Work machine
A work machine including a work head including a holding tool to pick up and hold a component, a rotating device to rotate the holding tool about an axis of the holding tool, a pivoting device to pivot the holding tool between a first attitude in which a distal end portion of the holding tool faces downward and a second attitude in which the distal end portion of the holding tool faces sideways; a moving device to move the work head; and a control device to control operation of the work head and the moving device, the control device including an operation control section to cause the holding tool to pivot from the first attitude to the second attitude, and to cause the holding tool to rotate from a holding angle that is a rotation angle when the component was picked up to a target angle.
1. A work machine comprising:
a work head including a suction nozzle attached to a holder swingably held by a support shaft, the suction nozzle configured to pick up and hold a component, a rotating device including a gear set, the rotating device configured to rotate the suction nozzle about an axis of the suction nozzle, a pivoting device including an actuator which moves the holder, the pivoting device configured to pivot the suction nozzle between a first attitude in which an end portion of the suction nozzle faces downward and a second attitude in which the end portion of the suction nozzle faces sideways;
a moving device configured to move the work head, the moving device including an X-direction moving device including an X slider, a Y-direction moving device including a Y slider, and a Z-direction moving device including a Z slider; and
a control device including circuitry configured to control operation of the work head and the moving device, the control device configured to, when the work head has moved to a target position after the component has been picked up by the suction nozzle in the first attitude, cause the suction nozzle to pivot from the first attitude to the second attitude, and to cause the suction nozzle to rotate from a holding angle that is a rotation angle when the component was picked up to a target angle,
wherein the control device is configured to
determine if the component held by the suction nozzle will contact a portion of the work machine when the suction nozzle pivots from the first attitude to the second attitude and the suction nozzle rotates from the holding angle to the target angle,
when it is determined that the component held by the suction nozzle will not contact the portion of the work machine when the suction nozzle pivots from the first attitude to the second attitude and the suction nozzle rotates from the holding angle to the target angle, operate the rotating device to rotate the suction nozzle from the holding angle to the target angle in a first direction and operate the pivoting device to pivot the suction nozzle from the first attitude to the second attitude, the rotating device and the pivoting device being operated at a same time, and
when it is determined that the component held by the suction nozzle will contact the portion of the work machine when the suction nozzle pivots from the first attitude to the second attitude and the suction nozzle rotates from the holding angle to the target angle,
operate the rotating device to rotate the suction nozzle from the holding angle to the target angle in a second direction opposite the first direction and operate the pivoting device to pivot the suction nozzle from the first attitude to the second attitude, the rotating device and the pivoting device being operated at the same time, or
operate the moving device to move the work head and operate the rotating device to rotate the suction nozzle from the holding angle to the target angle in the first direction, and operate the pivoting device to pivot the suction nozzle from the first attitude to the second attitude, the moving device and the rotating device being operated at the same time, and the pivoting device being operated after a start of operating the moving device and the rotating device.