotation angle of the lead component, using the first lead arrangement width, the second lead arrangement width, the third lead arrangement width, and the fourth lead arrangement width as weighting coefficients. an image acquisition unit that acquires the lead component image captured by the component imaging unit;
a geometric center straight-line angle calculation unit that calculates, based on the lead component image, a first geometric center straight-line angle indicating the direction of a straight line connecting the geometric center of the tip of each of the plurality of first leads and the geometric center of the tip of each of the plurality of second leads, and a second geometric center straight-line angle indicating the direction of a straight line connecting the geometric center of the tip of each of the plurality of third leads and the geometric center of the tip of each of the plurality of fourth leads;
a center distance calculation unit that calculates a first center distance between a geometric center of a tip end of each of the plurality of first leads and a geometric center of a tip end of each of the plurality of second leads and a second center distance between a geometric center of a tip end of each of the plurality of third leads and a geometric center of a tip end of each of the plurality of fourth leads based on the lead component image,
13. The component mounter according to claim 12, wherein the rotation angle calculation unit calculates, as the rotation angle of the lead component, a weighted average value of the first arrangement angle, the second arrangement angle, the third arrangement angle, the fourth arrangement angle, the first inter-geometric center straight-line angle, and the second inter-geometric center straight-line angle, where the first lead arrangement width, the second lead arrangement width, the third lead arrangement width, the fourth lead arrangement width, the first center-to-center distance, and the second center-to-center distance are used as weighting coefficients. a mounting head that holds a lead component having a rectangular component body, a plurality of first leads arranged along a first side that defines the periphery of the component body, a plurality of second leads arranged along a second side that is parallel to the first side and defines the periphery of the component body, a plurality of third leads arranged along a third side that is perpendicular to the first side and defines the periphery of the component body, and a plurality of fourth leads arranged along a fourth side that is parallel to the third side and defines the periphery of the component body;
a component imaging unit that captures a lead component image showing the lead component held by the mounting head;
an image acquisition unit that acquires the lead component image captured by the component imaging unit;
a geometric center straight-line angle calculation unit that calculates, based on the lead component image, a first geometric center straight-line angle indicating the direction of a straight line connecting the geometric center of the tip of each of the plurality of first leads and the geometric center of the tip of each of the plurality of second leads, and a second geometric center straight-line angle indicating the direction of a straight line connecting the geometric center of the tip of each of the plurality of third leads and the geometric center of the tip of each of the plurality of fourth leads;
a center distance calculation unit that calculates a first center distance between a geometric center of a tip end of each of the plurality of first leads and a geometric center of a tip end of each of the plurality of second leads and a second center distance between a geometric center of a tip end of each of the plurality of third leads and a geometric center of a tip end of each of the plurality of fourth leads based on the lead component image;
a rotation angle calculation unit that calculates a weighted average of the first inter-geometric center straight-line angle and the second inter-geometric center straight-line angle as a rotation angle of the lead component, using the first center-to-center distance and the second center-to-center distance as weighting coefficients. acquiring a lead component image showing a lead component having a rectangular component body, a plurality of first leads arranged along a first side that defines the periphery of the component body, a plurality of second leads arranged along a second side that is parallel to the first side and defines the periphery of the component body, a plurality of third leads arranged along a third side that is perpendicular to the first side and defines the periphery of the component body, and a plurality of fourth leads arranged along a fourth side that is parallel to the third side and defines the periphery of the component body;
calculating a first arrangement angle indicating a direction in which the tips of the first leads are arranged, a second arrangement angle indicating a direction in which the tips of the second leads are arranged, a third arrangement angle indicating a direction in which the tips of the third leads are arranged, and a fourth arrangement angle indicating a direction in which the tips of the fourth leads are arranged based on the lead component image;
calculating, based on the lead component image, a first lead arrangement width indicating the width along which the tips of the plurality of first leads are arranged along the first side, a second lead arrangement width indicating the width along which the tips of the plurality of second leads are arranged along the second side, a third lead arrangement width indicating the width along which the tips of the plurality of third leads are arranged along the third side, and a fourth lead arrangement width indicating the width along which the tips of the plurality of fourth leads are arranged along the fourth side;
a step of calculating a weighted average of the first arrangement angle, the second arrangement angle, the third arrangement angle, and the fourth arrangement angle as the rotation angle of the lead component, using the first lead arrangement width, the second lead arrangement width, the third lead arrangement width, and the fourth lead arrangement width as weighting coefficients. acquiring a lead component image showing a lead component having a rectangular component body, a plurality of first leads arranged along a first side that defines the periphery of the component body, a plurality of second leads arranged along a second side that is parallel to the first side and defines the periphery of the component body, a plurality of third leads arranged along a third side that is perpendicular to the first side and defines the periphery of the component body, and a plurality of fourth leads arranged along a fourth side that is parallel to the third side and defines the periphery of the component body;
calculating, based on the lead component image, a first inter-geometric center straight-line angle indicating the direction of a line connecting the geometric center of the tip of each of the plurality of first leads and the geometric center of the tip of each of the plurality of second leads, and a second inter-geometric center straight-line angle indicating the direction of a line connecting the geometric center of the tip of each of the plurality of third leads and the geometric center of the tip of each of the plurality of fourth leads;
calculating a first center-to-center distance between a geometric center of a tip end of each of the plurality of first leads and a geometric center of a tip end of each of the plurality of second leads, and a second center-to-center distance between a geometric center of a tip end of each of the plurality of third leads and a geometric center of a tip end of each of the plurality of fourth leads based on the lead component image;
and calculating, as the rotation angle of the lead component, a weighted average of the first inter-geometric center straight-line angle and the second inter-geometric center straight-line angle, using the first center-to-center distance and the second center-to-center distance as weighting coefficients. A lead component rotation angle calculation program that causes a computer to execute the lead component rotation angle calculation method according to claim 11 , 15 , or 16 .