JP2006245537A - Method for determining mounting order of component, method and machine for mounting component - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for determining the mounting order of components suitable for high speed high density mounting while taking account of the interference of the component caused by the arch motion or the like of a mounting head. <P>SOLUTION: The method for determining the mounting order of components when the components are mounted on a substrate by a component mounting machine equipped with a mounting head comprises a step (S6110) for determining the mounting order of all components mounted on the substrate in units of component group composed of components corresponding to one or more mounting points, and a step (S6111) for dividing all the components into tasks, i. e. component groups mounted by single series operation in the repetition of a series of sucking and mounting operations of the component by the mounting head in a state that the mounting order determined at the mounting order determining step (S6110) is sustained and determining the mounting order of the divided tasks. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a method for mounting a component such as an electronic component on a substrate by a component mounting machine, and more particularly to a method for determining a mounting order.

  As electronic devices such as personal computers and mobile phones become more sophisticated and smaller in size, mounting of components on a circuit board (hereinafter simply referred to as “substrate”) built in the electronic device has also been increased in density. For this reason, a component mounter for manufacturing such a substrate is required to have a function corresponding to narrow adjacent mounting (mounting a component at a very close position on the substrate).

  FIG. 29 is a diagram for explaining narrow adjacent mounting. Here, this may occur when a component 6003 is mounted on the substrate 6004 and a new component 6002 (here, the component 6002 sucked by the suction nozzle 6001 of the component mounter) is mounted immediately beside the component 6003. Interference is shown. Since the component 6002 is lower than the component 6003 (the thickness of the component is thin) and needs to be mounted at a position very close to the component 6003, interference occurs that the suction nozzle 6001 collides with the component 6003. The component 6002 cannot be mounted on the substrate 6004. In addition, the interference includes not only the collision between the suction nozzle (or mounting head of the component mounting machine) and the component, but also the collision between the component and the component (for example, mounting on the component and the substrate sucked by the suction nozzle). Collisions with other parts).

Conventionally, various component mounting methods have been proposed to cope with such narrow adjacent mounting (see, for example, Patent Document 1). In the technique disclosed in Patent Document 1, all components to be mounted are grouped by component height, and components belonging to a group having a lower height are mounted first. This avoids interference in narrow adjacent mounting.
JP-A-2003-37396 (FIGS. 15 to 17, etc.)

  However, in the above-described prior art, in the modular component mounting machine, in order to reduce tact time, each mounting point is divided into tasks, and the order of tasks and the mounting order of components in each task are determined. However, interference was not considered at that time. Conversely, only by determining the mounting order of components in consideration of interference, no consideration has been given to minimizing tact under the condition of considering interference.

  Further, the above-described prior art does not take into consideration that the mounting head of the component mounting machine performs an arch motion operation, so that there is a problem that it is not sufficient as a method for avoiding interference in narrow adjacent mounting. Here, the arch motion operation is an operation in which the mounting head of the component mounter performs an up / down operation and an XY operation (movement in a plane parallel to the board) in parallel, for example, as shown in FIG. As described above, after the mounting head finishes mounting a certain component on the substrate, the mounting head moves along an arch-like locus when the component is mounted next. By such an arch motion operation, the moving time of the mounting head is shortened, that is, the mounting time is shortened, compared to the normal operation (non-arch motion operation) shown in FIG.

  FIG. 31 is a diagram for explaining interference caused by the arch motion operation. Here, since the component 6005 sucked by the suction nozzle 6001 descends from the oblique direction by the arch motion operation, there is a situation in which interference occurs that the component 6005 collides with the component 6006 already mounted on the substrate 6004. It is shown. Such interference is a phenomenon that does not occur in implementations that do not perform arch motion operation, and is interference that is specific to arch motion operation. In the above prior art, the interference when mounting the component by the mounting head of the component mounting machine is not taken into consideration, so there is a problem of quality degradation due to interference or an operation loss when mounting the component because arch motion operation is not possible. There is a problem that it ends up.

  Further, since interference due to the arch motion operation is not taken into consideration, there is a problem that the mounting with the arch motion operation cannot be performed and high-speed mounting is hindered.

  Therefore, the present invention has been made in view of such a situation, and an object thereof is to provide a component mounting order determination method, a component mounting method, a component mounting machine, and the like that are unlikely to cause an operation loss when mounting components.

  It is another object of the present invention to provide a component mounting order determination method, a component mounting method, a component mounting machine, and the like suitable for high-speed and high-density mounting in consideration of component interference caused by the arch motion operation of the mounting head.

  In order to achieve the above object, a component mounting order determination method according to the present invention includes a component mounting machine including a mounting head that sucks and moves a plurality of components and mounts the plurality of components on the substrate. A mounting order determination method for determining a mounting order when mounting a component, a mounting order determination step for determining a mounting order on a board based on a constraint condition in a prior relationship regarding the mounting order of the components, When a component group mounted by a series of operations in the repetition of a series of operations of suction, movement, and mounting is used as a task, all the components are maintained while maintaining the mounting order determined in the mounting order determination step. A task order determining step for dividing the task into tasks and determining a mounting order of the divided tasks. That is, the order of mounting components on the board is determined first, and then the task and task order are determined.

  Accordingly, in the mounting order determination step, the mounting order may be determined so that interference that is a collision between the component and the component or the component and the mounting head that may occur when mounting the component on the board does not occur. For example, interference due to the arch motion motion of the mounting head is avoided.

  As a method for considering interference caused by arch motion operation, all components were mounted on the substrate within the range of the mounting head movement space when the mounting head mounted the component on the substrate while performing arch motion operation. It is determined whether or not another part or a part of another part is present, and when it is determined that it is present, the part to be determined is mounted before the other part. It is preferable to determine the mounting order.

  Specifically, in the mounting order determination step, based on the determination result, a collection of parts to be mounted first is specified as a first part group, and among the parts excluding the first part group, By repeating the process of specifying a collection of components to be mounted as the second component group, a column of component groups may be generated as the mounting order. This avoids interference due to arch motion motion as long as the components are mounted according to the row of component groups.

  Here, in the mounting order determination step, a three-dimensional map indicating a three-dimensional position and shape of the components mounted on the board is generated, and the generated mounting is performed based on the determination result in the generated three-dimensional map. It is desirable to identify a group of parts to be processed as the first part group. Accordingly, it is possible to determine the mounting order in consideration of the components that are already mounted when they are carried into the component mounter.

  In the task order determining step, it is preferable to determine the task and the task mounting order for each component group determined in the mounting order determining step. This is because the mounting order determined in the mounting order determination step is maintained. Alternatively, the mounting head is provided with n suction nozzles for sucking parts, and the task order determination step obtains n parts arranged in the order of mounting determined in the mounting order determination step. The component group to be used and the arrangement of the component group may be determined as the task and the mounting order of the task, respectively. Even in this method, it is possible to easily determine the task and the task order while maintaining the mounting order determined in the mounting order determination step.

  The component mounting order determination method may further include a suction order determination step for determining a suction order when the mounting head sucks components for each task determined in the task order determination step. For example, the mounting head is provided with n suction nozzles for picking up components, and the task order determination step obtains each component one by one along a sequence of components arranged in the component mounter. A collection of a maximum of n parts is determined as a task, and in the suction order determination step, among the parts constituting the task, the parts that are continuously arranged in the arrangement of the parts are simultaneously sucked by the mounting head. Thus, the adsorption order may be determined. Alternatively, in the task order determining step, a task is a collection of a maximum of n components obtained by taking out components in order from components having a large number of components to be mounted on the board from the arrangement of components arranged in the component mounter. In the suction order determination step, the suction order may be determined so that the mounting head picks up the components in descending order of the number of components to be mounted on the board.

  In the mounting order determination step, when the mounting on the board includes a three-dimensional mounting in which the second component is mounted on the first component, the first component is placed before the second component. The mounting order may be determined so as to be mounted on the device. Also for three-dimensional mounting, the present invention can be applied in common with the interference described above in that there is a restriction on the mounting order between components.

  An operation time shortening method according to another aspect of the present invention includes an operation loss specifying step for specifying an operation loss to be eliminated by a component mounter, and an operation time of the component mounter based on the specified operation loss. A component mounting machine including a processing procedure selection step for selecting a processing procedure to be shortened and a processing procedure execution step for executing the selected processing procedure. When the operation loss due to the interference that is the collision between the component and the component or the component and the mounting head that can occur when the component is mounted on the board is selected, the above-described component mounting order determination method is selected as the processing procedure. It is characterized by that.

  According to this configuration, the processing procedure for shortening the operation time of the component mounter is executed based on the operation loss. Therefore, it is possible to provide an operation time shortening method that can change the processing procedure of the component mounting order determination method according to the type of operation loss that affects the component mounting time on the board. Accordingly, it is possible to provide a component mounting order determination method capable of determining an optimal component mounting order within a realistic time.

  The present invention can be realized not only as a component mounting order determination method as described above, but also as a component mounting method and a component mounter for mounting components according to the order, or a component mounting order determination method for a computer. Or a program for executing the component mounting method, or a component mounting order determination device in which the program and the computer are integrated. Needless to say, the program can be widely distributed via a recording medium such as a CD-ROM or a transmission path such as the Internet.

  According to the present invention, the mounting order of the components on the board is determined first in consideration of the interference of the components due to the arch motion operation or the like of the mounting head. Since the suction order is determined, the mounting order of components that avoids interference is determined. Therefore, even with a high-density mounting board, components can be mounted at high speed while the mounting head is operated in an arch motion, and the production tact of the board is improved.

  Moreover, the mounting order of components intended for three-dimensional mounting is determined by applying to a board with three-dimensional mounting.

  In addition, while mounting parts, by dynamically determining the mounting order, tasks, task order, and picking order of parts for the remaining parts, mounting of parts continues even if there is a change in the situation such as out of parts. can do.

  As described above, according to the present invention, it is possible to mount components suitable for high-speed and high-density mounting, and small electronic devices such as personal computers and mobile phones that require a board with a narrow adjacent mounting are rapidly developed. The practical value of the present invention that has become widespread today is extremely high.

  Hereinafter, a component mounting system according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is an external view showing a configuration of a component mounting system according to the present embodiment.

  The component mounting system 10 is a system for determining a mounting order of components on a board and mounting components on the board according to the determined mounting order. The component mounting system 1010, the component mounting machine 3100, and the components A mounting machine 2100, a component mounting machine 5100, a component mounting machine 4100, a component mounting machine 6100, and an operation time shortening device 300 are provided.

  The component mounters 1010, 3100, 2100, 5100, 4100, and 6100 are devices that mount components on a board. The detailed configuration of each component mounter will be described later.

  FIG. 2 is a functional block diagram showing a configuration of the operation time shortening device 300.

  The operation time shortening device 300 is a computer that shortens the operation time of the component mounter by reducing the component mounting time by the component mounter, and includes an arithmetic control unit 301, a display unit 302, an input unit 303, a memory unit 304, An optimization method selection program storage unit 305, an optimization program storage unit 308, a database unit 307, a communication I / F (interface) unit 306, and the like are included.

  The operation time shortening apparatus 300 is realized by a general-purpose computer such as a personal computer executing various programs stored in the optimization method selection program storage unit 305 and various programs stored in the optimization program storage unit 308. The

  The arithmetic control unit 301 is a CPU (Central Processing Unit), a numerical processor, or the like, and an optimization method selection program storage unit 305 according to a component mounter connected via the communication I / F unit 306, an instruction from a user, or the like. Alternatively, a program is loaded from the optimization program storage unit 308 to the memory unit 304 and executed, and the components 302 to 308 are controlled according to the execution result.

  The display unit 302 is a CRT (Cathode-Ray Tube), an LCD (Liquid Crystal Display), or the like, and the input unit 303 is a keyboard, a mouse, or the like, and these are shortened in operating time under the control of the arithmetic control unit 301. It is used for dialogue between the apparatus 300 and an operator.

  The communication I / F unit 306 is a LAN (Local Area Network) adapter or the like, and is used for communication between the operation time shortening device 300 and the component mounter. The memory unit 304 is a RAM (Random Access Memory) or the like that provides a work area for the arithmetic control unit 301.

  The optimization method selection program storage unit 305 and the optimization program storage unit 308 are a hard disk or the like that stores various programs that realize the functions of the operation time reduction device 300 and are stored in the optimization method selection program storage unit 305. Is executed by the arithmetic control unit 301, the program functions as an operation loss specifying unit 305a and a processing procedure selecting unit 305b. When the program stored in the optimization program storage unit 308 is executed by the arithmetic control unit 301, the first component mounting order determination unit 308a, the second component mounting order determination unit 308b, and the third component mounting order. It functions as a determination unit 308c, a fourth component mounting order determination unit 308d, a fifth component mounting order determination unit 308e, and a sixth component mounting order determination unit 308f.

  The operation loss specifying unit 305a is a processing unit that specifies an operation loss to be eliminated by the component mounter. The processing procedure selection unit 305b includes a program that is a processing procedure for shortening the operation time of the component mounting machine based on the operation loss specified by the operation loss specification unit 305a, among the programs stored in the optimization program storage unit 308. It is a processing part to select from.

  First component mounting order determining unit 308a, second component mounting order determining unit 308b, third component mounting order determining unit 308c, fourth component mounting order determining unit 308d, fifth component mounting order determining unit 308e, and sixth component mounting order Processing executed by the determination unit 308f will be described later.

  The database unit 307 is a hard disk or the like that stores input data used for the operation time reduction processing of the component mounter by the operation time reduction device 300, mounting point data generated by the operation time reduction processing, and the like.

  The input data stored in the database unit 307 includes mounting point data 3307a (4307a, 6241), component library 3307b (4307b), mounting device information 3307c (4307c), task time information 4307d, mounting point information array 1307a, conversion point data. A table 1307b, mounting point information 3307d, component data 6242, mounting order data 6243, and the like are included. Details of these input data will be described later.

  FIG. 3 is a flowchart of processing executed by the operation time shortening device 300.

  The operation loss specifying unit 305a acquires the machine name of the component mounting machine from any of the component mounting machines in which a production loss or the like has occurred via the communication I / F unit 306 (S22). Based on the acquired machine name, the operation loss specifying unit 305a determines whether or not the component mounter with the machine name is a so-called modular component mounter (S24). Here, the “modular type component mounter” refers to a component mounter of a type that mounts a component on a substrate while a mounting head that holds the component moves.

  If it is not a modular component mounter (NO in S24), it is a rotary component mounter, so that the processing procedure selection unit 305b realizes the first component mounting order determination unit 308a from the optimization program storage unit 308. A program to be selected is selected and loaded into the memory unit 304. When the arithmetic control unit 301 executes the program, the first component mounting order determination unit 308a optimizes the component mounting order based on the circuit including the component mounting points (S52). Thereafter, the process ends. Here, the “rotary component mounter” refers to a component mounter including a rotary head that sucks a component while rotating around an axis and mounts the component on a substrate. In other words, the first component mounting order determination unit 308a determines the component mounting order so that the distance or time for traveling around the circuit including the component mounting point is minimized for a rotary type component mounting machine.

  If it is a modular component mounter (YES in S24), the operation loss specifying unit 305a determines whether or not the component mounter targeted for shortening the operation time is a so-called alternating component mounter. (S26). Here, the “alternately mounted component mounter” is a component mounter that mounts components on a single board while a plurality of mounting heads perform a cooperative operation.

  If it is a modular and alternating component mounting machine (YES in S26), the processing procedure selection unit 305b selects a program for realizing the third component mounting order determination unit 308c from the optimization program storage unit 308, The data is loaded into the memory unit 304. When the arithmetic control unit 301 executes the program, the third component mounting order determination unit 308c optimizes the component mounting order according to an optimization method specific to the modular and alternating component mounting machine (S28). In other words, the third component mounting order determination unit 308c determines the mounting order so that the number of tasks allocated to a plurality of mounting heads is equal, targeting a so-called alternating type modular component mounting machine.

  After that, when the component is mounted on the board by the component mounter whose operation time is to be shortened, the operation loss specifying unit 305a determines whether interference that is a collision between the component and the component or the component and the mounting head has occurred. If the information is acquired from the component mounter and interference occurs (YES in S30), the processing procedure selection unit 305b realizes the sixth component mounting order determination unit 308f from the optimization program storage unit 308. A program to be selected is selected and loaded into the memory unit 304. When the arithmetic control unit 301 executes the program, the sixth component mounting order determination unit 308f optimizes the component mounting order so as to eliminate the interference (S32), and the process ends. The processing executed by the sixth component mounting order determination unit 308f will be described later.

  If there is no interference (NO in S30), the process is terminated without performing the component mounting order optimization process by the sixth component mounting order determination unit 308f.

  If it is a modular type component mounting machine but not alternating (NO in S26), the operation loss specifying unit 305a transmits a command for acquiring the board carry-in time to the component mounting machine ( S34). Here, the “board carry-in time” is the time from the completion of component mounting on the board until the next board is carried into the board stop position in the component mounter.

  If the board carry-in time can be obtained from the component mounter (YES in S36), the operation loss specifying unit 305a determines whether or not the obtained board carry-in time is greater than a predetermined threshold Th_time. (S38). When it is larger than the predetermined threshold (YES in S38), the processing procedure selection unit 305b selects a program for realizing the fourth component mounting order determination unit 308d from the optimization program storage unit 308, and the memory unit 304 To load. When the arithmetic control unit 301 executes the program, the fourth component mounting order determination unit 308d performs the component mounting order optimization process so as to minimize the board loading time (S40). Processing is performed. In other words, the fourth component mounting order determination unit 308d targets a modular type component mounting machine, and is the time from the completion of component mounting on the board until the next board is carried into the board stop position in the component mounting machine. The suction timing of the component is determined so that the suction of the component is started within a certain board loading time.

  When the board carry-in time cannot be obtained (NO in S36) or when the board carry-in time is threshold ≦ Th_time (NO in S38), the operation loss specifying unit 305a is a command for obtaining a task in the component mounter Is transmitted to the component mounter (S42). Here, the “task” refers to a component group that is mounted by a series of operations in one repetition of a series of operations such as suction, movement, and mounting of components by the mounting head.

  When the task can be acquired from the component mounter (YES in S44), the operation loss specifying unit 305a checks whether each task includes a component with a different movement speed limit within the same task. (S46). Here, the “movement limit speed” indicates the maximum speed of the mounting head when the component is sucked.

  In the case where parts with different movement speed limits are included in the same task (YES in S46), the processing procedure selection unit 305b is a program for realizing the fifth component mounting order determination unit 308e from the optimization program storage unit 308. Is loaded into the memory unit 304. When the arithmetic control unit 301 executes the program, the fifth component mounting order determining unit 308e performs optimization processing of the component mounting order so as to shorten the component mounting time by paying attention to the movement limit speed (S48). . Thereafter, the processing after S30 is performed. That is, the fifth component mounting order determination unit 308e targets a modular component mounting machine, and finishes mounting after the mounting head has picked up the component based on the movement speed limit of the mounting head associated with the component. The order of component mounting is determined so that the time until is shortened.

  When the task cannot be acquired (NO in S44) or when the speed limit of all parts in the same task is equal (NO in S46), the processing procedure selection unit 305b uses the second part from the optimization program storage unit 308. A program for realizing the mounting order determination unit 308 b is selected and loaded into the memory unit 304. When the arithmetic control unit 301 executes the program, the second component mounting order determination unit 308b optimizes the component mounting order based on the circuit including the component mounting points (S50). Thereafter, the processing after S30 is performed. In other words, the second component mounting order determination unit 308a determines the component mounting order so that the distance or time required to circulate the circuit including the component mounting points is minimized for the modular component mounting machine.

  Hereinafter, the process performed by the sixth component mounting order determination unit 308f will be described.

  The component mounter targeted by the sixth component mounting order determination unit 308f is the component mounter 6100 shown in FIG.

  This component mounter 6100 is a device for determining the mounting order of components and mounting the components on the board in accordance with the determined order. The component mounting unit 6115 stores components and sucks components from the component storage unit 6115. The mounting head 6110 that moves to the mounting point of the board while performing an arch motion operation or the like and mounts the components, the XY robot 6113 that is a stage that drives the mounting head 6110 in an XY manner (moves in a plane parallel to the ground), and the like Is provided.

  Note that the mounting head 6110 is, for example, a modular mounting head, and includes 10 suction nozzles that can move up and down, and can suck and mount a maximum of 10 components on a substrate. The suction nozzle can be attached to and detached from the mounting head 6110, for example. The mounting head 6110 can automatically replace the suction nozzle prior to the suction of the component in accordance with the size and weight of the component to be sucked.

  FIG. 4 is a diagram showing an internal structure of the component mounter 6100 shown in FIG. Here, a component cassette 6115a that stores component tapes (taping components) is arranged in a row (hereinafter, the arrangement direction of the component cassettes is referred to as the Z axis) in the component storage unit 6115, or the substrate 6122. A transport unit 6121 and the like for transporting are shown. At the time of component mounting, the mounting head 6110 sucks ten components simultaneously or sequentially from each of a plurality of component tapes stored in the component cassette 6115a, for example, by lowering and raising operations of ten suction nozzles. The XY robot 6113 moves to the position where the board 6122 is placed, and performs a series of operations in which the parts are sequentially mounted at 10 mounting points on the board 6122 by an arch motion operation or the like. Is repeated until the mounting on the substrate 6122 is completed. As shown in FIG. 5, a series of one time (for one cycle) in a series of operations (one cycle) of adsorption of the component by the mounting head 6110, movement to the substrate, and mounting of the component on the substrate. A group of parts mounted by operation is called a task.

  As shown in FIG. 6, the sixth component mounting order determining unit 308f performs an optimum operation considering the arch motion operation of the mounting head 6110 based on the mounting point data 6241 and the component data 6242 held in the database unit 307. A program, CPU, and the like that determine the mounting order of components and store the determined result in the database unit 307 as mounting order data 6243, and include a mounting order determination unit 6251, a task order determination unit 6252, and a suction order determination unit 6253.

  FIG. 7 is a flowchart showing basic operations of the sixth component mounting order determination unit 308f and the component mounter 6100. As shown in the flowchart on the left side of the figure, the sixth component mounting order determining unit 308f determines the mounting order for all the target components (S6100), and mounts the components according to the determined mounting order (S6101). In the determination of the mounting order (S6100), as shown in the flowchart on the right side of the figure, first, the mounting order determination unit 6251 considers interference caused by the arch motion operation of the mounting head 6110 or the like and is one or more. The mounting order of all parts is determined in a part group unit consisting of parts corresponding to the mounting points (S6110), and then the task order determination unit 6252 maintains the mounting order determined by the mounting order determination unit 6251. In this state, the task and the task order are determined (S6111). Finally, the suction order determination unit 6253 determines the part suction order within the task for each task determined by the task order determination unit 6252 (S6112). ~ S6114). In this way, considering the interference caused by arch motion motion, etc., determine the mounting order of all parts first, determine the task and suction order while maintaining the mounting order, and use the results as the component mounting order. By doing so, it is possible to mount components at high speed by the arch motion operation of the mounting head 6110.

  FIG. 8 shows details of determining the mounting order in FIG. 7 (S6110), that is, determining the mounting order of all the components in consideration of interference between the mounting head 6110 and the components at the time of component mounting and interference between components. It is a flowchart which shows a procedure.

  First, the mounting order determination unit 6251 creates a three-dimensional map of all components mounted on the board 6122 at that time (S6120). Here, the three-dimensional map is data representing a three-dimensional space indicating what kind of component is mounted at which position on the substrate 6122 as shown in FIG. Such a map is created, for example, by acquiring information from an upstream component mounter or host computer via the communication I / F unit 6260.

  Next, the mounting order determining unit 6251 refers to the three-dimensional map created in step S6120, the component data 6242, and the like, thereby interfering with other components on the board 6122 in the mounting state at that time. None of the components registered in the mounting point data 6241 are identified and stored as a first group. (S6121). Specifically, the components are examined in order from the lowest in height, and when the components are mounted on the substrate 6122 by the arch motion operation, the space through which the components and the suction nozzle may pass (hereinafter, this space is referred to as an interference area). It is confirmed that there are no other parts (including a part of the part). Here, when another part exists in the interference area (even a part of the part exists), a process is performed in which the other part is not included in the first group (becomes a later group). More specifically, assuming a virtual three-dimensional map in which a component to be mounted is mounted on the substrate 6122 among unmounted components, the component on the three-dimensional map interferes with the component mounting. Processing is performed so that unmounted parts are not placed in the first group. Such an operation is performed on all the unmounted components, and a component that does not interfere with any unmounted component is obtained, and is set as the first group.

  For example, when considering the components 6130a to 6130d to be mounted on the substrate 6122 like the interference area shown in FIG. 10 (here, the interference area which is a three-dimensional space is expressed two-dimensionally), the components As for 6130a, part 6130b, and part 6130d, there are no other parts in the respective interference areas. However, since part 6130d exists in the interference area of part 6130c (part of part d exists), part 6130d. Are to be excluded from the group (set to a group to be mounted later), and only the components 6130a to 6130c are stored as the group. The interference area can be mounted on the board from any direction (all directions around the mounting point) at a predetermined angle (for example, 45 degrees obliquely upward with respect to the board), for example, by the arch motion operation of the component. This is an interference space when it is assumed that it falls to a point, and is a space surrounded by a surface that rises obliquely upward at the above angle from the outline of the component mounted on the board.

  When one group is determined in this way, the mounting order determination unit 6251 then selects the next group again in the same procedure (S6120, S6121) for the remaining parts excluding the parts determined as a group. The grouping process of determining is performed for all parts (S6120 to S6122). In other words, the 3D map is updated as if the parts determined as a group are mounted on the board as in the battle of battles (S6120), and the same battles of battles are performed for the remaining components under the updated 3D map. (S6121) is repeated until all parts are exhausted (S6122). For the group created sequentially, for example, No. Assign group numbers such as 1, 2,.

  FIG. 11 is a diagram illustrating the groups determined by the mounting order determination unit 6251. Here, the parts corresponding to the mounting points P0003,..., P0048 belong to the group 1, the parts corresponding to the mounting points P0001,..., P0041 belong to the group 2, and the mounting points P0005,. It is shown that the parts corresponding to the above belong to the group 3 and the parts corresponding to the mounting points P0002,..., P0031 belong to the group 4. That is, as long as mounting is performed in the order of such group numbers, it is guaranteed that even if mounting with the arch motion operation of the mounting head 6110 is performed, interference between the components and the components and the mounting head 6110 does not occur. Become. Furthermore, it can be seen that there is no restriction on the mounting order for parts belonging to the same group.

  FIG. 12 is a flowchart showing a detailed procedure for determining a task and a task order while maintaining the mounting order determined by the mounting order determination unit 6251 (S6111), that is, the determination of the task and the task order in FIG. . As shown in FIG. 13, the task order determination unit 6252 determines a task for each group determined by the mounting order determination unit 6251 by dividing the parts belonging to the group into tasks for each group (S6131). ) For all the determined tasks, the process of determining the mounting order of those tasks (S6132) is repeated (S6130 to S6133). In FIG. 13, for example, the parts corresponding to the mounting points P008, P009, P019 and P023 are shown to belong to the first task T001 of the first mounting group, and the parts corresponding to the mounting point P015 are It shows that it belongs to the second task T002 of one wearing group.

  Here, as a detailed procedure of the determination of tasks and task order (S6131, S6132), for example, the component group determined by the mounting order determination unit 6251 as shown in the component histogram shown in FIG. For each (“group 1”, “group 2”), component tapes (or component cassettes 6115a) are arranged in descending order from components with the largest number (number of components to be mounted), and FIG. ), For each group, n (number of suction nozzles mounted on the mounting head 6110; 4 in the example in this figure) arranged in the Z-axis direction (right direction) from Z1 As shown in FIG. 14C, the component histogram is updated by removing the n components from the component histogram. Subsequently, similarly to the updated component histogram, as shown in FIG. 14B, n components are determined as the next task, and the component histogram is updated. Thereafter, the same processing is repeated until all parts are used up. When there is no Z1 part, the part arranged in the Z-axis direction from Z2 is taken, and when there is no Z2 part, the part arranged in the Z-axis direction from Z3 is taken. In this way, a task consisting of n parts is determined by taking one part from the leftmost part on the Z axis in the Z axis direction. Thus, the task order determination unit 6252 determines the task and the task mounting order for each group.

  FIG. 15 is a flowchart showing a detailed procedure for determining the pickup order of components for each task determined by the task order determination unit 6252 (S6113) in FIG.

  First, the suction order determination unit 6253 checks nozzle replacement (S6140). In other words, the type and number of suction nozzles used for the previous task implementation are compared with the type and number of suction nozzles required for the next task implementation, and if they are different, it is determined that the nozzle should be replaced. To do.

  Then, the suction order determination unit 6253 determines the part suction order for each task in the same manner as the task determination procedure by the task order determination unit 6252 (S6141). That is, the suction order determining unit 6253 is arranged in the Z-axis direction (right direction) from Z1 on the Z-axis, as shown in FIG. 14B, with respect to the component tape arrangement shown in FIG. It is determined that n parts are picked up. At this time, simultaneous suction is performed for parts that can be simultaneously sucked. Therefore, for example, for a task consisting of n parts arranged in succession, it is determined that n parts are picked up by one picking operation (simultaneous picking).

  Subsequently, as shown in FIG. 14C, the suction order determination unit 6253 updates the component histogram by removing the task that has determined the suction order, and determines the suction order in the same procedure for the next task. To do. In other words, it is determined that the component is sucked while performing what can be simultaneously sucked in order from Z1 on the Z axis (or the leftmost part tape on which the component remains) in the right direction.

  As described above, the mounting order determination unit 6250 determines the mounting order, tasks and task order, and the suction order for each task for all components, and stores the results as mounting order data 6243 in the storage unit 6240. Thereafter, under the instruction from the operator, the mounting control unit 6210 starts mounting the component according to the mounting order data 6243 stored in the storage unit 6240.

  As described above, according to the present embodiment, the mounting order of all components is determined first in consideration of interference caused by arch motion operation and the like, and then the task and the suction order are maintained while maintaining the mounting order. Is determined, and the components are mounted using the result as the mounting order, so that the components can be mounted at high speed by the arch motion operation of the mounting head 6110.

  As mentioned above, although the process of the 6th component mounting order determination part 308f was demonstrated based on embodiment, this invention is not limited to this embodiment. Various modifications which those skilled in the art can think of without departing from the spirit of the present invention are also included in the scope of the present invention.

  For example, in the present embodiment, as shown in FIG. 13, the task order determination unit 6252 determines the task and the task order in each group determined by the mounting order determination unit 6251, but instead, As shown in FIG. 16, all parts arranged in the order of the group determined by the mounting order determination unit 6251 are repeatedly partitioned by the number n of suction nozzles included in the mounting head 6110. A part belonging to each section may be a task, and the order of the tasks may be the task mounting order. As a result, the task order is determined so that the tasks are arranged in ascending order of the group number, and interference due to the arch motion operation or the like is avoided. Here, if a task composed of parts belonging to two or more groups is generated, interference can be avoided by mounting the parts with the smaller group numbers first.

  In the present embodiment, the task order determination unit 6252 and the suction order determination unit 6253 arrange the component tapes on the Z-axis in descending order from the number of components as shown in FIG. Instead, as shown in FIG. 17, the component tape is arranged on the Z-axis so that the component having a larger number is positioned at the center (so that the component histogram has a mountain shape), and is mounted on the board at that time. The task, task order, and suction order may be determined by taking the part having the largest number of remaining parts.

  In this embodiment, after the task and the task order are determined, the component suction order is determined for each task. However, the present invention is not limited to such an order, and the suction order is given priority. As a result, the task and the task order may be determined, or the determination of the task and the task order may be integrated with the determination of the adsorption order. For example, as described above, according to the method of sucking from the component having the largest number of remaining components to be mounted on the substrate, the task is formed as a result of the mounting head sucking the components in a fixed suction order. Therefore, task determination and adsorption order are integrated.

  In this embodiment, the task order and the suction order are determined on the Z axis for each part group determined by the mounting order determination unit 6251 as shown in FIG. Instead of this, a group of parts obtained by grouping with respect to the height of the part (for example, from a part having a low height) may be arranged on the Z axis. This is because the order of the component groups determined by the mounting order determination unit 6251 is considered to be close to the order of the component groups created based on the height of the components.

  In the present embodiment, the mounting order determination unit 6251 determines the mounting order of components in consideration of the interference between components and components or components and the mounting head 6110, but instead of this, or In addition, the mounting order of components may be determined in consideration of the limitation of the mounting order of components accompanying three-dimensional mounting (stacked mounting of components) as shown in FIG. In such three-dimensional mounting, since the upper component 6131b can be mounted only after the lower component 6131a (or the substrate) is mounted, there is a restriction on the mounting order between these components. This is because it can be handled in the same manner as the restriction of the mounting order due to the interference between components in the present embodiment.

  In the present embodiment, the mounting control unit 6210 starts mounting the components after the mounting order determining unit 6250 determines the mounting order of all components. However, the present invention is limited to such an order. Instead of mounting the components, the mounting order of the remaining components may be determined dynamically (in real time). For example, after the mounting of the components of the highest priority group determined by the mounting order determination unit 6251 is finished, the group of components to be mounted next by the mounting order determination unit 6251 with respect to the remaining components other than those components. The cycle of determining and mounting the determined group of components may be repeated. Specifically, among the unmounted components, a virtual three-dimensional map in which a component to be mounted is mounted on the substrate 6122 is assumed, and the component on the three-dimensional map interferes with the component mounting. Processing is performed so that the part is not placed in the group to be mounted next. Such an operation is performed on all unmounted components, and a component that does not interfere with any unmounted component is obtained, and is set as a group of components to be mounted next.

  Further, as in the operation time shortening apparatus 300 of FIG. 2, the component mounting order determination process may be executed by the component mounter 6100 instead of switching and executing the component mounting order determination process.

  FIG. 19 is a block diagram showing a functional configuration of such a component mounter 6100. Functionally, the component mounter 6100 includes a mechanism unit 6200, a mounting control unit 6210, an input unit 6220, an output unit 6230, a storage unit 6240, a mounting order determination unit 6250, a communication I / F unit 6260, and the like.

  The mechanism unit 6200 is a set of mechanism-related components including a mounting head 6110, an XY robot 6113, a component cassette 6115a, a transport unit 6121, and a motor and a motor driver that drive these components.

  The mounting control unit 6210 controls component mounting by controlling the mechanism unit 6200 based on the mounting order data 6243 determined by the mounting order determining unit 6250.

  The input unit 6220 is a keyboard or the like that acquires an instruction from an operator. The output unit 6230 is an LCD or the like that presents various types of information to the operator.

  The storage unit 6240 is a hard disk, a memory, or the like, and holds mounting point data 6241, component data 6242, mounting order data 6243, and the like. As shown in FIG. 20, the mounting point data 6241 includes information indicating a part name and a mounting position (X, Y, Θ) for all mounting points of the target board. As shown in FIG. 21, the part data 6242 includes “part name”, “part appearance” (shape), “part size”, “two-dimensional recognition method” (image recognition method by the camera after suction by the mounting head). , “Suction nozzle” (type of suction nozzle to be used), “Tact” (mounting time per one), “Speed XY” (transfer speed during mounting), and the like. As shown in FIG. 22, the mounting order data 6243 includes information indicating the mounting order of all components finally determined by the mounting order determination unit 6250 (in FIG. 22, “task” and “suction order” for each mounting point. "). In FIG. 22, “task” indicates a task name in the case of mounting in the order of T001, T002,..., And “suction order” is a suction order in each task (how many times it is suctioned) Indicates.

  The mounting order determination unit 6250 determines the optimal component mounting order in consideration of the arch motion operation of the mounting head 6110 based on the mounting point data 6241 and the component data 6242 held in the storage unit 6240, and the determination result Is stored in the storage unit 6240 as the mounting order data 6243, and includes a mounting order determining unit 6251, a task order determining unit 6252, and a suction order determining unit 6253.

  The mounting order determination unit 6251 is a processing unit that determines the mounting order on the board based on the constraint condition in the prior relation regarding the mounting order of components. That is, the mounting order determination unit 6251 determines the mounting order of all components in units of component groups including components corresponding to one or more mounting points in consideration of interference caused by the arch motion operation of the mounting head 6110. To do. The task order determination unit 6252 is a processing unit that determines a task and a task mounting order (task order) while maintaining the mounting order determined by the mounting order determination unit 6251. The suction order determination unit 6253 is a processing unit that determines the suction order of components in a task for each task determined by the task order determination unit 6252.

  The communication I / F unit 6260 is an interface card or the like that communicates with other devices, for example, downloads mounting point data and component data from an upstream host computer, and stores them as mounting point data 6241 and component data 6242, respectively. It is used when storing in 6240.

  FIG. 23 is a flowchart showing the basic operation of the component mounter 6100 when dynamically determining the mounting order. As shown in FIG. 24, the three-dimensional camera 6123 included in the component mounter 6100 images the mounting surface of the substrate 6122 (S6150). Next, the mounting order determination unit 6251 performs image processing on the image captured by the three-dimensional camera 6123, thereby creating a three-dimensional map as shown in FIG. 9 (S6151). Next, the mounting order determination unit 6251 refers to the three-dimensional map created in step S6151 and the component data 6242 and the like to interfere with other components with respect to the board 6122 in the mounting state at that time. None of the components registered in the mounting point data 6241 are identified and stored as a first group. (S6121). Note that the processing in step S6121 is the same as the processing described in the above embodiment. Next, the component mounter 6100 mounts components included in the first group on the substrate 6122 (S6152). If all the components are mounted on substrate 6122 (Y in S6153), the process ends. If there is a component that is not mounted (N in S6153), the processes in and after step S6150 are repeated.

  Further, when the component mounting order is dynamically determined as described above, the dynamic determination process includes group determination by the mounting order determination unit 6251 and tasks and tasks for each group by the task order determination unit 6252. Any of determination of the order, determination of the suction order of the components in the task by the suction order determination unit 6253, and the like may be used. For example, only the determination of all groups by the mounting order determination unit 6251 may be completed in advance, and the determination process after the determination of the task may be determined dynamically for the remaining parts. By this, for example, the remaining parts to be mounted are targeted, and the component suction order is dynamically determined in consideration of the placement of the component tape at that time, so that during component mounting, such as component breakage Even if the situation changes, the mounting order corresponding to the situation can be determined and component mounting can be continued.

  The component mounting system according to the embodiment of the present invention has been described above, but the present invention is not limited to this embodiment.

  For example, in the above-described embodiment, the operation loss specifying unit 305a and the processing procedure selection unit 305b of the operation time shortening device 300 select a program from the optimization program storage unit 308, but the user selects the optimization program storage unit 308. You may make it select a program more.

  FIG. 25 is a flowchart of processing executed by the operation time reduction device 300 when the user selects a program from the optimization program storage unit 308.

  The arithmetic control unit 301 outputs a screen for the operator to select the type of the component mounter as a target to the display unit 302 (S2). For example, a screen 400 as shown in FIG. 26 is output to the display unit 302. Here, the component mounting machines are classified into three types: modular type with only one mounting head (single-sided), modular type with multiple mounting heads (alternate hitting), and rotary type, and corresponds to each component mounting machine. Buttons 402 to 406 are displayed.

  When the operator operates the input unit 303 and presses any of the buttons 402 to 406 (S4), the calculation control unit 301 outputs an optimization method selection screen applicable to the corresponding component mounting machine to the display unit 302. (S6). 27 and 28 are diagrams illustrating an example of a screen displayed on the display unit 302. FIG.

  FIG. 27 shows a screen 410 when a button 402 corresponding to a modular (one-sided) component mounting machine is pressed, and buttons corresponding to four optimization methods applicable to the modular type (one-sided). 412 to 418 are displayed. Buttons 412, 414, 416 and 418 realize a program for realizing the fourth component mounting order determining unit 308d, a program for realizing the fifth component mounting order determining unit 308e, and a sixth component mounting order determining unit 308f. And a program for realizing the second component mounting order determining unit 308b.

  FIG. 28 shows a screen 420 when a button 404 corresponding to a modular type (alternate hitting) component mounting machine is pressed, and buttons corresponding to three optimization methods applicable to the modular type (alternate hitting). 422, 416 and 418 are displayed. The buttons 422, 416, and 418 correspond to programs for realizing the third component mounting order determination unit 308c, the sixth component mounting order determination unit 308f, and the second component mounting order determination unit 308b, respectively.

  When the operator operates the input unit 303 and presses any one of the buttons 412 to 418 and 422 displayed on the screen 410 or the screen 420, the processing procedure selection unit 305b is associated with the pressed button. A program for realizing the determination unit is read from the optimization program storage unit 308 and loaded into the memory unit 304 (S8). When the arithmetic control unit 301 executes the program loaded in the memory unit 304, any one of the component mounting order determining units optimizes the component mounting order (S10).

  For example, when the operator presses the button 412 displayed on the screen 410 shown in FIG. 27, the processing procedure selection unit 305b stores a program for realizing the fourth component mounting order determination unit 308d as an optimization program. The data is loaded into the memory unit 304 from the unit 308 (S8). Next, when the arithmetic control unit 301 executes the program, the fourth component mounting order determination unit 308d optimizes the component mounting order (S10).

  Note that the program applicable to the rotary type component mounting machine is only a program for realizing the first component mounting order determining unit 308a. Therefore, when the button 406 corresponding to the rotary type component mounter is pressed on the screen 400 shown in FIG. 26, the screen for selecting the optimization method as shown in FIG. 27 or FIG. 28 is displayed. Instead, the processing procedure selection unit 305b loads a program for realizing the first component mounting order determination unit 308a from the optimization program storage unit 308 to the memory unit 304, and the arithmetic control unit 301 executes the program. As a result, the first component mounting order determination unit 308a optimizes the component mounting order.

  The present invention relates to a component mounting order determination device and a component mounting machine that determine a mounting order when mounting components on a substrate by a component mounting machine having a mounting head, particularly for substrates with high-density mounting or three-dimensional mounting. It is useful as a component mounter.

1 is an external view showing a configuration of a component mounting system according to an embodiment of the present invention. It is a functional block diagram which shows the structure of an operation time shortening apparatus. It is a flowchart of the process which an operation time shortening apparatus performs. It is a figure which shows the internal structure of a component mounting machine. It is a figure explaining a task. It is a block diagram which shows the structure of the 6th component mounting order determination part. It is a flowchart which shows the basic operation | movement of a component mounting machine. It is a flowchart which shows the detailed procedure of the determination of the mounting order (S6110) in FIG. It is a figure which shows the example of a three-dimensional map. It is a figure which shows the example of an interference area. It is a figure explaining the process which determines a group. It is a flowchart which shows the detailed procedure of the determination of the task in FIG. 7, and a task order (S6111). It is a figure explaining the process which determines the task and the mounting order of a task. It is a component histogram explaining the determination method of the adsorption | suction order of a task and components. It is a flowchart which shows the detailed procedure of determination of the adsorption | suction order in FIG. 7 (S6113). It is a figure explaining another method of determining a task and the order of a task. It is a component histogram explaining another method of determining the picking order of a task and components. It is a figure explaining 3D mounting. It is a block diagram which shows the functional structure of a component mounting machine. It is a figure which shows the example of mounting point data. It is a figure which shows the example of component data. It is a figure which shows the example of mounting order data. It is a flowchart which shows the basic operation | movement of the component mounting machine at the time of determining the mounting order dynamically. It is a figure which shows a mode that the mounting surface of a board | substrate is image | photographed with a three-dimensional camera. It is a flowchart of the process which the operation time shortening apparatus performs when a user selects a program from an optimization program storage part. It is a figure which shows an example of the screen displayed on a display part. It is a figure which shows an example of the screen displayed on a display part. It is a figure which shows an example of the screen displayed on a display part. It is a figure explaining narrow adjacent mounting. It is a figure explaining arch motion operation | movement and normal operation | movement (non-arch motion operation | movement). It is a figure explaining the interference resulting from an arch motion operation | movement.

Explanation of symbols

300 Operation Time Reduction Device 301 Arithmetic Control Unit 305 Optimization Method Selection Program Storage Unit 305a Operation Loss Identification Unit 305b Processing Procedure Selection Unit 308 Optimization Program Storage Unit 308a First Component Mounting Order Determination Unit 308b Second Component Mounting Order Determination Unit 308c Third component mounting order determining unit 308d Fourth component mounting order determining unit 308e Fifth component mounting order determining unit 308f Sixth component mounting order determining unit 6100 Component mounting machine 6110 Mounting head 6113 XY robot 6115 Component storage unit 6115a Component cassette 6121 Transport Unit 6122 substrate 6123 three-dimensional camera 6200 mechanism unit 6210 mounting control unit 6220 input unit 6230 output unit 6240 storage unit 6241 mounting point data 6242 component data 6243 mounting order data 6250 mounting order determination unit 62 51 Mounting Order Determining Unit 6252 Task Order Determining Unit 6253 Adsorption Order Determining Unit 6260 Communication I / F Unit

Claims (20)

A component mounting order determination method for determining a mounting order when mounting a component on a substrate by a component mounting machine including a mounting head for attaching and moving the plurality of components to the substrate,
A mounting order determination step for determining the mounting order on the board based on the constraints in the prior relationship regarding the mounting order of the components;
A state in which the mounting order determined in the mounting order determination step is maintained when a component group mounted by a series of operations in one repetition of a series of operations of picking, moving, and mounting parts by the mounting head is used as a task. And a task order determination step for dividing all parts into tasks and determining a mounting order of the divided tasks. The mounting order determining step determines the mounting order so as not to cause interference that is a collision between a component and a component or a component and a mounting head that may occur when a component is mounted on a board. The component mounting order determination method according to 1. The component mounting order determination method according to claim 2, wherein in the mounting order determination step, the mounting order is determined so that interference caused by an arch motion operation of the mounting head does not occur. In the mounting order determination step, for all components, other components or other components mounted on the substrate within the range of the movement space of the mounting head when the components are mounted on the substrate while the mounting head performs an arch motion operation. It is determined whether or not a part of the component is present, and if it is determined that the component is present, the mounting order is determined so that the component to be determined is mounted before the other component. The component mounting order determination method according to claim 3, wherein: In the mounting order determination step, based on the result of the determination, a group of components to be mounted first is specified as a first component group, and among components other than the first component group, 5. The component mounting order determination method according to claim 4, wherein a sequence of component groups is generated as the mounting order by repeating the process of specifying a group as a second component group. In the mounting order determination step, a three-dimensional map indicating a three-dimensional position and shape of the component mounted on the board is generated, and the component to be mounted first based on the determination result in the generated three-dimensional map. The component mounting order determination method according to claim 5, further comprising: identifying a group of the first component group as a first component group. In the mounting order determining step, the process of updating the three-dimensional map so as to indicate a state in which components belonging to the specified component group are arranged on the board, and specifying a component group to be mounted next is repeated. The component mounting order determination method according to claim 6. The component mounting order determination method according to claim 1, wherein in the task order determination step, the task and the mounting order of the tasks are determined for each component group determined in the mounting order determination step. The mounting head includes n suction nozzles for sucking parts,
In the task order determination step, a component group obtained by dividing n components arranged in the mounting order determined in the mounting order determination step and an arrangement of the component groups are respectively represented by the task and the task mounting order. The component mounting order determination method according to claim 1, wherein: The component mounting order determination method further includes a suction order determination step of determining a suction order when the mounting head sucks components for each task determined in the task order determination step. The component mounting order determination method according to 1. The mounting head includes n suction nozzles for sucking parts,
In the task order determination step, a set of a maximum of n parts obtained by taking out each part one by one along a sequence of parts arranged in the component mounter is determined as a task,
In the suction order determination step, the suction order is determined so that the mounting heads simultaneously suck the parts that are arranged in a row among the parts constituting the task. The component mounting order determination method according to claim 10. The mounting head includes n suction nozzles for sucking parts,
In the task order determining step, a set of a maximum of n parts obtained by taking out parts in order from a part having a large number of parts to be mounted on the board from the arrangement of parts arranged in the component mounting machine is determined as a task. And
11. The component mounting order according to claim 10, wherein, in the suction order determination step, the suction order is determined so that the mounting head sucks components in order from components having a large number of components to be mounted on the board. Decision method. In the mounting order determination step, when the mounting on the board includes the three-dimensional mounting in which the second component is mounted on the first component, the first component is mounted before the second component. The component mounting order determination method according to claim 1, wherein the mounting order is determined. A component mounting method in which a plurality of components are adsorbed and moved, and the components are mounted on the substrate by a component mounting machine including a mounting head for mounting the plurality of components on the substrate,
A mounting order determination step for determining the mounting order on the board based on the constraints in the prior relationship regarding the mounting order of the components;
A state in which the mounting order determined in the mounting order determination step is maintained when a component group mounted by a series of operations in one repetition of a series of operations of picking, moving, and mounting parts by the mounting head is used as a task. Then, a task order determination step for dividing all parts into tasks and determining the mounting order of the divided tasks,
A mounting step of mounting all components on a board in accordance with the task mounting order determined by the task order determination step. In the mounting order determination step, each time mounting of one task is completed by the mounting step, a component group to be mounted next is specified for the remaining components excluding components included in the task,
In the task order determination step, the task to be mounted next is determined for the parts belonging to the part group determined in the mounting order determination step,
The component mounting method according to claim 14, wherein in the mounting step, a component belonging to the task determined by the task order determination step is mounted. In the task order determination step, each time mounting of one task is completed by the mounting step, a task to be mounted next is determined while maintaining the mounting order determined in the mounting order determination step,
The component mounting method according to claim 14, wherein in the mounting step, a component belonging to the task determined by the task order determination step is mounted. A component mounting order determining device that moves by adsorbing a plurality of components, and determines a mounting order when mounting the components on the substrate by a component mounting machine including a mounting head for mounting the plurality of components on the substrate,
A mounting order determining means for determining a mounting order on a board based on a constraint condition in a prior relationship regarding a mounting order of components;
A state in which the mounting order determined by the mounting order determining means is maintained when a component group mounted by a series of operations in one repetition of a series of operations of picking, moving, and mounting of components by the mounting head is used as a task. And a task order determining means for dividing all parts into tasks and determining a mounting order of the divided tasks. A component mounting machine that picks up and moves a plurality of components, and mounts the components on the substrate by a mounting head that mounts the plurality of components on the substrate,
A component mounting machine that mounts components in the order determined by the component mounting order determination method according to claim 1. A program for determining a mounting order when mounting a component on a board by a component mounting machine including a mounting head for picking up and moving a plurality of parts and mounting the plurality of parts on the board,
A program that causes a computer to mount the steps included in the component mounting order determination method according to claim 1. A method for reducing the operating time of a component mounting machine,
An operation loss specifying step for specifying an operation loss to be eliminated by the component mounter;
A processing procedure selection step for selecting a processing procedure for shortening the operation time of the component mounter based on the identified operation loss,
A processing procedure execution step for executing the selected processing procedure,
In the processing procedure selection step, in the operation loss identification step, an operation caused by interference that is a collision between a component and a component or a component and the mounting head that can occur when a component is mounted on a substrate by a component mounter including the mounting head. When the loss is specified, the component mounting order determination method according to any one of claims 1 to 13 is selected as a processing procedure.

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