JP2009026919A - Mounting machine, and equipment estimation operation device and equipment estimation operation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inspection method capable of efficiently inspecting a mounted component. <P>SOLUTION: A device for estimating an equipment operation estimates operations of a plurality of operating parts by making the state of each operating part associate with an elapsed time with respect to equipment where the plurality of operating parts operate in parallel. The device comprises: a splitting means for splitting the operation time of each operation into a plurality of split time periods according to each operation; and an estimating means for calculating estimated operation information required in estimating the state of each operating part at each elapsed time of the split time periods. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a mounting machine, an equipment operation estimation apparatus, and an equipment operation estimation method that estimate equipment operation.

  In a mounting machine that mounts electronic components on a substrate with a head, as a method for confirming the mounting operation by the head, as shown in Patent Document 1, actual operation information is accumulated in real time during the production operation, and the accumulated information A method for confirming the mounting operation based on the above is well known.

On the other hand, a facility operation estimation method for confirming the operation of a mounting machine by simulation on a computer without using an actual device is also well known. For example, a method of estimating the operation of each operation unit on a computer and confirming the operation based on the estimated operation information is well known.
JP 2003-168895 (Claims, FIG. 2)

  In order to improve the accuracy of the equipment operation estimation method using the computer described above, it is desirable to analyze the operation in detail and estimate (calculate) even detailed information. Takes time, and there arises a problem that the estimated operation result cannot be obtained easily.

  On the other hand, if the operation is roughly analyzed and the amount of information is reduced, information processing can be performed in a short time, but there is a problem that sufficient accuracy cannot be obtained.

  This invention is made in view of said subject, and aims at providing the mounting machine, equipment operation estimation apparatus, and equipment operation estimation method which can obtain the estimation operation result of sufficient precision easily. .

  The present invention provides the following means.

[1] For equipment in which operations in a plurality of operation units are performed in parallel, a facility operation estimation device that estimates the state of each operation unit in association with elapsed time,
A dividing means for dividing the operation time of each operation into a plurality of divided times according to each operation;
An equipment operation estimation device comprising: an estimation unit that calculates estimated operation information necessary for estimating the state of each operation unit every time the division time elapses.

  [2] The equipment operation estimation apparatus according to item 1, wherein the dividing unit divides the operation time of each operation by the same predetermined number of divisions even for a plurality of operations having different operation times. .

  [3] In the time zone in which a plurality of operations are performed at the same time, the estimation means obtains estimated operation information for each operation that is performed at the same time every time the shortest division time elapses. 3. The equipment operation estimation apparatus according to 1 or 2 above, which is to be calculated.

  [4] The equipment operation estimation device according to any one of the preceding items 1 to 3, further comprising means for setting a division number of the operation time to a desired value.

[5] A mounting machine for mounting a component on a board by a head,
The equipment operation estimation apparatus according to any one of the preceding items 1 to 4,
A mounting machine characterized by estimating the state of each of its operating parts by the equipment operation estimating device.

[6] A facility operation estimation method for estimating the state of each operation unit in association with the elapsed time for facilities in which operations in a plurality of operation units are performed in parallel.
While dividing the operation time of each operation into a plurality of divided times according to each operation,
A facility operation estimation method characterized in that estimated operation information necessary for estimating the state of each operation unit is calculated every time the division time elapses.

  And a step of calculating estimated operation information necessary for estimating each operation for each divided time.

  According to the equipment operation estimation apparatus according to the above invention [1], since it is possible to divide by the division time corresponding to each operation, it is possible to easily obtain an estimation operation result with sufficient accuracy.

  According to the equipment operation estimation apparatus according to the invention [2], the short-time operation can be finely divided and desired information can be obtained, and the long-time operation can be divided into large pieces, and unnecessary information can be obtained. Can be reduced.

  According to the equipment operation estimation apparatus according to the invention [3], when a plurality of operations are performed simultaneously, the estimated operation information of each operation can be calculated for each shortest division time, and sufficient accuracy can be maintained.

  According to the equipment operation estimation apparatus according to the invention [4], the division time can be changed according to the required accuracy, and therefore an estimation operation result with appropriate accuracy can be obtained with certainty.

  According to the mounting machine according to the invention [5], it is possible to easily obtain an estimation operation result with sufficient accuracy as described above.

  According to the equipment operation estimation method according to the invention [6], it is possible to easily obtain an estimation operation result with sufficient accuracy as described above.

  1 and 2 are views showing a mounting machine 1 in which the operation of each operation unit is estimated by an equipment operation estimation device 7 according to an embodiment of the present invention. As shown in both the drawings, the mounting machine 1 includes a substrate transporting conveyor 20 disposed on a base 11, component supply units 30 provided on both sides of the conveyor 20, and a base 11. The electronic component mounting head unit 40 is provided.

  The component supply unit 30 is provided on the upstream side and the downstream side of the conveyor 20 on the front side and the rear side, respectively. In this embodiment, among the component supply unit 30, a plurality of tape feeders 31 are mounted side by side as component supply means on the front side and the rear side upstream portion, while on the rear side downstream portion, as component supply means, A tray feeder 32 in which component supply containers such as pallets are stacked is attached.

  The parts supplied from the feeders 31 and 32 can be picked up by the head unit 40.

  The head unit 40 can move in a region extending between the component supply position of the feeders 31 and 32 and the mounting position on the printed circuit board W so that components can be picked up from the feeders 31 and 32 and mounted on the printed circuit board W. ing. Specifically, the head unit 40 is supported by a head unit support member 42 extending in the X-axis direction (the substrate transport direction of the conveyor 20) so as to be movable in the X-axis direction. The head unit support member 42 is supported at both ends thereof by guide rails 43 and 43 extending in the Y-axis direction (a direction orthogonal to the X-axis in a horizontal plane) so as to be movable in the Y-axis direction. The head unit 40 is driven in the X axis direction by the X axis motor 44 via the ball screw 45, and the head unit support member 42 is driven in the Y axis direction by the Y axis motor 46 via the ball screw 47. To be done.

  The head unit 40 is mounted with a plurality of heads 41 aligned in the X-axis direction. Each head 41 is driven in a vertical direction (Z-axis direction) by an elevating mechanism using a Z-axis motor as a drive source, and is driven in a rotation direction (R-axis direction) by a rotation drive mechanism using an R-axis motor as a drive source. It has come to be.

  Each head 41 is equipped with a suction nozzle for sucking and sucking electronic components and mounting them on the substrate W.

  As shown in FIG. 1, the head unit 40 is provided with a substrate imaging camera 13 composed of, for example, a CCD camera or the like. The substrate imaging camera 13 can recognize and recognize the substrate W.

  Furthermore, a component imaging camera 12 including a line sensor or the like is provided at an intermediate position between the front side and the rear side in the mounting machine 1. The component imaging camera 12 can capture and recognize a component transferred by the head unit 40.

  FIG. 3 is a block diagram showing a control system of the mounting machine 1. As shown in the figure, the mounting machine 1 of the present embodiment includes a control device (controller) 6 composed of a personal computer or the like, and the operation of each operation unit of the mounting machine 1 is controlled by the control device 6.

  The control device 6 includes an arithmetic processing unit 60, a mounting program storage unit 63, a conveyance system data storage unit 64, a motor control unit 65, an external input / output unit 66 and an image processing unit 67.

  The arithmetic processing unit 60 comprehensively manages various operations of the mounting machine 1.

  The mounting program storage unit 63 stores a mounting program for mounting each electronic component on the board W. This mounting program includes board data and equipment data. The board data includes the position where each electronic component is supplied (suction position coordinate), suction information such as the suction order of each electronic component, the position on the board where each component is mounted (mounting position coordinate), and the mounting order of each component. Information necessary for recognizing component types (recognition setting information), information on component sizes, etc. (component information). The equipment data includes information on the components provided in the mounting machine 1 and their types, for example, the types and installation positions of the head 41, the feeder plate on which the tape feeder 31 is mounted, the imaging cameras 12, 13, the tray feeder 32, and the like. Information (equipment configuration information), information on the axis motion of each motion unit (motion axis), for example, information on acceleration, deceleration, maximum speed, motion range, etc. in the XYRZ axis motion of the head 41 (basic motion information, shaft motion information) ) Etc. are included.

  The data storage unit 64 stores various data related to the transport of the substrate W on the production line.

  The motor control unit 65 controls the operation of the drive motor and the like of each axis of the head unit 40 (head 41).

  The external input / output unit 66 inputs / outputs various types of information to / from various sensors provided in the mounting machine 1 and driving units such as stoppers and actuators.

  The image processing unit 67 processes image data captured by the component imaging camera 12 and the board imaging camera 13.

  The control device 6 is connected with an input unit 61 such as a keyboard and a mouse for inputting various information, and a display unit 62 such as a liquid crystal display and a CRT display for displaying various information. ing.

  In the mounting machine 1 of the present embodiment, the driving is controlled by the control device 6 based on the mounting program, and the mounting operation is automatically performed. In this mounting operation, the head unit 40 moves to the component supply unit 30, picks up a component supplied from the component supply unit 30 by the mounting head 41, and then moves the head unit 40 to the substrate position. This is an operation of mounting a component picked up at a predetermined position on the substrate, and this operation is repeatedly performed to mount the predetermined component on the substrate.

  On the other hand, in this embodiment, as shown in FIGS. 4 and 5, an equipment operation estimation device 7 for estimating (simulating) the operation of the mounting machine 1 is provided. In addition to the control device 6, a network (such as a LAN) such as a controller (computer) provided in each facility such as a mounting machine, and other computers such as a host computer (host computer) that supervises these computers, etc. Connected through.

  The facility operation estimation device 7 does not necessarily need to be connected to another computer, and may be arranged in an independent state with respect to the other computer.

  In the present invention, the equipment operation estimation device 7 can also be configured by a mounting device control device (controller 6).

  The equipment operation estimation device 7 is configured by a personal computer or the like, and includes an arithmetic processing unit 70, a data storage unit 73, and an operation estimation unit 74.

  The arithmetic processing unit 70 comprehensively manages various operations of the facility operation estimation device 7.

  The data storage means 73 stores various data necessary for motion estimation, for example, the above-mentioned board data and equipment data, and holds estimated motion information (estimated motion information).

  The motion estimation unit 74 includes a program for performing motion estimation. As described later, various types of information are processed by the arithmetic processing unit 70 in accordance with this program, so that an estimated motion necessary for motion estimation is obtained. Information is calculated and an estimated operation result is obtained. In the present embodiment, the equipment motion estimation device 7 such as a personal computer that performs motion estimation is divided into a plurality of divided times according to each motion, and the estimation necessary for estimating the state of each motion section. It functions as an estimation means for calculating motion information.

  Further, the equipment operation estimation device 7 is connected to an input unit 71 such as a keyboard and a mouse for inputting various information, and a display unit 72 such as a liquid crystal display and a CRT display for displaying various information. Has been.

  Next, in the present embodiment, a method for estimating the operation of the mounting machine 1 by the equipment operation estimation device 7 will be described. First, basic information used when calculating the estimated motion information necessary for estimating the state of the motion unit (motion axis) of the mounting machine 1, that is, the above-described board data, facility data, and the like is acquired by the facility motion estimation device 7. The

  As described above, the board data includes information related to the picking position and mounting position of the component, and the equipment data includes information related to acceleration, deceleration, maximum speed, and the like in each axis operation of the head 41.

  Substrate data and equipment data are obtained from other computers such as a host computer via a LAN or Internet network line, a recording medium such as a CD-ROM, DVD-ROM, or diskette, or a storage device such as a hard disk Get from.

  Next, the motion estimation program is started in the equipment motion estimation device 7 to start motion estimation.

  After starting the motion estimation, the operator sets the allowable accuracy (%) via the input unit 71. As will be described in detail later, this allowable accuracy corresponds to the division ratio of the required time (movement time) in each operation to be estimated.

  The allowable accuracy can be set to a desired set value (rate) such as “3%”, “5%”, “10%”, and “15%”. As will be described in detail later, in this embodiment, the accuracy of the estimation operation result is improved as the allowable accuracy is reduced.

  Further, as will be described later in this embodiment, since the number of divisions of each operation time is determined by the allowable accuracy, in this embodiment, the input unit 71 is a means for setting the number of divisions of the operation time to a desired installation value. Is configured.

  When the allowable accuracy is set, each operation is sequentially estimated according to the actual operation procedure. Here, for example, the head 41 (operation unit) moves the operation to be estimated by a predetermined amount along the X-axis direction. This is the axis movement.

  When the motion estimation is started, as shown in FIG. 6, the motion time (shaft movement time) from the start time of the start of the shaft motion to the stop time is calculated. The axial movement time is calculated based on the facility data and the board data, and a specific calculation method thereof will be described later.

  Next, the division time (step time) of the A-axis operation is calculated. That is, when the division time is “t”, the allowable accuracy is “P”%, and the axis movement time is “T”, the division time t is obtained by the relational expression “t = T × P”.

  Each time the division time t elapses, information necessary for estimating the state of the operating unit, for example, the moving speed and the moving distance (current position) is calculated. A method for calculating the moving speed, moving distance, and position (coordinates) will be described later.

  Thus, each time the division time t elapses, the moving speed of the shaft is obtained, and a correlation (estimated operation result) between the elapsed time and the speed in the shaft operation is obtained. Therefore, from this correlation, the operator can visually grasp the operation state (the state of the operation unit) such as a speed change with respect to the elapsed time in the axis operation, and can confirm the operation state.

  Next, the allowable accuracy P used for motion estimation of this embodiment will be described. The allowable accuracy P corresponds to a division ratio when dividing the operation time (axis movement time) of the estimation target operation. For example, when the allowable accuracy P is set to “5%”, the axis movement time The number of divisions is “20”. Accordingly, as shown in FIG. 7A, when the allowable accuracy is set to “5%” in the shaft operation with the operation time (axis movement time T) of “2 seconds”, the division time t Becomes “0.1 second”. Further, when the allowable accuracy is set to “10%” as shown in FIG. 5B, the number of divisions is “10” and the division time is “0.2 seconds”. If the allowable accuracy is changed to “15%” as shown in FIG. 5C, the number of divisions becomes “7” and the division time becomes “0.3 seconds”.

  In this embodiment, when the axis movement time T cannot be divided evenly by the division time t as in the case where the allowable accuracy is “15%”, the division time te immediately before the axis stop (final) is shortened. The end time of the last divided time te is made to coincide with the axis stop time.

  As described above, in the present embodiment, the axis movement time T is divided according to the allowable accuracy, and the estimated movement information such as the axis movement speed necessary for estimating the movement state is calculated every time the division time t elapses. Therefore, each estimated motion information can be calculated within the allowable accuracy range, and a predetermined accuracy can be maintained.

  Next, a case where a plurality of operations are performed simultaneously in the present embodiment will be described. For example, as shown in FIG. 8, a case where the B-axis operation and the C-axis operation are performed following the A-axis operation will be described. In this description, the allowable accuracy is set to “5%”, and as shown in FIGS. 9 and 10, the axis movement time (operation time) of the A-axis operation is “2 seconds”, and the axis movement time of the B-axis operation is “ It is assumed that the C axis movement time is “4 seconds”. Further, the start condition of the B-axis operation is a time when the moving speed of the A-axis operation decreases to “Va” or less, and the start condition of the C-axis operation is a predetermined time “Tb” from the start time of the B-axis operation. After it has passed. The allowable accuracy P is the same (5%) regardless of the operation.

  Thus, even when a plurality of axes are performed in parallel at the same time, estimated motion information necessary for motion estimation is calculated for each divided time in each motion axis (motion unit) as described above. That is, in the A-axis operation, the division time “0.1 seconds” is obtained from the axis movement time “2 seconds” and the allowable accuracy “5%”. Similarly, in the B-axis operation and the C-axis operation, the division times “0.05 seconds” and “0.2 seconds” are obtained from the axis movement time “1 second” “4 seconds” and the allowable accuracy “5%”. .

  Next, as shown in FIG. 9, in the A-axis operation, the estimated motion information necessary for motion estimation such as the moving speed and the current position is obtained every time the divided time elapses (every divided time), that is, every 0.1 second. Required sequentially. In the figure, only the moving speed is shown as the estimated motion information, and the current position is not displayed (the same applies to the following B-axis motion and C-axis motion).

  As shown in FIG. 10, in the A-axis operation, if the moving speed of the A-axis operation becomes “Va” or less at time Tn, the B-axis operation is started from this time Tn.

  In the motion estimation method according to the present embodiment, it is determined that the movement speed of the A-axis motion is equal to or lower than “Va” at time Tn, and the B-axis motion is started at that time. Is at any point between time Tn and time T (n−1) that is one division time (0.1 second) before the time Tn, the movement speed of the A-axis motion is “Va Therefore, there is a case where the start time of the B-axis motion by the estimation motion is shifted by a maximum of one division time from the actual start time of the B-axis motion. However, the division time corresponds to the allowable accuracy, and the deviation at the start of the B-axis operation can be suppressed within the range of the allowable accuracy (allowable error). Therefore, the start timing of the B-axis operation can be kept within the allowable accuracy range, and a predetermined accuracy can be maintained.

  After the B-axis motion is started, estimated motion information is calculated for the B-axis motion in addition to the A-axis motion.

  Here, in the present embodiment, the shortest divided time among the divided times of operations performed simultaneously is applied to a time zone in which two operations are performed simultaneously. In other words, in this embodiment, the division time for the B-axis motion is “0.05 seconds”, which is different from “0.1 seconds” as the division time for the A-axis motions. The division time is applied as a common division time (step time) for the AB axis operation. Therefore, after the B-axis operation is started, the estimated operation information such as the movement speed and the movement amount (current position) is sequentially calculated at intervals of 0.05 seconds for both the AB-axis operations.

  Subsequently, if the A-axis operation is completed and a predetermined time Tb has elapsed from the start of the B-axis operation at time Tm, the C-axis operation is started from this time Tm.

  Even at the start time Tm of the C-axis operation, in the actual mounting machine 1, it is between the time Tm and the time T (m−1) that is one division time (0.05 seconds) before that. At any point in time, the C-axis operation is started after a predetermined time Tb has elapsed. As described above, the start point of the C-axis operation in this estimation operation is the start of the actual C-axis operation. With respect to the time, it can be suppressed within the allowable accuracy (5%) of the B-axis operation, and a predetermined accuracy can be maintained.

  After the C-axis motion is started, estimated motion information is calculated in the BC-axis motion.

  Here, the division time of the C-axis motion is “0.2 seconds”, which is different from “0.05 seconds” as the division time of the B-axis motion, but in this case, as described above, it is short. This division time is applied as a common division time for the BC axis operation. That is, even if the C-axis motion is started, the estimated motion information is sequentially obtained at intervals of 0.05 seconds for both the BC-axis motion.

  After that, after the B-axis operation is completed, that is, when only the C-axis operation is performed independently, the division time “0.2 seconds” of the C-axis operation is applied as the division time, and every 0.2 seconds. Estimated operation information is obtained. Then, the estimated motion information is sequentially obtained in the C-axis motion every 0.2 seconds until the C-axis motion is completed.

  As shown in FIGS. 9 and 10, the estimated motion result constituted by the large number of estimated motion information obtained in this manner is displayed as a correlation between the speed in each ABC axis motion and the elapsed time. Therefore, based on this correlation (estimated operation result), the operator can visually grasp the timing of the speed change in the operation of each axis of ABC and can accurately investigate and confirm each operation.

  As described above, according to this embodiment, uniform tolerance accuracy is applied to each motion to be estimated. Therefore, in a short-time operation that requires fine division, the division time is shortened, An accuracy estimation operation result can be obtained. In addition, even if the division time is long, the long time operation that can maintain the specified accuracy will increase the division time, reduce unnecessary information, reduce the amount of information processing, and obtain the estimated operation result quickly and easily. be able to.

  Furthermore, according to this embodiment, since it can be set to a desired allowable accuracy, it is possible to reliably obtain an estimation operation result with appropriate accuracy by changing the allowable accuracy according to the required accuracy.

  Further, in the present embodiment, in a time zone in which a plurality of operations are performed at the same time, the shortest divided time among the operations performed at the same time is applied, and the estimated operation information is calculated for each divided time. . Since this division time is obtained based on an allowable error (allowable accuracy), the estimated motion information of each motion can be calculated within the range of the allowable accuracy in the motion with the shortest motion time, and sufficient accuracy is maintained. be able to.

  In the above embodiment, the case where two axis operations (AB axis operation or BC axis operation) are performed at the same time has been described as an example, but also when three or more operations are performed simultaneously, It is preferable to apply the division time in the operation with the shortest operation time (axis movement time).

  By the way, in the present invention, two or more operations such as an X-axis operation, a Y-axis operation, an R-axis operation, and a Z-axis operation of the head 41 are performed in the same group, that is, two or more operations that interfere with each other. When performing simultaneously, the division time in the shortest operation time may be applied as described above. In other words, when a group is different and two or more operations that are independent of each other, that is, two or more operations that do not interfere with each other, for example, the axis operation of the head 41 and the movement operation of the conveyor 20 are performed at the same time, Need not be applied, and individual division times may be applied. In this case, for example, in the axis operation of the head 41, predetermined information is calculated for each division time calculated from the axis movement time, and in the movement operation of the conveyor 20, every division time calculated from the movement operation time. In addition, predetermined information may be calculated. However, even when operations are performed in different groups, the shortest common division time may be applied in the same manner as described above when the operations are performed simultaneously.

  Next, a specific example will be described when investigating the operation of the mounting machine 1 using the operation estimation method of the present embodiment. As shown in FIG. 11, in this specific example, after the first head 41 in the head unit 40 sucks the component E, the head 41 is moved to the printed board position, and the component E is mounted at a predetermined mounting position. Estimate and investigate the behavior up to.

  First, as shown in FIG. 14, equipment data and board data are acquired in the equipment operation estimation device 7 as described above (step S1).

As shown in FIG. 12, the equipment data includes, as basic motion information, acceleration (mm / sec ² ), deceleration (mm / sec ² ), The maximum speed (mm / sec) is included. Furthermore, the start-up condition for the Z-axis is set when the XY-axis coordinates (head position) are within ± 40 mm from the mounting position coordinates.

  As shown in FIG. 13, the board data includes, as part information, the part name “A” of the part attracted by the head 41, the part size (X size: 3.2 mm, Y size: 1.6 mm, Z size). : 2.0 mm). Further, the mounting information includes a mounting order (order) “1”, a component name “A”, and mounting position coordinates (X: 290 mm, Y: 170 mm, Z: 0).

  As shown in FIG. 11, the current position of the first head 41 is the position of the substrate origin (X: 0, Y: 0, Z: 50 mm).

  Next, the equipment motion estimation apparatus 7 starts a motion estimation program and performs motion estimation (step S2 in FIG. 14).

  When the motion estimation is started, as shown in FIG. 15, the operator sets the allowable accuracy (step S11). Here, a case where the allowable accuracy is set to “10%” will be described.

  Next, the elapsed time in each axis motion to be estimated is cleared (step S12).

  Next, it is determined whether there is an axis that can be activated at the present time (step S13). In this specific example, since the head 41 can move in the X-axis and Y-axis directions at the initial time point, it is determined that there is a startable axis (YES in step S13). Note that at the initial time point, the Z-axis is not an axis that can be activated because the above-mentioned activation start condition is not satisfied (see FIGS. 11 and 12, etc.).

  Subsequently, for the startable axes (X axis, Y axis), the axis operation time (axis movement time) and the axis notch time (division time) are respectively calculated (step S14).

  The method for calculating the shaft operation time will be described in detail below. For example, when obtaining the axis movement time of the X-axis operation, the acceleration time is calculated as shown in FIG. 16 (step S21).

Since the acceleration time is obtained by “maximum speed ÷ acceleration”, the acceleration time (second) is obtained from the maximum speed “400 mm / second” and the acceleration “8000 mm / second ² ” included in the equipment data (see FIG. 12). It is done. That is, the acceleration time of the X-axis operation is 400/8000 = 0.05 (seconds).

Next, the acceleration movement distance is calculated (step S22). Since the acceleration movement distance is obtained by “1/2 × acceleration × acceleration time ² ”, the acceleration movement distance of the X-axis operation is calculated from the acceleration time “0.05 seconds” and the acceleration “8000 mm / second ² ” of the equipment data. ½ × 8000 × 0.05 ² = 10 (mm) is obtained.

Next, the deceleration time is calculated (step S23). Since the deceleration time is obtained by “maximum speed / deceleration”, the deceleration time of the X-axis operation is calculated as 400 ÷ 4000 = 0 from the maximum speed “400 mm / sec” and the deceleration “4000 mm / sec ² ” of the equipment data. .1 (second) is obtained.

Next, a deceleration moving distance is calculated (step S24). Since the deceleration travel distance is determined by “1/2 × deceleration × deceleration time ² ”, the X-axis operation deceleration is performed based on the deceleration time “0.1 second” and the equipment data deceleration “4000 mm / second ² ”. As the moving distance, 1/2 × 4000 × 0.1 ² = 20 (mm) is obtained.

  Subsequently, the constant speed moving distance is calculated (step S25). The constant speed travel distance is obtained by “total travel distance− (acceleration travel distance + deceleration travel distance)”. The total movement distance in the X-axis direction is 290-0 = 290 mm as the total movement distance from the current X coordinate “0” and the X coordinate “290” of the mounting position included in the board data (see FIG. 13). Is required. Then, from this total movement distance “290 mm”, the acceleration movement distance “10 mm”, and the deceleration movement distance “20 mm”, the constant speed movement distance of the X-axis operation is 290− (10 + 20) = 260 (mm). Desired.

  Next, the constant speed time is calculated (step S26). Since the constant speed time is obtained by “constant speed travel distance ÷ maximum speed”, from the above constant speed travel distance “260 mm” and the maximum speed “400 mm / sec” of the equipment data, 260 ÷ 400 = 0.65 (seconds) is obtained.

  Next, the total movement time (axis movement time) is calculated (step S27). Since the total travel time is obtained by “acceleration time + deceleration time + constant speed time”, the acceleration time “0.05 seconds”, the deceleration time “0.1 seconds”, and the constant speed time “0.65”. From the second, 0.05 + 0.1 + 0.65 = 0.8 (seconds) is obtained as the axis movement time for the X-axis operation.

Also in the Y-axis operation, the acceleration time “400 ÷ 8000 = 0.05 (seconds)”, the acceleration movement distance “1/2 × 8000 × 0.05 ² = 10 (mm)”, and deceleration are performed in the same manner as described above. Time “400 ÷ 4000 = 0.1 (seconds)”, deceleration moving distance “1/2 × 4000 × 0.1 ² = 20 (mm)”, constant speed moving distance “170− (10 + 20) = 140 (mm) ”, Constant speed time“ 140 ÷ 400 = 0.35 (seconds) ”, total movement time (axis movement time)“ 0.05 + 0.1 + 0.35 = 0.5 (seconds) ”.

  Subsequently, a division time (step time) of the XY axis operation is calculated (step S28). As described above, since the division time is obtained by “axis movement time × allowable accuracy”, the division time of the X-axis operation is 0.8 × 10% = 0.08 (seconds), and the division time of the Y-axis operation is Is 0.5 × 10% = 0.05 (seconds).

  After the division time for the XY axis motion is calculated in this way, as shown in FIG. 17, the estimated motion information for the XY axis motion is calculated every time the division time elapses.

  That is, one division time is increased (elapsed) from the initial time point (current time) in the XY axis operation (step S15 in FIG. 15).

  Then, at the time after that, estimated motion information (speed, position coordinates) necessary for motion estimation is calculated (step S16).

  Here, since the XY-axis operations are started at the same time and performed in parallel to the middle, the shorter division time is applied as described above while the operations are being performed simultaneously. Accordingly, in both the XY-axis operations, the speed and position at the time when 0.05 seconds have elapsed from the initial time are calculated. The speed after 0.05 seconds is 400 mm / second for both the XY-axis operations. Further, the movement distance is 10 mm on both the XY axes, and the position coordinates at the time are (X: 290-10 = 280 (mm), Y: 170-10 = 160 (mm)). Note that FIG. 17 shows only the relationship between elapsed time and speed (the same applies to the description of the Z axis below).

  In the present embodiment, the speed and moving distance during acceleration can be obtained from the acceleration and the elapsed time from the acceleration start time. Needless to say, the speed at the constant speed is the maximum speed, and the movement distance from the origin can be obtained by adding the movement distance by the acceleration operation to the movement distance from the start of the constant speed operation. Furthermore, the speed at deceleration can be obtained from the deceleration and the elapsed time from the start of deceleration, and the movement distance from the origin is obtained from the deceleration and the elapsed time. Thus, it can be obtained by adding the moving distance by the acceleration operation and the moving distance by the constant speed operation to the moving distance. Further, each position coordinate can be obtained from the origin position and each movement distance.

  If all the mounting operations have not been completed (NO in step S17 in FIG. 15), it is determined whether there is a startable axis (step S13). Since there is no axis that can be activated here (NO in step S13), the elapsed time has elapsed by one division time from the previous time (step S15), and the estimated motion information (speed and position coordinates) at the elapsed time. Is calculated as described above.

  In the same manner, the speed and position of the XY-axis operation are calculated every time the division time elapses (steps S13 to S17).

  Thus, the estimated motion information is calculated, and as shown in FIG. 17, the Y-axis motion is finished when the elapsed time becomes 0.5 seconds. Thereafter, only the X-axis operation is performed independently until the activation of the Z-axis is started. Therefore, the period during which the X-axis operation is performed independently is a divided time of the X-axis operation “0.08 seconds”. Applies. Therefore, after the end of the Y-axis operation, the speed and position coordinates of the X-axis operation are calculated every 0.08 seconds.

  In the X-axis operation, when the position coordinate of the X-axis at time Tm exceeds 250 mm, that is, when the X-axis coordinate of the head 41 is within 40 mm from the mounting position coordinate, the Z-axis operation is started. Since the condition is cleared, the Z-axis operation can be activated (YES in step S13). Since the Y-axis operation has already been completed and the Y-axis coordinate has reached the mounting position coordinate, the activation condition for the Z-axis operation is cleared for the Y-axis operation.

  As described above, the Z axis motion start time may be shifted within the range of one division time of the X axis motion with respect to the actual mounting operation, but the shift is allowable accuracy (10%). Can be kept within the range.

After the activation of the Z-axis operation, the acceleration time “200 ÷ 4000 = 0.05 (seconds)” and the acceleration movement distance “1/2 × 4000 × 0.05 ² ” are also obtained in the Z-axis operation in the same manner as described above. = 5 (mm) ”, deceleration time“ 200 ÷ 4000 = 0.05 (seconds) ”, deceleration travel distance“ 1/2 × 4000 × 0.05 ² = 5 (mm) ”, constant speed travel distance“ 50− (5 + 5) = 40 (mm) ”, constant speed time“ 40 ÷ 200 = 0.2 (seconds) ”, total movement time (axis movement time)“ 0.05 + 0.05 + 0.2 = 0.3 (seconds) ” Further, the division time (step time) “0.3 × 10 (%) = 0.03 (seconds)” is calculated (step S14).

  Next, one division time is increased (elapsed) from the initial time point (current time) in the Z-axis motion (step S15), and estimated motion information in the XZ-axis motion is calculated at a time after that time (step S16). . As the division time, the shorter division time, that is, the division time “0.03 seconds” of the Z-axis operation is applied.

  In the same manner, the speed and position coordinates of the XZ-axis operation are calculated every time the division time elapses (steps S13 to S17).

  Thus, the estimated motion information is calculated, and when the elapsed time becomes 0.8 seconds, the X-axis motion is finished. Thereafter, every time the division time elapses, estimated motion information of the Z-axis motion is calculated. As the division time, the division time “0.03 seconds” of the Z-axis operation is used as it is.

  Then, in the Z-axis motion, all estimated motion information is calculated, and when all the mounting motions are completed (YES in step S17), motion estimation ends.

  As shown in FIG. 17, the estimated motion result including a large number of estimated motion information obtained in this way is displayed as a correlation between the speed in each XYZ axis motion and the elapsed time. Then, the operator visually confirms this correlation (estimated operation result) (step S3 in FIG. 14), and determines whether or not the accuracy of the estimated operation result is sufficient.

  If it is determined by this confirmation (step S3) that the accuracy of the estimated operation result is insufficient (NO in step S4), the operation is estimated again (see FIG. 15). In this case, the allowable accuracy is set higher than the previous time, that is, smaller than 10% (step S11 in FIG. 15). In this way, the motion estimation is repeated until an estimation motion result with sufficient accuracy is obtained.

  When the estimated operation result with sufficient accuracy is obtained (YES in step S4 in FIG. 14), the operator investigates the operation status such as the start timing and the speed change in the XYZ axis operations based on the estimated operation result. Confirm (step S5).

  Thereby, the investigation and confirmation work of the operation of the mounting machine 1 on the computer (equipment operation estimation device 7) is completed.

  On the other hand, for reference, an example of the estimation operation result of the mounting machine 1 obtained by the operation estimation method of the present embodiment is shown in FIGS. The estimation operation result is obtained by the head 41 when performing suction processing for sucking the component by the head, recognition processing for recognizing the sucked component by the component imaging camera 12, and mounting processing for mounting the recognized component at a predetermined position on the substrate. FIG. 18 shows the relationship between the elapsed time and the head speed, and FIG. 19 shows the relationship between the elapsed time and the head position. As is clear from these figures, changes in the respective axis coordinates and the respective axis velocities can be visually confirmed according to the elapsed time. For this reason, the operator can accurately grasp the start timing and the end timing when the Z-axis is lowered in advance while visually recognizing the mounting coordinates. As described above, the operation state of the mounting machine 1 can be accurately grasped from the estimated operation result, and the mounting machine operation can be checked and confirmed with certainty.

  In the above-described embodiment, the case where the operation of the equipment such as the mounting machine is estimated by the equipment operation estimation apparatus of the present invention has been described as an example. However, the present invention is not limited thereto, and the present invention applies the paste to the substrate. The operation of any equipment (apparatus) can be estimated as long as the equipment has a plurality of operation axes, such as a printing press or a dispenser.

It is a top view which shows the mounting machine by which operation | movement estimation is carried out by the installation operation | movement estimation apparatus which is embodiment of this invention. It is a front view which shows the mounting machine of embodiment. It is a block diagram which shows the control system of the mounting machine of embodiment. It is a front view which shows the installation operation | movement estimation apparatus for performing operation | movement estimation of the mounting machine which is embodiment of this invention. It is a block diagram which shows the control system of the installation operation | movement estimation apparatus of embodiment. It is a graph for demonstrating the operation | movement estimation method of the single operation | movement in the equipment operation | movement estimation apparatus of embodiment. It is a graph for demonstrating the permissible precision in the equipment operation | movement estimation apparatus of embodiment. It is a graph which shows the timing of several operation | movement estimated with the installation operation | movement estimation apparatus of embodiment. It is a graph for demonstrating the initial operation | movement of the operation | movement estimation method of multiple operation | movement in the equipment operation | movement estimation apparatus of embodiment. It is a graph for demonstrating the medium-term operation | movement of the operation | movement estimation method of the single operation | movement in the equipment operation | movement estimation apparatus of embodiment. It is a schematic perspective view which shows the principal part of the mounting machine by which operation | movement estimation is carried out as a specific example to this invention. It is a figure which shows the table in which the installation data used by the said specific example were published. It is a figure which shows the table on which the board | substrate data used by the said specific example were published. It is a flowchart for demonstrating the operation | movement confirmation method of the mounting machine in the said specific example. It is a flowchart for demonstrating the operation | movement estimation method of the mounting machine in the said specific example. It is a flowchart for demonstrating the division | segmentation time calculation method of the motion estimation method in the said specific example. It is a graph for demonstrating the motion estimation method in the said specific example. It is a graph which shows the estimation operation result of the mounting machine by which the operation | movement estimation was carried out by the installation operation | movement estimation apparatus of embodiment. It is a graph which shows the estimation operation result of the mounting machine by which the operation | movement estimation was carried out by the installation operation | movement estimation apparatus of embodiment.

Explanation of symbols

1 ... Equipment (mounting machine)
7 ... Equipment operation estimation device T ... Operating time t ... Divided time

Claims (6)

A facility operation estimation device that estimates the state of each operation unit in association with the elapsed time for facilities in which operations in a plurality of operation units are performed in parallel,
A dividing means for dividing the operation time of each operation into a plurality of divided times according to each operation;
An equipment operation estimation device comprising: an estimation unit that calculates estimated operation information necessary for estimating the state of each operation unit every time the division time elapses.   The equipment operation estimation apparatus according to claim 1, wherein the dividing unit divides the operation time of each operation by the same predetermined number of divisions even for a plurality of operations having different operation times.   The estimation means calculates estimated operation information of each operation performed at the same time every time when the shortest division time elapses among the division times of operations performed simultaneously in a time zone in which a plurality of operations are performed simultaneously. The equipment operation estimation device according to claim 1 or 2.   The equipment operation | movement estimation apparatus of any one of Claims 1-3 provided with the means to set the division | segmentation number of operation time to a desired value. A mounting machine that mounts components on a board with a head,
The equipment operation estimation device according to any one of claims 1 to 4,
A mounting machine characterized by estimating the state of each of its operating parts by the equipment operation estimating device. A facility operation estimation method for estimating the state of each operation unit in relation to the elapsed time for facilities in which operations in a plurality of operation units are performed in parallel,
While dividing the operation time of each operation into a plurality of divided times according to each operation,
A facility operation estimation method characterized in that estimated operation information necessary for estimating the state of each operation unit is calculated every time the division time elapses.

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