Assembling machine

1. An assembling machine comprising:

a holding member which acquires and holds a component which is supplied to a supply position;

a moving head which supports one or a plurality of the holding members to be capable of lifting and lowering the holding member and which is capable of moving from the supply position to an assembling position at which an assembly is positioned;

an imaging device which images the component which is held by the holding member;

fiducial marks which are attached to a defined position of the moving head and which fit within a visual field of the imaging device when the imaging device images the component;

an image processing section which generates high resolution data using super-resolution processing which uses a plurality of items of image data which are captured at imaging positions at which relative positions of the imaging device to the component differ from each other and recognizes a holding state of the component by the holding member based on the high resolution data; and

a control device which transfers the component to the assembling position by controlling movement of the holding member based on a control program which is stored in advance and the holding state of the component which is recognized,

wherein the fiducial marks are set to dimensions that occupy a defined area in the visual field of the imaging device in a case in which the fiducial marks are imaged by the imaging device, and

wherein the image processing section includes

a displacement amount calculation section which uses one item of the image data among the plurality of items of image data as reference data and calculates each displacement amount of the imaging positions of the other items of image data in relation to the imaging position of the reference data based on the fiducial marks included in each item of the image data,

a positioning processing section which performs the positioning of the other items of image data in relation to the reference data based on each of the displacement amounts of the plurality of items of image data, and

a reconstruction processing section which generates the high resolution data based on the plurality of items of image data which are positioned.

2. The assembling machine according to claim 1 ,

wherein the image processing section further includes a data judging section which determines suitability of each item of the image data in the super-resolution processing based on each displacement amount of the plurality of items of image data and an interval between pixels in an imaging element of the imaging device.

3. The assembling machine according to claim 2 ,

wherein the control device controls the imaging device to perform imaging of the component over a plurality of times while causing the moving head to move relative to the imaging device,

wherein the data judging section determines suitability in the super-resolution processing based on each of the displacement amounts which are calculated by the displacement amount calculation section for the plurality of items of image data which are acquired through control of the imaging, and

wherein the image processing section further includes a data extraction section which extracts a predetermined number of items of the image data used in the super-resolution processing from the plurality of items of image data which are acquired through control of the imaging based on determination results of the data judging section.

4. The assembling machine according to claim 3 ,

wherein the data extraction section

calculates a target resolution in the high resolution data corresponding to dimension information of the component which is held by the holding member and a number of pixels of the imaging element, and

sets a number of items of the image data to be extracted based on the target resolution.

5. The assembling machine according to claim 1 ,

wherein the moving head supports a plurality of the holding members using a holder member capable of rotating, and

wherein the visual field of the imaging device is set to a size within which all of the holding members which are supported by the moving head fit.

6. The assembling machine according to claim 1 ,

wherein the holding member is a suction nozzle which sucks and holds the component, and

wherein the assembling machine is a component mounting machine which mounts the component which is held by the suction nozzle to a circuit board which is the assembly through control of the control device.