WO2016084143A1 - 部品実装ラインの段取り替え支援システム及び段取り替え支援方法 - Google Patents
部品実装ラインの段取り替え支援システム及び段取り替え支援方法 Download PDFInfo
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- WO2016084143A1 WO2016084143A1 PCT/JP2014/081166 JP2014081166W WO2016084143A1 WO 2016084143 A1 WO2016084143 A1 WO 2016084143A1 JP 2014081166 W JP2014081166 W JP 2014081166W WO 2016084143 A1 WO2016084143 A1 WO 2016084143A1
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- WIPO (PCT)
- Prior art keywords
- batch
- component mounting
- production
- combination
- feeders
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- 238000000034 method Methods 0.000 title claims description 15
- 238000004519 manufacturing process Methods 0.000 claims abstract description 54
- 238000003860 storage Methods 0.000 claims abstract description 20
- 238000002360 preparation method Methods 0.000 abstract description 14
- 238000007689 inspection Methods 0.000 description 5
- 230000002950 deficient Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910000679 solder Inorganic materials 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/0061—Tools for holding the circuit boards during processing; handling transport of printed circuit boards
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/02—Feeding of components
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/02—Feeding of components
- H05K13/021—Loading or unloading of containers
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/085—Production planning, e.g. of allocation of products to machines, of mounting sequences at machine or facility level
- H05K13/0857—Product-specific machine setup; Changeover of machines or assembly lines to new product type
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45026—Circuit board, pcb
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the present invention relates to a setup change support system and setup change support method for a component mounting line that supports setup change work for replacing a plurality of feeders or a plurality of suction nozzles set in a component mounting machine.
- the problem to be solved by the present invention is that there is no need to perform replacement work for each feeder or each suction nozzle at the time of setup change, and the setup can be changed only by collective replacement work, thereby improving productivity.
- the present invention provides a component mounting line setup change support system and a setup change support method for mounting components on a circuit board with a plurality of component mounting machines arranged along a circuit board conveyance path.
- a plurality of feeders for supplying the components or a batch replacement unit for collectively replacing a plurality of suction nozzles for sucking the components and mounting them on the circuit board are set, and Prepare a plurality of batch replacement units that can be exchanged with the set batch replacement unit, and store information on feeders or suction nozzles held by each batch replacement unit in the storage means for the plurality of replaceable batch replacement units as setup information.
- the collective exchange unit means a collective exchanging carriage for exchanging a plurality of feeders at once or a nozzle changer (nozzle station) or the like.
- a batch replacement unit that uses a combination of batch replacement units including all feeders or suction nozzles used in production after setup change from a plurality of prepared batch exchange units in production before setup change. Since the decision is made based on the information of the feeder or suction nozzle that is held and the setup information stored in the storage means to notify the operator, it is necessary to perform replacement work for each feeder or each suction nozzle at the time of setup change. There is no need (that is, it is only necessary to use an existing unit), and the setup can be changed only by batch replacement of the batch replacement unit, so that productivity can be improved.
- the cycle time of the production for each combination is calculated, and the cycle time becomes the shortest. It is good to determine the combination as the optimal combination and notify the operator. In this way, the changeover operation can be performed with a combination of batch exchange units that have the shortest cycle time, so the cycle time of production after the changeover can be minimized and the productivity is further improved. it can.
- FIG. 1 is a block diagram schematically showing the configuration of a component mounting line in one embodiment of the present invention.
- FIG. 2 is a diagram for explaining a specific example of a method for supporting changeover of a component mounting line.
- FIG. 3 is a flowchart showing the flow of processing of the setup change support program.
- a transfer line 12 for transferring the circuit board 11
- a plurality of component mounting machines 13 for mounting components on the circuit board 11
- a mounting related machine an apparatus other than the component mounting machine for performing work related to component mounting.
- the mounting-related machines are, for example, a solder printer 14, an appearance inspection apparatus 15, a reflow apparatus 16, an adhesive application apparatus, and the like.
- the appearance inspection apparatus 15 images the mounting state of components on the circuit board 11 with a camera (not shown), processes the captured image, and inspects the appearance. When a defective substrate is detected by the appearance inspection device 15, it is discharged by a defective substrate carry-out conveyor (not shown) provided on the exit side of the appearance inspection device 15.
- each component mounter 13 a batch exchanging carriage 18 (batch replacement unit) on which a plurality of feeders 17 for supplying components are mounted is installed so as to be replaceable, and a plurality of feeders 17 set in each component mounter 13 are batched.
- the exchange cart 18 can be exchanged collectively.
- one or a plurality of suction nozzles for picking up the components supplied from the feeders 17 on the collective change cart 18 and mounting them on the circuit board 11 are mounted on the mounting heads of the component mounting machines 13. Is detachably held.
- Each component mounting machine 13 is provided with a replaceable nozzle changer 19 (collective replacement unit) on which a plurality of replacement suction nozzles are mounted, and the types of parts that suck the suction nozzle held by the mounting head during production. Accordingly, the replacement suction nozzle on the nozzle changer 19 can be automatically replaced.
- each component mounter 13 is equipped with a camera (mark camera) that captures the reference mark of the circuit board 11 and a camera (part camera) that captures the component adsorbed by the suction nozzle. .
- the production management computer 21 that manages the production of the component mounting line 10 stores an input device 22 such as a keyboard, a mouse, and a touch panel, various programs such as a setup change support program shown in FIG.
- a storage device 23 storage means such as a hard disk, a RAM, and a ROM, and a display device 24 such as a liquid crystal display and a CRT are connected.
- the preparation space 25 adjacent to the component mounting line 10 there are prepared a plurality of collective exchanging carts 18 that can be exchanged with the collective exchanging carts 18 installed in the component mounting machines 13 at the time of setup change.
- a plurality of feeders 17 are placed on each batch exchanging carriage 18.
- the information about the parts supplied by each feeder 17 is associated with the identification information of the collective exchanging cart 18 as storage information 23 as setup information.
- the operation of storing the setup information in the storage device 23 is performed by reading the component information from a component information recording unit (not shown) provided on the reel of the component supply tape set by the operator on each feeder 17 or by batch replacement.
- the identification information of the collective exchange cart 18 is read by a reader or the like from a cart information recording unit (not shown) provided on the cart 18 and the information is transferred to the storage device 23 of the production management computer 21 via a network such as a wireless LAN. You may make it transmit.
- the component information recording unit and the cart information recording unit may use a code label or the like on which information is recorded by a bar code, a two-dimensional code, or the like, or an electronic tag or the like on which information is recorded electromagnetically.
- the operator operates the input device 22 or the portable terminal of the production management computer 21 to store the identification information of the collective exchange cart 18 and the parts information of each feeder 17 in the storage device 23 of the production management computer 21. May be.
- the production management computer 21 executes a setup change support program shown in FIG. 3 to be described later, thereby functioning as setup change determination means in the scope of claims, and from among a plurality of batch change carts 18 prepared in the preparation space 25.
- a feeder in which a combination of the batch exchange carts 18 including all the feeders 17 for supplying parts used in the production (target job) after the setup change is mounted on the batch exchange cart 18 used in the production (existing job) before the setup change.
- the types of parts used in the target job are A to H, and the combination of the two collective exchange carts 18 used for the two component mounters 13 is determined.
- the target job may be a single job or a plurality of jobs.
- four collective exchange carts 18 are prepared.
- the setup information of the two collective exchange carts 18 used in the existing job is the setup information s1 of the first collective exchange cart 18 is “A, B, C, X, Y, E”.
- the setup information s2 of the second batch exchanging cart 18 is “E, F, H, I, J, Q”.
- the setup information s3 for the first collective exchange truck 18 is “ H, D, C, G, F, E ”, and the setup information s4 of the second batch exchange cart 18 is“ K, L, H, A, C, G ”, and the third batch exchange.
- the setup information s5 of the carriage 18 is “B, D, C, G, F, E”, and the setup information s6 of the fourth batch exchange truck 18 is “B, L, K, A, C, D”. is there. There are six sets of setup information s1 to s6 that can be combined.
- the production management computer 21 extracts a combination of setup information including all the parts A to H used in the target job from the six sets of setup information s1 to s6.
- setup information there are three sets of setup information including “s1 + s3”, “s4 + s5”, and “s2 + s6” that include all the parts A to H used in the target job.
- the production cycle time for these three sets of setup information combinations is calculated, and the combination with the shortest cycle time is determined as the optimal combination. Determine and inform the operator by display or sound.
- FIG. 2 there are three sets of setup information including “s1 + s3”, “s4 + s5”, and “s2 + s6” that include all the parts A to H used in the target job.
- the cycle time of the first combination “s1 + s3” is 60.0 seconds
- the cycle time of the second combination “s4 + s5” is 57.6 seconds
- the setup change support of this embodiment described above is executed as follows according to the setup change support program of FIG. 3 by the production management computer 21 when setup change is necessary.
- the setup change support program of FIG. 3 is started, first, in step 101, a list (a) of parts used in the target job is acquired. Thereafter, the process proceeds to step 102 where setup of the collective exchange cart 18 that can be combined from the setup library stored in the storage device 23 of the production management computer 21 (the setup information library of the exchangeable collective exchange cart 18) and the existing job is performed. Information (b) is acquired.
- step 103 the set-up information combination (c) including all the parts list (a) used in the target job is extracted from the set-up information (b) of the collective exchange cart 18 that can be combined. Thereafter, the process proceeds to step 104, and the production cycle time for each combination (c) of the extracted setup information is calculated.
- step 105 the process proceeds to step 105, and the combination having the shortest cycle time is determined as the optimum combination from the combinations (c) and displayed on the display device 24 or the portable terminal of the worker, or the work is performed by voice. Inform the person.
- step 106 the combination with the previous production setup for each combination (c), the use status of the collective exchange truck 18 in the future production schedule, the cycle time, the shortest cycle time, etc. are combined.
- the information is displayed on the display device 24 and the portable terminal together with the information, or notified to the worker by voice, and the program is terminated.
- the operator looks at the optimal combination displayed on the display device 24 and the portable terminal, selects the batch exchange cart 18 that is the optimal combination from the plurality of batch exchange carts 18 in the preparation space 25, and then selects each component. It replaces with the collective exchange cart 18 installed in the mounting machine 13.
- the batch replacement including all the feeders 17 for supplying the parts used in the production (target job) after the setup change from among the plurality of batch replacement carts 18 prepared in the preparation space 25.
- the combination of the carriages 18 is stored in the storage device 23 and the parts information of the feeder 17 (the setup information of the batch exchange carriage 18 of the existing jobs) placed on the batch exchange carriage 18 used in the production (existing job) before the setup change. It is determined based on the setup information of the replaceable collective exchanging cart 18 (part information of the feeder 17 placed on the collective exchanging cart 18 in the preparation space 25), and the combination of the decided collective exchanging cart 18 is displayed on the production management computer 21.
- the feeder 17 Since the information is displayed on the device 24 or the portable terminal or notified to the worker by voice, the feeder 17 There is no need to perform replacement work (i.e. it is only necessary to use an existing unit), to be able to perform setup change only in bulk replacement of batch exchange cart 18, the productivity can be improved.
- the cycle time of the production for each combination is calculated, and the cycle time is calculated. Since the shortest combination is determined as an optimal combination and notified to the operator by display or voice, the setup change work can be performed with the combination of the collective exchange carts 18 with the shortest cycle time. The production cycle time can be minimized and the productivity can be further improved.
- the present invention is applied to the changeover operation in which the plurality of feeders 17 set in each component mounter 13 are collectively replaced by the collective replacement carriage 18 .
- the suction nozzle held in the mounting head is automatically replaced with a replacement suction nozzle mounted on the nozzle changer 19
- the present invention is applied to a setup change operation for replacing the nozzle changer 19 installed in each component mounting machine 13. It may be applied.
- the combination of the nozzle changers 19 including all the suction nozzles used in the production (target job) after the setup change from among the plurality of nozzle changers 19 prepared in the preparation space is the production before the setup change (existing job).
- the component mounting line to which the present invention can be applied is not limited to the configuration shown in FIG. 1, and may be configured by only a plurality of component mounting machines.
- the present invention can be implemented with various modifications within a range not departing from the gist of the invention, for example, the type of the apparatus other than the machine) and the arrangement of the apparatuses may be appropriately changed.
- SYMBOLS 10 ... Component mounting line, 11 ... Circuit board, 12 ... Conveyance line (conveyance path), 13 ... Component mounting machine, 14 ... Solder printer, 15 ... Appearance inspection apparatus, 16 ... Reflow apparatus, 17 ... Feeder, 18 ... Collective Replacement truck (collective replacement unit), 19 ... Nozzle changer (collective replacement unit), 21 ... Production management computer (setup change determining means), 23 ... Storage device (storage means), 24 ... Display device, 25 ... Preparation space
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Abstract
Description
まず、図1に基づいて部品実装ライン10の構成を説明する。
図2の例では、対象ジョブ(段取り替え後の生産)で使用する部品の種類がA~Hであり、2台の部品実装機13に使用する2台の一括交換台車18の組み合わせを決定する。対象ジョブは、単一のジョブでも、複数のジョブであっても良い。準備スペース25には、4台の一括交換台車18が準備されている。
Claims (4)
- 回路基板の搬送経路に沿って配列した複数の部品実装機で回路基板に部品を実装する部品実装ラインの段取り替え支援システムにおいて、
前記複数の部品実装機の各々には、部品を供給する複数のフィーダ又は該部品を吸着して回路基板に実装する複数の吸着ノズルを一括交換する一括交換ユニットがセットされ、
前記部品実装機にセットした一括交換ユニットと交換可能な複数の一括交換ユニットが準備され、
前記交換可能な複数の一括交換ユニットについて各一括交換ユニットが保有するフィーダ又は吸着ノズルの情報がセットアップ情報として記憶された記憶手段と、
準備された複数の一括交換ユニットの中から段取り替え後の生産で使用するフィーダ又は吸着ノズルが全て含まれる一括交換ユニットの組み合わせを段取り替え前の生産で使用した一括交換ユニットが保有するフィーダ又は吸着ノズルの情報と前記記憶手段に記憶されたセットアップ情報とに基づいて決定して作業者に知らせる段取り替え決定手段と
を備えていることを特徴とする部品実装ラインの段取り替え支援システム。 - 前記段取り替え決定手段は、前記段取り替え後の生産で使用するフィーダ又は吸着ノズルが全て含まれる一括交換ユニットの組み合わせが複数存在する場合には、各組み合わせに対する生産のサイクルタイムを算出して、サイクルタイムが最短となる組み合わせを最適な組み合わせとして決定して作業者に知らせることを特徴とする請求項1に記載の部品実装ラインの段取り替え支援システム。
- 回路基板の搬送経路に沿って配列した複数の部品実装機で回路基板に部品を実装する部品実装ラインの段取り替え支援方法において、
前記複数の部品実装機の各々に、部品を供給する複数のフィーダ又は該部品を吸着して回路基板に実装する複数の吸着ノズルを一括交換する一括交換ユニットをセットすると共に、前記部品実装機にセットした一括交換ユニットと交換可能な複数の一括交換ユニットを準備し、
前記交換可能な複数の一括交換ユニットについて各一括交換ユニットが保有するフィーダ又は吸着ノズルの情報がセットアップ情報として記憶手段に記憶し、準備した複数の一括交換ユニットの中から段取り替え後の生産で使用するフィーダ又は吸着ノズルが全て含まれる一括交換ユニットの組み合わせを、段取り替え前の生産で使用した一括交換ユニットが保有するフィーダ又は吸着ノズルの情報と前記記憶手段に記憶されたセットアップ情報とに基づいて決定して作業者に知らせることを特徴とする部品実装ラインの段取り替え支援方法。 - 前記段取り替え後の生産で使用するフィーダ又は吸着ノズルが全て含まれる一括交換ユニットの組み合わせが複数存在する場合には、各組み合わせに対する生産のサイクルタイムを算出して、サイクルタイムが最短となる組み合わせを最適な組み合わせとして決定して作業者に知らせることを特徴とする請求項3に記載の部品実装ラインの段取り替え支援方法。
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JP2016561124A JP6442525B2 (ja) | 2014-11-26 | 2014-11-26 | 部品実装ラインの段取り替え支援システム及び段取り替え支援方法 |
EP14906742.3A EP3226669B1 (en) | 2014-11-26 | 2014-11-26 | Tool exchange assistance system and tool exchange assistance method for component mounting line |
US15/525,240 US10394228B2 (en) | 2014-11-26 | 2014-11-26 | Component mounting line changeover support system and changeover support method |
PCT/JP2014/081166 WO2016084143A1 (ja) | 2014-11-26 | 2014-11-26 | 部品実装ラインの段取り替え支援システム及び段取り替え支援方法 |
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JP2021044425A (ja) * | 2019-09-12 | 2021-03-18 | ヤマハ発動機株式会社 | 生産計画作成装置及びそれを備えた部品実装システム |
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CN107535083B (zh) * | 2015-04-27 | 2020-07-31 | 株式会社富士 | 供料器的管理装置 |
WO2017072887A1 (ja) * | 2015-10-28 | 2017-05-04 | 富士機械製造株式会社 | ユニット固有情報管理システム |
JP6699978B2 (ja) * | 2016-11-17 | 2020-05-27 | 株式会社Fuji | セットアップ支援装置 |
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EP3226669A1 (en) | 2017-10-04 |
US20170322548A1 (en) | 2017-11-09 |
JP6442525B2 (ja) | 2018-12-19 |
JPWO2016084143A1 (ja) | 2017-08-31 |
US10394228B2 (en) | 2019-08-27 |
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