JPH1187998A - Parts mounting method, and parts mounter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parts mounting method which can enhance productivity by deciding a parts supplier which moves the least to supply parts at and a parts mounter which executes that parts mounting method. SOLUTION: This parts mounter 100 performs parts supplying, selecting the parts supplier where the movement to a parts-holding position 133 becomes minimum with a controller 119 from among plural parts suppliers 102, when the same kind of parts 112 are supplied from the plural parts suppliers 102, and selecting the parts supplier where the distance of shifting is smaller next, when the parts supply from the selected parts supplier is impossible.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a component mounting apparatus for mounting, for example, an electronic component on a circuit board, and a component mounting method executed by the component mounting apparatus.

[0002]

2. Description of the Related Art For mounting electronic components on a circuit board,
The general configuration of a conventional electronic component mounting machine is, as shown in FIG. 16, an electronic component supply device 31 for supplying the electronic component.
And an electronic component holding device 32. The electronic component supply device 31 includes a movable table 1, a component supply device 2, and a drive mechanism 3. A plurality of component feeders 2 are arranged on the movable table 1 along the moving direction of the movable table 1, and a drive mechanism 3 including a motor or the like moves the movable table 1 in the X-axis direction. Each reel 4 loaded in each component feeder 2
Is wound around a tape in which a large number of electronic components are stored in a line, and the stored electronic components are taken out one by one as the stored electronic components are sequentially pulled out to the component supply position 5. The electronic component holding device 32 includes a driving mechanism 6, a speed reducer 7, an index device 8, an input shaft 9, a rotating body 10, and a nozzle 11. By transmitting the power from the drive mechanism 6 to the index device 8 via the speed reducer 7, the continuous rotation of the input shaft 9 is converted into an intermittent rotation operation of the rotating body 10 in the direction around the axis. Note that the rotating body 10 itself does not move in the X and Y directions. A plurality of nozzles 1 arranged at equal intervals around the rotating body 10
1 can rotate and move up and down around each axis. Therefore, the nozzles 11 are sequentially arranged at the component holding positions as the rotating body 10 rotates around the axis. Further, the component supply position 5 in each of the component supply devices 2 can be arranged on the extension of the central axis of the nozzle 11 arranged at the component holding position by moving the movable table 1. Further, each nozzle 11 is
Is arranged at the component mounting position by the rotation about the axis.
The component mounting position is a position corresponding to the component mounting position on the circuit board.

When a component supply position 5 of an arbitrary component feeder 2 is positioned immediately below a nozzle 11 disposed at a component holding position, the lowered nozzle 11
Sucks the electronic component 12 pulled out to the component supply position 5. Then, after the nozzle 11 rises, the rotating body 10
By rotating in the direction around the axis, the electronic component 12 sucked by the nozzle 11 is conveyed in the front direction in the drawing. During this transport process, the nozzle is positioned directly above the imaging device 13,
The electronic component 12 sucked by the nozzle 11 is
Captures the image. The captured image is used by the recognition device 14 to analyze the suction state of the electronic component, and the control device 19 performs position correction and angle correction of the electronic component 12 based on the analysis result, and the nozzle based on the correction. 11 is rotated about its axis. This correction is for adjusting the mounting position and the mounting angle of the electronic component 12 with respect to the circuit board 15.

[0004] A circuit board 15 for receiving electronic components is mounted on the circuit board 15.
Since the X-axis drive mechanism 17 and the Y-axis drive mechanism 18 are coupled to the substrate support 16 and are horizontally supported on the substrate support 16, the circuit board 15 is moved to an arbitrary position in the horizontal plane. By doing so, the component mounting position on the circuit board 15 can be positioned at the component mounting position on the nozzle 11. When the electronic component 12 is mounted on the circuit board 15, a desired mounting position on the circuit board 15 is positioned immediately below the nozzle 11 arranged at the component mounting position. Then, the lowered nozzle 11 releases the suction of the electronic component 12 and mounts the electronic component 12 at a desired mounting position on the circuit board 15. Thereafter, the nozzle 11 rises and returns. The mounting operation of one electronic component is completed by such a series of operations. When mounting a plurality of electronic components, the mounting order of the electronic component mounting position information specified in advance (hereinafter referred to as NC program and The above-described mounting operation is repeatedly performed on each electronic component.

FIG. 17 shows a control flow in such a mounting operation. Step (indicated by "S" in the figure) 1
The operator performs the operation of starting production. In step 2, the board 15 before mounting is carried into the board support 16. In step 3, a queue for parts to be mounted is created as shown in FIG. 19 based on the NC program for the board to be produced. Steps 4 to 11 correspond to a mounting process for one substrate. In step 4, the name of the next component to be sucked is acquired from the head of the queue. The supply unit numbers are assigned to the respective component feeders 2 in order from the end along the X direction, for example. In step 5, the supply unit number assigned to the component supply device 2 capable of supplying the component is acquired. The supply unit number is determined in step 14 described later.
From step 20.

In step 6, the component supply position 10 of the component supply device 2 having the acquired supply unit number is moved so as to correspond to the suction nozzle 11 arranged at the component holding position. Then, in step 7, the component is sucked by the suction nozzle 11. In step 8, it is determined whether or not the suction has been performed correctly. Whether or not suction is performed correctly can be determined by measuring the height of the nozzle tip with a sensor from a direction orthogonal to the nozzle axis direction. If it is not correctly picked up, the part name is re-registered in the queue (step 13), and suction mounting is performed later. If so, the process proceeds to step 9. In step 9, the imaging device 13
To perform the correction process by recognizing the component posture. At step 10, components are mounted. In step 11, it is checked whether the component mounting queue is empty. If it is empty, the substrate has been produced and the process proceeds to step 12. If any elements remain in the queue, return to step 4. Step 1
In step 2, the mounted board is unloaded and the process ends.

Steps 14 to 2 shown in FIG.
0 indicates the process of determining the supply unit number. In step 14, the component name of the component to be picked up is obtained. In step 15, the count value i of a counter provided in the electronic component mounting machine is initialized (set to 1). Note that the count value i corresponds to a supply unit number assigned to each component supply machine provided with a component corresponding to each component name. In step 16, it is determined whether or not the i-th (at present, i = 1) component feeder having the component with the obtained component name has already run out of components to be supplied (hereinafter referred to as component exhaustion). To check. If the parts are exhausted, the process proceeds to step S17. Step 2 if parts are not exhausted
Go to 0. In step 17, the count value i of the counter is incremented. In step 18, it is checked whether or not the incremented count value i exceeds the number of component feeders having the component with the acquired component name. If it exceeds, go to step 19. If not, the process proceeds to step 16. In step 19, since all the component feeders that supply the component with the acquired component name have run out of components, error processing is performed accordingly. In step 20, the i-th number is returned to step 5 as the supply unit number of the component supply device that supplies the component having the acquired component name. For example, in the example shown in FIG. 12, the supply unit numbers of the component A are 01 and 06, but if the supply unit number 01 is out of components and the supply unit number 06 is not out of components, i = 2 and step 5 is performed. The returned supply unit number is 06.

[0008]

In the case where the same parts are successively picked up, an NC program is generally created so as to pick up from the same part feeder 2. This is because the movement of the component feeder 2 does not occur, thereby suppressing the loss time due to the movement. However, in the case where the same type of component is mounted on a board at a distant place, the same component is not supplied continuously but another component is supplied in order to reduce the movement loss time of the XY table. Sometimes it happens. The examples shown in FIGS. 20 and 21 both show the order of component supply when the same NC program is executed. Among them, NC step No. Nos. 1 to 3 and no. 9-1
During the installation of the component A at 0, the components B, C, D, E are supplied. This is because such a movement of the XY table is small. In this example, step No. in the NC program is executed. At the point when the part E is sucked at 8,
The component supply machine of the supply unit number 05 is at the suction position. NC step No. 9, the component A is sucked, but as shown in FIG.
And 06. Therefore, the part A is supplied with the supply unit number 0.
Supply unit number 0
When the components are supplied by the component supply device of No. 6, the moving amount of the supply unit can be reduced. However, at this time, the following problem occurs.

When the parts of the parts supply machine with the supply part number 01 and the supply part number 06 are treated as separate parts (FIG. 20). Since the supply of the component A at 9 is performed by the component feeder of the supply unit number 06, the total movement amount of the component feeder with respect to this board is 5, which is small. However, in this case, even if one of the supply units of the supply unit number 01 or the supply unit number 06 has run out of parts, the other cannot supply parts instead. In the case where the parts of the part supply machine with the supply part number 01 and the supply part number 06 are treated as the same parts (FIG. 21). Since the supply of the component A at 9 is performed by the component supply device of the supply unit number 01, the total movement amount of the component supply device with respect to this substrate is 8, and the loss increases. However, in this case, if one of the component supply machines of the supply unit number 01 or the supply unit number 06 runs out of components, the other supplies components instead.

In particular, the rotary type component mounting machine shown in FIG. 16 often requires high speed, so that there is a problem in that a moving loss time of the supply unit and a component replacement loss time due to running out of components must be avoided as much as possible. Therefore, when the same component is supplied from a plurality of component feeders, even if one of the components is out of components, the function of supplying the component instead of the other component feeder remains effective, as shown in FIG. Want to minimize the transfer loss of the supply unit. The present invention has been made in order to solve such a problem, and a component mounting method and a component mounting method capable of improving productivity by determining a component feeder with the least amount of movement at the time of component supply. An object of the present invention is to provide a component mounting apparatus that executes a mounting method.

[0011]

According to a first aspect of the present invention, there is provided a component mounting method in which a component of the same type is provided in a plurality of component feeders, and a component is held at a component holding position by holding the component from the component feeder. A component mounting method for mounting a mounting body on a mounting position using a component holding device, wherein a plurality of the component feeders having the same component are extracted, and the extracted component feeders or the component holding devices are extracted. When moving to the component holding position, from among the extracted component feeders, a component feeder in which the moving distance of the component feeder or the component holding device at the time of the movement is minimized is selected and selected. When the component supply from the component supply device is not possible, the component supply device having the next smallest moving distance is selected and the component is mounted on the mounted body.

In the component mounting method according to a second aspect of the present invention, the same type of component is provided in a plurality of component feeders, and the component is held from the component feeder arranged at the component holding position by movement of the component feeder. A component mounting method for mounting to a mounting position of an object to be mounted using a component holding device, wherein a plurality of the component feeders having the same component are extracted, and among the plurality of extracted component feeders, If the component feeder with the shortest moving distance to the component holding position is selected, and if component supply from the selected component feeder is not possible, the component feeder with the next smaller moving distance is selected and the object feeder is selected. It is characterized in that components are mounted on the mounting body.

[0013] In a component mounting apparatus according to a third aspect of the present invention, the same type of component is provided in a plurality of component feeders, and the component is held at the component holding position from the component feeder and moved to the mounting position of the object. A component mounting device for mounting using a component holding device, wherein a plurality of the component feeders having the same component are extracted, and the extracted plurality of component feeders or the component holding devices are moved to the component holding position. When moving, from the extracted component feeders, select the component feeder that minimizes the moving distance of the component feeder or the component holding device at the time of the movement, and select the component from the selected component feeder. When supply is impossible, a controller is provided which selects the component feeder having the next smallest moving distance and mounts the component on the mounted body.

In a component mounting apparatus according to a fourth aspect of the present invention, the same type of component is provided in a plurality of component feeders, and the component is held from a component feeder arranged at a component holding position by movement of the component feeder. A component mounting device that mounts to the mounting position of the mounted body by using a component holding device, wherein a plurality of the component feeders having the same component are extracted, and among the extracted plurality of the component feeders, If the component feeder with the shortest moving distance to the component holding position is selected, and if component supply from the selected component feeder is not possible, the component feeder with the next smaller moving distance is selected and the object feeder is selected. It is characterized by further comprising a control device for executing the mounting of the component on the mounting body.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A component mounting method according to one embodiment of the present invention and a component mounting apparatus for executing the component mounting method will be described below with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals. Further, in the present embodiment, a circuit board is taken as an example of an embodiment that fulfills the function of a mounted body, and an electronic component mounted on the circuit board is taken as an embodiment of a component to be handled. It is not something to be done.

The component mounting apparatus 10 according to the above-described embodiment.
0 is roughly provided with a component supply device 131 and a component holding device 132 as shown in FIG. Such a component mounting apparatus 100 is different from the configuration of the conventional component mounting apparatus described above with reference to FIG. Therefore, in the component mounting apparatus 100, components other than the control device 119 are the same as those of the above-described conventional component mounting apparatus, and the description of the same portions will be briefly described. The component supply device 131 corresponds to the component supply device 31 shown in FIG. 16 and includes a plurality of reel-type component supply devices 102, and the electronic components are respectively supplied to the respective component supply positions 105 by the respective component supply devices 102. Sent out one by one. Such a component feeder 102 includes:
The movable table 101 is arranged side by side along the X direction on the movable table 101, and is moved in the X direction by the driving mechanism 103. In the component holding device 132, a plurality of nozzles 111, which is an embodiment that functions as a component holding unit, are provided around the rotating body 110.
, And moves between a component holding position 133 corresponding to the component supply position 105 and a mounting position 134 corresponding to a mounting position on the circuit board 115.
As described above, in the component holding device 132 according to the present embodiment, the rotating body 110 itself does not move in the X and Y directions. Therefore, the component feeder 102 having the components mounted on the circuit board 115 is moved in the X direction by the operation of the driving mechanism 103, and the component feed position 10 in the component feeder 102 is changed.
5 is arranged so as to correspond to the component holding position 133 in the nozzle 111. The circuit board 115 is moved in the X and Y directions by the X-axis driving mechanism 117 and the Y-axis driving mechanism 118 so that the mounting position and the mounting position 134 on the circuit board 115 correspond to each other.

The component mounting apparatus 100 configured as described above.
Will be described below. The following operation is controlled by the control device 119. Also, as in the conventional case illustrated in FIGS. 20 and 21, in the component mounting apparatus 100 according to the present embodiment, the supply unit 102 of each of the component supply apparatuses 131 is provided as illustrated in FIG. Numbers are assigned to each of the component feeders 102, as shown in FIG.
Assume that components having various component names are provided as shown in FIG. That is, as shown in FIG. 9, each of the component feeders 102, 10 is moved from left to right in the drawing along the X direction.
2,... Sequentially include “01”, “02”, “03”,
, "10" are assigned to the supply unit numbers, and as shown in FIG. 12, the parts supply machines 102 having the supply unit numbers "01" and "06" are provided with parts having the part name "A", respectively. The parts feeders 102 with the supply unit numbers "02" and "07" have parts with the part name "B", respectively. The parts feeders 102 with the supply part numbers "03" and "08" have the part names The parts of “C” are provided, and the parts supply machines 102 of the supply part numbers “04” and “09” are each provided with the parts of part names “D”, and the supply part numbers “0” and “0” are provided.
The part feeder 102 of “5” and “10” has a part name “E”
Parts are provided. Note that the number of component feeders 102 installed, the types of components provided in each component feeder 102, the number of component types, and the number of component feeders 102 having a component with a certain component name are, of course, limited to the above-described embodiments. Not something. Further, in the present embodiment, each type of component is provided in each of the two component feeders 102, but the present invention is not limited to this. At least one type of component is supplied to the component feeder 131 by a plurality of component feeders. What is necessary is just to be provided in the machine 102. In this specification, parts having the same part name, the same kind, and the same part refer to, for example, a part having the same model number of a part, but a part that can be substituted for the part. For example, the concept includes functionally equivalent parts.

The information relating to the supply unit number and the component name is stored in the control device 119 before the component mounting on the board is started.
Are supplied in advance. Further, the control device 119 includes:
Before starting the component mounting, a board 115 as shown in FIG.
An NC program indicating the order in which components are mounted and their mounting positions, and component data indicating the type of component corresponding to the component name, the nozzle used, and the like as shown in FIG. 14 are supplied.

Further, as described above, each of the nozzles 111
Rotates clockwise in the direction around the axis of the rotating body 110 as shown in FIG.
When the nozzle 111 is arranged in the first station 150 located up to 33, the type of component held by the nozzle 111 at the component holding position 133, that is, the component name is determined. Therefore, from the time when the position exceeds the component holding position 133, the first station 150 is connected via the mounting position 134.
The component name of the component held at the component holding position 133 is not fixed until the time is reached. The first station 15
At m stations existing from 0 to the component holding position 133, an operation such as switching of the nozzle 111 is performed for component holding. Therefore, the component holding position 133
Is the m-th station, the name of the component to be held at the station that goes up from the component holding position 133 by (m-1) steps is determined.

Therefore, in the present embodiment, as shown in FIG. 10, the control device 119 extends from the first station at which the component to be held at the component holding position 133 is determined to an arbitrary step provided between the first station and the component holding position 133. Performs a pre-read operation, which is an operation of reading the NC program backward from the step of executing component holding with reference to the NC program shown in FIG. 13 before the start of mounting. If the number of steps to be prefetched is n, the maximum value of n is (m
-1). The contents described in the look-ahead table shown in FIG. 10 are, for explanation purposes, created based on the NC program shown in FIG. 20 or FIG. 21, and are described in the look-ahead table used in the component mounting method of the present embodiment described later. Different from the contents. Then, for each of the pre-read steps, the component mounting method and the component mounting apparatus of the present embodiment include:
Under the control of the control device 119, the component feeder of the next step is selected so that the amount of movement to the component holding position 133 is minimized in the total amount of movement for the n steps. Then, if the selected component feeder 102 cannot supply components due to component exhaustion or the like,
The component feeder 102 with the least amount of movement is selected from the remaining component feeders 102 having the same component. In this way, according to the component mounting apparatus 100 and the component mounting method of the present embodiment, when one component feeder 102 runs out of components, the other component feeder 102 that supplies the same component supplies components instead. Useful parts feeder 1 with functions
02 is suppressed, and the mounting time required for one substrate is reduced.

A specific control operation of the control device 119 will be described below with reference to FIG. Note that the steps 102 to 114 shown in FIG. 1 are the same as the steps 1 to 13 described above with reference to FIG.
01, step 106 and step 115 will be described in detail, and description of the other steps will be omitted.
For the operation in step 115, reference is made to the "tree structure diagram" shown in FIG.

In step 101, the number n of prefetch steps is set. In this example, the case where the number n of prefetch steps is set to 3 is taken as an example, and the step No. in the NC program shown in FIG. 1 is the current component holding position 1
33. Since the number n of prefetch steps is 3, the control device 119
Step No. of the program Read up to 4. Therefore, the pre-read program is as shown in FIG. As is clear from FIG.
Has a component with the component name “C”, and as shown in the supply unit number table shown in FIG. 12, the supply unit number “03” or “08”
Correspond to the component supply machines 102 and 102 marked with. In this example, it is assumed that the component supply machine 102 with the supply unit number “03” is arranged at the component holding position 133.

The operation in step 106, ie, step 115, will be described with reference to FIG. Control device 119
Recognizes the component held by the nozzle 111 located at the station in the step (m-1) immediately before the component holding step based on the look-ahead table shown in FIG. In this example, the component D corresponds. Next, the control device 11
9 extracts the component supply machine 102 provided with the component D based on the supply unit number table shown in FIG. In this example, the component supply machines 102 with the supply unit numbers “04” and “09” are extracted.

Next, based on the arrangement state of the component feeder 102, the control device 119 sends the supply unit number “04” to the component feeder 102 of the supply unit number “03” currently arranged at the component supply position 133. ”Or“ 09 ”is calculated to determine which one of the component feeders 102 minimizes the total movement amount in the above-described number n of pre-reading steps, and selects the component feeder 102 with the smaller number. This calculation operation will be described later. In this example, the control device 119 selects the component feeder 102 with the feed unit number “04”.

Next, the control device 119 determines, based on the look-ahead table shown in FIG. 11, the components held by the nozzle 111 located at the station in the step (m-2) immediately before the step (m-1). recognize. In this example, the component E corresponds. Then, the control device 119 operates as shown in FIG.
The component feeder 102 provided with the component E is extracted based on the supply unit number table shown in FIG. In this example, the component feeders 102 with the feed unit numbers “05” and “10” are extracted. Also in this case, similarly to the above, supply is performed to the component supply machine 102 of the supply unit number “04” selected in the above step (m−1) so that the total movement amount in the number of prefetch steps n is minimized. It is calculated which of the part feeders 102 of the set numbers "05" and "10" is to be selected. In this example, the control device 119 selects the component feeder 102 with the feed unit number “05”.

Next, based on the look-ahead table shown in FIG. 11, the control device 119 determines the components held by the nozzle 111 located at the station in the step (m-3) immediately before the step (m-2). recognize. In this example, the part A corresponds. Then, the control device 119 operates as shown in FIG.
The component feeder 102 provided with the component A is extracted based on the supply unit number table shown in FIG. In this example, the component feeders 102 with the feed unit numbers “01” and “06” are extracted. Also in this case, similarly to the above, supply is performed to the component supply machine 102 of the supply unit number “05” selected in the step (m−2) so that the total movement amount in the number n of the prefetch steps is minimized. It is calculated which of the part numbers “01” and “06” should be selected. In this example, the control device 119 selects the component feeder 102 with the feed unit number “06”.

The above step 115 will be specifically described with reference to the case shown in FIG. As described above, in the component holding step (m-th station), the component supply machine 102 with the supply unit number “03” is used. In step (m−1), the component supply machine with the supply unit numbers “04” and “09” is used. 102 is a candidate. At this time, the movement amount when the component supply device 102 with the supply unit number “04” is selected with respect to the component supply device 102 with the supply unit number “03” is “1”.
The movement amount when the component supply machine 102 of the supply unit number “09” is selected is “6”. Next, in step (m-2), the component supply machines 102 with the supply unit numbers "05" and "10" are listed as candidates as described above. Therefore, when the component supply machine 102 with the supply unit number “05” is selected with respect to the component supply machine 102 with the supply unit number “04”, the movement amount is “1”. Is "6" when the component feeder 102 is selected. In addition, the movement amount when the component supply device 102 with the supply unit number “05” is selected with respect to the component supply device 102 with the supply unit number “09” is “4”. Is "1" when the component feeder 102 is selected. Next, in step (m-3), as described above, the component supply machines 102 with the supply unit numbers “01” and “06” are candidates. Therefore, in the step (m-2), the respective component supply machines 10 of the supply unit numbers "05" and "10"
With respect to 2, the movement amount when the component feeders 102 of the feed unit numbers “01” and “06” are selected is calculated.

Therefore, as shown in FIG.
-1), step (m-2), and step (m-3) in this order, the total movement amount when the component feeder 102 with the supply unit numbers “04”, “05”, and “01” is selected is “6”. , And the total movement amount when the component feeder 102 with the supply unit numbers “04”, “05”, and “06” is selected is “3”, and the supply unit numbers “04”, “10”, “ The total movement amount when the component feeder 102 of “01” is selected is “16”, and the total movement amount when the component feeder 102 of the supply unit numbers “04”, “10”, and “06” is selected is The total movement amount when the component feeder 102 with the supply unit numbers “09”, “05”, and “01” is selected is “14”, and the supply unit numbers “09” and “05” are selected. , “06”, the total movement amount is “11”, and the supply unit number “09” is selected. , “10”, and “01”, the total movement amount when the component feeders 102 are selected is “16”, and the component feeders 102 with the feed unit numbers “09”, “10”, and “06” are selected. The total movement amount at that time is “11”. Accordingly, the supply unit number “04” is set in the order of step (m−1), step (m−2), and step (m−3), which is the minimum movement amount of “3” among these total movement amounts. , "05", and "06" are selected.

As described above, in step 115, the supply unit number in each step is selected so as to minimize the moving amount in the entire pre-reading step. Since the components are sequentially held by the component holding device 132 in accordance with the NC program, the final step number to be pre-read is also set to the step (m-
4), step (m-5),... After the end of step 106, the steps after step 107 are sequentially executed. If, for example, the component feeder of the supply unit number selected in step 115 has run out of components and it is determined in step 109 that the suction has failed, then again,
Returning to step 105, the steps following step 105 are executed. However, in step 115, the supply unit number of the component feeder that has run out of the component is
9 recognizes, the control device 119 selects another component feeder provided with the same component as the component provided in the component feeder in which the component has been cut.

As described above, according to the component mounting method of the present embodiment, by pre-reading the component supply queue during production, when there are a plurality of component supply machines 102 that supply the same component, the entire pre-reading step is performed. Automatically selects the component feeder 102 with the least amount of movement.
When one component feeder 102 runs out of components, another component feeder 102 that supplies the same component has a function of supplying a component instead, and suppresses useless movement of the component feeder 102, and The component mounting time per one board can be shortened. Therefore, productivity in component mounting can be improved.

Hereinafter, a case where the operation of step 115 in the above-described component mounting method of the present embodiment is generalized will be described with reference to FIGS. In the following description, a supply unit number indicates a prefetch operation. For example, a node of a tree in a tree structure diagram as shown in FIG. 3 is a node, a branch is an arc, and a path from a vertex node to a terminal node is a path. I will call it. That is, the node corresponds to the supply unit number of the component feeder 102 shown in the tree structure diagram as shown in FIG. Corresponding to the selection. In the operation of acquiring the supply unit number in step 106 described above, in step 115, the path having the smallest total movement amount of the component supply device 102 among the paths from the top node to the terminal node is set in the next supply unit. Number.

FIG. 4 shows a part of the tree structure of the supply unit number having the current supply unit number as a parent node. Parent node 201
Generally has k arcs 202, 203,. These arcs are referred to as a first arc 202 and a second arc 20 from the left.
I will call it with an ordinal number like 3, ... An i-th node 206 is provided ahead of the i-th arc 205, and a movement amount generated when moving from the parent node 201 to the i-th node 206 is defined as an i-th arc movement amount.

Starting from an arbitrary node and arriving at the terminal node, the smallest movement amount (hereinafter referred to as the optimum movement amount of the node) among the total movement amounts of all paths is given by the following function. I do. Node optimal movement amount = MinS (node, depth N) Note that the depth N corresponds to the above-described look-ahead number n.

At this time, in order to minimize the movement amount of the component feeder 102 in the next n steps corresponding to the above-mentioned number of pre-reads, the component feeder next placed at the component holding position 133 by the processing shown in FIG. 102 can be obtained. Here, the following global variables are used. This can be referenced from the submodule. n: number of prefetch steps (initial value is the number of prefetch steps specified by the user) Also, the following internal variables are used. These cannot be referenced from outside this processing. Smin: Minimum movement amount of the node (return value) S: Minimum movement amount when the i-th node is selected in the next step (sum of the minimum movement amount of the i-th node and the i-th arc movement amount) i: Node number old n: Saving of the number n of prefetch steps

The flow of the process shown in FIG. 5 will be described. In step 301, the old Save n to n. In step 302, it is determined whether the number of remaining parts in the component queue is greater than the number n of prefetch steps. If the remaining number of the component queue is larger than the number n of prefetch steps, the process proceeds to step 304. If the number is less than n, the setting of the number n of prefetch steps is not appropriate. After setting the remaining number of
Proceed to step 304. In step 304, the sum of the optimal movement amount of the first node and the first arc movement amount is set in the above-described internal variable Smin. At this time, the above-described module MinS is used. The module MinS
The operation of will be described later.

Step 304 will be specifically described by taking as an example the case where the first node of the (m-1) th station shown in FIG. 3, that is, the supply unit number "04" is the parent node. The movement amount of the first node at the time of the optimum is calculated in step (m-3).
Because it is time to select the supply unit number "06" at |
06-05 | = 1, and the first arc movement amount is | 05-
04│ = 1. Further, since the movement amount at the time of the second node optimum is when the supply unit number “06” is selected in step (m−3), | 06-10 | = 4, and the second arc movement amount is | 10−04 | = 6. Therefore, in step 306 before the start of the loop from step 305 to step 311 shown in FIG. 5, the above “S” is indefinite, and the above “Smin” is the first node optimal movement amount and the first arc movement amount. It is 2 that has been added. In step 306 after the first loop of steps 305 to 311, “S” is indefinite, and “Smin” is 2 which is the sum of the first node optimal movement amount and the first arc movement amount. It is.

In step 305, 2 is set to the internal variable i. In step 306, it is determined whether or not i is greater than the number k of arcs.
7; if i> k, the process proceeds to step 312. In step 307, it is determined whether or not the i-th arc movement amount is smaller than the above Smin. If smaller, the process proceeds to step 308. If not, the process proceeds to step 311. Thus, in step 307, the i-th arc movement amount and the Sm
comparison with in. This is because the minimum movement amount when the i-th node is selected is always equal to or greater than the i-th arc movement amount, so that if the “i-th arc movement amount <Smin” is not established, the i-th arc can be an optimal path. Absent. As described above, the unnecessary branch ahead of the i-th node can be omitted by the conditional branch in step 307. Step 308
Then, as in step 304, the sum of the optimal movement amount of the i-th arc and the i-th arc movement amount is set in the variable S. At this time, the module MinS is used. In step 309, it is determined whether or not the variable S is smaller than Smin. If smaller, S is set to Smin in step 310, and the process proceeds to step 311. Otherwise, the process proceeds to step 311. In step 311, the internal variable i is incremented, and the process returns to step 306 again. In step 312, the old The value of n saved to n is restored. In step 313, the supply unit number of the i-th node is returned as the next supply unit number. This value corresponds to the return value in step 115 of FIG.

Next, a description will be given of the internal processing of the module MinS for obtaining the optimal movement amount of an arbitrary node. That is, as described with reference to FIG. 3, in each step, an operation of selecting a node with the least amount of movement from among the extracted nodes will be described. FIG.
This shows a node extracted from the tree structure described above. FIG. 7 shows a flow of processing for obtaining the optimal movement amount of an arbitrary node. This processing is based on the parent node and the depth N
It is called recursively with arguments In this module, the following are prepared as internal variables. Since these are secured in another area each time this process is called recursively,
Its contents shall not be destroyed. Smin: Minimum movement amount of the node (return value) S: Minimum movement amount when the i-th node is selected in the next step (sum of the minimum movement amount of the i-th node and the i-th arc movement amount) i: Node number

In step 401, it is determined whether or not the given depth N is smaller than the number n of prefetch steps. If it is smaller, the process proceeds to step 402. If it is larger, the process proceeds to step 410. Steps 402 to 409 are processing performed when called at a node other than the terminal node of the tree structure of the supply unit number. In step 402, the optimal movement amount when the process proceeds to the first node is set in the internal variable Smin. At this time, this module is recursively called, and the first node is given as the parent node and N + 1 is given as the depth. In step 403, the value stored in the internal counter for storing the value of i is set to i = 2. In step 404, it is determined whether or not the value of i is equal to or less than the number of arcs k of the parent node 451 shown in FIG. 6. If i ≦ k, the process proceeds to step 405. If i> k, the process proceeds to step 405. Proceed to 411. In step 405,
It is determined whether or not the i-th arc movement amount is smaller than Smin. If it is smaller, the process proceeds to step 406. If not, the process proceeds to step 409. In step 406, the minimum movement amount of the i-th node is set in the internal variable S. At this time,
This module is called recursively and the i-th
N + 1 is given as the node and depth. In step 407, it is determined whether or not the internal variable S is smaller than Smin, and if S ≦ Smin, the process proceeds to step 408,
If S> Smin, the process proceeds to step 409. In step 408, the above S is substituted for the above Smin. In step 409, i is incremented, and in step 4
Return to 04. Step 410 is a process in a case where the depth N is equal to or greater than the number of pre-reading steps in step 401. This process is performed when this module is called at the terminal node in the tree structure of the supply unit number. Will be
In this step 410, an internal variable Smin = 0 is set,
Proceed to step 411. In step 411, the value of Smin is returned to the parent process shown in FIG. 5 as the return value of this module.

As described above with reference to FIGS. 3 to 7, the amount of movement from the parent node to the terminal node is obtained for each node within the set look-ahead step, and these are compared. , The supply unit number as the return value at the node having the optimum movement amount can be obtained.

As described above, according to the component mounting method and the component mounting apparatus of the present embodiment, the data that needs to be set by the user includes the component name and the mounting position information on the board shown in FIG. FIG. 14 shows the NC program including the part data including the information such as the dimension value of the part.
2 shows a supply unit number table indicating which supply unit number an arbitrary component is supplied. These are all contents that need to be registered even in the conventional component mounting method, and do not add newly set items in implementing the mounting method of the present embodiment. Therefore, even when a modification for applying the mounting method of the present embodiment to the component mounting apparatus controlled by the conventional method is added, a man-machine interface portion such as an operation screen does not require a large modification. .

In the above embodiment, a rotary type component mounting apparatus is taken as an example, but the present invention is not limited to this. For example, a component mounting device 151 as shown in FIG.
Is also applicable. The component mounting device 151 includes a board transport unit 152 that holds the circuit board when loading and unloading the circuit board 160 and mounting the component, a reel-type electronic component supply device 153 that stores electronic components to be mounted, and a tray-type electronic device. The XY robot 155 can move in the X and Y directions to mount the component supply device 154 and the electronic component held from at least one of the electronic component supply device 153 and the electronic component supply device 154 to the mounting position on the circuit board 160. A component mounting device 156 and a component recognition camera 157 that captures and measures the holding posture of the electronic component held by the component mounting device 156 are provided. The component mounting device 156 has a nozzle 1 that holds the electronic component 159 by, for example, suction.
A head unit having a plurality of 58 is provided. In such a component mounting device 151, the reel-type component supply device 153 does not move in the X and Y directions shown in FIG.
Reference numeral 4 does not move in the X direction, and the same component exists in a plurality of reel-type component supply devices 153 and a plurality of sections on a tray as described above. Therefore, of the plurality of nozzles 158, the nozzle 158 that minimizes the moving distance to the component holding position is selected, and after the nozzle 158 is selected, the reel-type component supply device 153 and the plurality of partitions on the tray are selected. In such a case, the above-described component mounting method can be applied. Furthermore, in the component mounting device 151,
When the reel type component supply device 153 is movable in the X direction, the reel type component supply device 153 is movable in the X direction, and the tray type component supply device 154 is movable in the X and Y directions. Also in this case, the component mounting method of the present embodiment can be applied.

[0043]

As described above in detail, according to the component mounting method of the first aspect and the component mounting apparatus of the third aspect of the present invention, when a component of the same type is provided in a plurality of component feeders, the component feeder is provided. Alternatively, since a component feeder in which the moving distance of the component holding device to the component holding position is minimized is selected, the time required for moving the component feeder or the component holding device is reduced, and productivity can be improved. it can.

According to the component mounting method of the second aspect and the component mounting apparatus of the fourth aspect of the present invention, when the same type of component is provided in a plurality of component feeders, the component feeder is moved to the component holding position. Since the component feeder with the shortest moving distance is selected, the time required for moving the component feeder is reduced, and productivity can be improved.

[Brief description of the drawings]

FIG. 1 is a flowchart showing an operation procedure in a component mounting method according to an embodiment of the present invention.

FIG. 2 is a diagram showing step 115 which is a detailed operation of step 106 shown in FIG.

FIG. 3 is a tree structure diagram for explaining an operation of selecting a component feeder with a minimum moving distance in the prefetch operation.

FIG. 4 is a diagram for explaining a component supply machine that can be shifted from a component supply machine that supplies components, as shown in the tree structure diagram of FIG. 3;

FIG. 5 is a flowchart showing a process for acquiring the next component supply machine so that the movement distance of the component supply machine is minimized.

FIG. 6 is a diagram for explaining a component feeder that can be transferred from an arbitrary component feeder, as shown in the tree structure diagram of FIG. 3;

FIG. 7 is a diagram illustrating an optimal movement amount M of a node shown in FIG.
9 is a flowchart illustrating a process for obtaining inS.

8 is a perspective view showing the structure of the component mounting apparatus according to the embodiment of the present invention, in which the component mounting method shown in FIG. 1 is executed.

FIG. 9 is a diagram for explaining an arrangement of component supply machines and an operation of a nozzle in the component mounting apparatus that executes the component mounting method shown in FIG.

FIG. 10 is a diagram showing a prefetch table in the prefetch operation shown in FIG. 1;

FIG. 11 is a diagram illustrating a prefetch table when the number of prefetch steps is three.

FIG. 12 is a diagram illustrating a supply unit number table indicating a relationship between a component name and a supply unit number.

FIG. 13 is a diagram showing an NC program.

FIG. 14 is a diagram showing component data.

FIG. 15 is a perspective view showing the structure of a component mounting apparatus according to another embodiment of the present invention, in which the component mounting method shown in FIG. 1 is executed.

FIG. 16 is a perspective view showing a conventional component mounting apparatus.

FIG. 17 is a flowchart showing an operation procedure in a conventional component mounting method.

18 is a diagram showing a detailed operation of step 5 shown in FIG.

FIG. 19 is a diagram showing a queue when executing FIG. 17;

20 shows the order of component supply when the conventional component mounting apparatus shown in FIG. 16 operates according to the NC program;
And the program No. FIG. 9 is a diagram illustrating a case where a supply unit number “06” is selected at 9.

21. In FIG. FIG. 9 is a diagram illustrating a case where a supply unit number “01” is selected at 9.

[Explanation of symbols]

100: component mounting device, 102: component feeder, 111:
Nozzle, 115: circuit board, 119: control device, 131
... Component supply device, 132 ... Component holding device, 133 ... Component holding position, 151 ... Component mounting device.

Claims (10)

[Claims] A component (112) of the same type is provided in a plurality of component feeders (102), and a component holding position (13) is provided.
In 3), the component is held from the component supply machine and
5) A component mounting method of mounting using the component holding device (132) to the mounting position of 5), wherein a plurality of the component feeders having the same component are extracted,
When the plurality of extracted component feeders or the component holding devices move to the component holding position, the extracted component feeder moves the component feeder or the component holding device during the movement. Select the component feeder with the shortest distance, and when it is not possible to supply components from the selected component feeder, select the component feeder with the next smallest moving distance and mount the component on the object. A component mounting method characterized by performing. 2. A component (112) of the same type is provided in a plurality of component feeders (102), and a component is held from a component feeder disposed at a component holding position (133) by movement of the component feeder. A component mounting method using a component holding device (132) at a mounting position of the mounted body (115) to extract a plurality of the component feeders having the same component,
From among the plurality of extracted component feeders, a component feeder that has the shortest moving distance to the component holding position is selected. A component mounting method comprising: selecting a small component feeder and mounting the component to the mounting target. 3. An operation of extracting a plurality of component feeders having the same component and an operation of selecting a component feeder having a minimum moving distance to the component holding position include mounting components on the object to be mounted. 3. The program according to claim 2, wherein the program is executed in each step from a step in which the component feeder is arranged at the component holding position to a step in which the component feeder goes up by a preset number of steps in accordance with the described program. Component mounting method. 4. The set step is an arbitrary step from a step in which a component feeder is arranged at the component holding position to a step in which a component to be held by the component holding device is determined. 4. The component mounting method according to claim 3, wherein: 5. A component (112) of the same type is provided in a plurality of component feeders (102) and a component holding position (13).
In 3), the component is held from the component supply machine and
5) A component mounting device to be mounted to the mounting position using the component holding device (132), wherein a plurality of the component feeders having the same component are extracted,
When the plurality of extracted component feeders or the component holding devices move to the component holding position, the extracted component feeder moves the component feeder or the component holding device during the movement. Select the component feeder with the shortest distance, and when it is not possible to supply components from the selected component feeder, select the component feeder with the next smallest moving distance and mount the component on the object. A component mounting device comprising a control device (119) for executing. 6. The component feeder does not move, and the component holding device includes a plurality of component holding units (11) for holding the component.
6. The component mounting apparatus according to claim 5, wherein the component mounting apparatus moves between the component holding position and the mounting position. 7. A component (112) of the same type is provided in a plurality of component feeders (102), and a component is held from a component feeder arranged at a component holding position (133) by movement of the component feeder. A component mounting device that mounts to the mounting position of the mounting target (115) using the component holding device (132), and extracts a plurality of the component feeders having the same component,
From among the plurality of extracted component feeders, a component feeder that has the shortest moving distance to the component holding position is selected. A component mounting apparatus further comprising a control device (119) for selecting a smaller component feeder and mounting the component on the mounted body. 8. The control device according to claim 1, wherein the control device is configured to perform an operation of extracting the plurality of component feeders having the same component and a process of selecting a component feeder that moves to the component holding position with a minimum distance. According to a program describing the order in which components are mounted on the component, the component feeder is executed in each of the steps from the step of being arranged at the component holding position to the step of going up by a preset step. Item 7. The component mounting device according to Item 7. 9. The set step is an arbitrary step from a step in which a component feeder is arranged at the component holding position to a step in which a component to be held by the component holding device is determined. 9. The component mounting apparatus according to claim 8, wherein: 10. The component holding device has a component holding portion (111) for holding the component, and moves the component holding portion around an axis of the component holding device between the component holding position and the mounting position. 10. It has a structure which rotates to
The component mounting device according to any one of the above.