JP3466153B2 - Component mounting order optimizing method, device and component mounting machine - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for deciding an optimum order for mounting electronic components on a substrate such as a printed wiring board by means of a component mounter, and more particularly to a method for adsorbing a plurality of components at the same time on the substrate. The present invention relates to optimization of a component mounting sequence for a component mounter having a work head mounted on the substrate.

[0002]

2. Description of the Related Art A component mounter for mounting electronic components on a printed wiring board or the like has a shorter tact time (mounting time).
In order to realize the above, the mounting order of the target components is optimized. Specifically, it is necessary to optimize the arrangement order of the component cassettes in the component cassette group installed in the component mounter.

As a conventional technique therefor, for example, there is a component mounting order optimization method disclosed in Japanese Patent Laid-Open No. 05-104364. In this method, (1) the component cassette group is divided into groups according to the mounting speed applied to the component, and the total number of mounting points when the two component cassettes in the same group are combined is equal. As a result, a pair group is formed by appropriately combining ones having a large number of mounting points and ones having a small number of mounting points on the same substrate, and (2) the cassette groups are arranged in the order of mounting speed, and within the same group. By arranging for each pair,
The arrangement order of the cassettes is determined, and (3) after that, the optimization processing is performed using only the mounting order of the components as a parameter.

As a result, complicated optimization by the two parameters of the cassette arrangement order and the component mounting order is avoided, and the optimization in a short time by the single parameter is realized.

[0005]

However, such a conventional optimizing method is such that the suction rate of the work head (suction of a component by the work head → movement → mounting is performed in one operation in a series of repeated operations). Since a ratio between the number of parts to be held and the maximum number of parts that can be picked up at the same time is not taken into consideration, a high-performance work head that picks up a plurality of (for example, 10) parts at the same time and mounts them on a substrate is provided. There is a problem that it cannot be applied to a component mounter.

Particularly, with the recent rapid increase in demand for electronic devices such as mobile phones and notebook computers, a component mounting machine equipped with a highly productive work head for simultaneously adsorbing a plurality of components and mounting them on a substrate. Has been developed, and a new method for optimizing the component mounting order corresponding to such a highly functional component mounting machine is desired. In addition, the optimization of the component mounting order requires that a specific component (or component cassette) be selected because of limited resources (such as the number of component cassettes) and the need to avoid manual work as much as possible. It is required to comply with various restrictions such as that it must be mounted in a specific position (fixed arrangement).

Therefore, the present invention has been made in view of the above problems, and is intended for a component mounter having a work head that simultaneously picks up a plurality of components and mounts them on a substrate under various restrictions. It is an object of the present invention to provide a method for optimizing the mounting order of components, an apparatus therefor, a component mounter, and the like.

[0008]

In order to achieve the above object, the component mounting sequence optimizing method according to the present invention stores components.
Pick up a maximum of n parts from the array of delivered parts cassettes
The work head, which can be
The work head is moved by the bot and mounted on the board.
Targeting component mounting machines,
In the method of optimizing the mounting sequence,
A method of optimizing a column, where everything is subject to optimization
The parts of the same type are a group of parts of the same type as one part type.
In order of the number of parts
To generate a component histogram
Parts against the step and generated parts histogram
The number of parts with a small number of
The suction patterns, which are n parts that are lined up consecutively in the direction,
Repeatedly harvest until it cannot be removed
Lifting step and removal by the cutting step
After that, the parts histogram is displayed in the horizontal axis direction.
Diagnosis that is a suction pattern in which n parts are arranged in a row
A core processing step of deforming into a ram,
All parts and the core taken out in the cutting step
All parts after deformation in processing are plotted on the horizontal axis.
The component histogram obtained by synthesizing the corresponding positions
Synthesis step to sequence parts cassettes based on
Is included.

Specifically, (1) on the temporary Z axis (the axis on which the component cassettes are arranged), the arrangement of the component types is optimized without considering the arrangement fixing. In other words, a component histogram that prioritizes simultaneous suction is created. (2) The component type that is the object of array fixing is moved from the temporary Z axis to the actual Z axis. (3) A component type (component tape) that is not a target for array fixing is moved from the temporary Z axis to the actual Z axis. At this time, the component types (component tapes) that are not subject to the array fixing are arranged in the gaps between the component types (component tapes) fixed in the array. Finally, a suction pattern is generated from a component type (component tape) on the actual Z axis by a cutting process (component arrangement determination in consideration of simultaneous suction).

Further, in the component mounting order optimizing method according to the present invention, in the core processing step,
The parts described above after being taken out by the cutting step
The bottom line of the histogram is the bottom
However, including all parts included in the part histogram
Characterized by transforming into a parallelogram or rectangle with a height to obtain
And

Also, in the component mounting order optimizing method according to the present invention, in the core processing step, the cutting step is performed.
The parts histogram
Then, use the parallelogram or rectangle as a template.
Place the template outside the template
The deformation is performed by moving it to an empty position in the
It is characterized by

[0012]

[0013]

[0014]

[0015]

Further, the present invention is an apparatus using the steps in the component mounting order optimizing method described above, a component mounting machine provided with the resulting component type and arrangement of component cassettes, and executed by a general-purpose computer. It can also be realized as a program that is executed.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings, according to the following table of contents. -Table of contents-1. Component mounting system 1.1 Configuration of component mounting system 1.2 Configuration of component mounting machine 1.3 Configuration of optimizing device 1.3.1 Hardware configuration 1.3.2 Software configuration 1.4 Modeling 1. 4.1 Component mounter targeted for optimization 1.4.2 Input data 1.4.3 Output data 1.4.4 Role of optimization device Overview of the optimization algorithm by the optimizer 2.1 "Rearing up method" 2.1.1 "Task group method" (1st step) 2.1.2 Task of the "task group method" 2.1.3 "Rearing up" Method ”(2nd step) 2.1.4 Related individual processing 2.2“ Cross-resolving method ”2.2.1“ Greedy method ”(1st step) 2.2.2 Task 2 of“ greedy method ” 2.2.3 "Cross-elimination method" (2nd step) 2.2.4 Related individual processing 2.3 "Return optimization method" 2.3.1 Re-examination of component mounting operation 2.3.2 "Return""Necessity of process optimization 2.3.3" Return optimization method "(second step) 2.3.4 Related individual processing 2.4 Array fixing processing 2.4.1 Overview 2.4.2 Related individual processing 2.5 Correspondence to LL size board 2.5.1 Outline 2.5.2 Replacement of parts type on Z axis 5.5.3 Change of adsorption method 2.5.4 Related individual processing 2.6 Correspondence to XL size substrate 2.6.1 Outline 2.6.2 Related individual processing 2.7 Load balance processing 2.7 .1 Outline 2.7.2 Level of balance adjustment method 2.7.3 Related individual processing 2.8 Line balance processing 2.8.1 Outline 2.8.2 Level of balance adjustment method 2.8.3 Related Individual processing to be performed 3. Details of individual processing by the optimizer 3.1 “Cut-up method” 3.2 Cassette division by parallelogram (using template) 3.3 Cassette division by rectangle 3.4 Core processing method with given number of cassettes 3 .5 Task generation process for small parts 3.6 "Cross resolution method" (try_to_exchange) 3.6.1 Outline 3.6.2 Notes 3.6.3 Algorithm specification 3.7 "Return optimization method" 3. 7.1 Outline 3.7.2 Algorithm specifications 3.8 Overall flow (starting from histogram) 3.9 Arrangement of fixed parts in cassette block and "mountain" 3.10 Fixed array: Judgment of availability of fixed destination 3.11 Fixed arrangement of double cassettes 3.12 LL constraint: Change of suction method (1) 3.13 LL constraint: Change of suction method (2) 3.14 LL constraint: Swap of component type on Z axis ( 1 3.15 LL constraint: Swap of component types on the Z axis (2) 3.16 Support for XL size boards (XL constraint) 3.17 Load level balance adjustment processing (“mountain” unit) 3.18 Load level balance Adjustment process (per component type) 3.19 Process to move mountain from front equipment to rear equipment 3.20 Process to move component type from front equipment to rear equipment
(A) 3.21 Processing to move the mounting point from the previous equipment to the subsequent equipment 3.22 Swap processing in line balance processing 3.23 "Cut-up method" of double cassette 3.24 Nozzle replacement algorithm 4. Example of screen display 4.1 Main screen 4.2 Open screen 4.3 Optimization detailed information screen 4.4 Cassette number setting screen 4.5 Component division number setting screen 4.6 Nozzle number setting screen 4.7 Nozzle station selection screen 4.8 Option setting screen 4.9 Z-axis information screen 4.10 Nozzle station information screen 5. Explanation of Terms The explanation of each item shown in the above table of contents is as follows. 1. Component Mounting System 1.1 Configuration of Component Mounting System FIG. 1 is an external view showing the configuration of the entire component mounting system 10 according to the present invention. The component mounting system 10 includes a plurality of component mounters 100 and 200 that form a production line that mounts electronic components while sending a circuit board 20 from upstream to downstream, and various database in a database when starting production. The optimizing device 300 optimizes the mounting sequence of the required electronic components based on the above, downloads the obtained NC data to the component mounting machines 100 and 200, and sets / controls the NC data.

The component mounter 100 simultaneously and independently
Alternatively, two mounting units (first mounting unit 110) that mount components in cooperation with each other (or by alternate operation).
And a second mounting unit 120). Each mounting unit 110 (120) simultaneously sucks up to 10 components from the component cassettes 114 and two component supply units 115a and 115b, each of which includes an array of up to 48 component cassettes 114 for accommodating taping components. The work head 112 (10 nozzle heads) having 10 suction nozzles (hereinafter, also simply referred to as “nozzles”) that can be mounted on the work head 112, the XY robot 113 that moves the work head 112, and the work head 112. A recognition camera 116 for two-dimensionally or three-dimensionally inspecting the suctioned state of the sucked components, a tray supply unit 117 for supplying tray components, and the like are provided. 1.2 Configuration of Component Mounter FIG. 2 is a plan view showing the main configuration of the component mounter 100. The shuttle conveyor 118 has a tray supply unit 117.
It is a moving table (collection conveyor) for carrying the components taken out from the container and transporting them to a predetermined position where the work head 112 can pick them up. Nozzle station 119
Is a table on which replacement nozzles for accommodating various types of parts are placed.

The two component supply parts 115a and 115b constituting each mounting unit 110 (or 120) are respectively
It is arranged on the left and right sides of the recognition camera 116. Therefore, the work head 112 that has picked up the component in the component supply unit 115a or 115b moves to the mounting point on the substrate after passing the recognition camera 116, and repeats the operation of sequentially mounting all the sucked components.

Here, in the series of operations of suction, movement, and mounting of the parts by the work head 112, 1
Batch operation (adsorption, movement, mounting), or one such
A group of components implemented by a batch operation is called a "task". For example, with the 10-nozzle head 112, the maximum number of components mounted by one task is 10. It should be noted that the “suction” (and “simultaneous suction”) here includes all the suction operations from the start of suction of the component to the movement of the head.
This includes not only the case of picking up individual parts, but also the case of picking up 10 parts by a plurality of picking operations (up and down movements of the head).

FIG. 3 is a schematic view showing the positional relationship between the work head 112 and the component cassette 114. The working head 112 is a head called a "gang pickup system", and has a maximum of 10 suction nozzles 112a to 112a.
It is possible to mount b10, and at this time, it is possible to simultaneously pick up components from a maximum of 10 component cassettes 114 each.

The component cassette 114 called "single cassette" is loaded with only one component type (taping component etc.), and the component cassette 114 called "double cassette" is loaded with two component types (however, the feed pitch is (2 mm or 4 mm is limited to the same taping part). In addition, the component supply units 115a and 115b
The position or arrangement of the parts cassette 114 in the "Z axis"
Alternatively, it is referred to as “position on Z axis”, and a serial number or the like in which the leftmost end of the component supply unit 115a is “1” is used. Therefore, determining the mounting order of the component types for the taping component is equivalent to determining the Z axis of each component type (or the component cassette 114 that stores those components).

FIG. 4A shows mounting units 110 and 1.
20 respective component supply units 115a, b and 215a,
FIG. 4B shows a specific configuration example of b, and FIG. 4B is a table showing the number of mounted various component cassettes 114 and the position on the Z axis in the configuration. As shown in FIG. 4A, each component supply unit 115a, 115b, 215a, 215b.
Can mount a maximum of 48 taping parts (the positions are Z1 to Z48 and Z4, respectively).
9-Z96, Z97-Z144, Z145-Z19
2). Specifically, as shown in FIG. 4B, by using a double cassette that stores two taping components having a tape width of 8 mm, each component supply unit (A floc to D
Up to 48 kinds of parts can be mounted on the block). The larger the tape width (component cassette), the smaller the number of cassettes that can be mounted in one block.

FIGS. 5 (a) and 5 (b) are a diagram and a table showing an example of the position (Z axis) of the component supply portion where the 10 nozzle head can suck. It should be noted that H1 to 10 in the figure indicate (the positions of) the nozzles mounted on the 10-nozzle head. Here, since the interval between the nozzles of the 10-nozzle head corresponds to the width (16 mm) of one double cassette, the Z numbers of the components picked up by one vertical movement are every other number (only odd numbers or even numbers). Only). Further, due to the movement constraint of the 10-nozzle head in the Z-axis direction, as shown in FIG. 5B, the component (Z-axis) forming one end of each component supply unit
, There is a nozzle (“−” in the figure) that cannot be adsorbed.

Next, the detailed structure of the component cassette 114 will be described with reference to FIGS. 6 (a), (b),
Various chip-type electronic components 42 as shown in (c) and (d)
7a to 423d are stored in a plurality of storage recesses 424a that are continuously formed at regular intervals on a carrier tape 424 shown in FIG. It is supplied to users in the form of taping that is wound.

The taping electronic component 423d as described above is used by being mounted in the component cassette 114 as shown in FIG. 8, and in FIG. It is rotatably attached. This supply reel 426
The carrier tape 424 pulled out from the feeding roller 4
Guided by 29, the electronic component automatic mounting device (not shown) mounted with this electronic component supply device is interlocked with the operation of the electronic component supply device by a feed lever (also not shown) provided in the device. The feed lever 430 is an arrow Y in the figure.
It moves in one direction and rotates the ratchet 432 at a constant angle via a link 431 attached to the feed lever 430. Then, the feed roller 429 that is interlocked with the ratchet 432 is moved by a fixed pitch (for example, a feed pitch of 2 mm or 4 mm).

The carrier tape 424 peels off the cover tape 425 at the cover tape peeling section 433 in front of the feed roller 429 (on the side of the supply reel 426), and the peeled cover tape 425 is wound on the cover tape take-up reel 434. The carrier tape 424 that has been taken off and the cover tape 425 has been peeled off is the electronic component take-out portion 435.
And the feed roller 429 is conveyed to the carrier tape 4
Simultaneously with the transportation of 24, the chip-shaped electronic component 423d housed in the housing recess 424a is sucked and taken out by the vacuum suction head (not shown) from the electronic part take-out portion 435 which is opened in conjunction with the ratchet 432. After that, the feed lever 430 is released from the pushing force of the feed lever, and the feed lever 430 is released by the urging force of the tension spring 436.
It returns to the original position in two directions.

When the above series of operations are repeated, the used carrier tape 424 is discharged to the outside of the electronic component supplying apparatus and finely cut by a cutter (not shown) which is interlocked with the operation of the electronic component automatic supplying apparatus. It is configured to be discarded. If the component cassette 114 is a double cassette type that stores two carrier tapes 424, it is possible to supply the two stored carrier tapes 424 only at the same feed pitch. To do. 1.3 Configuration of Optimization Device 1.3.1 Hardware Configuration The optimization device 300 is realized by a general-purpose computer system such as a personal computer executing the optimization program according to the present invention.

FIG. 9 shows an optimizing device 300 shown in FIG.
FIG. 3 is a block diagram showing the hardware configuration of the above. This optimizing device 300 is a line tact in the component mounting of the target board (the maximum tact of each sub-equipment constituting a line) under various constraints based on the specifications of each facility constituting the production line. In order to minimize the tact), the optimum NC is determined by determining the parts to be mounted in each sub-equipment and the mounting order of the parts in each sub-equipment for all the components given from the CAD device for component mounting. It is a computer device that generates data, and includes a calculation control unit 301, a display unit 302, an input unit 303, a memory unit 304, an optimization program storage unit 305, a communication I / F (interface) unit 306, a database unit 307, and the like. It

The tact is the total time required to mount the target component. The arithmetic control unit 301 is a CPU
Or a numerical processor, etc., and from the optimization program storage unit 305 to the memory unit 304 according to a user's instruction or the like.
The program necessary for the above is loaded and executed, and each component 302 to 307 is controlled according to the execution result.

The display unit 302 is a CRT or LCD,
The input unit 303 is a keyboard, a mouse, or the like, and these are used for the interaction between the optimizing device 300 and the operator under the control of the arithmetic control unit 301. The specific user interface is as described in the screen display example described later. The communication I / F unit 306 is L
An AN adapter or the like is used for communication between the optimization apparatus 300 and the component mounters 100 and 200.

The memory unit 304 is a RAM or the like that provides a work area for the arithmetic control unit 301. The optimization program storage unit 305 is a hard disk or the like that stores various programs that implement the functions of the optimization apparatus 300. The database unit 307 uses the input data (mounting point data 307a, component library 307b, and mounting device information 3) used for the optimization processing by the optimization device 300.
07c) or a hard disk or the like for storing mounting point data and the like generated by optimization.

10 to 12 show examples of the mounting point data 307a, the component library 307b, and the mounting device information 307c, respectively. The mounting point data 307a is a collection of information indicating the mounting points of all the components to be mounted. As shown in FIG. 10, one mounting point pi includes a component type ci, an X coordinate xi, a Y coordinate yi, and control data φi. Here, the “component type” corresponds to the component name in the component library 307b shown in FIG. 11, and the “X coordinate” and the “Y coordinate” are coordinates of the mounting point (coordinates indicating a specific position on the board). Yes, the “control data” is constraint information regarding the mounting of the component (the types of suction nozzles that can be used, the maximum movement speed of the work head 112, etc.). The NC data to be finally obtained is a sequence of mounting points that minimizes the line tact.

The component library 307b is used by the component mounter 1
00, 200 is a library that collects unique information about all the types of parts that can be handled.
1, the component size for each component type, the tact (tact peculiar to the component type under a certain condition), and other constraint information (the types of suction nozzles that can be used, the recognition method by the recognition camera 116, the work head). 112 maximum speed ratio, etc.). For reference, the figure also shows the appearance of each component type.

The mounting device information 307c is information indicating a device configuration and restrictions for all sub-equipment (a mounting unit or a component mounting machine, which is a unit for independently performing component mounting) constituting a production line. As shown in FIG.
Head information about the type of work head, nozzle information about the type of suction nozzles that can be mounted on the work head, cassette information about the maximum number of component cassettes 114, trays about the number of trays stored in the tray supply unit 117, etc. It consists of information etc. 1.3.2 Software Configuration FIG. 13 shows the optimization program storage unit 30 shown in FIG.
6 is a module configuration diagram showing a functional configuration of an optimization program stored in FIG. It should be noted that this drawing shows the optimization device 3
This corresponds to the flowchart corresponding to all the processing by 00. That is, it is shown that the modules are executed in order from the upper module to the lower module, and one function (module) is realized by the execution (or the repeated execution) of a plurality of nested modules. ing.

In the figure, the module surrounded by double lines is a process (function) related to the present invention,
This is referred to as the "second step" technique in distinction from the technique immediately before the invention of the present application is devised (hereinafter referred to as the "first step"). Here, the technique in the first step corresponds to, for example, the technique disclosed in the patent specification of Japanese Patent Application No. 2000-237681.

As shown in the figure, the entire optimization process is performed in the following five major steps: (i) mounting point data is read (step 305a), and (ii) a parts list is created (step 305b). ), (Iii) create a component group (step 305c), (iv) perform initial distribution (step 305c), and (v) repeat the line balance process until a certain condition is satisfied (step 305).
e), (vi) By outputting the generated NC data (optimized mounting point data) (step 305f),
Complete.

The outline of each of these steps is as follows. In step 305a, under the control of the arithmetic control unit 301, the required data 30 from the database unit 307 is acquired.
7a to 7c are read into the memory unit 304 or the like. In step 305b, the optimizing apparatus 300 creates a parts list by counting the number of each kind of parts based on the read mounting point data 307a and the like.

In step 305c, based on the created parts list and the like, all the mounted parts are selected from the viewpoint of the part thickness, for example, nine part groups G [1] to G [1], as shown in FIG. 14 (a). Classify as G [9]. Specifically, by referring to all the component types indicated by the mounting point data 307a,
As shown in FIG. 14B, by referring to the parts list indicating the number of members for the same parts type and the parts size in the parts library 307b, all the parts types are divided into nine parts groups G [1] to Corresponds to one of G [9].

In step 305d, the optimization device 300
Roughly allocates the above 9 parts groups in task group units so that the tacts of each sub-equipment are almost equal. That is, the line balance is optimized by rough adjustment. Here, the "task group" refers to a group of related tasks from the viewpoint of simultaneous suction of parts.

FIG. 15 is a diagram showing a state of initial distribution of task groups to sub-equipment. Optimization device 300
Arranges all task groups in a line so that the component group with the smallest component thickness comes first, and the tact for each sub-equipment is closer to the value θ shown in the following formula in order from the beginning with respect to that sequence. Then, each task group is sorted in order from the upstream sub-equipment.

Θ = (total tact for all component groups) / total number N of sub-equipment Note that “total tact for all component groups” can be obtained by referring to the mounting point data 307a and the component library 307b. The "total number N of sub-equipment" is specified and is specified by referring to the mounting apparatus information 307c.
In step 305e, the optimizing device 300 optimizes the line balance so as to minimize the line tact (equalizing the tact for each sub-equipment), while complying with mounting in order from the component group with the smallest component thickness. To do. Therefore, the line tact is minimized by moving the task groups for each sub-equipment that are roughly assigned to each sub-equipment, and the component type unit is used for the optimized state (task group assignment). As a result, the line balance is optimized by the same procedure. Note that the “state” refers to each of the target components or component types in the possible mounting sequence.

At this time, small parts (here, parts belonging to the part groups G [1] to G [5]) and general-purpose parts (parts belonging to the part groups G [6] to G [9]) are distinguished. , Apply different algorithms. In other words, for small parts, task groups are determined and states are optimized using algorithms that are simple and suitable for high-speed processing, while for general-purpose parts, precise and intelligent algorithms are used. Perform state optimization. This is because it is generally known that the total number of small components mounted on a board of a mobile phone or the like is extremely large (for example, a ratio of 9: 1) as compared with general-purpose components, and therefore an algorithm corresponding to each is used. This is to obtain a more optimal solution in a shorter time by performing optimization by using In addition, "HC method" in the figure means a hill-climbing method, which is a heuristic algorithm for deterministically determining an optimal solution, and "MC method" means a multicanonical method, which is probabilistic. This is an algorithm that searches for an optimal solution globally.

In step 305f, the optimized NC data obtained in the above steps is downloaded to the component mounters 100 and 200 via the communication I / F unit 306 or stored in the database unit 307. 1.4 Modeling In order to explain a specific optimization method in the component mounting system 10 configured as described above, specifications of the component mounting machine 100 to be optimized, input data to the optimizing device 300, and The output data is modeled as follows. 1.4.1 Component mounter targeted for optimization The component mounter targeted for optimization is composed of two front and rear mounting stages (mounting units). Front side (upstream side)
The mounting stage of is referred to as "front sub-equipment", and the rear (downstream) mounting stage is referred to as "rear sub-equipment".

As the name "gang pickup system" indicates, each sub-equipment can attach a plurality of nozzles to the head. The number of nozzles that can be attached to the head is shown below.・ Front sub-equipment: equipped with one head with 10 nozzles.・ Sub-equipment: 1 head with 10 or 4 nozzles
Prepare for one.

Also, the case where the following options are added in any combination to the front / rear sub-equipment is also a target.・ Nozzle station ・ Tray ・ 3D sensor (3D recognition camera) ・ Recovery conveyor The target board size includes LL and XL. 1.4.2 Input data The input data to the optimization algorithm is shown below.・ Equipment option data (for each sub equipment) ・ Resource data (Number of cassettes and nozzles that can be used for each equipment) ・ Nozzle station placement data (for each sub equipment with nozzle station) ・ Initial nozzle pattern data (for each sub equipment) ・Z-axis layout data (for each sub-equipment) -Mounting point data-Number of nozzles for SX, SA, S in component library resource is 10
More than a book. 1.4.3 Output data The output data from the optimization algorithm is shown below.・ Nozzle station layout data after optimization (for each sub equipment with nozzle station) ・ Initial nozzle pattern data after optimization (for each sub equipment) ・ Z axis layout data after optimization (for each sub equipment. With recovery conveyor) The sub-equipment also includes the placement of the collection conveyor.)-Mounting point data after optimization (for each sub-equipment) 1.4.4 Role of the optimization device To summarize the above, the role of the optimization device 300 is as follows. On the street.

That is, the optimizing device 300 receives the production target (board and components to be mounted thereon) and the production tool (component mounting machine with limited resources, sub-equipment). , Manufacture boards in the shortest possible time (increase the number of boards that can be manufactured per unit time)
Is a device for determining the component mounting order for Specifically, in order to minimize the mounting time per board, a component cassette containing any component type is placed at which position (Z-axis) of which component mounter (sub-equipment) and each component is placed. The work head of the mounting machine (sub-equipment) picks up as many parts as possible from the parts cassette at the same time in any order, and mounts the picked-up multiple parts at which position (mounting point) on the board and in what order. This is a device that decides on a computer what to do (searches for an optimal solution).

At this time, there are restrictions of the target mounter (sub-equipment) (the number of components that the work head can pick up at one time, the number of mountable component cassettes, the position of the component cassettes, and the special It is required to strictly adhere to the mountable area based on the size of the board, the feed pitches of the parts stored in the double cassette, and the like. 2. Outline of Optimization Algorithm by Optimizer Hereinafter, while clarifying the problem (problem) in the above-mentioned first step (immediately before the invention of the present application is devised), the outline and meaning of the technology of the second step according to the present invention Will be explained. 2.1 “Cut-up method” 2.1.1 “Task group method” (first step) The basic idea of the small part optimization algorithm in the first step is as shown in FIG. Assuming that the number of nozzles above is n, for all target mounted components, "collect n component tapes with the same number of components, and simultaneously adsorb one point from each of these n component tapes to create an n point simultaneous adsorption task. ". In the target component mounter according to the present embodiment, n is 10 or 4.

Here, the "component tape" is a set of components related to a certain (same) component type (a plurality of these components arranged on a virtual tape), and "component division". In some cases, a component belonging to one component type may be divided into a plurality of component tapes (units of component reels mounted in a component cassette) by a process called. 16
It is a parts histogram for explaining the task group method, the horizontal axis shows the Z axis (parts cassette, parts type), and the vertical axis shows the total number of parts belonging to the parts type.

However, in the above-mentioned algorithm of the first step, not only component tapes having the same number of members are actually used, but the component tapes are produced by dividing the components. Even so, it was collected
If the number of n component tapes is uneven (Fig. 1
Parts A to J in 6) and a component tape that compensates for the variations are created and added to the n component tapes.
The maximum number of component tapes to add is (n-1) (Fig. 16).
In gray).

A set of n to n + (n-1) component tapes thus formed is referred to as a "task group". The name is focused on the set of tasks). Hereinafter, the algorithm for small parts in the first step will be referred to as "task group method". Usually, a plurality of task groups are created. The number of task groups depends on the total number of component types. In some cases, there is only one task group.

Arrangement of the cassette on the Z axis is performed in units of task groups. 2.1.2 Issues in the "task group method" The first step algorithm had the following issues. (1) Since task groups are placed on the Z-axis, task groups cannot be placed unless the Z-axis space is at least 10 or more. Therefore, an unused part may be generated on the Z axis. (2) The degree of freedom in arranging task groups is low, and it is difficult to move the component type (component tape, cassette) between the front sub-equipment and the rear sub-equipment. It was difficult to adjust the balance. (3) Parts are divided for each task group, and a cassette that stores the parts tape generated by parts division is used.
Considering all task groups, there was a tendency that a large number of cassettes used for dividing parts were required. The challenges in the first step are the number of component tapes that make up the task group (10 to 19 with 10 nozzles / head),
This is because the number of component tapes that can be placed on the Z-axis (up to 48 in a single cassette and up to 96 in a double cassette) is of the same order.

Therefore, the degree of freedom in arranging the task group on the Z axis is low. For example, if the maximum number of component tapes that can be placed on the Z axis is about 10 times the number of component tapes that make up the task group, the degree of freedom will be reduced. 2.1.3 “Cut-up method” (second step) “Cut-up method” is the “part histogram creation process”,
It is composed of three processes, "cutting process" and "core process". These processes are devised in view of the problem of the first step. In the following description, the number of nozzles on the head is n. (1) Component Histogram Creation Process The component histogram creation process is a process for creating a hisgram (component histogram) in which component tapes are arranged in descending order of the number of components, and the component histogram is a premise of the “cut up process”.

The "task group method" is different in that the component tapes are divided into a plurality of groups called task groups, whereas the "cutting method" is different in that the component tapes are one group called a component histogram. The parts histogram can be divided into parts tape units, and the divided parts can be placed in the front sub-equipment and the rear sub-equipment, making it possible to move parts in smaller units compared to the "task group method". ing. (2) Cutting up process The cutting up process is a process of generating a suction pattern from a component histogram, and picks up one mounting point for each of n component tapes from the side with the smallest remaining number of component histograms. Basically, it creates an adsorption pattern of point simultaneous adsorption. Here, the suction pattern refers to a set of component types to be picked up by the head for each task.

As a result of the trimming process, there is a component tape having mounting points that are not picked up. This component tape is called a "core component tape". The component cassette containing the core component tape is called a "core cassette".
The number of core component tapes is always (n-1) or less, no matter how many component tapes make up the initial component histogram.

The advantage of the trimming process is that "parts are divided into all part tapes that form a part histogram,
It is possible to reduce the "problem of generating an n-point simultaneous suction task" to the "problem of dividing a component into only a core component tape and generating an n-point simultaneous suction task". For parts other than the core part tape of the part histogram, n-point simultaneous suction has already been realized, so only for the core part tape, it is sufficient to divide the parts so that an n-point simultaneous suction pattern can be realized. This processing is called core processing. (3) Core processing "Core processing" is an extension of the idea of "making a component tape that complements the shortage of mounting points in order to realize simultaneous suction of n points" in the "task group method". .

Since there are 1 to (n-1) core component tapes,
The number of component tapes (complementary component tapes) that complement the lack of mounting points is (n-1) to 1. The “task group method” requires a complementary component tape for each task group. On the other hand, in the "cutting method", there is only one group of component tapes, and the maximum (n-1)
Since only the complementary tape of the book is required, the number of cassettes used can be smaller than in the "task group method".

In the "task group method", when each component type is divided into the maximum number of divisions, the component type (component tape) that has the largest number of components is obtained, and the suction patterns of the n-point simultaneous suction that are the same as the number of components are obtained. To generate. On the other hand, in the “core processing”, the total number of core component tapes is calculated and calculated.
Estimate the number of adsorption patterns for simultaneous adsorption at n points from the value divided by n. 2.1.4 Related Individual Processing The “cutting method” is processing for generating a task (to be exact, a suction pattern) from the component type of the component group classified into small components.

The "cutting method" is composed of three processes: "part histogram creation process", "cutting process", and "core process". These processes are devised in view of the problem of the first step. The details are as described in the individual processing below. -"Cut-up method"-"Small-part task generation process" 2.2 "Cross-resolving method" The problem of "greedy method" in the first step and the solution method in the second step ("Cross-resolving method") Law ”) is described below. 2.2.1 "Greedy method" (1st step) When assigning mounting points to a task, the mounting points are selected from the component types so that the distance between the mounting points mounted by each nozzle is minimized. . The pitch between the nozzles is taken into consideration when calculating the distance.

This implementation point selection method is based on "greedy".
It is a method classified into "law". Hereinafter, this mounting point selection method is referred to as the "greedy method." In the "greedy method", even if the distance between the mounting points for a certain task is minimized, the mounting point is not selected in consideration of the distance between the mounting points of other tasks, so all Thinking about tasks is not always optimal. 2.2.2 Task of “greedy method” When assigning mounting points to adsorption patterns by “greedy method”, especially, the mounting path diagram on the upper side of FIG. 17 (for each task,
The problem is the case of the mounting path as shown in the figure in which the mounting points arranged at the corresponding board positions are connected by line segments in the mounting order.

FIG. 17 shows a case in which there are three tasks each having a mounting score of 5. In FIG. 17, a black circle indicates a mounting point, and an arrow indicates a mounting path (order). The suffix of the mounting point indicates the component type. For example, A1, A2, and A3 are part types A
There are three implementation points that belong to. Also, the mounting points connected by the arrows of the same color constitute one task. First, in the state of “before crossing elimination” on the upper side of FIG. 17, the mounting point where the component type B1 exists is selected as the mounting point closest to the mounting point where the component type A1 exists, and the mounting point closest to the component type B1 is selected. As the point, the mounting point where the component type C2 exists, not the component type C1, is selected. This is because the "greedy method" selects the mounting point with the shortest distance as the mounting point to be mounted next.

Further, when the "greedy method" is repeatedly applied to select the mounting point, as a result, the mounting point where the component type B3 exists, as in the state "before crossing elimination" in the upper part of FIG. Then, the path connecting the mounting points where the component type C1 exists intersects the path connecting the other mounting points. 2.2.3 “Cross-elimination method” (second step) If a person decides the implementation route, a task that does not intersect the implementation route, such as “after the elimination of intersection” at the bottom of FIG. Should make.

Therefore, after the mounting point is selected by the "greedy method", it is only necessary to find a point where the paths intersect and to eliminate it. This process is called the "intersection elimination method". As a result, it becomes like “after the intersection is resolved” in the lower side of FIG. 17, and it can be expected that the total route distance becomes smaller than that before the intersection is resolved. Specifically, this FIG.
In the above example, by selecting and exchanging two of the component types B1 to B3, the mounting route is recombined, and by repeating this, it is possible to create a task in which the mounting route is shortened.

In practice, it is necessary to consider the distance between the nozzles, but this is omitted here for the purpose of showing the idea. The details of the “intersection elimination method” are as described in the individual processing described later. 2.2.4 Related individual processing “Cross-resolving method” is processing that finds a position where the mounting paths intersect after the mounting point is selected by the “greedy method” and cancels it.

As a result, the total distance of the mounting paths can be expected to be smaller than that before the intersection of the mounting paths is eliminated. The details are as described in the individual processing below. -"Cross-elimination method" 2.3 "Return optimization method" In the first step, regarding the optimization of the process ("return") from the final mounting point to the position on the Z-axis where the next task is attracted, I didn't consider it. In the second step, the "return optimization method" was newly introduced. 2.3.1 Re-examination of component mounting operation The operation of mounting a component is decomposed into the following three steps from a macro point of view, as shown in FIG. (1) Component suction → Recognition camera (2) Recognition → Component mounting (3) Component mounting → Next component suction ・ ・ ・ "Return" 2.3.2 "Return" Necessity of process optimization First (1) With respect to, in the first step, the component tape having a large number of members is optimized by being arranged on the Z axis close to the recognition camera.

Next, regarding (2), it is considered that the distance is almost constant, and the optimization is not performed in the first step. Because the position of the recognition camera and the board is fixed, the movement amount of the head on the board at the time of mounting is compared with the length of the Z axis,
This is because it is quite small, and all mounting points are considered to be present in the center of the board. However, (3) was not considered in the first step. This "return" process is approximately the same as the distance in (2), and optimization can be expected to reduce the mounting time. 2.3.3 “Return optimization method” (second step) First, for (1) and (2), the same processing as in the first step is performed. In the second step, further "return" in (3)
We devised an optimization algorithm for the process. Hereinafter, the optimization algorithm will be referred to as "return optimization algorithm" (return optimization method).

The basic idea of the return optimization algorithm is to search for an unimplemented task at a position on the Z axis that can be returned in the shortest distance from the coordinates of the final implementation point of a certain task, It is the task to be implemented next. " For example, in the figure, when the distance from the final mounting point is examined, the task B is shorter than the task A, so the task to be mounted next is the task B. 2.3.4 The operation of mounting related individual processing components can be decomposed into the following three steps from a macro point of view. (1) Component suction → Recognition camera (2) Recognition → Component mounting (3) Component mounting → Next component suction ・ ・ ・ "Return""Return optimization method" optimizes the head movement distance for (3) It is expected that the implementation time will be shortened.

The details are as described in the following individual processing. -"Return optimization method" 2.4 Array fixing processing 2.4.1 Overview In some cases, the Z number for arranging multiple component types may be specified by the user. This specifies the arrangement of component types on the Z axis and is called "fixed arrangement".

On the other hand, in the optimization algorithm, the arrangement of the component types (component tapes) on the Z axis is also the object of optimization.
It is necessary to implement an optimization algorithm that takes into account array fixing by the user. However, it is expected that there will be a large number of variations in sequence fixing by the user.

Even if some sequence fixed variations are assumed in the algorithm design stage and an optimization algorithm corresponding to them can be devised, it is not always possible to cope with unexpected sequence fixed variations. This is because the algorithm tends to be specialized for the assumed variation in array fixation, and there is a risk that it will not be effective for unexpected array fixation.

Further, even if the algorithm can be modified so as to correspond to an unexpected fixed array variation, it is an exception-added algorithm, which lowers the readability of the program and reduces maintenance. Can be a problem. Therefore, as the most reliable and safe method, as shown in FIG. 19, the following method is adopted. FIG. 19 is a component histogram showing an outline of optimization under the constraint of fixed array. (1) Prepare a temporary Z axis (temporary Z axis) and optimize the arrangement of component types on the temporary Z axis without considering arrangement fixing. That is, an ideal array of component tapes is created (a component histogram giving priority to simultaneous suction is created). (2) Move the component type from the temporary Z axis to the actual Z axis (actual Z axis).
At this time, in consideration of array fixing, the component type (component tape) targeted for array fixing is arranged first. (3) Next, the type of parts (parts tape) that are not subject to array fixing
Is moved from the temporary Z axis to the actual Z axis. At this time, the component types (component tapes) that are not subject to the array fixing are arranged in the gaps between the component types (component tapes) fixed in the array.

Finally, the component type (component tape) on the actual Z axis
Then, the suction pattern is generated by the cutting process.
According to this method, one algorithm can be used to fix any sequence fixed by the user.
In addition, the fixed array algorithm devised this time supports the fixed array specified by the user by breaking the ideal array of parts (component tape) generated by the algorithm under the condition that there is no fixed array.

Therefore, the ideal component type (component tape)
The mounting time can be compared between the case where the array is used and the case where the component type (component tape) array having the fixed array is used. This provides the user with information to compare the operational advantages of fixed arrays, which are easy to switch models, with the short implementation time without fixed arrays, and to reconsider their trade-offs. To do. 2.4.2 In the related individual processing “fixing the array”, the user specifies the Z numbers for arranging multiple component types. Therefore, in the optimization algorithm, the arrangement of the component types (component tapes) on the Z axis is also the object of optimization, so it is necessary to realize an optimization algorithm that considers the arrangement fixing by the user.

The algorithm of the array fixing devised this time corresponds to the array fixing specified by the user in the form of breaking the arrangement of the ideal component type (component tape) generated by the algorithm under the condition that the arrangement is not fixed. . The details are as described in the individual processing below. -"Overall flow (starting from histogram)"-"Arrangement relationship between fixed parts in cassette block and" mountain ""-"Fixed array: Judgment of availability of fixed destination"-"About fixed array of double cassette"-" Fixed arrangement of double cassettes (supplement) ”2.5 Support for LL size boards 2.5.1 Overview LL size boards are larger in the carrying direction than normal boards without restrictions on the mounting area. for that reason,
As shown in FIG. 20, on the LL size substrate, a mounting area (LL
There is a restricted area).

Further, those heads cannot pick up components from component tapes (cassettes) arranged in a certain range of Z numbers. Therefore, as shown in FIG. 21, the LL constraint is avoided by the following two methods. (1) Swap the component type (component tape) on the Z-axis (2) Change the suction method First, for (1), set the LL constraint area to the Z-axis range that can be sucked by the head that can mount the mounting point. This is a process of arranging the component tape including the mounting points in the restricted area. If the component tapes are located at all Z numbers on the Z axis, replace the component tapes.

Next, regarding the change of the suction method, the component histogram including the mounting points existing in the LL restricted area is virtually divided into the following two component histograms.・ Parts histogram composed of mounting points existing in the LL restricted area ・ Parts histogram composed of mounting points not existing in the LL restricted area And synthesize
One task. 2.5.2 Swap of Parts on Z-axis (1) Heads 1 to 6 cannot mount parts in the LL restricted area. (2) The heads 7 to 10 can mount components even in the LL restricted area. (3) Due to mechanical restrictions, the range of Z that can be adsorbed for each head is limited. (4) If there is a component type having a mounting point in the LL constrained area in Z = 1 to 11, it is replaced with a component type that exists in Z = 12 and has no mounting point in the LL constrained area. 2.5.3 Change in adsorption method (1) The mounting points in each Z are divided into "mounting points in the LL constraint area" and "mounting points not in the LL constraint area". Only the treatment is divided according to the processing, and the parts are not divided. (2) It is divided into heads 1 to 6 and heads 7 to 10, and two virtual heads, 6 heads and 4 heads, are considered. (3) For mounting points that are not in the LL constraint area, 6 heads are cut up to create a 6-point task. (4) For the mounting points in the LL constraint area, four heads are cut up to create a four-point task. (5) A 6-point task and a 4-point task are combined to make a 10-point task. 2.5.4 In order to support related individual processing LL size substrates, change the adsorption method and Z
It is necessary to replace the types of parts on the axis, and for each of them, two alternative algorithms were created.

The details are as described in the following individual processing.・ "LL constraint: Change in suction method (1)" To support LL size substrates, the mounting points are divided into those that exist in the LL constrained area and those that do not exist. 10 picks up, and the heads 1 to 6 pick up mounting points not existing in the LL restricted area.

Parts are sequentially adsorbed from the part tape on the skirt side of the "mountain", but if the block is the left block, the head 1
The heads 1 to 4 are adapted to adsorb while advancing in a direction in which the Z number is larger than the Z range which is adsorbed in .about. The same applies to the right block.・ "LL Constraint: Change the suction method (2)" After picking up the mounting points that do not exist in the LL constraint area from the component tape on the skirt side of the "mountain" with heads 1 to 6, in the same way, LL constraint area The mounting points existing in 1 are sequentially picked up by the heads 1 to 6 from the component tape on the skirt side of the "mountain".

That is, unlike the above-mentioned "LL constraint: change of suction method (1)", suction is not always performed while advancing in a direction approaching the camera direction.・ LL constraint: Replacement of component types on the Z axis (1) For component types with Z numbers 1 to 11 (component tapes), select component types (component tapes) that have mounting points with an X coordinate greater than 400mm. Find it, and replace the component type (component tape) that does not include the mounting point with the X coordinate greater than 400 mm.・ "LL constraint: Swap of component types on Z axis (2)" The handling of the X coordinate of the mounting point is more detailed than "LL constraint: Swap of component types on Z axis (1)". . 2.6 Correspondence to XL size boards 2.6.1 Overview XL size boards are larger in size in the direction orthogonal to the transport direction than normal boards that do not have restrictions on the mounting area. Therefore, as shown in FIG. 20, the XL size board has a mounting area in which components can be mounted only in specific equipment (front sub equipment or rear sub equipment). 20
It is a figure which shows the restricted area | region (area which cannot be mounted because a head cannot move) on the board | substrate in the board | substrate of special size (XL, LL).

The XL size substrate is composed of the following three mounting areas.・ Area where parts can be mounted only in the front sub-equipment ・ Area where parts can be mounted only in the rear sub-equipment ・ Area where parts can be mounted in both the front sub-equipment and the rear sub-equipment ) There is an area where parts can be mounted only. A schematic diagram summarizing these constraints is shown below. In the figure, "front equipment" is an abbreviation for "front sub equipment", and "rear equipment" is an abbreviation for "rear sub equipment". (Insertion of table) Based on this schematic diagram, the correspondence to XL size substrates is shown below. (1) Allocation to front equipment / rear equipment based on mounting point coordinates (2) Component division based on mounting point coordinates (3) Initial distribution using the area that can be mounted by both front and rear equipment (4) Avoidance of LL constraints The details are as described in the individual processing described below. 2.6.2 In order to deal with related individual processing XL size boards, it is determined whether the sub-equipment that can be mounted at each mounting point is the front sub-equipment or the rear sub-equipment, and the front sub-equipment and the rear sub-equipment It was realized by allocating the mounting points to.

The restrictions that the XL size board has are:
The processing corresponding to the XL size board includes the processing corresponding to the LL size board because the restriction that the LL size board has is included. The details are as described in the individual processing below. -"XL constraint" 2.7 Load balance process 2.7.1 Overview The load balance process is a process for adjusting the balance between the front sub-equipment and the rear sub-equipment using the load level as an index in the initial distribution processing. 2.7.2 As a method of adjusting the level balance of the balance adjustment method, parts are moved between the front sub-equipment and the rear sub-equipment. There are three levels of moving parts: (1) Unit of "mountain" (2) Unit of component tape The above "mountain" means a group of component tapes created as a result of optimization. It is similar to the concept of task group in the first step.

The level of component movement to be executed differs between the load balance processing and the line balance processing. Load balance processing: "mountain", component tape Line balance processing: "mountain", component tape, mounting point The load level calculation currently used in load balance processing is the value of the load level for a task composed of general-purpose components. Is not accurate. Therefore, in the load balancing process,
Judging that the effect is weak even if the unit of parts movement is made small,
Parts are not moved in mounting point units.

The details are as described in the individual processing described later. 2.7.3 Related individual process “Load balance process” is a process to adjust the load level balance between the front sub-equipment and the rear sub-equipment. It is necessary when allocating the component type to the front sub-equipment and the rear sub-equipment.

First, the component types are packed and arranged in order from the front sub-equipment, and the component types that could not be arranged in the front sub-equipment are arranged in the rear sub-equipment. With this as the initial state, the load balance between the front sub-equipment and the rear sub-equipment is calculated, and the component types arranged in the front sub-equipment are sequentially moved to the rear sub-equipment until the difference in the load balance becomes OK.

The method of calculating the load balance of each sub-equipment is the same as in the first step. The details are as described in the individual processing below. -"Load level balance adjustment (in units of" mountain ")-" Load level balance adjustment (in units of component type) "2.8 Line balance processing 2.8.1 Overview Line balance processing is implemented after tasks are created. This is a process of adjusting the balance between the front sub-equipment and the rear sub-equipment using time as an index. The difference between line balance processing and load balance processing is only the balance index,
The processes are similar to each other. 2.8.2 Balance adjustment method As a method of adjusting the level balance, parts are moved between the front sub-equipment and the rear sub-equipment. There are three levels of moving parts: (1) Unit of "mountain" (2) Unit of component tape (3) Unit of mounting point The above "mountain" means a group of component tapes created as a result of optimization. It is similar to the concept of task group in the first step.

The line balance processing differs from the load balance processing in that the components are moved in mounting point units. The details are as described in the individual processing described below. 2.8.3 Related individual process "Line balance process" is a process to adjust the balance of the mounting time of the front sub-equipment and the rear sub-equipment. After generating the tasks of the front sub-equipment and the rear sub-equipment, calculate the mounting time of each sub-equipment with the tact simulator, and move the parts from the sub-equipment with long mounting time to the sub-equipment with short mounting time. Adjust the mounting time balance between the front sub-equipment and the rear sub-equipment. Although there are differences in the balance index and the like, this is a process similar to the load balance process described above.

The details are as described in the following individual processing. -"Process to move the mountain from the front equipment to the back equipment"-"Process to move the component type from the front equipment to the back equipment (A)"-"Process to move the mounting point from the front equipment to the back equipment"-"Line" Swap processing in balance processing ”3. Details of individual processing by optimizing device 3.1 "Cut-up method" A task is generated by the following procedure. (1) Create a component histogram (FIG. 22). (2) Cut up and leave the core part (Fig. 23).

In this figure, the frame surrounded by a rectangle is 1
It is an adsorption pattern of 0 point simultaneous adsorption. (3) The cut up portion (FIG. 24 (a)) and the core portion (FIG. 24 (b)) are separated. (4) Assign a template to the core part (FIG. 25).

In this figure, black squares (mounting points) surrounded by a gray square frame indicate mounting points that could not be covered by the template, and these are shown on the left side of the template (where indicated by "*"). Used to complement. (5) Determine the mounting point that complements the left side of the template (Fig. 26). (6) Complement the left side of the template (Fig. 27).

In this figure, white squares indicate mounting points used for complementation, black squares surrounded by a gray square frame indicate mounting points not used for complementation, and gray squares. "*" Surrounded by a frame indicates an implementation point that could not be complemented. (7) Recreate the "mountain" for the core portion and the portion complemented by the template (Fig. 28). (8) The task created by cutting up in (2) above is also recreated into a "mountain" shape (Fig. 29). (9) The "mountain" by cutting and the "mountain" of the core part are combined (Fig. 30). (10) Mow the entire "mountain" (Fig. 31).

In the figure, the 24th task (task 2
4) indicates that the number of times of head up and down (number of times of suction up and down) during suction is three. (11) If there are no restrictions, the Z axis is placed as it is (FIG. 32). The case where the constraint is taken into consideration is as follows ((12) and after). (12) Generate a task by the "cutting method" (Fig. 3
3).

Here, the core part is processed. However, at this stage, the maximum number of divisions, the cassette resource, and the number of usable Z numbers are not considered. In this example, since cassette numbers 1 to 6 are divided, cassette number = 1: part A cassette number = 2: part B cassette number = 3: part C cassette number = 4: part D cassette number = 5: part E Cassette number = 6: The component F is used, and the state of division is expressed as A1, A2, A3, A4, A5, for example, since the component A is divided into five. The same applies to the parts B, C, D, E, and F. Other parts are represented by black squares. (13) Consider the maximum number of divisions and optimize the number of divisions of the cassette (FIG. 34).

Here, assuming that the maximum number of divisions of the cassette for the component A is 4, the number of divisions of the cassette for the component A is optimized. Since the part A is divided into 5, A2
~ One of A5 is integrated into A1 to A5. At this time, if you select the one with the smallest number from A2 to A5,
The number of tasks affected by this integration is minimal.

In this case, since the number of members of A5 is the minimum (3), A5 is selected and those A5 are dispersed into A1 to A4. As a result, since the position where A5 was located becomes empty, F2, E2, and D2 on the left side of A5 are moved by one to the right. (14) The cassette sequence after such optimization is shown in FIG.
As shown in FIG.

Here, in tasks 21 to 22, the number of times of suction up and down is two. (15) Then, the number of cassettes used is optimized (FIG. 36).
Here, the number of cassettes used is 1 more than cassette resources
Suppose there are many books. Parts A2-4, B2, C2, D2
Select the one with the smallest number from E2 and F2 and integrate it. Specifically, select F2 with the smallest number (1),
This is integrated into F1. (16) The cassette sequence after such optimization is shown in FIG.
As shown in 7.

It can be seen that the number of cassettes has decreased by one. (17) Next, the Z axis occupation number is optimized, that is, the usable Z axis range is considered (FIG. 38). Here, it is assumed that the number of Z axes used is one more than that of the Z axis. Parts A2
Select the one with the smallest number among 4, B2, C2, D2 and E2 and integrate it. Specifically, the minimum number (2
Individual) E2 and integrate it into E1. (18) The cassette sequence after such optimization is shown in FIG.
As shown in FIG.

Here, the task 24 has a suction up and down frequency of 4
Although it has not changed, the task 23 has three suction up and down times. (19) Place on the Z axis (Fig. 39). Here, it is assumed that B1 is originally a component fixed to Z number = 15. (20) First, the fixed cassette is placed on the Z axis (Fig. 41). (21) Place the non-fixed cassette on the Z-axis (Fig. 42).

At this time, the non-fixed cassettes are arranged on the Z-axis in the order of the cassette arrangement determined in (19) above so as to avoid the fixed cassettes. (22) Return to the "mountain" shape (Fig. 43). (23) The task is generated again by the "cutting method" (FIG. 44). However, the core part is not processed. here,
Task 24 has three suction up and down times, and tasks 22 to 2
No. 3 has two suction up and down times, and tasks 17 to 19 have two suction up and down times. 3.2 Cassette division by parallelogram The method of cassette division using a parallelogram template for the core part is as follows. (1) Here, it is assumed that the total number of target core parts is 30 (the upper part of FIG. 45). In other words, we will create three 10-point adsorption tasks. (2) First, since the number of cassettes is 9, create a parallelogram (template) corresponding to it (right in the middle of FIG. 45).
The right end of each step of the parallelogram is a letter (A to I) indicating the type of the component when the component is assigned to the parallelogram in the case of 10-point cut × 9 pieces. (3) Paying attention to the first stage (bottom stage) of the target part, and its right end is "I", this is the parallelogram stage (here, the parallelogram) where the right end is the same character ("I"). The bottom of the shape) (the bottom of FIG. 45). (4) Similarly, pay attention to the second stage of the target part, and its right end is “F”, so this is the parallelogram stage (here, the parallelogram) where the right end is the same letter (“F”). (4th row) of the table (upper row of FIG. 46). (5) Similarly, pay attention to the third stage of the target part, and its right end is "C", so this is the parallelogram stage (here, the parallelogram) where the right end is the same character ("C"). (7th row) of the above (middle row of FIG. 46). (5) Focusing on the second stage of the target component, similarly, the second stage and the third stage of the target component are placed on the template (FIG. 46). (6) Since there is no further row in which the characters on the right end match, the remaining parts are placed in the vacant positions (“X”) of the placed rows (first, fourth, and seventh rows) (FIG. 46). Bottom). (7) At that time, the parts having the largest remaining number are allocated (upper and middle rows in FIG. 47). (8) If the remaining numbers are the same, the parts are assigned in the order of the letters of the parts (lower part of FIG. 47). (9) All the remaining parts are placed on the template according to the above rules (upper part of FIGS. 48 and 49). (10) As a result of placing all the parts in the template, the first, fourth, and seventh stages of the template are filled with the parts (see FIG. 49).
(Middle), and finally, the gaps in the first, fourth, and seventh stages are closed to complete the cassette division (lower in FIG. 49). 3.3 Cassette division by rectangle The method of cassette division using a rectangular template for the core part is as follows. (1) A rectangular template (here, a template with a width of 10 and a height of 3) is applied to the lower part of 30 target core parts (the upper part of FIG. 50). (2) The area to be complemented (white rectangle) is arranged on the left side of the completed area (middle part of FIG. 50). (3) The parts having a large remaining number are placed in the complementary area of the template (lower part of FIG. 50, upper part of FIG. 51). (4) If the remaining numbers are the same, the parts are assigned in the order of the letters of the parts (middle part of FIG. 51). (5) According to the above rules, all the remaining parts are placed on the template (lower part of FIG. 51, FIG. 52, FIG. 53). When the arrangement is completed, the cassette division is completed. 3.4 Core processing method with a given number of cassettes Basic core processing is performed to form an ideal "mountain" shape, and then the complementary cassette is compressed and stored in the given cassette resource.

At the time of core processing, a process of assigning the number of members to the complementary cassette is performed so that complementary cassettes can be formed by the given number of cassettes, and finally the part remaining in the core part, which is originally used for component division. It is also considered possible to evenly distribute the number of product types to the same part type. With respect to the double cassette, since the core remains on the odd Z number, the complementary cassette can be formed in the same manner as the core processing of the single cassette. In this case, the complementary cassette uses only the odd side of the double cassette (for the odd Z number). Further, the process of compressing the cassette may be performed in the same manner as the single cassette.

Specifically, (1) core processing is performed on the core portion to create an ideal "mountain". At this time, a complementary cassette is made. (2) Obtain the number N of complementary cassettes. (3) (*) Compare the number N of complementary cassettes with the number M of given cassettes. (4) If N ≦ M, the process ends.

The return value is N. In the core processing, it may not be necessary to use all the given number of cassettes, so N was used as the return value. Since the maximum number of complementary cassettes is 9, it does not make sense to supply more than 10 cassettes.

The return value N is used to manage the cassette resource. (5) If N> M, compress one cassette. (5.1) Find the cassette C with the smallest number in the "mountain". (5.2) Search "cassette D" that has the same type of parts as cassette C in the "mountain". There may be a plurality of cassettes D.

Cassette C is not included in cassette D. (5.3) Evenly distribute the number of cassettes C to cassettes D. If it cannot be distributed evenly, the number of cassettes should be increased toward the core side of the “mountain”. For example, if the number of cassettes C is 5 and the number of cassettes D is 3, the cassettes C are divided into 2, 2, and 1, and the cassettes on the core side of the "mountains" are sequentially distributed from 2, 2, and 1. (6) Subtract 1 from the number N of complementary cassettes. (7) Return to (*). 3.5 Task generation process for small parts The correspondence between nozzle numbers and Z numbers is determined, and the process of generating suction patterns for each task is performed.

The correspondence between the nozzle and the mounting point is determined by the "greedy method". The adsorption pattern is generated by scanning from the "mountain" side of the "mountain". Therefore, the left block where "Susono" exists on the side with a smaller Z number and "Susono" is Z
With the right block on the side with the larger number,
The scanning direction of the Z axis is opposite, but the processing is basically the same.

In the case of the double cassette, the total number of component tapes on the even Z number side is assigned to the suction pattern, and then the number of component tapes on the odd Z number side is assigned to the suction pattern. When the number of suction points of the last task made from the component tapes existing on the even Z number side is less than 10, the component less than 10 is suctioned from the component tapes existing on the odd Z number. -Points in programming In the processing described below, to determine whether the component tape placed on the actual Z-axis is the component tape to be adsorbed, whether the component tape belongs to the "mountain" to be processed I'm making a decision. Therefore, it is convenient to prepare information for identifying the "mountain" such as the "mountain" number as the attribute of the component tape and set it in advance. Since two or more "mountains" may be created from one component group, the component group number should not be used to identify "mountains". * In the case of the left block (single cassette "mountain") (8) Set task number t to 1. (9) Obtain the total number of mounting points belonging to the component tapes that make up this "mountain", and use this as the total number of mounting points.

(9.1) When the total number of mounting points is zero, the following processing is performed. Go to (9.1.1) (*). Since there are no "mountains" that have no mounting points at all, it is an error. (10) (◇) Of the nozzles of the task with task number t, Z
The nozzle with the smallest nozzle number is found from the nozzles that are not associated with the number, and the nozzle number is set to Nvac.

The nozzle numbers are 1-10. If there is no nozzle associated with the Z number, Nvac is 1. (10.1) When Z numbers are associated with all nozzles, the following processing is performed. Go to (10.1.1) (*).

The process proceeds to the generation of the suction pattern of the next task. The number of adsorption points for this task is 10. (11) Regarding the Z numbers where the component tapes forming the “mountain” exist, the smallest Z number is obtained from the Z numbers that can be adsorbed by the nozzle of nozzle number Nvac, and is set as Zvac. The Z number is "an odd number in the range of 1 to 48" in the case of previous equipment.

The Z number is "97 to 14" if it is a post facility.
It is an odd number in the range of 4. (11.1) If no such Z number is found, perform the following process (11.1.1) (*). The process proceeds to the generation of the suction pattern of the next task, and the number of suction points of this task is less than 10.

For example, when the component tape exists only at Z = 1, Zvac cannot be determined because there is no component tape that can be adsorbed only by the nozzle 1 and nozzles 2-10. (12) (◎) The total number of mounting points is positive, and Nvac is 1
If it is 0 or less, the following processing is performed.

(12.1) Z is assigned to the nozzle whose nozzle number is Nvac.
If the numbers are not associated and the component tape existing in Zvac belongs to this "mountain", the following processing is performed. (12.1.1) The Zvac is associated with the nozzle whose nozzle number is Nvac. (12.1.2) Subtract 1 from the number of mounting points of the component tape existing in Zvac. (12.1.3) Subtract 1 from the total number of mounting points.

For example, in the case where the first suction is performed in a "missing tooth" shape, the second suction is not necessarily the case where the immediately adjacent nozzle is empty. Therefore, this condition determination (first half)
I put. Further, since there is a possibility that a component tape unrelated to the "mountain" (such as a component tape of a fixed cassette) exists in the middle of the "mountain", this condition determination (second half part) is included.

(12.2) Add 1 to Nvac. (12.3) Add 2 to Zvac. Return to (12.4) (◎). (13) (*) Add 1 to the task number. (14) Return to (◇). (15) (*) End the adsorption pattern generation process. * For the right block (single cassette "mountain") (16) Set 1 to the task number t. (17) Obtain the total number of mounting points that belong to the component tapes that make up this "mountain" and use this as the total number of mounting points.

(17.1) When the total number of mounting points is zero, the following processing is performed. Go to (17.1.1) (*). Since there are no "mountains" that have no mounting points at all, it is an error. (18) (◇) Of the nozzles of the task with task number t, Z
Find the nozzle with the highest nozzle number from the nozzles that are not associated with that number, and set that nozzle number to Nvac.

The nozzle numbers are 1-10. If no nozzle has a Z number associated with it, the Nvac will be 10
Becomes (18.1) When Z numbers are associated with all nozzles, the following processing is performed. Go to (18.1.1) (*).

The process proceeds to the generation of the suction pattern of the next task. The number of adsorption points for this task is 10. (19) Regarding the Z numbers where the component tapes forming the “mountain” are present, the maximum Z number is obtained from the Z numbers that can be adsorbed by the nozzle of nozzle number Nvac, and is set as Zvac. The Z number is "an odd number in the range of 49 to 96" in the case of previous equipment.

The Z number is "145-1" if it is a post facility.
It is an odd number in the range of 92 ". (19.1) If no such Z number is found, perform the following process (19.1.1) (*). The process proceeds to the generation of the suction pattern of the next task, and the number of suction points of this task is less than 10.

For example, when a component tape exists only at Z = 1, Zvac cannot be determined because there is no component tape that can be adsorbed only by the nozzle 1 and nozzles 2-10. (20) (◎) The total number of mounting points is positive, and Nvac is 1
If it is above, the following processing is performed.

(20.1) Z for the nozzle whose nozzle number is Nvac
If the numbers are not associated and the component tape existing in Zvac belongs to this "mountain", the following processing is performed. (20.1.1) Zvac is associated with the nozzle whose nozzle number is Nvac. (20.1.2) 1 is subtracted from the number of mounting points of the component tape existing in Zvac. (20.1.3) Subtract 1 from the total number of mounting points.

For example, when the first suction is performed in the "missing tooth" state, the second suction is not necessarily the case where the immediately adjacent nozzle is empty. Therefore, this condition determination (first half)
I put. Further, since there is a possibility that a component tape unrelated to the "mountain" (such as a component tape of a fixed cassette) exists in the middle of the "mountain", this condition determination (second half part) is included.

(20.2) Subtract 1 from Nvac. (20.3) Subtract 2 from Zvac. Return to (20.4) (◎). (21) (*) Add 1 to the task number. (22) Return to (◇). (23) (*) End the adsorption pattern generation process. * Left block (“mountain” of double cassette) (24) Adsorption is performed on the even Z number side of the double cassette in the same way as in the case of the left block (“mountain” of single cassette) ”.

However, the only difference is that the suction operation is performed from the even Z number, not from the odd Z number. (25) If the last task among the tasks picked up from the even Z number side of the double cassette is a task with less than 10 points, the task is set as the initial value of the task when picking up the odd Z number side of the double cassette. To do.

The last task is sucking in order from the nozzle 1, and the side with the largest nozzle number is vacant. If this is set as the initial value of the task when picking up the odd Z number side as it is, for example, picking up from around Z = 1 cannot be performed. Therefore, the mounting points that have already been adsorbed are moved to the nozzles with the higher nozzle numbers so that the nozzles with the lower nozzle numbers become empty. (26) Adsorption is performed on the odd-numbered Z number side of the double cassette in the same manner as in the case of "right block (single cassette" mountain ")" described above.

However, the only difference is that the suction operation is performed from the even number Z, not from the odd number Z. As a result of picking up the Z number on the even side of the double cassette, if the number of suction points of the last task is less than 10, the odd number of the double cassette
The difference is that the first task of adsorption on the Z number side has an initial value. * Right block (“mountain” of double cassette) (27) Perform suction on the even Z number side of the double cassette in the same way as “For right block (“ mountain ”of single cassette)” ”above.

However, the only difference is that the suction operation is performed from an even Z number, not from an odd Z number. (28) If the last task among the tasks picked up from the even Z number side of the double cassette is a task with less than 10 points, the task is set as the initial value of the task when picking up the odd Z number side of the double cassette. To do.

The last task is sucking in order from the nozzle 10, and the side with the smallest nozzle number is vacant. If this is left as it is as the initial value of the task when picking up the odd Z number side, for example, picking up from around Z = 96 is not possible. Therefore, the mounting point that has already been sucked is moved to the nozzle with the smaller nozzle number so that the nozzle with the larger nozzle number becomes empty. (29) Adsorption is performed on the odd Z number side of the double cassette in the same manner as in the above-mentioned "in the case of the right block (" mount "" of the single cassette) ".

However, the only difference is that the suction operation is performed from an even Z number, not from an odd Z number. As a result of picking up the Z number on the even side of the double cassette, if the number of suction points of the last task is less than 10, the odd number of the double cassette
The difference is that the first task of adsorption on the Z number side has an initial value. 3.6 "Cross-elimination method" (try_to_exchange) 3.6.1 General "Cross-elimination method" determines all the adsorption patterns and assigns the mounting points to each adsorption pattern by "greedy method" (+ HC method). This is one of the algorithms that optimizes the allocation of mounting points after the provisional tasks have been decided.

FIG. 54 (a) shows a mounting path diagram before applying the intersection elimination method (implementation path diagram determined by the greedy method), and FIG. 54 (b) shows implementation after applying the intersection elimination method. A route map is shown. As shown in the figure, this algorithm reduces the number of points where the head movement locus crosses unnecessarily. 3.6.2 Precautions If the mounting point of the task to be processed is caught in the head limitation on the LL board or XL board, "All the mounting points of the partial tasks to be rearranged have head numbers head1 =
Only if “head2 is satisfied” is the target of the intersection resolution algorithm. In other cases, the "intersection elimination method"
If you force the head, the head may not reach the mounting point with an extremely high probability. 3.6.3 Algorithm Specifications FIG. 55 (a) is an implementation path diagram for explaining the algorithm of the intersection elimination method, and FIG. 55 (b) is one intersection (by line A and line B) by four implementation points. It is a figure which shows the example of (intersection). The specific algorithm is as follows. (0) Calculate the amount of head movement when hitting the mounting point of each task, and obtain the sum total for all tasks. (1) Substitute 1 for the Z coordinate and the cutpoint that change the mounting point ( 2) Substitute 1 for task 1 to be rearranged (task1 = 1) (3) Substitute (task1 + 1) for task 2 to be rearranged (task2 = task1 + 1) (4) Obtain the head number (head1, head2) corresponding to the cutpoint for each task. (5) Are the two head numbers both correct? (5.1) If they are not correct (there is no mounting point corresponding to the specified Z coordinate). ), To (13) (5.2) If appropriate, go to (6) (6) Calculate the amount of head movement when hitting the mounting point of each task, and obtain the sum (olength) (7) cutpoint Rearrange subtasks on the left side (8) Calculate the amount of head movement when hitting the mounting point of each task, and calculate the sum (nlengthL) (9) Perform the rearrangement of subtasks on the right side of cutpoint (10) Calculate the amount of movement of the head when hitting the mounting point of each task, and obtain the sum (nlengthR). (11) Compare the three amounts of movement, olength, nlengthL, and nlengthR, and obtain the minimum one. (12) Adopt a task that gives the minimum amount of movement as a new task. (13) Increment task 2. (Task2 = task2 +
1) (14) Compare the number of tasks with task 2 (task2) (14.1) If task 2 does not exceed the number of tasks, return to (4) (14.2) In other cases, go to (15) (15) tasks Increment 1 (task1 = task1 + 1) (16) Compare task 1 (task1) with the number of tasks (16.1) If task 1 does not exceed the number of tasks, return to (3) (16.2) Other cases , (17) Increment cut point to (17) (coutpoint = cutpoint
+1) (18) Compare the cutting point and the maximum Z coordinate (18.1) If the cutting point does not exceed the maximum Z coordinate, go to (2) (18.2), otherwise (19) to (19) Calculate the amount of head movement when hitting the mounting point of the task, and obtain the sum of head movements for all tasks (20) Check whether the total amount of head movements is decreasing (20.1) Decrease In the case of (0) to (20.2) otherwise, FIG. 56 is an implementation path diagram showing an application example of the intersection elimination method by such an algorithm, and FIG. Fig. 56 shows a mounting route diagram according to the method).
(B) shows the thing after application. It can be seen that the number of locations where the mounting routes cross is reduced, and the total mounting route is shortened. 3.7 "Return optimization method" 3.7.1 Outline The "return optimization method" is an algorithm for optimizing the task mounting sequence after the allocation of the mounting points to all the tasks is decided. 3.7.2 Algorithm specifications (1) Obtain the X coordinate of the final mounting point of each task (2) Create a task number list (up []) arranged in descending order of the X coordinate of the final mounting point (3) Each Obtain the maximum Z coordinate of the task component type (maximum Z coordinate taken by head No. 10 when picking up) (4) Task number list arranged in descending order of maximum Z coordinate (p
oint []. task) (5) Assign the task with the largest X coordinate of the final mounting point to the first mounting order (6) As the task to be mounted next, the largest maximum Z among the remaining tasks Allocate tasks with coordinates (7) Are there tasks whose implementation order is not determined? (7.1) If they remain, go to (8) (7.2) Otherwise, go to (10) (8) Allocate the task with the largest X coordinate of the final mounting point as the task to be mounted next (9) Are there any tasks whose mounting order has not been determined? (9.1) If there are any, go to (6) (9.2) In other cases, go to (9) (10) Calculate the head movement amount when hitting the mounting point of each task, and obtain the sum of the head movement amounts for all tasks (11) Swap the mounting order Substitute 1 for task 1 to be performed (task1 = 1) (12) To task 2 to switch the mounting order (task1 + 1)
(Task2 = task1 + 1) (13) Calculate the amount of head movement when hitting the mounting point of each task, and obtain the total sum (olength) for all tasks (14) Select the task to be mounted next to task 1. Implement the task to be implemented after task 2 and the task to be implemented after task 2 next to task 1. Obtain the implementation order of the new task. (15) Calculate the amount of head movement when hitting the implementation point of each task. Then, the total sum (nlength) for all tasks is obtained (16) Two movement amounts, olength and nlength are compared, and the smallest one is obtained (17) The mounting order that gives the minimum movement amount is adopted as a new mounting order. (18) Increment task 2 (task2 = task2 +
1) (19) Compare the number of tasks with task 2 (task2) (19.1) If task 2 does not exceed the number of tasks, return to (11) (19.2) In other cases, go to (19) (20) tasks Increment 1 (task1 = task1 + 1) (21) Compare the number of tasks with task 1 (task1) (21.1) If task 1 does not exceed the number of tasks, return to (10) (21.2) Other cases , (21) to (22) Calculate the head movement amount when hitting the mounting point of each task, and obtain the sum of the head movement amount for all tasks. (23) Whether the total head movement amount is decreasing Check (23.1) if it is decreasing, to (0) (23.2) otherwise, as above, this algorithm is large,
It consists of two parts. (Part 1) (i) As shown in FIG. 57, the suction pattern located at the shortest distance from the final mounting point of each task is found (solid arrow in the figure). FIG. 57 is a diagram showing the “return” operation in FIG. 18, which is the final mounting point on the board (circle in the square) and the position on the Z axis of the component cassette to be adsorbed next (in a horizontal row). Circles 1 to 19) are shown. (ii) Write the mounting path in sequence starting from the first pick-up pattern (dotted arrow in the figure). (iii) When the route returns to the first adsorption pattern, it is set as the shortest circulating partial route 1. (iv) Search for an adsorption pattern that is not included in the shortest circulating partial paths found so far (“4” in the example shown in FIG. 57).
Will be). (v) Return to (ii) above.

As a result, in the example shown in FIG. 57, there are five shortest circulating routes. (Part 2) Which suction pattern should be used to start mounting so as to optimize the mounting order of the plurality of shortest circulating paths. This is implemented from right to right, so there is no problem. Because it is good if there is no return.

FIG. 58 (a) is a diagram showing a "return" operation when there are a plurality of mounting points on the same component cassette, and FIG. 58 (b) applies this "return optimization method". It is a simulation result showing the return trajectory of the head in the case, and it can be seen that the useless cross (left figure) in the movement trajectory before application is reduced after application (right figure). 3.8 Overall Flow (Start from Histogram) (1) Create a component group from the mounting point data. (2) Create "mountains" for each parts group of small parts.

(2.1) The parts are classified into the following two types according to the cassette used. 1. Part type that uses a single cassette 2. Part type that uses a double cassette (feed pitch 2 mm) 3. Part type that uses a double cassette (feed pitch 4 mm) (2.2) Part type that uses a single cassette on the temporary Z axis Make a "mountain".

(2.2.1) A component histogram is created on the temporary Z axis. Parts are arranged in descending order of the number of members. The component type with the largest number is placed at Z = 1. (2.2.2) The number of component types that make up the component histogram is N
And (2.2.3) Convert the temporary Z axis to the actual Z axis.

Part types from Z = 1 to N on the temporary Z axis are
In that order, they are arranged at odd Z numbers in the range of Z = 1 to 2N on the real Z axis. (2.3) For parts that use a double cassette with a feed pitch of 2 mm, make a "mountain" on the temporary Z axis. (2.3.1) Create a component histogram on the temporary Z axis.

Component types are arranged in descending order of the number of members. The component type with the largest number is placed at Z = 1. (2.3.2) The number of component types that make up the component histogram is N
And (2.3.3) The value obtained by dividing N by 2 (rounding up after the decimal point) is M
And (2.3.4) Prepare M double cassettes.

(2.3.5) The second provisional Z axis is prepared. (2.3.6) Set M double cassettes to Z = 1 on the 2nd temporary Z axis.
Places from N to N are closely spaced. (2.3.7) Temporary Z axis is Z = 1 to M
The axes are arranged at odd Z numbers of Z = 1, 3, 5, ..., N-1.

It will be arranged on the odd side of the double cassette. (2.3.8) The component types from Z = (M + 1) to N on the temporary Z axis are arranged in even Z numbers of Z = 2, 4, 6, ..., N on the second temporary Z axis. It will be placed on the even side of the double cassette. When N is an odd number, Z = (N− on the second provisional Z axis
The double cassettes arranged in (1, N) are left empty even though the even side is empty.

(2.3.9) The second provisional Z-axis is set again as the provisional Z-axis. (2.4) Create a "mountain" on the temporary Z-axis for parts that use a double cassette with a feed pitch of 4 mm. Except for the difference in the feed pitch, the process is the same as the above-described "make a" mountain "on the provisional Z axis for the component type using the double cassette with the feed pitch of 2 mm"".

(2.5) Part histograms of double cassettes with feed pitches of 2 mm and 4 mm are fused. (2.5.1) Double cassette "mountain" with feed pitch of 2mm
Then, the “mountain” of the double cassette having the feed pitch of 4 mm is arranged on the same temporary Z axis. A double cassette "mountain" having a feed pitch of 2 mm is arranged from Z = 1, and subsequently, a double cassette "mountain" having a feed pitch of 4 mm is arranged.

Since the cassettes are rearranged in the next process, the arrangement order may be reversed. (2.5.2) Double cassettes on the temporary Z-axis are sorted in descending order of the number of parts on the odd Z-number side. The double cassette with the largest number of parts is placed at Z = 1. Do not break the double cassette pair.

A "mountain" is formed in which double cassettes having feed pitches of 2 mm and 4 mm are mixed. Looking at the number of components of odd-numbered Z numbers, the histogram becomes monotonically decreasing. Looking at the numbers of parts of even-numbered Z numbers, the histogram may not be monotonically decreasing. (3) All [mountains] are [forcedly] arranged on the actual Z axis.

"Mountains" are packed and arranged from the previous facility,
Check if all the "mountains" are fully mounted on the real Z-axis. Arrange by "mountain" unit in the order of parts groups. The "mountain" that straddles the front and rear equipment is divided and distributed to the front and rear equipment.
As for small parts, one part group is divided into "mountain using single cassette" and "mountain using double cassette". Some parts groups have only one "mountain".

When one component group of small components is divided into "mountain using single cassette" and "mountain using double cassette", each is treated as an independent "mountain". It is assumed that general-purpose parts are "mountains" in parts group units. General-purpose parts shall be divided as specified by the user. -Arrangement rules As for small parts, there are single cassette and double cassette, so arrange them in the following order. In consideration of the adjacency condition, the arrangement order is such that the single cassette and the double cassette are less likely to be adjacent to each other. Place a double cassette in the front facility.

(I) Z number of A block = (47, 48)
From the smallest Z number, the empty spaces are searched and arranged in order. (ii) If there is no free space in A block, Z in B block
The number = (95, 96) is moved to, and an empty space is searched for and arranged in ascending order of the Z number. Place a single cassette in the front facility.

(I) From the Z number of the B block = 49, the larger Z number is searched for and arranged in order. (ii) If there is no free space in B block, Z in A block
Move to the number = 1 and search for vacant places in order of increasing Z number and place them. Place a double cassette in the rear equipment.

(I) Z number of C block = (143, 14
From 4), an empty space is searched for and arranged in order from the smallest Z number. (ii) If there is no free space in C block, Z in D block
The number is moved to (191, 192), and the smaller Z number is searched for and arranged in order. Place a single cassette in the rear equipment.

(I) From the Z number of the D block = 145, Z
Search for an empty space in order of increasing number and place it. (ii) If there is no free space in D block, Z in C block
Move to the number = 97, and search for a vacant space in descending order of the Z number and place them. If there are component types that are the subject of array fixing, those component types are placed on the Z numbers of the fixed destinations, and then the component types that are not the subject of array fixing are placed.

For fixing the sequence of the double cassette,
This will be described in detail in "Fixation of Double Cassette Sequence". (3.1) The part group number is represented by n and n = 0. (3.2) (◎) If n is larger than the maximum value of the part group number, proceed to (○). (3.3) "Mountain" of single cassette belonging to parts group n
If exists, the following process is performed.

(3.3.1) It is placed in the previous facility. (3.3.2) As a result, if you can not fit in the previous equipment,
The "mountain" is divided by component type, and the component types that cannot be installed in the front equipment are placed in the rear equipment. (3.3.3) As a result, if it is not possible to fit in the subsequent equipment,
It is an error. When arranging "mountains" of small parts, follow the above arrangement rules.

(3.4) If the "mountain" of the double cassette belonging to the parts group n exists, the following processing is performed. (3.4.1) Place in front equipment. (3.4.2) As a result, if it cannot fit in the previous equipment,
The "mountain" is divided by component type, and the component types that cannot be installed in the front equipment are placed in the rear equipment.

(3.4.3) As a result, if it cannot be installed in the subsequent equipment, it is judged as an error. When arranging "mountains" of small parts, follow the above arrangement rules. (3.5) Add 1 to n. Return to (3.6) (◎). (3.7) (○) Memorize the "mountain" status of the front and rear equipment.

All the "mountains" can be arranged in the most packed state. (4) Place "mountains" in order from the previous equipment. Create the initial state of the "mountain" arrangement when balancing the front and rear equipment using the load level as a scale. The front equipment and the rear equipment are packed in this order from the front equipment, and the "mountains" with smaller component groups are arranged in order, and the "mountains" are arranged in the initial state.

When there is a component type that is the subject of array fixing, the component type that is the subject of array fixing is arranged to the Z number of the fixing destination, and then the component type that is not the subject of array fixing is arranged. The type of parts that are fixed in the array and the "mountain" to which it belongs
Are placed in the same block, the component type that is the object of array fixing is included in the "mountain" to make one "mountain", and the "cutting method" is applied to the "mountain".

When the component type to which the array is fixed and the "mountain" to which it belongs are arranged in different blocks, separate "mountains" are set and the "cutting method" is applied to each "mountain". . (4.1) The part group number is represented by n and n = 0. (4.2) (☆) If n is larger than the maximum value of the part group number, proceed to (★).

(4.3) When a "mountain" of a single cassette belonging to the component group n exists, the following processing is performed. (4.3.1) It is placed in the front equipment. (4.3.2) As a result, if you can not fit in the previous equipment,
The "mountain" is divided by component type, and the component types that cannot be installed in the front equipment are placed in the rear equipment.

(4.3.3) As a result, if it cannot be installed in the subsequent equipment, it is judged as an error. Of the left and right blocks, place the "mountain" on the side with the most Z space. Left and right block Z
If the spaces are the same, place them in the right block. If there is a space in Z of the left block, but the "mountain" does not fit, divide the "mountain" into two parts and place them in the left and right blocks.

(4.4) If a "mountain" of a double cassette belonging to the component group n exists, the following processing is performed. (4.4.1) Place in front equipment. (4.4.2) As a result, if it cannot fit in the previous equipment,
The "mountain" is divided by component type, and the component types that cannot be installed in the front equipment are placed in the rear equipment.

(4.4.3) As a result, if it cannot be installed in the subsequent equipment, it is judged as an error. Of the left and right blocks, place the "mountain" on the side with the most Z space. Left and right block Z
If the spaces are the same, place them in the right block. If there is a space in Z of the left block, but the "mountain" does not fit, divide the "mountain" into two parts and place them in the left and right blocks.

(4.5) The "mountains" of the front equipment and the rear equipment are rearranged by using the load level. For each block, the "mountains" are rearranged in order of load level so that the "mountain" with a large load level is closer to the camera (sensor). (4.6) Add 1 to n. Return to (4.7) (☆).

(4.8) (*) Store the "mountain" state of the front equipment and the rear equipment. (5) Use "load level" to balance front and rear. (5.1) "Load level balance adjustment processing (" mountain "unit movement)" is performed. The details are as described in "Load level balance adjustment processing (" mountain "unit)" described later.

In the "load level balance adjustment processing (" mountain "unit)", finally, the load level balance adjustment is performed in mounting point units. (6) Apply the "cutting method" to small parts. This is combined with the flow of cassette division processing in the current product version. (6.1) (☆) Cut off each "mountain" and leave the core.

(6.1.1) In the case of "mountain" of a single cassette, cutting is performed in the order of odd Z numbers (Z = large → small). 10
When point simultaneous adsorption cannot be performed, the cutting process is ended. (6.1.2) Double cassette "mountain" Even Z number (Z = large → small) → odd Z number (Z = large → small)
The trees are cut in this order.

If even one Z-number remains on the even-numbered Z-number, it is used as the starting point for cutting up. For example, if only one point can be adsorbed on the even Z number side, the remaining 9 points are adsorbed on the odd Z number side. When 10 points cannot be picked up at the same time on the odd Z number side, the cutting process is ended.

The core portion remains on the odd Z number side. (6.2) Set a flag on "mountain". The initial value of the flag is TRUE. (6.3) (★) Memorize the “mountain” state of the front and rear equipment. (6.4) Memorize the status of the cassette resource.

(6.5) The "mountain" M having the highest core portion is searched from among the "mountain" whose flag is TRUE. (6.5.1) If "mountain" M is not found, proceed to (#).
In other words, the core processing for all "mountains" has ended. (6.6) ($) "Mountain" Check whether one cassette of the same type as the cassette type K used by M remains in the resource.

(6.7) If remaining, the following processing is performed. (6.7.1) The number of cassettes used by "mountain" M is K
Is added to perform core processing. Refer to the attached sheet "Core processing method for a given number of cassettes". (6.7.2) If the height of the core does not change, return to ($).

(6.7.3) If the core height becomes low, (*)
Go to. (6.8) If not remaining, perform the following processing. (6.8.1) Return the "mountain" state of the front equipment and the rear equipment to the previous state. (6.8.2) Return the cassette resource status to the previous status. (6.8.3) Set the "mountain" M flag to FLASE.

(6.8.4) Return to (★). (6.9) (*) Place all “mountains” on the actual Z-axis in order to search for “mountains” with the next highest core. (6.10) If you can arrange, return to (☆). (6.11) If it cannot be placed, perform the following processing.

(6.11.1) The state of the "mountain" of the front equipment and the rear equipment is returned to the previous state. (6.11.2) Return the cassette resource status to the previous status. (6.11.3) Set the "mountain" M flag to FLASE. Return to (6.11.4) (★). (7) (#) Generate tasks for small parts.

(7.1) "Small component task generation process" is performed. The details are as described in “Small component task generation processing” described later. (8) Optimize general-purpose parts. (9) Balance before and after using the mounting time. (9.1) Perform "processing to move mountains from front equipment to back equipment".

The details are as described in "Process for moving mountain from front equipment to rear equipment" described later. 3.9 Arrangement of fixed parts and "mountains" in the cassette block The "mountains" on the temporary Z-axis are composed of component tapes that are the target of array fixing and component tapes that are not the target of array fixing. Has been done.

The component tape that is the subject of array fixing is called a "fixed component tape". A component tape that is not subject to array fixing is called a "non-fixed component tape". The cassette block may be simply referred to as "block". The left cassette block is called "left block", and the right cassette block is called "right block".

The Z number for fixing the fixed component tape is called the "fixing destination". It is considered that a “component tape” is created by dividing a component from a certain “component type”, the component tape is stored in a “cassette”, and the cassette is arranged on the Z axis. When the component division is not performed for a certain component type, the number of divisions is considered to be 1, and one component tape is made from the component type. (10) The number of fixed destinations existing in the right block is counted and set as NR.

Only the fixed destinations related to the fixed component tapes belonging to this "mountain" are counted. There may be a plurality of fixed component tapes belonging to this “mountain”. There may be a plurality of fixing destinations of one component tape. (11) Count the number of fixed destinations existing in the left block and set it as NL. Count as in the case of the right block. (12) If NR> NL, perform the following processing.

This is the case where there are many fixed destinations for the right block. (12.1) Place the "mountain" in the right block. See below for the process of placing "mountains" in blocks. The details are as described in “Fixing Array: Determining Usability of Fixed Destination” to be described later.

(12.2) If it cannot be placed in the right block,
Place it in the left block. Another "mountain" is already in the right block
Is placed, and there is no Z space for placing this “mountain”. As a result, the fixed component tape exists in the right block and the "mountain" exists in the left block, but the suction operation across the left and right blocks is not performed. The fixed part tape existing in the right block and the "mountain" existing in the left block are treated as different "mountains".

(12.2.1) If it cannot be placed in the left block, the "mountain" is divided into two parts tape units and placed in the left and right blocks. Since the "mountain" is divided into two, there are "mountain" existing in the same block as the fixed component tape and "mountain" existing in the block different from the fixed component tape. The "mountain" existing in the same block as the fixed component tape is treated as one "mountain" (histogram) on the temporary Z axis in the "cutting method". (13) When NR = NL, the following processing is performed.

This is the case where the left and right blocks are fixed to the same number. (13.1) Place the “mountain” in the larger Z area of the left and right blocks. (13.2) If the left and right blocks have the same number of Zs, the "mountain" is placed in the right block. (13.3) If it cannot be placed in the right block, place it in the left block.

In this case, another "mountain" has already been arranged in the right block, and there is no Z space for arranging this "mountain". As a result, the fixed component tape exists in the right block and the "mountain" exists in the left block, but the suction operation across the left and right blocks is not performed. The fixed part tape existing in the right block and the "mountain" existing in the left block are treated as different "mountains".

(13.3.1) If it cannot be placed in the left block, the "mountain" is divided into two parts tape units and placed in the left and right blocks. Since the "mountain" is divided into two, there are "mountain" existing in the same block as the fixed component tape and "mountain" existing in the block different from the fixed component tape. The "mountain" existing in the same block as the fixed component tape is treated as one "mountain" (histogram) on the temporary Z axis in the "cutting method". (14) If NR <NL, perform the following processing.

This is the case where there are many fixed destinations in the left block. (14.1) Place the "mountain" in the left block. (14.2) If it cannot be placed in the left block, place it in the right block. This is a case where another "mountain" has already been arranged in the left block, and there is no Z space for arranging this "mountain".

As a result, the fixed component tape exists in the left block and the "mountain" exists in the right block, but the suction operation across the left and right blocks is not performed. Fixed parts tape in the left block and "mountain" in the right block
Are treated as separate "mountains". (14.2.1) If it cannot be placed in the left block, divide the "mountain" into two parts tape units and place them in the left and right blocks.

Since the "mountain" is divided into two, there are "mountain" existing in the same block as the fixed component tape and "mountain" existing in the block different from the fixed component tape. The "mountain" existing in the same block as the fixed component tape is treated as one "mountain" (histogram) on the temporary Z axis in the "cutting method". 3.10 Fixed array: Judgment of availability of fixed destination ND is the maximum number of dividable parts of the fixed type tape
And

Let NT be the number of component tapes created from the component type by the “cutting method” (core processing).
Be sure that NT ≦ ND. The number of fixed destinations in the block related to the part type is NZ. Specifically, (1) The following processing is performed on the component type that constitutes the "mountain" in order from one end of the "mountain".

(1.1) (☆) Select one component type. (1.2) If NT ≦ (ND−NZ) for the part type,
The following processing is performed. (1.2.1) Place the component tapes (NT tapes) that make up the "mountain" on the Z-axis without using any fixing points related to that component type. Place the component tapes along the shape of the "mountain".

As a result, the component tape may be arranged at the fixing destination, but this is not a problem. (1.2.2) Place the component tape of that component type on the fixing destination. Regarding the board to be optimized, components are not sucked from this fixing destination, but it is considered to be picked up by another board and placed as specified by the user.

(1.3) Part types NT> (ND-NZ)
If so, the following processing is performed. (1.3.1) Of the component tapes that make up the "mountain" that have the smallest number of parts, {NT- (ND-NZ)}
Place the parts tape of the book at the fixing point. As a fixed destination,
Select a fixed point on the Z axis that is close to the "mountain". (1.3.2) Place the rest of the component tape on the Z-axis without using any fixtures associated with that component type.

As a result, the component tape may be arranged at the fixing destination, but that is also acceptable. Return to (1.4) (☆). 3.11 Regarding the fixed arrangement of double cassettes The optimization for the fixed arrangement of double cassettes is as follows. (1) For a component tape that uses a double cassette with a feed pitch of 2 mm, make a "mountain" on the temporary Z axis (Fig. 59). In other words, the parts histograms arranged in descending order of the number of members are cut at the midpoint (folding position) and folded back, and the first half part and the second half part are combined so that they are alternated (create a pair by folding back. ). (2) Similarly, for a component tape using a double cassette with a feed pitch of 4 mm, make a "mountain" on the temporary Z axis (Fig. 60)). (3) Combine the component histograms of the double cassette with feed pitches of 2 mm and 4 mm (Fig. 61). In other words, the double-cut pairs are maintained and rearranged in descending order of the number of component tapes on the odd Z-number side. (4) Separate into histograms of odd Z numbers and even Z numbers (FIG. 62). (5) If there is no constraint to fix the array, it may be placed on the actual Z axis as it is (FIG. 63). (6) In the case where there is a constraint of fixed array (parts A to E shown in FIG. 64 are target parts of fixed array), the following is performed. (7) The parts for which the array is fixed are pulled out in units of double cassettes containing them (Fig. 65). (8) With respect to only the odd number side, the non-fixed component tape is returned to the actual Z axis (Fig. 66). (9) Close the "mountain" gap (Fig. 67).

At this time, the odd-sided "mountains" can be closed in units of double cassettes (FIG. 67 (a)), but the even-sided "mountains" can be closed by the odd-sided "mountains". The gap may remain because it is packed according to (FIG. 67 (b)). (10) The even-numbered component tapes are rearranged for each feed pitch (FIG. 68). Specifically, the feed pitch is 2 on the even side.
With respect to the mm component tape, the component tape existing on the actual Z-axis and the component tape that is not the array fixation target that has been removed together with the component tape that is the array fixation target are rearranged in descending order of the number of members, and the feed pitch is 2 mm. Put it on the even side of the double cassette.

The component tape having a feed pitch of 4 mm on the even side is processed in the same manner as the component tape having a feed pitch of 2 mm. As a result, double cassette (43, 4
4), (45, 46) and (47, 48) are unnecessary. 3.12 LL Constraint: Change of adsorption method (1) (2) The same number of flags as Z (Z number) is provided, and Z and flag correspond one to one. (3) Perform the following processing for the mounting point in the left block.

(3.1) The following processing is performed for the component type arranged in Z. -If no component type is placed in Z, set the flag to FALSE. -If there is no implementation point included in the LL constraint area, set the flag to FALSE.・ If there is an implementation point included in the LL constraint area, set the flag to TR.
UE (3.2) Count the number of mounting points that are not included in the LL constraint area, and
(F means free).

(3.3) The number of mounting points included in the LL constrained area is counted and set as Nr (where r means restricted). (3.4) If either Nf or Nr is not zero, repeat the following process. (3.4.1) When both Nf and Nr are not zero (i) For the mounting points not included in the LL constrained area, 6 points are picked up and assigned to heads 1 to 6 in the order of Z numbers.

The number of picked-up mounting points is Pf. Head 1
Adsorb multiple times so that ~ 6 can be loaded. Of the Z numbers where the picked up mounting points existed, the maximum Z number is Zmax. (ii) Subtract Pf from Nf. (iii) For the mounting points existing in Z larger than Zmax and included in the LL restricted area, four points of suction are cut up and assigned to the heads 7 to 10 in the order of Z numbers.

Let Pr be the number of picked-up mounting points. Head 7
Adsorption is performed multiple times so that ~ 10 can be loaded. (iv) Subtract Pr from Nr. (3.4.2) When Nf is not zero and Nr is zero (i) The picking up of 10 points is performed for all mounting points, and heads 1 to 10 are assigned in the order of Z numbers.

The number of picked-up mounting points is Pf. Head 1
Adsorption is performed multiple times so that ~ 10 can be loaded. (ii) Subtract the picked-up mounting point Pf from Nf. (3.4.3) When Nf is zero and Nr is not zero (ii) All the mounting points are targeted for cutting up by four points and assigned to the heads 7 to 10 in the order of Z numbers.

Let Pr be the number of picked-up mounting points. Head 7
Adsorption is performed multiple times so that ~ 10 can be loaded. head
No adsorption on 1-6. (ii) Subtract the number of mounted mounting points Pr from Nr. (3.4.4) When Nf and Nr are zero, the process for the left block ends. (4) Perform the following processing for the mounting point in the right block.

(4.1) The following processing is performed for the component type arranged in Z. -If no component type is placed in Z, set the flag to FALSE. -If there is no implementation point included in the LL constraint area, set the flag to FALSE.・ If there is an implementation point included in the LL constraint area, set the flag to TR.
UE (4.2) Count the number of mounting points not included in the LL constraint area, and
(F means free) (4.3) Count the number of mounting points included in the LL constrained area, and set it as Nr (r means restricted).

(4.4) If either Nf or Nr is not zero, the following process is repeated. (4.4.1) When both Nf and Nr are not zero (i) The mounting points included in the LL constrained area are targeted for cutting up by four points and assigned to the heads 7 to 10 in the order of Z numbers. Let Pr be the number of picked up mounting points.

Adsorption is performed a plurality of times so that the heads 7 to 10 can be fully loaded. Of the Z numbers where the picked up mounting points existed, the maximum Z number is Zmin. (ii) Subtract Pr from Nr. (iii) The mounting points existing in Z smaller than Zmin and not included in the LL constrained area are clipped for 6-point suction, and assigned to the heads 1 to 6 in the order of Z numbers.

The number of picked-up mounting points is Pf. Head 1
Adsorb multiple times so that ~ 6 can be loaded. (iv) Subtract Pf from Nf. (4.4.2) When Nf is not zero and Nr is zero (i) The picking up of 10 points is performed for all mounting points, and heads 1 to 10 are assigned in the order of Z numbers.

The number of picked-up mounting points is Pf. Head 1
Adsorption is performed multiple times so that ~ 10 can be loaded. (ii) Subtract the picked-up mounting point Pf from Nf. (4.4.3) When Nf is zero and Nr is not zero (i) For all the mounting points, the four points of suction are cut up and assigned to the heads 7 to 10 in the order of Z numbers.

The number of picked-up mounting points is Pr. Head 7
Adsorption is performed multiple times so that ~ 10 can be loaded. head
No adsorption on 1-6. (ii) Subtract the number of mounted mounting points Pr from Nr. (4.4.4) When Nf and Nr are zero, the process for the right block ends. (5) End 3.13 LL Constraint: Change of adsorption method (2) (1) Provide the same number of flags as Z (Z number), and make Z and flags correspond one to one. (2) Perform the following processing for the mounting point in the left block.

(2.1) The following processing is performed on the component type arranged in Z. -If no component type is placed in Z, set the flag to FALSE. -If there is no implementation point included in the LL constraint area, set the flag to FALSE.・ If there is an implementation point included in the LL constraint area, set the flag to TR.
UE (2.2) Count the number of mounting points not included in the LL constraint area, and
(F means free).

(2.3) The number of mounting points included in the LL restricted area is counted and set to Nr (r means restricted). (2.4) If either Nf or Nr is not zero, repeat the following process. (2.4.1) When both Nf and Nr are not zero (i) For the mounting points that are not included in the LL constrained area, six points are picked up and assigned to heads 1 to 6 in the order of Z numbers.

The number of picked-up mounting points is Pf. Head 1
Adsorb multiple times so that ~ 6 can be loaded. Of the Z numbers where the picked up mounting points existed, the smallest Z number is Zf. (ii) Subtract Pf from Nf. (iii) For the mounting points included in the LL restricted area, four points of suction are cut up and assigned to the heads 7 to 10 in the order of Z numbers.

Let Pr be the number of mounting points that have been attracted. Head 7
Adsorption is performed multiple times so that ~ 10 can be loaded. Of the Z numbers where the picked up mounting points existed, the smallest Z number is Zr. (iv) Subtract Pr from Nr. (v) If Zf ≤ Zr, NC data are arranged in the order of heads 1 to 6 and heads 7 to 10.

The heads 1 to 6 and the heads 7 to 10 are adsorbed in this order. The suction order matches the mounting order, and the mounting order is the NC data order. (vi) If Zf> Zr, NC data are arranged in the order of heads 7-10 and heads 1-6. The heads 7 to 10 and heads 1 to 6 are adsorbed in this order.

The suction order matches the mounting order, and the mounting order is the NC data order. (2.4.2) When Nf is not zero and Nr is zero (i) The picking up of 10 points is performed for all mounting points, and heads 1 to 10 are assigned in the order of Z numbers. Let Pf be the number of picked up mounting points.

Adsorption is performed a plurality of times so that the heads 1 to 10 can be fully loaded. (ii) Subtract the picked-up mounting point Pf from Nf. (2.4.3) When Nf is zero and Nr is not zero (i) All the mounting points are targeted for cutting up by four points and assigned to the heads 7 to 10 in the order of Z numbers.

Let Pr be the number of mounting points that have been attracted. Head 7
Adsorption is performed multiple times so that ~ 10 can be loaded. There may be many 4-point adsorption tasks. (ii) Subtract the number of mounted mounting points Pr from Nr. (2.4.4) When Nf and Nr are zero, the processing for the left block ends. (3) Perform the following processing for the mounting point in the right block. (3.1) Perform the following processing for the component type placed in Z. -If no component type is placed in Z, set the flag to FALSE. -If there is no implementation point included in the LL constraint area, set the flag to FALSE.・ If there is an implementation point included in the LL constraint area, set the flag to TR.
UE

(3.2) Count the number of mounting points not included in the LL constrained area and set it as Nf (f means free) (3.3) Count the number of mounting points included in the LL constrained area and set it as Nr ( r means restricted). (3.4) If either Nf or Nr is not zero, repeat the following process.

(3.4.1) When both Nf and Nr are not zero (i) For the mounting points included in the LL constrained area, four points are picked up and assigned to the heads 7 to 10 in the order of Z numbers. . Let Pr be the number of picked up mounting points. Adsorption is performed multiple times so that the heads 7 to 10 can be fully loaded.

Of the Z numbers where the picked up mounting points existed,
Let Zr be the smallest Z number. (ii) Subtract Pr from Nr. (iii) For the mounting points that are not included in the LL restricted area, 6 points of suction are cut up and assigned to the heads 1 to 6 in the order of Z numbers. Let Pf be the number of picked up mounting points.

Multiple times, so that the heads 1 to 6 can be fully loaded,
Adsorb. Of the Z numbers where the picked up mounting points existed,
Let Zf be the smallest Z number. (iv) Subtract Pf from Nf. (v) If Zf ≤ Zr, NC data are arranged in the order of heads 7-10 and heads 1-6. The heads 7 to 10 and heads 1 to 6 are adsorbed in this order.

The suction order matches the mounting order, and the mounting order is the NC data order. (vi) If Zf> Zr, NC data are arranged in the order of heads 1 to 6 and heads 7 to 10. The heads 1 to 6 and the heads 7 to 10 are adsorbed in this order. The suction order matches the mounting order, and the mounting order is the NC data order.

(3.4.2) When Nf is not zero and Nr is zero (i) The picking up of 10 points is performed for all the mounting points, and heads 1 to 10 are assigned in the order of Z numbers. Let Pf be the number of picked up mounting points. Adsorption is performed multiple times so that the heads 1 to 10 can be fully loaded.

(Ii) Subtract the picked-up mounting point number Pf from Nf. (3.4.3) When Nf is zero and Nr is not zero (i) All four mounting points are targeted for cutting up, and assigned to heads 7 to 10 in the order of Z numbers. Let Pr be the number of picked up mounting points.

Adsorption is performed a plurality of times so that the heads 7 to 10 can be fully loaded. There may be many 4-point adsorption tasks. (ii) Subtract the number of mounted mounting points Pr from Nr. (3.4.4) When Nf and Nr are zero, the process for the right block ends. (4) End 3.14 LL constraint: Swap of component types on Z axis (1) (1) By this stage, it is assumed that all peaks have been determined by the “cutting method”. (2) For block A, the following processing is performed for positions Z = 1 to 11.

(2.1) Let the component type existing at the position Z be the component type K, and find the maximum value Xmax of the X coordinate of the mounting point belonging to the component type K. If there is no part type at position Z, set Xmax = 0. (2.2) When Xmax ≤ 400.0 [mm] (when the component type K does not have a mounting point existing in the LL constraint area) (2.2.1) Do nothing.

The maximum value of the X coordinate of the mounting point that can be mounted by the nozzle 1 is 400.0 [mm]. (2.3) When Xmax> 400.0 [mm] (when the component type K has a mounting point that exists in the LL constraint area) (2.3.1) A mountain M including the component type K is configured and Z = 12 From the component types that exist thereafter, a component type that does not have a mounting point in the LL constraint area and that has a similar number to the component type K is found, and that component type K is replaced.

In the case of a component type using a double cassette, it is also necessary that the feed pitches match. (2.3.2) If not found, it exists in block A, and
Among the component types that form a mountain other than the mountain M and that exist after Z = 12, find the component type that does not have a mounting point in the LL constraint area and that has the smallest number, and replace it.

There is a case where parts of different parts groups are replaced. In the case of a component type that uses a double cassette, it is also necessary that the feed pitches match. (2.3.3) If not found, among the component types that make up the mountain existing in the B block, there is no mounting point in the LL constraint area,
And find the part type with the smallest number and replace it.

There is a case where parts of different parts groups are replaced. For one task, adsorption may occur from both A block and B block. In the case of a component type that uses a double cassette, it is also necessary that the feed pitches match.

(2.3.4) If not found, implementation is not possible. (3) Finish. 3.15 LL constraint: Swap of component types on Z axis (2) (1) By this stage, all peaks shall be determined by the “cutting method”. (2) Generate a task. (3) Check the correspondence between the head number of each task and position Z, and
For each Z, find the minimum head number that picks up the mounting point. (4) For block A, the following processing is performed for positions Z = 1 to 11.

(4.1) The component type existing at the position Z is set as the component type K, and the maximum value Xmax of the X coordinate of the mounting point belonging to the component type K is calculated. If there is no part type at position Z, set Xmax = 0. (4.2) Let Xh be the maximum X coordinate that can be mounted with the smallest head number that picks up the mounting point from position Z.

(4.3) When Xmax ≤ Xh (when the component type K does not have a mounting point existing in the LL constraint area) (4.3.1) Do nothing. (4.4) When Xmax> Xh (when the component type K has a mounting point that exists in the LL constrained area) (4.4.1) A mountain M including the component type K is configured and exists after Z = 12 From the component types to be used, find a component type that does not have a mounting point in the LL constrained area and that has a similar number to the component type K, and replace it with the component type K.

In the case of a component type that uses a double cassette, it is also necessary that the feed pitches match. (4.4.2) If not found, it exists in block A, and
Among the component types that form a mountain other than M and that exist after Z = 12, find the component type that does not have a mounting point in the LL constrained area and has the smallest number, and replace it.

There is a case where parts of different parts groups are replaced. In the case of a component type that uses a double cassette, it is also necessary that the feed pitches match. (4.4.3) If not found, among the component types that make up the mountain existing in the B block, there is no mounting point in the LL constraint area,
And find the part type with the smallest number and replace it.

There is a case where m is replaced with a part type of a different part group. For one task, adsorption may occur from both A block and B block. In the case of a component type that uses a double cassette, it is also necessary that the feed pitches match.

(4.4.4) If not found, implementation is not possible. (5) Finish. 3.16 Correspondence to XL size board (XL constraint) Avoid XL constraint by the following method. (1) Allocation to front equipment / rear equipment based on mounting point coordinates (2) Component division based on mounting point coordinates (3) Initial distribution using the area that can be mounted by both front and rear equipment (4) Avoidance of LL constraints Specifically, it is as follows. (1) Allocation to front equipment / rear equipment by mounting point coordinates Now, allocation to front equipment / rear equipment by mounting point coordinates is performed in the table shown in FIG. (2) Component division by mounting point coordinates (2.1) There are the following three types depending on the mounting point coordinates of the component type.

(I) The component type is assigned to the previous equipment. (ii) Allocate the component type to the subsequent equipment. (iii) Parts are assigned by dividing the front equipment and the rear equipment. (2.2) In the case of (3) above, component division is required. Instead of allocating the number of components to the front / rear equipment, the mounting points themselves are allocated to the front / rear equipment. (3) Initial allocation using the area that can be mounted by both the front equipment and the rear equipment (3.1) Allocate the component type corresponding to the area shown in Fig. 20 to the front equipment.

(3.1.1) The load level is calculated for each component type corresponding to the area, and the total is used as the load level of the previous facility. (3.2) Allocate the component type corresponding to the area to the post equipment. (3.2.1) Calculate the load level for each component type corresponding to the area, and use the total as the load level of the previous equipment.

(3.3) The component types corresponding to the area are arranged in Z of the preceding equipment so as to be placed in the order of the component group, in the order of the number of members. (3.3.1) Calculate the load level of the placed component type and add it to the load level of the previous equipment. (3.4) Among the component types corresponding to the area, the component types that could not be placed in the front equipment are placed in Z of the rear equipment.

(3.4.1) The load level of the placed component type is calculated and added to the load level of the post equipment. If it cannot be placed in the subsequent equipment, it is an error. (3.5) (Load level of front equipment) <(Load level of rear equipment) (3.5.1) Since the balance does not improve any more, it ends.

(3.6) If (load level of preceding equipment)> (load level of succeeding equipment), the following processing is repeated. (3.6.1) Among the part types corresponding to the area in the front equipment, the part type with the largest part group number and the smallest number is sent to the rear equipment. If it cannot be sent to the post equipment (= when the Z of the post equipment is empty), the balance will not improve anymore, so the process ends.

(3.6.2) The load level of the front equipment and the load level of the rear equipment are recalculated. (4) Avoidance of LL constraint (4.1) Since the area in the previous equipment is the LL constraint area, L
Perform processing corresponding to the L constraint. (4.2) Since the area in the post facility is the LL restricted area, L
Perform processing corresponding to the L constraint. 3.17 Load level balance adjustment processing (“mountain” unit) The features are as follows.

(I) The load level balance is adjusted by moving the front equipment from the front equipment to the rear equipment in "mountain" type units with the load level of the front equipment being higher than the load level of the rear equipment. (ii) For the "mountain" existing on the balance point, the load level balance adjustment is performed for each component type. The details are as described in “Load level balance adjustment processing (per component type) (A)” described later.

The specific procedure is as follows. (1) Flag all mountains. The initial value of the flag is TRUE. (2) (☆) Flags of all mountains placed in front of the equipment are F
If it is ALSE, perform the following processing.

Proceed to (2.1) (*). This would be the case if all the mountains that were located in the front facility were moved to the rear facility (this should not be possible). (3) The current arrangement state of the mountains of the front equipment and the rear equipment is stored. (4) The process of selecting the mountain M to be moved is performed as follows.

(4.1) Obtain the maximum value of the component group number for the component type (component tape) that composes the mountain arranged in the previous facility, and set it as PGmax. (4.2) If the flags of all the mountains are FALSE for mountains that are composed of single cassettes or double cassettes that contain the component type whose component group number is PGmax, the following process is performed.

(4.2.1) The process of moving the mountain from the front facility to the rear facility ends. Since there is no mountain to be moved, the process of moving the mountain from the front equipment to the rear equipment ends. Lines are not always balanced. (4.3) "Mountain composed of a single cassette containing the component type PGmax" and "Mountain composed of a double cassette containing the component type PGmax"
If both exist (4.3.1), the mountain composed of the single cassette is referred to as mountain M.

(4.4) One of "mountain composed of single cassette containing component type whose component number is PGmax" and "mountain composed of double cassette containing component type whose component number is PGmax" If only one exists (4.4.1), the mountain is designated as mountain M. (5) Remove the mountain M from the mountains arranged in the front equipment,
Relocate the remaining mountains. (6) Add mountain M to the mountains arranged in the rear equipment and rearrange those mountains. (7) If the restrictions on nozzles cannot be satisfied in the front equipment or the rear equipment, perform the following processing.

(7.1) Return to the state in which the arrangement state of the mountains of the front equipment and the rear equipment is stored. (7.2) Set the flag of mountain M to FALSE. This mountain M cannot be moved after this. Go to (7.3) (◎). (8) In the front equipment or the rear equipment, if the mountain cannot be placed on the Z axis, perform the following processing.

(8.1) Return the mountain arrangement state of the front equipment and the rear equipment to the stored state. Go to (8.2) (*). The only mountain that can be moved is mountain M, so we will try to improve the line balance by dividing mountain M into parts and dividing them into front equipment and rear equipment. Since the mountain M is not always on the line balance point, the line balance may be improved but the line balance may not be perfect. (9) Calculate the load level of the previous equipment.

(9.1) Calculate the load level for small parts. (9.2) Calculate the load level for general-purpose parts. (9.3) Add the load level of small parts and the load level of general-purpose parts to obtain the load level of the previous equipment. (10) Calculate the load level of the subsequent equipment.

(10.1) Calculate the load level for small parts. (10.2) Calculate the load level for general-purpose parts. (10.3) Add the load level of small parts and the load level of general-purpose parts to obtain the load level of the subsequent equipment. (11) If the mounting time of the front equipment and the load level of the rear equipment match, perform the following processing.

Proceed to (11.1) (*). This means that the load levels of the front equipment and the rear equipment are perfectly balanced. (12) If the load level of the front equipment is smaller than the load level of the rear equipment, the following processing is performed. (12.1) Return to the state where the arrangement state of the mountains of the front equipment and the rear equipment is stored.

(12.2) The “load level balance adjustment processing (per component type)” is performed on the mountain M. For the "mountain" existing on the balance point, load level balance adjustment is performed for each component type. The details are as described in “Load level balance adjustment processing (per component type) (A)” described later. Go to (12.3) (*).

The mountain M is on the line balance point. Return the mountain M to the state where it was placed in the previous facility. After this,
We try to improve the line balance by dividing the mountain M into parts and assigning them to the front equipment and the rear equipment. (13) If the load level of the front equipment is longer than the load level of the rear equipment, perform the following processing.

(13.1) The mountain M flag is set to FALSE. Mountain
M has been moved. Proceed to (13.2) (◎). In addition, move in mountain units. (14) (◎) Return to (☆) above. (15) (*) End the "Load level balance adjustment processing (" mountain "unit)". 3.18 Load level balance adjustment processing (per component type) The features are as follows.

(I) The load level balance is adjusted by moving from the front facility to the rear facility in parts type units, with the load level of the front facility being higher than the load level of the rear facility as an initial state. (ii) Since the accuracy of the load level is not good, do not adjust the load level balance for each mounting point.

The specific procedure is as follows. (1) Flags are provided for the types of parts that make up the mountain M. The initial value of the flag is TRUE. (2) Create a list of parts (species) for mountain M. (3) (☆) If the flags of all component types in the component list are FALSE, the following processing is performed.

Proceed to (3.1) (*). The “load level balance adjustment processing (per component type)” is ended. (4) Memorize the arrangement state of the mountains of the front equipment and the rear equipment. (5) From the component types with the flag TRUE in the component list, select the component type K with the smallest number. (6) The component type K is assigned to the rear equipment. (7) A component type that remains in the parts list, is TRUE, and is not allocated to the preceding equipment or the succeeding equipment is assigned to the preceding equipment.

The mountains other than the mountain M are assigned to the front equipment or the rear equipment. (8) Calculate the load level for the previous equipment. (8.1) Calculate the load level of small parts. (8.2) Calculate the load level of general-purpose parts. (8.3) Add the load level of small parts and the load level of general-purpose parts to obtain the load level of the previous equipment. (9) Calculate the load level for the post equipment.

(9.1) Calculate the load level of small parts. (9.2) Calculate the load level of general-purpose parts. (9.3) Add the load level of small parts and the load level of general-purpose parts to obtain the load level of the subsequent equipment. (10) If the load level of the front equipment and the load level of the rear equipment are the same, perform the following processing.

Proceed to (10.1) (*). This means that the load levels of the front equipment and the rear equipment were perfectly balanced. (11) When the load level of the front equipment is lower than the load level of the rear equipment, the following processing is performed. (11.1) Set the component type K flag to FALSE.

The component type K has already been moved. Go to (11.2) (*). Since the load level of the rear equipment becomes higher than that of the front equipment due to the movement of the part type K from the front equipment to the rear equipment, the load level balance adjustment by moving the part type unit is completed. (12) If the load level of the front equipment is higher than the load level of the rear equipment, perform the following processing.

(12.1) The flag of the component type K is set to FALSE. The part type K has already been moved. Return to (12.2) (☆). Furthermore, the movement is performed in parts type units. (13) (*) Terminate "Load level balance adjustment processing (per component type)". 3.19 Processing to move mountains from front equipment to post equipment (1) Flags are set for all mountains.

The initial value of the flag is TRUE. (2) (☆) Flags of all mountains placed in front of the equipment are F
If it is ALSE, perform the following processing. Go to (2.1) (*). This would be the case if all the mountains that were located in the front facility were moved to the rear facility (this should not be possible). (3) The current arrangement state of the mountains of the front equipment and the rear equipment is stored. (4) The process of selecting the mountain M to be moved is performed as follows.

(4.1) The maximum value of the component group number of the component type (component tape) that constitutes the mountain arranged in the previous equipment is calculated and set as PGmax. (4.2) If the flags of all the mountains are FALSE for mountains that are composed of single cassettes or double cassettes that contain the component type whose component group number is PGmax, the following process is performed.

(4.2.1) The process of moving the mountain from the front facility to the rear facility ends. Since there is no mountain to be moved, the process of moving the mountain from the front equipment to the rear equipment ends. Lines are not always balanced. (4.3) "Mountain composed of a single cassette containing the component type PGmax" and "Mountain composed of a double cassette containing the component type PGmax"
If both exist (4.3.1), the mountain composed of the single cassette is referred to as mountain M.

(4.4) Either "Mountain composed of a single cassette containing a component type whose component number is PGmax" or "Mountain composed of a double cassette containing a component type whose component number is PGmax" If only one exists (4.4.1), the mountain is designated as mountain M. (5) Remove the mountain M from the mountains arranged in the front equipment,
Relocate the remaining mountains. (6) Add mountain M to the mountains arranged in the rear equipment and rearrange those mountains. (7) If the restrictions on nozzles cannot be satisfied in the front equipment or the rear equipment, perform the following processing.

(7.1) Return to the state in which the arrangement state of the mountains of the front equipment and the rear equipment is stored. (7.2) Set the flag of mountain M to FALSE. This mountain M cannot be moved after this. Go to (7.3) (◎). (8) In the front equipment or the rear equipment, if the mountain cannot be placed on the Z axis, perform the following processing.

(8.1) Return to the state in which the arrangement state of the mountains of the front equipment and the rear equipment is stored. Go to (8.2) (*). The only mountain that can be moved is mountain M, so we will try to improve the line balance by dividing mountain M into parts and dividing them into front equipment and rear equipment. Since the mountain M is not always on the line balance point, the line balance may be improved but the line balance may not be perfect. (9) Generate tasks for the previous equipment.

(9.1) Generate a task for a small part. (9.2) Generate tasks for general-purpose parts. (10) Generate a task for the post equipment. (10.1) Generate tasks for small parts. (10.2) Generate tasks for general-purpose parts. (11) Calculate the mounting time for the front equipment and the rear equipment.

This is a case where mountains can be arranged in both the front equipment and the rear equipment. (12) If the mounting time of the front equipment and the mounting time of the rear equipment match, perform the following processing. Go to (12.1) (*). (13) If the mounting time of the front equipment is shorter than the mounting time of the rear equipment, the following processing is performed.

(13.1) Return to the state where the arrangement state of the mountains of the front equipment and the rear equipment is stored. (13.2) Perform the process of moving the component type from the front equipment to the rear equipment for the mountain M. Proceed to (13.3) (*). Mountain M is on the line balance point. Mountain M returns to the state in which it was placed in the previous facility.

After that, the mountain M is divided into each component type unit and divided into the front equipment and the rear equipment to try to improve the line balance. (14) If the mounting time of the front equipment is longer than the mounting time of the rear equipment, perform the following processing. (14.1) Set mountain M flag to FALSE. Proceed to (14.2) (◎).

In this case, it is necessary to move the mountain further from the front equipment to the rear equipment. (15) (◎) Return to (☆) above. (16) (*) "Process to move mountains from front equipment to back equipment"
To finish. 3.20 Processing to move parts from front equipment to post equipment
(A) Features are as follows.

(I) The balance of the mounting time is adjusted by moving from the front facility to the rear facility in component type units, with the initial state being a state where the mounting time of the front facility is longer than the mounting time of the rear facility. (ii) The number of moving parts is not so small. There are many types of parts that are moved to the post equipment.

The component type may be arranged in the front equipment and the rear equipment. Parts are divided. (iii) Good balance. The specific procedure is as follows. (1) Flags are provided for the types of parts that make up the mountain M. The initial value of the flag is TRUE. (2) Create a list of parts (species) for mountain M. (3) (☆) If the flags of all component types in the component list are FALSE, the following processing is performed.

Proceed to (3.1) (*). The "processing for moving the component type from the previous equipment to the subsequent equipment" is ended. (4) Memorize the arrangement state of the mountains of the front equipment and the rear equipment. (5) From the component types with the flag TRUE in the component list, select the component type K with the smallest number. (6) The component type K is assigned to the rear equipment. (7) A component type that remains in the parts list, is TRUE, and is not allocated to the preceding equipment or the succeeding equipment is assigned to the preceding equipment.

The mountains other than the mountain M are assigned to the front equipment or the rear equipment. (8) Generate tasks for the previous equipment. (8.1) Generate tasks for small parts. Parts are divided by the core processing. (8.2) Generate a task for a general-purpose component.

Parts are divided as specified by the user. (9) Generate a task for the post equipment. (9.1) Generate tasks for small parts. Parts are divided by the core processing. (9.2) Generate a task for general-purpose parts.

Parts are divided as specified by the user. (10) Calculate the mounting time of the front equipment and the mounting time of the rear equipment. (11) If the mounting time of the front equipment and the mounting time of the rear equipment are the same,
The following processing is performed. Go to (11.1) (*). This means that the balance between the front equipment and the rear equipment was perfectly balanced. (12) If the mounting time of the front equipment is shorter than the mounting time of the rear equipment, perform the following processing.

(12.1) The flag of the component type K is set to FALSE. The part type K has already been moved. (12.2) Perform the process of moving the mounting point from the front equipment to the rear equipment for the component type K. By moving the component type K from the front facility to the rear facility, the mounting time of the rear facility becomes longer than that of the front facility.Therefore, the component type K is divided and distributed to the front facility and the rear facility to improve the line balance. To do.

Proceed to (12.3) (*). (13) If the mounting time of the front equipment is longer than the mounting time of the rear equipment, perform the following processing. (13.1) Set the component type K flag to FALSE. Part type K
Has been moved. Return to (13.2) (☆).

Further, the movement is performed in units of component types. (14) (*) End the "Process to move the component type from the previous equipment to the subsequent equipment". 3.21 Move the mounting point from the front equipment to the rear equipment The processing component type K is divided by mounting point, and the processing is distributed to the front equipment and the rear equipment as follows. (1) Arrange the mounting points in ascending order of y coordinate.

(1.1) If the y-coordinates are the same, the x-coordinates are arranged in ascending order. This is called a mounting point list. When the component type K is divided for each mounting point and distributed to the front equipment and the rear equipment, only one component type K may be arranged in the front equipment or the rear equipment. In such a case, it is considered that it is advantageous to collect the mounting points that are close to each other, so here the mounting points are rearranged by their coordinates.

In the "greedy method", this rearrangement is not necessary if it is commonly applied to the same component type in the front equipment and the rear equipment. This rearrangement is effective if the "greedy method" is independently applied to the front equipment and the rear equipment. (2) Set 1 to the value n that indicates the number of mounting points assigned to the previous equipment. (3) (☆) If n is larger than the number of mounting points of component type K, perform the following processing.

Proceed to (3.1) (*). The "processing to move the mounting point from the previous equipment to the subsequent equipment" is completed. (4) Allocate the nth mounting point from the beginning of the mounting point list to the previous equipment. (5) Allocate the (n + 1) th to the end of the mounting point list to the subsequent equipment. (6) Generate a task for the previous equipment.

(6.1) Generate a task for a small part. Parts are divided by the core processing. (6.2) Generate a task for a general-purpose component. Parts are divided according to user specifications. (7) Generate a task for the post equipment.

(7.1) Create a task for a small part. Parts are divided by the core processing. (7.2) Generate a task for a general-purpose component. Parts are divided according to user specifications. (8) Calculate the mounting time of the front equipment and the mounting time of the rear equipment. (9) If the mounting time of the front equipment and the mounting time of the rear equipment are the same,
The following processing is performed.

Proceed to (9.1) (*). The "processing to move the mounting point from the previous equipment to the subsequent equipment" is completed. This means that the balance between the front equipment and the rear equipment was perfectly balanced. (10) If the mounting time of the front equipment is shorter than the mounting time of the rear equipment, perform the following processing. Go to (10.1) (*).

[0284] The "processing for moving the mounting point from the preceding equipment to the succeeding equipment" is ended. The balance between the front and rear equipment is fairly good, but not perfect. (11) If the mounting time of the front equipment is longer than the mounting time of the rear equipment, perform the following processing. (11.1) Add 1 to n. Return to (11.2) (☆).

The mounting point is further moved from the front equipment to the rear equipment. (12) (*) End the "Process to move the mounting point from the front equipment to the rear equipment". 3.22 Swap Processing in Line Balance Processing Next, the line balance processing (swap processing) in the case where there is no space in the Z axis of the movement destination will be described while comparing it with the case in which there is a space in the Z axis.

FIGS. 69 (a) and 69 (b) show an example of the mounting time of the front equipment and the rear equipment when the Z axis has a space, and
69 (c) and 69 (d) are examples of the mounting time of the front equipment and the rear equipment when there is no space on the Z axis, and the line balance at that time. It is explanatory drawing which shows a process (swap process).

If there is a vacancy in the Z axis, FIG. 69 (a),
As shown in (b), the above (3.19 to 3.21)
In this example, in order to eliminate the difference between both mounting times, the parts for 7.5 seconds are moved from the front equipment to the rear equipment to achieve the balance. On the other hand, when there is no space in the Z-axis, as shown in FIGS. 69 (c) and 69 (d), the part B having a large number of parts allocated to the previous equipment.
And the parts A, which have a small number of members distributed to the post-equipment, are swapped in the unit of the parts cassette (parts type).
As a result, the mounting time corresponding to the difference in the number of members is moved from the front equipment to the rear equipment, and the mounting time is leveled. 3.23 "Cut method" for double cassette The "Cut method" for double cassettes is as follows. (1) For parts that use a double cassette with a feed pitch of 2 mm, make a "mountain" on the temporary Z axis (Fig. 70). In other words, the parts histograms arranged in descending order of the number of members are cut at the midpoint (folding position) and folded back, and the first half part and the second half part are combined so that they are alternated (create a pair by folding back. ). (2) Similarly, for the component type that uses a double cassette with a feed pitch of 4 mm, make a "mountain" on the temporary Z axis (Fig. 7).
1)). (3) Combine the component histograms of the double cassette with feed pitches of 2 mm and 4 mm (Fig. 72). That is, the double cut pair is maintained, and the parts are rearranged in the descending order of the number of component types on the odd Z number side. (4) Separate into histograms of odd Z numbers and even Z numbers (FIG. 73). (5) In each histogram, a suction pattern of 10-point simultaneous suction is created by cutting up from a component type having a small number of members (Fig. 74). As a result, the core portion remains in each histogram. (6) Make a complementary pattern (FIG. 75). In other words, the number of mounting points in the core part is 92 on the odd side and 12 on the even side, which is a total of 104, so 10 ten-point tasks are created (one 4-point task remains).

Here, the maximum number of cores on the even side is 3
So, make three 10-point tasks on the even side and the remaining tasks on the odd side. (7) Line up the complementary component tapes (Fig. 76). In this figure, the complementary component tape is indicated by "*" on the odd side,
On the even side, it is indicated by "#". In some cases, the numbers of complementary component tapes on the odd number side and the even number side do not match as shown in the figure. (8) Overlay the even-numbered complementary component tape on the odd-numbered complementary component tape (FIG. 77). (9) A mounting point is assigned to the synthesized complementary component tape (FIG. 78).

At this time, the complementary component tape composed of the odd number side and the even number side is composed of only one component type. Therefore, when composition is canceled (divided) and complementary tapes on the odd and even sides are made, the feed pitches of them are always the same, so they can be stored in a double cassette as a pair. (10) The synthesized complementary component tape is divided into an even number side and an odd number side (FIG. 79). (11) Create an adsorption pattern (Fig. 80).

[0290] With such a cassette arrangement, 2
When one component type is stored in a double cassette, the constraint that only the component type with the same feed pitch must be stored is satisfied, and it is mounted with a small suction pattern (high frequency of simultaneous suction). . 3.24 Algorithm for Replacing Nozzles As shown in FIG. 11, the types of nozzles that can be sucked are limited depending on the types of parts. Therefore, when picking up a component, the work head needs to be equipped with a nozzle of a type corresponding to the type of the component to be picked up (replace the nozzle at the nozzle station).

Therefore, in the optimization, it is necessary to determine the arrangement of the component type (component cassette) so as to suppress the frequency of nozzle replacement. The algorithm therefor (“algorithm for nozzle replacement”) is as follows. 81 is a diagram for explaining the nozzle replacement algorithm, FIG. 81 (a) is a table showing the types of target parts (usable nozzle numbers) and the number of parts, and FIG. 81 (b). Is a component histogram showing the process. Here, the numerical value attached to the part in FIG. 81 (b) indicates the nozzle number, the arrow indicates the process of creating the suction pattern by dividing the part, and the numerical value enclosed by the circle indicates the suction pattern. Here, the application of the "cutting method" is used.
Specifically, first, the parts that cannot be set in units of 10 under the "adjacent condition" because they are large parts are excluded from the target. Here, the "adjacent condition" is a spatial clearance that should be secured when the parts are sucked, moved, and mounted by the head,
This is a spatial margin that must be secured to avoid contact between components during mounting. Arrange in order of the number of parts for each nozzle.

Here, since the types of parts (numbers of usable nozzles) and the number of parts are as shown in FIG. 81 (a), the parts are arranged in the left five columns in FIG. 81 (b). Create a frame for the number of tasks from the total number of members. In this example, since the total number is 67, 70 frames are created. Break down the piles from the parts with the largest number so that 10 nozzles are filled.

The specific rules are as follows. -Pick from the top so that the parts with the largest number of parts (here, from part number 5) enter the frame. -At this time, the number of handheld nozzles is used as in the maximum division constraint. That is, the division is performed within this constraint. Finally, try to fit the frame in the designated frame.

As a result, the number of tasks falls within the minimum number of tasks. Since the above procedure is an optimization in consideration of the nozzle configuration, the configuration of nozzles and the order of tasks will be reviewed next, including large-sized components. Specifically, for large parts, in the task configuration determined above, processing such as interposing is performed. In this example, the nozzle change occurs only once (only between →) by re-checking the task order. 4. Screen Display Example Next, the function of the user interface of the present optimization device 300 will be described. That is, based on the optimization program stored in the optimization program storage unit 305,
An example of a screen display displayed on the display unit 302 by the calculation control unit 301 in order for the optimization apparatus 300 to interact with the user will be mainly described. 4.1 Main Screen In this screen, as shown in FIG.
00 displays information on the optimization state and product type program. Meaning (optimization) of each display item (hereinafter, items enclosed in []) and the items that can be selected from the pop-up menu that is displayed when that display item is selected (hereinafter, items with * attached) The processing of the device 300) is as follows. Menu [File] * Open Obtains the selection of product type programs and various libraries from the user and loads the product type programs. The read results (product program name, number of mounting points, component type, equipment information, optimization information) are displayed on the main screen.

* Overwrite save When "Yes" is pressed in the overwrite confirmation message, the optimized type program is overwritten and saved. * Save As Name the save screen with the name displayed and save the optimized product program with the input save file name.

* Close Closes the selected product type program. * Termination of optimization Exit the application. [Optimization] * Optimization Optimizes the read type program information, executes the simulation of the optimization result, and displays the result on the main screen. This is because it is possible to set various resources and optimization conditions before performing optimization.

* Stop Stop optimization. * Optimization detail information Display the optimization detail information screen. [Settings] Set optimization resources and optimization conditions.

Resource * Cassette number setting Display the cassette number setting screen. On the other hand, the user can input the number of cassettes that can be used in this equipment. * Parts division number setting Display the parts division number setting screen. On the other hand, the user can specify the number of component divisions for simultaneous suction.

* Nozzle number setting screen Nozzle number setting screen is displayed. On the other hand, the user can input the number of nozzles that can be used in this equipment. * Nozzle station selection Display the nozzle station selection screen. In contrast,
The user can input the plate ID of the nozzle station that can be used in this equipment.

-Optimization condition * Option setting Displays the option setting screen. On the other hand, the user can set optional specifications and optimization conditions for this equipment. * Z-axis information Display the Z-axis information screen. The characteristics of the parts arranged on each Z axis are displayed.

* Nozzle station information Displays the nozzle station information screen. Displays the nozzle station information of this equipment. [Printing] Optimization device 30 for optimizing information, resource information, etc.
Print to a printer or the like included in 0.

* Detailed optimization information Print the optimization detail information. * Z-axis information Printing of Z-axis information is executed. * Nozzle station information Print the nozzle station information.

* Cassette number information Executes the printing of cassette number information. * Part division number information Executes the printing of component division number information. * Nozzle number information Printing of nozzle number information is executed.

* Nozzle station selection information The nozzle station selection information is printed. [Help] Manage the screen version and help. *help Launch help.

* Version information Version information is displayed. Optimization information Information before / after optimization is displayed for each stage (1st, 2nd). * Mounting time (seconds) Displays the simulation results before and after optimization.

* Optimization ratio (%) The mounting time before / after the optimization is displayed as a ratio (%). <Calculation formula> (Mounting time after optimization / Mounting time before optimization)
* 100 * CPH (point) Displays the number of mounting points per hour.

<Calculation Formula> (Number of mounting points / mounting time) * 3600 (seconds) * Number of tasks The number of tasks is displayed. Equipment information Equipment information is displayed for each stage (1st, 2nd).

* Head type Displays the head type of front / rear equipment. (10 heads) * Displays the camera status of the equipment in front of and behind the camera. (2D sensor, 2
D + 3D sensor) * Displays the tray status of the equipment before / after the tray. (Handheld tray,
Elevator tray) * Number of mounting points Displays the number of mounting points of front / rear equipment in the product program.

* Displays the number of component types of front / rear equipment in the component type product program. Product program information Displays information on the product program currently selected. * Product program name Displays the product program name currently selected.

* Number of mounting points The number of mounting points in the product program is displayed. * Parts type Displays the number of parts in the product type program. Optimize button Optimizes the read type program information, executes the simulation of the optimization result, and displays the result on the main screen. However, it is necessary to set various resources and optimization conditions before performing optimization. Optimization detail information button Displays the optimization detail information screen. Exit button Quit the application. 4.2 Opening Screen In this screen, as shown in FIG.
00 can open a product type program by designating a product type program and various libraries. Product type program list Displays a list of product type programs (file name, creation date, update date, capacity). Product program search A product program can be searched by pressing the search button after inputting the product program (excluding the leading P). Since the prefix match search is performed on the entered characters, it is not necessary to enter the entire program name. Library selection Displays various registered libraries.

* Parts library Displays the registered parts library name. The initials start with "L". * Supply library Displays the registered supply library name. The initials start with "Y".

* Mark library The registered mark library name is displayed. In addition,
The initials begin with "B". * Nozzle library Displays the registered nozzle library name. In addition,
The initials begin with "V". Open button Opens the specified model program in the selected library. If the product program list is double-clicked, the same process as the open button is executed. Cancel button Returns to the main screen. 4.3 Optimization detailed information screen In this screen, as shown in FIG.
00 displays the detailed optimization information for each stage (1st, 2nd). Product program information Displays information on the product program currently selected.

* Product program name Displays the product program name currently selected. * Number of mounting points Displays the number of mounting points in the product program. * Parts type Displays the number of parts in the product type program. Optimization detailed information Information before / after optimization is displayed for each stage (1st, 2nd).

* Mounting time (seconds) The result of simulation before / after optimization is displayed. * Optimization rate (%) The mounting time before / after optimization is displayed as a ratio (%). <Calculation formula> (Mounting time after optimization / Mounting time before optimization)
* 100 * CPH (point) Displays the number of mounting points per hour.

[0315] <Calculation formula> (Number of mounting points / mounting time) * 3600 (seconds) * Number of tasks Display the number of tasks. * Nozzle replacement frequency Displays the number of nozzle replacements.

* Nozzle replacement time Displays the total time required to replace the nozzle. * Adsorption frequency Displays the number of times adsorption is performed. * Adsorption time Displays the total time required for adsorption.

* Number of scans Displays the number of scans. * Scan time Displays the total time required for scanning. The number of times of adsorption of 1 to 10 points before / after the adsorption number information optimization is displayed for each stage (1st, 2nd). Equipment information Equipment information is displayed for each stage (1st, 2nd).

* Head type Displays the head type of front / rear equipment. (10 heads) * Displays the camera status of the equipment in front of and behind the camera. (2D sensor, 2
D + 3D sensor) * Displays the tray status of the equipment before / after the tray. (Handheld tray,
Elevator tray) * Number of mounting points Displays the number of mounting points of front / rear equipment in the product program.

* Part type The number of parts types of the front / back equipment in the type program is displayed. Print button Prints the optimization detailed information. Cancel button Closes the detailed optimization information screen and returns to the main screen. 4.4 Cassette Number Setting Screen In this screen, as shown in FIG.
00 displays the cassette number information / sets the maximum number according to the user's instruction. Cassette number information Displays the cassette number information. To confirm the adjacency condition of the cassette, the user sets the supply code of the parts library.

* Supply code Display cassette supply code. Example) First letter: Type (E: Emboss P: Paper) Second and third characters: Cassette width (08: 8 mm width) 4th and 5th characters: Feed pitch (04: 4mm pitch) 6th character: Drive system (C: Cylinder) 7th character: Cassette type (W: W cassette) * Current number Displays the number of cassettes currently used.

* Maximum number Displays the maximum number of cassettes that can be used in this equipment. Print button Executes printing of cassette number information. OK button Saves the maximum number currently displayed and closes the cassette number setting screen. Cancel button Closes the cassette number setting screen and returns to the main screen. However, the maximum number is not saved. Maximum number input area The user can input the maximum number by double-clicking the maximum number area. 4.5 Component Division Number Setting Screen In this screen, as shown in FIG.
00 displays the component division information / sets the maximum division number according to the user's instruction. Component division number information Displays the component division number information.

* Part name The part name used in the product type program is displayed. The user can input the part name of the product type program in order to efficiently perform the part division. * Number of mounting points Displays the number of mounting points for each component.

* Current number of divisions The current number of divisions for each part is displayed. * Maximum number of divisions Displays the maximum number of divisions for each part. Note that the current number of divisions is displayed by default at startup. Print button Prints the component division number information. OK button Saves the maximum number of divisions currently displayed and ends the component division number setting screen. Cancel button Exits the component division number setting screen and returns to the main screen. However, the maximum number of divisions is not saved. Maximum division number input area The user can input the maximum division number by double-clicking on the maximum division number area. The maximum number of divisions is valid only while the application is running. At the next startup, the current division number will be the default display of the maximum division number.

Sort display * When the component name or the title of the number of mounting points is clicked, the sort display is performed. 4.6 Nozzle Number Setting Screen In this screen, as shown in FIG.
00 displays the number of nozzles information / sets the maximum number according to a user's instruction. Nozzle number information Nozzle number information is displayed.

* Nozzle shape code Display all nozzle shape codes in the nozzle library. * Nozzle type The nozzle library number (1 to 99) is displayed. * Current number Display the number currently used.

* Maximum number The maximum number that can be used is displayed. Print button Prints the number of nozzles information. OK button Saves the maximum number currently displayed and exits the nozzle number setting screen. Cancel button Exits the nozzle number setting screen and returns to the main screen. However, the maximum number is not saved. Maximum number input area The user can input the maximum number by double-clicking the maximum number area. 4.7 Nozzle Station Selection Screen In this screen, as shown in FIG.
00 displays the nozzle station selection information / nozzle station selection according to the user's instruction. Nozzle plate ID It is possible to set valid / invalid of the nozzle plate ID for each stage (1st, 2nd). A plurality of IDs other than the gray display can be selected.

When the cursor is moved, the ID on the cursor
It is possible to switch to the display of the nozzle station diagram of. The display is switched even if the check box is not selected. Nozzle station diagram Displays the nozzle station diagram on the cursor. Print button Prints the nozzle station selection information. OK button Saves the selected nozzle plate ID and exits the nozzle station selection screen. Cancel button Exits the nozzle station selection screen and returns to the main screen. However, the nozzle plate ID is not stored. 4.8 Option Setting Screen In this screen, as shown in FIG.
00 sets the equipment option / optimization level according to the user's instruction. Equipment settings Equipment options can be set.

XL constraint XL constraint can be set. (Valid or invalid) -Z-axis speed TA The Z-axis TA speed can be set. (Normal or low speed) -Z-axis speed TB The speed of the Z-axis TB can be set. (Normal or low speed) -Rear cassette component 180 ° rotation Rear cassette component 180 ° rotation can be set. (Invalid or valid) -Rear tray component 180 ° rotation Rear tray component 180 ° rotation can be set.
(Invalid or valid) -Rear manual tray component 180 ° rotation Rear manual tray component 180 ° rotation can be set. (Invalid or valid) -Leading shuttle control Leading shuttle control can be set. (Invalid or valid) -Advance adsorption control An advance adsorption control can be set. (Invalid or valid) ・ Substrate stopper position (front) The substrate stopper position of the previous equipment can be set.
(Bottom left or top left or bottom right or top right) ・ Board stopper position (rear) You can set the board stopper position of the rear equipment.
(Lower left or upper left or lower right or upper right) ・ Handheld tray (front) You can set the handheld tray of the previous equipment. (Invalid
or valid) ・ Hand placed tray (rear) You can set the hand placed tray of the rear equipment. (Invalid
or valid) Prohibition of front-rear distribution By checking this item, front-rear distribution can be prohibited.

-Front Only the previous equipment is optimized.・ Only the equipment after Rear is optimized.・ Optimize before and after both equipment. It should be noted that if the forward / backward distribution is prohibited, the F / R fixed setting can be set on the Z-axis information screen. Optimization level setting The optimization execution level can be set in the range of 1 to 5 (simple to detailed) (default level is 4). Collection conveyor settings 1st, 2nd stage collection conveyor settings can be made.

Not set: Use no recovery conveyor (small): Use small recovery conveyor (large): Large OK button Currently set options (equipment option, optimization level, forward / backward distribution prohibition, recovery conveyor) Save and exit the option setting screen. Cancel button Exit the option setting screen and return to the main screen. However, equipment options, optimization levels, no sorting before and after, and collection conveyors are not saved. Algorithm setting You can set the optimization algorithm. (1or
2) ・ Algorithm 1 Optimize with the algorithm of small parts.

Algorithm 2 The small parts are optimized by the general-purpose parts algorithm. Equipment information Displays equipment information.・ Equipment direction Displays the equipment direction. (Forward flow or reverse flow) ・ Transportation standard Displays the transportation standard. (Front or back) -Transport speed Displays the transport speed. 4.9 Z-axis information screen In this screen, as shown in FIG.
00 displays the information of the parts set on the Z-axis according to the user's instruction. Z-axis information Displays Z-axis information.

* Part name The part name set on ZNo is displayed. * Number of parts Display the number of parts (mounting point) set on ZNo. * The part shape code set on the shape code ZNo is displayed.

* Displays the used nozzle number of the component set on the nozzle ZNo (same as the nozzle type on the nozzle number setting screen). * The recognition camera (2DS, which recognizes the parts set on the camera ZNo.
2DL, 3DS, 3DL) is displayed.

* Head speed XY (1-
Display 8). * Display the supply code of the part set on the supply code ZNo. * W designation It is necessary to designate S (single) or W (double) for each part name.

* Shuttle disable ZNo can be set (disabled) when the parts set on ZNo are tray parts and shuttle supply is possible. A check box is not displayed for a tray component that cannot be shuttle-supplied. * F / R fixed ZNo is set so that it does not move between sub-equipment by optimization. It can be used only when Prohibit sorting before and after on the option setting screen is checked. If no data is displayed after ZNo, it means that no part is set on the Z axis. Switching before / after optimization Switches Z-axis information before / after optimization. However, if optimization is not performed, the display after optimization cannot be performed. Print button Prints the Z-axis information. OK button Saves the Z-axis information (W designation, cannot shuttle) and closes the Z-axis information screen. However, Z-axis information after optimization cannot be edited. The OK button is grayed out. Cancel button Exits the Z-axis information screen and returns to the main screen. However, Z
Axis information is not saved. 4.10 Nozzle station information screen In this screen, as shown in FIG.
00 displays the nozzle station information of this equipment according to the user's instruction. Nozzle plate ID The nozzle plate ID for each stage (1st, 2nd) is displayed. Nozzle station information Displays nozzle station information.

* No Displays the station number. * Nozzle shape code Displays the nozzle shape code on the nozzle station. Switching before / after optimization Switches the nozzle station information before / after optimization.
However, if optimization is not performed, the display after optimization cannot be performed. Print button Prints the nozzle station information. Cancel button Exits the nozzle station information screen and returns to the main screen. 5. Explanation of Terms The meanings of the main terms used in this embodiment are listed below. * Component mounting system: A system that includes an optimization device and a component mounting machine. * Optimization device: A device that optimizes the mounting order of components. Specifically, in order to produce a board with a short tact (mounting time), the optimal arrangement of component cassettes in the component mounter (where the component cassette containing which component type is located at which position (Z axis) of the component mounter) The placement order, the order of suction and mounting of the components by the work head (which component cassette is used to attract the components, and which mounting point on the board is to be mounted) are determined. * Component mounter: A production robot that picks up components from a component cassette using a work head and mounts them on a board according to optimized NC data. Some types have multiple sub-equipment. * Sub-equipment: A device (mounting unit) that has one work head and multiple component cassettes and that mounts components on a board independently (in parallel) from other sub-equipment. * Single cassette: A type of parts cassette, in which only one part type (taping parts, etc.) is loaded. * Double cassette: A type of parts cassette, which can be loaded with up to two parts types (taping parts, etc.). However,
Limited to parts with the same feed pitch. * Z-axis: A coordinate axis (or its coordinate value) that specifies the arrangement position of the component cassette mounted for each component mounter (or sub-equipment if equipped). * Parts type: Types of electronic parts such as resistors and capacitors. Each component type is associated with component information (electrical characteristics, shape, number of members, maximum number of divisions, cassette type, etc.). * Part tape: A plurality of parts of a certain part type arranged on a tape (a logical carrier tape for parts in the process of optimization. One part type is divided into one or more part tapes by optimization. (Parts are divided.) The number of tapes after division is called the number of divisions. * Mounting point: The coordinate point on the board where the component should be mounted.The same component type may be mounted at different mounting points. The total number of components (mounting points) arranged on component tapes of the same component type matches the number of components (total number of components to be mounted). * Component histogram: For each component tape (horizontal) A columnar graph showing the number of components (vertical axis), which is finally mapped to the array of component cassettes (Z axis) by optimization * Core: A component histogram in which component tapes are arranged in descending order of number of components. Against As a result of cutting up with the suction pattern of "n-point simultaneous suction" by the "cutting method", the remaining parts are called "core parts", and the parts tape containing these core parts and the parts cassette are respectively called "core parts tape", " * Cut-up: A process that removes the suction pattern of n-point simultaneous suction from a component with a small number of components in a component histogram in which component tapes are arranged in order of increasing number of components. The work head picks up all the parts that should be picked up in one task. Not only when the work head picks up multiple parts only once, but also when the work head moves up and down more than once. * Task: 1 in repeating a series of mounting operations such as picking up / moving / mounting parts on the board by the work head. Mounting operation (suction / movement / mounting) * Suction pattern: A group of parts targeted for suction for each task * Task group: A group of related tasks from the viewpoint of simultaneous suction of parts N tapes with the same number of parts
Collecting books and deciding the arrangement of parts cassettes by creating a task group aiming at collecting tasks that can pick up n points at a time so that n parts can be picked up from each of these n parts tapes simultaneously. The optimization method in one step is called “task group method”. * First step: the technology (background technology) immediately before the invention of the present application is devised, or the development stage of devising the technology. Previous patent application by the present inventors (Japanese Patent Application No. 2000-
No. 237681). * Second step: the technology according to the present invention or the development stage of devising the technology. * Mountain: A group of tasks generated by optimization or a group of component tapes (collection of components) belonging to these tasks. In some cases, the generated "mountain" may be further optimized. * Line balance: The leveling level in the tact distribution for each component mounter (or sub-equipment, if equipped). The process of determining the component mounting order so as to equalize the tact distribution is called "line balance process".

[0337]

As is apparent from the above description, the method of optimizing the component mounting sequence according to the present invention is a component containing components.
It is possible to pick up a maximum of n parts from the array of cassettes.
A work head capable of adsorbing a group of parts and using an XY robot
Components that are mounted on the board by moving the work head.
A computer is used to determine the mounting order of the components.
Optimize parts cassette alignment in the way you optimize
Method for all parts to be optimized,
Of component types that have a collection of components of the same type as one component type
By arranging in order of the number of parts,
A histogram generation step for generating a histogram,
The number of parts is small compared to the generated parts histogram.
Continuous in the direction of the horizontal axis, in the order that the parts that do not exist disappear first
Take out the suction pattern, which is the n parts lined up in parallel.
Repeatedly take out the mowing
Cap and put it out after taking it out by the cutting step above.
The component histogram is continuously n in the horizontal axis direction.
It becomes a diagram that is a suction pattern in which individual parts are lined up
The deforming core processing step,
All the parts taken out at the step and the
The position on the horizontal axis for all parts after shaping
Corresponding and synthesized, based on the obtained component histogram
And a synthesis step to determine the sequence of the component cassette
It is characterized by

[0338] Thus, from the component histogram, since the n components arranged continuously in the horizontal axis direction arrangement of the component cassettes is determined by a technique going Kariage as pickup patterns, and simultaneously adsorb a plurality of parts substrate A component mounting sequence optimizing method suitable for a component mounting machine equipped with a work head to be mounted on is realized.

[0339]

[0340]

[0341]

[0342]

[0343]

[0344]

Further, the component mounting sequence optimizing method according to the present invention is designed such that a maximum of n can be calculated from the arrangement of the component cassettes storing the components.
A method for optimizing the mounting order of components by a computer, targeting a component mounter equipped with a work head that picks up individual components at the same time and mounts them on a board. Therefore, all parts to be optimized are arranged in descending order of the number of parts in a unit of the parts type, which is a collection of parts of the same kind as one part type. In the step and the generated component histogram, it becomes impossible to extract the suction patterns, which are the n components that are continuously arranged in the horizontal axis direction, in the order in which the component types with the smallest number of components are eliminated first. By repeatedly cutting up the parts and moving the parts in the parts histogram after the parts are taken out by the cutting step. A core processing step of transforming the component histogram into a parallelogram or a rectangle having a height that can include all the components included in the component histogram, with the bottom of the component histogram as the bottom, and the cutting step taken out. A synthesis step of synthesizing all the components and all the components after the movement in the core processing in correspondence with the positions on the horizontal axis, and determining the arrangement of the component cassettes based on the obtained component histogram. Is characterized by.

[0346]

As described above, the present invention is a method of optimizing a component mounting sequence suitable for a high-speed component mounting apparatus that picks up and mounts a plurality of components under various restrictions, and particularly, in recent years, surface mounting As a technology that responds to a rapid increase in demand for substrates, its practical value is extremely high.

[Brief description of drawings]

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

FIG. 2 is a plan view showing a main configuration of a component mounter in the component mounting system.

FIG. 3 is a schematic diagram showing a positional relationship between a work head of the component mounter and a component cassette.

FIG. 4A shows a configuration example of a total of four component supply units included in each of two mounting units included in the component mounter, and FIG. 4B shows the number of mounted component cassettes and Z of various component cassettes in the configuration. It is a table which shows the position on an axis.

5A and 5B are a diagram and a table showing an example of the position (Z axis) of a component supply unit that can be adsorbed by a 110 nozzle head.

FIG. 6 is a diagram showing an example of various chip-type electronic components to be mounted.

FIG. 7 is a diagram showing an example of a carrier tape containing components and a supply reel thereof.

FIG. 8 is a diagram showing an example of a component cassette in which taping electronic components are mounted.

FIG. 9 is a block diagram showing a hardware configuration of an optimizing device.

FIG. 10 is a diagram showing an example of contents of mounting point data shown in FIG. 9.

11 is a diagram showing an example of the contents of the component library shown in FIG.

12 is a diagram showing an example of contents of mounting device information shown in FIG.

13 is a module configuration diagram showing a functional configuration of the optimization program shown in FIG. 9. FIG.

FIG. 14 is a diagram for explaining the process of step 305c shown in FIG.

FIG. 15 is a diagram for explaining the process of step 305d shown in FIG.

FIG. 16 is a parts histogram for explaining the concept of optimization by the “task group method”.

FIG. 17 is a mounting path diagram for explaining the concept of optimization by the “intersection elimination method”.

FIG. 18 is a diagram showing the movement of the work head for explaining the concept of “return optimization”.

FIG. 19 is a component histogram showing an outline of optimization under the constraint of fixed array.

FIG. 20 is a diagram showing a restricted region based on a limit of a range in which a work head can move when mounting a component on an LL size substrate and an XL size substrate.

FIG. 21 is a component histogram for explaining the concept of optimization targeting an LL size board.

FIG. 22: Steps (1) of optimization by the “cutting method”
3 is a component histogram for explaining

FIG. 23 is a parts histogram for explaining the step (2).

FIG. 24 is a parts histogram for explaining the step (3).

FIG. 25 is a parts histogram for explaining the step (4).

FIG. 26 is a parts histogram for explaining the step (5).

FIG. 27 is a parts histogram for explaining the step (6).

FIG. 28 is a parts histogram for explaining the step (7).

FIG. 29 is a parts histogram for explaining the step (8).

FIG. 30 is a parts histogram for explaining the step (9).

FIG. 31 is a parts histogram for explaining the step (10).

FIG. 32 is a parts histogram for explaining the step (11).

FIG. 33 is a parts histogram for explaining the step (12).

FIG. 34 is a parts histogram for explaining the step (13).

FIG. 35 is a parts histogram for explaining the step (14).

FIG. 36 is a parts histogram for explaining the step (15).

FIG. 37 is a parts histogram for explaining the step (16).

FIG. 38 is a parts histogram for explaining the step (17).

FIG. 39 is a parts histogram for explaining the step (18).

FIG. 40 is a parts histogram for explaining the step (19).

FIG. 41 is a parts histogram for explaining the step (20).

FIG. 42 is a parts histogram for explaining the step (21).

FIG. 43 is a parts histogram for explaining the step (22).

FIG. 44 is a parts histogram for explaining the step (23).

FIG. 45 is a parts histogram for explaining steps (1) to (3) of optimization by cassette division using a parallelogram template.

FIG. 46 is a parts histogram for explaining the steps (4) to (6).

FIG. 47 is a parts histogram for explaining the steps (7) to (8).

FIG. 48 is a parts histogram for explaining a part of the step (9).

FIG. 49 is a parts histogram for explaining the remaining step (10) of the same step (9).

FIG. 50 is a parts histogram for explaining steps (1) to (3) of optimization by cassette division using a rectangular template.

FIG. 51 is a parts histogram for explaining the steps (3) to (5).

FIG. 52 is a parts histogram for explaining a part of the step (5).

FIG. 53 is a parts histogram for explaining the remaining part of step (5).

FIG. 54 is an implementation path diagram showing the concept of optimization by the “intersection elimination method”.

[Fig. 55] Fig. 55 is an implementation route diagram for describing an algorithm of the "crossing elimination method".

FIG. 56 is a mounting path diagram showing an application example of optimization by the “intersection elimination method”.

FIG. 57 is a movement trajectory diagram of the work head showing the concept of optimization by the “return optimization method”.

FIG. 58A is a diagram showing a “return” operation in the case where the same component cassette has a plurality of mounting points;
(B) is a simulation result diagram showing a return trajectory of the head when the "return optimization method" is applied.

FIG. 59 is a component histogram for explaining the optimization step (1) under the constraint of array fixing for a double cassette.

FIG. 60 is a parts histogram for explaining the step (2).

FIG. 61 is a parts histogram for explaining the step (3).

FIG. 62 is a parts histogram for explaining the step (4).

FIG. 63 is a parts histogram for explaining the step (5).

64 is a parts histogram for explaining the step (6). FIG.

FIG. 65 is a parts histogram for explaining the step (7).

FIG. 66 is a parts histogram for explaining the step (8).

67 is a parts histogram for explaining the step (9). FIG.

68 is a parts histogram for explaining the step (10). FIG.

69 (a) and (b) are explanatory views showing an example of the mounting time of the front equipment and the rear equipment when the Z axis has a space, and the line balance processing at that time; And (d) are explanatory diagrams showing an example of the mounting time of the front equipment and the rear equipment when there is no space in the Z axis, and the line balance processing (swap processing) at that time.

[Fig.70] "Crop method" for double cassettes
3 is a component histogram for explaining the optimization step (1) according to FIG.

71 is a parts histogram for explaining the step (2). FIG.

72 is a parts histogram for explaining the step (3). FIG.

FIG. 73 is a parts histogram for explaining the step (4).

FIG. 74 is a parts histogram for explaining the step (5).

75 is a parts histogram for explaining the step (6). FIG.

FIG. 76 is a parts histogram for explaining the step (7).

77 is a parts histogram for explaining the step (8). FIG.

FIG. 78 is a parts histogram for explaining the step (9).

79 is a parts histogram for explaining the step (10). FIG.

FIG. 80 is a parts histogram for explaining the step (11).

FIG. 81 is a diagram for explaining the nozzle replacement algorithm, (a) is a table showing the types of target parts (usable nozzle numbers) and the number of members, and (b) is a process step; 3 is a parts histogram showing

FIG. 82 is a diagram showing a display example of a “main screen”.

[Fig. 83] Fig. 83 is a diagram illustrating a display example of "".

FIG. 84 is a diagram showing a display example of an “open screen”.

FIG. 85 is a diagram showing a display example of a “cassette number setting screen”.

FIG. 86 is a diagram showing a display example of a “parts division setting screen”.

FIG. 87 is a diagram showing a display example of a “nozzle number setting screen”.

FIG. 88 is a diagram showing a display example of a “nozzle station selection screen”.

FIG. 89 is a diagram showing a display example of an “option setting screen”.

FIG. 90 is a diagram showing a display example of a “Z-axis information screen”.

FIG. 91 is a diagram showing a display example of a “nozzle station information screen”.

[Explanation of symbols]

10 component mounting system 20 circuit board 100 component mounter 110 mounting units 112 working head 112a-112b suction nozzle 113 XY robot 114 parts cassette 115a, b, 225a, b parts supply unit 116 recognition camera 117 Tray supply section 118 shuttle conveyor 119 Nozzle station 120 mounting units 300 Optimizer 301 Operation control unit 302 display 303 Input section 304 memory 305 Optimization program storage 306 Communication I / F section 307 Database Department 307a Mounting point data 307b Parts library 307c Mounting device information 423a to 423d Chip type electronic component 424 carrier tape 425 cover tape 426 Supply reel

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshiki Kindo 3-10-1 Higashisanda, Tama-ku, Kawasaki-shi, Kanagawa Matsushita Giken Co., Ltd. (72) Takehiko Shida 3-Higashimita, Tama-ku, Kawasaki-shi, Kanagawa 10-1 Matsushita Giken Co., Ltd. (56) Reference JP-A-10-79596 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) H05K 13/00-13/08

Claims (5)

(57) [Claims] 1. A work head capable of picking up a maximum of n parts picks up a group of parts from an array of parts cassettes storing the parts, and the work head is moved by an XY robot to be mounted on a substrate. Targeting component mounting machines
A method for optimizing the mounting order of components by a computer, which is a method for optimizing the arrangement of component cassettes, in which all the components to be optimized are a group of components of the same type as one component type. A histogram generation step for generating a component histogram by arranging in order of the number of components in the unit of the component type, and in the generated component histogram, the component type with the smallest number of components disappears first. The mowing step of repeatedly picking up the suction patterns, which are n parts that are continuously arranged in the horizontal axis direction, until it cannot be taken out, and the parts histogram after the extraction by the cutting step is continuous in the horizontal axis direction So that the diagram is a suction pattern in which n parts are lined up,
Deformation core processing step, all parts taken out in the cutting step and all parts after deformation in the core processing are combined in correspondence with the positions on the horizontal axis, and the obtained parts histogram is obtained. And a synthesizing step of determining an arrangement of component cassettes based on the component mounting sequence optimizing method. 2. In the core processing step, the component histogram after extraction by the trimming step has a height that can include all the components included in the component histogram, with the bottom of the component histogram being the bottom, in the core processing step. The method for optimizing a component mounting order according to claim 1, wherein the method is modified into a parallelogram or a rectangle. 3. In the core processing step, the parallelogram or the rectangle is assigned as a template to the component histogram after the extraction in the cutting step, and the component located outside the template is vacant in the template. The component mounting sequence optimizing method according to claim 2, wherein the deformation is performed by moving the component mounting sequence. 4. A work head capable of picking up a maximum of n parts is used to pick up a group of parts from a row of parts cassettes containing the parts, and the work head is moved by an XY robot to be mounted on a substrate. Targeting component mounting machines
An apparatus for optimizing the mounting order of components by a computer, which is an apparatus for optimizing the arrangement of component cassettes, in which all the components to be optimized are a group of components of the same type as one component type. Histogram generating means for generating a component histogram by arranging in order of the number of components in the unit of the component type, and in the generated component histogram , the component type with the smallest number of components disappears first. The mowing unit that repeatedly picks up the suction patterns that are n parts that are continuously arranged in the horizontal axis direction until it cannot be taken out, and the part histogram after the removal by the mowing unit is continuous in the horizontal axis direction. Core processing means that deforms so as to form a diagram that is a suction pattern in which n parts are lined up, All the parts taken out by the bending means and all the parts after the deformation in the core processing are combined in correspondence with the positions on the horizontal axis, and the arrangement of the parts cassette is determined based on the obtained parts histogram. A component mounting sequence optimizing apparatus, comprising: 5. A work head capable of picking up a maximum of n parts picks up a group of parts from a row of parts cassettes containing the parts, and an XY robot moves the mounting head to mount the parts on a board. A component mounter to be mounted, wherein components are mounted in a component mounting order optimized by the component mounting order optimization method according to claim 1.