CN101080963A - Action time shortening method, action time shortening device, program, and parts mounting machine - Google Patents

Action time shortening method, action time shortening device, program, and parts mounting machine Download PDF

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Publication number
CN101080963A
CN101080963A CN 200580043329 CN200580043329A CN101080963A CN 101080963 A CN101080963 A CN 101080963A CN 200580043329 CN200580043329 CN 200580043329 CN 200580043329 A CN200580043329 A CN 200580043329A CN 101080963 A CN101080963 A CN 101080963A
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China
Prior art keywords
parts
mentioned
substrate
task
point
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CN 200580043329
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Chinese (zh)
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前西康宏
小西亲
山崎映人
栗林毅
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Panasonic Holdings Corp
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Matsushita Electric Industrial Co Ltd
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Abstract

An operating time reducing method in which a processing procedure of a component mounting order determination method can be changed depending on the type of an operation loss that affects a component mounting time for mounting components onto the board is an operating time reducing method for a component mounter, wherein the method includes: an operation loss identifying step (S22 to 526, S30, S34 to S38, S42 to S46) of identifying an operation loss to be resolved in the component mounter; a processing procedure selecting step (S28, S32, S40, S48, S50, S52) of selecting, based on the identified operation loss, a processing procedure for reducing an operating time of the component mounter; and a processing procedure executing step (S28, S32, S40, S48, S50, S52) of executing the selected processing procedure.

Description

Action time shortening method, action time shortening device, program and parts mounting machine
Technical field
The present invention relates to the action time shortening method of erection unit, erection unit is the device that is used for parts are installed to substrate.
Background technology
Utilize parts mounting machine parts to be installed in the process of substrate, before its parts are installed, determine the erection sequence of parts.Parts erection sequence determining method is used to determine the erection sequence of parts, and its purpose is, when a substrate being installed under the situation of parts, will be reduced to the shortest from the required time of installation that finishes all parts that is installed to of beginning parts.But, if employing round-robin algorithm, behind the erection sequence that has generated all parts that to expect, ask best parts erection sequence again, the installation of parts is counted many more, just determine that the required processing time of best parts erection sequence is also long more, and the best parts erection sequence of decision in the time that is difficult to can realize actually.
In view of the above, determine the method (for example with reference to patent documentation 1) of best parts erection sequence in the time of having advised adopting greedy algorithm to come to realize actually.
Patent documentation 1: the spy of Japan opens flat 7-176891 communique
Yet, according to the parts erection sequence determining method that adopts greedy algorithm, the minimum parts mounting points of alternative costs (for example, the distance between the mounting points of parts) successively, and determine the erection sequence of parts in view of the above.Therefore, though when beginning parts are installed, displacement between the mounting points of its erection sequence assurance parts is short, but, the problem that exists is, the end point of approaching more installation parts, and the displacement between the mounting points of parts is long more, cause mobile the upsetting (generation running wastage) between the mounting points, obtain best erection sequence surely and differ.
In addition, for the best parts erection sequence of decision in the time that can realize actually, preferably, according to the type of running wastage, required time when the processing sequence in the change parts erection sequence determining method, above-mentioned running wastage have influence on parts are installed to substrate.
Summary of the invention
The object of the present invention is to provide a kind of parts erection sequence determining method, in order to solve above-mentioned problem, the best parts erection sequence of decision in the time that can realize actually.
And its purpose is, a kind of action time shortening method is provided, can be according to the processing sequence in the type of the running wastage change parts erection sequence determining method, and required time when above-mentioned running wastage has influence on parts are installed to substrate.
In order to achieve the above object, the action time shortening method that the present invention relates to is the action time shortening method of parts mounting machine, and its main points are, comprising: running wastage given step, the running wastage of the parts mounting machine that appointment should be eliminated; Processing sequence is selected step, and according to specified above-mentioned running wastage, selecting the running time to shorten the above-mentioned parts erection unit is the processing sequence of purpose; And the processing sequence execution in step, carry out selected processing sequence.
In this structure, according to running wastage, be the processing sequence of purpose the running time of carrying out to shorten parts mounting machine.In view of the above, can provide a kind of action time shortening method, can be according to the processing sequence in the type of the running wastage change parts erection sequence determining method, required time when above-mentioned running wastage has influence on parts are installed to substrate.Thereby, can provide a kind of parts erection sequence determining method, actually the best parts erection sequence of decision in the time that can realize.
And main points are, have specified under the situation of the running wastage of giving birth to because of the parts mounting machine that comprises swivel head in above-mentioned running wastage given step, select to select in the step following processing sequence in above-mentioned processing sequence; Above-mentioned swivel head is around axle rotation and suction parts, and these parts are installed to substrate, selected above-mentioned processing sequence is a kind of parts erection sequence determining method, the order that the decision parts mounting machine is installed parts, this parts mounting machine is installed to substrate with a plurality of parts; The definition of initial point is, the parts mounting points that is located at the base plate mark on the substrate or first parts are installed, and this base plate mark is used to determine substrate position; In a plurality of parts mounting points and above-mentioned initial point, arbitrarily the definition of the cost of point-to-point transmission is, the distance of this point-to-point transmission or after a point these 2 being installed parts to other mounting points are installed the time that needs till the parts; The definition of imaginary point is, the virtual point that is made as final transfer point, this parts erection sequence determining method comprises: parts mounting points information acquisition step obtains the positional information of above-mentioned a plurality of parts mounting points and the above-mentioned cost of the point-to-point transmission in above-mentioned a plurality of parts mounting points, above-mentioned initial point and above-mentioned imaginary point; Step is calculated on touring road, calculates the touring road through initial point, above-mentioned imaginary point and above-mentioned a plurality of parts mounting points on the aforesaid substrate, and the summation of the cost of the point-to-point transmission in this each point is minimum; And the erection sequence deciding step, according to above-mentioned touring road, the erection sequence of decision above-mentioned parts.In addition, main points also can be, above-mentioned imaginary point is the point of virtual setting, cost between this imaginary point and any parts mounting points is all greater than the cost of any point-to-point transmission in a plurality of parts mounting points and initial point, and the cost between this imaginary point and initial point is less than the cost of any point-to-point transmission in a plurality of parts mounting points and initial point.
The definition imaginary point, and calculate best touring road.Therefore, can solve the problem that takes place when deciding the erection sequence of parts according to greedy algorithm, can solve more the installation end point near parts, moving between mounting points upsets the problem of (unwanted work takes place) more, and can obtain the erection sequence of the best.And, according to this method, can obtain and accurately separate corresponding approximate solution actually in the processing time that can realize.In addition, with imaginary point be defined as above-mentioned like that, thereby generate the touring road that imaginary point and initial point necessarily are connected.Therefore, can generate the touring road of closo that begins to install from initial point.Moreover, also can obtain the erection sequence of parts according to greedy algorithm in advance, and, be suitable for said method, thereby obtain best parts erection sequence in order to improve above-mentioned unwanted work.
And, main points also can be, above-mentioned processing sequence comprises that also cost calculates step, calculate the cost of any point-to-point transmission in the initial point on aforesaid substrate, above-mentioned imaginary point and the above-mentioned a plurality of parts mounting points, step is calculated according to calculating the cost that step is calculated by above-mentioned cost in above-mentioned touring road, utilize traveling salesman problem to calculate the touring road of initial point, above-mentioned imaginary point and above-mentioned a plurality of parts mounting points on the process aforesaid substrate, the summation of the cost of the point-to-point transmission in this each point is minimum.
Calculate touring road according to traveling salesman problem, thereby obtain and accurately separate corresponding approximate solution in the processing time that can realize actually.
And, in above-mentioned running wastage given step, specified under the situation of the running wastage of giving birth to because of the parts mounting machine that comprises installation head, select to select in the step following processing sequence in above-mentioned processing sequence; Above-mentioned installation head is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts, selected above-mentioned processing sequence is a kind of parts erection sequence determining method, when parts being installed to substrate by the parts mounting machine that comprises installation head, the decision erection sequence, this installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts; Point in a plurality of parts mounting points and virtual setting is in the imaginary point, and arbitrarily the definition of the cost of point-to-point transmission is, the distance of this point-to-point transmission or after a point these 2 being installed parts to other mounting points are installed the time that needs till the parts; The definition of above-mentioned imaginary point is, initial point when to become parts being installed and end point are the point that purpose is set, parts mounting points information acquisition step obtains the positional information of above-mentioned a plurality of parts mounting points and the above-mentioned cost of the point-to-point transmission in above-mentioned a plurality of parts mounting points and above-mentioned imaginary point; Step is calculated on touring road, and calculating above-mentioned imaginary point is the touring road of initial point and end point and above-mentioned a plurality of parts mounting points of process and above-mentioned imaginary point, and the summation of the cost of the point-to-point transmission in this each point is minimum; And the erection sequence deciding step, according to above-mentioned touring road, the erection sequence of decision above-mentioned parts.
With initial point and the end point of imaginary point when parts are installed, thereby also can calculate best touring road even utilize under the situation of modular apparatus.Therefore, can solve the problem that takes place when deciding the erection sequence of parts according to greedy algorithm, can solve more the installation end point near parts, moving between mounting points upsets the problem of (unwanted work takes place) more, and can obtain the erection sequence of the best.And, according to this method, can obtain and accurately separate corresponding approximate solution actually in the processing time that can realize.
And main points can be that also above-mentioned imaginary point is located at parts supply unit from parts to above-mentioned installation head that supply with.
Imaginary point is located at above-mentioned position, thereby the suction operation that can consider parts is calculated best touring road.
And main points also can be, above-mentioned imaginary point is located at the center of a plurality of parts supply ports that the above-mentioned parts supply unit possesses.
Obtain cost according to correction position information, thereby can obtain according to the correct displacement of installation head and the cost of running time.Therefore, can obtain best touring road.
And main points also can be, have specified under the situation of the running wastage of giving birth to because of the parts mounting machine that comprises a plurality of installation head in above-mentioned running wastage given step, select to select in the step following processing sequence in above-mentioned processing sequence; Above-mentioned a plurality of installation head is carried a plurality of parts respectively and is moved, and alternately should be installed to a substrate by a plurality of parts, selected above-mentioned processing sequence is a kind of parts erection sequence determining method, the erection sequence when decision alternately is installed to a substrate with parts by a plurality of installation head; Above-mentioned each installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts; In the suction of carrying out parts by above-mentioned each installation head repeatedly, move, install in the process of this consecutive work, the parts group that will install by a consecutive job in this consecutive work is as task, this parts erection sequence determining method comprises: allocation step, distribute the parts that will be installed to substrate to above-mentioned a plurality of installation head respectively, so that it is even to distribute to the component number of above-mentioned a plurality of installation head respectively; And task generates step, generates each task of the parts of distributing to each, so that be reduced to minimum to the time that needs till next installation head begins parts in the installation task after certain installation head installs parts the task.
According to this structure, after certain installation head installed parts in the task, next installation head can begin the installation of parts immediately.Therefore, the beat loss that can take place when substrate is carried out the installment work of parts is reduced to minimum, can enhance productivity.
And main points also can be, generate in the step in above-mentioned task, for above-mentioned a plurality of installation head, respectively the parts group who is distributed is divided into task and generates task, and with before other installation head install parts, the suction of ended zero parts and identification.Particularly, above-mentioned task generates step and comprises: aspirate number of times at most and calculate step, for above-mentioned a plurality of installation head, respectively to the required time is suction time till the suction of ended zero parts from installing behind the parts, from after the suction of ended zero parts till the identification of ended zero parts the required time be recognition time and from after the identification of the parts that finish to be undertaken by above-mentioned other installation head till the installation of ended zero parts the required time be to compare the set-up time, thereby calculate maximum suction number of times of parts, maximum suction number of times of these parts are meant, in during by above-mentioned other installation head installation parts, under the suction of the installation head energy ended zero parts except that these other installation head and the situation of identification, maximum suction number of times that can carry out; And the generation step, for above-mentioned a plurality of installation head, respectively the parts group who is distributed is divided into task and generates task, so that the suction number of times of parts is less than or equals above-mentioned maximum suction number of times.
And in this structure, the main points of calculating task are, an installation head install parts during, the suction and the identification work that another installation head are finished parts are carried out.Therefore, can when an installation head is through with installment work, make another installation head begin installment work immediately, can enhance productivity.
And, main points also can be, above-mentioned installation head possesses a plurality of suction nozzles that are rotated and are provided with along circumference, generate in the step in above-mentioned task, the parts group who distributes to above-mentioned each installation head is divided into task, so that it is identical to distribute to the quantity of the contained parts of each task of a plurality of installation head under same task order, and the order of the decision task of being divided.
In this structure, the suction number of times of a plurality of installation head in each task is identical.In view of the above, during installation head installation parts, another installation head suction parts can be made, the efficient that parts are installed can be improved.
And main points also can be, have specified in above-mentioned running wastage given step under the situation of running wastage of the parts mounting machine of giving birth to greater than defined threshold because of the board carrying time, select to select in the step following processing sequence in above-mentioned processing sequence; The installation head of above-mentioned erection unit is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts; The aforesaid substrate handling time is meant, from aforesaid substrate being installed behind the parts time that needs till next substrate is moved on the substrate stop position in the above-mentioned parts erection unit, selected above-mentioned processing sequence is a kind of action time shortening method, the running time of shortening when parts being installed to substrate by the parts mounting machine that comprises installation head, this installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts, this action time shortening method comprises: the board carrying time is calculated step, calculate the board carrying time, this board carrying time is meant, from substrate being installed behind the parts time that needs till next substrate is moved on the substrate stop position in the parts mounting machine; And opportunity deciding step, carry out the suction of parts repeatedly and install in the process of this consecutive work in installation head, under the situation of a consecutive job in this consecutive work as task, the opportunity of parts is aspirated in decision in first task, with the parts in corresponding first task of the substrate that begins to aspirate and be handled upside down in the aforesaid substrate handling time.
According to this structure, on the opportunity of decision suction parts in first task, its main points are, at the parts that board carrying begun to aspirate before the parts mounting machine in first task.Therefore, can in carrying substrate, start installation head.Thus, can shorten and install the required productive temp time of parts, improve the production efficiency of substrate.
And, main points also can be, above-mentioned parts erection sequence determining method also comprises task order deciding step, the task that will have the longest parts suction time is as first task, the order of decision task is to begin to aspirate the parts in this first task in the aforesaid substrate handling time.
In view of the above, can be reduced to minimum or 0 with time is installed, this installations time is meant, after the suction of the parts from finish first task till the installation that begins parts the required time.Thereby, can further improve the production efficiency of substrate.
And main points also can be, have specified in above-mentioned running wastage given step under the situation of running wastage of the parts mounting machine of giving birth to because of existing task, select to select in the step following processing sequence in above-mentioned processing sequence; The installation head of above-mentioned erection unit is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts; Mobile restriction acceleration when mixing the different mutually parts of the mobile speed restriction comprise when moving parts by above-mentioned installation head in the above-mentioned existing task or moving parts by above-mentioned installation head is different parts mutually; Task is meant, in the suction of carrying out parts by above-mentioned installation head repeatedly, move, install a consecutive job in the process of this consecutive work, selected above-mentioned processing sequence is a kind of component mounting method, the portion of carrying that utilization is carried a plurality of parts and moved, above-mentioned a plurality of parts are installed to substrate, comprise: the speed determining step, determine respectively and the corresponding above-mentioned mobile speed restriction of carrying portion of above-mentioned a plurality of parts; Deciding step according to above-mentioned mobile speed restriction, determines the above-mentioned portion of carrying to handle the order of above-mentioned a plurality of parts, to shorten the time that the slow parts of mobile speed restriction are carried by the above-mentioned portion of carrying in above-mentioned a plurality of parts; And installation steps, according to processing sequence by above-mentioned deciding step decision, make the above-mentioned portion of carrying handle above-mentioned a plurality of parts, and to be less than or equal to the speed of mobile speed restriction the most slowly, the above-mentioned portion of carrying is moved, above-mentioned a plurality of parts are installed to substrate, and above-mentioned the most mobile speed restriction is a slowest mobile speed restriction in the mobile speed restriction that has of parts that the above-mentioned portion of carrying carries.
Thus, carry in the portion of carrying under the situation of parts, even the speed of mobile speed restriction moves the portion of carrying to be less than or equal to the most slowly, if the portion of also carrying is by handling a plurality of parts by the processing sequence of deciding step decision, just can shorten the time that the slow parts of mobile speed restriction are carried by the portion of carrying, therefore can accelerate the translational speed of head, can shorten and install the required time of parts, improve throughput, above-mentioned the most mobile speed restriction is a slowest mobile speed restriction in the mobile speed restriction that has of parts that the portion of carrying carries.And, carry in the portion of carrying under the situation of parts, the speed of mobile speed restriction moves the portion of carrying to be less than or equal to the most slowly, thereby prevent that parts from departing from or drop from the portion of carrying, can exactly parts be installed to substrate, above-mentioned the most mobile speed restriction is a slowest mobile speed restriction in the mobile speed restriction that has of parts that the portion of carrying carries.
And, main points also can be, in above-mentioned deciding step, to be above-mentioned processing sequence by the order decision that above-mentioned a plurality of parts carry in the above-mentioned portion of carrying, with by by the definite mobile speed restriction of above-mentioned speed determining step near slow order, carry parts successively, in above-mentioned installation steps, make the above-mentioned portion of carrying carry above-mentioned a plurality of parts by the above-mentioned order of carrying, and, make this portion of carrying that entrained a plurality of parts are installed to substrate.
For example, carrying radicals by which characters are arranged in traditional Chinese dictionaries carries earlier under the situation of the slowest parts of mobile speed restriction, for after carry other parts, the portion of carrying will keep the slowest mobile speed restriction to move, but, as mentioned above, by the order of carrying by the deciding step decision, the portion of carrying is carried under the situation of a plurality of parts, owing to from carrying parts successively, after therefore first parts carry in the portion of carrying, be not controlled in the most mobile speed restriction near slow order by mobile speed restriction, can move with fast speed, and carry other parts.Its result can improve throughput.
And, main points also can be, in above-mentioned deciding step, to be above-mentioned processing sequence by the order decision that above-mentioned a plurality of parts are installed by the above-mentioned portion of carrying, with by by the definite mobile speed restriction of above-mentioned speed determining step from slowly to fast order, parts are installed successively, in above-mentioned installation steps, make the above-mentioned portion of carrying carry above-mentioned a plurality of parts, and, make this portion of carrying entrained a plurality of parts are installed to substrate by above-mentioned erection sequence.
For example, the portion of carrying in the end installs under the situation of the slowest parts of mobile speed restriction, the portion of carrying is after installing first parts, keep the slowest mobile speed restriction to move, until install last parts, but, as mentioned above, erection sequence by by deciding step decision is installed under the situation of a plurality of parts the portion of carrying since by mobile speed restriction to fast order parts being installed successively slowly, therefore carry portion after installing first parts, be not controlled in the most mobile speed restriction, can move, and other parts are installed with fast speed.Its result can improve throughput.
And main points also can be, in above-mentioned speed determining step, by the velocity information with reference to the mobile speed restriction of representing above-mentioned a plurality of parts, determine the mobile speed restriction at above-mentioned each parts.
For example, under the situation of preparing the memory that stores velocity information in advance, can simply promptly determine the mobile speed restriction of each parts.
And main points also can be, in above-mentioned speed determining step, by size information with reference to the size of representing above-mentioned a plurality of parts, to be defined as at the mobile speed restriction of above-mentioned each parts, parts are big more, and above-mentioned translational speed of carrying portion is restricted more.And main points also can be, in above-mentioned speed determining step, by thickness information with reference to the thickness of representing above-mentioned a plurality of parts, to be defined as at the mobile speed restriction of above-mentioned each parts, parts are thick more, and above-mentioned translational speed of carrying portion is restricted more.
Thus,, also can determine the mobile speed restriction of each parts, therefore can expand applicability of the present invention, to improve convenience according to size information, thickness information etc. even there is not the information of the mobile speed restriction of each parts of direct representation.
And main points also can be, in above-mentioned speed determining step, by weight information with reference to the weight of representing above-mentioned a plurality of parts, to be defined as at the mobile speed restriction of above-mentioned each parts, parts are heavy more, and above-mentioned translational speed of carrying portion is restricted more.
Thus,, also can determine the mobile speed restriction of each parts, therefore can expand applicability of the present invention, to improve convenience according to weight information even there is not the information of the mobile speed restriction of each parts of direct representation.
And main points also can be, have specified in above-mentioned running wastage given step under the situation of running wastage of the parts mounting machine of giving birth to because of existing task, select to select in the step following processing sequence in above-mentioned processing sequence; The installation head of above-mentioned erection unit is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts; Mobile restriction acceleration when mixing the different mutually parts of the mobile speed restriction comprise when moving parts by above-mentioned installation head in the above-mentioned existing task or moving parts by above-mentioned installation head is different parts mutually; Task is meant, in the suction of carrying out parts by above-mentioned installation head repeatedly, move, install a consecutive job in the process of this consecutive work, selected above-mentioned processing sequence is a kind of component mounting method, the portion of carrying that utilization is carried a plurality of parts and moved, above-mentioned a plurality of parts are installed to substrate, comprise: the acceleration determining step, determine respectively and the corresponding above-mentioned mobile restriction acceleration that carries portion of above-mentioned a plurality of parts; Deciding step according to above-mentioned mobile restriction acceleration, determines the above-mentioned portion of carrying to handle the order of above-mentioned a plurality of parts, moves in above-mentioned a plurality of parts the time that the little parts of restriction acceleration are carried by the above-mentioned portion of carrying to shorten; And installation steps, according to processing sequence by above-mentioned deciding step decision, make the above-mentioned portion of carrying handle above-mentioned a plurality of parts, and to be less than or equal to the minimum acceleration that moves the restriction acceleration, the above-mentioned portion of carrying is moved, above-mentioned a plurality of parts are installed to substrate, and it is the slowest mobile restriction acceleration in the mobile restriction acceleration that has of parts that the above-mentioned portion of carrying carries that above-mentioned minimum moves the restriction acceleration.
Thus, carry in the portion of carrying under the situation of parts, even move the portion of carrying to be less than or equal to the minimum acceleration that moves the restriction acceleration, if the portion of also carrying is by handling a plurality of parts by the processing sequence of deciding step decision, just can shorten and move the time that the little parts of restriction acceleration are carried by the portion of carrying, therefore can accelerate the translational acceleration of head, can shorten and install the required time of parts, improve throughput, it is minimum mobile restriction acceleration in the mobile restriction acceleration that has of parts that the portion of carrying carries that above-mentioned minimum moves the restriction acceleration.And, carry in the portion of carrying under the situation of parts, move the portion of carrying to be less than or equal to the minimum acceleration that moves the restriction acceleration, thereby prevent that parts from departing from or drop from the portion of carrying, can exactly parts be installed to substrate, it is minimum mobile restriction acceleration in the mobile restriction acceleration that has of parts that the portion of carrying carries that above-mentioned minimum moves the restriction acceleration.
And main points also can be, have specified under the situation of the running wastage of giving birth to because of the phenomenon of colliding in above-mentioned running wastage given step, select to select in the step following processing sequence in above-mentioned processing sequence; The above-mentioned phenomenon of colliding is meant, can be when parts being installed to substrate between parts and parts or the conflict that between parts and installation head, takes place by the parts mounting machine that comprises installation head, selected above-mentioned processing sequence is a kind of parts erection sequence determining method, when parts being installed to substrate by the parts mounting machine that comprises installation head, the decision erection sequence, this installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts, comprise: the erection sequence deciding step, according to the restrictive condition in the context of relevant parts erection sequence, the order that decision is installed substrate; And task order deciding step, in the suction of carrying out parts by installation head repeatedly, move, install in the process of this consecutive work, under the situation of parts group that will install by a consecutive job in this consecutive work as task, under the state of keeping the erection sequence that determines by above-mentioned erection sequence deciding step, all parts are divided into task, the erection sequence of the task that decision is divided.That is, at first determine substrate is installed the order of parts, determine task and task order then.
Thus, can in above-mentioned erection sequence deciding step, determine above-mentioned erection sequence, can be when avoiding that parts are installed to substrate between parts and parts or the conflict that between parts and installation head, the takes place phenomenon of colliding, for example, can avoid the phenomenon of colliding of giving birth to because of the arcuate motion of installation head.
Method as the phenomenon of considering to give birth to of colliding because of arcuate motion, preferably, judge that for all parts carrying out arcuate motion in installation head is installed to parts under the situation of substrate, whether in the mobile space scope of this installation head, exist and be installed in other parts of substrate or the part of other parts, and be judged as under the situation of existence, determine above-mentioned erection sequence, so that the parts of judging object to be installed before above-mentioned other parts are installed.
Particularly, in above-mentioned erection sequence deciding step, can be according to above-mentioned judged result, the set of the parts that should install earlier is defined as the first parts group, and the set of the next parts that should install is defined as the second parts group in the parts except the first parts group, determine that by carrying out this repeatedly processing generates the arrangement of parts group, and should arrange as above-mentioned erection sequence.Thus, parts are installed, just can be avoided the phenomenon of colliding of giving birth to because of arcuate motion as long as press the arrangement of parts group.
Here, preferably, in above-mentioned erection sequence deciding step, make expression and be installed in the three-dimensional position of parts of substrate and the three dimensional arrangement figure of shape, and on the three dimensional arrangement figure that makes, according to above-mentioned judged result, the set of the parts that should install earlier is defined as the first parts group.Thus, the parts of having installed in the time of can considering board carrying to parts mounting machine decide erection sequence.
And, preferably, in above-mentioned task order deciding step,, determine the erection sequence of above-mentioned task and above-mentioned task by parts group by above-mentioned erection sequence deciding step decision.Why pressing the erection sequence of parts group decision task and task, is because can keep the erection sequence that determines by the erection sequence deciding step.Perhaps, above-mentioned installation head also can possess n the suction nozzle that is used to aspirate parts, and, in above-mentioned task order deciding step, the arrangement that will comprise the parts group of n parts and parts group thereof determines the erection sequence into above-mentioned task and above-mentioned task respectively, and above-mentioned parts is the parts of arranging in order by by the installation of above-mentioned erection sequence deciding step decision.According to the method, also can under the state of keeping the erection sequence that determines by the erection sequence deciding step, determine task and task order simply.
And then above-mentioned parts erection sequence determining method can also comprise suction order deciding step, by the task by the decision of above-mentioned task order deciding step, determines the suction order when above-mentioned installation head is aspirated parts.For example, above-mentioned installation head also can possess n the suction nozzle that is used to aspirate parts, and, in above-mentioned task order deciding step, arrange along the parts that are configured in the above-mentioned parts erection unit, extract one by one under the situation of each parts, can comprise that the parts group decision of maximum n parts is task with obtainable, and in above-mentioned suction order deciding step, for listing in the parts of above-mentioned parts in arranging in the contained parts of above-mentioned task continuously, above-mentioned installation head can be aspirated simultaneously.Perhaps, in above-mentioned task order deciding step, by the component number that should be installed to substrate from many to few order, extract successively under the situation of parts, can comprise that the parts group decision of maximum n parts is task with obtainable, above-mentioned parts is that the parts that are configured in the above-mentioned parts erection unit are arranged, and in above-mentioned suction order deciding step, can determine above-mentioned suction order, with by the component number that should be installed to substrate from many to few order, make installation head suction parts.
And, in above-mentioned erection sequence deciding step, the installation of substrate is comprised under the three-dimensional situation of installing, promptly second parts to be installed under the situation on first parts, can determine such erection sequence, that is, above-mentioned first parts are installed before above-mentioned second parts are installed.Also have the erection sequence restriction between parts in the three-dimensional process of installing, this is identical with the above-mentioned phenomenon of colliding, and can be suitable for the present invention.
Moreover, the present invention can not only be embodied as the action time shortening method that comprises this characteristic step, also can be embodied as the action time shortening device of the characteristic step that action time shortening method is contained, maybe can be embodied as the program that makes computer carry out the contained characteristic step of action time shortening method as the unit.And this program can be passed through communication network circulations such as CD-ROM recording mediums such as (CompactDisc-Read Only Memory) or the Internet certainly.
According to the present invention, can be according to the processing sequence in the type of the running wastage change parts erection sequence determining method, required time when this running wastage has influence on parts are installed to substrate.
In addition, the best parts erection sequence of decision in the time that also can realize actually.
Description of drawings
Fig. 1 is a kind of outside drawing, the structure of the parts installation system that the expression embodiments of the present invention relate to.
Fig. 2 is a kind of functional-block diagram, the structure of expression action time shortening device.
Fig. 3 is a kind of flow chart, the processing that the expression action time shortening device carries out.
Fig. 4 is a kind of skeleton diagram, the position relation of expression parts supply unit and swivel head.
Fig. 5 is the outside drawing of spool, and the parts band of taking in parts is wrapped on this spool.
Fig. 6 is a kind of ideograph, the position relation of expression swivel head, substrate and parts supply unit.
Fig. 7 is a kind of schematic diagram, and expression is arranged on an example of the parts identification video camera of position C among Fig. 6.
Fig. 8 is a kind of flow chart, is illustrated in the work of this installation head when being conceived to installation head that swivel head possesses.
Fig. 9 (a) to Fig. 9 (c) be a kind of key diagram, be used to illustrate the various patterns of parts supply unit.
Figure 10 is a kind of schematic diagram, the example that expression mounting points information is arranged.
Figure 11 is a kind of schematic diagram, the position relation of mounting points, base plate mark and the imaginary point on the expression substrate.
Figure 12 is a kind of exemplary plot, an example of expression conversion table.
Figure 13 is a kind of flow chart, the processing that expression parts erection sequence determination device carries out.
Figure 14 is a kind of ideograph, the erection sequence of expression parts.
Figure 15 is a kind of exemplary plot, an example of expression beat table.
Figure 16 is a kind of key diagram, and the method for making initial touring road is described.
Figure 17 is a kind of ideograph, the erection sequence of expression parts.
Figure 18 is a kind of exemplary plot, the example that the expression mounting points is arranged p.
Figure 19 is a kind of flow chart, the detailed process of expression 2-OPT method.
Figure 20 (a) and Figure 20 (b) are a kind of schematic diagrames, and the mounting points that is illustrated in the front and back that the erection sequence of parts is changed is arranged p.
Figure 21 (a) and Figure 21 (b) are a kind of schematic diagrames, are illustrated in the touring road of the front and back that the erection sequence of parts is changed.
Figure 22 (a) and Figure 22 (b) are a kind of schematic diagrames, the result that the erection sequence decision that expression is undertaken by parts erection sequence determination device is handled.
Figure 23 (a) is a kind of schematic diagram to Figure 23 (c), and the erection sequence shown in expression Figure 22 (a) is arranged the relation of p, mounting points information arrangement Data and erection sequence.
Figure 24 (a) to Figure 24 (d) be a kind of key diagram, illustrate that mounting points information arranges other generation methods of Data.
Figure 25 is a kind of schematic diagram, an example on the touring road of expression.
Figure 26 is a kind of table, the experimental result that expression obtains according in the past method and the method that the present invention relates to respectively.
Figure 27 is a kind of outside drawing, the parts installation system that the expression embodiments of the present invention relate to.
Figure 28 is a kind of functional-block diagram, the structure of expression parts erection sequence determination device.
Figure 29 is a kind of outside drawing, and expression is called as the example of structure of the parts mounting machine of radial members plug-in mounting equipment.
Figure 30 is a kind of concept map, the primary structure of expression parts mounting machine.
Figure 31 is a kind of top view, the primary structure of the parts mounting machine that expression the present invention relates to.
Figure 32 is a kind of ideograph, the position relation of expression head and parts box.
Figure 33 (a) and Figure 33 (b) are the outside drawings of head.
Figure 34 is a kind of exemplary plot, an example of expression substrate.
Figure 35 is the figure of explanation imaginary point.
Figure 36 is a kind of schematic diagram, the example that expression mounting points information is arranged.
Figure 37 is a kind of key diagram, illustrates and calculate that " x ' coordinate " reaches the method for " y ' coordinate ".
Figure 38 is a kind of flow chart, represents the processing that the second parts erection sequence determination section carries out.
Figure 39 is a kind of flow chart, represents the processing that the second parts erection sequence determination section carries out.
Figure 40 (a) to Figure 40 (c) be a kind of key diagram, illustrate with suction to preferential suction mode.
Figure 41 (a) and Figure 40 (b) are a kind of key diagrams, illustrate to be installed as preferential suction mode.
Figure 42 is the oblique view of swivel head.
Figure 43 is the oblique view of swivel head.
Figure 44 is the ideograph when seeing the parts mounting machine that comprises swivel head shown in Figure 42 from the top.
Figure 45 is a kind of key diagram, illustrates with suction to be preferential suction mode.
Figure 46 (a) and Figure 46 (b) are a kind of key diagrams, illustrate to be installed as preferential suction mode.
Figure 47 is a kind of top view, the primary structure of expression parts mounting machine inside.
Figure 48 is a kind of ideograph, the position relation of expression multiple insertion head and parts box.
Figure 49 is a kind of key diagram, and the installation of being carried out parts by parts mounting machine is described.
Figure 50 (a) and Figure 50 (b) are a kind of key diagrams, and the installation of being carried out parts by parts mounting machine is described.
Figure 51 is a kind of exemplary plot, an example of expression mounting points data.
Figure 52 is a kind of exemplary plot, an example in expression components information storehouse.
Figure 53 is a kind of exemplary plot, an example of expression erecting device information.
Figure 54 is a kind of exemplary plot, and an example of points information is installed in expression.
Figure 55 is a kind of flow chart, and expression is handled by the parts erection sequence decision that optimization apparatus carries out.
Figure 56 is a kind of flow chart, the details of expression parts allocation process.
Figure 57 is a kind of key diagram, and the allocation process of parts is described.
Figure 58 is a kind of key diagram, and the allocation process of parts is described.
Figure 59 is a kind of flow chart, the details that the decision of expression task is handled.
Figure 60 (a) to Figure 60 (d) be a kind of key diagram, specify task that the front is carried out and generate and handle.
Figure 61 (a) to Figure 61 (d) be a kind of key diagram, specify task that the back is carried out and generate and handle.
Figure 62 is a kind of schematic diagram, by the task sequence arrangement suction number of times in the task.
Figure 63 is a kind of top view, and expression comprises the parts mounting machine of swivel head.
Figure 64 is the oblique view of swivel head.
Figure 65 is the oblique view of other swivel heads.
Figure 66 is a kind of flow chart, and the details of the task decision processing of carrying out at swivel head is described.
Figure 67 is a kind of exemplary plot, and an example of the task order that obtains is handled in expression according to the decision of the task shown in Figure 66.
Figure 68 is an example of unfavorable task order.
Figure 69 is a kind of outside drawing, the overall structure of the installation system that the expression embodiments of the present invention relate to.
Figure 70 is a kind of block diagram, an example of the structure of expression erection sequence determination device in embodiments of the present invention.
Figure 71 is a kind of ideograph, the expression board carrying in the past and the sequential of parts installation.
Figure 72 is a kind of key diagram, and the problem of the determining method of parts erection sequence in the past is described.
Figure 73 is a kind of top view, the main internal structure of expression parts mounting machine.
A kind of ideograph of Figure 74, the position relation of expression installation head and parts supply unit.
Figure 75 is a kind of schematic diagram, an example of expression information task time.
Figure 76 is a kind of block diagram, represents the structure of the 4th parts erection sequence determination section 308d.
Figure 77 is a kind of flow chart, and expression is handled by the parts erection sequence decision that parts erection sequence determination device carries out.
Figure 78 is a kind of flow chart, and expression is supplied with the details that determining positions is handled by the parts that parts supply determining positions portion carries out.
Figure 79 is a kind of ideograph, and expression is supplied with the position according to the parts of the decision of the flow chart shown in Figure 78.
Figure 80 is a kind of flow chart, and the task that expression is undertaken by task order determination section determines to handle the details of (S4002 among Figure 77) in proper order.
Figure 81 is a kind of ideograph, and expression is according to the task order of ("Yes" of S4023 among Fig. 5) decision under the peaked situation of board carrying time T greater than parts suction time ti, the sequential that board carrying that carries out and parts are installed.
Figure 82 is a kind of ideograph, and expression is according to the task order of ("No" of S4023 among Figure 80) decision under the peaked situation that is equal to or less than parts suction time ti in the board carrying time T, the sequential that board carrying that carries out and parts are installed.
Figure 83 is a kind of outside drawing, the structure of the parts installation system that the expression embodiments of the present invention relate to.
Figure 84 is a kind of block diagram, the structure of the parts erection sequence determination device shown in expression Figure 83.
Figure 85 is a kind of top view, the primary structure of expression parts mounting machine.
Figure 86 is a kind of ideograph, represents the position relation of above-mentioned head and parts box.
Figure 87 (a) to Figure 87 (d) be a kind of outside drawing, represent the outward appearance of above-mentioned mounting object parts (electronic component).
Figure 88 is a kind of exemplary plot, an example in the components information storehouse of storing in the expression above-mentioned parts erection unit.
Figure 89 is a kind of key diagram, and parts suction order and erection sequence are described.
Figure 90 (a) to Figure 90 (e) be a kind of key diagram, the situation of above-mentioned head suction parts is described.
Figure 91 (a) to Figure 91 (e) be a kind of key diagram, illustrate that above-mentioned head installs the situation of parts.
Figure 92 is a kind of schematic diagram, represents the rate travel of above-mentioned head.
Figure 93 is a kind of flow chart, the work that expression above-mentioned parts erection unit is installed parts.
Figure 94 is a kind of outside drawing, the overall structure of the parts installation system that the expression embodiments of the present invention relate to.
Figure 95 illustrates extremely near the figure that installs.
Figure 96 (a) and Figure 96 (b) are a kind of key diagrams, and arcuate motion and standard movement (non-arcuate motion) are described.
Figure 97 is a kind of key diagram, and the phenomenon of colliding of giving birth to because of arcuate motion is described.
A kind of schematic diagram of Figure 98, the internal structure of expression parts mounting machine.
Figure 99 is the figure of explanation task.
Figure 100 is a kind of block diagram, represents the structure of the 6th parts erection sequence determination section.
Figure 101 is a kind of flow chart, the groundwork of expression parts mounting machine.
Figure 102 is a kind of flow chart, the detailed step (S6110) of the decision erection sequence shown in expression Figure 101.
Figure 103 is a kind of exemplary plot, the example of expression three dimensional arrangement figure.
Figure 104 is a kind of exemplary plot, represents the regional example of colliding.
Figure 105 is a kind of key diagram, and the processing of decision group is described.
Figure 106 is a kind of flow chart, the detailed step (S6111) of decision task shown in expression Figure 101 and task order.
Figure 107 is a kind of key diagram, and the processing of the erection sequence in decision task and the task is described.
Figure 108 (a) to Figure 108 (c) be a kind of parts histogram, illustrate decision task and parts suction the order method.
Figure 109 is a kind of flow chart, the detailed step (S6113) of the decision suction order shown in expression Figure 101.
Figure 110 is a kind of key diagram, and the additive method of decision task and task order is described.
Figure 111 is a kind of parts histogram, and the additive method of the suction order of decision task and parts is described.
Figure 112 is the three-dimensional figure that installs of explanation.
Figure 113 is a kind of block diagram, the functional structure of expression parts mounting machine.
Figure 114 is a kind of exemplary plot, the example of expression mounting points data.
Figure 115 is a kind of exemplary plot, the example of expression component number certificate.
Figure 116 is a kind of exemplary plot, the example of expression erection sequence data.
Figure 117 is a kind of flow chart, the groundwork of the parts mounting machine when expression dynamically determines erection sequence.
Figure 118 is a kind of schematic diagram, and the situation of substrate installed surface is taken in expression with three-dimensional camera.
Figure 119 is a kind of flow chart, is illustrated in the user from the optimum procedure storage part during option program, the processing of being undertaken by action time shortening device.
Figure 120 is the example of expression by the display part picture displayed.
Figure 121 is the example of expression by the display part picture displayed.
Figure 122 is the example of expression by the display part picture displayed.
Symbol description
300 action time shortening devices
301 s operation control portions
305 optimal method option program storage parts
305a running wastage specifying part
305b processing sequence selection portion
308 optimum procedure storage parts
The 308a first parts erection sequence determination section
The 308b second parts erection sequence determination section
308c the 3rd parts erection sequence determination section
308d the 4th parts erection sequence determination section
308e the 5th parts erection sequence determination section
308f the 6th parts erection sequence determination section
1010 parts mounting machines
1011 parts supply units
1015
1020 substrates
1100 swivel heads
1101 rotation supporting seats
1103 installation head
The 1105a lens barrel
1105b low coverage video camera
The big visual field of 1105c video camera
1105 parts identification video camera
1106 parts
The 1107b half-reflecting mirror
The 1107a speculum
1110 parts bands
1111 parts boxes
1112 suction opening portions
1113 spools
1114 band feeders
1300 parts erection sequence determination devices
1301 s operation control portions
1302 display parts
1303 input parts
1304 memory section
1305 parts erection sequence determination procedure storage parts
1306 communication I/F portions
1307 database part
1307a mounting points information is arranged
The 1307b conversion table
1402,1404 base plate marks
1406 imaginary points
3100,3200 parts mounting machines
3110a, 3110b, 3120a, 3120b auxiliary equipment
3112 multiple insertion heads
3112a, 3112b, 3403 suction nozzles
3113 beams
3114 parts boxes
3115,3115a to 3115d parts supply unit
3116 parts identification video camera
3117 pallet supply units
3121 rails
3300 optimization apparatus
3301 s operation control portions
3302 display parts
3303 input parts
3304 memory section
3305 optimum procedure storage parts
3305c erection sequence optimization portion
3306 communication I/F portions
3307 database part
3307a mounting points data
3307b components information storehouse
3307c erecting device information
3307d, 3307f, 3307g install points information
3412 suction opening portions
4100 parts mounting machines
4110 installation head
4113 XY automatons
4114 band feeders
4115 parts supply units
4115a to 4115c parts supply unit
4116 parts bands
4116a, 4116b parts are supplied with the position
4117 supply spools
4118 parts are supplied with the position
4119 suction nozzle stations
4120a, 4120b substrate
4121 rails
4123 parts retracting devices
4300 parts erection sequence determination devices
4301 s operation control portions
4302 display parts
4303 input parts
4304 memory section
4305 optimum procedure storage parts
4305a task order determination section
The 4305b parts are supplied with determining positions portion
4305c erection sequence optimization portion
4306 communication I/F portions
4307 database part
4307a mounting points data
4307b components information storehouse
4307c erecting device information
4307d information task time
5100 parts mounting machines
Auxiliary equipment before 5110
5112
The 5112a suction nozzle
5115a, 5115b parts supply unit
5120 back auxiliary equipment
5200 parts mounting machines
5300 management devices
5307b components information storehouse
6100 parts mounting machines
6110 installation head
6113 XY automatons
6115 parts containing portions
6115a parts box
6121 trucking departments
6122 substrates
6123 three-dimensional cameras
6200 portions of mechanism
6210 installation and control portions
6220 input parts
6230 efferents
6240 memory portions
6241 mounting points data
6242 component number certificates
6243 erection sequence data
6250 erection sequence determination sections
6251 load onto the order determination section
6252 tasks order determination section
6253 suctions order determination section
6260 communication I/F portions
Embodiment
Below, describe the parts installation system that first execution mode of the present invention relates to reference to the accompanying drawings in detail.
Fig. 1 is a kind of outside drawing, the structure of the parts installation system that the expression present embodiment relates to.Parts installation system 10 is orders that decision is installed to parts substrate, and parts are installed to the system of substrate by the erection sequence that is determined, comprising: parts mounting machine 1010, parts mounting machine 3100, parts mounting machine 2100, parts mounting machine 5100, parts mounting machine 4100, parts mounting machine 6100 and action time shortening device 300.
Parts mounting machine 1010,3100,2100,5100,4100,6100 all is the devices that parts are installed to substrate.About the detailed structure of each parts mounting machine, tell about later on.
Fig. 2 is a kind of functional-block diagram, the structure of expression action time shortening device 300.Action time shortening device 300 is a kind of computers, by shortening parts mounting machine is installed the required time of parts, thereby shorten the running time of parts mounting machine, comprising: s operation control portion 301, display part 302, input part 303, memory section 304, optimal method option program storage part 305, optimum procedure storage part 308, database part 307 and communication I/F (interface) portion 306 etc.
This action time shortening device 300 is to realize by carrying out the various programs that are stored in optimal method option program storage part 305 and the optimum procedure storage part 308 by all-purpose computers such as PC.
Central processing unit) or numerical data processor etc. s operation control portion 301 is CPU (Central Processing Unit:, the indication that indication of sending according to the parts mounting machine that connects by communication I/F portion 306 or user send etc., to download to memory section 304 in the program in optimal method option program storage part 305 or the optimum procedure storage part 308 and carry out, control each constitutive requirements 302 to 308 according to the result of this execution.
Cathode ray tube) or LCD (LiquidCrystal Display: LCD) etc. display part 302 is CRT (Cathode-Ray Tube:, input part 303 is keyboard or mouse etc., these are used for linking up between action time shortening device 300 and operating personnel etc. under the control of s operation control portion 301.
Communication I/F portion 306 is that (Local Area Network: adapter etc. local area network (LAN)), it is used for communicating between action time shortening device 300 and parts mounting machine etc. LAN.Memory section 304 be RAM (Random Access Memory: random asccess memory) etc., the zone that it provides s operation control portion 301 to carry out work.
Optimal method option program storage part 305 and optimum procedure storage part 308 are hard disks etc., it deposits the various programs of the function that realizes action time shortening device 300 in, and carrying out by s operation control portion 301 under the situation that deposits the program in optimal method option program storage part 305 in, this program is carried out work as running wastage specifying part 305a and processing sequence selection portion 305b.And depositing under the situation of the program in optimum procedure storage part 308 by 301 execution of s operation control portion, this program is carried out work as the first parts erection sequence determination section 308a, the second parts erection sequence determination section 308b, the 3rd parts erection sequence determination section 308c, the 4th parts erection sequence determination section 308d, the 5th parts erection sequence determination section 308e and the 6th parts erection sequence determination section 308f.
Running wastage specifying part 305a is a kind of handling part, the running wastage of the parts mounting machine that appointment should be eliminated.Processing sequence selection portion 305b is a kind of handling part, according to running wastage by running wastage specifying part 305a appointment, from the program that is stored in optimum procedure storage part 308, select to be used to the program that shortens the running time of parts mounting machine, promptly select processing sequence.
About the processing of carrying out respectively by the first parts erection sequence determination section 308a, the second parts erection sequence determination section 308b, the 3rd parts erection sequence determination section 308c, the 4th parts erection sequence determination section 308d, the 5th parts erection sequence determination section 308e and the 6th parts erection sequence determination section 308f, tell about later on.
Database part 307 is hard disks etc., and it deposits the input data of utilizing under the situation about shorten handling running time being undertaken by 300 pairs of parts mounting machines of action time shortening device in, or deposits in by shortening running time and handle the mounting points data that generated etc.
The input data that are stored in the database part 307 comprise: mounting points data 3307a (4307a, 6241), components information storehouse 3307b (4307b), erecting device information 3307c (4307c), task time information 4307d, mounting points information arrange 1307a, conversion table 1307b, points information 3307d be installed, component number is according to 6242 and erection sequence data 6243 etc.About the details of these input data, tell about later on.
Fig. 3 is a kind of flow chart, the processing that expression action time shortening device 300 carries out.Running wastage specifying part 305a is by communication I/F portion 306, obtains the title (S22) of this parts mounting machine from certain parts mounting machine that has produced production loss etc.Running wastage specifying part 305a judges according to the implementor name that obtains whether the parts mounting machine with this implementor name is modular parts mounting machine (S24).Here, " modular parts mounting machine " is meant that the installation head of carrying parts moves, and parts is installed to the equipment of substrate.
At this equipment is not under the situation of modular parts mounting machine ("No" among the S24), because of this equipment is rotary parts mounting machine, so processing sequence selection portion 305b selects to be used to realize the program of the first parts erection sequence determination section 308a from optimum procedure storage part 308, this program is downloaded in the memory section 304.S operation control portion 301 carries out this program, makes the parts erection sequence determination section 308a that wins according to the touring road that comprises the parts mounting points, with parts erection sequence optimization (S52).Afterwards, with regard to end process.Here, " rotary parts mounting machine " is meant the parts mounting machine that comprises swivel head, and this swivel head is rotated and aspirates parts around axle, and these parts are installed to substrate.Moreover, about the processing that the first parts erection sequence determination section 308a carries out, tell about later on.
At equipment is under the situation of modular parts mounting machine ("Yes" among the S24), and running wastage specifying part 305a judges whether the parts mounting machine of running time to be shortened is wheel streaming parts mounting machine (S26).Here, " wheel streaming parts mounting machine " is meant that a plurality of installation head are installed to parts the equipment of a substrate by co-ordination.
At equipment is under the situation of parts mounting machine of modular and wheel streaming ("Yes" among the S26), processing sequence selection portion 305b selects to be used to realize the program of the 3rd parts erection sequence determination section 308c from optimum procedure storage part 308, and this program is downloaded to memory section 304.S operation control portion 301 carries out these programs, makes the 3rd parts erection sequence determination section 308c according to the intrinsic optimal method of parts mounting machine of modular and wheel streaming, with parts erection sequence optimization (S28).About the processing that the 3rd parts erection sequence determination section 308c carries out, tell about later on.
Afterwards, when parts being installed to substrate by the object parts mounting machine that will shorten running time, running wastage specifying part 305a obtains the information whether expression produces the phenomenon of colliding from this parts mounting machine, this phenomenon of colliding is meant, the conflict of the conflict of parts and parts or parts and installation head; And under the situation of phenomenon is collided in generation ("Yes" among the S30), processing sequence selection portion 305b selects to be used to realize the program of the 6th parts erection sequence determination section 308f from optimum procedure storage part 308, this program is downloaded in the memory section 304.S operation control portion 301 carries out this program, makes the 6th parts erection sequence determination section 308f with parts erection sequence optimization (S32), thereby eliminates the phenomenon of colliding that is produced, end process afterwards.About the processing that the 6th parts erection sequence determination section 308f carries out, tell about later on.
And do not collide ("No" among the S30) under the situation of phenomenon having to produce, do not carry out the optimal treatment of the parts erection sequence that undertaken by the 6th parts erection sequence determination section 308f, with regard to end process.
In addition, be modular and be not that running wastage specifying part 305a sends instruction to this parts mounting machine and obtains the board carrying time (S34) under the situation of wheel streaming ("No" among the S26) at parts mounting machine.Here, " board carrying time " be meant, after substrate being installed parts, is moved to required time of substrate stop position in the parts mounting machine to next substrate.
Under the situation that can obtain the board carrying time from parts mounting machine ("Yes" the S36), running wastage specifying part 305a judges that whether the board carrying time that is obtained is greater than the threshold value Th_time that is predetermined (S38).And under the situation of this time ("Yes" among the S38) greater than predetermined threshold, processing sequence selection portion 305b selects to be used to realize the program of the 4th parts erection sequence determination section 308d from optimum procedure storage part 308, this program is downloaded to memory section 304.By carrying out this program by s operation control portion 301, make the 4th parts erection sequence determination section 308d carry out the optimal treatment of parts erection sequence (shortening the processing of running time), will be reduced to the shortest (S40), carry out the later processing of S30 afterwards because of the time that board carrying loses.About the processing that the 4th parts erection sequence determination section 308d carries out, tell about later on.
Under failing to obtain the situation of board carrying time ("No" among the S36), or be equal to or less than under the situation of threshold value Th_time ("No" among the S38) in the board carrying time, running wastage specifying part 305a sends instruction to this parts mounting machine and obtains task (S42) in the parts mounting machine.Here, " task " be meant, in the suction of carrying out parts by installation head repeatedly, move, install in the process of this consecutive work, and the parts group that can install by a consecutive job wherein.
Under the situation that has enough been obtained task by parts mounting machine ("Yes" among the S44), running wastage specifying part 305a detects whether comprise mobile speed restriction different parts (S46) mutually in same task for each task.Here, " mobile speed restriction " is meant, the maximum speed of the installation head under the state of suction parts.
In same task, comprise under the situation of the different parts of mobile speed restriction ("Yes" among the S46), processing sequence selection portion 305b selects to be used to realize the program of the 5th parts erection sequence determination section 308e from optimum procedure storage part 308, this program is downloaded to memory section 304.S operation control portion 301 carries out this program, makes the 5th parts erection sequence determination section 308e carry out the optimal treatment of parts erection sequence, thereby is conceived to the set-up time (S48) that mobile speed restriction shortens parts.Carry out the later processing of S30 afterwards.About the processing that the 5th parts erection sequence determination section 308e carries out, tell about later on.
Under the situation of the task that obtains of failing ("No" among the S44), or under all identical situation of the speed restriction of the parts in same task ("No" among the S46), processing sequence selection portion 305b selects to be used to realize the program of the second parts erection sequence determination section 308b from optimum procedure storage part 308, this program is downloaded to memory section 304.S operation control portion 301 carries out this program, makes the second parts erection sequence determination section 308b according to the touring road that comprises the parts mounting points, with parts erection sequence optimization (S50).Carry out the later processing of S30 afterwards.About the processing that the second parts erection sequence determination section 308b carries out, tell about later on.
Below, the processing of carrying out respectively from the first parts erection sequence determination section 308a to the, six parts erection sequence determination section 308f is described successively.
[about the first parts erection sequence determination section 308a]
The process object of the first parts erection sequence determination section 308a is a rotary parts mounting machine 1010 shown in Figure 1.
Parts mounting machine 1010 is an equipment of at high speed printed circuit board (PCB) that constitutes electronic installation being installed multiple parts, comprising: swivel head 1100, aspirate, carry, install parts; Parts supply unit 1011 is supplied with multiple parts to swivel head 1100; And XY platform 1015, the printed circuit board (PCB) of being placed is moved in the horizontal direction.
Fig. 4 is a kind of skeleton diagram, the position relation of expression parts supply unit and swivel head.Shown in Fig. 4 middle and upper part, swivel head 1100 comprises 18 installation head 1103, and this installation head 1103 is the installation units that are used for parts are installed to printed circuit board (PCB).Here, this installation head 1103 is arranged on not to short transverse and moves and on the rotation supporting seat 1101 that is rotated, and this installation head 1103 possesses six suction nozzles (not having figure) that can carry parts by vacuum draw.
Shown in Fig. 4 middle and lower part, parts supply unit 1011 possesses the parts box 1111 of lining up horizontal delegation, and this parts box 1111 can be provided to installation head 1103 successively with identical parts.And parts supply unit 1011 possesses such function, that is, at swivel head 1100, the Z-direction in Fig. 4 moves and determine the position, thereby can select the parts that install.
Parts box 1111 comprises: spool 1113 as shown in Figure 5, and the parts band 1110 of taking in a plurality of identical parts is wrapped on this spool 1113; And band feeder 1114, supply with the parts that are accommodated in above-mentioned parts band 1110 successively, and this parts box 1111 can load and unload freely on parts supply unit 1011.That is, parts box 1111 is equivalent to provide a kind of member of parts, and parts supply unit 1011 is equivalent to gather the mechanism that parts box 1111 the forms mechanism of the incorporating section that is used for taking in this set (or be equivalent to further comprise).
Fig. 6 is a kind of ideograph, the position relation of expression swivel head, substrate and parts supply unit.
As shown in the drawing, the rotating shaft of swivel head 1100 does not move, and, be arranged at its installation head 1103 on every side and carry out the rotation at intermittence, thereby can carry out work corresponding to each position around this rotating shaft.Briefly be exactly, the installation head 1103 that is positioned at suction opening portion 1112 tops (position B) that each parts box 1111 possesses respectively is by above-mentioned suction opening portion 1112 suction parts, and when installation head 1103 has arrived the position E on this opposite, position, the parts that aspirate are installed to printed circuit board (PCB) P.
Here, the mounting object of parts is that printed circuit board (PCB) P is placed on and can (have figure) on the XY platform that moves freely on the horizontal plane direction, and decides the position that parts should be installed to by mobile printing circuit board P.
Fig. 7 is a kind of schematic diagram, and expression is arranged on an example of the identification of the parts on the C of position video camera among Fig. 6.Parts identification video camera 1105 is video cameras of discerning by the parts 1106 of installation head 1103 suctions, comprising: lens barrel 1105a, low coverage video camera 1105b and big visual field video camera 1105c.In lens barrel 1105a, be provided with speculum 1107a and 1107c and half-reflecting mirror 1107b.
Low coverage video camera 1105b is that visual field size is the video camera of 6mm, and it takes the parts 1106 by speculum 1107a and half-reflecting mirror 1107b reflection.Big visual field video camera 1105c is that visual field size is the video camera of 28mm, and it takes the parts 1106 by speculum 1107a and half-reflecting mirror 1107c reflection.
Fig. 8 is a kind of flow chart, is illustrated in the work of this installation head 1103 when being conceived to installation head 1103 that swivel head 1100 possesses.
Be arranged in the suction nozzle (S1401) that installation head 1103 selections on the position (Fig. 6 position A) of selecting suction nozzle are consistent with the next parts that will install.Secondly, will rotate supporting seat 1101 rotations, (S1402) up to position (position B among Fig. 6) that above-mentioned installation head 1103 arrives suction section.In this position, installation head 1103 utilizes suction nozzle to aspirate and carry parts (S1403) from the suction opening portion 1112 of parts box 1111.
Secondly, will rotate supporting seat 1101 rotations, to position (position C among Fig. 6) that parts are discerned video camera 1105 (S1404) up to above-mentioned installation head 1103.Then, take the parts that institute aspirate and carries by low coverage video camera 1105b that is arranged on this position or big visual field video camera 1105c, and its image is carried out image processing, thereby discern the aspiration phases (S1405) of parts.By carrying out the identification of this aspiration phases, bidimensionality bias between the central point of detection parts and the central point of suction nozzle or parts are in the bias of angle direction, and, judged whether to take place shortage, suction mistake, the identification error (can not discern processing) etc. of parts.And when being judged as the aspiration phases such as shortage that there are parts unusual ("Yes" among the S1406), the discarded parts (S1410) that aspirated.And do not have ("No" among the S1406) when unusual when being judged as, on position D shown in Figure 6,, parts are proofreaied and correct (S1407) to the θ direction according to the bias that shifts to an earlier date detected angle direction.About the bias of bidimensionality, utilize XY platform 1015 to come the position of printed circuit board (PCB) is adjusted and proofreaied and correct here.Secondly, will rotate supporting seat 1101 rotations, (S1408) up to position (position E among Fig. 6) that installation head 1103 arrives installation portion.Then,, make installation head 1103 move on to the below, parts are press fit into printed circuit board (PCB) P (S1409) according to the height of the parts that will install.
Fig. 9 (a) to Fig. 9 (c) be a kind of key diagram, the various patterns of parts supply unit 1011 are described.Fig. 9 (a) is the figure of expression wheel stream mode, and is as shown in the drawing, and parts supply unit 1011 comprises left side parts supply unit ZL and right side parts supply unit ZR.Under the situation of pattern, the parts of identical type are placed among left side parts supply unit ZL and the right side parts supply unit ZR for the wheel stream mode.For example, utilizing left side parts supply unit ZL to produce in the process of substrate, take place under the situation of parts deficiency state, the right side parts supply unit ZR that will be positioned at ready position moves to the position that swivel head 1100 aspirates, and utilizes right side parts supply unit ZR to continue to produce substrate.During this period, replenish the parts that lacked for left side parts supply unit ZL.So, make right side parts supply unit ZR comprise identical parts, make that parts mounting machine 1010 can the long-time continuous operation with left side parts supply unit ZL.
Fig. 9 (b) is the figure of expression ready mode, for example utilizing left side parts supply unit ZL to produce in the process of substrate, the parts that are installed to the substrate that the next one will produce are placed among the parts supply unit ZR of right side, thus the conversion of the substrate that reply in advance will be produced.This pattern is suitable for the situation of the substrate that multiple conversions will produce most.
Fig. 9 (c) is the figure of expression binding pattern, and binding pattern is meant, the pattern of for example utilizing right side parts supply unit ZR and left side parts supply unit ZL to produce substrate.This pattern is suitable for utilizing multiple parts to produce the situation of a substrate most.
Figure 10 is that expression mounting points information is arranged the figure of the example of 1307a.Under situation into n is counted in the installation on the substrate 1020, mounting points information arrange 1307a by N (=n+2) individual key element is formed.
, as shown in figure 11, on substrate 1020, be pre-formed two base plate marks 1402 and 1404 here, and on this substrate 1020, be provided with five mounting points (from mounting points 1 to mounting points 5).Five mounting points are the positions that parts are installed to by parts mounting machine 1010.In order to determine the position of substrate 1020, the substrate identification video camera (not having figure) that is arranged on swivel head 1100 is taken base plate mark 1402 and base plate mark 1404, thereby discerns its position., at first discern the position of base plate mark 1402 here, discern the position of base plate mark 1404 then.In addition, on substrate 1020, also be provided with the virtual location that is called as imaginary point 1406.Imaginary point 1406 among the figure is on the next door of base plate mark 1404, but, because this is a virtual location, thus not necessarily will be on substrate 1020, perhaps also can be on the position identical with base plate mark 1404.Here, in base plate mark 1404 or five mounting points, first mounting points of parts becomes the initial point in closed circuit when with the closed circuit modelling of erection sequence decision problem.As telling about later on, the erection sequence decision problem after the closed circuit modelling for example is equivalent to traveling salesman problem (travelingsalesman problem).
Once more according to Figure 10 as can be known, each arrangement key element stores any information in the following information: the information of the information of the position of the information (to call " mounting points information " in the following text) of the position of relevant mounting points etc., relevant base plate mark and the position of relevant imaginary point.Be illustrated in mounting points information among Figure 10 and arrange second key element Data[2 of 1307a (Data)] middle canned data.Key element Data[2] in store the mounting points information of mounting points 2, comprising: X coordinate " 45 " and Y coordinate " 18 ", the position of expression mounting points 2 on substrate 1020; The position (Z numbering) " 24 " of the parts box 1111 that parts supply unit 1011 possesses on the Z axle, this parts box 1111 is taken in the parts that will be installed to mounting points 2; After installation head 1103 is finished the suction parts, the speed of utilizing till the parts (speed) " 6 " is installed to finishing; And the rate travel of XY platform (XY speed) " 2 ".
Speed with from speed " 1 " to speed " 8 " these 8 grades represent the fastest speed of speed 1 expression, the slowest speed of speed 8 expressions.That is, because heavy parts or big parts can not be installed with a fast speed, therefore a speed becomes slowly.Speed when here, a rate representation swivel head 1100 carries out intermittently rotating.And the position B of swivel head 1100 in Fig. 6 finishes (S1403 among Fig. 8) behind the suction parts, and it is preceding that position E in Fig. 6 installs parts (S1409 among Fig. 8), is that the center rotates half with the rotating shaft.Therefore, strict in fact, the speed of rotation of swivel head 1100 is that a slowest speed decides in the speed of the parts that will install to a plurality of installation head 1103 between the E of position according to the position B that is present among Fig. 6.But, here,, do not consider to aspirate the speed of the position B of parts, and suppose that each parts determine a speed respectively to other parts that exist between the position E that parts are installed from swivel head 1100 for the simplification of handling.
The rate travel of XY platform with from speed " 1 " to speed " 8 " these 8 grades represent the rate travel that speed 1 expression XY platform 1015 is the fastest, the rate travel that speed 8 expression XY platforms 1015 are the slowest.That is, under the heavy or big situation of the parts of being installed, if the rate travel of XY platform 1015 is too fast, the parts of installation will drop from substrate 1020.Therefore, under the situation that this parts will be installed, the rate travel of XY platform 1015 is set at slower.
Moreover, about the information of base plate mark position and the information that information also comprises and mounting points information is same of relevant imaginary point position.
Figure 12 is the figure of the example of expression conversion table 1307b.Conversion table 1307b is the table that is used for the time that the rate travel of a speed or XY platform 1015 is converted to.Time t (msec) after the first craspedodrome expression conversion.The second distance, delta xy of craspedodrome expression from mounting points i to mounting points j.The 3rd keep straight on expression from the parts box of taking in the parts that are installed to mounting points i to the parts box of taking in the parts that are installed to mounting points j at the distance on the Z axle (absolute value of the difference between the Z numbering).Speed when parts j is installed in the 4th craspedodrome expression (, the speed when swivel head 1100 carries out intermittently rotating).The 5th keeps straight on expression from corresponding to the rate travel of the XY platform 1015 of first mounting points maximum value W to the rate travel of the XY platform 1015 of corresponding and mounting points i Max (0 → i)Why adopt value W maximum in the rate travel of XY platform 1015 here, Max (0 → i)Be under the situation because of the slow parts of the rate travel that XY platform 1015 has been installed at substrate 1020, if XY platform 1015 is moved with the rate travel faster than this speed, being installed in the heavy parts of substrate 1020 or big parts will drop or can depart from by occurrence positions from substrate 1020, for fear of this phenomenon, after the rate travel that reduces XY platform 1015, XY platform 1015 is moved with the speed bigger than this speed.
For example, a speed and XY speed be 1 and the distance, delta xy from mounting points i to mounting points j be under 20 the situation, moving the required time is 120msec.And the speed of mounting points j and XY speed are under 3 the situation, and moving the required time is 140msec.
Here, about there not being the value of record among the conversion table 1307b, can obtain by carry out linear interpolation etc. according to the value calculated.For example, distance, delta xy surpasses under 1103 the situation, required time t in the time of can calculating displacement Δ xy according to following formula (1) Xy(Δ xy).
t xy(Δxy)＝500+(Δxy-103)/0.356 (1)
Moreover about other parameters, separating of interpolation formula that also can be by the sample of seeking common ground is converted to the time.
Figure 13 is a kind of flow chart, represents the processing that the first parts erection sequence determination section 308a carries out.The first parts erection sequence determination section 308a reads in mounting points information and arranges 1307a and conversion table 1307b (S1002) from database part 1307.Arrange 1307a as can be known according to mounting points information shown in Figure 10, the installation of parts is to be undertaken by the order shown in the arrow-shaped symbol among Figure 14.
Secondly, the first parts erection sequence determination section 308a arranges 1307a and conversion table 1307b making beat table (S1004) according to the mounting points information of reading in.The beat table is meant, to from finish parts are installed in mounting points i after, to finishing parts are installed in the table that the required time puts in order till the mounting points j.
Figure 15 is the figure of an example of expression beat table., base plate mark 1404 is made as mounting points 0 here, imaginary point 1406 is made as mounting points 6.According to following formula (2), can calculate the i.e. required time t of each value in the beat table from mounting points i to the installation of mounting points j Ij
t ij＝max{t xy(Δxy)，t z(Δz)，
t h(h j)，t w(w max(0→i))} (2)
Here, the mounting points information i with relevant above-mentioned mounting points i is made as (x i, y i, z i, h i, w i), and the mounting points information j of relevant above-mentioned mounting points j is made as (x j, y j, z j, h j, w j) situation under, Δ xy=max{|x i-x j|, | y i-y j| be illustrated in mounting points i on the xy platform and the distance between j; t Xy(Δ xy) expression is converted to Δ xy according to conversion table 1307b the value of time; Δ z=|z i-z j| expression from the parts box of taking in the parts that are installed to mounting points i to the distance of parts box on the z axle of taking in the parts that are installed to mounting points j; t z(Δ z) expression is converted to Δ z according to conversion table 1307b the value (expression is supplied with the required time of parts from parts supply unit 1011 to installation head 1103) of time; h jThe speed of expression parts j (from speed 1 (soon) to speed 8 (slowly)); t h(h j) be illustrated in and will move to mounting points j after mounting points i installed and when installing, swivel head carries out intermittently rotating the required time; w Max (0 → i): expression is from about the rate travel of the XY platform 1015 of first mounting points maximum value (from speed 1 (soon) to speed 8 (slowly)) to the rate travel about the XY platform 1015 of mounting points i; t w(w Max (0 → i)) represent according to conversion table 1307b w Max (0 → i)Be converted to the value of time.
Moreover, " cost " in the traveling salesman problem of telling about after each set-up time is equivalent to.And, when the processing of calculating the beat table (S1004), be assumed to t Ij=t Ji, and do not calculate t JiThus, the processing time can be shortened.,, not only each set-up time is defined as cost here, also the displacement between two mounting points can be defined as cost about " cost ".
In addition, (from mounting points 1 to mounting points 5) required set-up time is set at the value bigger than the set-up time required any mounting points (being set at 10000000 here) from imaginary point to each mounting points.And 1406 required set-up times are set at the value littler than the set-up time required between any mounting points (being set at 1 here) from base plate mark 1404 to imaginary point.Moreover these values only are examples, and are not limited to these.
Secondly, the first parts erection sequence determination section 308a arranges 1307a according to mounting points information and makes initial touring road (S1006).Figure 16 is the figure that the method on initial touring road is made in explanation.Initial touring road is to make from rearrange mounting points information arrangement 1307a near slow order (by rate value order from small to large) by the rate travel of XY platform., the XY speed of base plate mark 1404 (Data[0]) is made as 0 here, the XY speed of imaginary point 1406 (Data[6]) is made as 9.By this method, base plate mark 1404 just becomes initial point, and imaginary point 1406 becomes end point.Here, in order to handle high speed, the key element of not changing among the mounting points information arrangement 1307a is changed, and utilizes erection sequence to arrange p, and this erection sequence is arranged the key element that deposits in addition among the p among the mounting points information arrangement 1307a and numbered.P[i] i+1 mounting points of the expression parts key element of arranging among the 1307a in mounting points information numbers.That is, arrange p, carry out the installation of parts by the order of base plate mark 1404, mounting points 4, mounting points 5, mounting points 1, mounting points 2, mounting points 3, imaginary point 1406 successively according to erection sequence shown in Figure 16.Figure 17 represents this erection sequence.That is, make base plate mark 1404 closed-loop path of just getting back to imaginary point 1406 afterwards is installed for initial point and by said sequence.
Required total time (S1008) when secondly, the first parts erection sequence determination section 308a calculates and installs according to the initial touring road that obtains.That is, can calculate total time T required when installing according to initial touring road according to following formula (3).
T＝t 04+t 45+t 51+t 12+t 23+t 36+t 60 (3)
, for example calculate total set-up time here, just can obtain following result according to beat table shown in Figure 15.
T＝200+380+400+400+300+10000000+1＝10002081(msec)
Then, the first parts erection sequence determination section 308a obtains the touring road of total set-up time minimum according to following processing (from S1010 to S1018).
As mentioned above, the erection sequence arrangement p that initially goes the rounds the road by the expression of initially going the rounds road making processing (S1006) acquisition is made as shown in Figure 16, but for later explanation is oversimplified, here by initial touring road make handle expression that (S1006) obtain initially the erection sequence arrangement p on touring road be made as shown in Figure 18.And, oversimplify in order to make explanation, the XY speed of mounting points 0 (base plate mark 1404) is made as 0, will be from mounting points 1 to mounting points 5 XY speed all be made as 1, the speed of mounting points 6 (imaginary point 1406) is made as 9.
At first, the first parts erection sequence determination section 308a is made as 0 (S1010) with cycle counter i.Secondly, the first parts erection sequence determination section 308a attempts transposing erection sequence (S1012) for the 2-OPT method of the suitable traveling salesman problem in touring road.About the details of 2-OPT method (S1012), tell about later on.By the 2-OPT method, changed under the situation of erection sequence ("Yes" among the S1014), cycle counter i make zero (S1016).Under the situation of not changing erection sequence ("No" among the S1014), the value of cycle counter i is added one (S1018).Carry out above processing (from S1012 to S1018) repeatedly, until the value of cycle counter i becomes till 7, promptly proceeding to becomes (circulation A) till (i=N=n+2).Total be exactly the touring road that becomes in the value of cycle counter i at 7 o'clock is minimum touring road by the set-up time that traveling salesman problem obtains.That is,, do not change under the situation of erection sequence yet, just be judged as the touring road that obtains this moment and be best touring road even continuous 7 times (N times) have carried out the processing of circulation A repeatedly, and definite erection sequence.
Below, (S1012) is elaborated about the 2-OPT method.Figure 19 is the flow chart of the detailed process of expression 2-OPT method.
The first parts erection sequence determination section 308a is made as i+2 (S1102) with cycle counter j.Here, the value of cycle counter j surpasses under 7 the situation, will be worth among ((i+2) mod 7) substitution cycle counter j.Remainder when here, y is used in " x mod y " expression divided by x.
Secondly, the first parts erection sequence determination section 308a judges that erection sequence arranges among the p with key element p[i+1] mounting points of expression (below, will be with key element p[k] mounting points of expression is called mounting points p[k]) XY speed and mounting points p[j] XY speed whether identical (S1104).
Under the identical situation of XY speed ("Yes" among the S1104), calculate as transposing mounting points p[i+1] with mounting points p[j] time required total set-up time (S1106) of touring road.
The first parts erection sequence determination section 308a judges whether total set-up time of calculating is shorter than the total set-up time (S1108) before calculating.
For example, under the situation of i=0, j=2, respectively with mounting points p[1] and p[2] between the erection sequence transposing before and transposing back when calculating total set-up time, the not variation of total set-up time.Its reason is as follows.That is, for the part erection sequence of the variation that has influence on total set-up time, according to the beat table as can be known, transposing before the erection sequence from p[0] to p[1] and these two mounting points the required set-up time be t 01=200 (msec).And, according to the beat table, from p[2] and to p[3] the required set-up time of these two mounting points is t 23=300 (msec).Therefore, from p[0] to p[3] the required set-up time is 500 (msec).On the other hand, according to the beat table, transposing behind the erection sequence from p[0] to p[2] the required set-up time is t 02=300 (msec), from p[1] to p[3] the required set-up time is t 13=200 (msec).Therefore, from p[0] to p[3] the required set-up time is 500 (msec), this with the transposing erection sequence before identical.Therefore, total set-up time can not change yet.
At mounting points p[i+1] and mounting points p[j] the mutually different situation of XY speed under under the situation of ("No" among the S1104) or the time before total set-up time is not shorter than transposing ("No" among the S1108), the value of cycle counter j is added one (S1114).After this, during the value of cycle counter j satisfies less than the condition of (i+n+1), carry out the following processing (circulation B) of S1104 repeatedly.,, utilize " j mod N " to replace j here, and surpass under the situation of N, utilize " (i+n+1) mod N " to replace (i+n+1) as (i+n+1) when j surpasses under the situation of N.When the processing of the circulation B that is through with, just finish 2-OPT method (S1012 among Figure 13).
Under the situation of total set-up time before total set-up time of transposing after the mounting points is shorter than the transposing mounting points ("Yes" among the S1108), the first parts erection sequence determination section 308a is updated to total set-up time (S1110) after the transposing mounting points with total set-up time.In addition, the first parts erection sequence determination section 308a changes erection sequence (S1112) by the key element among the transposing erection sequence arrangement p.Moreover, to tell about according to Figure 21 (a) and Figure 21 (b) later on, the transposing of mounting points is equivalent to the path transposing in the closed-loop path.In transposing during path,, just can not obtain the closed-loop path if do not make the direction reversing of the part path in the path that is present in after the transposing.Therefore, when the transposing erection sequence, also to carry out this reversing and handle the direction of path.In view of the above, with regard to the 2-OPT method in the end travel merchant problem (S1012 of Figure 13).
For example, what the next one of Figure 20 (a) was expressed is, under the situation of i=0, j=4, transposing mounting points p[1] (referring to mounting points 1 here) and mounting points p[4] the required set-up time between (referring to mounting points 4 here) preceding each mounting points.And the next one of Figure 20 (b) is expressed, the required set-up time between each mounting points after having changed mounting points 1 and mounting points 4.Figure 21 (a) and Figure 21 (b) represent before the transposing mounting points respectively and the touring road after the transposing mounting points.That is, the transposing of mounting points 1 and mounting points 4 is equivalent to from mounting points 0 to mounting points 1 path and the transposing of 5 path from mounting points 4 to mounting points.
Under the situation of set-up time of the part of only considering to have influence on total set-up time, according to the beat table as can be known, the 1 required set-up time from mounting points 0 to mounting points before the transposing mounting points is t 01=200 (msec), 5 required set-up times were t from mounting points 4 to mounting points 45=380 (msec).Therefore, the summation of these set-up times is 580 (msec).On the other hand, according to the beat table as can be known, the 4 required set-up times from mounting points 0 to mounting points after the transposing mounting points are t 04=200 (msec), 5 required set-up times were t from mounting points 1 to mounting points 15=100 (msec).Therefore, the summation of these set-up times is 300 (msec), compares before the mounting points with transposing, has obviously shortened the time.Moreover, shown in Figure 20 (b), along with mounting points p[1] and mounting points p[4] transposing, also transposing is present in p[1] and p[4] between key element p[2] and p[3] value.That is p[2 ,] value 2 become 3, p[3] value 3 become 2.Its reason is, as Figure 21 (a) and (b), owing to changed p[1] and p[4], therefore be present in p[1] and p[4] between from p[1] to p[2] and path, from p[2] to p[3] path and from p[3] to p[4] and the direction of path all reverse.Moreover, even with the path direction reversing, also in the processing of calculating above-mentioned beat table (S1004), suppose t Ij=t JiObtain the beat table.Therefore, for the part that path direction changes, bring influence can for the variation of total set-up time.
, summarize the explanation according to Figure 21 (a) and Figure 21 (b) here, that is, what Figure 21 (b) illustrated is even the direction of path is reversed, to constitute the example that the set-up time required between the mounting points of this path also can not change.And ideal is to shorten total set-up time of closed-loop path.Therefore,, also erection sequence can be changed, for example the erection sequence shown in Figure 21 (a) erection sequence shown in Figure 21 (b) can be changed to meeting under the situation of this condition.And what Figure 21 (b) illustrated is that under the situation of certain two mounting points having been carried out transposing, the direction that also will in time change path is to obtain the closed-loop path.
The result that the erection sequence decision that Figure 22 (a) and Figure 22 (b) expression are undertaken by the above-mentioned first parts erection sequence determination section 308a is handled.Figure 22 (a) expression erection sequence is arranged the required set-up time between p and mounting points.Figure 22 (b) is illustrated in the required set-up time between the touring road of the mounting points on the actual substrate and mounting points.The figure shows according to erection sequence and arrange p, generated touring road by the order of mounting points 0,4,2,3,1,5,6,0, and its total set-up time is 10001001.Here, the result who calculates total set-up time of the closed-loop path shown in Figure 21 (b) is 10001251, and total set-up time of the closed-loop path shown in Figure 22 (b) is shorter as can be known.
Figure 23 (a) arranges the relation of p, mounting points information arrangement Data and erection sequence to the erection sequence shown in Figure 23 (c) expression Figure 22 (a).Each key element value that erection sequence shown in Figure 23 (a) is arranged p is the index that the mounting points information shown in Figure 23 (b) is arranged Data, arranges p and mounting points information at erection sequence and arranges each key element that arrow-shaped symbol between Data points out that mounting points arranges p mounting points information shown in respectively and arrange key element among the Data.That is p[0 ,] value 0 be that the mounting points information of first mounting points is arranged the index of the key element among the Data.Therefore, this value representation Data[0].Data[0] in deposit the information of the position of relevant base plate mark 1404 in.And, p[1] value 4 be that the mounting points information of second mounting points is arranged the index of the key element among the Data.Therefore, this value representation Data[4].Data[4] in deposit the mounting points information of relevant mounting points 4 in.From the touring road that obtains by said method, remove base plate mark 1404 and imaginary point 1406, and the value of arranging p according to erection sequence, rearrange mounting points information and arrange Data, then generate the mounting points information arrangement Data that the order by mounting points 4,2,3,1,5 shown in Figure 23 (c) is installed successively.
Figure 24 (a) is that explanation generates the figure that mounting points information is arranged the additive method of Data to Figure 24 (d).Provide the mounting points information shown in p and Figure 24 (b) of arranging of the mounting points shown in Figure 24 (a) to arrange Data here.The initial point on these touring roads of expression is imaginary points.Therefore, generate touring road shown in Figure 25.So, in this case, the identical method of method at first by illustrating to Figure 23 (c) with Figure 23 (a), the mounting points information shown in Figure 24 (c) of making is arranged Data, changes the processing that mounting points information is arranged the erection sequence among the Data then.Its result generates the touring road shown in Figure 22 (c).Obtain mounting points information by this method and arrange Data, thereby can begin to install parts near the mounting points the base plate mark 1404.
The table of Figure 26 experimental result that to be expression obtain respectively according in the past method and the method that the present invention relates to.In this table, first keeps straight on represents sample number; The second craspedodrome expression is installed and is counted; The 3rd keeps straight on represents the species number of parts; The 4th keeps straight on is illustrated in according to the erection sequence of method (greedy algorithm) acquisition by in the past total set-up time required under the situation of parts is installed; The 5th craspedodrome is illustrated in the erection sequence that obtains according to the traveling salesman problem that the present invention relates to total set-up time required under the situation of parts is installed; The 6th keeps straight on the total set-up time shown in expression the 4th craspedodrome at the shared percentage of total set-up time shown in the 5th craspedodrome; The 7th keeps straight on expression according to the method acquisition required processing time of erection sequence that the present invention relates to.Here, about arranging the order of parts box on the Z axle, method in the past is identical with method of the present invention, and promptly condition is unified.
According to the improvement rate shown in the 6th craspedodrome, the value of all samples all surpasses 100%, and maximum has been improved 18.2% (sample E).And, obtain the required processing time of erection sequence less than 1 second kind.
As mentioned above, by the parts erection sequence decision work of being undertaken by the first parts erection sequence determination section 308a, the best parts erection sequence of decision in the time range that can realize actually.
More than, the parts erection sequence decision processing of being undertaken by the first parts erection sequence determination section 308a has been described, but, this processing is not limited to above-mentioned processing.
For example, in parts erection sequence determining method shown in Figure 13, the rate travel of pressing the XY platform is from arranging 1307a near slow order (by speed order from small to large) transposing mounting points information, thereby obtained initially to go the rounds road (S1006 among Figure 13), but, also can obtain initial touring road by greedy algorithm.The parts erection sequence decision according to traveling salesman problem that will carry out after like this, just can carrying out is at a high speed handled.
In addition, in the decision of above-mentioned parts erection sequence is handled, near base plate mark 1404, set imaginary point 1406, but, not necessarily will be near base plate mark 1404 setting imaginary point 1406, and also can near first mounting points of the parts that are predetermined, set imaginary point 1406.
And imaginary point 1406 also can be set on the position identical with first parts mounting points that is predetermined.
And, not necessarily to carry out the such processing of action time shortening device 300 as shown in Figure 2, promptly, not necessarily to carry out the decision of parts erection sequence and handle by conversion, and the structure that the parts erection sequence decision that can adopt special execution to be undertaken by the first parts erection sequence determination section 308a is handled.
Figure 27 is the outside drawing that possesses the parts installation system of this structure.The parts installation system not only determines parts are installed to the order of substrate, and according to the erection sequence that determines, substrate is installed parts, comprising: parts mounting machine 1010 and parts erection sequence determination device 1300.
Figure 28 is the functional-block diagram of the structure of expression parts erection sequence determination device.Parts erection sequence determination device 1300 is the computers that determine parts are installed to the order of substrate, comprising: s operation control portion 1301, display part 1302, input part 1303, memory section 1304, parts erection sequence determination procedure storage part 1305, communication I/F (interface) portion 1306 and database part 1307 etc.
This parts erection sequence determination device 1300 is realized by carried out parts erection sequence determination procedure by general-purpose computing systems such as PC, even this device under the situation that is not attached to parts mounting machine 1010, also carries out work as analogue means independently (instrument of decision parts erection sequence).
Central processing unit) or numerical data processor etc. s operation control portion 1301 is CPU (Central Processing Unit:, according to from indication of user etc., the program that download memory portion 1304 needs from parts erection sequence determination procedure storage part 1305 is also carried out, and controls each constitutive requirements 1302 to 1307 according to the result of this execution.
Cathode ray tube) or LCE (LiquidCrystal Display: liquid crystal display) etc. display part 1302 is CRT (Cathode-Ray Tube:, input part 1303 is keyboard or mouse etc., these are used for linking up between parts erection sequence determination device 1300 and operating personnel etc. under the control of s operation control portion 1301.
Communication I/F portion 1306 is that (Local Area Network: adapter etc. local area network (LAN)), it is used for communicating between parts erection sequence determination device 1300 and parts mounting machine 1010 etc. LAN.Memory section 1304 is that (Random Access Memory: random asccess memory) etc., it provides the service area of s operation control portion 1301 to RAM.
Database part 1307 is hard disks etc., deposit the input data of in the process of carrying out parts erection sequence decision processing by above-mentioned parts erection sequence determination device 1300, utilizing (mounting points information is arranged 1307a and conversion table 1307b etc.) in, or deposit the sequential scheduling of handling the installation parts of decision by the decision of parts erection sequence in.
The program that is stored in parts erection sequence determination procedure storage part 1305 is carried out work as the above-mentioned first parts erection sequence determination section 308a when carrying out this program by s operation control portion 1301.Therefore, by carrying out these programs, thereby can carry out identical processing with the above-mentioned first parts erection sequence determination section 308a by s operation control portion 1301.
Here, the first parts erection sequence determination section 308a is that object has carried out the optimal treatment at the parts erection sequence with rotary parts mounting machine 1010, but, the processing of being undertaken by the first parts erection sequence determination section 308a also goes for being called as the parts mounting machine of radial members plug-in mounting equipment.
Figure 29 is a kind of outside drawing, and expression is called as the example of structure of the parts mounting machine of radial members plug-in mounting equipment.This parts mounting machine 1500 is a radial members plug-in mounting equipment, is inserted into through hole on the substrate by the line with radial members, thereby this radial members is installed to substrate.
Parts mounting machine 1500 comprises: parts supply unit 1510, parts trucking department 1520,1530, carrying loading machine 1540, XY platform 1550 and two IC tag readers 1611.
Figure 30 is the concept map of the primary structure of expression parts mounting machine 1500.Parts supply unit 1510 is stored a plurality of radial members in advance, and this radial members is offered trucking department 1520, and parts supply unit 1510 comprises: parts containing portion 1511, a plurality of guide plate 1512 and a plurality of box 1513.
A plurality of packing 1511a take in parts containing portion 1511, and this packing 1511a is the parts feed unit of the identical radial members C of one group of kind of packing.One group of radial members C that kind is identical lines up a craspedodrome, and is accommodated in the band.That is, this band (parts band) t that is taking in radial members C is in folded state, and is packaged among the above-mentioned packing 1511a.
The parts band t that guide plate 1512 will extract from the packing 1511a of parts containing portion 1511 is directed to box 1513.
Box 1513 extracts parts band t from the packing 1511a of parts containing portion 1511, and carries out supply work continuously.And box 1513 is the front end of the parts band t of sever supply successively, and a plurality of radial members C that will be accommodated in parts band t separate, and supply to parts trucking department 1520.
Parts trucking department 1520 will be supplied with the radial members C carrying that comes to the end 1530 from box 1513, and this parts trucking department 1520 comprises: three pulleys 1521, conveyer belt 1522, a plurality of clamp storage parts 1523 and the driving mechanism (not having figure) that pulley 1521 rotations are driven.
Conveyer belt 1522 for example utilizes synthetic resin to form ring-type, and it is hanged up substantially by three pulleys 1521 and is triangle.And conveyer belt 1522 drives by pulley 1521 rotations and goes the rounds.
A plurality of clamp storage parts 1523 are separately positioned on the conveyer belt 1522 every the identical distance of cardinal principle, and it possesses the structure of carrying (catching) radial members C.
This parts trucking department 1520 carries from box 1513 by the clamp storage part 1523 that makes conveyer belt 1522 and supplies with the radial members C of coming, thus with radial members C successively from box 1513 carryings to the end 1530.
As shown in figure 29, carrying loading machine 1540 is transported to substrate B on the XY platform 1550, and the outside that substrate B behind the parts is transported to parts mounting machine 1500 will be installed.
XY platform 1550 makes substrate B move on two-dimensional directional along installed surface.1530 obtain and carry the radial members C that moves over from parts trucking department 1520, this radial members C are installed to the substrate B that is placed on the XY platform 1550.
Two IC tag readers 1611 are configured in the parts containing portion 1511, and from being arranged on the components information of telling about after the IC tag 1511b that respectively packs 1511a reads.Here, the signal of exporting from each IC tag 1511b is to be obtained by two the IC tag readers 1611 that are configured in diverse location respectively, therefore can determine the position of each IC tag 1511b according to the signal of this acquisition.That is, each IC tag 1511b is arranged on and respectively packs 1511a, therefore can determine respectively to pack position on the 1511a (the Z numbering " Z1, Z2 ... ").
In addition, the processing of being undertaken by the first parts erection sequence determination section 308a goes for the crossovers insertion machine of plug-in mounting crossovers in substrate or the axial inserter of plug-in mounting axial member in substrate.
[about the second parts erection sequence determination section 308b]
The process object of the second parts erection sequence determination section 308b is a modular parts mounting machine 2100 shown in Figure 1.
Figure 31 is a kind of top view, the primary structure of the parts mounting machine 2100 that expression the present invention relates to.Reciprocating conveyor 2118 is a kind of portable platform (parts carrying conveyers), is used to load the parts that extract from pallet supply unit 2117, and carrying 2112 assigned positions that can aspirate these parts to the end.Suction nozzle station 2119 is a kind of, for the kind of the parts that adapt to different shape, deposits the suction nozzle of replacing usefulness on this platform.
To constitute two parts supply unit 2115a of each auxiliary equipment 2110 (or 2120) and 2115b and be with parts identification video camera 2116 be the boundary, is configured in left side and right side respectively.Therefore, be used for from parts supply unit 2115a or 2115b suction parts 2112 after having passed through parts identification video camera 2116, just move to the mounting points on the substrate 2020, and the work that all parts that aspirated are installed repeatedly." mounting points " is meant the coordinate points on the substrate 2020, at that point parts will be installed, and, even the parts of identical type also may be installed to different mounting points.Be arranged in about parts (mounting points) sum on the parts band of parts of the same race and equal the number of components and parts (sums of the parts that should install) identical with its parts kind.
, 2112 suctions of carrying out parts repeatedly, move, install this consecutive work here, and wherein consecutive work (suction, move, install) or the parts group of portion who installs by this consecutive work are called " task ".For example, utilize under the situation of ten suction nozzle heads, the maximum number of the parts that can install by a task is 10.Comprise 2112 all suction operation in this " suction " that relates to from carrying out before begin to move after beginning to aspirate parts, for example not only comprise situation, also comprise by the situation of 10 parts of suction operation suction repeatedly by suction operation (2112 rotation up and down) 10 parts of suction.
Figure 32 is a kind of ideograph, the position relation of expression 2112 and parts box 2114.This 2112 is to adopt the working head be called as " combination acquisition model ", and 10 suction nozzle 2112a can be set at most, and when 10 suction nozzles are set, respectively at most can be from 10 parts boxes 2114 (by once rotating up and down) suction parts simultaneously.
And, in the parts box 2114 that is called as " single box ", only load a parts band, and in the parts box 2114 that is called as " two box ", load two parts bands.In addition, the position that is provided with of the parts box 2114 among parts supply unit 2115a and the 2115b (or parts band) is called as " value on the Z axle " or is called as " position on the Z axle (Z numbering) ", and Z numbering adopts the high order end with parts supply unit 2115a to be made as the serial number etc. of " Z1 "." Z axle " be meant, is used for determining to be separately positioned on the reference axis of arrangement position (position is set) of the parts box 2114 of each parts mounting machine (possessing under the situation of auxiliary equipment, be separately positioned in each auxiliary equipment).
Below, the parts erection sequence decision processing of carrying out about the second parts erection sequence determination section 308b describes.Handle identical substantially by the parts erection sequence decision that the second parts erection sequence determination section 308b carries out with the parts erection sequence decision processing of being undertaken by the first parts erection sequence determination section 308a, but, be used to calculate the set-up time t required from the mounting points i on the substrate to mounting points j IjFormula different with above-mentioned formula (2).
That is, calculate set-up time t according to following formula (4) Ij
tij＝t xy(Δx’y’) (4)
Δ x ' y '=max{|x ' i-x ' j|, | y ' i-y ' j| be illustrated in the distance on the substrate 2020 from the mounting points j of the mounting points i after proofreading and correct after proofread and correct; t Xy(Δ x ' y ') expression is converted to Δ x ' y ' according to conversion table 1307b the value of time.
Here, as telling about later on, " the mounting points i after the correction " is the point that a central point 2502 exists when parts are installed to mounting points i.About " the mounting points j after the correction " too.
Figure 33 (a) is the figure during something worth seeing 2112 from the side, and Figure 33 (b) is the figure during from bottom surface something worth seeing 2112.Below, to oversimplify in order to make explanation, the quantity of supposing suction nozzle 2112a is four.Here, suppose to suction nozzle 2112a and given from 1 to 4 suction nozzle numbering.And the central point of supposing four suction nozzle 2112a is a central point 2502.Shown in Figure 33 (a), the x coordinate of the first suction nozzle 2112a is in the position in the left side 30 of a central point 2502.Equally, the x coordinate of the second suction nozzle 2112a is in the position in the left side 10 of a central point 2502.And the x coordinate of the 3rd and the 4th suction nozzle 2112a is respectively in the right side 10 of a central point 2502 and 30 position.
Figure 34 is the figure of an example of expression substrate 2020.On substrate 2020, be pre-formed two base plate marks 2402 and 2404, and on this substrate 2020, be provided with four mounting points (from mounting points 1 to mounting points 4).Four mounting points are the positions of parts being installed by parts mounting machine 2010.In order to determine the position of substrate 2020, the substrate identification video camera (not having figure) that is arranged on swivel head 2100 is taken base plate mark 2402 and base plate mark 2404, and discerns its position., at first discern the position of base plate mark 2402 here, discern the position of base plate mark 2404 then.Moreover, about the coordinate of four mounting points, expression in the drawings.For example, the coordinate of mounting points 1 be (x, y)=(100,100).
In addition, on substrate 2020, also be provided with the virtual location that is called as imaginary point 2406.Particularly, as shown in figure 35, imaginary point 2406 is set on the parts supply port that the parts box possesses, and this parts box is positioned at the center of a plurality of parts boxes 2114 that parts supply unit 2115a or 2115b comprise.For example, exist under the situation of 9 parts boxes 2114 (value of Z axle is from 1 to 9), the value that imaginary point 2406 is set in the Z axle is on the parts supply port that possesses of 5 parts box 2114.
Moreover, under situation about handling by the second parts erection sequence determination section 308b, with imaginary point 2406 as initial point and end point when parts erection sequence decision problem is carried out closed circuit modelling, and with imaginary point 2406 as in the closed-loop path through point.Here, the erection sequence decision problem after the closed circuit modelling for example is equivalent to traveling salesman problem.
Figure 36 is that expression mounting points information is arranged the figure of the example of 1307a.In this was handled, arranging the 1307a difference with mounting points information shown in Figure 10 was that initial point and end point that mounting points information is arranged 1307a all are imaginary point.And this mounting points information is different with information shown in Figure 10.That is, mounting points information comprises: the coordinate of mounting points " x coordinate " reaches " y coordinate "; Suction will be installed to the numbering " suction nozzle numbering " of suction nozzle 2112a of the parts of mounting points; And according to the position of suction nozzle 2112a, to " x coordinate " reach " y coordinate " proofread and correct and " x ' coordinate " reach " y ' coordinate ".
Figure 37 is that the figure that " x ' coordinate " reaches the method for " y ' coordinate " is calculated in explanation.As shown in the figure, aspirate the parts that are installed in mounting points 1,2,3,4 respectively by the suction nozzle 2112a that is numbered 2,1,4,3.Shown in Figure 33 (a) and Figure 33 (b), suction nozzle is numbered 1 suction nozzle 2112a in the position from the left side 30 of a central point 2502.Therefore, though the coordinate of mounting points 2 be (x, y)=(150,150), but the coordinate of the central point 2502 when installing on mounting points 2 (x ', y ') becomes (180 (=150+30), 150).So, " x ' coordinate " reaches the coordinate of " y ' coordinate " central point 2502 when parts are installed in expression.
Figure 38 is a kind of flow chart, represents the processing that the second parts erection sequence determination section 308b carries out.The processing (S1002) of reading in the optimization data is identical with the processing that the first parts erection sequence determination section 308a carries out.The second parts erection sequence determination section 308b changes by the mounting points coordinate that said method is arranged among the 1307a the mounting points information of reading in, and calculates x ' coordinate and y ' coordinate (S2002).
The second parts erection sequence determination section 308b makes beat table (S2004) as shown in Figure 15 according to the coordinate of x ' coordinate, y ' coordinate and the imaginary point of the mounting points of calculating.Processing afterwards (from S1006 to S1018) is identical with the processing that the first parts erection sequence determination section 308a carries out.Therefore, do not explain over and over again its details here.
By as above handling, the optimal sequence of parts can decision module formula parts mounting machine be installed.Thus, can shorten the running time of parts mounting machine.
In said method, as shown in figure 37, the parts kind of being carried by suction nozzle 2112a is a predetermined fixed.And in following example, prepare two kinds of parts kind quasi-modes that carry by parts suction nozzle 2112a in advance, and adopt the shorter parts kind quasi-mode of set-up time of parts.
Figure 39 is a kind of flow chart, represents the processing that the second parts erection sequence determination section 308b carries out.Second parts erection sequence determination section 308b decision constitutes the parts group (S2102) of a task.As parts group's determining method, can adopt by the number of components and parts that will install from many to few order, select the method for parts singly.For example, under the histogrammic situation of the relevant quantity shown in hypothesis Figure 40 (a), the parts group that the parts A to D that quantity is many comprises as a task.
Secondly, the second parts erection sequence determination section 308b is the suction nozzle numbering (S2104) that preferential decision is used to aspirate parts with the suction.That is, by the order of the suction time that can shorten parts, decision is used to aspirate the suction nozzle numbering of parts.For example, shown in Figure 40 (b), suppose the situation of the sequence arrangement parts box 2114 of pressing parts A, B, C, D.In the case, shown in Figure 40 (c), make suction nozzle be numbered 1 suction nozzle 2112a suction parts A, make suction nozzle be numbered 2 suction nozzle 2112a suction parts B, make suction nozzle be numbered 3 suction nozzle 2112a suction parts C, make suction nozzle be numbered 4 suction nozzle 2112a suction parts D, by this method, just can shorten the installation required time of parts.
Secondly, the second parts erection sequence determination section 308b according to the processing by S2104 obtain with the pattern of suction for preferential suction parts, promptly according to the pattern shown in Figure 40 (c), carry out the optimal treatment (S2106) of parts erection sequence.This optimal treatment (S2106) is identical with processing shown in Figure 38, does not therefore explain over and over again its content.
Secondly, the second parts erection sequence determination section 308b is to be installed as preferential decision suction nozzle numbering (S2108).That is, by shortening parts are installed to substrate 2020 order of required time, decision is used to aspirate the suction nozzle numbering of parts.Here, the method for decision suction nozzle numbering is to make suction nozzle be numbered the more little parts of x coordinate of more little suction nozzle 2112a suction mounting points.Why adopting this method, is that (x ' coordinate) can be near the center of substrate 2020 because the x coordinate after proofreading and correct, thereby can shorten 2112 displacements when installing.
For example, be arranged as under the such situation of Figure 41 (a) in mounting points, shown in Figure 41 (b), make suction nozzle be numbered 1 suction nozzle 2112a suction parts A, make suction nozzle be numbered 2 suction nozzle 2112a suction parts D, make suction nozzle be numbered 3 suction nozzle 2112a suction parts C, make suction nozzle be numbered 4 suction nozzle 2112a suction parts B.
Secondly, the second parts erection sequence determination section 308b according to the processing by S2108 obtain to be installed as the pattern of preferential suction parts, promptly according to the pattern shown in Figure 41 (b), carry out the optimal treatment (S2110) of relevant parts erection sequence.This optimal treatment (S2110) is identical with processing shown in Figure 38, does not therefore explain over and over again its content.
Total set-up time (to call " being preferential total set-up time with suction " in the following text) when the second parts erection sequence determination section 308b be the parts erection sequence of preferential decision to adopting with suction and the employing total set-up time (to call " to be installed as preferential total set-up time " in the following text) when being installed as the parts erection sequence of preferential decision compares (S2112).
Under being shorter than with the situation that is installed as preferential total set-up time with suction for preferential total set-up time ("Yes" among the S2112), it is the parts suction mode and the parts erection sequence (S2114) of preferential decision that the second parts erection sequence determination section 308b adopts with the suction.And be installed as preferential total set-up time equal or be shorter than with suction for the situation of preferential total set-up time under ("No" among the S2112), the second parts erection sequence determination section 308b adopts parts suction mode and the parts erection sequence (S2116) to be installed as preferential decision.
By above-mentioned processing, can determine the parts kind that meets most that to carry by each suction nozzle 2112a.
Moreover the processing that the second parts erection sequence determination section 308b carries out also goes for the modular parts mounting machine, and this equipment is the equipment that swivel head is moved and parts are installed to substrate.
Two kinds of swivel heads that carry out this work below are described.Figure 42 is the oblique view of swivel head.
Swivel head 2405 comprises first member 2405a and second the member 2405b that is set up in parallel and has identical function.Because each member has substantially identical functions, the structure of first member 2405a only is described below therefore.
First member 2405a comprises: fixed mount 2410; Be configured in a plurality of (having six among Figure 42) the suction nozzle lifting motor 2411 on the fixed mount 2410; Aspirate and carry a plurality of suction nozzles 2412 of parts; Can be provided with the suction section 2413 of suction nozzle 2412 with freely loading and unloading; A plurality of cam tube 2414; And be the θ motor 2415 that the center makes suction nozzle 2412 rotations with A axle or A ' axle.
Possessing the θ motor 2415 that first member 2405a of said structure comprise and be rotated, make a plurality of suction nozzles 2412 keep under the state of relative position, is that the center is rotated with the A axle.And, move to the suction nozzle 2412 under the suction nozzle lifting motor 2411, because of the pushing of suction nozzle lifting motor 2411 moves on to the below.In addition, under the situation of the angle that will proofread and correct the parts that aspirated by suction nozzle 2412, suction nozzle 2412 utilizes the rotary power of θ motor 2415, is that the center is rotated with A ' axle.
Moreover the structure of above-mentioned swivel head comprises a plurality of suction nozzle groups, and the suction nozzle in each group is all towards the rotation of same direction, but, also can comprise the structure that is rotated towards the suction nozzle group of radially different directions.That is, as shown in figure 43, the structure of swivel head can comprise first member 2460a and second the member 2460b that is set up in parallel and possesses identical function, and this first member 2460a and second member 2460b can comprise respectively: member shell 2461; The auxiliary head 2462 that is arranged on member shell 2461 and can rotates freely; The auxiliary head electric rotating machine 2463 that auxiliary head 2462 rotations are driven; Aspirate and carry the suction nozzle 2464 of parts; What make that the suction nozzle 2464 that is in auxiliary head 2462 lower ends carries out descending motion pushes away descending mechanism 2465; And pinch picture portion 2466.
Moreover swivel head as shown in figure 43 is such, from the suction structure of parts under the situation that possesses pinch picture portion 2466 (parts identification video camera) the mounting structure, the then identification of ended zero parts during from the suction parts to the installation parts.So, in this case, its main points are: owing to before behind suction nozzle suction parts, moving to the installation site, carry out identification work to parts, thus need not consider to discern the required time of parts, and can think that the set-up time equals suction time.
Below explanation utilizes the parts erection sequence optimal treatment of this swivel head.
Figure 44 is the ideograph when seeing the parts mounting machine that possesses swivel head shown in Figure 42 2405 from the top.
Here, oversimplify, suppose to comprise a stature member and four suction nozzles 2412 in order to make explanation.See as can be known that from the top swivel head 2405 is turned right and aspirated parts.Task by swivel head 2405 suctions comprises parts A, B, C, D, and in parts supply unit 2115a, parts box 2114 is arranged in as scheming.In the case, if swivel head 2405 will move on to the left side in the right side from figure, and suction parts, just make first suction nozzle, 2412 suction parts D, make second suction nozzle, 2412 suction parts C, make the 3rd suction nozzle 2412 suction parts B, make the 4th suction nozzle 2412 suction parts A, can shorten the time like this.
On the other hand, as shown in figure 45, if swivel head 2405 will move on to the right side in the left side from figure, and suction parts, just make first suction nozzle, 2412 suction parts A, make second suction nozzle, 2412 suction parts B, make the 3rd suction nozzle 2412 suction parts C, make the 4th suction nozzle 2412 suction parts D, can shorten the time like this.
According to the pattern of the suction parts that obtain by said method, carry out the later processing of S2004 shown in Figure 38, thereby the optimal sequence of parts is installed in the modular parts mounting machine decision that can determine to possess swivel head.Thus, can shorten the running time of parts mounting machine.
In addition, identical with work shown in Figure 39, also can prepare two kinds of parts kind quasi-modes that carry by suction nozzle 2112a in advance, and adopt the shorter parts pattern of set-up time of parts.
Here, be Figure 44 or any pattern shown in Figure 45 with suction for preferential parts suction mode.And, be meant to be installed as preferential parts suction mode, under the situation of pressing the sequence arrangement mounting points shown in Figure 46 (a), shown in Figure 46 (b), according to the x coordinate of mounting points, the pattern that makes first suction nozzle, 2412 suction parts A, makes second suction nozzle, 2412 suction parts D, makes the 3rd suction nozzle 2412 suction parts C, makes the 4th suction nozzle 2412 aspirate parts B (S2108).
According to reaching to be installed as preferential Installation Modes by the said method decision with the pattern of suction for preferential suction parts, carry out the processing identical, thereby can determine the parts kind that meets most that each suction nozzle 2112a carries respectively with work shown in Figure 39.
Moreover, not necessarily to carry out the such processing of action time shortening device 300 as shown in Figure 2, promptly, not necessarily will carry out the decision of parts erection sequence by conversion handles, and can replace action time shortening device 300 to adopt parts erection sequence determination device, thereby the special parts erection sequence that is undertaken by the second parts erection sequence determination section 308b of carrying out determines to handle.Parts erection sequence determination device is with identical according to the device of Figure 28 explanation.
[about the 3rd parts erection sequence determination section 308c]
As the parts mounting machine that electronic component etc. is installed to printed circuit board (PCB), there were a plurality of installation head alternately parts to be installed to the parts mounting machine of a substrate in the past.
In order to adapt to this parts mounting machine, the suggestion (for example, the spy of Japan opens the 2004-186391 communique) of all kinds of component mounting methods has been arranged.The spy of Japan opens the disclosed technology of 2004-186391 communique and utilizes two installation head to carry out the installation of parts, and parts are distributed to two installation head, so that each installation of being handled by two installation head when substrate installed parts is counted identical for this reason.
Yet the spy of Japan opens the technology of 2004-186391 communique record just to the parts of each installation head uniform distribution equal number, alternately parts is installed to the beat loss that produces in the process of substrate and can not eliminate by this method by each installation head.That is, the problem of existence is, can not shorten from certain installation head substrate is installed parts after, begin substrate is installed the required time before the parts to next installation head.
For example, when certain installation head installed parts, other installation head did not also have will temporarily stop parts being installed to the work of substrate under the situation of the suction of ended zero parts and identification, till finishing suction and identification, and this time out just becomes the beat loss.
In addition, the mutual difference of suction nozzle number possibility that is used to aspirate parts that each installation head of some parts mounting machine possesses.In this case, if it is identical that the installation of being handled by each installation head respectively when parts are installed is counted, may cause the mutual different situation of number of tasks of each installation head.Here, " task " be meant, in the suction of carrying out parts by installation head repeatedly, move, install in the process of this consecutive work, and the parts group that can install by a consecutive job wherein.
For example, suppose such parts mounting machine, that is, parts alternately are installed, and comprise installation head that possesses eight suction nozzles and the equipment that possesses the installation head of four suction nozzles by two installation head.And it is 240 that the installation of supposing parts is counted.In the case, count if the method for opening 2004-186391 communique record according to the above-mentioned spy of Japan is calculated the installation of being handled by each installation head respectively when parts are installed, then the acquisition value 120, and this value is counted installation and 240 obtained divided by installation head several 2.
Therefore, the number of tasks of an installation head is 15 (=120 mounting points/8 suction nozzles), and the number of tasks of another installation head is 30 (=120 mounting points/4 suction nozzles), and causes the mutual different situation of number of tasks of each installation head.
In view of the above, when handling 15 tasks of front, the hocket installation of parts of an installation head and another installation head.At this moment, though an installation head installs all 120 parts, another installation head is only installed the individual parts of 60 (=4 suction nozzle * 15 tasks).Therefore, when handling 15 remaining tasks, an installation head stops to handle, and has only another installation head to start and the installation parts, causes the reduction of production efficiency.
So, the problem of existence is: under the different mutually situation of the suction nozzle number that installation head possesses, if open the method for 2004-186391 communique record according to the spy of Japan, decide the order that parts are installed, will cause the reduction of production efficiency.
Moreover, even why the suction nozzle number is identical, also can produce the unbalanced the problems referred to above of number of tasks, its reason is, because under the big or small different mutually situation of parts, the parts that aspirate can be collided, and can not make each suction nozzle suction and suction nozzle count the parts of equal number physically.
So, the purpose of the 3rd parts erection sequence determination section 308c is, with the parts mounting machine that alternately parts is installed to a substrate by a plurality of installation head is object, make and substrate is installed the beat loss that produces in the process of parts be reduced to minimum, and the best parts erection sequence that can enhance productivity of decision.
Another purpose is, a kind of method is provided, with the parts mounting machine that alternately parts is installed to a substrate by a plurality of installation head is object, even under the different mutually situation of the suction nozzle number that each installation head possesses, also can determine the best parts erection sequence that to enhance productivity.
The process object of the 3rd parts erection sequence determination section 308c is a parts mounting machine 3100 shown in Figure 1.
Parts mounting machine 3100 comprises: arrange the parts box 3114 of taking in the parts band and two parts supply units 3115 that constitute; Multiple insertion head 3112 possesses a plurality of suction nozzles that can aspirate electronic component from above-mentioned parts box 3114 and be installed to substrate 3020 (below, can abbreviate " suction nozzle " as); Beam 3113, multiple insertion head 3112 are arranged on this beam 3112; Parts identification video camera 3116 is to carrying out three-dimensional inspection or bidimensionality inspection by the aspiration phases of the parts of multiple insertion head 3112 suctions; And pallet supply unit 3117, the supply tray parts, etc.Moreover some auxiliary equipment may not comprise pallet supply unit 3117 etc.
Here, " parts band " is a kind of band (carrier band), and this is with a plurality of parts of go up arranging identical type, and it is supplied to the state that is entangled on the spool (supply spool) etc.It is mainly used in to erection unit and supplies with the less parts that are called as the sheet parts.
Particularly, this parts mounting machine 3100 has both the function that parts mounting machine that is called as the high speed erection unit and the parts mounting machine that is called as multi-functional erection unit have respectively.The high speed erection unit is the equipment with high productive capacity, the electronic component around mainly installing with the speed of every mounting points about 0.1 second below the 10mm; Multi-functional erection unit is meant, the equipment of special-shaped parts such as large-scale electronic component, switch or connector, QFP (Quad Flat Package) or BGA IC parts such as (Ball Grid Array) around installing more than the 10mm.
Promptly, above-mentioned parts erection unit 3100 is designed to install the electronic component (the mounting object parts comprise the connector from the chip resistor of 0.4mm * 0.2mm to 200mm) of almost all kinds, therefore, this parts mounting machine 3100 of necessary amount is set, just can constitutes installation system.
Figure 47 is a kind of top view, the primary structure of expression parts mounting machine 3100 inside.Parts mounting machine 3100 portion within it comprises the auxiliary equipment that goes up configuration to the carrying direction (X-direction) of substrate, and on the fore-and-aft direction (Y direction) of this parts mounting machine 3100, also comprise auxiliary equipment, that is, comprise 3110a, 3110b, these four auxiliary equipment of 3120a, 3120b altogether.The auxiliary equipment (3110a and 3110b, 3120a and 3120b) of configuration is separate side by side on X-direction, can carry out different installment works simultaneously.And auxiliary equipment (3110a and 3120b, 3110b and 3120a) also is separate, can carry out different installment works simultaneously.On the other hand, going up the auxiliary equipment (3110a and 3120a, 3110b and 3120b) of putting relatively at fore-and-aft direction (Y direction) is to coordinate mutually and a substrate is carried out installment work.
Each auxiliary equipment 3110a, 3110b, 3120a, 3120b does not comprise beam 3113 and multiple insertion head 3112, and comprises parts supply unit 3115a to 3115d respectively.In addition, the auxiliary equipment department on the fore-and-aft direction in the parts mounting machine 3100 is provided with the one group of rail 3121 that is used for carrying substrate 3020.
Here, because parts identification video camera 3116 and pallet supply unit 3117 etc. are not main purposes of the present invention, so do not illustrate among the figure.
Beam 3113 is the rigid bodies that extend to X-direction, its with the state of X-direction keeping parallelism under, can on the track that is arranged at Y direction (direction vertical) (not having figure), move with the carrying direction of substrate 3020.And, beam 3113 can make the multiple insertion head 3112 that is arranged on beam 3113 move along beam 3113, multiple insertion head 3112 is moved to X-direction, therefore, by beam 3113 self to the multiple insertion head 3112 that moves and move to Y direction thereupon of Y direction to the moving of X-direction, multiple insertion head 3112 is moved on the XY plane freely.And, on beam 3113, possess the motor a plurality of motor such as (not having figure) that are used to drive these, and pass through this beam 3113 to power supplies such as these motor.
Figure 48 is a kind of ideograph, the position relation of expression multiple insertion head 3112 and parts box 3114.
This multiple insertion head 3112 can comprise a plurality of suction nozzle 3112a to 3112b, and the most desirable is respectively from parts box 3114 (by once rotating up and down) suction electronic component simultaneously, and this component number that aspirates simultaneously is identical with maximum suction nozzle numbers.
Multiple insertion head 3112 can move along beam 3113, and this moves by motor (not having figure) and drives.And when aspirating and carrying electronic component, or when entrained electronic component was installed to substrate 3020, it rotated up and down also by motor driven.
Figure 49 and Figure 50 (a) and Figure 50 (b) all are parts are installed in explanation by parts mounting machine 3100 figure.Here, though Figure 49 and Figure 50 (a) and Figure 50 (b) only represent the left side auxiliary equipment, but the right side auxiliary equipment is also carried out identical work, and parts are installed.Therefore, among Figure 49 and Figure 50 (a) and Figure 50 (b) the right side auxiliary equipment is not shown.
As shown in figure 49, the multiple insertion head 3112 of auxiliary equipment 3120a replaces and carries out repeatedly following three work, parts are installed to substrate 3020, these three work are meant, to supply with " suction ", " identification " and " installation " to substrate 3020 that the parts of being discerned are carried out that 3116 pairs of parts that aspirated of parts identification video camera carry out that next parts carry out from parts supply unit 3115c.
Moreover the multiple insertion head 3112 of auxiliary equipment 3110a alternately and carry out " suction ", " identification ", " installation " these three work repeatedly, thereby is installed to substrate 3020 with parts too.
Here, two multiple insertion heads 3112 carry out " installation " of parts simultaneously, collide mutually in order to prevent multiple insertion head 3112, and two multiple insertion heads 3112 are installed to substrate 3020 keeping under the state of co-ordination with parts.Particularly, shown in Figure 50 (a), when the multiple insertion head 3112 of auxiliary equipment 3120a carried out " installation " work, the multiple insertion head 3112 of auxiliary equipment 3110a carried out " suction " work and " identification " work.And shown in Figure 50 (b), when the multiple insertion head 3112 of auxiliary equipment 3110a carried out " installation " work, the multiple insertion head 3112 of auxiliary equipment 3120a carried out " suction " work and " identification " work.So, " installation " work that hockets of two multiple insertion heads 3112, thus can prevent that multiple insertion head 3112 from colliding mutually.Moreover, it is desirable to, carrying out " installation " duration of work by a multiple insertion head 3112, make another multiple insertion head 3112 finish " suction " work and " identification " work, so just can be when " installation " work that the multiple insertion head 3112 that is through with carries out, make another installation head 3112 beginning " installation " work immediately, can enhance productivity.
Figure 51 to Figure 54 represents the example of mounting points data 3307a, components information storehouse 3307b, erecting device information 3307c, installation points information 3307d respectively.
Mounting points data 3307a is an information set, represents the mounting points of all mounting object parts.Shown in Figure 51, a mounting points pi is made of parts kind ci, X coordinate xi, Y coordinate yi, control data φ i.Here, " parts kind " is equivalent to the parts title among the components information storehouse 3307b shown in Figure 52, " X coordinate " reaches the coordinate that " Y coordinate " is mounting points (coordinate of the ad-hoc location of expression on the substrate), and " control data " is the restricted information (operable suction nozzle type, multiple insertion head 3112 the highest rate travel etc.) of the installation of relevant these parts.Moreover the NC data that finally will obtain are meant, product line beat are reduced to the arrangement of minimum mounting points.
Components information storehouse 3307b is the information bank that the intrinsic information with parts mounting machine 3100 manageable all parts kinds pools together, shown in Figure 52, comprising: the parts size of each parts kind, beat (the intrinsic beat of parts kind under rated condition) and other restricted informations (operable suction nozzle type, the recognition mode that is undertaken by parts identification video camera 3116, the flank speed of multiple insertion head 3112 etc.).And in this figure,, also represent the outward appearance of various parts for for reference.
Erecting device information 3307c is by all auxiliary equipment indication device structures that constitute production line or above-mentioned restriction etc., shown in Figure 53, comprise: multiple insertion head 3112 types, be the pallet information of the box information of maximum number of the suction nozzle information of the header of the suction nozzle number that possesses of relevant multiple insertion head 3112 etc., the relevant suction nozzle type that can be arranged on multiple insertion head 3112 etc., relevant parts box 3114 and the pallet number of plies that relevant pallet supply unit 3117 is taken in etc., etc.
It is that auxiliary equipment (3110a and 3120a, 3110b and 3120b) that put is the unit setting so that the fore-and-aft direction (X-direction) of the parts mounting machine shown in Figure 47 3100 is relatively last that points information 3307d is installed.Below, auxiliary equipment 3110a and 3120a are called " left side auxiliary equipment ", auxiliary equipment 3110b and 3120b are called " right side auxiliary equipment ".
It is to set by left side auxiliary equipment and right side auxiliary equipment respectively that points information 3307d is installed, and shown in Figure 54, in this information, the parts kind that is installed to mounting points on the substrate is corresponding with its quantity (installation is counted).For example, as shown in this figure, the parts kind that the left side auxiliary equipment will be installed comprises these five kinds of A, B, C, D, E, and its installation is counted and is respectively 40,20,20,5,15.
Below, the work of the 3rd parts erection sequence determination section 308c is described.Figure 55 is a kind of flow chart, and expression is handled by the parts erection sequence decision that the 3rd parts erection sequence determination section 308c carries out.In the following description, though the left side auxiliary equipment with parts mounting machine 3100 is the determining method of object description parts erection sequence, but, the right side auxiliary equipment of parts mounting machine 3100 is also carried out identical processing, thereby can determine the parts erection sequence.
The object parts that the 3rd parts erection sequence determination section 308c will be installed to a substrate 3020 are distributed to any (S3310) in the multiple insertion head 3112 (to call " back " in the following text) of the multiple insertion head 3112 (to call " front " in the following text) of auxiliary equipment 3120a or auxiliary equipment 3110a.That is, erection sequence determination section 3305c decision is by front mounting object parts or by back mounting object parts.About the allocation process (S3110) of parts, tell about in detail later on.
Secondly, the 3rd parts erection sequence determination section 308c is under the state of keeping the allocation result that obtains by parts allocation process (S3110), and decision task and task be (S3111) in proper order.(S3111) handled in decision about task, tells about in detail later on.
At last, the 3rd parts erection sequence determination section 308c is for being determined of task, and the parts suction in the decision task is (from S3112 to S3114) in proper order.About the method for the parts suction in decision task order, because the suggestion of the whole bag of tricks was also arranged in the past, and it is not main purpose of the present invention, therefore here is not described.
At first, lift the allocation process (S3110 among Figure 55) of concrete instance explanation parts.Figure 56 is the flow chart that describes parts allocation process (S3110 among Figure 55) in detail.Here, shown in Figure 53, the suction nozzle number of front is eight, and the suction nozzle number of back is four.And, count about the kind of mounting object parts and its installation, be identical with installation points information 3307d shown in Figure 54.
At first, the 3rd parts erection sequence determination section 308c counts according to the total installation on each substrate 3020 and the ratio of suction nozzle number, the installation of calculating the parts that will install respectively in front and back count (S3121).For example, shown in Figure 57, the ratio in 8 to 4 is counted to the total installation on each substrate 3020 and 100 is distributed, and to count be 33.33 result in the installation of the parts that are 66.66, installed by the back thereby the installation that obtains the parts installed by the front is counted.It is that the installation of desirable parts is counted that these installations are counted.
Secondly, the 3rd parts erection sequence determination section 308c distributes to front or back by the parts kind with parts, so that the installation that is distributed is counted near figure out installation that processing (S3121) calculates count (S3122) by mounting points.For example, shown in Figure 58,, distributes the parts kind A to E shown in the points information 3307d, so that the installation of front is counted and the installation of back is counted respectively near 66.66,33.33 being installed.That is, as installing shown in the points information 3307f, be these three kinds of A, B, D by the parts kind decision that will install by the front, thereby obtain total value 65 that this value approaches 66.66.And, as installing shown in the points information 3307g, be these two kinds of C and E by the parts kind decision that will install by the back, thus acquisition total value 35, and this value approaches 33.33.
Secondly, lift the decision of concrete instance explanation task and handle (S3111 among Figure 55).Figure 59 is that the flow chart of (S3111 among Figure 55) is handled in the decision of detailed description task.At first, the 3rd parts erection sequence determination section 308c calculates maximum suction number of times of certain multiple insertion head 3112, the suction number of times is meant at most, the multiple insertion head except that certain multiple insertion head 3,112 3112 carry out " installation " during in, certain multiple insertion head 3112 can finish under the situation that " suction " reach " identification ", maximum suction number of times (S3131) that can carry out.
That is, when calculating the maximum aspiration number of times of front, calculate the maximum aspiration number of times in the scope that satisfies following formula (5).
The recognition time of the suction time+front of the set-up time 〉=front of back ... (5)
Here, by the back being installed the required time of each parts is that to aspirate the required time of parts each time be that 0.2 second, required time of parts of identification front suction are that 0.2 second, the maximum aspiration number of times of front are under the situation of nf 0.2 second, front, and formula (5) can be expressed as following formula (6).
0.2×4≥0.2×nf+0.2 …(6)
The maximum nf value that satisfies formula (2) is nf=3.In view of the above, the maximum aspiration number of times that can obtain the front is 3 times result.
Equally, when calculating the maximum aspiration number of times of back, need satisfy following formula (7).
The recognition time of the suction time+back of the set-up time 〉=back of front ... (7)
Here, by the front being installed the required time of each parts is that to aspirate the required time of parts each time be that 0.2 second, required time of parts of identification back suction are that 0.2 second, the maximum aspiration number of times of back are under the situation of nr 0.2 second, back, and formula (7) can be expressed as following formula (8).
0.2×8≥0.2×nr+0.2 …(8)
The maximum nr value that satisfies formula (2) is nr=7.In view of the above, the maximum aspiration number of times that can obtain the back is 7 times result.
That is, to aspirate the number of times that the number of times of parts is below three times or three times, parts are aspirated in the back in each task in each task be to get final product below seven times or seven times in the front.
Secondly, the 3rd parts erection sequence determination section 308c generates all tasks of certain multiple insertion head 3112, and decision task order, respectively aspirating number of times and all will be equal to or less than maximum aspiration number of times (S3132) in these all tasks.The 3rd parts erection sequence determination section 308c carries out the maximum aspiration number of times to all multiple insertion heads 3112 and calculates processing (S3131) and task generation processing (S3132) (circulation B), thereby determines the task of each multiple insertion head 3112.
Figure 60 (a) is to specify the task that the front is carried out to generate the figure that handles (S3132 among Figure 59) to Figure 60 (d).Shown in Figure 60 (a), the kind of distributing to the parts of front is these three kinds of A, B, D, and its quantity (installation is counted) is respectively 40,20,5.Shown in Figure 60 (b), the summation 65 of these component numbers is several 8 divided by the suction nozzle of front, and its result is for surplus the merchant 81.That is, make eight suction nozzles of front fill parts in consideration and install under the situation of parts,, aspirate parts by filling, and, only aspirate parts, come substrate 3020 is installed for a remaining task for eight tasks.
And for totally nine tasks, for the sure maximum aspiration number of times that is in advance three times with the intact parts of interior suction, be called as the processing of " parts are cut apart "." parts are cut apart " is meant, the parts group (a parts band) that will belong to a parts kind is divided into a plurality of parts bands, and in parts supply unit 3115c, deposit a plurality of parts bands of identical type, thereby the processing that can aspirate a plurality of parts of identical type simultaneously.
Figure 60 (c) is illustrated in the result of the dividing processing of carrying out parts, i.e. the arrangement of the parts among the parts supply unit 3115c.The arrangement position of parts is to specify with the number that is called as the Z numbering., eight parts are consisted of one group here, and be purpose, carry out parts and cut apart, can determine this moment the parts shown in Figure 60 (c) to arrange so that the maximum aspiration number of times is limited in below three times or three times by the parts kind.
According to this arrangement, when asking task and task order, can obtain task shown in Figure 60 (d) and task order.Promptly, suction order as eight tasks in front (from task 1 to task 8), aspirate Z in the first time in the suction operation and be numbered 1,2,3,4 parts (parts A, A, B, A), and suction Z is numbered 1,2,3 parts (parts A, A, B) in second time suction operation, and suction Z is numbered 5 parts (parts B) or Z and is numbered 6 parts (parts D) in suction operation for the third time, thereby can just can make the suction nozzle of front fill parts by three suction operation.
And, in the end in the task (task 9), aspirate the remaining parts D that is configured on the Z numbering 6.According to said method, carry out parts and cut apart and calculate task and task order, thereby can guarantee by the maximum aspiration number of times promptly three suction operation aspirate all parts.
Figure 61 (a) is to specify the task that the back is carried out to generate the figure that handles (S3132 among Figure 59) to Figure 61 (d).The generation method of task is identical to the task creating method of the relevant front shown in Figure 60 (d) with Figure 60 (a).Shown in Figure 61 (a), the kind of distributing to the parts of back is these two kinds of C and E, and its quantity (installation is counted) is respectively 20 and 15.Shown in Figure 61 (b), the summation 35 of these component numbers is several 4 divided by the suction nozzle of back, and its result is for surplus the merchant 83.That is, make four suction nozzles of back fill parts in consideration and install under the situation of parts,, aspirate parts by filling, and, only aspirate three parts, come substrate 3020 is installed for a remaining task for eight tasks.
Here, in totally nine tasks, it is just passable to aspirate parts by the i.e. processing below seven times or seven times of maximum aspiration number of times of back respectively, but, because the suction nozzle number of back only has four, therefore even only aspirate parts by suction once, an also suction by the parts of finishing dealing with below four times or four times surely.Therefore, need not carry out the processing that is called as " parts are cut apart " shown in Figure 60 (c).
Thereby, the arrangement of the parts supply unit 3115a shown in decision Figure 61 (c).And, can obtain task and task order shown in Figure 61 (d).Promptly, parts suction order as seven tasks in front (from task 1 to task 7), in the first time and secondary each suction operation, suction Z is numbered 1 and 2 parts (parts C and E), thereby can just can make the suction nozzle of back fill parts by twice suction operation.
And, parts suction order as next task (task 8), aspirate Z in the suction operation respectively in the first time and be numbered 1,2 parts (parts C and E), and in each suction operation that reaches for the second time for the third time, suction Z is numbered 1 parts (parts C), thereby can just can make the suction nozzle of back fill parts by three suction operation.
And then, parts suction order as last task (task 9), from the first time to each suction operation for the third time, aspirate Z respectively and be numbered 1 parts (parts C), thereby can just can make the suction nozzle of back aspirate remaining three parts by three suction operation.
According to said method, calculate task and task order, thereby can guarantee by the maximum aspiration number of times promptly the suction operation below seven times or seven times aspirate all parts.
Figure 62 is the figure that arranges the suction number of times in each task of the front of calculating by said method and back in chronological order.So, in all tasks, can aspirate parts with maximum aspiration number of times or the suction number of times below it.That is, can when being through with " installation " work by a multiple insertion head 3112, make another multiple insertion head 3112 beginning " installation " work immediately, can enhance productivity.
As mentioned above,, count ratio, distribute the installation of parts to count according to the suction nozzle of multiple insertion head by the processing of being undertaken by the 3rd parts erection sequence determination section 308c.Thus, can make the number of tasks of the number of tasks of front and back identical substantially.So, only do not produce an installation head and carry out the installation of parts, and the out-of-work situation of another installation head, two installation head can be kept correlated state parts are installed to a substrate.Thereby enhance productivity.
And the main points of calculating task are, an installation head install parts during, the suction and the identification work that another installation head are finished parts are carried out.Therefore, can when a multiple insertion head 3112 is through with " installation " work, make another multiple insertion head 3112 beginning " installation " work immediately, can enhance productivity.
More than, the parts erection sequence determining method that is undertaken by the 3rd parts erection sequence determination section 308c has been described, but, the invention is not restricted to said method etc.
For example, in above-mentioned example, suppose that the parts of the suction nozzle suction that is possessed by multiple insertion head 3112 are little parts, therefore hypothesis equals the suction nozzle number by the component number of multiple insertion head 3112 suctions, and has generated task., the parts that in fact have all size.Therefore, under the size of parts is big situation,, and may not aspirate the parts that the suction nozzle that possesses with multiple insertion head 3112 is counted equal number because of the phenomenon of colliding that between parts, produces.In the case, the component number that can in fact can aspirate according to multiple insertion head 3112 carries out above-mentioned processing and generation task.
And, in above-mentioned example, suppose that tandem in the multiple insertion head 3112 arranges the situation of the suction nozzle shown in Figure 48 parts erection sequence of having made decision, but, the shape of installation head is not limited to this.For example, also can replace multiple insertion head 3112 to utilize swivel head.
Figure 63 is the top view that possesses the parts mounting machine of swivel head.The parts mounting machine that possesses swivel head comprises: base station 3400; Be configured in the carrying road 3401 of the core of base station 3400, carrying substrate 3020 also determines its position; Parts supply unit 3403 is set side by side with a plurality of band feeders 3402, supplies with multiple parts; Swivel head 3405 extracts parts from parts supply unit 3403, and substrate 3020 is carried and be installed to these parts; Identification video camera 3406 is from the parts of below identification by swivel head 3405 suctions; XY automaton 3407 moves swivel head 3405 on the XY direction; Discarded pallet 3408, parts are discarded to this pallet; And suction nozzle station 3409, deposit the replacement suction nozzle of swivel head 3405.
Figure 64 is the oblique view of swivel head 3405.Swivel head 3405 comprises first member 3405a and second the member 3405b that is set up in parallel and possesses identical function.Because each stature member has substantially identical functions, the structure of first member 3405a only is described below therefore.
First member 3405a comprises: fixed mount 3410; Be configured in a plurality of (having six among Figure 64) the suction nozzle lifting motor 3411 on the fixed mount 3410, aspirate and carry a plurality of suction nozzles 3412 of parts; Can be provided with the suction section 3413 of suction nozzle 3412 with freely loading and unloading; A plurality of cam tube 3414; And be the θ motor 3415 that the center makes suction nozzle 3412 rotations with A axle or A ' axle.
Possessing the θ motor 3415 that first member 3405a of said structure comprise and be rotated, make a plurality of suction nozzles 3412 keep under the state of relative position, is that the center is rotated with the A axle.And, move to the suction nozzle 3412 under the suction nozzle elevating motor 3411, because of the pushing of suction nozzle lifting motor 3411 moves on to the below.In addition, under the situation of the angle that will proofread and correct the parts that aspirated by suction nozzle 3412, suction nozzle 3412 utilizes the rotary power of θ motor 3415, is that the center is rotated with A ' axle.
Moreover the structure of above-mentioned swivel head comprises a plurality of suction nozzle groups, and the suction nozzle in each group is all towards the rotation of same direction, but, also can comprise the structure that is rotated towards the suction nozzle group of radially different directions.That is, shown in Figure 65, the structure of swivel head can comprise first member 3460a and second the member 3460b that is set up in parallel and has identical function, and first member 3460a and second member 3460b can comprise respectively: member shell 3461; The auxiliary head 3462 that is arranged on member shell 3461 and can rotates freely; The auxiliary head electric rotating machine 3463 that auxiliary head 3462 rotations are driven; Aspirate and carry the suction nozzle 3464 of parts; What make that the suction nozzle 3464 that is in auxiliary head 3462 lower ends carries out descending motion pushes away descending mechanism 3465; And pinch picture portion 3466.
Moreover the swivel head shown in Figure 65 is such, from the suction structure of parts under the situation that possesses pinch picture portion 3466 (parts identification video camera) the mounting structure, the then identification of ended zero parts during from the suction parts to the installation parts.So, in this case, its main points are: owing to before behind suction nozzle suction parts, moving to the installation site, carry out identification work to parts, thus need not consider to discern the required time of parts, and can think that the set-up time equals suction time.
Therefore, handle in (S3111 among Figure 55) in the task decision, the main points of calculating task do not lie in, during an installation head is installed parts, the suction and the identification work that another installation head are finished parts are carried out, and its main points are, make back and front between at a time interval in the component number of suction identical.Here, the suction nozzle number of also supposing back and front is identical.
Figure 66 is a kind of flow chart, and the details of the task decision processing (S3111 among Figure 55) of swivel head is described.
The 3rd parts erection sequence determination section 308c decision task and task order are so that the suction of the parts in each task number of times aspirates number of times identical (S3141) with the parts of other installation head.All installation head are carried out this processing.
Figure 67 represents to handle according to the decision of the task shown in Figure 66 an example of the task order that obtains.So, in each task, the suction number of times of front and back is identical.By adopting this method, can be during an installation head to be installed parts, another installation head is aspirated parts, can improve the installation effectiveness of parts.
In addition, Figure 68 represents an example of unfavorable task order.For example have this problem, that is, in task 2, install after having aspirated four parts the front, but, is in advance when four parts are installed, and eight parts will be aspirated in the back, and the suction time of this back is longer than the parts set-up time of front.Yet, as mentioned above, by making the number of tasks in each task identical as far as possible, thereby can prevent this problem.
The multiple insertion head 3112 that is mounted with parts identification video camera also has this characteristics.That is, need not consider " recognition time of front " and " recognition time of back " in the formula (3) in the above-mentioned formula (1).
Moreover, even swivel head, if it is not mounted with parts identification video camera, also will from the suction parts during parts are installed, swivel head is moved to be arranged on the position of the parts identification video camera in the parts mounting machine, and carry out the identification of parts.But, even in this case, also will be according to the method identical with Figure 66, decision task and task order are so that the suction of the parts in each task number of times is identical with other parts suction number of times.
In addition, in above-mentioned example, the mutually different situation of suction nozzle number of two multiple insertion heads 3112 has been described, but, the invention is not restricted to suction nozzle number different situation mutually, and the suction nozzle number also can be identical.
And, not necessarily to carry out the such processing of action time shortening device 300 as shown in Figure 2, promptly, not necessarily to carry out the decision of parts erection sequence and handle by conversion, and the structure that the parts erection sequence decision that can adopt special execution to be undertaken by the 3rd parts erection sequence determination section 308c is handled.
Figure 69 is a kind of outside drawing, and expression has the overall structure of the installation system 3010 of this structure.
This installation system 3010 is from flowing to dirty conveying substrate 3020, and the production line of electronic component is installed, and comprising: parts mounting machine 3100; And erection sequence determination device 3300, when beginning to produce etc., according to the beam number of various database decision utilizations or the mounting conditions such as erection sequence of electronic component, (Numeric Control: Numerical Control) data download to parts mounting machine 3100, and set and control with the NC that obtains.
Figure 70 represents that the erection sequence determination device 3300 that embodiments of the present invention relate to is a structure example of the erection sequence determination device 3300 shown in Figure 69.This erection sequence determination device 3300 is a kind of computer installations, under the various restrictions of setting according to the specification of each equipment that constitutes production line etc., with all parts of coming from the supplies such as CAD device that are used to install parts is object, parts that decision should be installed in each auxiliary equipment and the parts erection sequence in each auxiliary equipment, (constitute maximum pitch time in the pitch time of each auxiliary equipment of production line) so that the product line beat when parts are installed to object substrate and be reduced to minimum, thereby generate best NC data, comprising: s operation control portion 3301, display part 3302, input part 3303, memory section 3304, optimum procedure storage part 3305, communication I/F (interface) portion 3306 and database part 3307 etc.
This parts erection sequence determination device 3300 is to realize by carrying out the optimum procedure that the present invention relates to by general-purpose computing systems such as PC, even this device under the situation that is not attached to parts mounting machine 3100, also carries out work as analogue means (the decision instrument of parts erection sequence) independently.Moreover this erection sequence determination device 3300 also can be arranged on the inside of parts mounting machine.
Central processing unit) or numerical data processor etc. s operation control portion 3301 is CPU (Central Processing Unit:, it is according to from operating personnel's indication etc., the program that download memory portion 3304 needs from optimum procedure storage part 3305 is also carried out, and controls each constitutive requirements 3302 to 3307 according to the result of this execution.
Cathode ray tube) or LCE (LiquidCrystal Display: liquid crystal display) etc. display part 3302 is CRT (Cathode-Ray Tube:, input part 3303 is keyboard or mouse etc., these are used for linking up between this installation order determination device 3300 and operating personnel etc. under the control of s operation control portion 3301.
Communication I/F portion 3306 is that (Local Area Network: adapter etc. local area network (LAN)), it is used for communicating between this installation order determination device 3300 and parts mounting machine 3100 etc. LAN.Memory section 3304 is that (Random Access Memory: random asccess memory) etc., it provides the service area of s operation control portion 3301 to RAM.
Database part 3307 is hard disks etc., deposit the erection sequence decision of being undertaken by above-mentioned erection sequence determination device 3300 in and handle required input data (mounting points data 3307a, components information storehouse 3307b, erecting device information 3307c, points information 3307d etc. is installed), or deposit in by the erection sequence decision and handle the mounting points data that generate etc.
Optimum procedure storage part 3305 is hard disks etc., deposits the various optimum procedures of the function that realizes this installation order determination device 3300 in.Optimum procedure is the program of decision parts erection sequence, on function (as the handling part that works under the situation about being carried out by s operation control portion 3301), is made of erection sequence determination section 3305c etc.
Erection sequence determination section 3305c according to the various data that deposit in database part 3307, calculates the erection sequence of parts, is reduced to the shortest so that substrate 3020 is installed the required times of parts.That is, erection sequence determination section 3305c carries out the same processing with the 3rd parts erection sequence determination section 308c.
[about the 4th parts erection sequence determination section 308d]
In the past, the suggestion of parts erection sequence determining method was arranged also, so that parts (for example opening the 2003-37396 communique with reference to the spy of Japan) to be installed at short notice.And,, also have proposition that two little substrates are transported in the parts mounting machine simultaneously, and after a substrate is installed parts, again another substrate installed the parts mounting machine of parts in recent years along with the miniaturization of mounting substrate etc.
Yet, parts mounting machine in the past be with board carrying to parts mounting machine and after stopping, just beginning to install parts.Figure 71 is a kind of ideograph, the expression board carrying in the past and the sequential of parts installation.Parts mounting machine in the past is after having passed through required time (to call " board carrying time " in the following text) T of carrying substrate, successively the parts in each task is aspirated and installment work by installation head.Therefore,, just can not begin the installation of parts, and have the problem that reduces production efficiency in the carrying that does not finish substrate.Here, task is meant, carries out the suction of parts repeatedly and installs under the situation of this consecutive work in installation head, the parts group that can install by a consecutive job wherein, or its consecutive work.
In addition, open in the invention of 2003-37396 communique record the spy of Japan, the substrate number of being moved into is only one, and under this prerequisite, the erection sequence of decision parts.Therefore, be applicable under the situation of the parts mounting machine that can move into two substrates simultaneously in the invention of the spy of Japan being opened the record of 2003-37396 communique, the best parts that obtain surely in the parts supply unit that differ are arranged, and take place parts are installed to the elongated problem of the required pitch time of substrate.
Figure 72 is the figure of explanation the problems referred to above.Figure 72 is a kind of ideograph, the top of expression parts mounting machine inside.Two substrate 4120a and 4120b are transported in the parts mounting machine 4100, and installation head 4110 suctions are supplied with the parts of coming from parts supply unit 4115, and parts are installed to substrate 4120a and 4120b.At substrate 4120a and 4120b identical parts are installed here.For this reason, for example in the part (to call " parts supply position " in the following text) 4118 of parts supply unit 4115, arrange the parts that are installed to substrate 4120a and 4120.Yet installation head 4110 just begins parts are installed to the work of substrate 4120b after all parts are installed to substrate 4120a.
Therefore, when parts are installed to substrate 4120a, carry out the suction of parts repeatedly and install in the process of this consecutive work by installation head 4110, if with the displacement that shortens installation head 4110 is that purpose determines parts to supply with under the situation of position 4118, can shorten the displacement of the installation head 4110 when parts are installed to substrate 4120a.And the pitch time of shortening when parts are installed to substrate 4120a., become length owing to supply with the distance of position 4118 from substrate 4120b to parts, therefore the displacement when parts are installed to substrate 4120b also becomes length.Thereby the problem of existence is, the pitch time when parts are installed to substrate 4120b becomes length, and from total time, and the pitch time when substrate 4120a and these two substrates of 4120b are installed parts becomes length, reduces production efficiency.
So the purpose of the 4th parts erection sequence determination section 308d is, a kind of parts erection sequence determining method that can enhance productivity is provided.
The process object of the 4th parts erection sequence determination section 308c is a parts mounting machine 4100 shown in Figure 1.
In Fig. 1, cut the inside that a part is represented parts mounting machine 4100.Parts mounting machine 4100 can be arranged in the installation system, it is installed to electronic component the substrate of receiving from the upper reaches, and substrate and circuit board after electronic component is installed in dirty conveying, comprise: installation head 4110, suction is also carried electronic component, and electronic component is installed to substrate; XY automaton 4113 makes installation head 4110 move to horizontal direction; And parts supply unit 4115, supply with parts to installation head 4110.Moreover, in the drawings, to cover the state representation parts supply unit 4115 of shell.
Particularly, this parts mounting machine 4100 can be to the multiple parts of substrate installation from small parts to connector, above special-shaped parts such as large-scale electronic component, switch or connector, QFP (Quad Flat Package) or the BGA IC parts such as (BallGrid Array) of 10mm around for example can installing.
Figure 73 is a kind of top view, the primary structure of expression parts mounting machine 4100 inside.Parts mounting machine 4100 also comprises: suction nozzle station 4119, in order to adapt to the parts kind of different shape, on this suction nozzle station, deposit the replacement suction nozzle that can free alternatively be set to installation head 4110; Rail 4121 is configured for the track of these two substrates of carrying substrate 4120a and 4120b; Erecting bed (not having figure), substrate 4120a and 4120b are put on this platform, and electronic component is installed; And parts retracting device 4123, be under the situation of defective item at the electronic component that aspirates and carry, reclaim this parts.
And parts supply unit 4115 is arranged on the fore-and-aft direction of parts mounting machine 4100, possesses: parts supply unit 4115a and 4115b, supply with the electronic component of taking in band shape; And parts supply unit 4115c, supply with the electronic component that is accommodated in the plate, this plate possesses the partition of establishing by the parts size.
Figure 74 is a kind of ideograph, and expression installation head 4110 concerns with the position of parts supply unit 4115a.
This installation head 4110 possesses a plurality of suction nozzle 4110a to 4110b.Installation head 4110 move to parts supply unit 4115a above, and each suction nozzle descend aspirate electronic component after, this installation head 4110 moves, electronic component is moved to the installation site of substrate 4120a or 4120b top, and the suction nozzle of installation head 4110 is descended, substrate 4120a or 4120b are installed electronic component.
In addition, the parts supply unit 4115a shown in this figure arranges on Z-direction and comprises: a plurality of parts bands 4116, on carrier band, arrange and take in a plurality of electronic components of identical type; A plurality of supply spools 4117 roll above-mentioned parts band 4116 and take in; And a plurality of band feeders 4114, carry parts band 4116 by necessary from supply spool 4117, and from parts band 4116, take out electronic component.
The relation of installation head 4110 and the parts supply unit 4115b also relation with above-mentioned installation head 4110 and parts supply unit 4115a is identical.Therefore, do not explain over and over again its details here.
Figure 75 is the figure of the example of expression information 4307d task time.Task time, information 4307d represented the suction time of parts and the information of set-up time by task, comprised mission number i, suction time ti and set-up time mi.Mission number i is for identification mission, the unique number of giving by task; Suction time ti is that the suction mission number is the required time of parts that comprises in the task of i; Set-up time ti is to be that the parts that comprise in the task of i are installed to the required time of substrate with mission number.
Figure 76 is a kind of block diagram, represents the structure of the 4th parts erection sequence determination section 308d.The 4th parts erection sequence determination section 308d comprises: task order determination section 4305a, parts are supplied with determining positions 4305b of portion and erection sequence determination section 4305c etc.
Figure 77 is a kind of flow chart, and expression is handled by the parts erection sequence decision that the 4th parts erection sequence determination section 308d carries out.
Parts are supplied with the supply position (S4001) of parts in parts supply unit 4115 that the determining positions 4305b of portion decision is installed to substrate 4120a and substrate 4120b.Supply with the details that determining positions is handled (S4001) about parts, tell about later on.
Task order (S4002) when secondly, task order determination section 4305a decision is installed to substrate 4120a and 4120b with parts.The details of (S4002) is handled in decision about the task order, also tells about later.
At last, erection sequence determination section 4305c supplies with the position according to the task order and the parts that obtain, with the shortest purpose that turns to of pitch time, with the erection sequence optimization of parts, and determines this erection sequence (S4003).About parts erection sequence optimal treatment (S4003), the suggestion of the whole bag of tricks has been arranged till now, and it not purpose of the present invention, therefore here be not elaborated.
Figure 78 is a kind of flow chart, and expression is supplied with the details that determining positions is handled (S4001 among Figure 77) by the parts that the parts supply determining positions 4305b of portion carries out.
Parts are supplied with the determining positions 4305b of portion and are obtained substrate 4120a and the stop position (S4011) of these two substrates of 4120b in parts mounting machine 4100.
Secondly, parts are supplied with the determining positions 4305b of portion for certain substrate among substrate 4120a and the 4120b, and decision will be to the supply position (S4012) of parts in parts supply unit 4115 of this substrate installation.About the determining method of parts supply position, for example its main points are, when parts are installed to certain substrate, make the required displacement of suction of parts be reduced to the shortest.Parts are supplied with the determining positions 4305b of portion and are determined the parts of all substrate 4120a and 4120b to supply with position (circulation A).
Figure 79 is a kind of ideograph, and expression is supplied with the position according to the parts of the decision of the flow chart shown in Figure 78.Figure 79 is a kind of ideograph, the top of expression parts mounting machine 4100 inside.
Shown in Figure 79, the parts in the parts supply unit 4115 that corresponds respectively to substrate 4120a and substrate 4120b supply with position 4116a and parts are supplied with on the 4116b of position, arrange parts.That is, prepare the identical parts of two covers, and be stored in parts supply position 4116a and parts supply position 4116b.
Figure 80 is a kind of flow chart, and the task that expression is undertaken by task order determination section 4305a determines to handle the details of (S4002 among Figure 77) in proper order.
Task order determination section 4305a calculate from the parts mounting machine 4100 that is through with, carry out parts are installed to the work of substrate after, to two substrate 4120a of next mounting object and 4120b is transported in the parts mounting machine 4100 and required time till stopping, promptly calculating board carrying time T (S4021).Here, this that is undertaken by task order determination section 4305a calculated processing (S4021) and calculated the unit corresponding to the board carrying time in the claim.
Secondly, task order determination section 4305a calculates suction time ti (i=1～n) (S4022) of parts for all n task.The suction time ti of parts carries out simulation process according to the arrangement of the parts that leave parts supply position 4116a and parts supply position 4116b in to obtain.The suction time ti of the parts that obtained stores among information 4307d task time.
Task order determination section 4305a compares (S4023) to value and board carrying time T maximum among the parts suction time ti of all tasks.Under the peaked situation of board carrying time T ("Yes" among the S4023) greater than parts suction time ti, the task that will have maximum parts suction time ti begins the suction (S4024) of the parts in first task as first task in the board carrying time T.
Be less than or equal under the peaked situation of parts suction time ti ("No" among the S4023) in the board carrying time T, task order determination section 4305a is from have the task more than or equal to the parts suction time ti of board carrying time T, with any task as first task, and the suction (S4025) of the parts of beginning in first task in the board carrying time T.
After having determined first task (S4024, S4025), task order determination section 4305a determines second task order (S4026) that task is later.
Figure 81 is a kind of ideograph, and expression is according to the task order of ("Yes" of S4023 among Figure 80) decision under the peaked situation of board carrying time T greater than parts suction time ti, the sequential that board carrying that carries out and parts are installed.
As shown in the figure, when beginning to move into substrate, begin to aspirate the parts in first task, and when having passed through the board carrying time T, aspirated the parts in first task.Therefore, when having moved into substrate, can begin the installation of first task.In addition, do not have having of task in the present example, and selected to have the task of maximum parts suction time above the parts suction time ti of board carrying time T, with this task as first task.Therefore, can be reduced to the shortlyest with time (T-t1) is installed, this installation time (T-t1) be meant, behind the parts from aspirated first task, to beginning to install the required time till the parts.In view of the above, when having moved into substrate, can begin the installation of parts, therefore parts can be installed to the required pitch time of substrate and be reduced to the shortest.Thus, can improve the production efficiency of substrate.
Figure 82 is a kind of ideograph, and expression is according to the task order of ("No" of S4023 among Figure 80) decision under the peaked situation that is equal to or less than parts suction time ti in the board carrying time T, the sequential that board carrying that carries out and parts are installed.
Identical with Figure 81, when beginning to move into substrate, begin to aspirate the parts in first task.But, in the task shown here order, select the purpose of first task not lie in, after having passed through the board carrying time T, begin the suction of task immediately, and its purpose is, the installation time shown in Figure 81 is become 0.So, owing to when beginning to move into substrate, aspirate parts in first task, and do not produce and install time, therefore, can make parts are installed to the required pitch time of substrate are reduced to the shortest.Thus, can improve the production efficiency of substrate.
As mentioned above,, prepared the parts that to install at each mounting object substrate respectively, and the parts that these parts leave in the parts supply unit have been supplied with the position according to the processing that the 4th parts erection sequence determination section 308d carries out.Therefore, under the situation of the parts that do not had to prepare, can use the parts of preparing at another substrate, proceed the installation of parts at a substrate.And operating personnel are supplementary parts and components during this period.Thereby, even in installation process, do not had also need not stop parts mounting machine under the situation of parts, can improve the production efficiency of substrate.
In addition, to supply with the position be that being reduced to the shortest with the displacement that the suction of parts is required is purpose and fixed to the parts of the parts of preparing at each substrate.Therefore, when on each substrate, carrying out in the process of parts installment work aspirating and to install this consecutive work, can shorten the displacement of installation head, improve the production efficiency of substrate by installation head.
And, before substrate is moved into parts mounting machine, just begin to aspirate the parts in first task.Therefore, can when moving into substrate, make installation head carry out work, can improve the production efficiency of substrate.
Especially, under the peaked situation of board carrying time greater than the parts suction time, the task that will have the longest parts suction time is as first task.By this method, can arrive the shortlyest with time is installed, this installation time be meant, behind the parts from aspirated first task, installs the preceding required time of parts to beginning.And be less than or equal in the board carrying time under the peaked situation of parts suction time, will have task more than or equal to the parts suction time of board carrying time as first task.Thus, above-mentioned installation time can be become 0.Thereby, can further improve the production efficiency of substrate.
More than, the processing of being undertaken by the 4th parts erection sequence determination section 308d has been described, but, this processing is not limited to above-mentioned processing.
For example, supply with the decision of position handles in (S4012 among Figure 78) at parts, the main points that the decision parts are supplied with the position are, make the required displacement of suction of parts be reduced to minimum, but, determining method is not limited thereto, for example, its main points also can be, make the required time of suction of parts be reduced to minimum.
In addition, also can not begin simultaneously substrate move into first task in the suction of parts.This is because before the parts that begin to aspirate in first task, the work that may replace suction nozzle.
Moreover, in the processing of being undertaken by the 4th parts erection sequence determination section 308d, suppose that the situation of moving into two substrates simultaneously is illustrated, but, processing method is not limited thereto.Certainly, to go for a substrate be the equipment that unit moves in the present invention.
And, not necessarily to carry out the such processing of action time shortening device 300 as shown in Figure 2, promptly, not necessarily to carry out the decision of parts erection sequence and handle by conversion, and the structure that the parts erection sequence decision that can adopt special execution to be undertaken by the 4th parts erection sequence determination section 308d is handled.
Figure 83 is the outside drawing of the structure of this parts installation system of expression.Parts installation system 4010 is the systems that parts are installed to substrate, comprising: parts mounting machine 4100 and parts erection sequence determination device 4300.
Figure 84 is the block diagram of the structure of the parts erection sequence determination device 4300 shown in expression Figure 83.Parts erection sequence determination device 4300 is a kind of computer installations, under the various restrictions of setting according to the specification of each equipment that constitutes production line etc., to wait all parts of supply from the CAD device that is used to install parts (not having figure) is object, the erection sequence of the parts that decision should be installed in parts mounting machine 4100, so that being installed the required pitch time of parts, object substrate is reduced to minimum, thereby generate the NC data that meet most, comprising: s operation control portion 4301, display part 4302, input part 4303, memory section 4304, optimum procedure storage part 4305, communication I/F (interface) portion 4306 and database part 4307 etc.
This parts erection sequence determination device 4300 is to realize by carrying out the parts erection sequence determination procedure that the present invention relates to by general-purpose computing systems such as PC, even this device under the situation that is not attached to parts mounting machine 4100, also carries out work as analogue means (the optimization instrument of parts erection sequence) independently.
Central processing unit) or numerical data processor etc. s operation control portion 4301 is CPU (Central Processing Unit:, according to from indication of operating personnel etc., the program that download memory portion 4304 needs from optimum procedure storage part 4305 is also carried out, and controls each constitutive requirements 4302 to 4307 according to the result of this execution.
Cathode ray tube) or LCE (LiquidCrystal Display: liquid crystal display) etc. display part 4302 is CRT (Cathode-Ray Tube:, input part 4303 is keyboard or mouse etc., these are used for linking up between these parts erection sequence determination device 4300 and operating personnel etc. under the control of s operation control portion 4301.
Communication I/F portion 4306 is that (Local Area Network: adapter etc. local area network (LAN)), it is used for communicating between parts erection sequence determination device 4300 and parts mounting machine 4100 etc. LAN.Memory section 4304 is that (Random Access Memory: random asccess memory) etc., it provides the service area of s operation control portion 4301 to RAM.
Database part 4307 is hard disks etc., deposit the parts erection sequence decision of being undertaken by above-mentioned parts erection sequence determination device 4300 in and handle required input data (mounting points data 4307a, components information storehouse 4307b, erecting device information 4307c, task time information 4307d etc.), or deposit the mounting points data that generate by optimization etc. in.
Optimum procedure storage part 4305 is hard disks etc., deposits the various optimum procedures of the function that realizes parts erection sequence determination device 4300 in.On function (as the handling part that works under the situation about being carried out by s operation control portion 4301), optimum procedure is supplied with determining positions 4305b of portion and erection sequence determination section 4305c etc. by task order determination section 4305a, parts and is constituted.Each one carries out aforesaid processing.
[about the 5th parts erection sequence determination section 308e]
In the past, had by head (conveying body) and aspirated a plurality of parts, and will these a plurality of parts be installed to the suggestion of the component mounting method (for example opening the 2003-31997 communique) of substrate with reference to the spy of Japan.
Open in the component mounting method of 2003-31997 communique the above-mentioned spy of Japan,,, a plurality of parts are installed successively by order from small to large for a plurality of parts are installed to high-density.That is, press the height order from low to high of parts, arrangement will be installed to a plurality of parts of a substrate, and is divided into little parts group, middle parts group, big these three kinds of parts groups of parts group.And after the parts that will belong to little parts group were installed in substrate, parts group's parts were installed to substrate in will belonging to, and last, the parts that will belong to big parts group are installed to substrate.And when a plurality of parts that belong to above-mentioned arbitrary parts group will be installed, the parts of the head quantity that suction can be drawn into from above-mentioned a plurality of parts also moved, and these parts are installed to substrate.Head carry out repeatedly at this a plurality of parts suction, move, install this consecutive work, thereby all parts belong to its parts group are installed.Here, after head had aspirated a plurality of parts and moves, the order by from high to low should be installed to substrate by a plurality of parts.
Yet, open in the component mounting method of 2003-31997 communique the above-mentioned spy of Japan, there is the required elongated problem of time of parts of installing.
Usually, for the parts that prevent by head suction depart from, the rate travel of head is subjected to the size of the parts that aspirated or the restriction of weight.That is, the parts that aspirated more little (light more), head can move to get over fast speed, and parts big more (heavy more), head will move to get over jogging speed.Open the component mounting method of 2003-31997 communique according to the above-mentioned spy of Japan, because order is from small to large installed parts successively, therefore head is at the long-time big parts of suction that continue.Its result, the rate travel of head keeps slowly always, the required time of parts is installed also will grows, thereby be reduced in the disposal ability (throughput: throughput) that in the unit interval parts is installed to substrate.
So in view of this problem, the purpose of the 5th parts erection sequence determination section 308e is, a kind of component mounting method is provided, shortens the required time of installation of parts, thereby improve throughput.
The process object of the 5th parts erection sequence determination section 308e is a parts mounting machine 5100 shown in Figure 1.
Parts mounting machine 5100 comprises simultaneously and independently carries out two auxiliary equipment (preceding auxiliary equipment 5110 and back auxiliary equipment 5120) of the installation of parts.Each auxiliary equipment 5110 (5120) is the automatic type erecting bed of orthogonal, comprising: multiple insertion head 5112, XY automaton 5113, parts identification video camera 5116 and the pallet supply unit 5117 of portion carried in parts supply unit 5115a and 5115b, conduct.Parts supply unit 5115a and 5115b at most arrange 48 parts boxes 5114 and constitute, and this parts box 5114 is used to take in the parts band.Multiple insertion head 5112 is also referred to as ten suction nozzle head or heads, possesses 10 suction nozzles (following also claim " suction nozzle "), and these 10 suction nozzles can aspirate 10 parts at most and be installed to substrate 5020 from above-mentioned parts box 5114.This multiple insertion head 5112 constitutes the portion of carrying of carrying a plurality of parts and moving.Below, multiple insertion head 5112 is called 5112.XY automaton 5,113 5112 moves this.Parts identification video camera 5116 is used for carrying out bidimensionality inspection or three-dimensional inspection by an aspiration phases of the parts of 5112 suctions.Pallet supply unit 5117 supply tray parts.This each auxiliary equipment is independent of other auxiliary equipment (going forward side by side), respectively the substrate of being responsible for separately 5020 is carried out the installation of parts.
In fact, " parts band " is a kind of band (carrier band), and this is with a plurality of parts of go up arranging identical type, and it is supplied to the state that is entangled on the spool (supply spool) etc.It is mainly used in to erection unit and supplies with the less parts that are called as the sheet parts.Moreover, will be called parts in the band by the parts that the parts band is supplied with.
Particularly, this parts mounting machine 5100 has both the function that parts mounting machine that is called as the high speed erection unit and the parts mounting machine that is called as multi-functional erection unit have respectively.The high speed erection unit is the equipment with high productive capacity, the electronic component around mainly installing with the speed of every mounting points about 0.1 second below the 10mm; Multi-functional erection unit is meant, the equipment of special-shaped parts such as large-scale electronic component, switch or connector, QFP (Quad Flat Package) or BGA IC parts such as (Ball Grid Array) around installing more than the 10mm.
Promptly, above-mentioned parts erection unit 5100 is designed to install the electronic component (the mounting object parts comprise the connector from the chip resistor of 0.4mm * 0.2mm to 200mm) of almost all kinds, therefore, this parts mounting machine 5100 of necessary amount is set, just can constitutes installation system.
Figure 85 is a kind of top view, the primary structure of the parts mounting machine 5100 that expression the present invention relates to.Reciprocating conveyor 5118 is a kind of portable platform (parts carrying conveyers), is used to load the parts that obtain from pallet supply unit 5117, and carrying 5112 assigned positions that can aspirate these parts to the end.Suction nozzle station 5119 is a kind of, for the kind of the parts that adapt to different shape, deposits the suction nozzle of replacing usefulness on this platform.
To constitute two parts supply unit 5115a of each auxiliary equipment 5110 (or 5120) and 5115b and be with parts identification video camera 2116 be the boundary, is configured in left side and right side respectively.Therefore, be used for from parts supply unit 5115a or 5115b suction parts 5112 after having passed through parts identification video camera 5116, just move to the mounting points on the substrate 5020, and the work that all parts that aspirated are installed repeatedly." mounting points " is meant the coordinate points on the substrate 5020, at that point parts will be installed, and, even the parts of identical type also may be installed to different mounting points.Be arranged in about parts (mounting points) sum on the parts band of parts of the same race and equal the number of components and parts (sums of the parts that should install) identical with its parts kind.
, 5112 suctions of carrying out parts repeatedly, move, install this consecutive work here, and wherein consecutive work (suction, move, install) or the parts group of portion who installs by this consecutive work are called " task ".For example, utilize under the situation of ten suction nozzle heads, the maximum number of the parts that can install by a task is 10.Comprise 5112 all suction operation in this " suction " that relates to from carrying out before begin to move after beginning to aspirate parts, for example not only comprise situation, also comprise by the situation of 10 parts of suction operation suction repeatedly by suction operation (5112 rotation up and down) 10 parts of suction.
Figure 86 is a kind of ideograph, the position relation of expression 5112 and parts box 5114.This 5112 is to adopt the working head be called as " combination acquisition model ", and 10 suction nozzle 5112a can be set at most, and when 10 suction nozzles are set, respectively at most can be from 10 parts boxes 5114 (by once rotating up and down) suction parts simultaneously.
And, in the parts box 5114 that is called as " single box ", only load a parts band, and in the parts box 5114 that is called as " two box ", load two parts bands.In addition, the position that is provided with of the parts box 5114 among parts supply unit 5115a and the 5115b (or parts band) is called as " value on the Z axle " or is called as " position on the Z axle (Z numbering) ", and Z numbering adopts the high order end with parts supply unit 5115a to be made as the serial number etc. of " Z1 "." Z axle " be meant, is used for determining to be separately positioned on the reference axis of arrangement position (position is set) of the parts box 5114 of each parts mounting machine (possessing under the situation of auxiliary equipment, be separately positioned in each auxiliary equipment).
Figure 87 (a) is a kind of outside drawing to Figure 87 (d), the outward appearance of expression mounting object parts (electronic component).In the parts band, take in Figure 87 (a) respectively continuously to the various a plurality of shape electronic component 5423a to 5423d shown in Figure 87 (d) at interval in accordance with regulations.And the parts band of specified quantity is entangled in to supply with and uses spool, and supplies with to the user with carrier state.
The main points of this parts mounting machine 5100 in work are as follows.
(1) replaces suction nozzle
When the required suction nozzle of next installment work was not arranged on 5112,5112 moved to suction nozzle station 5119, carry out suction nozzle and replace.As the kind of suction nozzle, the parts size by aspirating for example has type S, M, L etc.
(2) suction parts
5112 move to parts supply unit 5115a and 5115b, and the suction electronic component.In the time can not aspirating 10 parts simultaneously, mobile suction position, and repeatedly carry out relevant rotation up and down of aspirating, thus can aspirate 10 parts at most.
(3) scanning identification
5112 move on parts identification video camera 5116 with fixed speed, and scanning is by an image of all electronic components of 5112 suctions, thereby accurately detect the suction position of parts.
(4) parts are installed
Electronic component is installed on substrate 5020 successively.
By carrying out the work of above-mentioned (1) to (4) repeatedly, electronic component is installed to substrate 5020.From the work of above-mentioned (2) to (4) is groundwork the parts installment work of being undertaken by this parts mounting machine 5100, is equivalent to " task ".That is,, 10 electronic components can be installed at most at substrate by a task.
Figure 88 is a kind of schematic diagram, and expression is by the example of the components information storehouse 5307b of parts mounting machine 5100 storages.
Components information storehouse 5307b is stored in the storage system of parts mounting machine 5100, compiles the intrinsic information of parts by parts mounting machine 5100 manageable all kinds respectively.
Components information storehouse 5307b for example comprises by parts: denominational A1, the title (parts title) of expression parts; Size hurdle A2, the size of expression parts; Recognition mode hurdle A3, expression is by the pattern of parts identification video camera 5116 identification parts; Suction nozzle hurdle A4, the suction nozzle type that expression can be suitable at parts; Beat hurdle A5, the expression intrinsic beat of parts under certain condition; And speed hurdle A6, be illustrated in the flank speed of 5112 under the situation of suction parts.Moreover in addition, components information storehouse 5307b can also comprise the color of parts, the information such as shape of parts.
For example, comprise parts title " 0603CR ", " 3VOL " etc. at denominational A1.And in this figure,, also represent the outward appearance of various parts for for reference.In addition, in big or small hurdle A2, comprise parts size (high * wide * thick) 0.6 (mm) * 0.3 (mm) * 0.25 (mm) of parts title " 0603CR ", and comprise the parts size 4.8 (mm) * 4.0 (mm) * 3.0 (mm) of parts title " 3VOL ".That is, to be called the parts of " 0603CR " littler than the parts that parts name is called " 3VOL " for expression parts name.Be called the parts of " 0603CR " and the recognition mode that the parts name is called the parts of " 3VOL " as the parts name, in recognition mode hurdle A3, comprise reflective-mode.In addition, in suction nozzle hurdle A4, comprise that the parts name is called the suction nozzle type SX of the parts of " 0603CR ", and comprise that the parts name is called the suction nozzle type M of the parts of " 3VOL ".That is, expression parts name is called the little suction nozzle of parts needs of " 0603CR ", and the parts name is called the neither big nor small suction nozzle of parts needs of " 3VOL ".In beat hurdle A5, comprise that the parts name is called the beat 0.086 second of the parts of " 0603CR ", and comprise that the parts name is called the beat 0.13 second of the parts of " 3VOL ".That is, the expression parts name parts that are called " 0603CR " can be installed with the installation rate faster speed of the parts that are called " 3VOL " than parts name.In addition, in speed hurdle A6, comprise that suction parts name is called a flank speed 1 of 5112 of the parts of " 0603CR ", and comprise that suction parts name is called a flank speed 2 of 5112 of the parts of " 3VOL ".This flank speed is the i.e. ratio of mobile speed restriction of maximum speed of expression 5112, and this value is more little, and the maximum speed (mobile speed restriction) shown in this is worth is fast more.That is, 5112 when suction parts name is called parts of " 0603CR ", moves quickly in the time of can being called the parts of " 3VOL " than suction parts name.This components information storehouse 5307b comprises above-mentioned speed hurdle A6, with this speed hurdle A6 as above-mentioned velocity information.
So, when 5112 had aspirated parts, this rate travel of 5112 was subjected to the restriction corresponding to the flank speed of these parts.And when 5112 have aspirated a plurality of parts, this rate travel of 5112 be subjected to respectively with the corresponding flank speed of the parts that aspirated in the restriction of maximum speed.For example, aspirated the parts name when being called the parts of " 0603CR " and parts name and being called the parts of " 3VOL " 5112, this translational speed of 5112 is limited to flank speed 2.
Promptly, in a task, the parts name is called the parts of " 0603CR " and parts that the parts name is called " 3VOL " are installed under the situation of substrate 5020, aspirating the parts name be called " 3VOL " parts during the short more parts that promptly aspirating flank speed big (maximum speed is slow) during short more, can shorten more and install the required time of these parts.
So, parts mounting machine 5100 is at reference components information storehouse 5307b, and when aspirating a plurality of parts by 5112, by flank speed order from small to large, aspirate these parts successively, and when a plurality of parts of installing by 5112 suction,, parts are installed successively by flank speed order from big to small.That is, parts mounting machine 5100 comprises the order determination device, and the processing sequence of decision parts (suction order and erection sequence) is to shorten the slow parts of maximum speed by a time of 5112 suctions.Moreover above-mentioned suction means the order of carrying by 5112 an a plurality of parts that carry in proper order.
Here, in a task, in the time of will aspirating a plurality of parts by 5112, parts mounting machine 5100 is in parts supply unit 5115a, 5115b side, with with the flank speed of entrained parts in the maximum corresponding rate travel of speed, make 5112 to move to the suction position of each parts on axially at Z.When 5112 have aspirated all parts, parts mounting machine 5100 with the corresponding rate travel of the flank speed of above-mentioned maximum, make this 5112 move to substrate 5020 sides.And, when a plurality of parts by 5112 suction are installed on the mounting points on the substrate 5020, parts mounting machine 5100 with the corresponding rate travel of the flank speed of above-mentioned maximum, make 5112 on substrate 5020, to move.
Figure 89 is the key diagram of explanation parts suction order and erection sequence.As mentioned above, parts mounting machine 5100 decides the suction order (carrying order) and the erection sequence of the parts in a task with reference to components information storehouse 5307b.
For example, 5112 handle under the situation of four parts p1, p2, p3, p4 in a task, and parts mounting machine 5100 is determined parts p1, p2, p3, p4 flank speed separately with reference to components information storehouse 5307b.Here, components information storehouse 5307b for example represents, the flank speed of parts p1 is that the flank speed of " 1 ", parts p2 is that the flank speed of " 2 ", parts p3 is that the flank speed of " 3 ", parts p4 is " 4 ".Promptly, the relation of the flank speed of above-mentioned each parts is, " parts p1＜parts p2＜parts p3＜parts p4 ", and the relation of the maximum speed of above-mentioned each parts (mobile speed restriction) is, " parts p1＞parts p2＞parts p3＞parts p4 ".In other words, the fastest is the maximum speed of parts p1, the secondth, and the maximum speed of parts p2, the 3rd is the maximum speed of parts p3, the slowest is the maximum speed of parts p4.Moreover, the relation of the above-mentioned flank speed of expression in the 5307b of components information storehouse, its reason is that for example, parts p1, p2, p3, p4 size (or weight) relation table separately is shown " parts p1＜parts p2＜parts p3＜parts p4 ".
Secondly, parts mounting machine 5100 utilizes above-mentioned definite flank speed, determines the suction order of four parts p1, p2, p3, p4.At this moment, parts mounting machine 5100 is promptly pressed maximum speed by flank speed from small to large in proper order near slow order, determines the order of suction parts.Particularly, because the flank speed minimum of parts p1, so parts mounting machine 5100 is first parts that will aspirate with parts p1 decision.And because the flank speed of parts p2 is only second to parts p1, so parts mounting machine 5100 is second parts that will aspirate with parts p2 decision.Equally, because the flank speed of parts p3 is only second to parts p2, so parts mounting machine 5100 is the 3rd parts that will aspirate with parts p3 decision; Because therefore the flank speed maximum of parts p4 is the 4th parts that will aspirate with parts p4 decision.
And parts mounting machine 5100 utilizes above-mentioned definite flank speed, determines the erection sequence of four parts p1, p2, p3, p4.At this moment, parts mounting machine 5100 is by flank speed order from big to small, promptly by maximum speed from slowly to fast order, the order of parts is installed in decision.Particularly, because the flank speed maximum of parts p4, so parts mounting machine 5100 is first parts that will install with parts p4 decision.And because parts p3 flank speed is only second to parts p4, so parts mounting machine 5100 is second parts that will install with parts p3 decision.Equally, because the flank speed of parts p2 is only second to parts p3, so parts mounting machine 5100 is the 3rd parts that will install with parts p2 decision; Because therefore the flank speed minimum of parts p1 is the 4th parts that will install with parts p1 decision.
Figure 90 (a) is the figure of the situation of explanation 5112 a suction parts to Figure 90 (e).Parts mounting machine 5100 is according to the suction that determined order, makes each suction nozzle 5112a of 5112 aspirate parts respectively.
At first, parts mounting machine 5100 makes 5112 shown in Figure 90 (a) move to the suction position of parts p1 with very fast speed on the Z-direction of parts supply unit 5115a and 5115bc side.Then, shown in Figure 90 (b), parts mounting machine 5100 makes among 5112 a plurality of suction nozzle 5112a any aspirate the parts p1 that first will aspirate.When having aspirated parts p1, parts mounting machine 5100 is reduced to the maximum speed of parts p1 with the rate travel of 5112 shown in Figure 90 (b), and makes this 5112 move to the suction position of parts p2 on axially at Z.Then, shown in Figure 90 (c), parts mounting machine 5100 makes second parts p2 that will aspirate of suction nozzle 5112a suction that does not aspirate parts of 5112.When having aspirated parts p2, parts mounting machine 5100 is reduced to the maximum speed of parts p2 with the rate travel of 5112 shown in Figure 90 (c), and makes this 5112 move to the suction position of parts p3 on axially at Z.Then, shown in Figure 90 (d), parts mounting machine 5100 makes a suction nozzle 5112a who does not aspirate parts of 5112 aspirate the 3rd the parts p3 that will aspirate.When having aspirated parts p3, parts mounting machine 5100 is reduced to the maximum speed of parts p3 with the rate travel of 5112 shown in Figure 90 (d), and makes this 5112 move to the suction position of parts p4 on axially at Z.At last, shown in Figure 90 (e), parts mounting machine 5100 makes a suction nozzle 5112a who does not aspirate parts of 5112 aspirate the 4th the parts p4 that will aspirate.
When each the suction nozzle 5112a 5112 had aspirated parts p1, p2, p3, p4 respectively, parts mounting machine 5100 should 5112 moves to substrate 5020.At this moment, 5112 rate travel is limited to the flank speed of parts p4.
Figure 91 (a) is the figure of the situation of explanation 5112 an installation parts to Figure 91 (e).When 5112 moved to substrate 5020, parts mounting machine 5100 was according to the erection sequence that is determined, will be installed to the mounting points on the substrate 5020 by the parts of each suction nozzle 5112a suction of 5112.
At first, parts mounting machine 5100 is with very slow speed, makes 5112 shown in Figure 91 (a) move to the mounting points of the parts p4 on the substrate 5020.Then, parts mounting machine 5100 makes 5112 the suction nozzle 5112a that has aspirated parts p4 that these parts p4 is installed to mounting points.Its result, shown in Figure 91 (b), 5112 are in the state that only aspirates parts p1, p2, p3.When parts p4 had been installed, parts mounting machine 5100 was brought up to the maximum speed of parts p3 with the rate travel of 5112 shown in Figure 91 (b), and made this 5112 mounting points that moves to the parts p3 on the substrate 5020.And parts mounting machine 5100 makes 5112 the suction nozzle 5112a that has aspirated parts p3 that these parts p3 is installed to mounting points.Its result, shown in Figure 91 (c), 5112 are in the state that only aspirates parts p1, p2.When parts p3 had been installed, parts mounting machine 5100 was brought up to the maximum speed of parts p2 with the rate travel of 5112 shown in Figure 91 (c), and made this 5112 mounting points that moves to the parts p2 on the substrate 5020.Then, parts mounting machine 5100 makes 5112 the suction nozzle 5112a that has aspirated parts p2 that these parts p2 is installed to mounting points.Its result, shown in Figure 91 (d), 5112 are in the state that only aspirates parts p1.When parts p2 had been installed, parts mounting machine 5100 was brought up to the maximum speed of parts p1 with the rate travel of 5112 shown in Figure 91 (d), and made this 5112 mounting points that moves to the parts p1 on the substrate 5020.Then, parts mounting machine 5100 makes 5112 the suction nozzle 5112a that has aspirated parts p1 that these parts p1 is installed to mounting points.Its result, shown in Figure 91 (e), 5112 are in the state that does not aspirate any parts.At last, parts mounting machine 5100 makes this 5112 move to parts supply unit 5115a, 5115b side.
Figure 92 is the figure of the rate travel of expression 5112.As mentioned above, because parts mounting machine 5100 is set flank speed respectively to each parts, therefore when making 5112 each parts of suction, change 5112 speed by stages, and on the Z-direction of parts supply unit 5115a, 5115b side, make 5112 to move.
For example, parts mounting machine 5100 is during moment t0 to t1, with rate travel V4, makes 5112 suction position that move to parts p1 on Z-direction.Then, at moment t1, behind the 5112 suction parts p1, parts mounting machine 5100 is during moment t 1 to t2, with the rate travel V3 slower than rate travel V4, makes 5112 suction position that move to parts p2 on Z-direction.Then, at moment t2, behind the 5112 suction parts p2, parts mounting machine 5100 is during moment t2 to t3, with the rate travel V2 slower than rate travel V3, makes 5112 suction position that move to parts p3 on Z-direction.Then, at moment t3, behind the 5112 suction parts p3, parts mounting machine 5100 is during moment t3 to t4, with the rate travel V1 slower than rate travel V2, makes 5112 suction position that move to parts p4 on Z-direction.At last, at moment t4,5112 a suction parts p4.
Here, when having aspirated parts p4, during moment t4 to t5, parts mounting machine 5100 is with the rate travel V0 slower than rate travel V1, makes 5112 mounting points that move to the parts p4 on the substrate 5020.
Then, parts mounting machine 5100 changes 5112 speed by stages when the parts of installing by 5112 suction, and moves 5112 above substrate 5020.
For example, at moment t5, by 5112 parts p4 are installed after, parts mounting machine 5100 is during moment t5 to t6, with than rate travel V0 rate travel V1 faster, with 5112 mounting points that move to parts p3.Then, at moment t6,5112 parts p3 are installed after, parts mounting machine 5100 is during moment t6 to t7, with than rate travel V1 rate travel V2 faster, with 5112 mounting points that move to parts p2.Then, at moment t7,5112 parts p2 are installed after, parts mounting machine 5100 is during moment t7 to t8, with than rate travel V2 rate travel V3 faster, with 5112 mounting points that move to parts p1.At last, at moment t8,5112 parts p1 are installed after, parts mounting machine 5100 is during moment t8 to t9, with than rate travel V3 rate travel V4 faster, moves to parts supply unit 5115a, 5115b side with 5112.
For example, make 5112 at first to aspirate parts p4 at parts mounting machine 5100, and install at last under the situation of these parts p4, from being drawn in long period till the installation of first parts p4, parts mounting machine 5100 will move 5112 with rate travel V0 always.Relative therewith, in the present embodiment, do not make 5112 to carry out moving for a long time, and can move 5112 with fast speed with rate travel V0.
Moreover the rate travel of 5112 shown in Figure 92 is represented a model utility example.Figure 93 is a kind of flow chart, the work that expression parts mounting machine 5100 is installed parts.
At first, parts mounting machine 5100 is determined the parts (step S5100) that should install in a task.Secondly, parts mounting machine 5100 is determined the maximum speed (flank speed) (step S5102) of each parts with reference to components information storehouse 5307b.And, the suction order of the parts that parts mounting machine 5100 decisions are determined in step S5100, the main points of this suction order are, by maximum speed from aspirate parts (step S5104) successively near slow order, and the erection sequence of decision definite parts in step S5100, the main points of this erection sequence are, by maximum speed from slowly to fast order, parts (step S5106) are installed successively.
Afterwards, parts mounting machine 5100 makes 5112 each parts of suction and mobile, and according to the erection sequence that is determined, these parts is installed to substrate 5020 (step S5108) according to the suction order that is determined.Thus, all parts in task are installed to substrate 5020.
So, even utilize maximum speed the slowest in the maximum speed of the parts of 5112 suctions or its following speed, make under this 5112 situation about moving, also make an a plurality of parts of 5112 processing according to suction order and erection sequence by the said method decision, just can shorten by a time of the parts that 5112 suction maximum speeds are slow, thereby can accelerate a rate travel of 5112, can shorten and install the required time of parts, improve throughput.And, utilize maximum speed the slowest in the maximum speed of the parts of 5112 suctions or its following speed that this 5112 is moved, thereby can prevent that from the beginning parts from 5112 departing from or drop, and can be installed to substrate 5020 exactly with parts.
In recent years, do not possess at the suction nozzle of each parts at a large amount of parts mounting machines of market circulation and to replace function, in the case, the present invention is especially effective.
That is, on the head of above-mentioned parts erection unit, load the suction nozzle that needs when a substrate installed in advance, promptly possess the suction nozzle of corresponding various parts.For example, be mounted with the suction nozzle of type S, type M, type L, type LL.,, reduce number of tasks here, for this reason, make all suction nozzles aspirate parts respectively in order to improve throughput.Therefore, head will aspirate the parts of all size in a task, these parts are installed to substrate.
Under this situation, if parts are installed, will reduce the rate travel of head with the order of pressing from small to large in the past the samely, the result is difficult to improve throughput.Yet in the present invention, the main points of decision suction order and erection sequence are, shorten the time of aspirating the slow parts of rate travel, therefore, can accelerate the rate travel of head, can improve throughput.Moreover, replace for the parts mounting machine of function for not possessing said suction nozzle, can not be provided for depositing the suction nozzle station of replacing with suction nozzle, thereby can realize parts mounting machine miniaturization, production space dwindle and cost reduces.Therefore, this parts mounting machine circulates in a large number in market.
More than, utilize execution mode that the component mounting method of parts mounting machine 5100 installation parts has been described, but, the invention is not restricted to this.
For example, in above-mentioned example, parts mounting machine 5100 comprises determination device, and has determined the suction order and the erection sequence of parts, but, also can make the 5th parts erection sequence determination section 308e comprise that the order determination device decides order.In the case, parts mounting machine 5100 obtains suction order and the erection sequence by the parts of the 5th parts erection sequence determination section 308e decision, and according to the suction of this acquisition order and install by along handling a plurality of parts, and parts are installed to substrate 5020.And in the present embodiment, components information storehouse 5307b is stored in the parts mounting machine 5100, but, also can be stored among the 5th parts erection sequence determination section 308e.Here, the said sequence determination device comprises: speed determining unit, definite 5112 flank speed (maximum speed); And the decision unit, the processing sequence of decision parts is to shorten by 5112 time of carrying the big parts of flank speed.
And, in above-mentioned example, after parts mounting machine 5100 has determined the suction preface of parts, just determined the erection sequence of parts, but, also can at first determine erection sequence, determine the suction order then.In addition, in above-mentioned example, parts mounting machine 5100 is behind suction order that has determined parts and erection sequence, make 5112 a suction parts and be installed to substrate 5020, but, so long as before parts are installed, just can determine erection sequence at any time.For example, can after making 5112 a suction parts, determine erection sequence.
And in above-mentioned example, parts mounting machine 5100 with 5112 suction position that move to each parts, but, can be not move 5112 when making 5112 each parts of suction yet, and makes this 5112 aspirate a plurality of parts simultaneously.For example, under the adjacent situation of the suction position of the suction position of above-mentioned parts p1 and above-mentioned parts p2,5112 do not move, and utilize suction nozzle 5112a to aspirate parts p1 and p2 simultaneously.Equally, in above-mentioned example, parts mounting machine 5100 is when being installed to substrate 5020 with each parts, with 5112 mounting points that move to each parts, but, can be not do not move 5112 yet, and a plurality of parts by these 5112 suctions can be installed simultaneously.For example, under the adjacent situation of the mounting points of the installation site of above-mentioned parts p1 and above-mentioned parts p2,5112 do not move, and utilize suction nozzle 5112a that parts p1 and p2 are installed simultaneously.
In addition, in above-mentioned example, components information storehouse 5307b represents flank speed, but, also can represent maximum speed.And parts mounting machine 5100 also can be determined the flank speed (maximum speed) of each parts according to parts size shown in the 5307b of components information storehouse or beat etc.Why can determine maximum speed according to the parts size, be because there is certain relation usually between parts size and maximum speed.That is, existing relation is: under the big or small big situation of parts, reduce maximum speed, and under the big slight situation of parts, improve maximum speed.Therefore, parts mounting machine 5100 is determined maximum speed at each parts with reference to the parts among the 5307b of components information storehouse sizes, and its main points are that the parts size is big more, and 5112 rate travel is just restricted more.In the case, the speed hurdle A6 among the 5307b of components information storehouse can be set, so just can the control information amount.Also can determine the flank speed (maximum speed) of each parts here, only according to the thickness of parts size.And when components information storehouse 5307b represented the weight of each parts, parts mounting machine 5100 also can be determined maximum speed according to its weight.Why can determine maximum speed according to the parts size, be because, same as described above owing between the weight of parts and maximum speed, have certain relation.
And in above-mentioned example, the flank speed (maximum speed) represented according to components information storehouse 5307b has changed a rate travel of 5112, but, also can change an acceleration of 5112, perhaps, also can change rate travel and acceleration.And then identical with 5112 flank speed, parts mounting machine 5100 also can determine suction order and erection sequence according to acceleration.In this case, the present invention brings into play effect same as described above.Usually, no matter parts mounting machine is which kind of parts of suction, all with about identical maximum speed head moved, and according to the character (size, weight etc.) of these parts, (the highest) acceleration that only changes.This acceleration comprises positive acceleration and negative acceleration, just represents governing speed.For example, when head only aspirated little parts, the absolute value of this acceleration was made as greatly, and when head aspirated big parts, the absolute value of this acceleration was made as little.Therefore, the present invention too, it is more real to change acceleration, and the maximum speed of above-mentioned execution mode can be replaced into high acceleration, and rate travel (speed) is replaced into acceleration.
And, in above-mentioned example, the suction order and the erection sequence of decision parts, and according to these sequential controls 5112, but, also can determine any of suction order and erection sequence, and come control head 5112 according to the order that is determined.
And, in above-mentioned example, do not make 5112 rotation, and only carry out parallel moving, but, also can make 5112 rotation.And then, same with rate travel, also can control this rotary speed of 5112 according to the flank speed among the 5307b of components information storehouse.Thus, can improve a rotary speed of 5112, further improve throughput.
And, not necessarily to carry out the such processing of action time shortening device 300 as shown in Figure 2, promptly, not necessarily to carry out parts erection sequence decision and handle by conversion, and the structure that the parts erection sequence decision that can adopt special execution to be undertaken by the order determination device or the 5th parts erection sequence determination section 308e of parts mounting machine 5100 is handled.
Figure 94 is a kind of outside drawing, and expression has the overall structure of the parts installation system 5010 of this structure.This parts installation system 5010 comprises: constitute a plurality of parts mounting machines 5100 and 5200 of production line, this production line is from flowing to dirty transporting circuit board (substrate) 20, and the production line of electronic component (parts) is installed; And management devices 5300, management parts mounting machine 5100 and 5200.Moreover parts mounting machine 5100 and 5200 comprises same structure respectively.
[about the 6th parts erection sequence determination section 308f]
Along with the multifunction and the miniaturization of e-machines such as PC, mobile phone, the demand that more to high-density parts are installed to the circuit board (to call " substrate " in the following text) that comprises in the e-machine also more and more improves.Therefore, the parts mounting machine of making this substrate will have and can tackle extremely near the function that (parts are installed in the very close position on substrate) is installed.
Figure 95 illustrates extremely near the figure that installs.Here expression is, parts 6003 are installed in substrate 6004, and just on the next door of these parts 6003 phenomenon of colliding that takes place under new parts 6002 situation of (referring to the parts 6002 by suction nozzle 6001 suctions of parts mounting machine here) is installed.Because the height of parts 6002 is lower than the height (thin thickness of parts) of parts 6003, and, to this parts 6002 be installed in the position very close with parts 6003, therefore the phenomenon of suction nozzle 6001 collision parts 6003 takes place, thereby can not parts 6002 be installed at substrate 6004.Moreover the phenomenon of colliding not only comprises the collision of this suction nozzle (or installation head of parts mounting machine) and parts, also comprises the collision (for example, being collided with the parts that are installed in substrate by the parts of suction nozzle suction) of parts and parts.
Originally, this in order to adapt to extremely near installing, the suggestion (for example opening 2003-37396 communique (from Figure 11 to Figure 13 etc.) with reference to the spy of Japan) of all kinds of component mounting methods is arranged.Open in the method for 2003-37396 communique record the spy of Japan, press the height of parts, all parts of mounting object are divided into each group, earlier the parts of the group that belongs to low clearance are installed.Thus, avoid the phenomenon of colliding of generation when carrying out extremely near installation.
Yet, in above-mentioned technology in the past, be object with the modular parts mounting machine, each mounting points is divided into task, and carries out the processing of the parts erection sequence in decision task order and each task, but, do not consider the phenomenon of colliding this moment.Perhaps, in contrast, the phenomenon of only considering to collide decides the erection sequence of parts, and does not consider under the condition of phenomenon of considering to collide and make task be reduced to minimum.
And the problem that exists in above-mentioned technology in the past is, do not carry out arcuate motion owing to consider the installation head of parts mounting machine, and therefore, aspect the avoiding of the phenomenon of colliding that extremely takes place when installing, this is not very desirable method.Here, arcuate motion is meant, the installation head of parts mounting machine is carried out XY rotates (that carries out moves) on the face parallel with substrate motion when rotating up and down, for example be meant, shown in Figure 96 (a), after installation head has been installed certain parts to substrate, when next parts will be installed again, draw arc track and move.By this arcuate motion, compare with the standard movement (non-arcuate motion) shown in Figure 96 (b), can shorten the traveling time of installation head, that is, can shorten the set-up time.
Figure 97 is the figure that the phenomenon of colliding that rises because of arcuate motion is described.Here expression is, is got off from oblique upper by arcuate motion by the parts 6005 of suction nozzle 6001 suction, therefore causes these parts 6005 and has been installed to the generation of the phenomenon of colliding of 6006 of the parts of substrate 6004.This phenomenon of colliding can not take place under the situation of not carrying out arcuate motion, and only just takes place under the situation of carrying out arcuate motion.The problem that exists in above-mentioned technology in the past is, owing to do not consider the phenomenon of colliding that takes place when parts being installed by the installation head of parts mounting machine, therefore cause the quality deterioration problem that rises because of the phenomenon of colliding, or cause the running wastage problem because of can not carry out installation parts that arcuate motion gives birth to the time.
And, also there is such problem, that is,, therefore can not carry out installation by arcuate motion owing to not considering the phenomenon of colliding of giving birth to because of arcuate motion, hinder at a high speed and install.
So the purpose of the 6th parts erection sequence determination section 308f is, provide a kind of parts erection sequence determining method that is not easy to take place running wastage when parts are installed.
And its purpose is, a kind of parts erection sequence determining method is provided, and considers the parts of giving birth to because of the arcuate motion of the installation head phenomenon of colliding, and reply at a high speed and high-density mounting.
The process object of the 6th parts erection sequence determination section 308f is a parts mounting machine 6100 shown in Figure 1.
This parts mounting machine 6100 is erection sequences of decision parts, and according to the erection sequence of this decision parts is installed to the device of substrate, comprising: parts containing portion 6115, take in parts; Installation head 6110 from parts containing portion 6115 suction parts, and moves to mounting points on the substrate by arcuate motion etc., and parts are installed; And XY automaton 6113, this XY automaton 6113 is the platforms drive installation on the XY direction 6110 (moving on face parallel to the ground), etc.
Moreover installation head 6110 for example is the modular installation head, comprises 10 suction nozzles that can rotate up and down, aspirates 10 parts at most parts are installed to substrate.And suction nozzle for example can load and unload on installation head 6110.And installation head 6110 can be replaced suction nozzle automatically by the size of the parts that will aspirate or weight etc. before the suction parts.
Figure 98 is the figure of the internal structure of expression parts mounting machine 6100 shown in Figure 1.The figure shows, the situation that the parts box 6115a of parts band (parts in the band) forms a line (below, the direction that the parts box is arranged is called the Z axle) is taken in the inside in parts containing portion 6115, or the trucking department 6121 of carrying substrate 6122 etc.When parts are installed, installation head 6110 is carried out following consecutive work repeatedly, till end was installed to substrate 6122 with all parts: installation head 6110 was for example passed through the descending motion and the ascending motion of 10 suction nozzles, respectively from a plurality of parts bands that are accommodated in parts box 6115a, simultaneously or aspirate 10 parts successively; Installation head 6110 is moved to by XY automaton 6113 and puts the position that substrate 6122 is put; By arcuate motion etc., installation head 6110 is installed to parts 10 mounting points on the substrate 6122 successively.Moreover, shown in Figure 99,, will be called task by the parts group of once (circulation) consecutive work installation in the suction of carrying out parts by installation head 6110 repeatedly, to the moving, install in the process of this consecutive work of substrate at the parts of substrate.
Shown in Figure 100, the 6th parts erection sequence determination section 308f is a kind of program and CPU etc., according to the mounting points data 6241 that are stored in database part 307 and component number according to 6242 etc., the best parts erection sequence of the arcuate motion of installation head 6110 is considered in decision, with the decision the result as erection sequence data 6243, store in the database part 307, comprising: load onto order determination section 6251, task order determination section 6252 and suction order determination section 6253.
Figure 101 is a kind of flow chart, represents the groundwork of the 6th parts erection sequence determination section 308f and parts mounting machine 6100.Shown in the left side flow chart of this figure, the 6th parts erection sequence determination section 308f installs parts (S6101) for all object parts decision erection sequences (S6100) according to the erection sequence that is determined.In the process of decision erection sequence (S6100), shown in the flow chart on this figure right side, at first, load onto order determination section 6251 and consider the phenomenon of colliding of giving birth to because of the arcuate motion of installation head 6110 etc., with the parts group that is made of the parts corresponding to one or more mounting points is unit, determine the erection sequence (S6110) of all parts, then, task order determination section 6252 is under the state of keeping by the erection sequence of loading onto 6251 decisions of order determination section, decision task and task order (S6111), at last, suction order determination section 6253 is for each task by 6252 decisions of task order determination section, and the suction of the parts of decision in task is (from S6112 to S6114) in proper order.So, the phenomenon of colliding that consideration is given birth to because of arcuate motion etc. at first determines the erection sequence of all parts, and keeping under the state of this erection sequence, decision task or suction order, with the erection sequence of this result, thereby can install by the high speed of carrying out parts by the arcuate motion of installation head 6110 as parts.
Figure 102 is a flow chart of representing the step (S6110) of the decision erection sequence shown in Figure 101 in detail, promptly is illustrated in when parts are installed, and considers the phenomenon of colliding of installation head 6110 and parts, decides the detailed step of the erection sequence of all zero ones.
At first, load onto the three dimensional arrangement figure (S6120) that order determination section 6251 is made current all parts of having installed at substrate 6122.Here, shown in Figure 103, three dimensional arrangement figure is the three-dimensional data of expression, and what position that is illustrated in substrate 6122 is installed the parts of which kind of shape.This layout plan for example is to make from the parts mounting machine or the master computer acquired information at upper reaches by communication I/F portion 6260.
Secondly, load onto order determination section 6251 with reference to the three dimensional arrangement figure that makes by above-mentioned steps S6120 and component number according to 6242 etc., come for the current substrate 6122 that is in installment state, specify login in the parts of mounting points data 6241, not collide and be not subjected to all parts of any restriction (no matter by any order install can) on the erection sequence, these parts are stored (S6121) as first group with other parts.Particularly, height order from high to low by parts is studied successively, affirmation is when being installed to substrate 6122 by arcuate motion with these parts, there are not other parts (part that yet comprises parts) in (below, this space is called the zone of colliding) in the space that parts and suction nozzle may pass through.(existing at least under the situation of a part of parts) under the situation of region memory of colliding, handle not making these other parts belong to first group (making it to belong to the group of back) here, at other parts.More specifically, the processing of carrying out is, virtual making virtual three-dimensional layout plan, do not make when parts are installed and parts that the parts on this three dimensional arrangement figure are collided belong to first group, above-mentioned virtual three-dimensional layout plan is meant, the figure when the parts virtual installation that will install later in the uninstalled parts is arrived substrate 6122.All uninstalled parts are carried out this work, ask not the parts of colliding with any uninstalled parts, with these parts as first group.
For example, as colliding shown in the zone (here among Figure 104, the three-dimensional zone of colliding is shown as two-dimensional space), under the situation that the parts 6130a to 6130d that is installed to substrate 6122 is studied, for parts 6130a, parts 6130b, each of parts 6130d collided in the zone, there are not other parts, but, since at the region memory of colliding of parts 6130c in parts 6130d (part that has parts d), therefore be judged as and parts 6130d removed (group that will install after should making it to belong to) from this group, organize and store and only parts 6130a to 6130c is belonged to this.Moreover, the zone of colliding for example is meant, the imagination parts by arcuate motion come from be in advance fixed angle (for example, be updip side 45 degree to substrate) (with the mounting points is central point in various orientation, from all orientation) drop to the space of colliding under the situation of the mounting points on the substrate, be according to above-mentioned angle, the space that face surrounded when the profile of the parts that are installed in substrate prolongs outside inclination top.
After determining a group by this method, then, loading onto order determination section 6251 is object with the residue parts except that decision is the parts of this group, once more by same steps as (S6120, S6121), carry out packet transaction for all parts, decide next group (from S6120 to S6122).Promptly, as the war of structuring the formation, imagination is installed in situation behind the substrate with the parts in the group that is determined, upgrade three dimensional arrangement figure (S6120), and under the three dimensional arrangement figure that is upgraded, carry out the identical war of structuring the formation repeatedly for remaining parts and handle (S6121), till not had all parts (S6122).For the group of making successively, for example give No.1,2 ... etc. group number.
Figure 105 is that expression is by this figure that loads onto the group of order determination section 6251 decisions.Here the expression: corresponding to mounting points P0003 ..., P0048 parts belong to the group 1; Corresponding to mounting points P0001 ..., P0041 parts belong to the group 2; Corresponding to mounting points P0005 ..., P0044 parts belong to the group 3; Corresponding to mounting points P0002 ..., P0031 parts belong to the group 4.That is, as long as install successively,, also can guarantee not take place the phenomenon of colliding between parts and parts and parts and the installation head 6110 even just install by the arcuate motion of installation head 6110 by the order of this group number.And then as can be known,, be not subjected to the restriction of erection sequence about belonging to same group parts.
Figure 106 is the flow chart of the detailed step of decision task shown in expression Figure 101 and task order (S6111), promptly is illustrated under the situation about keeping by the erection sequence of loading onto 6251 decisions of order determination section the detailed step of decision task and task order.Shown in Figure 107, task order determination section 6252 carries out following processing (from S6130 to S6133) repeatedly: for by all groups of loading onto 6251 decisions of order determination section, be divided into task by the parts of organizing in will organizing, decide task (S6131); And, determine the erection sequence (S6132) of these tasks for all tasks that determined.For example, in Figure 107, represent, mounting points P008, P009, the pairing parts of P019, P023 belong to first task T001 in first installation group, and the pairing parts of mounting points P015 belong to second task T002 in first installation group.
Here, detailed step as decision task and task order (S6131, S6132), for example carry out following processing: now, shown in the parts histogram among Figure 108 (a), for by each parts group of loading onto the decision of order determination section 6251 (" group 1 ", " group 2 "), respectively by quantity (component number that will install) from many to few order, successively parts band (or parts box 6115a) is configured to parts containing portion 6115; Shown in Figure 108 (b), by each group, n (be arranged on the suction nozzle number of installation head 6110, have four in the example of this figure) parts decision of (the arranging to right) that will be arranged in order from the Z1 on the Z axle respectively is first task; Shown in Figure 108 (c), by removing this n parts from the parts histogram, thereby upgrade the parts histogram.Then,, shown in Figure 108 (b), equally n parts decision is next task, upgrades the parts histogram the parts histogram that is upgraded.Afterwards, carry out same processing repeatedly, until there have not been all parts.Moreover under the situation of the parts that do not had Z1, the parts that will be arranged in order from the Z2 on the Z axle are as task, and under the situation that has not had the Z2 parts, the parts that will be arranged in order from the Z3 on the Z axle are as task.So,, obtain parts singly to Z-direction from being positioned at the parts of the high order end on the Z axle, thus the task that decision is made of n parts.Thus, task order determination section 6252 is by the erection sequence of each group decision task and task.
Figure 109 is the flow chart of the detailed step (S6113) of the decision suction order shown in expression Figure 101, i.e. expression is by the detailed step of the suction order of each the task decision parts that is determined by task order determination section 6252.
At first, suction order determination section 6253 is checked the replacement situation (S6140) of suction nozzle.That is, the suction nozzle kind used in the installation task process of tight front and quantity kind and the quantity with the suction nozzle that needs in the process of next one installation task is compared, under mutually different situation, be judged as and replace suction nozzle.
And the order identical order of suction order determination section 6253 by with task order determination section 6252 decision tasks the time is by the suction order (S6141) of task decision parts.That is, 6253 decisions of suction order determination section are, shown in 108 (b), and for the arrangement of the parts band shown in Figure 108 (a), (arranging) n parts that suction is arranged in order from the Z1 on the Z axle to right.At this moment, the parts about aspirating simultaneously will aspirate simultaneously.Therefore, for example decision is, for a continuously arranged n task that parts constituted, aspirates n parts by a suction operation (suction simultaneously).
Then, shown in Figure 108 (c), suction order determination section 6253 upgrades the parts histogram by removing the task of having determined the suction order, and for next task, by same order decision suction order.That is, determine to be that the Z1 from the Z axle the parts band that leaves parts of high order end (perhaps from) to right, aspirates parts successively, at this moment, about the parts that can aspirate simultaneously, will aspirate simultaneously.
By said method, erection sequence determination section 6250 is for the suction order in all parts decision erection sequence, task and task order, each task, and stores this result into memory portion 6240 as erection sequence data 6243.After this, under operating personnel's indication, installation and control portion 6210 begins the installation of parts according to the erection sequence data 6243 that are stored in memory portion 6240.
So, according to present embodiment, at first consider to decide the erection sequence of all parts because of the phenomenon of colliding that arcuate motion etc. is given birth to, then in the state of keeping this erection sequence task or the suction order of making decision, and this result installed parts as erection sequence, therefore can carry out parts at a high speed and install by arcuate motion by installation head 6110.
More than, illustrated according to execution mode the processing of the 6th parts erection sequence determination section 308f but, to the invention is not restricted to this execution mode.The present invention also comprises, in the scope that does not break away from purport of the present invention, the various modes of texturing that colleague's those of ordinary skill can be expected are reflected to the technology of present embodiment.
For example, in the present embodiment, shown in Figure 107, task order determination section 6252 has determined task and task order in each group of loading onto 6251 decisions of order determination section, but, also can substitute this method, shown in Figure 110, for according to all parts of arranging by the group of loading onto the decision of order determination section 6251, the suction nozzle that possesses with installation head 6110 is counted n and is cut apart repeatedly, to belong to part each zone in parts as task, and putting in order with this task as the erection sequence of task.Thus, decide task order, thereby can avoid the phenomenon of colliding of giving birth to because of arcuate motion etc. by the group number order task of being arranged in order from small to large.Here, generating by belonging under two or more groups the situation of the task that parts constituted, by the little parts of group number are installed earlier, thereby can avoid the phenomenon of colliding.
In addition, in the present embodiment, shown in Figure 108 (a), task order determination section 6252 and suction order determination section 6253 by quantity from many to few order, successively the parts band is configured on the Z axle, but, also can substitute this method, shown in Figure 111, on the Z axle parts band is configured to, the parts that quantity is many more are configured to center (be configured to the parts histogram and be the mountain shape) more, and the current maximum parts of volume residual begin from the parts that will be installed to substrate, obtain parts successively, thus the decision task, task order and suction order.
And, in the present embodiment, after having determined task and task order, just determined the suction order of parts by task, but, the invention is not restricted to this order, can be with suction in proper order for preferentially determining, and its result determines task and task order, or also can one integrated mass ground decision task and task order and suction order.For example, as mentioned above, the method that begins to aspirate according to the parts that volume residual is maximum from the parts that will be installed to substrate since installation head in accordance with regulations suction aspirate parts in proper order, and its result forms task, so the decision of task and suction are one integrated mass in proper order.
And, in the present embodiment, shown in Figure 108 (a), by by each parts group of loading onto the decision of order determination section 6251, with the task order that determined and suction arranged in order to the Z axle, but, also can replace this method, be that benchmark (for example, by highly from low to high order) divides into groups with the height of parts, and, be configured on the Z axle by the parts group that this divided.This is because by the order of the parts group of loading onto 6251 decisions of order determination section, be similar to the order of the parts group of making according to the height of parts after all.
And, in the present embodiment, loading onto order determination section 6251 considers between parts and parts or the phenomenon of colliding of parts and 6110 generations of installation head has decided the erection sequence of parts, but, also can replace this method, or this method added, consider the restriction of parts erection sequence suffered in the three-dimensional shown in Figure 112 is installed (accumulation of parts is installed) the process, decide the erection sequence of parts.This be because, in this three-dimensional process of installing, because after only installing following parts 6131a (or substrate), parts 6131b above could installing, therefore between these parts, there is the restriction of erection sequence, and the restriction of the erection sequence that the phenomenon of colliding because of taking place between parts and parts in this restriction and the present embodiment is subjected to is same.
In addition, in the present embodiment, after having determined the erection sequence of all parts by erection sequence determination section 6250, just begin the installation of parts by installation and control portion 6210, but, the invention is not restricted to this order, and can be when parts are installed, dynamically (in real time) decision remains the erection sequence of parts.For example, can carry out following consecutive repeatedly handles: after installing by the parts of loading onto in prepreerence group of order determination section 6251 decisions, load onto order determination section 6251 for the next parts group that will install of the decision of the residue parts except these parts, and the parts in the group that is determined are installed.Particularly, the processing of carrying out is, virtual making virtual three-dimensional layout plan, do not make when parts are installed with this three dimensional arrangement figure on the parts parts of colliding belong to next and organize, above-mentioned virtual three-dimensional layout plan is meant, the figure when the parts virtual installation that will install is later on arrived substrate 6122.All uninstalled parts are carried out this work, ask not the parts of colliding, the parts group that these parts will be installed as the next one with any uninstalled parts.
And, not necessarily to carry out the such processing of action time shortening device 300 as shown in Figure 2, that is, not necessarily to carry out the decision of parts erection sequence and handle, carry out the structure that the decision of parts erection sequence is handled and can adopt by parts mounting machine 6100 by conversion.
Figure 113 is the block diagram of the functional structure of this parts mounting machine 6100 of expression.This parts mounting machine 6100 comprises on function: portion of mechanism 6200, installation and control portion 6210, input part 6220, efferent 6230, memory portion 6240, erection sequence determination section 6250 and communication I/F portion 6260, etc.
Portion of mechanism 6200 is set of the inscape of appropriate authority, comprising: installation head 6110, XY automaton 6113, parts box 6115a, trucking department 6121 and drive these motor, motor driver etc.
The erection sequence data 6243 that installation and control portion 6210 bases are determined by erection sequence determination section 6250, controlling organization portion 6200, thereby the installation of control parts.
Input part 6220 is to receive from the keyboard of operating personnel's indication etc.Efferent 6230 is LCD that provide to operating personnel various information etc.
Memory portion 6240 is hard disk, memory etc., and storage mounting points data 6241, component number are according to 6242 and erection sequence data 6243 etc.Shown in Figure 114, mounting points data 6241 comprise expression parts title, installation site (X, Y, information Θ) respectively for all mounting points on the object substrate.Shown in Figure 115, component number comprises following information etc. according to 6242: " parts title ", " parts outward appearance " (shape), " parts size ", " two-dimentional recognition mode " (the image recognition pattern that the installation head of video camera after to the suction operation that is through with carried out), " suction nozzle " (type of the suction nozzle of use), " beat " (set-up times of each parts) and " speed XY " (transporting velocity when mounted).Shown in Figure 116, erection sequence data 6243 comprise by the information of the erection sequence of all parts of expression of erection sequence determination section 6250 final decisions (comprising " task " of each mounting points of expression, the information of " suction order " in Figure 116).Moreover " task " in Figure 116 be meant, press T001, T002 ... the order situation of installing successively under task names, and " suction order " is meant the suction order in each task (being illustrated in which time is sucked).
Erection sequence determination section 6250 is program and CPU etc., according to the mounting points data 6241 that are stored in memory portion 6240 and component number according to 6242 etc., the best parts erection sequence of the arcuate motion of installation head 6110 is considered in decision, with the decision the result as erection sequence data 6243, store in the memory portion 6240, comprising: load onto order determination section 6251, task order determination section 6252 and suction order determination section 6253.
Loading onto order determination section 6251 is a kind of handling parts, and according to the restrictive condition in the precedence relationship of the erection sequence of relevant parts, decision is to the erection sequence of substrate.That is, loading onto order determination section 6251 and consider the phenomenon of colliding of giving birth to because of the arcuate motion of installation head 6110 etc., is unit with the parts group that is made of the parts corresponding to one or more mounting points, determines the erection sequence of all parts.Task order determination section 6252 is a kind of handling parts, under situation about keeping by the erection sequence of loading onto 6251 decisions of order determination section, and the erection sequence of decision task and task (task order).Suction order determination section 6253 is a kind of handling parts, for each task by 6252 decisions of task order determination section, and the suction order of the parts of decision in task.
Communication I/F portion 6260 is interface cards of communicating with other devices etc., for example is used for, and downloads and installs point data or component number certificate from the master computer at upper reaches, respectively with these as mounting points data 6241 and component number according to 6242, store memory portion 6240 into.
Figure 117 is a kind of flow chart, the groundwork of the parts mounting machine 6100 when expression dynamically determines erection sequence.Shown in Figure 118, the three-dimensional camera 6123 that parts mounting machine 6100 possesses is taken the installed surface (S6150) of substrate 6122.Secondly, load onto 6251 pairs of images of taking with three-dimensional camera 6123 of order determination section, carry out image processing, thereby make the three dimensional arrangement figure (S6151) shown in Figure 103.Secondly, load onto order determination section 6251 with reference to the three dimensional arrangement figure that makes by above-mentioned steps S6151 and component number according to 6242 etc., come for the current substrate 6122 that is in installment state, specify login in the parts of mounting points data 6241, not collide and be not subjected to all parts of any restriction (no matter by any order install can) on the erection sequence, these parts are stored (S6121) as first group with other parts.Moreover the processing that illustrates in the processing of step S6121 and the above-mentioned execution mode is identical.Secondly, parts mounting machine 6100 is installed to substrate 6122 (S6152) with first group of parts that comprise.Be installed under the situation of substrate 6122 ("Yes" among the S6153) at all parts,, and exist under the situation of the parts that also not have installation ("No" among the S6153), carry out the later processing of step S6150 repeatedly with regard to end process.
And, dynamically determine by said method under the situation of erection sequence of parts, its dynamically decision handle and can be following any processing: handle by the decision of loading onto the group that order determination section 6251 carries out; Handle by task and task decision in proper order that task order determination section 6252 is undertaken by group; And the decision of the parts suction order in task of being undertaken by suction order determination section 6253 handles, etc.For example, can be in advance by loading onto 6251 processing that finish all groups of decision of order determination section, and later processing is handled in decision for task, is object with remaining parts, dynamically determines.Thus, be object for example with the residue parts that will install, consider the configuration of current parts band, dynamically determine the suction order of parts, even thereby installing under the situation about changing in the process of parts in parts deficiency etc., also can determine to adapt to the erection sequence of this situation, continue to install parts.
More than, the parts installation system that embodiments of the present invention relate to has been described, but, the invention is not restricted to this execution mode.
For example, in the above-described embodiment, running wastage specifying part 305a and processing sequence selection portion 305b by action time shortening device 300 have selected program from optimum procedure storage part 308, but, and also can be by the user from optimum procedure storage part 308 option programs.
Figure 119 is a kind of flow chart, is illustrated in the user from optimum procedure storage part 308 during option program, the processing of being undertaken by action time shortening device 300.
S operation control portion 301 is used to make the picture (S2) of the classification of operating personnel's alternative parts mounting machine to display part 302 output.For example, to the picture 400 shown in display part 302 output Figure 120., parts mounting machine is divided into modular (isolated), the modular (wheel streaming) that possesses a plurality of installation head and rotary that only possesses an installation head here, and shows button 402 to 406 corresponding to each parts mounting machine.
When operating personnel's operation inputting part 303 pushes button 402 any button in 406 (S4), s operation control portion 301 is used to select to be suitable for the picture (S6) of the optimal method of corresponding parts mounting machine to display part 302 outputs.Figure 121 and Figure 122 are the example of expression by display part 302 picture displayed.
Picture 410 when Figure 121 represents to supress corresponding to the button 402 of modular (isolated) parts mounting machine shows and the corresponding button 412 to 418 of four optimal methods that is suitable for modular (isolated) equipment.Button 412,414,416 and 418 corresponds respectively to the program, the program that is used to realize the 5th parts erection sequence determination section 308e that are used to realize the 4th parts erection sequence determination section 308d, is used to realize the program of the 6th parts erection sequence determination section 308f and the program that is used to realize the second parts erection sequence determination section 308b.
Picture 420 when Figure 122 represents to supress corresponding to the button 404 of modular (wheel streaming) parts mounting machine shows and the corresponding button 422,416 and 418 of three optimal methods that is suitable for modular (wheel streaming) equipment.Button 422,416 and 418 corresponds respectively to the program that is used to realize the 3rd parts erection sequence determination section 308c, is used to realize the program of the 6th parts erection sequence determination section 308f and the program that is used to realize the second parts erection sequence determination section 308b.
When operating personnel's operation inputting part 303 is supressed any parts of the button 412 to 418 that is presented at picture 410 or picture 420 and 422, processing sequence selection portion 305b reads the program of the corresponding parts erection sequence of the button determination section that is used to realize and is pressed from optimum procedure storage part 308, download to memory section 304 (S8).By carrying out the program that downloads to memory section 304 by s operation control portion 301, certain parts erection sequence determination section carries out optimization (S10) to the parts erection sequence.
For example, supress operating personnel under the situation of the button 412 that shows on the picture 410 shown in Figure 121, processing sequence selection portion 305b will be used for from optimum procedure storage part 308 realizing that the program of the 4th parts erection sequence determination section 308d downloads to memory section 304 (S8).Secondly, by carrying out this program by s operation control portion 301, the 4th parts erection sequence determination section 308d carries out optimization (S10) to the parts erection sequence.
Moreover the program that can be suitable for rotary parts mounting machine only is useful on the program that realizes the first parts erection sequence determination section 308a.Therefore, on the picture shown in Figure 120 400, when supressing with the corresponding button 406 of rotary parts mounting machine, do not show that being used to shown in Figure 121 or Figure 122 select the picture of optimal method, and processing sequence selection portion 305b is from optimum procedure storage part 308, to be used for realizing that the program of the first parts erection sequence determination section 308a downloads to memory section 304, s operation control portion 301 carries out this program.Thus, the first parts erection sequence determination section 308a carries out optimization to the parts erection sequence.
The present invention goes for the parts erection sequence determining method in the parts mounting machine, especially can be applicable to parts erection sequence determining method under the situation that multiple parts mounting machine mixes etc.

Claims (48)

1, a kind of action time shortening method of parts mounting machine is characterized in that, comprising:
The running wastage given step, the running wastage of the parts mounting machine that appointment should be eliminated;
Processing sequence is selected step, and according to specified above-mentioned running wastage, selecting the running time to shorten the above-mentioned parts erection unit is the processing sequence of purpose; And
The processing sequence execution in step is carried out selected processing sequence.
2, action time shortening method as claimed in claim 1 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of the running wastage of giving birth to, selected to select in the step following processing sequence in above-mentioned processing sequence because of the parts mounting machine that comprises swivel head; Above-mentioned swivel head is around the axle rotation and aspirate parts, and these parts are installed to substrate,
Selected above-mentioned processing sequence is a kind of parts erection sequence determining method, the order that the decision parts mounting machine is installed parts, and this parts mounting machine is installed to substrate with a plurality of parts; The definition of initial point is, the parts mounting points that is located at the base plate mark on the substrate or first parts are installed, and this base plate mark is used to determine substrate position; In a plurality of parts mounting points and above-mentioned initial point, arbitrarily the definition of the cost of point-to-point transmission is, the distance of this point-to-point transmission or after a point these 2 being installed parts to other mounting points are installed the time that needs till the parts; The definition of imaginary point is, the virtual point that is made as final transfer point,
This parts erection sequence determining method comprises:
Parts mounting points information acquisition step obtains the positional information of above-mentioned a plurality of parts mounting points and the above-mentioned cost of the point-to-point transmission in above-mentioned a plurality of parts mounting points, above-mentioned initial point and above-mentioned imaginary point;
Step is calculated on touring road, calculates the touring road through initial point, above-mentioned imaginary point and above-mentioned a plurality of parts mounting points on the aforesaid substrate, and the summation of the cost of the point-to-point transmission in this each point is minimum; And
The erection sequence deciding step, according to above-mentioned touring road, the erection sequence of decision above-mentioned parts.
3, action time shortening method as claimed in claim 2 is characterized in that,
Above-mentioned imaginary point is the point of virtual setting, cost between this imaginary point and any parts mounting points is all greater than the cost of any point-to-point transmission in a plurality of parts mounting points and initial point, and the cost between this imaginary point and initial point is less than the cost of any point-to-point transmission in a plurality of parts mounting points and initial point.
4, action time shortening method as claimed in claim 2 is characterized in that,
The above-mentioned parts erection unit comprises: the suction parts also are installed to these parts the installation head of substrate and parts are supplied to the parts supply unit of this installation head,
Above-mentioned installation head is a kind of swivel head, rotates and the suction parts around axle, and these parts is installed to substrate,
The above-mentioned parts erection unit also comprises platform, places aforesaid substrate on this platform, and this oneself moves, so that the parts mounting points on the aforesaid substrate is consistent with the parts installation site of above-mentioned swivel head,
From above-mentioned certain parts mounting points to the above-mentioned cost other parts mounting points is to determine according to the arbitrary time the following time at least, that is: above-mentioned is moved the required time between the parts mounting points; Above-mentioned swivel head carries out the intermittently required time of rotary work; And the above-mentioned parts supply unit supplies to the required time of above-mentioned swivel head with parts.
5, action time shortening method as claimed in claim 2 is characterized in that,
Above-mentioned processing sequence comprises that also cost calculates step, calculates the cost of any point-to-point transmission in the initial point on aforesaid substrate, above-mentioned imaginary point and the above-mentioned a plurality of parts mounting points,
Step is calculated according to calculating the cost that step is calculated by above-mentioned cost in above-mentioned touring road, utilize traveling salesman problem to calculate the touring road of initial point, above-mentioned imaginary point and above-mentioned a plurality of parts mounting points on the process aforesaid substrate, the summation of the cost of the point-to-point transmission in this each point is minimum.
6, action time shortening method as claimed in claim 2 is characterized in that,
Above-mentioned imaginary point is present in the position identical with above-mentioned initial point.
7, action time shortening method as claimed in claim 1 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of the running wastage of giving birth to, selected to select in the step following processing sequence in above-mentioned processing sequence because of the parts mounting machine that comprises installation head; Above-mentioned installation head is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts,
Selected above-mentioned processing sequence is a kind of parts erection sequence determining method, when parts being installed to substrate by the parts mounting machine that comprises installation head, decision erection sequence, this installation head aspirate a plurality of parts and move, and should be installed to aforesaid substrate by a plurality of parts; Point in a plurality of parts mounting points and virtual setting is in the imaginary point, and arbitrarily the definition of the cost of point-to-point transmission is, the distance of this point-to-point transmission or after a point these 2 being installed parts to other mounting points are installed the time that needs till the parts; The definition of above-mentioned imaginary point is, initial point when to become parts being installed and end point are the point that purpose is set,
This parts erection sequence determining method comprises:
Parts mounting points information acquisition step obtains the positional information of above-mentioned a plurality of parts mounting points and the above-mentioned cost of the point-to-point transmission in above-mentioned a plurality of parts mounting points and above-mentioned imaginary point;
Step is calculated on touring road, and calculating above-mentioned imaginary point is the touring road of initial point and end point and above-mentioned a plurality of parts mounting points of process and above-mentioned imaginary point, and the summation of the cost of the point-to-point transmission in this each point is minimum; And
The erection sequence deciding step, according to above-mentioned touring road, the erection sequence of decision above-mentioned parts.
8, action time shortening method as claimed in claim 7 is characterized in that,
Above-mentioned imaginary point is located at parts supply unit from parts to above-mentioned installation head that supply with.
9, action time shortening method as claimed in claim 8 is characterized in that,
Above-mentioned imaginary point is located at the center of a plurality of parts supply ports that the above-mentioned parts supply unit possesses.
10, action time shortening method as claimed in claim 7 is characterized in that,
Above-mentioned parts mounting points information acquisition step comprises:
Positional information obtains step, obtains the positional information of above-mentioned a plurality of parts mounting points;
Proofread and correct making step,, proofread and correct the positional information of above-mentioned a plurality of parts mounting points and make correction position information according to the position of above-mentioned installation head suction parts; And
Cost is obtained step, according to above-mentioned correction position information, obtains the above-mentioned cost of the point-to-point transmission in above-mentioned a plurality of parts mounting points and above-mentioned imaginary point.
11, action time shortening method as claimed in claim 1 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of the running wastage of giving birth to, selected to select in the step following processing sequence in above-mentioned processing sequence because of the parts mounting machine that comprises a plurality of installation head; Above-mentioned a plurality of installation head is carried a plurality of parts respectively and is moved, and alternately should be installed to a substrate by a plurality of parts,
Selected above-mentioned processing sequence is a kind of parts erection sequence determining method, the erection sequence when decision alternately is installed to a substrate with parts by a plurality of installation head; Above-mentioned each installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts; In the suction of carrying out parts by above-mentioned each installation head repeatedly, move, install in the process of this consecutive work, the parts group that will install by a consecutive job in this consecutive work is as task,
This parts erection sequence determining method comprises:
Allocation step is distributed the parts that will be installed to substrate to above-mentioned a plurality of installation head respectively, so that it is even to distribute to the component number of above-mentioned a plurality of installation head respectively; And
Task generates step, generates each task of the parts of distributing to each, so that be reduced to minimum to the time that needs till next installation head begins parts in the installation task after certain installation head installs parts the task.
12, action time shortening method as claimed in claim 11 is characterized in that,
Generate in the step in above-mentioned task,, respectively the parts group who is distributed is divided into task and generates task for above-mentioned a plurality of installation head, with before other installation head install parts, the suction of ended zero parts and identification.
13, action time shortening method as claimed in claim 12 is characterized in that,
Above-mentioned task generates step and comprises:
The suction number of times is calculated step at most, for above-mentioned a plurality of installation head, respectively to the required time is suction time till the suction of ended zero parts from installing behind the parts, from after the suction of ended zero parts till the identification of ended zero parts the required time be recognition time and from after the identification of the parts that finish to be undertaken by above-mentioned other installation head till the installation of ended zero parts the required time be to compare the set-up time, thereby calculate maximum suction number of times of parts, maximum suction number of times of these parts are meant, in during by above-mentioned other installation head installation parts, under the suction of the installation head energy ended zero parts except that these other installation head and the situation of identification, maximum suction number of times that can carry out; And
Generate step,, respectively the parts group who is distributed is divided into task and generates task, so that the suction number of times of parts is less than or equals above-mentioned maximum suction number of times for above-mentioned a plurality of installation head.
14, action time shortening method as claimed in claim 11 is characterized in that,
Above-mentioned parts erection sequence determining method comprises that also suction nozzle quantity obtains step, and being used to of obtaining that each installation head possesses aspirated the quantity of the suction nozzle of parts,
In above-mentioned allocation step, according to the suction nozzle quantity that obtains, distribute the parts that will be installed to substrate to above-mentioned a plurality of installation head respectively,
Generate in the step in above-mentioned task, the parts group who distributes to above-mentioned each installation head is divided into task, the erection sequence of the task that decision is divided.
15, action time shortening method as claimed in claim 14 is characterized in that,
Above-mentioned installation head possesses a plurality of suction nozzles that are rotated and are provided with along circumference,
Generate in the step in above-mentioned task, the parts group who distributes to above-mentioned each installation head is divided into task, so that it is identical to distribute to the quantity of the contained parts of each task of a plurality of installation head in same task order, and the order of the decision task of being divided.
16, action time shortening method as claimed in claim 1 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of the running wastage of giving birth to, selected to select in the step following processing sequence in above-mentioned processing sequence because of the parts mounting machine that comprises a plurality of installation head; Above-mentioned a plurality of installation head is carried a plurality of parts respectively and is moved, and alternately should be installed to a substrate by a plurality of parts,
Selected above-mentioned processing sequence is a kind of task creating method, the task of each installation head when being created on multiple insertion head and alternately parts being installed to a substrate; Above-mentioned each installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts,
This task creating method comprises that task generates step, above-mentioned each installation head carry out repeatedly parts suction, move, install in the process of this consecutive work, under the situation of parts group that will install by a consecutive job in this consecutive work as task, each task of the parts of each installation head is distributed in generation, so that be reduced to minimum to the time that needs till next installation head begins parts in the installation task after certain installation head installs parts the task.
17, action time shortening method as claimed in claim 1 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of running wastage of the parts mounting machine of giving birth to greater than defined threshold, selected to select in the step following processing sequence in above-mentioned processing sequence because of the board carrying time; The installation head of above-mentioned erection unit is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts; The aforesaid substrate handling time is meant, from aforesaid substrate being installed behind the parts time that needs till next substrate is moved on the substrate stop position in the above-mentioned parts erection unit,
Selected above-mentioned processing sequence is a kind of action time shortening method, the running time of shortening when parts being installed to substrate by the parts mounting machine that comprises installation head, this installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts
This action time shortening method comprises:
The board carrying time is calculated step, calculates the board carrying time, and this board carrying time is meant, from substrate being installed behind the parts time that needs till next substrate is moved on the substrate stop position in the parts mounting machine; And
Opportunity deciding step, carry out the suction of parts repeatedly and install in the process of this consecutive work in installation head, under the situation of a consecutive job in this consecutive work as task, the opportunity of parts is aspirated in decision in first task, with the parts in corresponding first task of the substrate that begins to aspirate and be handled upside down in the aforesaid substrate handling time.
18, action time shortening method as claimed in claim 17 is characterized in that,
Above-mentioned parts erection sequence determining method also comprises task order deciding step, the task that will have the longest parts suction time is as first task, the order of decision task is to begin to aspirate the parts in this first task in the aforesaid substrate handling time.
19, action time shortening method as claimed in claim 18 is characterized in that,
Above-mentioned task order deciding step comprises:
Comparison step compares the longest parts suction time and aforesaid substrate handling time in all tasks; And
First deciding step, be shorter than under the situation of aforesaid substrate handling time at the longest above-mentioned parts suction time, the task that will have the longest above-mentioned parts suction time is as first task, decision task order is to begin to aspirate the parts in above-mentioned first task in the aforesaid substrate handling time.
20, action time shortening method as claimed in claim 19 is characterized in that,
Above-mentioned task order deciding step also comprises second deciding step, be longer than or equal under the situation of aforesaid substrate handling time at the longest above-mentioned parts suction time, any task that will have the parts suction time of being longer than or equaling the aforesaid substrate handling time is as first task, decision task order is to begin to aspirate the parts in above-mentioned first task in the aforesaid substrate handling time.
21, action time shortening method as claimed in claim 1 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of running wastage of the parts mounting machine of giving birth to, selected to select in the step following processing sequence in above-mentioned processing sequence because of existing task; The installation head of above-mentioned erection unit is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts; Mobile restriction acceleration when mixing the different mutually parts of the mobile speed restriction comprise when moving parts by above-mentioned installation head in the above-mentioned existing task or moving parts by above-mentioned installation head is different parts mutually; Task is meant, in the suction of carrying out parts by above-mentioned installation head repeatedly, move, install a consecutive job in the process of this consecutive work,
Selected above-mentioned processing sequence is a kind of component mounting method, utilizes the portion of carrying of carrying a plurality of parts and moving, and above-mentioned a plurality of parts are installed to substrate, comprising:
The speed determining step is determined respectively and the corresponding above-mentioned mobile speed restriction of carrying portion of above-mentioned a plurality of parts;
Deciding step according to above-mentioned mobile speed restriction, determines the above-mentioned portion of carrying to handle the order of above-mentioned a plurality of parts, to shorten the time that the slow parts of mobile speed restriction are carried by the above-mentioned portion of carrying in above-mentioned a plurality of parts; And
Installation steps, according to processing sequence by above-mentioned deciding step decision, make the above-mentioned portion of carrying handle above-mentioned a plurality of parts, and to be less than or equal to the speed of mobile speed restriction the most slowly, the above-mentioned portion of carrying is moved, above-mentioned a plurality of parts are installed to substrate, and above-mentioned the most mobile speed restriction is a slowest mobile speed restriction in the mobile speed restriction that has of parts that the above-mentioned portion of carrying carries.
22, action time shortening method as claimed in claim 21 is characterized in that,
In above-mentioned deciding step,
To be above-mentioned processing sequence by the order decision that above-mentioned a plurality of parts carry in the above-mentioned portion of carrying, with by by the definite mobile speed restriction of above-mentioned speed determining step near slow order, carry parts successively,
In above-mentioned installation steps,
Make the above-mentioned portion of carrying carry above-mentioned a plurality of parts by the above-mentioned order of carrying, and, make this portion of carrying that entrained a plurality of parts are installed to substrate.
23, action time shortening method as claimed in claim 21 is characterized in that,
In above-mentioned deciding step,
To be above-mentioned processing sequence by the order decision that above-mentioned a plurality of parts are installed by the above-mentioned portion of carrying, with by by the definite mobile speed restriction of above-mentioned speed determining step from slowly to fast order, parts are installed successively,
In above-mentioned installation steps,
Make the above-mentioned portion of carrying carry above-mentioned a plurality of parts, and, make this portion of carrying entrained a plurality of parts are installed to substrate by above-mentioned erection sequence.
24, action time shortening method as claimed in claim 21 is characterized in that,
In above-mentioned speed determining step,
By velocity information, determine mobile speed restriction at above-mentioned each parts with reference to the mobile speed restriction of representing above-mentioned a plurality of parts.
25, action time shortening method as claimed in claim 21 is characterized in that,
In above-mentioned speed determining step,
The size information of size by with reference to the above-mentioned a plurality of parts of expression will be defined as at the mobile speed restriction of above-mentioned each parts, and parts are big more, and above-mentioned translational speed of carrying portion is restricted more.
26, action time shortening method as claimed in claim 21 is characterized in that,
In above-mentioned speed determining step,
The weight information of weight by with reference to the above-mentioned a plurality of parts of expression will be defined as at the mobile speed restriction of above-mentioned each parts, and parts are heavy more, and above-mentioned translational speed of carrying portion is restricted more.
27, action time shortening method as claimed in claim 21 is characterized in that,
In above-mentioned speed determining step,
The thickness information of thickness by with reference to the above-mentioned a plurality of parts of expression will be defined as at the mobile speed restriction of above-mentioned each parts, and parts are thick more, and above-mentioned translational speed of carrying portion is restricted more.
28, action time shortening method as claimed in claim 1 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of running wastage of the parts mounting machine of giving birth to, selected to select in the step following processing sequence in above-mentioned processing sequence because of existing task; The installation head of above-mentioned erection unit is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts; Mobile restriction acceleration when mixing the different mutually parts of the mobile speed restriction comprise when moving parts by above-mentioned installation head in the above-mentioned existing task or moving parts by above-mentioned installation head is different parts mutually; Task is meant, in the suction of carrying out parts by above-mentioned installation head repeatedly, move, install a consecutive job in the process of this consecutive work,
Selected above-mentioned processing sequence is a kind of component mounting method, utilizes the portion of carrying of carrying a plurality of parts and moving, and above-mentioned a plurality of parts are installed to substrate, comprising:
The acceleration determining step is determined respectively and the corresponding above-mentioned mobile restriction acceleration that carries portion of above-mentioned a plurality of parts;
Deciding step according to above-mentioned mobile restriction acceleration, determines the above-mentioned portion of carrying to handle the order of above-mentioned a plurality of parts, moves in above-mentioned a plurality of parts the time that the little parts of restriction acceleration are carried by the above-mentioned portion of carrying to shorten; And
Installation steps, according to processing sequence by above-mentioned deciding step decision, make the above-mentioned portion of carrying handle above-mentioned a plurality of parts, and to be less than or equal to the minimum acceleration that moves the restriction acceleration, the above-mentioned portion of carrying is moved, above-mentioned a plurality of parts are installed to substrate, and it is the slowest mobile restriction acceleration in the mobile restriction acceleration that has of parts that the above-mentioned portion of carrying carries that above-mentioned minimum moves the restriction acceleration.
29, action time shortening method as claimed in claim 1 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of the running wastage of giving birth to, selected to select in the step following processing sequence in above-mentioned processing sequence because of the phenomenon of colliding; The above-mentioned phenomenon of colliding is meant, can be when parts being installed to substrate between parts and parts or the conflict that between parts and installation head, takes place by the parts mounting machine that comprises installation head,
Selected above-mentioned processing sequence is a kind of parts erection sequence determining method, when parts being installed to substrate by the parts mounting machine that comprises installation head, the decision erection sequence, this installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts, comprise:
The erection sequence deciding step, according to the restrictive condition in the context of relevant parts erection sequence, the order that decision is installed substrate; And
Task order deciding step, in the suction of carrying out parts by installation head repeatedly, move, install in the process of this consecutive work, under the situation of parts group that will install by a consecutive job in this consecutive work as task, under the state of keeping the erection sequence that determines by above-mentioned erection sequence deciding step, all parts are divided into task, the erection sequence of the task that decision is divided.
30, action time shortening method as claimed in claim 29 is characterized in that,
The above-mentioned erection sequence of decision in above-mentioned erection sequence deciding step can be between parts and parts or the conflict that takes place between parts and the installation head phenomenon of colliding when avoiding that parts are installed to substrate.
31, action time shortening method as claimed in claim 30 is characterized in that,
The above-mentioned erection sequence of decision in above-mentioned erection sequence deciding step is with the phenomenon of avoiding giving birth to because of the arcuate motion of installation head of colliding.
32, action time shortening method as claimed in claim 31 is characterized in that,
In above-mentioned erection sequence deciding step, judge that for all parts carrying out arcuate motion in installation head is installed to parts under the situation of substrate, whether in the mobile space scope of this installation head, exist and be installed in other parts of substrate or the part of other parts, and be judged as under the situation of existence, determine above-mentioned erection sequence, so that the parts of judging object to be installed before above-mentioned other parts are installed.
33, action time shortening method as claimed in claim 32 is characterized in that,
In above-mentioned erection sequence deciding step, according to above-mentioned judged result, the set of the parts that should install earlier is defined as the first parts group, and the set of the next parts that should install is defined as the second parts group in the parts except the first parts group, determine that by carrying out this repeatedly processing generates the arrangement of parts group, and should arrange as above-mentioned erection sequence.
34, action time shortening method as claimed in claim 33 is characterized in that,
In above-mentioned erection sequence deciding step, make expression and be installed in the three-dimensional position of parts of substrate and the three dimensional arrangement figure of shape, and on the three dimensional arrangement figure that makes, according to above-mentioned judged result, the set of the parts that should install earlier is defined as the first parts group.
35, a kind of action time shortening device of parts mounting machine is characterized in that, comprising:
The running wastage designating unit, the running wastage of the parts mounting machine that appointment should be eliminated;
The processing sequence selected cell, according to specified above-mentioned running wastage, selecting the running time to shorten the above-mentioned parts erection unit is the processing sequence of purpose; And
The processing sequence performance element is carried out selected processing sequence.
36, action time shortening device as claimed in claim 35 is characterized in that,
Specified under the situation of the running wastage of giving birth to because of the parts mounting machine that comprises swivel head in above-mentioned running wastage designating unit, above-mentioned processing sequence selected cell is selected following processing sequence; Above-mentioned swivel head is around the axle rotation and aspirate parts, and these parts are installed to substrate,
Selected above-mentioned processing sequence is by the performed processing sequence of device that is used to determine the parts erection sequence, this is used for determining that the device of parts erection sequence is located at parts mounting machine, this parts mounting machine is used for a plurality of parts are installed to substrate
In said apparatus,
The definition of initial point is, the parts mounting points that is located at the base plate mark on the substrate or first parts are installed, and this base plate mark is used to determine substrate position;
In a plurality of parts mounting points and above-mentioned initial point, arbitrarily the definition of the cost of point-to-point transmission is, the distance of this point-to-point transmission or after a point these 2 being installed parts to other mounting points are installed the time that needs till the parts;
The definition of imaginary point is, the virtual point that is made as final transfer point,
Said apparatus comprises:
Parts mounting points information acquisition unit obtains the positional information of above-mentioned a plurality of parts mounting points and the above-mentioned cost of the point-to-point transmission in above-mentioned a plurality of parts mounting points, above-mentioned initial point and above-mentioned imaginary point;
The unit is calculated on touring road, utilizes traveling salesman problem to calculate the touring road of initial point, above-mentioned imaginary point and above-mentioned a plurality of parts mounting points on the process aforesaid substrate, and the summation of the cost of the point-to-point transmission in this each point is minimum; And
Erection sequence decision unit, according to above-mentioned touring road, the erection sequence of decision above-mentioned parts.
37, action time shortening device as claimed in claim 35 is characterized in that,
Specified under the situation of the running wastage of giving birth to because of the parts mounting machine that comprises installation head in above-mentioned running wastage designating unit, above-mentioned processing sequence selected cell is selected following processing sequence; Above-mentioned installation head is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts,
Selected above-mentioned processing sequence is by the performed processing sequence of parts erection sequence determination device, this parts erection sequence determination device is when being installed to substrate by the parts mounting machine that comprises installation head with parts, the decision erection sequence, this installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts
In above-mentioned parts erection sequence determination device,
Point in a plurality of parts mounting points and virtual setting is in the imaginary point, and arbitrarily the definition of the cost of point-to-point transmission is, the distance of this point-to-point transmission or after a point these 2 being installed parts to other mounting points are installed the time that needs till the parts;
The definition of above-mentioned imaginary point is, initial point when to become parts being installed and end point are the point that purpose is set,
Above-mentioned parts erection sequence determination device comprises:
Parts mounting points information acquisition unit obtains the positional information of above-mentioned a plurality of parts mounting points and the above-mentioned cost of the point-to-point transmission in above-mentioned a plurality of parts mounting points and above-mentioned imaginary point;
The unit is calculated on touring road, and calculating above-mentioned imaginary point is the touring road of initial point and end point and above-mentioned a plurality of parts mounting points of process and above-mentioned imaginary point, and the summation of the cost of the point-to-point transmission in this each point is minimum; And
Erection sequence decision unit, according to above-mentioned touring road, the erection sequence of decision above-mentioned parts.
38, action time shortening device as claimed in claim 35 is characterized in that,
Above-mentioned running wastage designating unit has been specified under the situation of the running wastage of giving birth to because of the parts mounting machine that comprises a plurality of installation head, and above-mentioned processing sequence selected cell is selected following processing sequence; Above-mentioned a plurality of installation head is carried a plurality of parts respectively and is moved, and alternately should be installed to a substrate by a plurality of parts,
Selected above-mentioned processing sequence is by the performed processing sequence of parts erection sequence determination device, the erection sequence when this parts erection sequence determination device decision alternately is installed to a substrate with parts by a plurality of installation head:
In above-mentioned parts erection sequence determination device,
Above-mentioned each installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts;
In the suction of carrying out parts by above-mentioned each installation head repeatedly, move, install in the process of this consecutive work, the parts group that will install by a consecutive job in this consecutive work is as task,
Above-mentioned parts erection sequence determination device comprises:
Allocation units distribute the parts that will be installed to substrate to above-mentioned a plurality of installation head respectively, so that it is even to distribute to the component number of above-mentioned a plurality of installation head respectively; And
The task generation unit generates each tasks of the parts distribute to each, so that be reduced to minimum to the time that needs till next installation head begins parts in the installation task after certain installation head installs parts the task.
39, action time shortening device as claimed in claim 35 is characterized in that,
Specified in above-mentioned running wastage designating unit under the situation of running wastage of the parts mounting machine of giving birth to greater than defined threshold because of the board carrying time, above-mentioned processing sequence selected cell is selected following processing sequence; The installation head of above-mentioned erection unit is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts; The aforesaid substrate handling time is meant, from aforesaid substrate being installed behind the parts time that needs till next substrate is moved on the substrate stop position in the above-mentioned parts erection unit,
Selected above-mentioned processing sequence is by the performed processing sequence of device that is used to shorten running time, be the running time when by the parts mounting machine that comprises installation head parts being installed to substrate this running time, this installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts
Said apparatus comprises:
The board carrying time is calculated the unit, calculates the board carrying time, and this board carrying time is meant, from substrate being installed behind the parts time that needs till next substrate is moved on the substrate stop position in the parts mounting machine; And
Determine the unit opportunity, carry out the suction of parts repeatedly and install in the process of this consecutive work in installation head, under the situation of a consecutive job in this consecutive work as task, the opportunity of parts is aspirated in decision in first task, with the parts in corresponding first task of the substrate that begins to aspirate and be handled upside down in the aforesaid substrate handling time.
40, action time shortening device as claimed in claim 35 is characterized in that,
Specified in above-mentioned running wastage designating unit under the situation of running wastage of the parts mounting machine of giving birth to because of existing task, above-mentioned processing sequence selected cell is selected following processing sequence; The installation head of above-mentioned erection unit is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts; Mobile restriction acceleration when mixing the different mutually parts of the mobile speed restriction comprise when moving parts by above-mentioned installation head in the above-mentioned existing task or moving parts by above-mentioned installation head is different parts mutually; Task is meant, in the suction of carrying out parts by above-mentioned installation head repeatedly, move, install a consecutive job in the process of this consecutive work,
Selected above-mentioned processing sequence is by the performed processing sequence of order determination device, this order determination device decision portion of carrying handles the order of above-mentioned a plurality of parts, this carries portion for a plurality of parts are installed to substrate, carries above-mentioned a plurality of parts and mobile
The said sequence determination device comprises:
The speed determining unit is determined respectively and the corresponding above-mentioned mobile speed restriction of carrying portion of above-mentioned a plurality of parts;
The decision unit according to above-mentioned mobile speed restriction, determines the above-mentioned portion of carrying to handle the order of above-mentioned a plurality of parts, to shorten the time that the slow parts of mobile speed restriction are carried by the above-mentioned portion of carrying in above-mentioned a plurality of parts.
41, action time shortening device as claimed in claim 35 is characterized in that,
Specified under the situation of the running wastage of giving birth to because of the phenomenon of colliding in above-mentioned running wastage designating unit, above-mentioned processing sequence selected cell is selected following processing sequence; The above-mentioned phenomenon of colliding is meant, can be when parts being installed to substrate between parts and parts or the conflict that between parts and installation head, takes place by the parts mounting machine that comprises installation head,
Selected above-mentioned processing sequence is by the performed processing sequence of parts erection sequence determination device, this parts erection sequence determination device is when being installed to substrate by the parts mounting machine that comprises installation head with parts, the decision erection sequence, this installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts
Above-mentioned parts erection sequence determination device comprises:
Erection sequence decision unit, according to the restrictive condition in the context of relevant parts erection sequence, the order that decision is installed substrate; And
Task determines the unit in proper order, in the suction of carrying out parts by installation head repeatedly, move, install in the process of this consecutive work, under the situation of parts group that will install by a consecutive job in this consecutive work as task, under the state of keeping the erection sequence that determines by above-mentioned erection sequence decision unit, all parts are divided into task, the erection sequence of the task that decision is divided.
42, a kind of parts mounting machine, comprise the parts installation unit, this parts installation unit is according to the control sequence that determines by action time shortening method, parts are installed, above-mentioned action time shortening method is the action time shortening method of parts mounting machine, it is characterized in that, comprising:
The running wastage given step, the running wastage of the parts mounting machine that appointment should be eliminated;
Processing sequence is selected step, and according to specified above-mentioned running wastage, selecting the running time to shorten the above-mentioned parts erection unit is the processing sequence of purpose; And
The processing sequence execution in step is carried out selected processing sequence.
43, parts mounting machine as claimed in claim 42 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of the running wastage of giving birth to, selected to select in the step following processing sequence in above-mentioned processing sequence because of the parts mounting machine that comprises swivel head; Above-mentioned swivel head is around the axle rotation and aspirate parts, and these parts are installed to substrate,
Selected above-mentioned processing sequence is a kind of parts erection sequence determining method, the order that the decision parts mounting machine is installed parts, and this parts mounting machine is installed to substrate with a plurality of parts; The definition of initial point is, the parts mounting points that is located at the base plate mark on the substrate or first parts are installed, and this base plate mark is used to determine substrate position; In a plurality of parts mounting points and above-mentioned initial point, arbitrarily the definition of the cost of point-to-point transmission is, the distance of this point-to-point transmission or after a point these 2 being installed parts to other mounting points are installed the time that needs till the parts; The definition of imaginary point is, the virtual point that is made as final transfer point,
This parts erection sequence determining method comprises:
Parts mounting points information acquisition step obtains the positional information of above-mentioned a plurality of parts mounting points and the above-mentioned cost of the point-to-point transmission in above-mentioned a plurality of parts mounting points, above-mentioned initial point and above-mentioned imaginary point;
Step is calculated on touring road, calculates the touring road through initial point, above-mentioned imaginary point and above-mentioned a plurality of parts mounting points on the aforesaid substrate, and the summation of the cost of the point-to-point transmission in this each point is minimum; And
The erection sequence deciding step, according to above-mentioned touring road, the erection sequence of decision above-mentioned parts.
44, parts mounting machine as claimed in claim 42 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of the running wastage of giving birth to, selected to select in the step following processing sequence in above-mentioned processing sequence because of the parts mounting machine that comprises installation head; Above-mentioned installation head is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts,
Selected above-mentioned processing sequence is a kind of parts erection sequence determining method, when parts being installed to substrate by the parts mounting machine that comprises installation head, decision erection sequence, this installation head aspirate a plurality of parts and move, and should be installed to aforesaid substrate by a plurality of parts; Point in a plurality of parts mounting points and virtual setting is in the imaginary point, and arbitrarily the definition of the cost of point-to-point transmission is, the distance of this point-to-point transmission or after a point these 2 being installed parts to other mounting points are installed the time that needs till the parts; The definition of above-mentioned imaginary point is, initial point when to become parts being installed and end point are the point that purpose is set,
This parts erection sequence determining method comprises:
Parts mounting points information acquisition step obtains the positional information of above-mentioned a plurality of parts mounting points and the above-mentioned cost of the point-to-point transmission in above-mentioned a plurality of parts mounting points and above-mentioned imaginary point;
Step is calculated on touring road, and calculating above-mentioned imaginary point is the touring road of initial point and end point and above-mentioned a plurality of parts mounting points of process and above-mentioned imaginary point, and the summation of the cost of the point-to-point transmission in this each point is minimum; And
The erection sequence deciding step, according to above-mentioned touring road, the erection sequence of decision above-mentioned parts.
45, parts mounting machine as claimed in claim 42 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of the running wastage of giving birth to, selected to select in the step following processing sequence in above-mentioned processing sequence because of the parts mounting machine that comprises a plurality of installation head; Above-mentioned a plurality of installation head is carried a plurality of parts respectively and is moved, and alternately should be installed to a substrate by a plurality of parts,
Selected above-mentioned processing sequence is a kind of parts erection sequence determining method, the erection sequence when decision alternately is installed to a substrate with parts by a plurality of installation head; Above-mentioned each installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts; In the suction of carrying out parts by above-mentioned each installation head repeatedly, move, install in the process of this consecutive work, the parts group that will install by a consecutive job in this consecutive work is as task,
This parts erection sequence determining method comprises:
Allocation step is distributed the parts that will be installed to substrate to above-mentioned a plurality of installation head respectively, so that it is even to distribute to the component number of above-mentioned a plurality of installation head respectively; And
Task generates step, generates each task of the parts of distributing to each, so that be reduced to minimum to the time that needs till next installation head begins parts in the installation task after certain installation head installs parts the task.
46, parts mounting machine as claimed in claim 42 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of running wastage of the parts mounting machine of giving birth to greater than defined threshold, selected to select in the step following processing sequence in above-mentioned processing sequence because of the board carrying time; The installation head of above-mentioned erection unit is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts; The aforesaid substrate handling time is meant, from aforesaid substrate being installed behind the parts time that needs till next substrate is moved on the substrate stop position in the above-mentioned parts erection unit,
Selected above-mentioned processing sequence is a kind of action time shortening method, the running time of shortening when parts being installed to substrate by the parts mounting machine that comprises installation head, this installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts
This action time shortening method comprises:
The board carrying time is calculated step, calculates the board carrying time, and this board carrying time is meant, from substrate being installed behind the parts time that needs till next substrate is moved on the substrate stop position in the parts mounting machine; And
Opportunity deciding step, carry out the suction of parts repeatedly and install in the process of this consecutive work in installation head, under the situation of a consecutive job in this consecutive work as task, the opportunity of parts is aspirated in decision in first task, with the parts in corresponding first task of the substrate that begins to aspirate and be handled upside down in the aforesaid substrate handling time.
47, parts mounting machine as claimed in claim 42 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of running wastage of the parts mounting machine of giving birth to, selected to select in the step following processing sequence in above-mentioned processing sequence because of existing task; The installation head of above-mentioned erection unit is carried a plurality of parts and is moved, and should be installed to substrate by a plurality of parts; Mobile restriction acceleration when mixing the different mutually parts of the mobile speed restriction comprise when moving parts by above-mentioned installation head in the above-mentioned existing task or moving parts by above-mentioned installation head is different parts mutually; Task is meant, in the suction of carrying out parts by above-mentioned installation head repeatedly, move, install a consecutive job in the process of this consecutive work,
Selected above-mentioned processing sequence is a kind of component mounting method, utilizes the portion of carrying of carrying a plurality of parts and moving, and above-mentioned a plurality of parts are installed to substrate, comprising:
The speed determining step is determined respectively and the corresponding above-mentioned mobile speed restriction of carrying portion of above-mentioned a plurality of parts;
Deciding step according to above-mentioned mobile speed restriction, determines the above-mentioned portion of carrying to handle the order of above-mentioned a plurality of parts, to shorten the time that the slow parts of mobile speed restriction are carried by the above-mentioned portion of carrying in above-mentioned a plurality of parts; And
Installation steps, according to processing sequence by above-mentioned deciding step decision, make the above-mentioned portion of carrying handle above-mentioned a plurality of parts, and to be less than or equal to the speed of mobile speed restriction the most slowly, the above-mentioned portion of carrying is moved, above-mentioned a plurality of parts are installed to substrate, and above-mentioned the most mobile speed restriction is a slowest mobile speed restriction in the mobile speed restriction that has of parts that the above-mentioned portion of carrying carries.
48, parts mounting machine as claimed in claim 42 is characterized in that,
In above-mentioned running wastage given step, specified under the situation of the running wastage of giving birth to, selected to select in the step following processing sequence in above-mentioned processing sequence because of the phenomenon of colliding; The above-mentioned phenomenon of colliding is meant, can be when parts being installed to substrate between parts and parts or the conflict that between parts and installation head, takes place by the parts mounting machine that comprises installation head,
Selected above-mentioned processing sequence is a kind of parts erection sequence determining method, when parts being installed to substrate by the parts mounting machine that comprises installation head, the decision erection sequence, this installation head is aspirated a plurality of parts and is moved, and should be installed to aforesaid substrate by a plurality of parts, comprise:
The erection sequence deciding step, according to the restrictive condition in the context of relevant parts erection sequence, the order that decision is installed substrate; And
Task order deciding step, in the suction of carrying out parts by installation head repeatedly, move, install in the process of this consecutive work, under the situation of parts group that will install by a consecutive job in this consecutive work as task, under the state of keeping the erection sequence that determines by above-mentioned erection sequence deciding step, all parts are divided into task, the erection sequence of the task that decision is divided.
CN 200580043329 2004-12-15 2005-12-02 Action time shortening method, action time shortening device, program, and parts mounting machine Pending CN101080963A (en)

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JP2004362953A JP4005595B2 (en) 2004-12-15 2004-12-15 Component mounting order determination method, component mounting order determination device, component mounting machine, and program
JP362953/2004 2004-12-15
JP031128/2005 2005-02-07
JP035472/2005 2005-02-14
JP056549/2005 2005-03-01
JP058113/2005 2005-03-02

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