CN1075342C - Elements and device sassembling method utilizing optimum-finding caculation - Google Patents

Abstract

To determine a feeder position and a parts assembly order most suitable by expressing the position of the feeder and all motions such as parts assembly order with cycles, and calculating the total assembling time of respective cycles. When parental generation is generated, the total assembling time for applying respective parent individuals to a parts assembly device is calculated (step 104). The parent individual is subjected to mutation for generation of offsprings (step 105), the total assembling time of the generated offspring individuals is calculated (step 106). After a mated individual is selected at random by prescribed quantity for each individual, the total mutual assembling time is compared to calculate multiplier. After the respective individuals in a prescribed multiplier range is selected as parent individuals for the next generation (step 107), individual generation is stopped in the case of a satisfactory value, and it is returned to a step 105 if not satisfactory.

Description

The components and parts assembly method of utilizing tuning to calculate

The present invention relates to a kind of components and parts assembly method, specifically, relate to and a kind ofly utilize that tuning is that calculate, improved components and parts assembly method, this method can realize the best assemble sequence of components and parts with the short time of most probable in surface mounted device (SMD) assembly equipment.

Fig. 1 represents is SMD assembly equipment according to conventional art, and this equipment comprises: pick up components and parts that pay-off sends here and it is installed in assembling head 10 on the printed circuit board (PCB) (PCB); Rotate the ball-screw 11 that is fixed with assembling head 10 on it and the drive motors 12 of vertical moving assembling head 10; Thereby come mobile Y to move horizontally the drive motors 15 of assembling head 10 to workbench by the rotation ball leading screw; Survey the pulse signal of drive motors 12,15 outputs and the linear encoder 16 of identification assembling head 10 shift positions.

Here, assembling head 10 has many installation head.

The operation of the traditional SMD assembly equipment with above-mentioned member is described now, with reference to the accompanying drawings.

Thereby drive motors 12,15 picks up components and parts according to the control of motor driver (not shown) being moved assembling head 10, makes assembling head 10 move on to rigging position so that components and parts are installed on the PCB again, and aforesaid operations repeats.

Installation head at this hypothesis assembling head 10 is N _HIndividual, the components and parts that install are N _PIndividual, the type of the components and parts that install is for there being N _cKind, pay-off is N _FIndividual.

In Fig. 2 A, Pi (i=1 ... N _P) position that will install of representation element device; In Fig. 2 B, Fj (j=1 ... N _F) expression pay-off numbering; In Fig. 2 C, Hj (j=1 ... N _H) expression installation head numbering.Pay-off is at a kind of components and parts of this supply.

Then, drive motors 12,15 rotation ball leading screws 11,13, thus make each installation head (Hk) 10 of assembling head 10 shift to pay-off (Fj), each installation head (Hk) is picked up components and parts from pay-off (Fj).

When picking up components and parts, be aligned on the position that each components and parts should be mounted and and be installed on the PCB each components and parts thereby drive motors 12,15 rotation ball leading screws 11,13 will assemble head 10.

Said process repeats, thereby required components and parts are installed on the PCB.

But, when traditional SMD assembly equipment picks up components and parts that pay-off sends here and then it is installed in PCB and goes up, perhaps when all components and parts repeatedly are installed on the PCB, consider assembling installation head number of head 10 and operation, pay-off number, each the components and parts position that will install, rule of thumb finish the instrument or the necessity of picking up mouth are changed, and rule of thumb arrange the components and parts assemble sequence.

Therefore, although pay-off has produced the best assemble sequence of components and parts with the setting of the best, thereby improved operating efficiency by the final assembly lead time that shortens components and parts, but the number of the spacing of installation head number, the installation head of assembling head 10, the components and parts that pay-off maybe will be installed and position and installation time still must rule of thumb produce again.

Therefore, the objective of the invention is to: a kind of improvement assembly method of utilizing the components and parts of tuning calculating is provided, it can be installed to the time required on the rigging position of each components and parts with each components and parts by utilizing tuning calculating (EC) to calculate, and produces the best assemble sequence and the best pay-off position of components and parts.

For achieving the above object, a kind of improved components and parts assembly method of utilizing tuning to calculate is provided, and this method comprises: read and the setting angle and the relevant data of components and parts method of supplying that will be installed in components and parts type on the PCB, components and parts installation site, each components and parts; The average of the components and parts number that output will be installed is used for the frequency of utilization of each components and parts with the average of this output and the installation number of times comparison of various components and parts to determine pay-off: $O_i=f\left(\frac{N\left(R_i\right)}{m}\right)$ $m\frac{\underset{i=1}{\overset{N_c}{\mathrm{\Σ}}}N\left(R_i\right)}{N_c}$ The Nc components and parts type of indicating to install wherein, N (Ri) indicates to be installed in the components and parts number on the PCB, if x≤1, f (x)=1 then, if n-1＜then x≤n, (n is the integer greater than 1), f (x)=n; Preset female codes or data group of expression pay-off rigging position and female codes or data group of representation element device assemble sequence; After in the 3rd step, producing female codes or data group, calculate and in the SMD assembly equipment, adopt each female codes or data unit and required final assembly lead time wherein, determines to pick up the components and parts required time by following formula:

T _Pick=Max (Ti, i=x, y, r)+T _Up/ T _DownWherein x, y represent the x and the y coordinate of pay-off position, and r represents corner, and Ti represents installation head displacement time, T _Up/ T _DownExpression installation head lifting required time; Generate the offspring data group and calculate the required final assembly lead time in generation offspring data unit by changing the female codes or data group that in the 3rd step, produces; In predetermined number, select relevant data cell with random data, compare each final assembly lead time, the calculation operations set from each data cell; In the predetermined operation range of convergence, select female codes or data unit of group under the data cell conduct,, just stop to generate data cell,, returned for the 5th step if unsatisfactory if selected data cell is gratifying result.

To more fully understand the present invention from the accompanying drawing that the following specific descriptions that provide and signal are drawn, wherein these accompanying drawings are not limitation of the invention.Shown in the figure be:

Fig. 1 represents the structure according to the SMD assembly equipment of conventional art;

Fig. 2 A-2C is illustrated in the conventional art, and each components and parts will be installed in the position on the PCB and the number of installation head and pay-off;

Fig. 3 is the form of female codes or data of generating according to the present invention of an expression;

Fig. 4 A-4L is expression produces the method for offspring data unit by the female codes or data among change Fig. 3 a form;

Fig. 5 is a flow chart of determining the components and parts assemble sequence;

Fig. 6 is the flow chart that presets female codes or data unit of expression pay-off rigging position;

Fig. 7 is the flow chart that calculates the required final assembly lead time of each data cell.

The used SMD assembly equipment of the present invention has the structure identical with Fig. 1.

Specifically describe the components and parts assembly method of utilizing tuning to calculate referring now to Fig. 4-6.

At first, read and the setting angle and the relevant data (100) of each components and parts method of supplying that will be installed in components and parts type on the PCB, components and parts rigging position, each components and parts.

At this, the data relevant with each components and parts method of supplying comprise: components and parts method of supplying, used tool and the vacuum degree of picking up mouth type, components and parts alignment methods, picking up components and parts, wherein the components and parts method of supplying is divided into belt, rod-pulling type, disc type and TSU.

Under the situation of belt pay-off, read the feeding belt width (8,12,16mm) and feed direction; Under the situation of disk-feeding device, read X and Y-axis to spacing and ranks number; Under the situation of rod-pulling type pay-off and TSU, read relevant data.

The components and parts alignment methods is divided into mechanical registeration method and vision localization method.

Then, determine the frequency of utilization (101) of various components and parts.Select or empirical algorithms is determined the frequency of utilization of each pay-off by the user.

For example, the average of the various components and parts numbers that output will be installed is with the installation number of times comparison of this average and various components and parts.If the components and parts number of installing is installed a pay-off less than average; If less than twice average, two pay-offs are installed greater than average; If between the twice to three of average times, three feeding positions are installed.

Calculate the average (m) that components and parts are installed number of times according to following formula: $m=\frac{\underset{i=1}{\overset{N_c}{\mathrm{\Σ}}}N\left(\mathrm{Ri}\right)}{N_c}$

Wherein, the components and parts type that Nc indicates to install, N (Ri) indicates to be installed in the components and parts number on the PCB.

Therefore, calculate the frequency of utilization of components and parts (Ri) feed appliance according to following formula:

Oi=f(N(Ri)/m)

Wherein, when x≤1, f (x)=1;

As (n-1)＜x≤n (n is the integer greater than 1), f (x)=n.

That is to say, if the components and parts type of installing have 4 kinds (R1 ..., R4), the installation number of times of various components and parts is R1=10, R2=5, R3=30, R4=10, then average=(10+5+30+10)/4=13.75.

Therefore, the frequency of utilization Oi=10/13.75=1 of components and parts (R1), the frequency of utilization Oi=5/13.75=1 of components and parts (R2), the frequency of utilization Oi=30/13.75=2 of components and parts (R3), the frequency of utilization Oi=10/13.75=1 of components and parts (R4).

Subsequently, the user determines the rigging position of pay-off, presets female codes or data group (102) of expression pay-off position.

To describe with reference to figure 6 this.

In this step, the user can determine the ideal position (10) of pay-off, and determines all the other positions automatically by following algorithm.

At this, when inserting a belt pay-off or another pay-off in the pay-off, the position of each used pay-off is not overlapping.

Then, list (not-available) pay-off position catalogue (to call the NA catalogue in the following text) that can not find out, the position (11) in pay-off position of setting comprising the user and the pay-off storehouse that overlaps with the pay-off position.On this can be arranged on another pay-off pay-off position in the NA catalogue.

After the pay-off position that components and parts (Ri) will be delivered to is determined, suppose that the pay-off frequency of utilization is Oi, the components and parts that the user determines (Ri) positional number is Si, can say like this that promptly pay-off is installed on the Oi-Si position.

But, be not under above-mentioned all situations, pay-off to be installed, produce pay-off N at random according to various components and parts _FThe position, thereby list an auxiliary directory (13), as long as the position of the above pay-off of setting from the first place of auxiliary directory not on the NA catalogue, just think that these positions are obtainable pay-off positions (14) (15).

At this, the position that covers of pay-off depends on components and parts method of supplying (belt, rod-pulling type, disc type and TSU).For example the feeding belt pay-off of 8mm only occupies the position of oneself, and the feeding belt pay-off of 16mm not only occupies the position of oneself, and has occupied the position about it.

Therefore, the position that pay-off will be installed must be unavailable pay-off position in case find this rigging position not on the NA catalogue, occupies all positions by pay-off and just is put into NA catalogue (16).

Said process is the operation corresponding to a data unit.Owing in elementary tuning calculation procedure, need a lot of female codes or datas unit, thus carry out said process repeatedly up to the data cell that obtains requirement, after required data cell is set, definite process of pay-off position (18) (19) that just are through with.

Then preset female codes or data group (103) of representation element device assemble sequence.

In initial step, some rigging positions (path) and some pay-offs (picking up) and the installation head order (routing head) in the components and parts process is installed and picks up installation head order (pick-up head) in the components and parts process also have accurate degree of registration all definite under random number.

In above-mentioned running, one-period comprises: accurately aim at, the components and parts assembling, at N _HIndividual installation head is picked up instrument behind the components and parts/the pick up replacing of mouth (T/H), wherein total number of cycles Ncycle=" N from pay-off _P/ N _H

, " Expression rounds.

If setting section data in Fig. 2, owing to need Ncycle cycle and N _HTherefore individual installation head needs Ncycle * N altogether _HIndividual installation head.

But, after all components and parts are installed, also surplus Ncycle * N _H-npIndividual installation head this means the position that does not need mobile installation head, with-1 expression.

At first, many rigging positions by arbitrarily rearrange produce many [1, N _P], can select the many like that pay-offs (picking up) of employed frequency Oi in each components and parts (Ri), wherein under random number, select pay-off, N _PThe components and parts number of indicating to install.

At this, installation head order (routing head) expression in first device process is installed be installation head order when from the pay-off storehouse, picking up components and parts, installation head in picking up the components and parts process is represented in proper order is installation head order when components and parts are installed. by random rearrangement [1, N _H] number and produce each order, N wherein _HExpression installation head number.

The degree that accurate degree of registration (precision) expression is accurately aimed at accurate components and parts.For example, j components and parts (1≤j≤N in the one-period _H) need accurately to aim at, by random alignment [1, j, * N _H] between number and produce accurate degree of registration (precision).

If select (k, k, N _H) between number, k components and parts were installed in this cycle, and (1≤k≤j) accurately aim at before, the precision of the components and parts of aligning is designated as " 0 " and do not need accurately.

For example, as installation head number (N _H) be 3, Fig. 3 is to the form that picks up components and parts and the order of installation components and parts is encoded on PCB.Pi (i=1 ... N _P) numbering of the components and parts position of indicating to install, Fj (j=1 ... N _F) expression pay-off numbering.

At first, the installation head order (pick-up head) when picking up components and parts, first installation head is picked up components and parts from pay-off (F1), and the 3rd installation head is picked up components and parts from pay-off (F2), and the 4th installation head is picked up components and parts from pay-off (F3).

But because the accurate degree of registration (precision) of rigging position number is " 1 ", the components and parts that pick up from pay-off (F3) are moved to accurate aligned position before installation.

That is, because 1 ∈ [1 * N _H], accurately aim at before installing first.

Then, the installation head order (routing head) of the 3rd installation head when components and parts are installed is installed in corresponding components and parts on the rigging position (P1), first installation head is installed in corresponding components and parts on the rigging position (P2), and second installation head is installed in corresponding components and parts on the rigging position (P3).

After the components and parts assemble sequence in the one-period is determined, in following one-period, repeat picking up and installing of components and parts,, changing T/N hour here, installation head is moved to T/N activity.

Therefore, produce a data unit, in tuning is calculated, produce many data cells as female codes or data group through said process.

Then, by after determining that pay-off position and components and parts erection sequence generate the data cell of female codes or data group, in the SMD assembly equipment, adopt each data cell just to calculate final assembly lead time (104).

That is, final assembly lead time be the installation head of SMD through each cycle and return to origin up to the required from the off time.

Specifically describe said process with reference to figure 6.

At first in each installation head, preset T/N (20).

At this, one group of T/N is installed in the requirement of the components and parts that should will install in the period 1, unless installation head is installed components and parts in the period 1, just required T/N group of the following cycle of installing.

To pick up components and parts required time (Tpick), components and parts required times (Tpsth) will be installed, will accurately aim at required time (Tptec), T/N changes required time (T _TN) addition obtains the one-period required time.

Obtain to pick up components and parts required time (22) by following formula.

At first, obtain the displacement of each by following formula:

Δx=x(k+1)-x(k)+{[h(x)-h(x+1)]×Whx}

Δy=y(k+1)..y(k)+{[h(y)-h(y+1)]Why}

Δr=r(k+1)-r(k)

X (k), y (k) and r (k) expression is X, Y coordinate and the corner of interim k pay-off weekly, and h (k) represents the numbering of k pick-up head, and Whx, Why represent that X between each installation head and Y-axis are to spacing.

At this,, under situation about calculating, adopt above formula apart from absolute value when the SMD assembly equipment moves then when other direction moves along X or Y direction.

But,, can calculate above-mentioned displacement by You Keli Dien (Euclidean) distance calculating method so if the SMD assembly equipment can move along X and Y direction simultaneously.

That is, the method that obtains this displacement can change according to the operation of SMD assembly equipment.

In above-mentioned formula, between each pay-off of expression when the spacing x of directions X (k+1)-x (k) equals X spacing (Whx) between each installation head, and h (k)-h (k-1)=1 o'clock, Δ x becomes zero, this means that two adjacent installation head pick up components and parts simultaneously; When above condition is set up, also be like this on the Y direction.

If | Δ i|≤Th, (Th=Ta * Vh), calculate required time (Ti) with following formula: $T_i=2*\max (\frac{\left|\mathrm{\Δi}\right|*T_a}{V_h}-T_{\mathrm{ma}}),i=x,y,r........$

Represent by uniform acceleration to determine Ta and Vh according to the mould of SMD assembly equipment that Tma represents the shortest accelerating time up to reaching the required time of upper limit (UL) speed (Vh) at this Ta.

If | Δ I|＞Th, calculate required time (Ti) by following formula: $T_i=\frac{\left|\mathrm{\Δi}\right|}{V_h}+T_a,i=x,y,r.......\left(2\right)$

Therefore, after calculating required time (Ti), pick up the components and parts required time and also decide by above-mentioned two formula:

T _pick=max(Tx,Ty,Tr)+T _up/T _down

At this, Tup/Tdown represents lifting installation head required time.

In the Euclidean distance calculating method, calculate distance to determine required time (Tpick) by following formula: $\mathrm{\Δxy}=\sqrt{\{x(k-1)-x\left(k\right){\}}^2-\{y(y-1)-y\left(k\right){\}}^2}$

At this, when Δ xy≤Th, calculate required time (Txy) according to formula (1), when Δ xy 〉=Th, calculate required time (Txy) according to formula (2).

Subsequently, after calculating required time (Ti), determine to pick up components and parts required time (Tpick) by following formula by formula (1), (2):

T _pick=max(Txy,Tr)+(T _up/T _down)

Then, when installation head in one-period with all components and parts N _HWhether pick up back (24), calculating installation components and parts required times (Tpick) before, checking needs accurate aligning (26).

Then, accurately aim at if desired, calculate accurate aligning required time (Tprec), accurately aim at required time (Tprec) and equal to move to vertical and horizontal displacement time of displacement time, the installation head of relevant position (video camera or RCU, laser calibration device), vision localization required time sum.

Subsequently, with the same way as of picking up components and parts required time (Tpick) with calculating components and parts required times (Tpath) (28) determine to be installed.

Subsequently, check whether all components and parts are all installed (30),, repeat said process (22) computing afterwards, when finishing installation, check whether be following one-period to change T/N (31) up to calculating required time when installing imperfect tense.

At this, when needs are changed T/N, change one group and be suitable for the new T/N of following one-period and calculate replacing T/N required time (T _TN) (32).

Will move to T/N station required time, at the T/N station new T/N required time is installed, picked up new T/N required time at T/N station, replacing T/N required time addition and obtain changing T/N required time (T _TN).

Change T/N required time (T when calculating _TN) time, repeat above-mentioned computing to calculate required final assembly lead time and the required final assembly lead time of each data cell of following one-period.

Then as shown in Figure 4, the female codes or data unit that obtains by the setting of changing by pay-off position and components and parts assemble sequence produces filial generation (105).

At this, except the pay-off desired location that is set by the user, other pay-off positions are produced by randomly changing pay-off position, and this process is identical with the process of the female codes or data group that presets expression pay-off rigging position.

Then, generate filial generation by the female codes or data unit that produces according to the components and parts assemble sequence, produce filial generation by picking out at random following six kinds of modes by changing.

(1), cycle exchange

By at Ncycle=[NP/N _H] select two any periods so that exchange this two cycles in the random number in the cycle.

That is, the content of exchange comprises: the some rigging positions (path) in one-period; Some pay-offs (picking up); Installation head order (routing head) in the components and parts process is installed; Pick up the installation head order (pick-up head) in the components and parts process; Accurate degree of registration (precision) and the components and parts (T/N that installs _sThe numbering, alignment methods) data.

For example, when setting female codes or data unit and selection cycle 1 and 4 shown in Fig. 4 A, the filial generation of exchanging the back generation is shown in Fig. 4 B.

(2), pick up the change of installation head order in the components and parts process

Optional one-period in many cycles, and change the routing head in selected cycle with random number. Fig. 4 E female codes or data unit that draws, Fig. 4 F changes when drawing selection cycle 3 under these conditions and the filial generation that produces.

(4), cycle conversion

Select any one cycle, and select one to have to differ and be lower than [2 " Ncycle arbitrarily with the selected cycle

] cycle, then exchange all sequences in this two cycles.

For example, shown in Fig. 4 G, if [2 " Ncycle

]=[2, " 5/2

]=[2,3] middle pick cycle 2, differing with the selected cycle is 3, and the cycle 2 changes to the position in cycle 4, and the cycle 3 is constant, and the cycle 4 moves to the position in cycle 2, and the filial generation of changing generation is shown in Fig. 4 H.

(5), pick up change pay-off position in the components and parts process

When supplying a kind of components and parts by many pay-offs, promptly pay-off frequency of utilization (Oi) greater than 1 situation under, when installation head when pay-off picks up components and parts, change the pay-off position with random number.

For example, if components and parts (R3) use two pay-offs and this two pay-offs to be made as F3 and F4, can random number select these two pay-offs (F3, F4).

That is, when supposing from Fig. 4 I selection cycle l, on rigging position (P1), (F20, F21), (P2, pay-off P3) are 1 to be used for rigging position also to have used pay-off except SMD assembly equipment (F1).At this, if select pay-off (F21) with random number, the filial generation of generation is shown in Fig. 4 J.

(6), change accurate degree of registration

Before being installed, components and parts select accurate degree of registration with random number

That is, from the cycle that comprises accurate aligning, select any cycle, and j (1≤j≤N _H) components and parts need accurately on time, degree of registration be chosen in arbitrarily [1, j * N _H] between the numeral and change it.

On the whole, needing accurately in the one-period, the components and parts number of aligning is up to N _H

Therefore, in respective cycle, install before first components and parts, can be earlier to the 1st～N _HIndividual components and parts are accurately aimed at, before second components and parts is installed, and can be to the 2nd～N _HIndividual components and parts are accurately aimed at, and the accurate degree of registration of i components and parts is 1 to i * N _HBetween.

The accurate degree of registration of supposing i components and parts is j, if j belong to [1, k * N _H], this means the accurate aligning that before k components and parts are installed, carries out j components and parts.

For example, in Fig. 4 k, suppose pick cycle 2 in the cycle, its accurate degree of registration (precision) surpasses 1, because components and parts (P5) are 2 ∈ [1,1 * 3], accurately aims at before at first components and parts of installation (P4).

If in the number between [1,2 * 3], select one any several 4, afterwards the accurate aligning that second components and parts (P5) carry out second first device (P5) before is being installed in that first components and parts (P4) are installed.

Fig. 4 L offspring data unit of generation like this that drawn.

As mentioned above, after finishing, calculate the final assembly lead time (106) of the offspring data unit that produces by the process that changes pay-off rigging position and components and parts assemble sequence generation filial generation.

Then, from each data cell, choose the associated data unit of predetermined quantity wantonly so that compare final assembly lead time mutually with random number.

For example, the sum of supposing the data cell (comprising female generation and offspring data unit) of generation is 100, each data cell and 10 optional data cells that do not comprise corresponding data cell compare, final assembly lead time when the corresponding data unit is less than the above-mentioned final assembly lead time that is used for the data cell of comparison, and the computing set of corresponding data unit adds 1.

At this, if above data cell is the optimum data unit, relatively the computing set after is 10, if the poorest data cell, the computing set is 0.

When calculation operations was gathered in 100 data unit by said process, the computing set was pressed by big toward little sequence arrangement.Wherein, owing to only select the 1-50 data cell, belong to preceding 50%, and abandon other parts, picked out the female codes or data unit (107) of 50 data unit as next data set.

Subsequently, if more than the satisfactory or qualified tentation data group in female codes or data unit of next data set of selecting, then finish said process (108), if unsatisfactory, repeat above-mentioned operation (105) computing afterwards.

If in above-mentioned computing, there is the computing that is considered to best, obtain optimum answer by this computing being listed in the timing algorithm part.

In addition in the present invention, rule of thumb or when calculating the components and parts installation time, obtain the different frequencies of utilization of each pay-off, calculate the distance of X and Y direction by You Keli Dien distance calculating method.

As above specifically described, no matter how many components and parts number, pay-off number and kinds of installation head number, installation be, since in the cycle expression all process steps for example thereby pay-off position and components and parts assemble sequence have calculated the final assembly lead time in each cycle, therefore, the present invention can produce really and determine best assemble sequence and best pay-off position.

In addition since in the cycle each data cell of expression and considered time of instrument/pick up mouth (T/N) the replacing time, components and parts be installed and picked up components and parts, so the present invention can obtain optimum.

Although for explaining that the present invention writes out these most preferred embodiments of the present invention, those of ordinary skill in the art can be appreciated that, under the situation of essence of the present invention that does not have disengaging to quote and theme, have different modifications, replenish and replace as claims.

Claims (16)

1, a kind of components and parts assembly method of utilizing tuning to calculate, this method comprises:

Read and the setting angle and the relevant data of components and parts method of supplying that will be installed in components and parts type on the PCB, components and parts installation site, each components and parts;

The average of the components and parts number that output will be installed is used for the frequency of utilization of each components and parts with the average of this output and the installation number of times comparison of various components and parts to determine pay-off: $O_i=f\left(\frac{N\left(R_i\right)}{m}\right)$ $m=\frac{\underset{i=1}{\overset{N_c}{\mathrm{\Σ}}}N\left(R_i\right)}{N_c}$ The Nc components and parts type of indicating to install wherein, N (Ri) indicates to be installed in the components and parts number on the PCB, if x≤1, f (x)=1 then, if n-1＜then x≤n, (n is the integer greater than 1), f (x)=n;

Preset female codes or data group of expression pay-off rigging position and female codes or data group of representation element device assemble sequence;

After in the 3rd step, producing female codes or data group, calculate and in the SMD assembly equipment, adopt each female codes or data unit and required final assembly lead time wherein, determines to pick up the components and parts required time by following formula:

T _Pick=Max (Ti, i=x, y, r)+T _Up/ T _DownWherein x, y represent the x and the y coordinate of pay-off position, and r represents corner, and Ti represents installation head displacement time, T _Up/ T _DownExpression installation head lifting required time;

Generate the offspring data group and calculate the required final assembly lead time in generation offspring data unit by changing the female codes or data group that in the 3rd step, produces;

In predetermined number, select relevant data cell with random data, compare each final assembly lead time, the calculation operations set from each data cell;

In the predetermined operation range of convergence, select female codes or data unit of group under the data cell conduct,, just stop to generate data cell,, returned for the 5th step if unsatisfactory if selected data cell is gratifying result.

2, the method for claim 1, wherein presetting of pay-off rigging position comprises:

Set desirable pay-off position;

Summarize the position catalogue (NA catalogue) of the position in the position of pay-off and the pay-off storehouse that the pay-off position covers as the pay-off that can not find out;

Produce N corresponding to each components and parts with random number _FIndividual pay-off position, thereby the auxiliary directory of listing;

If the pay-off desired location that begins from the first place of auxiliary directory just thinks that these are obtainable pay-off positions not on the NA catalogue;

When the pay-off position is determined is on the NA catalogue during obtainable position, marks the position that all pay-offs occupy;

When according to a data unit each pay-off position of each components and parts being set, many like that data cell numbers on demand repeat said process, and when having set the pay-off position according to all data cells, finish said process.

3, the method for claim 1, wherein, in the 3rd step, preset the components and parts assemble sequence, with random number determine in each cycle the rigging position number, installation head order in the components and parts process be installed, pick up installation head order and accurate degree of registration in the components and parts process.

4, method as claimed in claim 3, wherein, one-period comprises: accurately aim at, components and parts are installed, at N _HIndividual installation head is picked up the instrument that carries out behind the components and parts/pick up the replacing (T/N) of mouth from pay-off, and total number of cycles is " N _P/ N _H

Integer.

5, the method for claim 1, wherein the 4th step comprised:

According to the requirement of the components and parts that in each cycle, will install, in each installation head, preset one group of T/N;

When needs accurately on time, calculate the accurate aligning time;

Calculate installation components and parts required time to pick up the identical mode of components and parts required time with calculating;

Check whether all components and parts are all installed in one-period,, repeat said process calculating required time, and whether check during installation to following one-period and finished T/N and change when installing imperfect tense;

If it is necessary that T/N changes, change the T/N of the installation head that is suitable for following one-period, calculate T/N and change the time;

Repeat said process, calculate the final assembly lead time of following one-period, so that after obtaining to change the T/N required time, calculate the final assembly lead time of each data cell.

6, method as claimed in claim 5, wherein, by will pick up the components and parts required time, the components and parts required time will be installed, will accurately aim at required time, T/N changes the time addition and obtains the one-period required time.

7, the method for claim 1, wherein determine the installation head displacement time by following formula:

When [Δ I] (i=x, y, r)≤(Th=T ^*Vh) time, $T_i=2^{*}\max (\frac{|\mathrm{\ΔI}{|}^{*}{T}_a}{V_h}+T_{\mathrm{ma}}),i=x,y,r$

When | Δ I|＞T _hThe time, $T_i=\frac{\left|\mathrm{\ΔI}\right|}{V_h}{*T}_a,i=x,y,r$

Δx=x(k+1)-x(k)+{[h(k)-h(k-1)] ^*Wh _x}

Δy=y(k+1)-y(k)+{[h(k)-h(k-1)] ^*Wh _y}

Δr=r(k+1)-r(k)

Wherein, x (k), y (k) and r (k) are illustrated in x coordinate, y coordinate and the corner of k pay-off in each cycle, the number of k pick-up head of h (k) expression, Wh _xAnd Wh _yRepresent between each installation head spacing in x, y direction.

8,, wherein, determine the installation head displacement time by following formula as the described method of claim l:

As Δ xy≤T _hThe time, $T_i=2^{*}\max (\frac{|\mathrm{\Δxy}{|}^{*}{T}_a}{V_h}+T_{\mathrm{ma}}),(i=\mathrm{xy},r)$

When Δ xy 〉=1, $T_i=\frac{\left|\mathrm{\Δxy}\right|}{V_h}*T_a,(i=\mathrm{xy},r)$ $\mathrm{\Δxy}=\sqrt{\{x(k+1)-x\left(k\right){\}}^2+\{y(y+1)-y\left(k\right){\}}^2}$

Δr=r(k+1)-r(k)

9, method as claimed in claim 5, wherein, vertical and horizontal displacement time, the addition of vision localization required time with the displacement time, installation head that move to the relevant position and accurately aimed at required time.

10, method as claimed in claim 5, wherein, with move to T/N station required time, new T/N required time be installed, pick up new T/N required time at T/N station at the T/N station, replacing T/N required time addition and obtain changing the T/N required time.

11, method as claimed in claim 5, wherein, by at Ncycle=" N _P/ N _H

Select for a post two cycles of meaning in cycle in the random number and exchange this two cycles generation offspring data unit.

12, as the described method of claim l, wherein, by in this cycle, selecting cycle and change selected pick-up head with random number and produce the offspring data unit arbitrarily.

13, the method for claim 1, wherein by in this cycle, selecting cycle and change the routing head in selected cycle with random number and produce the offspring data unit arbitrarily.

14, as the described method of claim l, wherein, by selecting an any period, selecting to exist to differ to be [2 " Ncycle/2 arbitrarily ] number cycle and change all periodic sequences in this two cycles and produce the offspring data unit.

15, as the described method of claim l, wherein, when supplying a kind of components and parts by many pay-offs, promptly the pay-off frequency of utilization was greater than 1 o'clock, if pick up components and parts, generate the offspring data unit by changing the pay-off position so with random number from pay-off.

16, as the described method of claim l, wherein, by before components and parts are installed, selecting accurate degree of registration to generate the offspring data unit with random number.

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