JP3418188B2 - 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 board such as a printed wiring board by a component mounter, and more particularly to a method for adsorbing a plurality of components onto a board. The present invention relates to optimization of a component mounting order for a component mounter including a work head to be mounted.

[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, as one of the optimizations of the mounting order, for example, it is necessary to optimize the arrangement order of the component cassettes in the component cassette group equipped 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 grouped by a mounting speed applied to the component.
A pair group is configured by appropriately combining the ones with a large number of mounting points and the ones with a small number of mounting points on the same board so that the sum of the mounting points when two component cassettes in the same group are combined is equalized. Then, (2) the cassette groups are arranged in the order of mounting speed, and in the same group, the pairs are arranged for each pair to determine the arrangement order of the cassettes. (3) The optimization process is performed using only the mounting order as a parameter. As a result, the cassette arrangement order and the parts mounting order are
It avoids complicated optimization with one parameter and realizes optimization with a single parameter in a short time.

[0003]

However, since such a conventional optimizing method is premised on that the working head picks up only one component from the component cassette and mounts it on the substrate, a plurality of components are required. There is a problem that it cannot be applied to a component mounter equipped with a highly functional work head (multi-mounting head) that picks up (for example, 10) components and mounts them on a substrate. In particular, with the recent rapid increase in demand for electronic devices such as mobile phones and laptop computers, a component mounter equipped with a highly productive multi-mounting head that attracts multiple components and mounts them on a substrate has been developed. And
There is a demand for a new method of optimizing the component mounting sequence corresponding to such a highly functional component mounting machine. Therefore, the present invention optimizes a component mounting order corresponding to a component mounting machine with high productivity, that is, a component mounting order optimization method that enables higher productivity, its apparatus, and its optimization method. It is an object of the present invention to provide a component mounter that mounts components in a different order. Specifically, for example, it is an object to provide a method of optimizing a component mounting sequence corresponding to a component mounting machine including a multi-mounting head that sucks and mounts a plurality of components on a substrate.

In order to achieve the above object, according to the present invention, a maximum of n (≧ 2) is selected from the arrangement of component cassettes containing components.
With a mounting head that can pick up individual parts,
Adsorb and move the mounting head with an XY robot
Targeting a component mounting machine that mounts on a board,
Is a method of optimizing the mounting order of components by executing
The parts to be optimized based on the height of the parts.
Then, it is divided into a small parts group and a general parts group.
And the parts belonging to the small parts group
The parts are picked up, moved, and mounted by the mounting head.
By repeating a series of actions,
If the group of components mounted by
Algorithms that generate as many tasks as possible
Optimization of the mounting order using the first algorithm
And the general-purpose parts group
The possible mounting order for the parts that belong to
In this case, the implementation time for each task is
Calculated by the above evaluation function while changing the state.
Argo that searches for a state that minimizes the implementation time
Using the second algorithm, which is the rhythm,
It includes a general-purpose parts optimization step for performing optimization
And The present invention also provides a parts cassette that stores parts.
It is possible to pick up a maximum of n (≧ 2) parts from the line
Adopt a possible mounting head to pick up parts and use the XY robot.
Components that are mounted on the board by moving the mounting head.
Mounting components by executing a computer, targeting equipment
A method of optimizing the order, which is
All of a number of parts with a predetermined height or less
Parts in the small parts group, other parts in the general parts group
Classification step to classify as
Simultaneous component attachment by the mounting head
Uses the first algorithm that maximizes adsorption
A small component optimization step that optimizes the mounting sequence.
Possible for parts belonging to the general-purpose parts group
Optimal mounting while changing the state, which is one of the mounting orders
Use the second algorithm to derive the order
It includes a general-purpose parts optimization step for performing optimization.
To collect. The present invention also provides a component cassette that stores components.
Pick up a maximum of n (≧ 2) parts from the line
A mounting head capable of adsorbing a group of parts to an XY robot
Parts that move the mounting head more and mount it on the board
Targets the mounting machine and implements the components by executing the computer.
It is a program used for a device that optimizes the loading sequence.
The parts are picked up, moved, and mounted by the mounting head.
By repeating a series of actions,
Simultaneous suction when a group of components mounted by
An array of possible component cassettes and corresponding multiple tasks
Components that make up a task group consisting of
Individual mounting order that can be adopted by multiple parts to be optimized
Generates the initial state when the state is the state as the first state
For the initialization means and the components that make up the task group,
And replace the randomly selected mounting points.
State changing means for changing the first state to the second state
And the parts according to the mounting order corresponding to the second state.
The mounter can mount all parts and
When the time required to mount all components is in the first state
Determination means for determining whether or not it is smaller than
The mounting machine can mount all parts, and
It was determined that the time was less than the time in the first state
In this case, the second state is set as a new first state, and
The second state is generated by the state changing means and the judging means is used.
By repeating the decision to update the first state
Iterative control means that optimizes the mounting order of components
As a professional who makes a computer function as
It may be realized as a gram.

The present invention is also directed to a component cassette containing components.
A maximum of n (≧ 2) parts can be picked up from the
An XY robot that picks up parts with a mounting head that can
The part that moves the mounting head and mounts it on the board
Targeting the product mounting machine, the mounting order of the parts by computer
In the method of optimizing the order,
For repeating a series of operations such as suction, transfer, and mounting of products
The component group mounted by a series of one operation
A method for determining the sequence of tasks to be
The suction head can be replaced with a suction nozzle for sucking parts.
A maximum of n pieces can be installed in a functional state, and the target of optimization
2 or more different types of suction
Includes parts that can be adsorbed by each cheat
Optimized when the set of parts is one part tape
Of the corresponding suction nozzle.
In order to arrange the component tapes in descending order of the number of components
The horizontal axis of the component tapes, the components for each component tape
Histogram on a two-dimensional coordinate with the number as the vertical axis
Generated for each type of
Generating a histogram arranged on the horizontal axis, and the generation
From the sequence of each histogram that was created, in the horizontal axis direction in order
Take out the parts and calculate the number of parts that make up the task.
The tasks are generated and arranged in order to maximize it.
From the bottom of each histogram upwards
Until all the components that make up the sequence of histograms disappear.
And a task generation step repeated with
It Here, in the task generation step, parts and
The order of the histogram to be output is that the number of nozzle resources is small.
You may give priority to the best one, or the task creation step
In this case, parts that are sucked by different types of suction nozzles are mixed.
The number of parts that make up each task
While doing so, the task may be generated. Also,
The present invention is based on the lineup of component cassettes that store components.
A mounting head capable of adsorbing a large number n (≧ 2) parts
The parts group is picked up by the
For component mounters that move the board and mount it on the board
And optimize the mounting order of components by computer
In the method, suction / movement of parts by the mounting head
A series of one time in repeating a series of wearing
Of tasks that have a component group implemented by operation as a task
A method for determining the arrangement, wherein the mounting head is a component
The suction nozzle for sucking the
Individual tasks can be mounted and the target of optimization tasks
And two or more different types of suction nozzles
Contains mixed tasks that include parts that can be adsorbed
Task only for parts that use the same type of suction nozzle
Separating into a plurality of partial tasks consisting of
Of the multiple partial tasks, the one used in the previous task
Partial nozzle that uses a different type of suction nozzle from the landing nozzle
The task is a series of tasks with the same suction nozzle.
The sequence of tasks is
And the steps to ensure that the mixed tasks do not exist.
It is characterized by including. Here, the part moved in the order
Minute task and another task belonging to the above task set
For each position of the n suction nozzles, the task
Whether the total number of parts included in the set is 1 or less
Which of the n steps and the step of determining
Also, if the total number is 1 or less, the task set
One while maintaining the position of the parts included in each
And a step of merging with the task of.

The present invention also provides a component cassette containing components.
A maximum of n (≧ 2) parts can be picked up from the
An XY robot that picks up parts with a mounting head that can
The part that moves the mounting head and mounts it on the board
Targeting the product mounting machine, the mounting order of the parts by computer
In the method of optimizing the order,
For repeating a series of operations such as suction, transfer, and mounting of products
The component group mounted by a series of one operation
A method for determining the sequence of tasks to be
The suction head can be replaced with a suction nozzle for sucking parts.
A maximum of n pieces can be installed in a functional state, and the target of optimization
Use the same type of suction nozzle for the task sequence
The task set is a continuous sequence of only tasks that
The set of task sets consists of
To identify all possible permutations of
And for each of the identified permutations,
Place where task sets that use suction nozzles are adjacent to each other
The task set of that permutation by identifying
Identify the number of suction nozzle replacements required in a row
From the steps and the number of exchanges for each identified permutation
Specify the minimum value and set the task set corresponding to the specified minimum value.
Of tasks to be optimized so that
Component mounting including a step of changing
It can also be realized as an order optimization method. further,
The present invention can be realized as an optimizing device including the steps of the optimization method as functional means, or as a component mounter that mounts components in a mounting order optimized by the steps of the optimization method, or It can also be realized as a program that causes a computer to execute the steps of the optimization method and a computer-readable recording medium that stores such a program.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail with reference to the drawings according to the following table of contents. The meanings of the main technical terms used here are described in the text and in “5 Explanation of Terms”.

1 Component Mounting System 1.1 Configuration of Component Mounting Machine 1.2 Restrictions on Component Mounting Machine 1.2.1 Multi-Mounting Head 1.2.2 Component Recognition Camera 1.2.3 Component Supply Unit 1.2 .4 Parts cassette 1.2.5 Other restrictions 1.3 Optimization device 1.3.1 Hardware configuration of optimization device 1.3.2 Software configuration of optimization device 2 Operation of optimization device (Overview) ) 2.1 Creation of parts group 2.2 Line balance processing 2.3 Optimization for small parts 2.4 Task group generation method 2.5 Cutting up method 2.6 Random selection method ("greedy method") 2.7 Intersection Elimination method 2.8 Return optimization method 2.9 Optimization for general-purpose parts 3 Operation of optimization device (detailed version) 3.1 "Cut-up method" 3.1.1 Outline of "task group generation method" 3.1 .2 "Task group generation method 3.1.3 "Cut-up method" 3.1.4 Optimization of small parts by "cut-up method" 3.1.5 Related individual processing 3.2 "Cross-elimination method" 3.2.1 "Greedy" Method 3.2.2 Issues of "greedy method" 32.3 "Cross-elimination method" 3.2.4 Related individual processing 3.3 "Return optimization method" 33.1 Component mounting Study of operation 3.3.2 Necessity of optimization of “return” process 3.3.3 “Return optimization method” 3.3.4 Related individual processing 3.4 Array fixing processing 3.4.1 Overview 3.4.2 Related individual processing 3.5 Support for LL size board 3.5.1 Overview 3.5.2 Replacement of component tape on Z axis 3.5.3 Change of suction method 3.5. 4 Related individual processing 3.6 Correspondence to XL size board 3.6.1 Overview 3.6.2 Related individual processing 3.7 Load balance processing 3.7 1 Outline 3.7.2 Level of balance adjustment method 3.7.3 Related individual processing 3.8 Line balance processing 3.8.1 Outline 3.8.2 Level of balance adjustment method 3.8.3 Related Individual processing 3.9. Details of individual processing by the optimizer 3.9.1 “Cut-up method” 3.9.2 Cassette division by parallelogram 3.9.3 Cassette division by rectangle 3.9.4 Core with given number of cassettes Processing method 3.9.5 Task generation processing for small parts 3.9.6 “Cross-elimination method” 3.9.7 “Return optimization method” 3.9.8 Overall flow (start from histogram) 3.9 9.9 Arrangement of fixed parts and "mountains" in the cassette block 3.9.10 Fixed array: Judgment of availability of fixed destination 3.9.11 Regarding fixed array of double cassette 3.9.12 LL constraint: Adsorption method Change (1) 3.9.13 LL constraint: Change of suction method (2) 3.9.14 LL constraint: Swap of component tape on Z axis (1) 3.9.15 LL constraint: On Z axis Parts tape replacement (2) 3.9.16 XL size base Correspondence (XL constraint) 3.9.17 Load level balance adjustment processing (“mountain” unit) 3.9.18 Load level balance adjustment processing (per component tape unit) 3.9.19 Front sub equipment to rear sub equipment Process to move the mountain to 3.9.20 Process to move the component tape from the front sub-equipment to the rear sub-equipment 3.9.21 Process to move the mounting point from the front sub-equipment to the rear sub-equipment 3.9.22 Line Swap processing in balance processing 3.9.23 Double-cassette "cutting method" 3.9.24 Nozzle replacement algorithm 3.10 Screen display example 3.10.1 Main screen 3.10.2 Open screen 3.10 3.3 Optimization detail information screen 3.10.4 Cassette number setting screen 3.10.5 Component division number setting screen 3.10.6 Nozzle number setting screen 3.10.7 Nozzle station selection screen 3.10 8 Option setting screen 3.10.9 Z-axis information screen 3.10.10 Nozzle station information screen 4 Operation of the optimization device (applied) 4.1 Optimization of small parts 4.1.1 Z-array not divided into parts 4.1.2 Optimization in distribution processing to the left and right blocks 4.1.3 Estimating the number of double cassettes used 4.1.4 Fixed pair of double cassettes 4.1.5 Optimizing in consideration of NG heads Optimization algorithm 4.2 Simultaneous optimization of multiple NC data 4.3 Optimization of general-purpose components (introduction of rule base) 4.3.1 Pre-emption method 4.3.2 Task division 4.3.3 Task fusion 4.3 4.4 Task replacement 4.4 Optimization considering nozzle constraints 4.4.1 Support for fixed nozzle arrangement on the nozzle station 4.4.2 Optimization of small parts when the number of used nozzles is less than 10 5 explanation of the term

The description of each item shown in the above table of contents is as follows. 1 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 the circuit board 20 from upstream to downstream, and various database to start 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 includes two sub-equipment (a front sub-equipment 110 and a rear sub-equipment 120) that perform component mounting simultaneously and independently or in cooperation with each other (or in an alternating operation). Each sub-equipment 110 (120)
It is an orthogonal robot type mounting stage, and is composed of an array of up to 48 component cassettes 114 for storing component tapes.
A multi-mounting system having one component supply unit 115a and 115b and ten suction nozzles (hereinafter, also simply referred to as "nozzles") that can suction up to 10 components from the component cassette 114 and mount them on the substrate 20. Head 112 (1
0 nozzle head), an XY robot 113 for moving the multi-mounting head 112, and the multi-mounting head 11
A component recognition camera 116 for two-dimensionally or three-dimensionally inspecting the suction state of the component sucked by the second component, a tray supply unit 117 for supplying tray components, and the like. The "component tape" is actually a plurality of components of the same component type arranged on a tape (carrier tape), and is supplied in a state of being wound on a reel (supply reel) or the like. It is mainly used to supply relatively small size parts called chip parts to the mounter. However, in the optimization process, the “component tape” is data that identifies a set of components belonging to the same component type (a plurality of these components arranged on a virtual tape). In some cases, a component group (one component tape) belonging to one component type may be divided into a plurality of component tapes by a process called “component division”. Further, the components supplied by the component tape are called taping components. This component mounter 1
Specifically, 00 is a mounter having both the functions of a component mounter called a high-speed mounter and a component mounter called a multi-function mounter. High-speed loading machine is mainly □ 1
This is a facility characterized by high productivity for mounting electronic components of 0 mm or less at a speed of about 0.1 seconds per point. A multi-functional mounting machine is a large electronic component of □ 10 mm or more, switches and connectors, etc. Deformed parts, ICs such as QFP / BGA
Equipment for mounting parts. That is, this component mounter 1
00 is an electronic component of almost all types (a component to be mounted is a chip resistor of 0.6 mm × 0.3 mm and 2
It is designed so that up to 00 mm connectors can be mounted, and a production line can be configured by arranging the required number of component mounting machines 100.

1.1 Configuration of Component Mounter FIG. 2 is a plan view showing the main configuration of the component mounter 100 which is the object of component mount order optimization according to the present invention. The shuttle conveyor 118 is a moving table (recovery conveyor) on which the parts taken out from the tray supply unit 117 are placed and conveyed to a predetermined position where the multi-mounting head 112 can pick them up. Nozzle station 119
Is a table on which replacement nozzles for accommodating various types of parts are placed. Each sub-equipment 110 (or 12
The two component supply units 115a and 115b constituting the component 0) are arranged on the left and right sides of the component recognition camera 116, respectively. Therefore, the component supply unit 115a or 115b
After passing through the component recognition camera 116, the multi-mounting head 112 that has suctioned the components moves to the mounting point of the substrate 20 and repeats the operation of sequentially mounting all the sucked components. Here, one operation (suction / movement / mounting) in a series of repeated operations of suction / movement / mounting of components by the multi-mounting head 112, or a component group mounted by such one operation) Is called a "task". For example, with the 10 nozzle head 112, the maximum number of components mounted by one task is 1.
It becomes 0. It should be noted that "suction" here includes all suction operations from the start of suction of the component to the movement of the head, and for example, one suction operation (multi-mounting head 1
This includes not only the case of picking up 10 parts by (12 vertical movements) but also the case of picking up 10 parts by a plurality of picking operations. FIG. 3 is a schematic diagram showing the positional relationship between the multi-mounting head 112 and the component cassette 114. The multi-mounting head 112 is a working head called a “gang pickup system”, and can mount a maximum of 10 suction nozzles 112a to 112b. Can be adsorbed at the same time (in one vertical movement). Note that only one component tape is loaded in the component cassette 114 called "single cassette", and the component cassette 114 called "double cassette" is loaded.
Is loaded with two component tapes (however, the component tapes having the same feed pitch (2 mm or 4 mm) are limited). Further, the position of the component cassette 114 (or the component tape) in the component supply units 115a and 115b is referred to as a "value on the Z axis" or "position on the Z axis", and the component supply unit 115a.
A serial number or the like with the leftmost end of "1" is used. Therefore, determining the mounting order of the taping components is equivalent to determining the arrangement (position on the Z-axis) of the component type (or the component tape or the component cassette 114 accommodating the component tape).

FIG. 4A shows the sub-equipment 110 and 120.
FIG. 4B is a table showing a specific configuration example of each of the component supply units 115a and 115b and 215a and b, and FIG. 4B is a table showing the number of mounted various component cassettes 114 in that configuration and the position on the Z axis. As shown in FIG. 4 (a), each of the component supply units 115a, 115b, 215a, 215b can carry a maximum of 48 component tapes (respective positions are Z1-Z48, Z49-). Z9
6, Z97 to Z144, Z145 to Z192). Specifically, as shown in FIG. 4B, the tape width is 8 mm.
By using the double cassette that stores the two component tapes, the maximum 48 types of components can be mounted on each component supply unit (A block to D block). The larger the tape width (component cassette), the smaller the number of cassettes that can be mounted in one block. The left component supply units 115a, 215a (A blocks, C blocks) facing each sub-equipment are “left blocks”, and the right component supply units 115b, 215b (B block, D blocks) facing each sub-equipment. Is also called a "right block". Figure 5
(A) And (b) is a figure and table which show the example of the position (Z-axis) of the component supply part which 10 nozzle heads can adsorb | 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, the interval between the nozzles of the 10-nozzle head is the width of one double cassette (2
Since it corresponds to 1.5 mm), the Z numbers of the components picked up by one vertical movement are every other number (only odd numbers or even numbers). Further, due to the movement restriction of the 10-nozzle head in the Z-axis direction, as shown in FIG. 5B, the nozzles that cannot adsorb to the component (Z-axis) that constitutes one end of each component supply unit. ("-" In the figure) exists.

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 formed continuously on the carrier tape 424 shown in FIG. It is supplied to users in a taping form (parts tape) in which the parts are wound.
Such a taping electronic component 423d is used by being attached to the component cassette 114 as shown in FIG. 8, and in FIG. 8, the supply reel 426 is rotatably mounted on a reel side plate 428 connected to the main body frame 427. It is installed. The carrier tape 424 pulled out from the supply reel 426 is guided by the feed roller 429, and is provided in the electronic component automatic mounting device (not shown) equipped with the electronic component supply device in association with the operation thereof. The feed lever (also not shown) moves the feed lever 430 of the electronic component supply device in the direction of the arrow Y1 in the figure, and the link 43 attached to the feed lever 430.
Rotate ratchet 432 through 1 through a constant angle. Then, the feed roller 429 that is interlocked with the ratchet 432 has a constant pitch (for example, a feed pitch of 2 mm or 4 mm).
Just move. Further, the carrier tape 424 peels off the cover tape 425 at the cover tape peeling portion 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 from which the cover tape 425 is 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 is repeated, the used carrier tape 424 is discharged to the outside of the electronic component supplying device, finely cut by a cutter (not shown) which is linked to the operation of the electronic component supplying device, and discarded. It is configured to be. 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.

The operational features of the component mounter 100 are summarized as follows. (1) Nozzle replacement The nozzle required for the next mounting operation is the multi-mounting head 112.
If not, the multi-mounting head 112 moves to the nozzle station 119 and performs nozzle replacement. The types of nozzles include, for example, types S, M, L, etc., depending on the size of the component that can be sucked. (2) The component suction multi-mounting head 112 moves to the component supply units 115a and 115b to suction the electronic components. When 10 parts cannot be picked up at the same time at the same time, a maximum of 10 parts can be picked up by performing the picking up / down operation a plurality of times while moving the picking position. (3) Recognition scan The multi-mounting head 112 moves on the component recognition camera 116 at a constant speed, captures images of all electronic components sucked by the multi-mounting head 112, and accurately detects the component suction position. (4) Electronic components are sequentially mounted on the component mounting board 20. By repeating the above operations (1) to (4), all electronic components are mounted on the substrate 20. The operations from (2) to (4) above are
This is a basic operation in mounting a component by the component mounter 100 and corresponds to a “task”. That is, a maximum of 10 electronic components can be mounted on the board by one task.

1.2 The purpose of optimizing the mounting sequence of the restricted components in the component mounter is to mount the component mounter 100
Is to maximize the number of boards produced per unit time. Therefore, the preferable optimization method (optimization algorithm) is, as can be seen from the above-mentioned functional and operational characteristics of the component mounter 100, select 10 electronic components that can be efficiently mounted on the board, The algorithm is such that they are sucked from the component supply unit at the same time and are sequentially mounted in the shortest path. The component mounting order determined by such an optimization algorithm can ideally improve the productivity by about 10 times as compared with the case of component mounting using only one nozzle. However, any component mounter has a limiting factor in determining the mounting order of components in terms of mechanism, cost, and operation. Therefore, in reality, optimizing the mounting order of components means maximizing the number of boards to be produced per unit time as much as possible while complying with various restrictions. The main restrictions in this component mounter 100 are listed below. Note that the details of the constraint are also described in the section describing each optimization algorithm.

1.2.1 Multi-Mounting Head The multi-mounting head 112 is composed of 10 mounting heads that perform suction / mounting operations independently, arranged in a line, and a maximum of 10 suction nozzles can be attached and detached. Therefore, the series of suction nozzles can simultaneously suction up to 10 parts in one suction up / down operation. In addition, when referring to the individual work heads (work heads that adsorb one component) that constitute the multi-mounting head, they are simply referred to as "mounting heads (or" heads ")". Due to the structure in which the ten mounting heads forming the multi-mounting head 112 are arranged in a straight line, there are restrictions on the movable range of the multi-mounting head 112 during component pickup and component mounting. Specifically, as shown in FIG. 5B, both ends of the component supply unit (near the left end of the left block 115a and the right block 11).
When the electronic component is sucked at the right end of 5b)), the mounting head that can be accessed is limited. In addition, the movable range of the multi-mounting head 112 is also limited when mounting the electronic component on the substrate. This is a constraint that occurs when components are mounted on a board that is larger in the vertical or horizontal direction than usual, which is called an "LL size board" or "XL size board" described later.

1.2.2 Component Recognition Camera The component mounter 100 is equipped with a 2D camera for capturing a two-dimensional image and a 3D camera capable of detecting height information as the component recognition camera 116. 2D cameras include 2DS cameras and 2DL cameras, depending on the size of the field of view that can be captured. The 2DS camera has a small field of view, but high-speed imaging is possible. The 2DS camera has a maximum of 60 x 220 mm.
It features a large field of view. 3D camera is I
It is used to three-dimensionally inspect whether all the leads of the C part are bent. The recognition scan speed when capturing an image of an electronic component differs depending on the camera. 2D
If the part using the S camera and the part using the 3D camera exist in the same task, the recognition scan needs to be performed twice at each speed.

1.2.3 Component Supply Section For the package state of electronic components, there is a system called taping for storing electronic components in a tape form, and a tray for storing in a plate with partitions according to the size of the components. There is a method called. The component supply by taping is performed by the component supply units 115a and 115b, and the tray supply is performed by the tray supply unit 117. The taping of electronic components is standardized, and there is a taping standard of 8 mm width to 72 mm depending on the size of the component. By setting such a tape-shaped component (component tape) in a component cassette (tape feeder unit) corresponding to the tape width, it becomes possible to continuously take out electronic components in a stable state. The component supply unit for setting the component cassette is designed so that component tapes up to a width of 12 mm can be mounted at a pitch of 21.5 mm without any gap. When the tape width is 16 mm or more, the necessary gaps are set according to the tape width. In order to pick up a plurality of electronic components at the same time (in one vertical movement), the mounting heads and the component cassettes may have the same pitch in the arrangement. Tape width is 12m
For parts up to m, 10 points can be picked up simultaneously. Note that a maximum of 48 component tapes with a width of 12 mm can be mounted on each of the two component supply units (the left block 115a and the right block 115b) forming the component supply unit.

1.2.4 Component Cassettes Component cassettes include single cassettes that store only one component tape and double cassettes that can store up to two component tapes. The two component tapes stored in the double cassette are limited to component tapes having the same feed pitch (2 mm or 4 mm).

1.2.5 Other Constraints The restrictions on the component mounter 100 are not limited to the restrictions caused by the structure of the component mounter 100 as described above, but also due to the circumstances at the production site where the component mounter 100 is used. There are also operational restrictions that arise. (1) Fixed array For example, in order to reduce manual replacement work of component tapes, a specific component tape (or a component cassette containing it) is set at a position in the component supply unit (on the Z axis). (Position) may be fixed. (2) Resource restrictions The number of component tapes that can be prepared for the same component type, the number of component cassettes that store the component tapes, the number of double cassettes, the number of suction nozzles (number of each type), etc. are limited to a fixed number. May be done.

1.3 Optimizer The optimizer 300 is provided by a production target (a board and components to be mounted thereon) and a production tool (a component mounter with limited resources, a sub-equipment). In this case, it is a device that determines a component mounting order for manufacturing boards in the shortest possible time (increasing the number of boards that can be manufactured per unit time). Specifically, in order to minimize the mounting time per board, the component cassette containing the component tape is placed at which position (Z-axis) of which component mounter (sub-equipment) and each component is placed. The multi-mounting 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 determines (searches for an optimal solution) on a computer as to what should be done. At this time, it is required to strictly adhere to the above-mentioned restrictions of the target mounter (sub-equipment).

1.3.1 Hardware Configuration of Optimizing Device The optimizing device 300 is realized by a general-purpose computer system such as a personal computer executing the optimizing program according to the present invention, and is an actual component mounter. It also functions as a stand-alone simulator (a tool for optimizing the component mounting order) when not connected to 100. FIG. 9 is a block diagram showing a hardware configuration of the optimizing device 300 shown in FIG. 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, a numerical processor or the like, and loads a necessary program from the optimization program storage unit 305 into the memory unit 304 according to an instruction from a user and executes the program. It controls each of the components 302 to 307. The display unit 302 is C
The input unit 303 is a RT, an LCD, or the like, and the input unit 303 is a keyboard, a mouse, or the like, and these are used for the dialogue between the optimization apparatus 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 a LAN adapter or the like and 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 optimization programs that realize the functions of the optimization apparatus 300. The database unit 307 uses the optimization device 30.
It is a hard disk or the like that stores input data (mounting point data 307a, component library 307b, and mounting device information 307c) used for 0-based optimization processing, 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 mounting of the component (types of suction nozzles that can be used, maximum moving speed of the multi-mounting head 112, etc.). In addition,
The NC data to be finally obtained is a sequence of mounting points that minimizes the line tact. Parts library 3
Reference numeral 07b is a library that collects unique information about all of the component types that can be handled by the component mounters 100 and 200. As shown in FIG. Tact specific to the component type below, other constraint information (types of suction nozzles that can be used, recognition method by the component recognition camera 116,
The maximum speed ratio of the multi-mounting head 112, etc.). It should be noted that the drawings also show the external appearances of the components of each component type for reference. The mounting apparatus information 307c is information indicating the apparatus configuration of each sub-equipment that composes the production line, the above-mentioned restrictions, and the like. As shown in FIG. It includes nozzle information about the type of suction nozzle that can be mounted on the head, cassette information about the maximum number of component cassettes 114, tray information about the number of trays stored in the tray supply unit 117, and the like. These pieces of information are data called as follows. That is, equipment option data (for each sub-equipment), resource data (the number of cassettes and nozzles that can be used for each equipment), nozzle station placement data (for each sub-equipment with a nozzle station), initial nozzle pattern data (for each sub-equipment) , Z-axis arrangement data (for each sub-equipment), and the like. Also,
Regarding resources, the number of nozzles of each type such as SX, SA, and S is 10 or more.

1.3.2 Software configuration of optimization device One of the features of the optimization program stored in the optimization program storage unit 305 is that electronic parts are roughly classified into "small parts" and "general-purpose parts". The point is that different optimization algorithms are applied to each. The number of electronic components mounted on a board is, for example, about 1000 in the case of a large number, but 90% of them are chip components with a component size of □ 3.3 mm or less (hereinafter, such a small component is Called "small parts".). Small parts are parts such as resistors and capacitors, and the part size can be limited to some patterns. The taping has a width of 8 mm and is a component that can pick up 10 points at the same time. The conditions to be satisfied by the small parts are as follows, for example. -Part size is □ 3.3 mm or less. -The component height is 4.0 mm or less. -The component recognition camera is 2DS. -The component tape width is 8 mm. On the other hand, the remaining 10% of the components are odd-shaped components such as connectors and ICs (hereinafter, large-sized components that do not meet the requirements for small components are called "general-purpose components"). Depending on the parts, there are many parameters to be considered during optimization because they are supplied in trays or require special nozzles. Therefore, the goal is to create an algorithm that can maximize the number of 10-point simultaneous suction tasks for small parts and execute optimization processing at high speed. On the other hand, for general-purpose parts, optimization with a flexible algorithm that derives the optimum mounting order while changing the state (one of possible mounting orders) using the mounting time in task units as an evaluation function The goal is to raise the level.

FIG. 13 is a functional block diagram of the optimization program stored in the optimization program storage unit 305 shown in FIG. The optimization program is roughly divided into a component group generation unit 314, a line balance optimization unit 315, and a state optimization unit 316. Although not shown, the optimization program also includes a GUI (graphical user interface) function for interacting with the user. The component group generation unit 314 classifies all mounted components specified by the mounting point data 307a stored in the database unit 307 into, for example, nine component groups in terms of component thickness. Specifically, by referring to all the component types indicated by the mounting point data 307a, a component table showing the number of components for the same component type is created, and referring to the component sizes in the component library 307b, Each component type is associated with one of a plurality of component groups. Then, the line balance optimization unit 315 is notified of the classification result (the kind of parts and the number of parts belonging to each part group). The line balance optimizing unit 315 adheres to mounting the component groups in the order of decreasing component thickness based on the component group information notified from the component group generating unit 314, while minimizing the line tact, Optimized line balance (leveling tact for each sub-equipment)
To do. Therefore, three functional modules (first LBM unit 315) that operate in cooperation with the state optimization unit 316 are used.
a, the second LBM unit 315b and the third LBM unit 315c)
Have. In addition, the priority is given to the mounting of the component group having the thin component thickness in order to smooth the movement of the multi-mounting head 112 when mounting the component on the substrate and improve the mounting quality.

The first LBM unit 315a roughly distributes a plurality of component groups notified from the component group generation unit 314 so that the tacts of the respective sub-equipment are substantially equal in task group units. That is, the line balance is optimized by rough adjustment. Here, the "task group" refers to a collection of tasks, and matches the range of a component group in which the mounting order of components can be changed for optimization. The second LBM unit 315b is the first LBM unit 315.
The line tact is minimized by moving the task group for each sub-equipment roughly assigned by a between sub-equipment. That is, the line balance is optimized by fine adjustment. The third LBM unit 315c optimizes the line balance by the same procedure as the second LBM unit 315b with respect to the state optimized by the second LBM unit 315b (task group allocation) in units of component type (component tape). I do. The state optimizing unit 316 determines a task group forming each component group for each of the plurality of component groups generated by the component group generating unit 314, and determines the optimum state (Z of each component tape) for each determined task group. The values on the axis and the mounting order of components (mounting points) on each component tape are determined, and optimization is performed for small components (for example, components belonging to 5 of 9 component groups). A small-parts optimization unit 316a to perform, a general-purposes parts optimization unit 316b to optimize general-purpose parts (for example, parts belonging to the remaining four of nine parts groups), and the small-parts optimization unit An optimization engine unit 3 that executes a calculation process common to the optimizations of the general component optimization unit 316b and the general-purpose component optimization unit 316b.
16c. The “state” refers to an individual mounting sequence that the target component or component type (component tape) can have.

The small parts optimizing unit 316a determines task groups and optimizes states by using an algorithm suitable for simple and high-speed processing, while the general-purpose parts optimizing unit 316b is precise and intelligent. State optimization using a simple algorithm. This is because the total number of small components mounted on a substrate such as a mobile phone is generally much larger than that of general-purpose components as described above (for example, 9: 1).
This is because the optimization is performed by using an algorithm corresponding to each, so that a more optimal solution can be obtained in a shorter time as a total. The optimization engine unit 316c includes the small parts optimization unit 31.
6a and the parameters given from the general-purpose parts optimizing unit 316b, the optimization calculation based on a heuristic but deterministic algorithm (mountain climbing method), and the stochastic algorithm for globally searching for an optimal solution ( Performs optimization calculation based on the multi-canonical method). FIG. 14 is a schematic flow diagram when the optimizing program stored in the optimizing program storage unit 305 shown in FIG. 9 is executed by the arithmetic control unit 301. That is, this figure is a flow of typical processing by each functional block shown in FIG. 13, and corresponds to a flowchart corresponding to main processing by the optimizing device 300. Here, basically, the steps are performed in order from the upper step (processing within the rectangular frame) to the lower side. The nesting-displayed portion shows that the parent step is realized by the nested child steps (or their repetition).

As shown in the figure, the entire optimization process S
310 is the following six large steps S311 to S3.
It consists of 16. (1) Reading Mounting Point Data (S311) First, all the mounting point data 307a are read from the database unit 307 into the memory unit 304 or the like. Related data (parts library 307b, mounting device information 307c) is also read in as needed. (2) Creating a component list (S312) Since information on the component to be mounted (component library 307b) is linked to each mounting point data 307a, if all the mounting point data 307a are read, what kind of component will be read? It is possible to create a parts list that describes how many points to mount. (3) Generation of Component Group (S313) Next, a component group is generated from the component list. The “parts group” is a part list that is grouped according to the size of parts, and is roughly classified into small parts and general-purpose parts. The small parts are further subdivided into the following three parts groups according to size. G1: 0.6 mm × 0.3 mm size component G2: 1.0 mm × 0.5 mm size component G3: 1.6 mm × 0.8 mm size or larger component (4) Front / rear initial distribution to sub-equipment (S314) A standard mounting time is determined for each electronic component, and component types (component tapes) are assigned to the front and rear sub-equipment 110 and 120 so that the accumulated values of the standard mounting time for the components assigned to each facility are almost the same. Sort. In addition, after the parts are distributed to the front and rear sub-equipment 110 and 120, the part tape is further distributed to one of the left and right blocks in units of a part group or the like.

(5) Line balance processing (S315) The optimization processing for small parts and the optimization processing for general-purpose parts are sequentially executed (S320, S321). Then, in consideration of the arrangement fixing, the component tape is attached to the component supply units 115a and 115b.
(S322). Subsequently, the mounting time is calculated for each of the front and rear sub-equipment 110, 120, and if the front and rear sub-equipment is unbalanced as a result, the component is moved between the front and rear sub-equipment 110, 120 (S323), and the small component and the general-purpose component are again used. The optimization process of is executed. Further, the optimization is performed in consideration of the mounting point (the mounting position of the component on the board), that is, the optimization by the intersection elimination method described later (S324) and the optimization by the return optimization method (S325). In addition, in the flowchart of FIG. 14, regarding optimization for small parts (S32
0), a processing procedure in the case where a typical one selected from a plurality of methods (“cutting method”) is adopted is shown. (6) Output of optimization result (S316) The following data is output when all the above processes are completed. -Electronic component mounting order and task configuration-Layout of component supply units 115a and 115b (arrangement of component tapes) -Resource usage status of feeders, nozzles, etc.-Estimated mounting time for each of the front and rear sub-equipment 110, 120 These steps and diagrams The correspondence with each functional block shown in 13 is as follows. That is, step S311
~ S313, which is mainly the processing by the component group generation unit 314, and step S314 is mainly performed by the first LBM unit 315a and the second LBM unit 3 of the line balance optimization unit 315.
15b, and step S315 is mainly processing by the third LBM unit 315c and state optimization unit 316 of the line balance optimization unit 315, and step S3
The process 16 is mainly performed by the line balance optimization unit 315 and a user interface unit (not shown). Details of these steps are as described in “Operation of Optimization Device (Overview)”, “Operation of Optimization Device (Details)” and “Operation of Optimization Device (Application)” described later. is there. In addition, "HC method" in the figure means a mountain climbing method,
It is a heuristic algorithm that deterministically finds an optimal solution, and the "MC method" means a multicanonical method, and is a stochastic algorithm that globally searches for an optimal solution.

More specifically, the optimization of the component mounting order is to find out a mounting order that satisfies a certain condition (such as the above-mentioned constraints) and has the shortest mounting time from a finite number of possible mounting orders. This is a process, and mathematically, it corresponds to a process for obtaining a solution (optimal solution) under constant conditions in an optimization problem. The "mountain climbing method (HC method)" is one of the solution methods called a local search method. First, any solution that satisfies the condition is selected, and thereafter, the solution is transformed according to a certain order (here, This is a method in which, if the result (here, the mounting time) is improved while satisfying the conditions, the process is repeated until the result is not improved even if the deformation is added. Also, the "multicanonical method (MC method)" is one of the solution methods called the global search method, and first, one solution satisfying the condition is selected,
Then, various deformations with no bias are added to the solution, and the probability that the result is improved (entropy becomes low) while satisfying the condition is evaluated for each kind of deformation, and the highest probability among those deformations is obtained. It is a method that repeats the process of adopting the one that improves the result and ends when the result is not improved even if deformation is added. It should be noted that these "mountain-climbing method" and "multicanonical method" both attempt to greedily modify the previous solution, and if the result is improved and certain conditions are satisfied, that solution is They are common in that they are adopted and belong to one of the approaches called "greedy method". Further, since the optimizing device 300 is a device for optimizing the mounting order of components by information processing on a computer based on a dedicated program, in this specification, the optimizing device is an object (component, task, task). "Moving" a group, a component cassette, a component tape, etc. means "rewriting the data (such as data that identifies the mounting order of components) held in a storage device such as a memory or a hard disk".

2 Operation of Optimization Device (Overview) Next, the basic operation of the optimization device 300 in the component mounting system 10 configured as described above will be described.

2.1 Component Group Creation The component group generation unit 314 shows all the mounted components specified by the mounting point data 307a stored in the database unit 307 in terms of component thickness as shown in FIG. The parts are classified into nine parts groups G [1] to G [9] as shown. This process corresponds to step S313 in FIG. Specifically, by referring to all the component types indicated by the mounting point data 307a, a component table showing the number of components for the same component type as shown in FIG. 15B is created, and the component library 307b is created. By referring to the component sizes in, all the component types are divided into nine component groups G
Corresponds to any of [1] to G [9]. Then, the line balance optimization unit 315 is notified of the classification result (the kind of parts and the number of parts belonging to each part group).

2.2 Line Balance Processing FIG. 16 shows the first LBM of the line balance optimization unit 315.
It is a figure which shows the mode of the distribution process of the task group to the sub-equipment by the part 315a. This process corresponds to step S314a in FIG. First LBM unit 315a
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” is specified by referring to the mounting point data 307a and the component library 307b. The “total number N of sub-equipment” is specified by referring to the mounting apparatus information 307c.
FIG. 17 is a diagram showing a state of line balance optimization (task group movement) by the second LBM unit 315b, and a graph 405a shows a tact distribution before optimization (task group distribution state to each sub-equipment). A graph 405b shows how task groups are moved by optimization, and a graph 405c shows the tact distribution after optimization. This process is performed in step S of FIG.
It corresponds to 314b. Here, in the tact distribution shown in this figure, the vertical axis represents the size of the tact, and the horizontal axis represents
All sub-equipment that make up the production line (6 units here)
Of the blocks "TGn-", in which the task group is the height.
m ". n represents the numbers 1 to 9 of the component groups to which the task group belongs, and m is a number that distinguishes the task groups belonging to the same component group. It should be noted that each sub-equipment mounts a plurality of task groups, which belong to a component group having a thin component thickness, first in the assigned task groups. However, the order of multiple task groups belonging to the same component group is not restricted. For example, sub-equipment [3]
May be mounted in the order of TG3-3 → TG3-1 → TG3-2.

FIG. 18 is a flow chart showing the procedure for optimizing the line balance by the second LBM unit 315b shown in FIG. The second LBM unit 315b first generates the graph 405a of FIG. 17 generated by the first LBM unit 315a.
The sub-equipment [S] that has the maximum tact for each sub-equipment with respect to the initial state (task group allocation) shown in
max] and the minimum sub-equipment [Smin] are specified (S5).
00). For example, Smax = 5 and Smin = 2 are specified. Then, the tact of the sub-equipment [Smax] is changed to the line tact LT.
(S501). For example, LT = sub-equipment [5] is stored. Next, for the sub-equipment [i] from the sub-equipment [Smin] to the sub-equipment [Smax-1], a movable task group is moved between two adjacent sub-equipment in order (S502 to S507). . That is, one task group is provisionally moved from the sub-equipment [i + 1] to the sub-equipment [i] (S503), and it is still confirmed whether or not the tact of the sub-equipment [i] is smaller than the line tact LT. (S504). As a result, the task group is actually moved only when it is confirmed that it is small (S505). That is, the tacts of the sub-equipment [i] and the sub-equipment [i + 1] are updated. For example, the task group TG3-1 is moved from the sub equipment [3] to the sub equipment [2]. It should be noted that task groups that are candidates for movement are preferentially selected from those belonging to a component group having a thin component thickness. When such task group movement is repeated in order from sub-equipment [Smin] to sub-equipment [Smax-1] (S
502 to S506), finally, whether the tact time of the sub-equipment [Smax] has decreased, that is, whether at least one task group has been moved from the sub-equipment [Smax] to the sub-equipment [Smax-1]. Is determined (S507). As a result, if the number is decreasing, it is determined that there is still room for optimization, and the same optimization (S500 to S5) is performed again.
07) is repeated. If not, further optimization is determined to be difficult and the process ends (S507). In addition, when there are a plurality of task groups that can be moved, since there is a degree of freedom in selecting a move target, various combinations of task groups to be moved will be tried within the range of calculation time. In this way, by sequentially attempting to move the task group between the minimum tact sub-equipment and the maximum tact sub-equipment, the maximum tact (line tact) is reduced, that is, the line balance is optimized. . When the above optimization is completed, the third LBM unit 315c then uses the second LBM unit 315c as a unit for the component type (component tape) with respect to the state optimized by the second LBM unit 315b (task group allocation). The line balance is optimized in the same procedure as 315b. That is, the second LBM unit 315b moves between the adjacent sub-equipment in units of the task group (S
503, S505), the third LBM unit 315c moves between sub-equipment in units of component types (component tapes) forming each task group, instead of task groups. Therefore, the increment / decrement of the tact between the two sub-equipment is smaller than that in the case of the second LBM unit 315b, and more detailed optimization is performed. Thereby, the line tact LT can be further reduced.

2.3 Optimization for Small Parts FIG. 19 shows the small parts optimization section 316 of the state optimization section 316.
It is a flowchart which shows the schematic procedure of the mounting order optimization of the small component by a, and consists of two big steps. The small component optimization unit 316a first generates a suction pattern for all mounted components (S520). This corresponds to determining the arrangement of the component type (component tape) as a unit, that is, the arrangement of the component cassettes 114 (Z axis). Here, the "suction pattern" is a two-dimensional diagram as shown in FIG. 20, in which the vertical axis represents the suction order of components by the multi-mounting head 112, and the horizontal axis represents the arrangement of the component cassettes 114 (component tapes). When the (Z axis) is set, the multi-mounting head 112 sucks simultaneously 1
A group of parts of more than one set is shown. Individual components (mounting points) to be attracted are indicated by unit rectangles (squares or rectangles). For convenience of explanation, FIG. 20 shows a suction pattern for four nozzle heads, and a maximum of four unit rectangles connected horizontally is mounted (suction, movement, mounting). Corresponding to one time (that is, a task), and a set of connected tasks surrounded by a circle corresponds to a task group. Therefore, a total of three independent task groups are shown in this figure. The generation of such a suction pattern corresponds to the work of determining the relative arrangement of the component tapes so that the multi-mounting head can simultaneously suction as many components as possible, in other words, all the component tapes. Is divided into a plurality of array groups (task groups) independent of each other. next,
As shown in FIG. 19, the small-part optimization unit 316a,
For each task group (group of component tapes whose array is fixed) determined in step S520, the mounting order of the components that form each component tape is determined so that the total tact becomes small (S521). This is because even if a component is taken out (sucked) from the same component cassette 114, the distance from the immediately preceding mounting point in the same task differs depending on which mounting point the mounting is performed. This corresponds to shortening the moving distance (mounting time) of 112.

2.4 Task Group Generation Method The first concrete algorithm for generating the suction pattern (S520) in FIG. 19 is the "task group generation method". This method is a method of repeatedly generating a task group consisting of an array of component types (component tapes) within a certain range (twice the number of suction nozzles).
Basically, it consists of the following two major steps (first and second steps). 21. FIG. 21 is a diagram for explaining these first and second steps, and the component histogram 406a is a component histogram in which target components are arranged (sorted) in the order of component tapes having the largest number of components. , Diagram 406b is an adsorption pattern generated by these first and second steps. [First Step] In this step, the first half processing for generating one task group, that is, the component histograms are arranged in the right direction (Z-axis direction) in the order of the component tapes having the largest number of components. Specifically, (i) the component tape having the largest number of components (one-component tape) among the component tapes not yet arranged is placed on the Z axis. (ii) Place a second component tape (two-component tape) on the right next to it. (iii) Place the third component tape (three-component tape) on the right of the two-component tape. (iv) Hereinafter, this is repeated until the number L of suction nozzles of the multi-mounting head 112 (here, “4”). As a result, four component tapes 400 are extracted from the component histogram 406a and placed at the location 400 shown in the diagram 406b.

[Second Step] In this step, the component histogram is arranged in the left direction so that the simultaneous adsorption number of the tasks whose simultaneous adsorption number is less than L becomes L in the diagram generated in the first half processing. I will do it. Specifically, (i) the number of L component tapes is subtracted from the number of 1 component tapes. (ii) A component tape (L + 1 component tape) having a component number that is less than or equal to the obtained component number difference and is closest to the component number difference is placed to the left of one component tape. (iii) Subtract the number of (L-1) component tapes from the two-component tape. (iv) A component tape having the number of components that is less than or equal to the difference in the number of components and is closest to the number of components is placed to the left of the (L + 1) component tape. (v) Hereinafter, this is repeated (L-1) times. As a result, the two component tapes 401a and 401b in the component histogram 406a are taken out and placed at the location 401 shown in the diagram 406b. As a result, one suction pattern composed of the component tape 400 and the component tape 401 is completed. As a result, the relative Z axis is determined for the task group including these six types of component tapes. First of the above
And the generation of the task group by the second step is repeated until there is no target component tape. Where if
When there are no unplaced component tapes satisfying the condition of the second step, the following three steps (third to fifth steps) are executed instead of the first and second steps. FIG. 22 is a diagram for explaining these third to fifth steps, and the component histogram 415a.
Indicates an unplaced portion (a portion surrounded by a solid line) in the entire component histogram, and the diagram 415b indicates the suction pattern generated by these third to fifth steps. [Third Step] In this step, the unplaced component histogram is shaped to generate a partial histogram. Specifically, (i) the minimum value of the number of parts of the part tape that has not been arranged is obtained. (ii) Subtract (minimum value-1) from the number of parts of each part tape that has not been arranged yet. As a result of such subtraction processing, the number of components in the unplaced component histogram becomes a component histogram 415a surrounded by a thick solid line.
The following fourth and fifth steps are performed using the number of parts in a.

[Fourth Step] This step corresponds to the above-mentioned first step. Specifically, (i) the component tape having the largest number of components (one-component tape) among the component tapes not yet arranged is placed on the Z axis. (ii) Place a second component tape (two-component tape) on the right next to it. (iii) Place the third component tape (three-component tape) on the right of the two-component tape. (iv) Hereinafter, this is repeated until the number L of suction nozzles of the multi-mounting head 112 (here, “3”). As a result, the three component tapes 410 are extracted from the component histogram 415a and placed at the location 410 shown in the diagram 415b. [Fifth Step] This step corresponds to the above-mentioned second step. Specifically, (i) the value of (the number of components of the L component tape-1) is subtracted from the number of components of the one component tape. (ii) A component tape (L + 1 component tape) having a number of components that is less than or equal to the component number difference and is closest to the component number difference is placed to the left of the one component tape. (iii) Subtract the number of L component tapes from the (L + 1) component tapes. (iv) A component tape that is less than or equal to the difference in the number of components and is closest to the difference in the number of components is placed to the left of the (L + 1) component tape. (v) Hereafter, this is repeated L times. As a result, the three component tapes 411 in the component histogram 415a are taken out and placed at the location 411 shown in the diagram 415b. As a result, one suction pattern including the component tape 410 and the component tape 411 is completed. Thereby, the first and second
Even for component tapes left behind in the step, that is, component tapes with a small difference in the number of components, a task group consisting of a set of tasks that can be picked up at the same time is generated, and the relative Z axis is determined for those component tapes. It will be.

2.5 Cutting Method The second specific algorithm for generating the suction pattern (S520) in FIG. 19 is the “cutting method”. This process corresponds to steps S320a-d in FIG. This method is based on arranging the component histograms arranged in the order of the component tapes having the largest number of components on the Z-axis as it is. This is a method of applying the pattern generation method, and consists of the following two large steps (first and second steps). [First Step] In this step, a task consisting of an array of L parts is repeatedly extracted from the parts histogram (cutting up). 23 and 24 show
FIG. 23 is a diagram for explaining the first step in the trimming method, and FIG. 23 is a component histogram 450 in which all the components to be mounted are arranged in order of the component tape having the largest number of components.
24, the parts are taken from the parts histogram 450 of FIG. 23 in units of L (here, 10) parts array (task when the maximum number of parts are picked up simultaneously) (cutting up). FIG. These FIG. 23 and FIG. 24 respectively show step S of FIG.
This corresponds to 320a and 320b. In cutting up, L component rows (any one of 〇, △ and ×) is arranged so that the component tapes with a small number of components are eliminated first, that is, the component tapes at the right end in the component histogram are eliminated. (Including 10 rectangles).
This is repeated until it cannot be removed in units of the L parts array.

[Second Step] In this step, a diagram according to the above-described task group generation method is generated for the component histogram including the remaining components after the above cutting. 25 and 26 are diagrams for explaining the second step in the cutting method.
5 is a parts histogram 451 reconstructed in descending order of the number of parts for the parts left after cutting up in the first step, and FIG. It is a figure which shows a mode that the generation of the diagram according to the task group generation method is performed. 25 and 26 correspond to step S320d in FIG. The width of the reconstructed component histogram 451 (the number of component tapes) is always (L-1) or less from the processing content of the first step. In the second step, specifically, the following processing is performed. (i) For the parts remaining after cutting, the part histogram 451 shown in FIG. 25 is generated and the total number of parts (here, 100) is calculated. (ii) The calculated total number of components is divided by L (here, 10), and the obtained value (here, 10) is used as the number of tasks to create a suction pattern. (iii) Therefore, as shown in FIG. 26, for a component tape having a larger number of components than the obtained number of tasks (10), the component of the excess portion 451a (or the component of the excess component is divided). ) Is cut out and complemented and placed on the left side of the component histogram 451.

FIG. 27 shows a suction pattern 452 for a component tape whose Z axis is determined by the cutting method according to the above first and second steps. As shown in this figure, all the components are composed only of tasks in which the maximum number (10) of components are simultaneously suctioned, and can be efficiently mounted at the maximum simultaneous suction rate. FIG. 28 is a component histogram 453 (reconstructed without changing the Z axis) corresponding to the suction pattern 452 shown in FIG. As can be seen from the histogram 453, the cutting method maintains the tendency that component tapes having a large number of components are arranged at the left position. This means that the cutting method always causes the movement locus of the multi-mounting head 112 (for the right block 115b, after the components have been picked up, the right block 11 is always
This means that it is a method of deciding the component placement in consideration of passing in front of the two-dimensional camera placed at the left end of 5b (reducing the total movement distance, that is, reducing the total tact). Note that the left block 115a may be subjected to symmetrical processing in the Z-axis direction in the above processing. That is, after arranging the component tapes in ascending order of the number of components, the tasks may be cut up in the same procedure to generate the diagram.

2.6 Random Selection Method (“greedy method”) The first specific algorithm for optimizing the mounting sequence (S521) in FIG. 19 is the random selection method.
This process corresponds to step S320e in FIG.
This method replaces two randomly selected mounting points in a task group if the total tact becomes small when the two mounting points become small.
This is a greedy method that repeats the process. FIG. 29 shows
FIG. 31 is a flowchart showing a procedure of optimizing the mounting order of components by the random selection method, and FIG. 30 shows how two mounting points are exchanged by the random selection method. First, the small component optimization unit 316a calculates the total tact in the initial state (S530). It should be noted that the state here is a state in which the mounting order of all components (mounting points) forming one task group is set to a fixed pattern. Therefore, the total tact for one state is the information 307a-stored in the database unit 307.
It is uniquely determined from c. Next, two are randomly selected from all the mounting points (S531), and the total tact (temporary tact) when the order of the two selected mounting points is exchanged is calculated (S532). FIG. 30 shows a state example in which the mounting points B2 and B4 are exchanged. Then, it is determined whether or not the calculated temporary tact is smaller than the tact in the immediately previous state (S53).
3). As a result, if the two are small, the two mounting points are replaced (S534). That is, the current state and the total tact are updated and stored in the case where the mounting points are replaced. Then, it is determined whether or not the ending condition at that time (the tact in that state is smaller than the target tact specified in advance by the operator, or a certain processing time is reached) is satisfied (S535). , If it is satisfied, the process ends. On the other hand, if the tact is not reduced by exchanging the two mounting points (No in S533) and the end condition is not satisfied (No in S535), the same process is performed again until the end condition is satisfied. Repeat (S531 to S533 to S535). In this way, the random selection method reduces the takt time for each task group according to the execution time spent, and optimizes the component mounting order.

2.7 Intersection Resolution Method The second specific algorithm for optimizing the mounting sequence (S521) in FIG. 19 is the intersection resolution method. This process corresponds to step S324 in FIG. This method does not select two mounting points to be replaced at random, but eliminates a fixed criterion, that is, if there is an intersection between broken lines (paths) obtained by connecting the mounting points for each task with a straight line. This is a method of selecting and replacing the mounting points that satisfy the criterion that FIG. 31 is a diagram showing a state in which the mounting order of components is optimized by the intersection elimination method for the three tasks 455a to 455c each including five mounting points.
A diagram 457 shows the mounting order (distribution of the broken line for each task) before the intersection of the broken lines is resolved, and a diagram 458 shows the mounting order after the intersection of the broken line is resolved. The mounting points of the same component type (component tape) are indicated by the circles having the same pattern. First, the small component optimization unit 316a identifies all the intersections in the initial state by referring to the mounting point data 307a and the like of the database unit 307. However, the intersection here is the intersection of a line segment that connects two mounting points that belong to the same task and that are mounted in succession, and a similar line segment that belongs to another task. The types of components (component tapes) used for dots are limited to those having the same line segments. Next, for all identified intersections,
Change the line connections to eliminate the intersection. Before and after the solution, the component types of the components located at both ends of each line segment are not changed, so the connection change of this line segment is uniquely determined, and the connection type changes the sequence of the component types that make up each task. Does not change. By such a crossing elimination method, the multi-mounting head 1 between tasks
Twelve unnecessary moves are eliminated. That is, the mounting point to be moved after mounting one component is the multi-mounting head 1
The mounting order of components in which the increase of unnecessary tact due to the movement of 12 is suppressed is determined.

2.8 Return Optimization Method The third specific algorithm for optimizing the mounting sequence (S521) in FIG. 19 is the return optimization method. This process corresponds to step S325 in FIG. This method forms a task group by paying attention to the return trajectory of the multi-mounting head 112 that moves to pick up the component of the next task after the component mounting of one task is completed in one task group. This is a method for optimizing the sequence of tasks (order in task units). Figure 3
FIG. 2 is a diagram for explaining a procedure for optimizing the order of tasks by the return optimization method. Here, the movement locus (mounting path) of the multi-mounting head 112 that moves back and forth between the board and the component supply unit when ten tasks are arranged in each of the component supply units 115a and 115b on the Z axis.
Is indicated by an arrow line. Here, circles indicate typical positions of the multi-mounting head 112. In other words, the circle on the board indicates the position of the multi-mounting head 112 (final mounting point) immediately after mounting the last component in one task.
The circle on the Z-axis indicates the position of the multi-mounting head 112 (hereinafter referred to as the “suction position”) when the components are first sucked in each of the 20 tasks.
The numerical value attached to the circle is a number that distinguishes each suction position (task).

[First Step] In this step, the mounting route is drawn according to the following rules. (i) Return to the suction position that is the shortest distance from the final mounting point of each task, that is, the return trajectory is minimized. (ii) Draw the mounting path sequentially starting from the first pick-up position. Since one pick-up position corresponds to one task, the final mounting point corresponding to that pick-up position is uniquely specified. In FIG. 32, 1 → 5 → 14 → 2 → 8 → 3 → 17
→ 12 → 16 → 1 In this order, the mounting path connecting the pickup position and the final mounting point is drawn. (iii) When it returns to the first suction position (first suction position), it is set as the shortest circulating partial path 1. (iv) Next, search for an adsorption position that is not included in the shortest traveling partial path found so far. In FIG. 32, the 4th suction position can be found. (v) Return to (ii) above, and repeat until there are no unused suction positions. In FIG. 32, the five shortest traveling partial routes are drawn. By such a first step, the order of the suction positions, that is, the order of the tasks, is determined so that the return locus of the multi-mounting head 112 when starting from the specific suction position is the shortest.

[Second Step] Next, in each of all the shortest circulating partial paths drawn in the first step, which suction position should be started is specified. Specifically, each of the multi-mounting heads 112 moved to start the next shortest cyclic partial path after finishing the mounting of all the components belonging to one shortest cyclic partial path has the shortest return trajectory. The first adsorption position in the shortest cyclic partial path and the order of the shortest cyclic partial paths are determined. As a result, the multi-mounting head 112 between tasks is targeted for all the tasks that form one task group.
The execution order of the tasks is determined so that the return trajectory of is short. Note that FIG. 32 shows the mounting route in a task group in which 20 suction positions are different positions, but as shown in FIG. 33, the same applies to a task group including a plurality of suction positions at the same position. Can be optimized. At this time, since there is a degree of freedom in selecting the final mounting point corresponding to the suction position at the same position, the total tact of the task groups corresponding to the plurality of selection patterns is calculated, and the final mounting in which the tact is the smallest is calculated. It suffices to select a point and create the shortest traveling partial route. As described above, by the random selection method and the crossover elimination method, without changing the shape of the task, (i) the optimization of the mounting order within the task, and (ii) the optimization of the mounting order considering all the tasks can be performed. On the other hand, the return optimization method optimizes the order of the tasks after all the tasks have been fixed (that is, the members of each task are fixed).

2.9 Optimization for general-purpose parts General-purpose parts include the size of the part, the nozzle, the part recognition camera,
There are a wide variety of supply forms (tapes, trays), and it is possible to combine various parts when generating tasks. Here, a method of searching for an optimum state while efficiently changing the task state is adopted. This process corresponds to step S321 in FIG. The evaluation index for optimization is the mounting time, and therefore, the mounting time simulation for accurately simulating the operation time of the component mounter 100 is mounted.
The optimization algorithm for general-purpose parts is as follows. (1) Setting the number of loops As a real problem, it is not possible to evaluate all combinations, so the termination condition is set in advance. If the mounting time does not decrease even if the predetermined loop count process is continued, the optimization process is terminated. (2) Generation of initial state First, an initial state is generated for all general-purpose components. The initial state is a collection of all mounting points of general-purpose components in task units, and may be in any state as long as all the constraint conditions of the component mounter 100 are satisfied. (3) Change of state The optimum task state is searched while changing the state of the task. Procedures for changing the state include: -switching two mounting points existing in different tasks, -switching the mounting order of two mounting points in the same task, -switching two component tapes, etc. . Here, in order to change the task status flexibly, it is possible to replace it with an empty mounting point. For example, the process of moving an implementation point of a certain task to a task with a margin has a replacement of the former implementation point and the latter implementation point. By repeating this process, the number of tasks can be reduced. Whether or not to adopt the changed state is determined by whether or not the wearing time is reduced, but if the state in which the wearing time is constantly reduced is adopted, it is caught by the local minimum. Therefore, a state in which the mounting time increases with a certain probability is adopted.

Specific contents of optimization for general-purpose parts will be described below. FIG. 34A shows the general-purpose parts optimization unit 3
16B is a flowchart showing a procedure for optimizing the mounting order of general-purpose components by 16b, and FIG. 34B is a diagram for explaining an optimum solution search approach by the optimization (of all possible states). It is a figure showing tact). As shown in FIG. 34A, after the general-purpose component optimizing unit 316b generates the initial state X for all the components (general-purpose components) belonging to the component groups G [6] to G [9]. (S550) After obtaining the optimum state Xopt by causing the optimization engine unit 316c to perform optimization by the hill climbing method on the initial state X (S551),
For the initial state X, the optimization engine unit 316c executes the optimization by the multicanonical method to obtain the optimum state Xopt obtained in step S551.
(S552), and finally, the updated optimum state X
For the opt, the optimization engine unit 316c executes optimization by the hill climbing method again, thereby updating the optimum state Xopt obtained in step S552 (S).
553). In this way, the optimization by the multicanonical method (S552) for searching for the optimal solution at the global starting point is inserted in the middle of the optimization (S551, S553) by the hill climbing method for surely obtaining the local optimal solution. Therefore, it is possible to avoid ending the search for a state that is locally optimal but not globally optimal (such as the state shown in FIG. 34B), and the global optimal state (FIG. 34). (State shown in (b)) is required.

FIG. 35 is a flow chart showing a detailed procedure of optimization (S551, S553) by the hill climbing method shown in FIG. 34 (a). That is, the optimization engine unit 316 that has received the notification about the initial state X, the end condition, and the like.
After generating the initial state X (S560), c repeats the inner loop (S562 to S568) until the outer loop end condition is satisfied (S561). Here, the outer loop termination condition is a condition for confirming that there is no more optimal solution. For example, by changing (searching) all kinds of parameters that cause a state change. The inner loop end condition is, for example, that a certain range is changed (searched) for one type of parameter. In the inner loop, the optimization engine unit 316c first generates a state candidate Xtmp using one selected by the general-purpose component optimization unit 316b from nine types of state changes described later (S563, S564),
The candidate state Xtmp has the feasibility (feasibility) described later (S565) and the candidate state Xt
When the takt time of mp is smaller than the takt time of the immediately previous state (S566, S567), those status and tact are updated (S568). As a result, the locally optimum state is definitely obtained. FIG. 36 is a flowchart showing a detailed procedure of optimization (S552) by the multicanonical method shown in FIG. In this figure, the bin number is, for example, a number indicating each section (bin) obtained by equally dividing the horizontal axis (all possible states) shown in FIG. For H [i], the candidate state Xtmp belonging to the bin with the bin number i is selected (S
576, S577), the candidate state Xtmp is a variable that stores the total number of times that it is determined that the candidate state Xtmp has feasibility (S578) and is a state that reduces entropy (S579 to S581).

As can be seen by comparing the flow chart shown in this figure with the hill climbing method shown in FIG. 35, a state candidate Xtmp is generated based on the state X and it is determined whether or not to accept it. These processes are common in that a series of processes such as “do” is repeated. The difference lies in the acceptance decision method. In the hill-climbing method shown in FIG. 35, when the tact of the state candidate Xtmp is smaller than the state X (deterministically), it is accepted. In the multicanonical method shown in 36, the state candidate Xtmp is stochastically received by referring to the entropy in the tact (S580 to S582). Here, in order to explain the details of the nine types of state changes and the feasibility in the flowcharts shown in FIGS. 35 and 36, first, the intermediate representation used by the general-purpose component optimization unit 316b will be described. In order to facilitate the optimization, the general-purpose component optimization unit 316b introduces the following three types as intermediate representations of the Z-axis array, stores the states using these representations, and stores them in the optimization engine unit 316c. Give instructions. (i) Gorder [i] (i = 1, ..., L) L input component groups (task group TG
[i] (i = 1, ..., L) is a variable that specifies the priority order when arranging on the Z axis, and takes priority order numbers 1 to L as values. i! =
If j, then Gorder [i]! = Gorder [j]. (ii) block [i] (i = 1, ..., L) task group TG [i] (i = 1, ..., L) in left / right Z block (component supply units 115a and 115b) Is a variable that specifies which of the two is to be placed, and takes a "left" or "right" symbol value. (iii) Corder [i] [j] (i = 1, ..., L, j = 1, ..., M [i]) Task group TG [i] (i = 1, ..., L ) Is a number that specifies the arrangement order of the component tape j (= 1, ..., M [i]) on the Z-axis, and takes sequence numbers 1 to M [i] as values. j! = K, Corder [i] [j]! = Corder [i] [k]. Note that C
When order [i] [j] <Corder [i] [k], there is a relationship of “Z number of component tape j <Z number of component tape k”.

FIG. 37 shows an example of the intermediate representation used by the general-purpose component optimizing section 316b. The table 460 shows a specific example of the intermediate representation used by the general-purpose component optimizing unit 316b, and the tables 461 to 464 show the meaning of the intermediate representation shown in the table 460 (conversion to the Z-axis array). The Z-axis array indicated by the intermediate representation shown in the table 460 is specifically specified by the following conversion. First, Gorder [i] = 1, that is, the task group TG [2] having the highest priority in Z-axis arrangement determination is arranged (table 461). Since TG [2] is block [2] = “right”, the TG [2] is arranged left-justified toward the component recognition camera 116 in the right block. At this time, the component cassette 114 that stores a total of M [i = 2] = 6 component tapes j (i = 1, ..., 6) belonging to TG [2] is Corder [i = 2 ] [j] is placed left-justified toward the parts recognition camera in the right block so that the young one is on the left. Next, TG [4] with Gorder [i] = 2 is arranged (table 462). Since block [4] = "left", the parts recognition camera of the left block is arranged right-justified. At that time, the component cassette 114 that stores a total of M [i = 4] = 3 component tapes j (i = 1, ..., 3) has a younger one of Corder [i = 2] [j]. It is placed right-justified near the parts recognition camera so that it is on the left. Similarly, TG [3], Go with Gorder [i] = 3
It may be arranged in the order of TG [1] with rder [i] = 4 (tables 463 and 464).

Next, nine types of state changes that are the targets of selection (step S564 in FIG. 35, step S577 in FIG. 36) by the general-purpose parts optimizing unit 316b will be shown. It is as follows. (1) Two mounting points of the same general-purpose component group are randomly selected, and their task numbers and head numbers (positions of the suction nozzles 112a to 112b in the multi-mounting head 112) are swapped. (2) Two mounting points in the same task are randomly selected and their mounting order is swapped. (3) Randomly select two task groups (two general-purpose component groups) and swap their Gorders. (4) One task group (one general-purpose component group) is randomly selected, and the value of the block ("left" or "right") is changed. (5) Two component tapes in the same task group are randomly selected and their Corders are swapped. (6) Continuous Corder in the same task group
Randomly select and shift subsections. (7) Continuous Corder in the same task group
C is selected so that the partial section is randomly selected and the corresponding component tape is arranged on the Z axis according to the average X coordinate value of the mounting point.
Change order. (8) One task is randomly selected, and the head number is changed based on the Z number of the mounting point of the task. (9) Randomly change the operation mode (direct mode, shuttle mode) of tray parts that can be operated by the shuttle. Here, the "tray component operation mode" is used to supply tray components using an elevator (having a plurality of stages) built in the tray supply unit 117 (moved to a position where the multi-mounting head 112 can be sucked and placed). ) Method, the “direct mode” is a method of directly delivering one tray on which parts are placed, and the “shuttle mode” is a method of reciprocating using a shuttle conveyor 118 to take out from a plurality of trays and collect them. Multiple parts 1
It is a method of placing in line. Various pieces of information regarding these operation modes are included in the mounting apparatus information 307c, and affect the time required to move necessary components to a predetermined position and the like.

A feasibility check by the general-purpose parts optimizing unit 316b (step S56 in FIG. 35).
5, regarding step S578) in FIG. 36, the state Xtmp is regarded as a possible solution only when the following five check items are simultaneously satisfied. (1) In each task, the Z number of the mounting point of the direct mode is the same. That is, in the direct mode, it is considered that only tray parts placed on one stage can be simultaneously supplied. (2) In each task, there should be no interference between component points when picking up. That is, depending on the shapes of the two components that are adsorbed adjacent to each other, the components come into contact with each other, and it is considered to avoid it. (3) In each task, the mounting point can be picked up (the combination of the head number and the Z number of the mounting point is appropriate). That is, it is considered that not all of the suction nozzles mounted on the multi-mounting head 112 can move to any position of the 96 component cassettes 114 (can pick up components). (4) In each task, the mounting point can be mounted (the combination of the mounting point head number and the coordinate value is appropriate). It is considered that not all of the suction nozzles that form the multi-mounting head 112 can move to every position on the substrate. (5) The arrangement of the suction nozzles in the nozzle station 119 can be determined so that the suction nozzle patterns of all tasks in all task groups can be realized. That is, it is considered that there are restrictions on the arrangement position and the number of replacement suction nozzles that can be arranged in the nozzle station 119. (6) The multi-mounting head 112 and the components on the Z axis are arranged at the same pitch. That is, the multi-mounting head 1
Make sure that the parts (or parts cassette) that can be simultaneously picked up by 12 are arranged on the Z axis. As described above, the general-purpose component optimizing unit 316b performs not only local (local) optimization but also probabilistic search (steps S550 to S550 in FIG. 34A). (S553), the problem that the local minimum is calculated as the optimum solution is avoided.

3 Operation of Optimization Device (Detailed Section) Next, regarding the operation of the optimization device 300 as described above,
A more detailed description will be given. That is, the detailed contents of the individual optimization algorithms described above and the operation of the optimization device 300 under various constraints will be described.

3.1 "Cut-Up Method" The "cut-up method" is an algorithm that compensates for the above-mentioned drawbacks of the "task group generation method" (step S3 in FIG. 14).
20a-d). The details of the "cutting method" are as follows.
Explanations will be given while clarifying the problems in the "task group generation method".

3.1.1 Outline of "Task Group Generation Method" The basic idea of the small part optimization algorithm in the "task group generation method" is as shown in FIG. The number is n, and for all target mounted components, "collect n component tapes with the same number of components, and adsorb one point at a time from each of these n component tapes,
"Create an n-point simultaneous adsorption task". In the target component mounter in this embodiment, n is 10 (or 4). FIG. 38 is a parts histogram for explaining the task group generation 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 algorithm, not only component tapes having the same number of components are actually used, but component division is performed so that component tapes having the same number of components are produced. Even so, it was collected
When the number of parts of n pieces of component tapes becomes uneven (parts A to J in FIG. 38), a component tape that compensates for the variation is created and added to the n pieces of component tapes. The maximum number of component tapes to be added is (n-1) (left portion 506 in FIG. 38). N made in this way
~ A task group is a set of n + (n-1) component tapes.
(Since tasks are generated by adsorbing components from those component tapes, the naming focuses on the set of generated tasks). 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 cassettes on the Z-axis is done in task group units.

3.1.2 Problem of "task group generation method" The algorithm of "task group generation method" has the following problems. (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 portion may occur on the Z axis. (2) The degree of freedom in arranging the task groups is low, and it is difficult to move the component type (component tape, cassette) between the front sub-equipment 110 and the rear sub-equipment 120.
Therefore, it is difficult to adjust the mounting time balance of the rear sub-equipment 120. (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 is a tendency that a large number of cassettes are used for dividing parts. This kind of problem is caused by the number of component tapes (10
If it is a nozzle head, 10 to 19) and the number of component tapes that can be placed on the Z axis (up to 48 in a single cassette,
This is due to the fact that the maximum number of double cassettes is 96). Therefore, the task group is Z
There is less freedom when placing it on the shaft. 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,
It is considered that the low degree of freedom is reduced.

3.1.3 "Cut-up method""Cut-upmethod" includes "part histogram creation processing" (step S320a in FIG. 14) and "cut-up processing" (FIG. 1).
4 step S320c) and "core processing" (step S320d in FIG. 14).
These processes were devised in view of the problems in the "task group generation method". In the explanation below,
The number of nozzles on the head is n. (1) Component histogram creation process (step S3 in FIG. 14)
20a) The component histogram creating process is a process for creating a hisgram (part histogram) in which component tapes are arranged in descending order of the number of parts, and the part histogram is a premise of the "cutting process". The "task group generation method" is different in that the component tape is divided into a plurality of groups called task groups, whereas the "cutting method" is different in that the component tape is one group called a component histogram. Since the parts histogram can be divided in units of parts tapes and the divided parts can be placed in the front sub-equipment 110 and the rear sub-equipment 120, compared to the "task group generation method", parts can be moved in smaller units. It is possible.

(2) Cutting up process (step S3 in FIG. 14)
20c) The trimming process is a process for generating a suction pattern from a component histogram, and picks up one mounting point for each of the n component tapes from the side with the smallest remaining number of components in the component histogram, and n points at the same time. Basically, it creates an adsorption pattern of adsorption. As a result of the trimming process, there is a component tape having a mounting point that is 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 should always be (n-, regardless of the number of component tapes that make up the initial component histogram.
1) Less than or equal to a book. The advantage of the cut-up processing is that "the problem of dividing the parts into all the part tapes that make up the part histogram and creating an n-point simultaneous suction task"
It is possible to reduce to the "problem of dividing the parts into only the core parts tape and creating 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 process is called “core process”.

(3) Core processing (step S320 in FIG. 14)
d) “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 generation method”. Since the core component tape is 1 to (n-1),
The number of component tapes (complementary component tapes) that complement the lack of mounting points is (n-1) to 1. The "task group generation 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 a book is required, the number of cassettes used can be smaller than that in the "task group generation method". In the "task group generation method", when each component tape is divided into the maximum number of divisions, the component tape having the largest number of components is obtained, and the same number of suction patterns of n-point simultaneous suction are generated. On the other hand, "core processing"
Now, find the total number of parts in the core part tape, and
From the value divided by, estimate the number of adsorption patterns for simultaneous adsorption at n points.

3.1.4 Optimization of small parts by "cutting method" Next, a typical small part optimization process using the "cutting method" having the above advantages will be described. FIG. 39 shows
FIG. 15 is a flowchart of a small part optimization process (corresponding to step S320 in FIG. 14) by the “cutting method”. One of the indexes for optimizing the small parts is to minimize the number of times of vertical suction operation of the multi-mounting head 112 at the time of sucking a component (hereinafter, referred to as "suction vertical number") and at the time of component mounting. Is to minimize the head movement distance. That is, it is the determination of the component suction pattern that maximizes the simultaneous suction of 10 points (S331) and the allocation of the mounting point data that minimizes the movement distance of the multi-mounting head 112 (S335). (1) Determining the component suction pattern (S331 in FIG. 39) Determining the component suction pattern determines the arrangement of the component tapes and the suction order by the multi-mounting head 112, that is, which component tape is the target. In such an order, it should be set in the component supply units 115a and 115b side by side, and further in what order the multi-mounting head 112 should adsorb to the set component tape group. Is. (I) Creation of component histogram (S332 in FIG. 39) Each electronic component is sorted by the number of components to create a component histogram. The horizontal axis is the arrangement of component tapes ("Z array")
In this histogram, the parts are the parts supply unit 115a.
And the images set in b. Since all small parts are 8 mm taping, 10 points can be picked up at the same time. Therefore, it is possible to easily determine whether simultaneous suction is possible by observing the connection of the component histograms in the Z-axis direction. In FIG. 40 (a), the component tape is 2
A component histogram 500 in which the minimum component number is 1, the maximum component number is 1 and the maximum component number is 15 is shown. (Ii) Cutting up process (S333 in FIG. 39) In the component histogram 500 shown in FIG. 40 (a), a component having a small number of components and having 10 consecutive components arranged in the Z-axis direction is searched for from the right end. This process corresponds to the process of cutting up the parts histogram 500 in units of 10 parts in order from the bottom, and is therefore referred to as “cutting up process” here. As a result, as shown in FIG. 40 (b), four 10-point simultaneous adsorption tasks 500a to 500d are generated.

(Iii) Core processing (S334 of FIG. 39) From the component histogram 500 shown in FIG. 40 (b),
When the 10-point simultaneous suction tasks 500a to 500d that have been cut up are removed, as shown in FIG. 41, a component histogram 501 with a narrow hem remains. The remaining component histogram 501 is called "core". Since the spread of the core 501 in the Z-axis direction is less than 10, the 10-point simultaneous adsorption task cannot be generated from the core 501 as it is. Therefore, the “core processing” is performed in which the core 501 is cut off to generate the 10-point simultaneous suction task. First, the number of parts constituting the core 501 is counted and a target is set. Figure 41
Since there are a total of 36 attachment points in the component histogram 501 shown in FIG. 3, three 10-point simultaneous suction tasks and one 6-point simultaneous suction task will be created. When the core 501 shown in FIG. 41 is cut up in units of 10 parts, three kinds of parts are lacking in the bottom stage of the core 501, and five kinds of components are provided in the second stage from the bottom. As for parts, six kinds of parts are lacking in the third row from the bottom. When the core 501 is cut until the number of cut parts reaches 36, the pattern 501b shown in FIG. 41 is completed.
By allocating parts to this pattern 501b, a target task can be generated. The number of parts included in this pattern 501b is equal to the number of parts of the pattern 501a existing above the fifth row of the part histogram. Therefore, the components of the pattern 501a may be cut out for each component tape and embedded in the pattern 501b in the vertical direction. As shown in FIG. 41, the component 1 has 4 + 4 + 2 because 11 components are left in the pattern 501a.
It is divided into +1 small vertical bars and embedded in order in the pattern 501b. If the components 2 and 3 are directly embedded in the pattern 501b without being divided, the core processing is completed. When the results of such cutting up processing and core processing are combined, the component histogram is as shown in the component histogram 504 of FIG. 42. The component histogram 504 is a combination of the task group 503 generated by the cutting process and the task group 502 generated by the core process. The component histogram 504 is an ideal component suction pattern, and all the components can be efficiently sucked by performing 10 times simultaneous suction of 7 times and 6 times simultaneous suction of 1 time.

(2) Allocation of mounting point data (S in FIG. 39)
335) Allocation of mounting point data starts from a task including a component having a small number of components. Parts histogram 5 shown in FIG.
In 04, the mounting point is assigned from the task including the component 21 with the number of components being 1. In task 1, parts 15 to 21
Since the number of the seven components up to is 1, the existing data for the mounting point data may be assigned as it is.
Since the number of the components 14 is 2, a problem arises as to which of the two mounting point data is selected. In this case, the mounting point data that minimizes the movement of the multi-mounting head 112 after mounting the mounting point of the component 15 which has already been determined is selected. However, since the component 15 is mounted by the mounting head H4 and the component 14 is mounted by the mounting head H3, the mounting head H4
The mounting point must be selected in consideration of the offsets of H3 and H3. The same idea is applied to the selection of the mounting point of the component 13. For example, if the component 14a is selected as the mounting point data among the components 14a and 14b, the distance from the component 14a is calculated and the mounting point of the component 13 is selected. Similarly, the mounting point of the component 12 is selected and the task 1 is executed.
All implementation points of are decided.

3.1.5 Related Individual Process "Cut-up method" is a process for generating a task (to be exact, a suction pattern) from a component type of a component group classified into small components. The details are as described in the individual processing below.・ "Crop-up method" ・ "Small component task generation process"

3.2 "Cross Elimination Method""Cross Elimination Method" is an algorithm that compensates for the drawbacks of the "greedy method." This process corresponds to step S324 in FIG. Hereinafter, the details of the “crossing elimination method” will be described while clarifying the problems in the “greedy method”.

3.2.1 Outline of "greedy method" 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 greedy (g
Reedy) method ”. This process is shown in FIG.
This corresponds to Step S320e of Step 4. 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. It's not.

3.2.2 Problem of "greedy method" When assigning mounting points to adsorption patterns by the "greedy method", especially, the mounting path diagram on the upper side of FIG. 43 (for each task,
A problem arises in 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. In FIG. 43, there is shown a case where there are three tasks each having a mounting point of five. In FIG. 43, a 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 three mounting points belonging to the component type A. Also, the mounting points connected by the arrows of the same color constitute one task. First, FIG.
In the state of “before crossing elimination” on the upper side of, the mounting point where the component type B1 exists is selected as the closest mounting point from the mounting point where the component type A1 exists, and the mounting point closest to the component type B1 is selected. The mounting point where the component type C2 exists instead of the 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 points, as a result, as shown in the state "before crossing elimination" in the upper part of FIG. The route connecting the mounting points where the product type C1 exists intersects the route connecting the other mounting points.

3.2.3 "Cross-elimination method" If a human decides a mounting route, a task such as "after cross-resolution" in the lower part of FIG. 43 is probably created. Should be. Therefore, after selecting the mounting point by the "greedy method", it is only necessary to find the point where the route intersects and perform the processing to eliminate it. This process is the "intersection elimination method". As a result, it becomes like “after crossing elimination” on the lower side of FIG. 43, and it can be expected that the total route distance becomes smaller than that before the crossing elimination. Specifically, in the example of FIG. 43, by selecting and exchanging two of the component types B1 to B3, the mounting path is recombined, and by repeating this, a task of shortening the mounting path can be created. it can. 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.

3.2.4 Related Individual Processing The “intersection elimination method” is a processing for finding a portion where the implementation routes intersect and then eliminating it after selecting the implementation point by the “greedy method”. . As a result, the total distance of the mounting routes can be expected to be smaller than that before the intersection of the mounting routes is eliminated. The details are as described in the individual processing below.・ "Cross-elimination method"

3.3 "Return Optimization Method" Hereinafter, the details of the "return optimization method" will be described while clarifying the conception process. Note that this process corresponds to step S325 in FIG.

3.3.1 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 → Component recognition camera (2) Recognition → Component mounting (3) Component mounting → Next component suction ・ ・ ・ "Return"

3.3.2 Necessity of optimization of "return" stroke First, regarding the above step (1), a component tape having a large number of components should be arranged on the Z axis close to the component recognition camera. Is optimized by. Next, regarding (2) above,
It is considered to be a constant distance, and is not targeted for optimization. Because the position of the component recognition camera and the board is fixed, the amount of movement of the head on the board at the time of mounting is much smaller than the length of the Z-axis, and all mounting points exist in the center of the board. Because it can be considered. However, with regard to (3) above, the "return" stroke is about the same as the distance of (2) above, and optimization is possible. That is, by optimizing this process, a reduction in mounting time can be expected.

3.3.3 "Return Optimization Method" An optimization algorithm for the "return" step in (3) above was devised. The basic idea of this optimization algorithm is to "search for an unimplemented task at a position on the Z axis that can be returned at the shortest distance from the coordinates of the final implementation point of a task, and then implement it. It is a task ”. 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.

3.3.4 The operation of mounting the related individual processing components is decomposed into the following three steps from a macro point of view. (1) Component suction → Component recognition camera (2) Recognition → Component mounting (3) Component mounting → Next component suction ... This is an optimization and can be expected to reduce the implementation time. The details are as described in the individual processing below.・ "Return optimization method"

3.4 Sequence fixing processing

3.4.1 Overview The user arranges a plurality of component types.
The Z number may be specified. 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 tapes on the Z-axis is also an optimization target, so it is necessary to realize an optimization algorithm that considers arrangement fixing by the user. However, it is considered that there will be many variations in arrangement 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. Furthermore, even if the algorithm can be modified to accommodate an unexpected fixed array variation, it will add an exception handling algorithm, which will reduce the readability of the program and may cause a problem in maintenance. .

Therefore, as the most reliable and safe method, as shown in FIG. 45, the following method is adopted. FIG. 45 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 tape from the temporary Z axis to the actual Z axis (actual Z axis). At this time, in consideration of the arrangement fixing, the component tape which is the object of the arrangement fixing is arranged first. (3) Next, the component tape that is not the object of array fixing is moved from the temporary Z axis to the actual Z axis. At this time, the component tapes that are not subject to the array fixing are arranged in the gaps between the component tapes that are array fixed. Finally, a suction pattern is generated from the component tape on the actual Z-axis by cutting up. According to this method, one algorithm can be used to fix any arrangement by the user. In addition, the array fixing algorithm devised this time corresponds to the arrangement fixing specified by the user by destroying the ideal arrangement of the component tapes generated by the algorithm under the condition that there is no arrangement fixing. Therefore, the mounting time can be compared between the case where the ideal component tape array is used and the case where the component tape array with fixed array is used. This is an operational advantage of fixed array that is easy to switch models,
The purpose is to provide users with information to compare the short implementation time when there is no fixed array and to reconsider their trade-offs.

3.4.2 In the related individual processing “fixing array”, the user specifies the Z numbers for arranging a plurality of component tapes. Therefore, in the optimization algorithm, the arrangement of the component tapes on the Z-axis is also an optimization target, so it is necessary to realize an optimization algorithm that considers the arrangement fixing by the user.
The algorithm of the fixed array devised this time corresponds to the fixed array specified by the user by destroying the ideal array of component tapes generated by the algorithm under the condition that there is no fixed array. 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 array of double cassettes (supplement)

3.5 Support for LL size board

3.5.1 Overview The LL size board is a board having a size larger in the carrying direction than that of a normal board having no restrictions on the mounting area. for that reason,
As shown in FIG. 46, on the LL size substrate, the 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. 47, the LL constraint is avoided by the following two methods. (1) Replace the component tape on the Z axis (2) Change the suction method This is a process of arranging component tapes including dots. All Z's on the Z axis
If the component tape is located at the number, replace the component tape. In the process of (2), first, 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 The results are combined into one task.

3.5.2 Replacement of Parts Tape 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 a component tape having a mounting point in the LL restricted area exists in Z = 1 to 11, the component tape exists in Z = 12 to, and
Replace with a component tape that does not have mounting points in the LL restricted area.

3.5.3 Change of adsorption method (1) The mounting points in each Z are divided into "mounting points in the LL restricted area" and "mounting points not in the LL restricted 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 the mounting points that are not in the LL restricted 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.

3.5.4 Related individual processing In order to deal with LL size substrates, the adsorption method and Z
It is necessary to replace the component tapes on the shaft, and two algorithms were created for each of them. The details are as described in the individual processing below.・ "LL constraint: Change in suction method (1)" To accommodate LL size substrates, the mounting points are divided into those that exist in the LL constrained area and those that do not exist, and the mounting points that exist in the LL constrained area are heads 7 to 7 10 picks up, and the heads 1 to 6 pick up mounting points that do not exist in the LL restricted area. Parts are sequentially picked up from the part tape on the hillside of the "mountain", but if it is the left block, the Z number is larger than the Z range picked up by heads 1 to 6, that is, in the direction toward the camera. The heads 1 to 4 are adapted to adsorb as they progress. 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: Swap component tapes on Z axis (1)" For component tapes with Z numbers 1 to 11, search for a component tape that contains a mounting point with an X coordinate greater than 400 mm, and then find the X coordinate with 400 mm. Swap component tapes that do not include larger mounting points.・ "LL constraint: Swap of component tapes on Z axis (2)" Above "LL constraint: Swap of component tapes on Z axis (1)"
It is a more detailed treatment of the X coordinate of the mounting point.

3.6 Support for XL size substrates

3.6.1 Overview The XL size board is a board that is larger in size in the direction orthogonal to the carrying direction than a normal board without restrictions on the mounting area. Therefore, as shown in FIG. 46, the XL size board has a mounting area in which components can be mounted only in a specific facility (the front sub facility 110 or the rear sub facility 120). FIG. 46 is a diagram showing a restricted region (a region that cannot be mounted because the head cannot move) on a substrate of a special size (XL, LL). XL size board, the following 3
It consists of two mounting areas.・ Area where parts can be mounted only in front sub-equipment 110 ・ Area where parts can be mounted only in rear sub-equipment 120 ・ Area where parts can be mounted in both front sub-equipment 110 and rear sub-equipment 120 Further specified in the same way as LL size boards There is an area where components can be mounted only by the head (nozzle). Based on the constraints shown in FIG. 46, the correspondence to the XL size substrate is shown below. (1) Front sub-equipment 110 / rear sub-equipment 1 based on mounting point coordinates
Assignment to 20 (2) Component division by mounting point coordinates (3) Initial allocation using areas that can be mounted by both the front sub-equipment 110 and the rear sub-equipment 120 (4) Avoidance of LL constraint As described in.

3.6.2 In order to deal with the related individual processing XL size board, it is judged whether the sub-equipment that can be mounted is the front sub-equipment 110 or the rear sub-equipment 120 for each mounting point, and the front sub-equipment is selected. It was realized by allocating the mounting points to the equipment 110 and the rear sub-equipment 120. It should be noted that the restrictions that the XL size board has include the restrictions that the LL size board has, and thus the processing corresponding to the XL size board includes the processing corresponding to the LL size board. The details are as described in the individual processing below.・ 「XL constraint」

3.7 Load Balance Processing

3.7.1 Overview In the load balancing processing, the front sub-equipment 110 and the rear sub-equipment 1 are used in the initial allocation processing with the load level as an index.
This is a process of adjusting the balance of 20. This process corresponds to step S314b in FIG.

3.7.2 As a method of adjusting the level balance of the balance adjusting method, parts are moved between the front sub-equipment 110 and the rear sub-equipment 120. There are two levels of moving parts. (1) "Mountain" unit (2) Component tape unit The above "mountain" is a group of component tapes created as a result of optimization, that is, a component tape group or a component tape group arranged in a certain order. Means a component histogram corresponding to. It is similar to the concept of task groups described above. 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 below.

3.7.3 Related individual processing "load balance processing" is processing for adjusting the balance of the load levels of the front sub-equipment 110 and the rear sub-equipment 120. The component tape is attached to the front sub-equipment 110 and the rear sub-equipment 120.
It is necessary when sorting to. First, the front sub-equipment 110
From the beginning, the component tapes are packed and placed, and the front sub-equipment 110
The component tape that could not be placed in the second sub-equipment 120 is placed. With this as the initial state, the load balance between the front sub-equipment 110 and the rear sub-equipment 120 is calculated, and the component tapes arranged in the front sub-equipment 110 are sequentially arranged until the difference in the load balance becomes OK. Move to. The method of calculating the load balance of each sub-equipment is as described in "Operation of Optimization Device (Overview)". The details are as described in the individual processing below. -"Load level balance adjustment (" mountain "unit)""Load level balance adjustment (component tape unit)"

3.8 Line balance processing

3.8.1 Overview In the line balance processing, after the task is generated, the mounting time is used as an index, and the front sub-equipment 110 and the rear sub-equipment 120 are used.
Is a process for adjusting the balance of. This process is shown in FIG.
Corresponding to step S323. The difference between the line balance processing and the load balance processing is that they are similar to each other except that the balance index is different.

3.8.2 As a method of adjusting the level balance of the balance adjusting method, parts are moved between the front sub-equipment 110 and the rear sub-equipment 120. There are three levels of moving parts: (1) “Mountain” unit (2) Component tape unit (3) Mounting point unit The line balance processing differs from the load balance processing in that the components are moved in mounting point units.

3.8.3 Related Individual Process "Line balance process" is a process for adjusting the balance of the mounting time of the front sub-equipment 110 and the rear sub-equipment 120. After the tasks of the front sub-equipment 110 and the rear sub-equipment 120 are generated, the mounting time of each sub-equipment is calculated by the tact simulator, and the component is moved from the sub-equipment having a long mounting time to the sub-equipment having a short mounting time. Thus, the mounting time balance of the front sub-equipment 110 and the rear sub-equipment 120 is adjusted. 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 individual processing below. "Process of moving a mountain from front sub-equipment 110 to rear sub-equipment 120"-"Process of moving a component tape from front sub-equipment 110 to rear sub-equipment 120"-"Mounting from front sub-equipment 110 to rear sub-equipment 120""Process to move points" ・ "Swap process in line balance process"

3.9. Details of individual processing by the optimizer

3.9.1 "Cut-up method" A task is generated by the following procedure. (1) A component histogram 510 is created (FIG. 48). (2) The component histogram 510 is cut up to leave the core portion (FIG. 49). In this figure, a frame surrounded by a rectangle is a suction pattern of 10-point simultaneous suction. (3) The cut up portion 511a (Fig. 50 (a)) and the core portion 511b (Fig. 50 (b)) are separated. (4) The template 512 is assigned to the core portion 511b (FIG. 51). In this figure, black squares (mounting points) surrounded by a square frame indicate mounting points that could not be covered by the template, and these are shown on the left side 513 of the template.
It is used to complement (where indicated by "*"). (5) Determine a mounting point 514 that complements the left side of the template (FIG. 52). (6) The left side 513 of the template is complemented (FIG. 53). In this figure, the white squares indicate the mounting points used for complement, the black squares surrounded by the square frame indicate the mounting points that were not used for the complement, and the "*" surrounded by the square frame. ] Indicates an implementation point that could not be complemented. (7) The "mountain" 515 is recreated for the core portion and the portion complemented by the template (FIG. 54). (8) Task 51 created by cutting up in (2) above
1a is also reshaped into a "mountain" 516 (Fig. 55). (9) “Mountain” 516 by cutting up and “Mountain” 5 of the core part
15 and are combined to obtain a “mountain” 517 (FIG. 56). (10) The whole "mountain" 517 is cut up and the suction pattern 518
(FIG. 57). In the figure, the twenty-fourth task (task 24) indicates that the number of times the head is moved up and down at the time of suction (the number of suction up and down times) is three. (11) If there are no restrictions, the Z axis is placed as it is (FIG. 58). The case where the constraint is taken into consideration is as follows ((12) and after). (12) A task (a group of parts surrounded by a square frame) is generated by the “cutting method” (FIG. 59). 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. 60). Here, assuming that the maximum number of cassette divisions of the component A is 4, the number of cassette divisions of the component A is optimized. Since the part A is divided into five parts, one of A2 to A5 is integrated into A1 to A5. At this time, if the smallest number of parts is selected from A2 to A5, the number of tasks affected by this integration becomes the smallest. In this case, since the number of parts of A5 is the minimum (3 pieces), 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.
This is the adsorption pattern 518b shown in FIG. Here, the tasks 21 to 22 have two suction up and down times. (15) Subsequently, the number of cassettes used is optimized as shown in the diagram 518c (FIG. 62). Here, it is assumed that the number of cassettes used is one more than the cassette resource. Among the parts A2 to 4, B2, C2, D2, E2 and F2, the one having the smallest number of parts is selected and integrated. In particular,
F2 having the smallest number of parts (one) is selected and integrated with F1.

(16) The cassette arrangement after such optimization is as shown in the adsorption pattern 518d shown in FIG. You can see that the number of cassettes has decreased by one. (17) Next, as in the diagram 518e, the Z-axis occupation number is optimized, that is, the usable Z-axis range is considered (FIG. 64). Here, the number of Z-axis used is 1 more than the Z-axis empty
Suppose there are many books. Parts A2-4, B2, C2, D2
Select the one with the smallest number of parts from E2 and integrate it. Specifically, select E2 with the smallest number of parts (two),
This is integrated into E1. (18) The cassette sequence after such optimization is shown in FIG.
5 is the same as the adsorption pattern 518f shown in FIG. Here, the number of suction up and down operations of the task 24 remains unchanged at 4, but the number of suction up and down operations of the task 23 is three. (19) Place on the Z axis. Here, the diagram 518g
As shown in Fig. 66, it is assumed that B1 is originally a component fixed to Z number = 15 (Fig. 66). (20) First, the fixed cassette 519 is arranged on the Z axis (Fig. 6).
7). (21) Place the non-fixed cassette on the Z-axis. The result is a suction pattern 520 (FIG. 68). 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 shape of "mountain" 521 (Fig. 69). (23) The task is generated again by the “cutting method”, and the suction pattern 522 is obtained (FIG. 70). However, the core part is not processed. Here, the task 24 has three suction up and down times, the tasks 22 to 23 have two suction up and down times, and the tasks 17 to 19 have two suction up and down times.

3.9.2 Cassette division by parallelogram The method of cassette division using a parallelogram template for the core part is as follows. (1) Here, the total number of target core components 525 is 3
It is set to 0 (upper part of FIG. 71). In other words, we will create three 10-point adsorption tasks. (2) First, since the number of cassettes is 9, create a parallelogram (template) 523 corresponding to it (right in the middle of FIG. 71). The right end of each step of the parallelogram 526 is a letter (A to I) indicating the type of part when parts are assigned to the parallelogram 526 in the case of 10-point cut × 9 pieces. . (3) Focusing on the first stage (bottom stage) 525a of the target component 525, and the right end thereof is "I", so this is the stage of the parallelogram 526 whose right end is the same character ("I") (here , The bottom of the parallelogram 526) (the bottom of FIG. 71). (4) Similarly, paying attention to the second stage 525b of the target component 525, and the right end thereof is "F", this is the stage of the parallelogram 526 whose right end is the same letter ("F") (here, The parallelogram 526 is arranged in the fourth row) (the upper row in FIG. 72). (5) Similarly, paying attention to the third stage 525c of the target component 525, and the right end thereof is “C”, so this is the stage of the parallelogram 526 whose right end is the same character (“C”) (here, The parallelogram 526 is arranged in the seventh row) (the middle row in FIG. 72). (6) Since there is no further stage where the characters on the right end match, each stage (1, 4, 7
It is arranged at a vacant position (“X”) of the (stage) (lower stage of FIG. 72).

(7) At that time, the parts 52 with many remaining parts
5e and 525f are allocated (upper and middle rows in FIG. 73). (8) If the number of remaining parts is the same, the parts 525g are assigned in the order of the letters of the parts (lower part of FIG. 73). (9) All the remaining parts 525h-k according to the above rules
Is placed on the template 526 (upper part of FIGS. 74 and 75). (10) As a result of placing all the parts on the template 526, the first, fourth, and seventh stages of the template 526 are filled with the parts (middle in FIG. 75). The cassette division is completed by packing (Fig. 75, lower part).

3.9.3 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) 528 is applied to the lower part of the 30 target core components 527 (the upper stage of FIG. 76). (2) The area (white square) 528a to be complemented is arranged on the left side of the area that has been complemented (middle row of FIG. 76). (3) The parts 527a and 527b having the largest number of remaining parts are placed in the complementary region 528a of the template (the lower part of FIG. 76, the upper part of FIG. 77). (4) If the number of remaining parts is the same, the parts 527c are assigned in the character order of the parts (middle part of FIG. 77). (5) All remaining parts 527d-g according to the above rules
Is placed on the template 528a (lower part of FIG. 77, FIG. 7).
8, FIG. 79). When the arrangement is completed, the cassette division is completed.

3.9.4 Core processing method with a given number of cassettes After basic core processing is performed to form an ideal "mountain" shape, the complementary cassette is compressed and stored in a given cassette resource. Pay to. When performing core processing, the number of parts to be assigned to the complementary cassette is assigned so that complementary cassettes can be created for the given number of cassettes. It is considered possible to evenly distribute the number of parts of the parts tape) to the same kind of parts. 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 is an odd side of the double cassette (odd Z
Number minutes) only. 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) The number N of complementary cassettes is compared 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 cassette resources. (5) If N> M, compress one cassette. (5.1) Find the cassette C with the smallest number of parts from the "mountain". (5.2) Search cassette "D" that has the same component tape 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 parts in cassette C to cassette D. If it cannot be distributed evenly, the number of parts in the cassette is increased toward the core side of the “mountain”. For example, if the number of components of the cassette C is 5 and the number of the cassettes D is 3, the cassette C is divided into 2, 2, and 1, and the cassettes on the core side of the "mountain" are sequentially distributed from 2, 2, and 1. (6) Subtract 1 from the number N of complementary cassettes. (7) Return to (3).

3.9.5 Task Generation Processing for Small Parts Correspondence between nozzle numbers and Z numbers is determined, and processing is performed to generate suction patterns for each task. The correspondence between nozzles and mounting points is determined by the "greedy method.""Susono" of "mountain"
Scan from the side to create a suction pattern. Therefore, in the left block where "Susono" is on the side with a small Z number and the right block where "Susono" is on the side with a large Z number, the scanning directions of the head and Z axis are opposite, but basically Is the same process. In the case of a double cassette, the number of all the component tapes on the even Z number side is assigned to the suction pattern, and then the number of the component tapes on the odd Z number side is assigned to the suction pattern. If the number of suction points of the last task made from the component tape existing on the even-numbered Z number side is less than 10, the number less than 10 is an odd number Z
Adsorb from the component tape that exists in the number. -Points in programming In the processing described below, it is determined whether the component tape arranged on the actual Z axis is a component tape to be adsorbed, so 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". Left block (single cassette "mountain") (8) Set 1 to task number t. (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) If the total number of mounted points is zero, perform the following processing. (9.1.1) Go to (15). 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, which are not associated with Z numbers,
Find the nozzle with the smallest nozzle number and set the nozzle number to Nv.
Let's say ac. 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) (13). The next task is to generate the suction pattern. The number of adsorption points for this task is 10. (11) Regarding the Z number in which 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 the nozzle number Nvac, and set as Zvac. The Z number is "an odd number in the range of 1 to 48" if it is the front sub-equipment 110.
Is. If the rear sub-equipment 120, the Z number is "97
Is an odd number in the range of ~ 144 ". (11.1) If no such Z number is found, perform the following process (11.1.1) (13). 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 sucked only by the nozzle 1 and nozzles 2-10. (12) When the total number of mounting points is positive and Nvac is 10 or less, the following processing is performed. (12.1) When the Z number is not associated with the nozzle whose nozzle number is Nvac, 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, when the first suction is performed in a “missing tooth” shape, the second suction is not necessarily the case where the nozzle immediately next to it is empty. Therefore, this condition determination (first half) is included.
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) (12). (13) Add 1 to the task number. (14) Return to (10).

(15) The suction pattern generation processing is ended. Right block (single cassette "mountain") (16) Set 1 to 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) If the total number of mounted points is zero, perform the following processing. Proceed to (17.1.1) (23). Since there are no "mountains" that have no mounting points at all, it is an error. (18) Among the nozzles of the task of task number t, the nozzle with the largest nozzle number is found from the nozzles that are not associated with the Z 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 will be 10. (18.1) When Z numbers are associated with all nozzles, the following processing is performed. (18.1.1) Go to (21). The next task is to generate the suction pattern. The number of adsorption points for this task is 10. (19) Regarding the Z numbers in which the component tapes forming the “mountain” exist, 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 the front sub-equipment 110. If the Z number is the rear sub-equipment 120,
It is "an odd number in the range of 145 to 192". (19.1) If no such Z number is found, perform the following process (19.1.1) (21). 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, Z = 1
In the case where the component tape exists only in the above, there is no component tape which can be sucked only by the nozzle 1 and which can be sucked by the nozzles 2 to 10. Therefore, Zvac cannot be determined.

(20) The total number of mounting points is positive, and Nvac
If is 1 or more, the following processing is performed. (20.1) When the Z number is not associated with the nozzle whose nozzle number is Nvac, 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 a “missing tooth” shape, the second suction is not necessarily the case where the nozzle immediately next to it is empty. Therefore, this condition determination (first half) is included.
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) 1 is subtracted from Nvac. (20.3) Subtract 2 from Zvac. Return to (20.4) (20). (21) Add 1 to the task number. (22) Return to (18). (23) The suction pattern generation process is ended. 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, not from the odd Z number,
The only difference is that the suction operation starts from an even 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 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 = 1 is not possible. 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 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 starts from the even Z number, not the 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 first task of suction on the odd Z number side of the double cassette has the initial value. . Right block (“mountain” of double cassette) (27) Adsorption is performed on the even-numbered Z side of the double cassette in the same way as in the case of “right block (“ mountain ”of single cassette)” above. However, the only difference is that the suction operation starts from the even Z number, not the 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 set as the initial value of the task when picking up the odd Z number side as it is, for example, Z = 9
No adsorption from around 6. 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-numbered Z number side of the double cassette in the same manner as in the case of "right block (" mountain "of single cassette)" described above. However, the only difference is that the suction operation starts from the even Z number, not the 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 first task of suction on the odd Z number side of the double cassette has the initial value. .

3.9.6 "Cross Elimination Method" In the "Cross Elimination Method", all adsorption patterns are determined, and mounting points are tentatively assigned to each adsorption pattern by the "greedy method" (+ HC method) or the like. This is one of the algorithms that optimizes the allocation of mounting points after the task is decided. Figure 80
FIG. 80 (a) shows an implementation path diagram (implementation path diagram determined by the greedy method) 530a before the intersection elimination method is applied.
(B) is a mounting path diagram 530 after applying the intersection elimination method.
b is shown. As shown in this figure, this algorithm reduces the number of points where the head movement trajectory crosses unnecessarily. In addition, when the mounting point of the task to be processed is caught in the head limitation on the LL board and the XL board, “all the mounting points of the partial tasks to be rearranged have head numbers head1 = head2”. Only in this case, the intersection elimination algorithm may be the target. In other cases, if the "crossing elimination method" is enforced, the head may not reach the mounting point with an extremely high probability. 81
FIG. 81A is a mounting path diagram for explaining an algorithm of the intersection elimination method, and FIG. 81B is a diagram showing an example of one intersection (intersection by line A and line B) by four mounting points. .
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 calculate the minimum value. Find the thing (12) Adopt the 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 the number of tasks with task 1 (task1) (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 cutting point and maximum Z coordinate (18.1) If cutting point does not exceed maximum Z coordinate, go to (2) (18.2), otherwise (19) to (19) Calculate the head movement amount when hitting the mounting point of the task, and obtain the sum of head movement amounts for all tasks (20) Check whether the total head movement amount is decreasing (20.1) Decrease In the case of (0) to (20.2), in other cases, FIG. 82 is an implementation route diagram showing an application example of the intersection elimination method by such an algorithm, and FIG. 82 (a) is an implementation route diagram before application. (Mounting path diagram by greedy method) 531a is shown, and FIG. 82 (b) shows a mounting path diagram 531b 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.

3.9.7 "Return Optimization Method" The "return optimization method" is an algorithm for optimizing the mounting order of tasks after the allocation of mounting points to all tasks is decided. The details are as follows. (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) Maximum Z of the component tape of each task Obtain coordinates (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) Increment task 1 (task
1 = 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) In other cases, go to (21) (22) Calculate the amount of head movement when hitting the mounting point of each task, and obtain the sum of head movements for all tasks. (23) Check whether the total amount of head movement is decreasing (23.1 ) If it is decreasing, go to (0) (23.2) Otherwise, as above, this algorithm is large and
It consists of two parts. (Part 1) (i) As shown in FIG. 83, the suction position (task) located at the shortest distance from the final mounting point of each task is found (solid arrow in the figure). FIG. 83 is a diagram showing the “return” operation in FIG. 44, and shows 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 sequentially starting from the first pick-up position (dotted arrow in the figure). (iii) When the route returns to the first adsorption position, it is set as the shortest circulating partial route 1. (iv) Search for an adsorption position that is not included in the shortest circulating partial path found so far (in the example shown in FIG. 83, it is “4”). (v) Return to (ii) above. As a result, in the example shown in FIG. 83, the shortest patrol route is 5
It becomes one. (Part 2) It is determined from which suction position the mounting order can be optimized for 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. 84 (a) is a diagram showing a "return" operation when there are a plurality of mounting points on the same component cassette, and FIG. 84 (b) is a head when this "return optimization method" is applied. It is a simulation result showing the return trajectory of the above, and it can be seen that the useless cross (left figure) in the movement trajectory 532a before application is reduced like the movement trajectory 532b after application.

3.9.8 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) Depending on the cassette to be used, the following three parts tapes are available.
Classify into one. 1. Component tape that uses a single cassette 2. Component tape that uses a double cassette (Feed pitch 2m
m) 3. Parts tape using double cassette (Feed pitch 4m
m) (2.2) Make a "mountain" on the temporary Z-axis for a component tape that uses a single cassette. (2.2.1) Create a component histogram on the temporary Z axis. Arrange the component tapes in descending order of the number of components. The component tape having the largest number of components is arranged at Z = 1. (2.2.2) Let N be the number of component tapes that make up the component histogram. (2.2.3) Convert the temporary Z axis to the actual Z axis. Z on the temporary Z axis
The component tapes 1 to N are arranged in that order at odd Z numbers in the range of Z = 1 to 2N on the real Z axis. (2.3) For a component tape that uses 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. Arrange the component tapes in descending order of the number of components. The component tape having the largest number of components is arranged at Z = 1. (2.3.2) Let N be the number of component tapes that make up the component histogram. (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) Prepare the second temporary Z axis. (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) Second part tape from Z = 1 to M on the temporary Z axis
The temporary Z axis is arranged at odd Z numbers of Z = 1, 3, 5, ..., N-1. It will be placed on the odd side of the double cassette. (2.3.8) The component tapes from Z = (M + 1) to N on the temporary Z axis are arranged at 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 as the provisional Z-axis again. (2.4) For a component tape that uses a double cassette with a feed pitch of 4 mm, create a "mountain" on the temporary Z axis. Except for the difference in the feed pitch, the process is the same as the above-mentioned "make a" mountain "on the provisional Z axis for a component tape using a double cassette with a feed pitch of 2 mm". " (2.5) Combine the component histograms of the double cassette with feed pitches of 2 mm and 4 mm. (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” with a feed pitch of 2 mm is arranged from Z = 1, and subsequently, a double cassette “mountain” with 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-numbered Z-numbered part tape. Z = for a double cassette with a component tape with the largest number of components
Place it in 1. Do not break the double cassette pair. A "mountain" is created in which double cassettes with feed pitches of 2 mm and 4 mm are mixed. Looking at the number of parts of odd-numbered Z-part tapes, the histogram becomes monotonically decreasing. Looking at the number of parts of even-numbered Z-part tapes, the histogram may not be monotonically decreasing.

(3) All "mountains" are [forced] arranged on the real Z axis. The "mountains" are packed and arranged from the front sub-equipment 110, and it is checked whether or not all the "mountains" are fully mounted on the actual Z axis. Arrange by "mountain" unit in the order of parts groups. The “mountain” that straddles the front and rear sub-equipment 120 is divided and distributed to the front and rear sub-equipment 120. 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 is divided into a "mountain using a single cassette" and a "mountain using a double cassette" for small parts, each is treated as an independent "mountain". It is assumed that general-purpose parts are "mountains" in parts group units. It is assumed that the general-purpose parts are 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. A double cassette is arranged in the front sub-equipment 110. (i) From the Z number of the A block = (47, 48), the smaller Z number is searched for 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. A single cassette is placed in the front sub-equipment 110. (i) From the Z number = 49 of the B block, the empty space is searched for and arranged in order from the largest Z number. (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. The double cassette is arranged in the rear sub-equipment 120. (i) From the Z number of the C block = (143, 144), Z
Search for an empty space in order from the smallest number and place it. (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. A single cassette is arranged in the rear sub-equipment 120. (i) From the Z number of the D block = 145, the larger Z number is searched for and arranged in order. (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 tapes that are the subject of array fixing, those component tapes are placed on the Z numbers of the fixing destinations, and then component tapes that are not the subject of array fixing are placed. Fixing the arrangement of the double cassette will be described in detail in "About fixing the arrangement of the double cassette". (3.1) The part group number is represented by n and n = 0. (3.2) If n is greater than the maximum part group number,
Proceed to (3.7). (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 front sub-equipment 110. (3.3.2) As a result, if the front sub-equipment 110 cannot be fully loaded, the “mountain” is divided into component tape units, and the component tapes that cannot be fully loaded on the front sub-equipment 110 are rear sub-equipment 120.
To place. (3.3.3) As a result, if all the sub-equipment 120 cannot be installed, an error occurs. When arranging "mountains" of small parts, follow the above arrangement rules. (3.4) If there is a "mountain" of a double cassette belonging to the component group n, the following processing is performed. (3.4.1) It is placed in the front sub-equipment 110. (3.4.2) As a result, if the front sub-equipment 110 cannot be fully loaded, the “mountain” is divided into component tape units, and the component tapes that cannot be fully loaded in the front sub-equipment 110 are rear sub-equipment 120.
To place. (3.4.3) As a result, if it cannot be installed in the subsequent sub-equipment 120, an error is generated. When arranging "mountains" of small parts, follow the above arrangement rules. (3.5) Add 1 to n. (3.6) Return to (3.2). (3.7) The "mountain" states of the front sub-equipment 110 and the rear sub-equipment 120 are stored. All the "mountains" could be placed in the most packed state.

(4) Place "mountains" in order from the front sub-equipment 110. Previous sub-equipment 11 with load level as a scale
"Mountain" when adjusting balance between 0 and rear sub-equipment 120
Make the initial state of placement. The front sub-equipment 110 and the rear sub-equipment 120 are packed in this order from the front sub-equipment 110, and they are arranged in order from the smallest "mountain" in the component group, which is the initial state of arrangement of the "mountains". If there is a component tape that is the object of array fixing, the component tape that is the object of array fixing is placed on the Z number of the fixed destination, and then the component tape that is not the object of array fixing is placed. When the component tape that is the target of the array fixing and the "mountain" to which it belongs are placed in the same block, the component tape that is the target of the array fixing is included in the "mountain" to make one "mountain", The "cutting method" is applied to the "mountain". When the component tape that is the target of array fixing and the "mountain" to which it belongs are placed in different blocks,
Separate "mountain" and "cut up method" for each "mountain"
Apply. (4.1) The part group number is represented by n and n = 0. (4.2) If n is larger than the maximum part group number,
Proceed to (4.8). (4.3) "Mountain" of single cassette belonging to parts group n
If exists, the following process is performed. (4.3.1) It is placed in the front sub-equipment 110. (4.3.2) As a result, if the front sub-equipment 110 cannot be fully loaded, the “mountain” is divided into component tape units, and the component tapes that cannot be fully loaded in the front sub-equipment 110 are rear sub-equipment 120.
To place. (4.3.3) As a result, if it cannot be fully loaded in the subsequent sub-equipment 120, an error occurs. Of the left and right blocks, place the "mountain" on the side with the most Z space. If the left and right blocks have the same Z space, place them in the right block. If there is space in Z of the left block, but the "mountain" does not fit, divide the "mountain" into two parts tape units 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) It is placed in the front sub-equipment 110. (4.4.2) As a result, if the front sub-equipment 110 cannot be fully loaded, the “mountain” is divided into component tape units, and the component tapes that cannot be fully loaded in the front sub-equipment 110 are rear sub-equipment 120.
To place. (4.4.3) As a result, if it cannot be fully loaded in the subsequent sub-equipment 120, an error is generated. Of the left and right blocks, place the "mountain" on the side with the most Z space. If the left and right blocks have the same Z space, place them in the right block. If there is space in Z of the left block, but the "mountain" does not fit, divide the "mountain" into two parts tape units and place them in the left and right blocks. (4.5) The "mountains" of the front sub-equipment 110 and the rear sub-equipment 120 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. (4.7) Return to (4.2). (4.8) The “mountain” states of the front sub-equipment 110 and the rear sub-equipment 120 are stored. (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) The "cutting method" is applied to small parts. This is combined with the flow of cassette division processing in the current product version. (6.1) Cut up each "mountain" and leave the core part. (6.1.1) Single-cassette “mountain” The odd-numbered Z numbers (Z = large → small) are cut in order. 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 point remains in the Z-number on the even-numbered side, 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,
Adsorb the remaining 9 points 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 part remains on the odd Z number side. (6.2) Set a flag on "mountain". The initial value of the flag is TRUE. (6.3) The "mountain" states of the front sub-equipment 110 and the rear sub-equipment 120 are stored. (6.4) Memorize the status of the cassette resource. (6.5) From the “mountains” whose flag is TRUE, search for the “mountain” M with the highest core. (6.5.1) If "Mountain" M is not found, proceed to (7). In other words, the core processing for all "mountains" has ended. (6.6) Check whether one cassette of the same type as cassette type K used by "mountain" M remains in the resource. (6.7) If it remains, perform the following processing. (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 core height does not change, return to (6.6). (6.7.3) If the height of the core becomes low, proceed to (6.9). (6.8) If not remaining, perform the following processing. (6.8.1) "Mountain" of front sub-equipment 110 and rear sub-equipment 120
Returns the previous state 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. Return to (6.8.4) (6.3). (6.9) All "mountains" are placed on the actual Z-axis in order to find the "mountain" with the next highest core. If (6.10) can be placed, return to (6.1). (6.11) If it cannot be placed, perform the following processing. (6.11.1) "Mountain" of front sub-equipment 110 and rear sub-equipment 120
Returns the previous state 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) (6.3). (7) Generate tasks for small parts. (7.1) Perform "task creation process for small parts". 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) "Process of moving a mountain from the front sub-equipment 110 to the rear sub-equipment 120" is performed. The details are as described in “Process of moving mountain from front sub-equipment 110 to rear sub-equipment 120” to be described later.

3.9.9 Arrangement Relationship between Fixed Parts in Cassette Block and "Mountain" The "mountain" on the temporary Z-axis is the part tape to which the array fixing is applied and the object to which the array fixing is applied. It consists of no component tape. The component tape that is the object 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 that fixes the fixed part tape is called the "fixed point". It is considered that a plurality of component tapes are made from a certain component tape (a component group of a certain component type) by component division, the component tapes are stored in a "cassette", and the cassette is arranged on the Z axis. When component division is not performed for a certain component tape (a component group of a certain component type), the number of divisions is considered to be 1, and the component tape from the component tape (component group of that component type) is 1
I think that a book was made. (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, the following processing is performed. This is the case where the right block has many fixed points. (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. This is the case when 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". (12.2.1) 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 part tape is a temporary Z in the "cutting method".
It is treated as one "mountain" (histogram) on the axis. (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. This is the case when 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, 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 part tape is a temporary Z in the "cutting method".
It is treated as one "mountain" (histogram) on the axis.

(14) If NR <NL, the following processing is performed. This is the case where the left block has many fixed points. (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. The fixed component tape existing in the left block and the "mountain" existing in the right block are treated as different "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 part tape is a temporary Z in the "cutting method".
It is treated as one "mountain" (histogram) on the axis.

3.9.10 Array Fixation: Judgment of Usability of Fixed Destination The maximum number of dividable component tapes that are the basis of the fixed component tape is ND. The number of component tapes created from the component tapes by the "cutting method" (core processing) is NT. Be sure that NT ≦ ND. The number of fixed destinations in the block related to the component tape is NZ. Specifically, (1) For the component tapes forming the "mountain", the following processing is performed in order from one end of the "mountain". (1.1) Select one component tape. (1.2) If NT ≦ (ND−NZ) for the component tape, perform the following processing. (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 the component tapes. 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 picked up from this fixing destination, but it is considered to be picked up by another board, and it is arranged as specified by the user. (1.3) If NT> (ND-NZ) for the component tape, perform the following processing. (1.3.1) Of the component tapes that make up the "mountain" and have the least number of components, the one with the smallest number of parts {NT- (ND-
NZ)} Place the component tapes on the fixed side. As the fixed point, select a fixed point close to the "mountain" on the actual Z axis. (1.3.2) Place the rest of the component tape on the Z-axis without using any fixing points associated with that component tape. As a result, the component tape may be placed at the fixed destination,
It doesn't matter. (1.4) Return to (1.1).

3.9.11 Regarding Fixed Sequence of Double Cassette The optimization of the fixed sequence for double cassette 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. 85). That is, the component histogram 535 arranged in descending order of the number of components.
Are cut at an intermediate point (folding position) and folded, and the first half part and the second half part are combined so that they are alternately staggered to obtain a part histogram 536 (a pair is created 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. 86). That is, the component histograms 537 arranged in descending order of the number of components are cut at an intermediate point (folding position) and folded back, and the first half part and the second half part are combined so as to be alternated, and a part histogram 538 is obtained. (Wraps to create a pair). (3) The component histograms 536 and 538 of the double cassette having the feed pitch of 2 mm and 4 mm are fused to obtain the component histogram 539 (FIG. 87). That is, the double-cut pairs are maintained and the odd-numbered Z-side component tapes are rearranged in descending order of the number of components. (4) Odd Z number and histogram 539a (Fig. 88
(A)) and an even Z number histogram 539b (FIG. 88).
(B)) is separated.

(5) If there is no constraint to fix the array, these histograms 539a and 539b may be arranged as they are on the actual Z axis (FIGS. 89 (a) and (b)). (6) When there is a constraint of fixed arrangement (parts A to C of odd Z numbers shown in FIG. 90A and parts D and E of even Z numbers shown in FIG. 90B are fixed) It is as follows). (7) With respect to each of the odd-numbered Z-number and the even-numbered Z, the parts to be fixed in the arrangement are extracted in a double cassette unit and placed at the right end (FIG. 91 (a),
(B)). (8) The unfixed component tape 540 is returned to the actual Z-axis only on the odd side (FIG. 92 (a)). The even number side remains unchanged (FIG. 92 (b)). (9) The gaps of the "mountain" are closed to obtain the component histograms 541a and 541b on the odd side and the even side, respectively (Fig. 93).
(A), (b)). At this time, for the odd-sided "mountain", the gap can be closed in the unit of the double cassette (Fig. 93 (a)), but for the even-sided "mountain", the odd-sided "mountain" 541a is matched. In order to pack
A gap may remain (FIG. 93 (b)). (10) The even-numbered component tapes are rearranged for each feed pitch to obtain a component histogram 541c (FIG. 94 (b)). The odd number side remains unchanged (Fig. 94 (a)). Specifically, on the even side, for component tapes with a feed pitch of 2 mm, the component tapes existing on the actual Z-axis and the component tapes that have been removed together with the component tapes to be array-fixed are combined. , Re-arrange in order from the largest number of parts, and put them on the even side of a double cassette with a feed pitch of 2 mm. 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 cassettes (43,44), (45,46),
(47, 48) becomes unnecessary.

3.9.12 LL Constraint: Change of adsorption method (1) (2) The same number of flags as Z (Z number) is provided, and Z and flags are made to correspond one to one. (3) Perform the following processing for the mounting point in the left block.
(3.1) Perform the following process for the component tapes placed in Z. -If no component tape is placed in Z, set the flag to FAL.
SE. -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) 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 that are 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. Let Pf be the number of picked up mounting points. Adsorption is performed multiple times so that the heads 1 to 6 can be fully loaded. Of the Z numbers where the picked up mounting points existed, the maximum Z number is Zmax. (ii) Subtract Pf from Nf. (iii) The mounting points existing in Z larger than Zmax and included in the LL constrained area are cut up by four-point suction, 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. (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. 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 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. Adsorption is performed multiple times so that the heads 7 to 10 can be fully loaded. The heads 1 to 6 do not adsorb. (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) The following processing is performed for the mounting point in the right block. (4.1) Perform the following processing for the component tapes placed in Z. -If no component tape is placed in Z, set the flag to FAL.
SE. -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, repeat the following process. (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 multiple 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. Let Pf be the number of picked up mounting points. Adsorption is performed multiple times so that the heads 1 to 6 can be fully 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. 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 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. 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. The heads 1 to 6 do not adsorb. (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

3.9.13 LL Constraint: Change of adsorption method (2) (1) The same number of flags as Z (Z number) is provided, and Z and flags are made to 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 tape placed in Z. -If no component tape is placed in Z, set the flag to FAL.
SE. -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) Count the number of mounting points included in the LL restricted area and set it as 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 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. Let Pf be the number of picked up mounting points. Adsorption is performed multiple times so that the heads 1 to 6 can be fully 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 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, 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 adsorption order matches the mounting order, and the mounting order is
This is the order of NC data. (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 the 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 multiple 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 picked up mounting points. Adsorption is performed multiple 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. (2.4.4) When Nf and Nr are zero, the processing for the left block ends.

(3) The following processing is performed for the mounting point in the right block. (3.1) Perform the following process for the component tapes placed in Z. -If no component tape is placed in Z, set the flag to FAL.
SE. -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) 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 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. 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, the smallest Z number is Zr. (ii) Subtract Pr from Nr. (iii) For the mounting points that are not included in the LL restricted area, six 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. Adsorption is performed multiple times so that the heads 1 to 6 can be fully loaded. Of the Z numbers where the picked up mounting points existed, the smallest Z number is Zf. (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 the heads 1 to 6 are adsorbed in this order. The adsorption order matches the mounting order, and the mounting order is
This is the order of NC data. (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 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 Pf from Nf. (3.4.3) When Nf is zero and Nr is not zero (i) For all the mounting points, four points of suction are cut up and assigned to heads 7-10 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. 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

3.9.14 LL Constraint: Swap of component tapes 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) The component tape existing at position Z is designated as component tape K,
Obtain the maximum value Xmax of the X coordinate of the mounting point belonging to the component tape K. If there is no component tape at position Z, Xmax = 0
And (2.2) When Xmax ≤ 400.0 [mm] (when component tape K does not have a mounting point existing in the LL restricted 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 tape K has a mounting point existing in the LL constrained area) (2.3.1) A mountain M including the component tape K is configured and Z = 1
Among the component tapes existing after the second, a component tape having no mounting point in the LL restricted area and having a similar number of components to the component tape K is found, and the component tape K is replaced with the component tape. For component tapes that use double cassettes, it is also necessary that the feed pitches match. (2.3.2) If not found, it exists in block A, and
Of the component tapes that form a mountain other than M and that exist after Z = 12, have no mounting points in the LL constraint area,
And find the component tape with the smallest number of components and replace it. It may be replaced with a component tape of a different component group. For component tapes that use double cassettes, it is also necessary that the feed pitches match. (2.3.3) If not found, find a component tape that does not have a mounting point in the LL constrained area and has the smallest number of components among the component tapes that form the mountain existing in the B block, and replace it. It may be replaced with a component tape of a different component group. For one task, adsorption may occur from both A block and B block. For component tapes that use double cassettes, it is also necessary that the feed pitches match. (2.3.4) If not found, implementation is not possible. (3) Finish.

3.9.15 LL Constraint: Swap of component tapes on Z axis (2) (1) It is assumed that all peaks have been determined by the "cutting method" by this stage. (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, position Z = 1 to 11
With respect to, the following processing is performed. (4.1) The component tape existing at position Z is designated as component tape K,
Obtain the maximum value Xmax of the X coordinate of the mounting point belonging to the component tape K. If there is no component tape at position Z, Xmax = 0
And (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 tape K does not have a mounting point existing in the LL restricted area) (4.3.1) Do nothing. (4.4) When Xmax> Xh (when the component tape K has a mounting point existing in the LL constraint area) (4.4.1) A mountain M including the component tape K is configured and Z = 1
Among the component tapes existing after the second, a component tape having no mounting point in the LL restricted area and having a similar number of components to the component tape K is found, and the component tape K is replaced with the component tape. For component tapes that use double cassettes, it is also necessary that the feed pitches match. (4.4.2) If not found, it exists in block A, and
Of the component tapes that form a mountain other than M and that exist after Z = 12, have no mounting points in the LL constraint area,
And find the component tape with the smallest number of components and replace it. It may be replaced with a component tape of a different component group. For component tapes that use double cassettes, it is also necessary that the feed pitches match. (4.4.3) If not found, find a component tape that does not have a mounting point in the LL constrained area and has the smallest number of components from the component tapes that form the mountain existing in the B block, and replace it. In some cases, the component tapes of different component groups may be replaced. For one task, adsorption may occur from both A block and B block. For component tapes that use double cassettes, it is also necessary that the feed pitches match. (4.4.4) If not found, implementation is not possible. (5) Finish.

3.9.16 Support for XL size board (XL
Constraint) XL constraint is avoided by the following method. (1) Front sub-equipment 110 / rear sub-equipment 1 based on mounting point coordinates
20 (2) Component division by mounting point coordinates (3) Initial distribution using areas that can be mounted by both front sub-equipment 110 and rear sub-equipment 120 (4) Avoidance of LL constraints Specifically, On the street. (1) Front sub-equipment 110 / rear sub-equipment 1 based on mounting point coordinates
Allocation to 20 Now, the allocation to the front sub-equipment 110 / the rear sub-equipment 120 according to the 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 tape. (i) Allocating the component tape to the front sub-equipment 110. (ii) The component tape is assigned to the rear sub-equipment 120. (iii) Put the component tape on the front sub-equipment 110 and the rear sub-equipment 12
It is divided into 0s and assigned. (2.2) In the case of (3) above, component division is required. Instead of allocating the number of parts to the front sub-equipment 110 / the rear sub-equipment 120, the mounting point itself is distributed to the front sub-equipment 110 / the rear sub-equipment 120.

(3) Front sub-equipment 110 and rear sub-equipment 120
Initial allocation using the area that can be mounted by both (3.1) The component tape corresponding to the area shown in FIG. 46 is allocated to the front sub-equipment 110. (3.1.1) The load level is calculated for each component tape corresponding to the area, and the total is used as the load level of the front sub-equipment 110. (3.2) Put the component tape corresponding to the area on the rear sub-equipment 12
Divide to 0. (3.2.1) The load level is calculated for each component tape corresponding to the area, and the total is used as the load level of the front sub-equipment 110. The component tapes corresponding to the area (3.3) are arranged in Z of the front sub-equipment 110 as much as the component groups are arranged in the descending order of the number of components. (3.3.1) The load level of the placed component tape is calculated and added to the load level of the front sub facility 110. Among the component tapes corresponding to the area (3.4), the component tapes that cannot be placed in the front sub-equipment 110 are placed in Z of the rear sub-equipment 120. (3.4.1) The load level of the placed component tape is calculated and added to the load level of the rear sub-equipment 120. If it cannot be placed in the rear sub-equipment 120, an error occurs. (3.5) (load level of front sub-equipment 110) <(load level of rear sub-equipment 120) (3.5.1) Since the balance does not improve any further, the process ends. (3.6) If (load level of front sub-equipment 110)> (load level of rear sub-equipment 120), the following process is repeated. (3.6.1) Among the component tapes corresponding to the area in the front sub-equipment 110, the component tape having the largest component group number and the smallest number of components is sent to the rear sub-equipment 120. If it cannot be sent to the subsequent sub-equipment 120 (=
If there is no Z in the rear sub-equipment 120), the balance will not improve anymore, so the process ends. (3.6.2) Load level of front sub-equipment 110 and rear sub-equipment 1
Recalculate the 20 load levels. (4) Avoidance of LL constraint (4.1) Since the region in the front sub-equipment 110 is the LL constraint region, processing corresponding to the LL constraint is performed. (4.2) Since the area in the rear sub-equipment 120 is an LL constraint area, processing corresponding to the LL constraint is performed.

3.9.17 Load level balance adjustment processing (in units of "mountain") The features are as follows. (i) The load level of the front sub-equipment 110 is the rear sub-equipment 120.
The load level balance is adjusted by moving from the front sub-equipment 110 to the rear sub-equipment 120 in "mountain" type units with the state higher than the load level of No. 1 as the initial state. (ii) For the "mountain" existing on the balance point, the load level balance adjustment is performed for each component tape. For details, see "Load level balance adjustment processing (per component tape)" below.
(A) ”. The specific procedure is as follows. (1) Flag all mountains. The initial value of the flag is TRU
Let E. (2) When the flags of all the mountains arranged in the front sub-equipment 110 are FALSE, the following processing is performed. (2.1) Go to (15). This would be the case if all the mountains that were located in the front sub-equipment 110 were moved to the rear sub-equipment 120 (this should not be possible). (3) The current arrangement state of the mountains of the front sub-equipment 110 and the rear sub-equipment 120 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 tapes forming the mountain arranged in the front sub-equipment 110 is calculated and set as PGmax. (4.2) If the flags of all the crests that are composed of the single cassette or the double cassette that contains the component tape with the component group number PGmax are FALSE, the following process is performed. (4.2.1) The process of moving the mountain from the front sub-equipment 110 to the rear sub-equipment 120 ends. Since there is no mountain to be moved, the process of moving the mountain from the front sub-equipment 110 to the rear sub-equipment 120 ends. Lines are not always balanced. (4.3) "Mounting that consists of a single cassette that contains a component tape whose part number is PGmax" and "Part number is PGma
If both "mountain composed of double cassette containing component tape of x" exist (4.3.1), mountain composed of single cassette is referred to as mountain M. (4.4) "Mounting consisting of a single cassette containing the component tapes with the component number PGmax" and "Part number PGmax
If there is only one of the “mountains consisting of double cassettes containing the component tapes” (4.4.1), then that mountain is referred to as mountain M.

(5) The mountain M is removed from the mountains arranged in the front sub-equipment 110, and the remaining mountains are rearranged. (6) The mountain M is added to the mountains arranged in the rear sub-equipment 120, and those mountains are rearranged. (7) If the front sub-equipment 110 or the rear sub-equipment 120 cannot satisfy the nozzle-related constraints, the following processing is performed. (7.1) Return the mountain arrangement state of the front sub-equipment 110 and the rear sub-equipment 120 to the stored state. (7.2) Set the flag of mountain M to FALSE. This mountain M cannot be moved after this. Go to (7.3) (14). (8) In the front sub-equipment 110 or the rear sub-equipment 120, when the mountain cannot be placed on the Z axis, the following processing is performed. (8.1) The arrangement state of the mountains of the front sub-equipment 110 and the rear sub-equipment 120 is returned to the stored state. Go to (8.2) (15). Since the only mountain that can be moved is the mountain M, the mountain M is divided into parts tape units, and the front sub-equipment 110
Then, the line balance is improved by allocating it to the rear sub-equipment 120. 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 front sub-equipment 110. (9.1) Calculate the load level for small parts. (9.2) Calculate the load level for general-purpose parts. (9.3) The load level of the small parts and the load level of the general-purpose parts are added to obtain the load level of the front sub-equipment 110.

(10) After that, the load level of the sub-equipment 120 is calculated. (10.1) Calculate the load level for small parts. (10.2) Calculate the load level for general-purpose parts. (10.3) The load level of the small parts and the load level of the general-purpose parts are added to obtain the load level of the rear sub-equipment 120. (11) When the mounting time of the front sub-equipment 110 and the load level of the rear sub-equipment 120 match, the following processing is performed. Proceed to (11.1) (15). Front sub-equipment 110 and rear sub-equipment 1
(12) The load level of the front sub-equipment 110 is equal to that of the rear sub-equipment 120.
If it is smaller than the load level of, the following processing is performed. (12.1) Return to the state in which the arrangement state of the mountains of the front sub-equipment 110 and the rear sub-equipment 120 is stored. (12.2) "Load level balance adjustment processing (per component tape)" is performed on the mountain M. For the "mountain" existing on the balance point, the load level balance adjustment is performed for each component tape. The details are as described in “Load level balance adjustment processing (per component tape) (A)” described later. Proceed to (12.3) (15). Mountain M is on the line balance point. The mountain M is returned to the state in which it is arranged in the front sub-equipment 110. After that, the mountain M is divided into component tape units and distributed to the front sub-equipment 110 and the rear sub-equipment 120 to try to improve the line balance. (13) The load level of the front sub-equipment 110 is the rear sub-equipment 120.
If it is longer than the load level of, the following processing is performed. (13.1) Set the flag of mountain M to FALSE. Mountain M has been moved. Proceed to (13.2) (14). In addition, move in mountain units. (14) Return to (2) above. (15) The “load level balance adjustment processing (“ mountain ”unit)” ends.

3.9.18 Load Level Balance Adjustment Processing (By Component Tape) The features are as follows. (i) The load level of the front sub-equipment 110 is the rear sub-equipment 120.
The load level balance is adjusted by moving the front sub-equipment 110 from the rear sub-equipment 120 to the rear sub-equipment 120 in units of component tapes, with the load level being higher than the load level of 1. (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) A flag is provided on the component tape forming the mountain M. The initial value of the flag is TRUE. (2) Create a list of parts (species) for mountain M. (3) Flags for all component tapes in the component list are F
If it is ALSE, perform the following processing. Go to (3.1) (13). The "load level balance adjustment processing (per component tape)" ends. (4) The mountain arrangement state of the front sub-equipment 110 and the rear sub-equipment 120 is stored. (5) From the component tapes whose flag is TRUE in the component list, select the component tape K with the smallest number of components. (6) The component tape K is assigned to the rear sub-equipment 120. (7) A component tape that remains in the component list and is not assigned to the front sub-equipment 110 or the rear sub-equipment 120 is assigned to the front sub-equipment 110. Mountains other than the mountain M are assigned to the front sub-equipment 110 or the rear sub-equipment 120. (8) The load level of the front sub-equipment 110 is calculated. (8.1) Calculate the load level of small parts. (8.2) Calculate the load level of general-purpose parts. (8.3) The load level of the small parts and the load level of the general-purpose parts are added to obtain the load level of the front sub-equipment 110. (9) The load level of the rear sub-equipment 120 is calculated. (9.1) Calculate the load level of small parts. (9.2) Calculate the load level of general-purpose parts. (9.3) The load level of the small parts and the load level of the general-purpose parts are added to obtain the load level of the rear sub-equipment 120.

(10) When the load level of the front sub-equipment 110 and the load level of the rear sub-equipment 120 are the same, the following processing is performed. (10.1) Go to (13). Front sub-equipment 110 and rear sub-equipment 1
The 20 load levels are now perfectly balanced. (11) The load level of the front sub-equipment 110 is the rear sub-equipment 120.
If it is lower than the load level of, the following processing is performed. (11.1) Set the flag of the component tape K to FALSE. The component tape K has already been moved. Go to (11.2) (13). Parts tape K front sub equipment 110
Since the load level of the rear sub-equipment 120 becomes higher than that of the front sub-equipment 110 by moving from the to the rear sub-equipment 120, the load level balance adjustment by moving the component tape unit is completed. (12) The load level of the front sub-equipment 110 is the rear sub-equipment 120.
If it is higher than the load level of, the following processing is performed. (12.1) Set the flag of component tape K to FALSE. The component tape K has already been moved. Return to (12.2) (3). Further, the parts are moved in tape units. (13) Terminate the "load level balance adjustment processing (per component tape)".

3.9.19 Processing to move mountains from the front sub-equipment to the rear sub-equipment (1) Flags are set for all the mountains. The initial value of the flag is TRU
Let E. (2) When the flags of all the mountains arranged in the front sub-equipment 110 are FALSE, the following processing is performed. Proceed to (2.1) (16). This would be the case if all the mountains that were located in the front sub-equipment 110 were moved to the rear sub-equipment 120 (this should not be possible). (3) The current arrangement state of the mountains of the front sub-equipment 110 and the rear sub-equipment 120 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 tapes forming the mountain arranged in the front sub-equipment 110 is calculated and set as PGmax. (4.2) If the flags of all the crests that are composed of the single cassette or the double cassette that contains the component tape with the component group number PGmax are FALSE, the following process is performed. (4.2.1) The process of moving the mountain from the front sub-equipment 110 to the rear sub-equipment 120 ends. Since there is no mountain to be moved, the process of moving the mountain from the front sub-equipment 110 to the rear sub-equipment 120 ends. Lines are not always balanced. (4.3) "Mounting that consists of a single cassette that contains a component tape whose part number is PGmax" and "Part number is PGma
If both "mountain composed of double cassette containing component tape of x" exist (4.3.1), mountain composed of single cassette is referred to as mountain M. (4.4) "Mounting consisting of a single cassette containing the component tapes with the component number PGmax" and "Part number PGmax
If there is only one of the “mountains consisting of double cassettes containing the component tapes” (4.4.1), then that mountain is referred to as mountain M. (5) The mountain M is removed from the mountains arranged in the front sub-equipment 110, and the remaining mountains are rearranged. (6) Rear sub-equipment 12
Add mountains M to the mountains located at 0 and rearrange those mountains. (7) If the front sub-equipment 110 or the rear sub-equipment 120 cannot satisfy the nozzle-related constraints, the following processing is performed. (7.1) Return the mountain arrangement state of the front sub-equipment 110 and the rear sub-equipment 120 to the stored state. (7.2) Set the flag of mountain M to FALSE. This mountain M cannot be moved after this. Go to (7.3) (15). (8) In the front sub-equipment 110 or the rear sub-equipment 120, when the mountain cannot be placed on the Z axis, the following processing is performed. (8.1) The arrangement state of the mountains of the front sub-equipment 110 and the rear sub-equipment 120 is returned to the stored state. Go to (8.2) (16). Since the only mountain that can be moved is the mountain M, the mountain M is divided into parts tape units, and the front sub-equipment 110
Then, the line balance is improved by allocating it to the rear sub-equipment 120. 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) A task is generated for the front sub-equipment 110. (9.1) Generate tasks for small parts. (9.2) Generate tasks for general-purpose parts.

(10) A task is created for the subsequent sub-equipment 120. (10.1) Generate tasks for small parts. (10.2) Generate tasks for general-purpose parts. (11) The mounting time is calculated for the front sub-equipment 110 and the rear sub-equipment 120. Front sub-equipment 110 and rear sub-equipment 12
This is the case where mountains can be arranged at both 0. (12) When the mounting time of the front sub-equipment 110 and the mounting time of the rear sub-equipment 120 match, the following processing is performed. Proceed to (12.1) (16). Front sub-equipment 110 and rear sub-equipment 1
When the mounting time of the front sub-equipment 110 is shorter than the mounting time of the rear sub-equipment 120, the following processing is performed. (13.1) The mountain arrangement state of the front sub-equipment 110 and the rear sub-equipment 120 is returned to the stored state. (13.2) "Process of moving the component tape from the front sub-equipment 110 to the rear sub-equipment 120" is performed on the mountain M. Proceed to (13.3) (16). Mountain M is on the line balance point. The mountain M returns to the state in which it is arranged in the front sub-equipment 110. After this, the mountain M is divided into parts tape units,
By allocating to the front sub-equipment 110 and the rear sub-equipment 120, an attempt is made to improve the line balance. (14) When the mounting time of the front sub-equipment 110 is longer than the mounting time of the rear sub-equipment 120, the following processing is performed. (14.1) Set mountain M flag to FALSE. Proceed to (14.2) (15). This is a case where it is necessary to further move the mountain from the front sub-equipment 110 to the rear sub-equipment 120. (15) Return to (2) above. (16) The “process of moving a mountain from the front sub-equipment 110 to the rear sub-equipment 120” is ended.

3.9.20 The processing characteristics of moving the component tape from the front sub-equipment to the rear sub-equipment are as follows. (i) Balance the mounting time by moving the front sub-equipment 110 from the front sub-equipment 110 to the rear sub-equipment 120 in units of component tapes, with the initial state being that the mounting time of the front sub-equipment 110 is longer than the mounting time of the rear sub-equipment 120. Adjust. (ii) The number of moving component tapes cannot be said to be small.
Many component tapes move to the rear sub-equipment 120. The component tape may be arranged in the front sub-equipment 110 and the rear sub-equipment 120. Parts are divided. (iii) Good balance. The specific procedure is as follows. (1) A flag is provided on the component tape forming the mountain M. The initial value of the flag is TRUE. (2) Create a list of parts (species) for mountain M. (3) Flags for all component tapes in the component list are F
If it is ALSE, perform the following processing. Proceed to (3.1) (14). The “processing for moving the component tape from the front sub-equipment 110 to the rear sub-equipment 120” is ended. (4) The mountain arrangement state of the front sub-equipment 110 and the rear sub-equipment 120 is stored. (5) From the component tapes whose flag is TRUE in the component list, select the component tape K with the smallest number of components. (6) The component tape K is assigned to the rear sub-equipment 120. (7) A component tape that remains in the component list and is not assigned to the front sub-equipment 110 or the rear sub-equipment 120 is assigned to the front sub-equipment 110. Mountains other than the mountain M are assigned to the front sub-equipment 110 or the rear sub-equipment 120. (8) A task is generated for the previous sub-equipment 110. (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) A task is generated for the rear sub-equipment 120. (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) The mounting time of the front sub-equipment 110 and the mounting time of the rear sub-equipment 120 are calculated. (11) When the mounting time of the front sub-equipment 110 and the mounting time of the rear sub-equipment 120 are the same, the following processing is performed. Proceed to (11.1) (14). Front sub-equipment 110 and rear sub-equipment 1
This means that the 20 balance has been perfectly achieved. (12) When the mounting time of the front sub-equipment 110 is shorter than the mounting time of the rear sub-equipment 120, the following processing is performed. (12.1) Set the flag of component tape K to FALSE. The component tape K has already been moved. (12.2) "Process for moving the mounting point from the front sub-equipment 110 to the rear sub-equipment 120" is performed on the component tape K. Since the component tape K is moved from the front sub-equipment 110 to the rear sub-equipment 120, the mounting time of the rear sub-equipment 120 is longer than that of the front sub-equipment 110. The line balance is improved by distributing the lines to the rear sub-equipment 120. Proceed to (12.3) (14). (13) When the mounting time of the front sub-equipment 110 is longer than the mounting time of the rear sub-equipment 120, the following processing is performed. (13.1) Set the flag of component tape K to FALSE. The component tape K has already been moved. Return to (13.2) (3). Further, the parts are moved in tape units. (14) The “processing of moving the component tape from the front sub-equipment 110 to the rear sub-equipment 120” is ended.

3.9.21 Moving the mounting point from the front sub-equipment to the rear sub-equipment The processing component tape K is divided into mounting point units, and the front sub-equipment 110
The process of allocating to the sub-equipment 120 is performed as follows. (1) Arrange the mounting points in ascending order of y coordinate. (1.1) If y coordinates are the same, arrange them in ascending order of x coordinates. This is called a mounting point list. When the component tape K is divided for each mounting point and distributed to the front sub-equipment 110 and the rear sub-equipment 120, the front sub-equipment 110 or the rear sub-equipment 120
Therefore, only one component tape K may be arranged.
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. If the "greedy method" is commonly applied to the same component tapes in the front sub-equipment 110 and the rear sub-equipment 120, this rearrangement is unnecessary. This rearrangement is effective if the "greedy method" is independently applied to the front sub-equipment 110 and the rear sub-equipment 120. (2) 1 is set to the value n indicating the number of mounting points assigned to the front sub-equipment 110. (3) When n is larger than the number of mounting points of the component tape K, the following processing is performed. Proceed to (3.1) (12). The “processing for moving the mounting point from the front sub-equipment 110 to the rear sub-equipment 120” is ended. (4) The mounting points from the top to the n-th mounting point in the mounting point list are assigned to the preceding sub-equipment 110. (5) The (n + 1) th to last mounting points in the mounting point list are assigned to the rear sub-equipment 120. (6) A task is generated for the front sub-equipment 110. (6.1) Generate tasks for small parts. Parts are divided by the core processing. (6.2) Generate a task for a general-purpose component. Parts are divided as specified by the user. (7) A task is generated for the rear sub-equipment 120. (7.1) Generate tasks for small parts. Parts are divided by the core processing. (7.2) Generate a task for a general-purpose component. Parts are divided as specified by the user. (8) The mounting time of the front sub-equipment 110 and the mounting time of the rear sub-equipment 120 are calculated. (9) When the mounting time of the front sub-equipment 110 and the mounting time of the rear sub-equipment 120 are the same, the following processing is performed. Go to (9.1) (12). The “processing for moving the mounting point from the front sub-equipment 110 to the rear sub-equipment 120” is ended. This means that the front sub-equipment 110 and the rear sub-equipment 120 are perfectly balanced. (10) When the mounting time of the front sub-equipment 110 is shorter than the mounting time of the rear sub-equipment 120, the following processing is performed. Go to (10.1) (12). The “processing for moving the mounting point from the front sub-equipment 110 to the rear sub-equipment 120” is ended. The balance between the front sub-equipment 110 and the rear sub-equipment 120 is fairly good, but not perfect. (11) When the mounting time of the front sub-equipment 110 is longer than the mounting time of the rear sub-equipment 120, the following processing is performed. (11.1) Add 1 to n. Return to (11.2) (3). The mounting point is further moved from the front sub-equipment 110 to the rear sub-equipment 120. (12) The process of moving the mounting point from the front sub-equipment 110 to the rear sub-equipment 120 is ended.

3.9.22 Swap Processing in Line Balance Processing Next, the line balance processing (swap processing) in the case where there is no free space in the Z axis of the movement destination will be explained while comparing it with the case in which there is free space in the Z axis. To do. 95 (a), (b)
95C is an explanatory diagram showing an example of the mounting time of the front sub-equipment 110 and the rear sub-equipment 120 when the Z axis has a space, and the line balance processing at that time, FIG.
(D) is front sub-equipment 1 when there is no space on the Z axis
10 is an explanatory diagram showing an example of the mounting time of 10 and the rear sub-equipment 120, and the line balance processing (swap processing) at that time. If there is a space on the Z-axis,
As shown in (b), the above (3.9.19-3.
This is the same as the movement processing in 9.21). In this example, in order to eliminate the difference between the mounting times, the component 545 for 7.5 seconds
Is moved from the front sub-equipment 110 to the rear sub-equipment 120 for balancing. On the other hand, when there is no space in the Z axis, as shown in FIGS. 95 (c) and 95 (d), the parts 54 with a large number of parts distributed to the front sub-equipment 110 are distributed.
7 and the component 546, which has a small number of components distributed to the rear sub-equipment 120, are swapped in the unit of a component cassette (component tape). As a result, the mounting time corresponding to the difference in the number of parts is moved from the front sub-equipment 110 to the rear sub-equipment 120, and the mounting time is leveled.

3.9.23 "Cut-up method" for double cassette "Cut-up method" for double cassette 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. 96). That is, the component histogram 550 arranged in descending order of the number of components.
By cutting and folding back at the middle point (folding position), and synthesizing so that the first half part and the second half part are alternately interleaved (creating a pair by folding back),
A parts histogram 551 is obtained. (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. 97). That is, the component histograms 552 arranged in descending order of the number of components are cut at the midpoint (folding position) and folded back, and the respective parts of the first half and the second half are alternately mixed (the pair is folded to form a pair. By creating), a component histogram 553 is obtained. (3) The component histograms 551 and 553 of the double cassette having the feed pitch of 2 mm and 4 mm are fused to obtain the component histogram 554 (FIG. 98). That is, the double-cut pairs are maintained and the odd-numbered Z-side component tapes are rearranged in descending order of the number of components. (4) Histogram 554a of odd number Z (see FIG. 99)
(A)) and an even numbered histogram 554b (see FIG. 9).
9 (b)). (5) In each of the histograms 554a and 554b, by cutting from the component tape having the smallest number of components, 10
Create an adsorption pattern for simultaneous point adsorption (Fig. 100).
(A), (b)). As a result, core portions 555a and 555b remain in each histogram. (6) Odd-side core portion 555a and even-side core portion 5
55b, complementary patterns 556a, 55
6b is made (FIGS. 101 (a) and 101 (b)). In other words, the number of mounting points of the core part is 92 on the odd side and 12 on the even side, which is 104 in total, so that 10 10-point tasks are created (one 4-point task remains). Here, since the maximum number of parts of the even-numbered core 555b is 3, three 10-point tasks are created on the even side and the remaining tasks are created on the odd side. (7) Odd and even side complementary component tapes 557a, 55
7b are arranged (FIGS. 102A and 102B). 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) By stacking the even-numbered complementary component tape 557b on the odd-numbered complementary component tape 557a, one complementary component tape 5558 is formed (FIGS. 103A and 103B). (9) A mounting point is assigned to the synthesized complementary component tape 558 (FIGS. 104 (a) and 104 (b)). At this time, the complementary component tape composed of the odd number side and the even number side is composed of only one component tape. 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 combined complementary component tape is divided into an odd number side 558a and an even number side 558b (FIGS. 105 (a) and (b)). (11) Adsorption patterns 559a and 559b are created for the odd-sided histogram and the even-sided histogram, respectively (see FIG. 106).
(A), (b)). With such a cassette arrangement, when two component tapes are stored in the double cassette, the constraint that only the component tapes having the same feed pitch must be stored is satisfied, and a small suction pattern ( It is mounted at a high frequency that can be adsorbed simultaneously.

3.9.24 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 multi-mounting head 112 needs to previously mount a nozzle of a type corresponding to the component tape to be picked up (replace the nozzle at the nozzle station). Therefore, in the optimization, it is necessary to determine the arrangement of component tapes so as to suppress the frequency of nozzle replacement. The algorithm therefor (“algorithm for nozzle replacement”) is as follows. FIG. 107 is a diagram for explaining the nozzle replacement algorithm, and FIG. 107A is a table showing the types of target parts (usable nozzle numbers) and the number of parts.
FIG. 107 (b) is a component histogram showing the process. Here, the numerical value attached to the part of FIG. 107 (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, the types of parts (number of usable nozzles) and the number of parts are shown in FIG.
Since it is as shown in (a), the parts are arranged in the left five columns in FIG. 107 (b). Create a frame for the number of tasks from the total number of parts. In this example, since the total number of parts is 67, 70 frames are created. Break down the pile from the parts with the largest number of parts so that 10 nozzles are filled. The specific rules are as follows.・ From the one with the largest number of parts (here, from the part number 5)
Tighten from the top so that it fits in 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 just optimization considering the nozzle configuration, the configuration of nozzles and the order of tasks will be reviewed next, including large 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.

3.10 Screen Display Example Next, the function of the user interface of the present optimization apparatus 300 will be described. That is, based on the optimization program stored in the optimization program storage unit 305, in order for the optimization apparatus 300 to interact with the user, the screen display example displayed on the display unit 302 by the calculation control unit 301 and the input unit 3 are displayed.
The description will focus on the parameters acquired from the user via 03.

3.10.1 Main Screen On this screen, as shown in FIG. 108, the optimizing device 300 displays information on the optimizing state and the 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)
It is as follows. Menu [File] * Open Selects a product type program (such as mounting point data 307a to be optimized) and various libraries (such as a component library 307b) from the user, and loads the selected product type program. 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 clicked 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 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 number of cassettes 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 Display the nozzle number setting screen. 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. * Optimization detailed information Executes printing of optimization detailed information. * Z-axis information Print Z-axis information. * Nozzle station information Executes printing of nozzle station information. * Cassette number information Executes the printing of cassette number information. * Parts division number information Executes printing of parts division number information. * Nozzle number information Prints the nozzle number information. * Nozzle station selection information Executes printing of nozzle station selection information. [Help] Manage the screen version and help. * Help Start help. * Version information Display version information.

Optimization information Information before / after optimization is displayed for each sub-equipment (“1st stage”, “2nd stage” in the figure). * Mounting time (seconds) Displays the simulation results before and after optimization. * 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. <Calculation formula> (Number of mounting points / Mounting time) * 3600 (seconds) * Number of tasks Displays the number of tasks. Facility information Sub-equipment information (“1st stage” in the figure,
It is displayed every "2nd stage"). * Head type Displays the head type of front / rear sub-equipment. (10 heads) * Displays the camera status of the front / rear camera sub-equipment. (2D sensor, 2D + 3D sensor) * Displays the tray status of the front / back tray sub-equipment. (Handset tray, elevator tray) * Number of mounting points Displays the number of mounting points of the front / rear sub-equipment in the product type program. * Displays the number of component types of front / rear sub-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 Displays the number of mounting points in the product program. * 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.

3.10.2 Opening Screen On this screen, as shown in FIG. 109, the optimizing apparatus 300 can specify a product type program and various libraries to open the product type program. 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". This component library corresponds to the component library 307b shown in FIG. * Supply library Displays the registered supply library name. The initials start with "Y". This supply library is one of the pieces of information that constitutes the mounting apparatus information 307c shown in FIG. There is. * Mark library Displays the registered mark library name. In addition,
The initials begin with "B". This mark library is one of the information that constitutes the mounting apparatus information 307c shown in FIG.
In other words, it holds information about the shape of the recognition mark printed on the substrate used for positioning the multi-mounting head 112 with respect to the substrate. * Nozzle library Displays the registered nozzle library name. In addition,
The initials begin with "V". This nozzle library is one of the pieces of information constituting the mounting apparatus information 307c shown in FIG.
It holds information on the shape of various suction nozzles. 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.

3.10.3 Optimization Detailed Information Screen In this screen, as shown in FIG. 110, the optimization device 300 is equipped with sub-equipment (“1st stage” in the figure,
The optimization detailed information is displayed for each "2nd stage"). 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 sub-equipment (“1st stage”, “2nd stage” in the figure). * Mounting time (seconds) Displays the simulation results before and after optimization. * 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. <Calculation formula> (Number of mounting points / Mounting time) * 3600 (seconds) * Number of tasks Displays the number of tasks. * Nozzle replacement count Displays the number of nozzle replacements. * Nozzle replacement time Displays the total time required for nozzle replacement. * Number of adsorptions Displays the number of adsorptions. * Adsorption time Displays the total time taken 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 sub-equipment (“1st stage”, “2nd stage” in the figure). Facility information Sub-equipment information (“1st stage” in the figure,
It is displayed every "2nd stage"). * Head type Displays the head type of front / rear sub-equipment. (10 heads) * Displays the camera status of the front / rear camera sub-equipment. (2D sensor, 2D + 3D sensor) * Displays the tray status of the front / back tray sub-equipment. (Handset tray, elevator tray) * Number of mounting points Displays the number of mounting points of the front / rear sub-equipment in the product type program. * Displays the number of component types of front / rear sub-equipment in the component type product program. Print button Prints the optimization detailed information. Cancel button Closes the detailed optimization information screen and returns to the main screen.

3.10.4 Cassette Number Setting Screen In this screen, as shown in FIG. 111, the optimizing device 300 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 the supply code of the cassette. Example) 1st character: Type (E: Emboss P: Paper) 2, 3rd character: Cassette width (08: 8mm width) 4, 5th character: Feed pitch (04: 4mm pitch) 6th character: Driving method ( 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.

3.10.5 Component Division Number Setting Screen On this screen, as shown in FIG. 112, the optimizing apparatus 300 displays the component division information / sets the maximum number of divisions in accordance with the user's instruction. Component division number information Displays the component division number information. * Part name Displays the name of the part used in the product type program. The user can input the component name of the product type program in order to efficiently perform the component division. * Number of mounting points Displays the number of mounting points for each component. * Current number of divisions Displays the current number of divisions for each part. * 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 the area of the maximum division number. In addition,
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 name of the component or the title of the number of mounting points is clicked, the sort display is performed.

3.10.6 Nozzle Number Setting Screen On this screen, as shown in FIG. 113, the optimizing device 300 displays the nozzle number information / sets the maximum number according to the 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 Displays the nozzle library number (1 to 99). * Current number Displays the number currently used. * Maximum number Displays the maximum number that can be used. 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 on the maximum number area.

3.10.7 Nozzle Station Selection Screen On this screen, as shown in FIG. 114, the optimizing device 300 displays the nozzle station selection information / nozzle station selection according to the user's instruction. It is possible to set the validity / invalidity of the nozzle plate ID for each nozzle plate ID sub-equipment (“1st stage”, “2nd stage” in the figure). A plurality of IDs other than the gray display can be selected. When you move the cursor, 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.

3.10.8 Option Setting Screen On this screen, as shown in FIG. 115, the optimizing device 300 sets the facility option / optimizing 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 front sub-equipment 110 can be set. (Lower left or upper left or lower right or upper right) -Substrate stopper position (rear) The substrate stopper position of the rear sub-equipment 120 can be set. (Lower left or upper left or lower right or upper right) -Hand placement tray (front) The hand placement tray of the front sub-equipment 110 can be set. (Invalid or valid) -Hand placed tray (rear) The hand placed tray of the rear sub-equipment 120 can be set. (Invalid or valid) Prohibition of front / rear distribution By checking this item, front / rear distribution can be prohibited. -Front Only front sub equipment 110 is optimized. -After Rear, only sub-equipment 120 is optimized.・ Both Before and after sub equipment 120 optimizes. 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. Do not set: Use no recovery conveyor (small): Use small recovery conveyor (large): Large OK button Save the currently set options (equipment option, optimization level, forward / backward distribution prohibition, recovery conveyor) , 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 Optimize small parts with algorithms for general-purpose parts. 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.

3.10.9 Z-Axis Information Screen On this screen, as shown in FIG. 116, the optimizing apparatus 300 displays the information of the parts set on the Z-axis according to the user's instruction. Z-axis information Displays Z-axis information. * Displays the component name set on the component name ZNo. * 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). * Part recognition camera (2D
S, 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 disabled ZNo can be set (not performed) 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.

3.10.10 Nozzle Station Information Screen In this screen, as shown in FIG. 117, the optimizing device 300 displays the nozzle station information of this equipment according to the user's instruction. Nozzle plate ID Displays the nozzle plate ID for each sub-equipment (“1st stage”, “2nd stage” in the figure). Nozzle station information Displays nozzle station information. * No Displays the station number. * Nozzle shape code Displays the nozzle shape code on the nozzle station. Before / after optimization switching Nozzle station information is switched 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.

4 Operation of Optimization Device (Application) Next, an application operation of the optimization device 300 as described above will be described. That is, the optimization algorithm described so far is improved and the function is expanded.

4.1 Optimization of small parts

4.1.1 Optimization of Z Array without Dividing Parts Although the adsorption pattern 504 shown in FIG. 42 is an optimized adsorption pattern that maximizes productivity, it is possible to divide the component tape into any number. It becomes a condition. For example, part 1
It is necessary to prepare 5 tapes (part tapes with black square marks). This results in an increase in the number of delivery parts, which may not be allowed depending on the user. That is, it cannot be applied in a situation where only one component tape can be used (prepared) for one type of component. Therefore, a suction pattern determination algorithm that can be applied when parts cannot be divided is required. The algorithm will be described below. FIG. 118
FIG. 6 is a flowchart showing a processing procedure of an algorithm for determining an efficient suction pattern (Z array) without dividing a part. First, all the target component tapes are sorted in descending order of the number of components, and the number (i =
1 to N) are given (S600). Then, from the arrangement, the component tapes are taken out in the descending order of the number of components and rearranged as follows (S601 to S607). First, the number 1 component tape is taken out and placed on the Z axis (S60).
1). Next, the process of arranging the component tapes of number 2 or later (i = 2 to N) at either the right end or the left end on the Z axis is repeated (S602 to S607). That is, for the component tapes with the numbers 2 to 15 (Yes in S605), they are arranged on the Z axis in the order of the right end, the right end, and the left end (S604 to S606), and the component tapes with the numbers 16 and after (No in S603). ), And the arrangement at the right end is repeated (S606). The Z pattern obtained by such rearrangement has a target adsorption pattern, that is,
It is an adsorption pattern with few adsorption up and down times.

FIG. 119 shows the arrangement of component tapes for explaining the processing procedure of the flow chart shown in FIG. 118. That is, the upper diagram shows the component tape arrangement 600 after all the target component tapes are sorted on the temporary Z axis in descending order of the number of components, and the lower diagram shows the component tape arrangement 6
A component tape arrangement 601 is shown after the component tapes are taken out from 00 in descending order of the number of components and rearranged on the Z axis. The component tapes of Nos. 2 to 15 are arranged in the order of the right end, the left end, the right end, the right end, the left end, ..., And the component tapes of No. 16 and thereafter are repeatedly arranged at the right end. 120 to 123 are diagrams for explaining the level of optimization by this optimization algorithm. That is, FIG. 120 shows a component histogram 605 in which component tapes are simply arranged in descending order of the number of components (from right to left).
FIG. 121 shows a suction up / down frequency pattern 606 when the component histogram 605 is cut up. On the other hand, FIG.
22 shows the component histogram 607 rearranged by the procedure shown in FIG. 118, and FIG. 123 shows the adsorption up-and-down frequency pattern 608 when the component histogram 607 is cut up. 121 and 123, the horizontal axis represents the arrangement of component tapes (temporary Z-axis, Z-axis), the left vertical axis represents the number of times of vertical suction and the right vertical axis represents the number of tasks, and is surrounded by a square frame. The parts group indicates one task (a part group that is picked up at the same time). These FIG. 121 and FIG. 123
As can be seen by comparing the suction up-and-down times patterns shown in (1), the number of tasks has not changed (13 pieces) due to the rearrangement by this optimization algorithm, but the suction up-and-down times can be changed from 31 times to 25 times. Has been reduced to times. This is a part of the component histogram 605 shown in FIG. 120 (part tape numbers 3, 6, 9, 12, 1) due to the rearrangement of the component tapes according to the procedure shown in FIG. 118.
This is because the component tape 5) has been moved to the component histogram 607a shown in FIG. That is, FIG.
The component histogram 607 shown in 2 has a triangular shape having two slopes (one is steeper than the other). This shape is close to an ideal shape after optimization by the core processing (for example, a histogram in which the space in the component histogram 504 shown in FIG. 42 is packed downward and arranged). Therefore, it can be said that it is a sequence of component tapes having a higher optimization level than the component histogram 605 shown in FIG.

4.1.2 Optimization in processing for distribution to right and left blocks In the initial distribution processing, after distributing the component tapes to the front sub-equipment 110 and the rear sub-equipment 120, in each sub-equipment,
Based on the component group to which each component tape belongs, the component tape is distributed to either the left block 115a or the right block 115b of the component supply unit. At this time, according to the method so far, depending on the distribution state to the left and right blocks 115a and 115b, the component cassettes are arranged in one block without a gap, so that there is a space left in the other block. Therefore, the component tape may not be divided, that is, the core process for the component histogram may not be executed at all. Therefore, the number of times of vertical suction increases, and the tact time becomes long. For example, although the left block 115a has a sufficient space, the component cassettes are arranged in the right block 115b without a gap, and as a result, the right block 115a is placed.
In b, a situation occurs in which the component tape is not divided at all. In particular, this may occur in the case of a histogram having a large number of component tapes, which extends over the left and right blocks 115a and 115b. Therefore, in such a case, by finding the mountain with the lowest priority from the mountains allocated to the blocks that do not have any space and moving the parts cassette of that mountain to the other block that has space, Secure a free space,
This enables core processing for mountains that were not possible. FIG. 124 shows the left and right blocks 115a and 115b.
7 is a flowchart showing a procedure of a mountain distribution process. Now, with respect to a certain mountain, there is a state in which core processing cannot be performed (hereinafter, this state is referred to as "block overflow") because there is not enough space in the component cassette in the block in which the mountain is placed. And At this time, first, from all the mountains distributed to the left and right blocks 115a and b, the mountains that are distributed (spanned) to the left and right blocks 115a and b as the mountains of low priority, or The peak with the lowest height (the number of parts) of the core portion is specified (S620). Then, among the component tapes that form the identified mountain, when the component tapes placed in the block where "block overflow" has occurred are moved to the other block in order from the one with the smallest number of components,
It is examined whether or not the core processing for the mountains assigned to the block becomes possible (S621). as a result,
Only when it is determined that it is possible, after moving the component tape by a necessary amount (S622), the cutting process and the core process are performed on all the mountains capable of the core process (S623). Finally, with respect to the mountain where the component tapes have been moved, it is examined whether or not the component tapes that have not been moved are left and the component tapes can be moved to the other block (S624). As a result, when it is determined that the component tapes can be moved, the remaining component tapes are also moved to the other block (S625).

FIG. 125 shows the manner of processing according to the flowchart shown in FIG. 124, that is, the manner of moving a mountain between blocks. Here, the mountains 620, 621, 622a, and 6 that are divided into left and right are assigned.
A state in which 22b is the movement target is shown. The mountains 620, 621, 622a, and 622b are represented as the outer shape of the component histogram. Further, the mountains 620, 621, 622a and 622b are high on the side of the central portion sandwiched between the left block 115a and the right block 115b because the component recognition camera 11 is located near the central portion.
6 is placed and the multi-mounting head 112 that has adsorbed the components needs to pass over the component recognition camera 116. Therefore, in order to reduce the total movement distance of the multi-mounting head 112, a component tape having many components is used. This is because it is arranged near the center. FIG. 125 (a) shows three mountains 620, 621, 622a assigned to a sub-equipment.
And 622b to the left and right blocks 115a and 115b. The right block 115b is a block that is "block overflow", and here,
A mountain 620 and a part of the mountain 622b allocated by being divided into the left and right blocks 115a and 115b are arranged. On the other hand, the left block 115a is a block that is not "block overflow", and the mountain 621 and the remaining part 622a of the mountain that is divided and allocated are arranged here. In FIG. 125 (b), a part 622c of the mountain 622b is changed from the right block 115b to the left block 115a in order to secure a space enough to allow the core processing of the mountain 620.
It shows the state when moved to. Fig. 125 (c)
Shows a state in which the cutting process and the core process are executed on the mountain 620 and the mountain 621, respectively. Mountain 6
The shape of 20 and the mountain 621 changes into a triangle having a steep slope and a gentle slope. In FIG. 125 (d), the portion 622d that remains for the mountain that has been divided and moved is also in the right block 115
The figure shows a state when it is moved from b to the left block 115a. FIG. 126 shows a state of processing in another case according to the flowchart shown in FIG. 124, that is, a state in which a mountain whose core portion is the lowest is targeted for movement. 125 shows the same state as the movement of the mountain shown in FIG. 125, except that (the state of) the mountain to be moved is different. That is, of the three target peaks 625, 626, 627 (FIG. 126A), a part 627a of the peak 627 having the lowest core portion is transferred from the right block 115b to the left block 115.
After moving to a (FIG. 126 (b)), the mountain 625 and the mountain 626 are cut and cored (FIG. 12).
6 (c)), and finally, the remaining portion 627 of the mountain that has been divided and moved.
b is also moved from the right block 115b to the left block 115a to be combined with the mountain 627a (FIG. 126).
(D)). As described above, by moving the component cassette (component tape) from the block having no Z number vacancy to the block having the Z number vacancy, the Z number vacancy is created, and the core processing is performed using the vacancy. It is possible to divide parts that had been abandoned until then. In other words, by considering the movement of the component tape beyond the block, the core processing that had been abandoned becomes possible, and the ideal suction pattern is generated.
The up and down times of adsorption can be reduced.

4.1.3 Estimating the number of double cassettes used When one component group (component tape group "mountain") to be mounted is given and the core treatment for this is completed, each component tape is moved to the Z-axis. It will be assigned to (arrangement of parts cassettes). This also applies when using a component cassette (double cassette) that can store two component tapes at the same time. However, when using a double cassette, all component tapes are paired into one double cassette. In some cases, the component tapes to be paired are fixed, and how many double cassettes are required when allocating. Therefore, when all the component tapes that make up a given "mountain" are assigned to the Z-axis for a double cassette, the number of double cassettes required is calculated in advance based on NC data (estimate) ) Devised a method. FIG. 127 is a flowchart showing a processing procedure of an algorithm for estimating the number of double cassettes used. First, the total number N of target component tapes is specified (S640). Next, when all the component tapes to be fixed are classified into four types of groups A to D shown in FIG. 128, the number of component tapes Na, Nb, Nc, Nd belonging to each group is specified ( S641 to S644). That is, (i) the number of component tapes belonging to group A Na: the number of component tapes that pair with component tapes of the same component group Na (always
(Ii) The number of component tapes belonging to group B Nb: Paired with component tapes of different component groups, and the component group number of the component tapes of this mountain (assigned to identify each component group The number N of the different parts group is smaller than the parts group number of the different parts group.
b, (iii) Number of component tapes belonging to group C Nc: Although the component tapes of a different component group are paired and the component group number of this component tape is greater than the component group number of the different component group The number Nc, (iv) the number Nd of component tapes belonging to the group D: the number Nd of component tapes that do not form a pair is counted. Finally, the required number Nw of double cassettes to be calculated is calculated according to the following calculation formula (S645). Nw = Na / 2 + Nb + Nd + ceil ((N-Na-Nb-Nc-2N
d) / 2) However, ceil (x) means the smallest integer value equal to or larger than the real number x. The basis of this calculation formula is as follows. The right side of the formula is the number of double cassettes required to store the component tape to be fixed (1st to 3rd items) and the number of double cassettes required to store the component tape to be not fixed (4th items). It consists of a total of. The first term Na / 2 on the right-hand side is the number of double cassettes required to store the group A component tapes. The second term Nb on the right side is the number of double cassettes required to house the component tapes of group B and the component tapes of different (larger group number) component groups paired with these component tapes. In this way, when storing two component tapes of different component groups in one double cassette, it is calculated that a double cassette is required for a component group with a small group number. The number Nc of double cassettes necessary for storing the tape is not counted (it is not added to the right side of the calculation formula). Right side third term N
d is the number of double cassettes required to house the component tapes of group D (and the component tapes that are not fixed and that pair with these component tapes). Right side fourth term ceil
((N-Na-Nb-Nc-2Nd) / 2) is a non-fixing target when a part (Nd pieces) of the non-fixing target component tape is stored as a pair with the group D component tape. This is the number of double cassettes required to store the component tape. In addition, when a part (Nd pieces) of the component tape to be unfixed is not stored as a pair with the group D component tape, the number is ceil ((N-Na-Nb-Nc-Nd) /
2). From the above, the required number of double cassettes is the sum of the first to fourth terms on the right side of the above calculation formula.

FIG. 129 shows an example of calculation of the number of required double cassettes. FIG. 129 (a) shows the arrangement parts a to z of the target component tapes, FIG. 129 (b) shows the details of those component tapes, and FIG. 129 (c) shows that each component tape is stored in a double cassette. 129 is shown in FIG.
(D) shows a calculation formula for the required number of double cassettes.
As can be seen from FIG. 129, by the above calculation formula,
The required number of double cassettes can be calculated for every arrangement of component tapes. The above equation can be simplified as follows by arranging it. Nw = Na / 2 + Nb + Nd + ceil ((N-Na-Nb-Nc-2Nd) / 2) = ceil (Na / 2 + Nb + Nd + (N-Na-Nb-Nc-2Nd) / 2) = Ceil ((N + Nb-Nc) / 2)

4.1.4 Double cassette fixed pair The double cassette can accommodate two component tapes with a tape width of 8 mm, but with the same feed pitch (for example, 2 mm).
mm or 4 mm), two component tapes are simultaneously sent out, so that component tapes for different feed pitches cannot be mixed and stored. Therefore, when optimizing small parts for a double cassette, after making a pair by folding the part histogram created for each feed pitch at half of the total number of part tapes, double the corresponding feed pitch. It is supposed to be stored in a cassette. However, due to the circumstances of the production site and the like, there are cases where two component tapes cannot be stored in a double cassette in a free combination, that is, a pair of component tapes is fixed. Therefore, when a component tape group including component tapes to be fixed in pairs and component tapes having different feed pitches is given, it becomes a problem how to arrange the component tapes in the double cassette. Therefore, we devised an algorithm for double cassettes that takes into consideration the constraints of pairing, that is, an algorithm that determines the Z-arrangement of component tapes suitable for cutting. FIG. 130 is a flowchart showing the processing procedure of the Z-arrangement optimization algorithm in consideration of the fixed pair of double cassettes. Here, it is assumed that a component tape using a double cassette having a feed pitch of 2 mm and 4 mm is included. First, the component tapes to be fixed in pairs are separated (S660). Specifically, each component tape group having the same feed pitch is divided into a component tape which is not a pair fixing target and a component tape which is a pair fixing target. Then, regarding the component tape that uses a double cassette with a feed pitch of 2 mm, "mountain" is placed on the temporary Z axis.
Is made (S661). Specifically, for component tapes that are not subject to pair fixing, pairs are created in the same manner as the above algorithm (method by the above-described folding), and component tapes that are subject to pair fixing are directly paired. Similarly, for a component tape using a double cassette with a feed pitch of 4 mm, a "mountain" is created on the temporary Z axis (S662). Specifically, for component tapes that are not subject to pair fixing, pairs are created in the same manner as the above algorithm, and component tapes that are subject to pair fixing are directly paired. Finally, the feed pitch is 2m
The component histograms of the double cassette of m and 4 mm are fused (S663). At this time, a double cassette with a fixed pair is also included. Specifically, the above steps S661 and S
The double cassette made with 662 is put together,
Rearrange the double cassettes in descending order of the number of parts on the odd side of the double cassette.

131 to 134 show specific examples of the processing in steps S660 to S663 of FIG.
131 shows the process in step S660 of FIG. Here, in FIG. 131 (a), the feed pitch is 2
The component tape group of mm is divided into a component histogram 660 of component tapes that are not the object of pair fixing and component tapes 661a and 661b that are the object of pair fixing. Similarly, in FIG. 131 (b), the feed pitch is 4 mm.
The component tape group of No. 2 is divided into a component histogram 665 of component tapes not subject to pair fixing and component tapes 666a and 666b subject to pair fixing. FIG. 132 shows the processing in step S661 of FIG. Here, the folding position (dotted line) 661c is shown in the component histogram 660 of FIG. 132 (a). FIG. 132B shows the component histogram 662 after the component histogram 660 is folded back at the folding position. The "folding" here is to combine the first half and the second half separated at the folding position so that the component tapes are alternately arranged while maintaining the respective arrangement order. FIG. 133 corresponds to FIG.
30 shows the processing in step S662 of 30. FIG.
The folding position (dotted line) 665c is shown in the component histogram 665 of 3 (a). FIG. 133 (b) shows
The component histogram 667 after the component histogram 665 is folded back at the folding position is shown. FIG.
4 shows the processing in step S663 in FIG. Here, FIG. 134A shows step S of FIG.
662 and S663 show the state in which the component tapes obtained in S663 are arranged in a line (on the temporary Z axis). The component histogram 662 with a feed pitch of 2 mm, which is not a fixed target, and the feed pitch, which is a fixed target, are The component histograms 661a and 661b of 2 mm, the component histogram 667 having a feed pitch of 4 mm which is not a fixed pair, and the component histograms 666a and 666b having a feed pitch of 4 mm which is a fixed pair are arranged on the temporary Z axis. Shows the closed state. In FIG. 134 (b), the double cassettes in the arrangement shown in FIG. 134 (a) are maintained and the rearrangement is performed in the descending order of the number of components of the component tape on the odd Z number side (dotted line in the diagram). It shows the state. This Z arrangement is the arrangement of the component tapes finally obtained. FIG.
As can be seen from the Z arrangement shown in (b), the arrangement of the component tapes maintains the double cassette pair fixed,
In addition, the array is suitable for cutting. In other words, focusing only on component tapes located at odd Z numbers (or even Z numbers) that are picked up by the multi-mounting head 112 in one suction up / down operation, those component tapes have a large number of parts. They are arranged in order.

4.1.5 Optimization Algorithm Considering NG Head When an NG head occurs during operation of the component mounter 100, the influence of the NG head is minimized,
Continued component mounting is required. here,
An "NG head" is a mounting head that is no longer able to adsorb components. Therefore, under the following preconditions, that is, (i) even if an NG head occurs during operation, the arrangement of the component cassette (component tape) on the Z axis is not changed, (ii) without using the NG head The suction pattern changes, and (iii) the mounting point that can be sucked only by the mounting head with the head number that became the NG head is not mounted under the condition that the mounting point is not mounted. We devised a method of generating an adsorption pattern using only the head. The “head number” is a number (1 to 10 from the left) for identifying the individual mounting heads that form the multi-mounting head 112. Specifically, for an array of component tapes (“mountain”) created as having no NG head, it is determined that no component is picked up from the component tape corresponding to the position of the NG head. On the other hand, it was decided to deal with the NG head by performing a cutting process and generating a suction pattern. At this time,
Even if the number of times of vertical suction per task is two or more, priority is given to maximizing the number of parts per task. That is, until the multi-mounting head 112 is fully loaded with components (the state where components are sucked by all normal mounting heads), the components are sucked up and down to suck the components and then the components are mounted on the substrate. I decided. FIG. 135
FIG. 6 is a flowchart showing a processing procedure of an optimization algorithm considering an NG head. First, with respect to the given component histogram, only normal mounting heads other than the NG head are used to suction as many components as possible by one suction up / down operation (S680). As a result, when the multi-mounting head 112 is not in the full load state and the component to be sucked remains (N in S681).
o) By adsorbing the components to the vacant mounting head by moving the multi-mounting head 112 and performing the suction up / down operation again until the full load is reached or there are no components to be suctioned (S680). Is repeated (S68
0, S681). If the multi-mounting head 112 is fully loaded, or if all the components have been sucked (Yes in S681), suction in one task is finished, and the components are moved to the substrate 20 and mounted. Decide to do (S
682). The above processing (S680 to S682) is repeated until there are no target parts (S683). As a result, even in the situation where the NG head has occurred, the suction pattern of the component with priority given to the full state of the multi-mounting head 112 is completed. That is, component mounting can be completed with a small number of tasks.

136 to 138 are diagrams for comparing and explaining the suction patterns when there is no NG head and when there is an NG head. FIG. 136 shows a target component histogram 680. 137 is NG
FIG. 681 shows a suction pattern (by cutting and core processing) 681 for the component histogram 680 shown in FIG. 136 when there is no head. On the other hand, FIG. 138 shows a case where the mounting head H2 having the head number 2 is an NG head.
6 shows a suction pattern 685 for the component histogram 680 shown in FIG. The suction patterns 681 and 685 shown in FIGS. 137 and 138 are patterns when the component tapes A, B, and C are divided by the core processing with respect to the component histogram 680 shown in FIG. 136. Is. The left vertical axis indicates the number of times of adsorption up and down (integrated value),
The right vertical axis shows the number of tasks. The group of parts surrounded by a square frame indicates one task. However, FIG.
In, the second and ninth tasks are shown separated into two rectangular frames 687a and 687b and 688a and 688b, respectively. In FIG. 138, for example, the second task is performed by the first suction up / down operation 687a.
Two parts in total are adsorbed to the mounting heads H1 and H10,
By the second suction up / down operation 687b, the mounting head H
A total of 7 components are adsorbed on 3 to H9, and as a result, a total of 9 components are adsorbed on the 9 mounting heads excluding the mounting head H2, and a full state is achieved. As can be seen by comparing FIG. 137 and FIG. 138, when the NG head is taken into consideration, the number of suction up and down times is greatly increased from 16 to 24 in comparison with the normal case which is not so. As for the number, it has only slightly increased from 13 to 14. As a result, the optimization considering the NG head is realized. When the substrate size is the LL size or more, there is a region that can be mounted only by the heads 7 to 10. Therefore, optimization of the NG head for such a substrate becomes a problem. With the previous algorithm,
The heads 1 to 10 are divided into two head groups, that is, the heads 1 to 6 and the heads 7 to 10, and suction patterns are generated separately for each head group. Even in this case, each head group will be NG
By adsorbing without using the head, it is possible to deal with the same problem. However, since there is a Z number that only a specific mounting head can pick up, it is necessary to replace the component cassette.

4.2 Simultaneous optimization of a plurality of NC data Depending on the user who uses the component mounter 100, a plurality of component cassettes set in the component mounter 100 can be used as they are without changing the position or arrangement. Sometimes you want to produce the board in a short time. Therefore, it is necessary to determine the optimum arrangement of component cassettes that can be commonly used for mounting a plurality of boards and that reduces the total time required to finish mounting all of the plurality of boards. . That is, an optimization algorithm of the component mounting order for a plurality of NC data is required. The optimization algorithm will be described below. The basic principle of the optimization algorithm is as follows. That is, the condition for the cutting operation to operate as expected is that the component cassettes are arranged in the order of the number of components of each component tape. Therefore, for each board, calculate the correlation coefficient between the order of the number of components and the component cassette array, find the component cassette array that maximizes this, and after that, optimize with the algorithm described so far. To do.
FIG. 139 is a flowchart showing the entire processing procedure when simultaneously optimizing a plurality of NC data. First,
For a plurality of given NC data (S700), it is examined whether or not there is NC data having a certain similarity (S701), and if there is similarity, the mounting points of those NC data are combined. Is set as new NC data (S702) is repeated for all NC data (S700 to S703). Here, the determination of similarity expresses each NC data by a vector having the number of components for each component type as a component (a vector having component types as component elements and the number of components of each component type as the size of each component element). It is assumed that there is similarity when the direction cosine (cos θ) between the two vectors is larger than a predetermined threshold value. That is, c
If osθ> threshold, it is assumed that the two NC data are similar. Note that the direction cosine is considered to be an index indicating how common the component types included in the two NC data are. Then, with respect to one or more NC data after such a synthesis process is performed, the Z array is optimized for each NC data in the order of increasing number of boards to be produced (S704). NC to be optimized at this time
When the data includes a component tape whose Z arrangement has already been determined, the Z arrangement of the component tape is determined by a normal method such as trimming after removing the component tape. As described above, when many of the component types included in the NC data are common, the plurality of NC data are combined into one N
Optimize as C data, otherwise optimize NC data individually.

Next, a specific algorithm for optimizing a plurality of NC data as one NC data, that is, a simultaneous optimization algorithm for a plurality of NC data will be described. The object of optimization here is the Z array. There are three main targets for optimization: (i) Z array, (ii) implementation path in task, and (iii) task order, but multiple NC data are optimized at the same time. In this case, since it is necessary to make the Z arrangement of the parts common, it is most important to optimize the Z arrangement. The other two (i
i) and (iii) can be processed by optimizing the tasks generated by the cut-up processing for the determined Z array.
By the way, the Z array expected in the trimming process for optimizing the individual NC data is “Z array in which component tapes are arranged in descending order of the number of components” if the core process is excluded. Therefore, the optimization algorithm here is an algorithm for determining a common Z sequence that best satisfies such a condition for individual NC data. FIG. 140
FIG. 6 is a flowchart showing a processing procedure for simultaneously optimizing the Z array of a plurality of NC data. First, the "rank method",
The initial Z sequence is determined using one of the three methods called the "total number method" and the "production number method" (S710). Here, the "rank method" is a method of arranging the component tapes in descending order of the average value of the number of parts of each component tape, and the "total number method" is the sum of the number of components of each component tape. This is a method of arranging the component tapes in descending order. In the "production method," the component tapes are arranged by giving priority to the NC data with the most number of components, and for the other NC data, the component tapes by the "total number method". Is a way to arrange. Which of these three methods should be adopted depends on a predetermined standard known by simulation, for example, a standard of “production number method” when the number of NC data is less than 5. decide. Then, after the initial Z array is determined, optimization by stochastic search is performed (S7).
11). That is, the Z array is randomly changed, and if the average number of simultaneous suctions (the average value of the number of simultaneously sucked components per task) increases, it is adopted. If not, it is not adopted (the change is undone. ) Is repeated. For example, the state transition of (i) pulling out one component tape in the Z array, (ii) filling the empty space created by the pulling with left justification, and (iii) inserting the pulled-out component tape in another position, Try and adopt if optimization level improves. By repeating such state transition and evaluation, the optimization level can be gradually improved.

FIG. 141 shows 3 used for determining the initial Z sequence.
It is a figure which shows the specific example explaining the method of a kind. Here, for convenience of description, an example is shown in which the initial Z array is determined for the three NC data 1 to 3 using the five types of component tapes A to E (or part thereof). Figure 1
41 (a) shows the number of parts (numerical value) for each part tape used in the NC data for these three NC data 1 to 3 and the order when the part tapes are arranged in descending order of the number of parts (in parentheses). Value), the number of boards produced using the NC data, the average rank for each component tape, and the total number of components. 141 (b) is an initial Z determined by the "ranking method", "total number method" and "production quantity method" for the three NC data 1 to 3 shown in FIG. 141 (a). The result of the array is shown.
According to the “ranking method”, (i) the order of each component tape is determined for each NC data, (ii) the average value of the order of each component tape is calculated, and (iii) the parts are sorted in descending order of average value. An array of tapes is used as the initial Z array. Therefore, FIG.
Based on the value of “average rank” shown in (a), FIG.
As shown in 1 (b), the rank "CABED" is determined. According to the “total number method”, (i) the total number of parts is calculated for each component tape, and (ii) the component tapes are arranged in descending order of the calculated total as the initial Z array. Therefore, based on the value of “total number of parts” shown in FIG. 141 (a), as shown in FIG.
BDE ”is determined. Moreover, according to the "production number method",
(i) Identify the NC data with the largest number of production, and (ii) Optimize the component tape used in the identified NC data to place and fix the component tape on the Z axis.
i) Regarding other component tapes, the initial Z array is the arrangement of component tapes obtained by arranging them on the vacant Z axis according to the “total number of components”. Therefore, here, the order “ABC” is first determined according to the order of the NC data 2 based on the value of the “production quantity” shown in FIG.
The order "DE" is determined according to the order of the total number of parts. The result of evaluation by simulation of the above simultaneous optimization algorithm for a plurality of NC data will be described. In the simulation, the following distribution was adopted in consideration of the general property of NC data, that is, the number of small parts is large, and the number of parts gradually decreases as the size increases. The average number of used parts n (part) is n (part) = C / part (part is a series of component tape numbers, C is a constant), and each N
In C data A, noise added to this is n (part, A) = (random number of width of C / part) ± ((C / 3) /
random number within the width of part). The number of NC data is given by a random number from 1 to 20. As a simulation method, (i) the number of NC data to be optimized is determined by random numbers. (ii) Determine the number of parts of each NC data (iii) Obtain the initial Z array by the above three methods (iv) Probabilistically search for the optimal Z array that minimizes the number of adsorption times by the above state transition rule The procedure is to do. As a result of the simulation under such conditions, the findings are as follows. (i) With any of the three methods regarding the initial Z arrangement, the number of parts that can be simultaneously picked up gradually decreases as the number of NC data increases. (ii) When the number of NC data is small, the number of simultaneous adsorption is larger in the initial Z array by the “production number method”, and as the number of NC data is increased, the simultaneous adsorption number is larger in the “total number method”. To go. (iii) As a result of performing the above-mentioned state transition 1000 times and optimizing it, the adsorption number improved by 10% (10% of the adsorption number).
Decrease) was seen. From the above simulation results, the number of NC data is 5
If it is less than the above, the “production number method” is the best, and if the NC data is 5 or more, the “total number method” is the best.

4.3 Optimization of general-purpose parts (introduction of rule base) Up to now, the optimization algorithm for general-purpose parts has been described above in 2.9 "Optimization for general-purpose parts".
This is an algorithm based on stochastic search. In other words, since general-purpose parts are subject to various restrictions such as the types of nozzles that can be sucked, the parameterized arrangement of component tapes on the Z axis, task organization, etc. are considered to be "states". , The quality of the state is evaluated by the mounting time,
By changing the states stochastically, we searched for a state in which the mounting time was shorter. However, the optimization by such a stochastic search has a bad initial state given to the optimization process.
The time required for optimization tends to be extremely long. In fact, in the algorithms up to now, the task generated as the initial state cannot be said to be the preferable initial state in terms of the suction operation. For example, although component tapes are continuously placed in the Z-axis direction and 10 points of components can be adsorbed at one time, the component tapes that are arranged at the same Z number by performing 10 times of adsorption and vertical movements. The initial mounting order is such that 10 to 10 parts are picked up. Therefore, in order to speed up the optimization process of general-purpose parts, we devised an algorithm that takes into account nozzle constraints and creates an optimal initial state based on certain rules and optimizes nozzle replacement operation. . Hereinafter, four types of algorithms (“preemption method”, “task division”, “task fusion”, and “task replacement”) will be described for the algorithm.

4.3.1 Trapping method The "trapping method" is an algorithm for generating an initial task (task sequence corresponding to the initial state) to be given to the optimization method by the stochastic search. As the name implies, it is a method of searching for a component that can be picked up in the Z-axis direction, and is similar to the above-mentioned trimming process developed as an optimization algorithm for small components. 14
2 is a flowchart showing a processing procedure of an initial task generation algorithm by the "takeover method". Broadly speaking, the first half of the process of arranging the component tape on the Z-axis (S720
-S722) and the latter half of the process (S723-S726) that repeats the generation of tasks. Specifically, in the first half of the process, first, for the target general-purpose component, a component histogram in which component tapes are arranged in descending order of the number of components for each component group is created (S720). Next, the created component histograms are divided into component histograms for each nozzle type (S721). In other words, from the component histogram created for each component group, take out all component tapes that are attracted by the same type of nozzle,
The process of arranging in order from the largest number of components is repeated for all nozzle types included in the component histogram. Then, the obtained component histograms for each nozzle type are packed on the Z-axis by packing the component tapes one by one from the inside of the left and right blocks 115a and 115b (S722). In the latter half of the process, it is said that the component histogram is obtained for each component group (S723 to S726) in the first half of the process, and the components are taken out while the Z-axis direction is scanned (behind) to generate a task. The process (S724) is repeated from the bottom of each component histogram upwards until there are no components (S72).
5). The obtained task sequence becomes the target initial task. As the order of component histograms to be scanned, the one having the smallest number of nozzle resources is prioritized. Also,
Even if nozzles of different types are mixed, priority is given to maximizing the number of parts that make up each task. For example, the multi-mounting head 112 has two type M nozzles.
And 8 nozzles of type S are mounted, after extracting 2 components from the nozzle histogram of nozzle type M, then 8 components are extracted from the histogram of nozzle type S and 1 To complete the task. FIG. 143 is a diagram showing a specific example of the first half processing (S720 to S722) in the flowchart shown in FIG. 142. FIG. 143 (a) shows step S7 of FIG. 142.
20 shows a component histogram for each component group generated in 20. Here, two component histograms 720 and 721 are shown. FIG. 143 (b)
Shows a component histogram for each nozzle type generated in step S721 of FIG. Here, the component histogram 720 is the component histogram 720.
a and 720b, and the component histogram 721 is divided into component histograms 721a and 721b.
FIG. 143 (c) shows the component histogram arranged on the Z axis in step S722 of FIG. 142.
Here, the component histogram 72 is displayed in the right block 115b.
0a and 721a are arranged, and the component histograms 720b and 721b are arranged in the left block 115a.

FIG. 144 is a diagram showing a specific example of the latter half processing (S723 to S726) in the flowchart shown in FIG. FIG. 144 (a) shows the scanning direction and the scanning order (numerical values 1 to 13) in step S724 of FIG. 142. Here, two target component histograms, that is, a nozzle type S component histogram 725 and a nozzle type M component histogram 726 are shown. It is assumed that there is no restriction on the number of nozzle resources for any type of nozzle. 144 (b) shows step S7 of FIG. 142.
24 shows how tasks are generated at 24. Here, it is shown that one task is generated by the eight parts located at the bottom of the part histogram 725 and the two parts located at the second stage from the bottom. FIG. 144 (c) shows the latter half processing of FIG. 142 (S723 to S7).
26) shows tasks (adsorption patterns 1 to 5) that are repeatedly generated in 26). That is, the numerical value described in the component of each component histogram 725, 756 is the task number (order). Here, task 3 with task number 3
Is a task in which components belonging to the component histogram 725 and components belonging to the component histogram 726 are mixed, that is, nozzles of different types are used. FIG. 144 (d) shows the latter half processing of FIG. 142 (S723 to S7).
26) shows the task sequence 727 generated in 26), that is, the initial task 727 finally generated. In addition,
Parts belonging to the part histogram 725 are surrounded by thin lines, and parts belonging to the part histogram 726 are surrounded by thick lines. Further, the head of the task sequence (the one with the earliest mounting order) is the task 1 placed at the bottom. Figure 1
44 (e) is the initial task 7 shown in FIG. 144 (d).
27 nozzle patterns. Here, the “nozzle pattern” means the type of nozzle to be used, the position of the mounting head (multi-mounting head 11
2 is a pattern shown in association with the mounting position on (2).
Here, it is shown that the type S and the type M are mixed in the third task. FIG. 145 is a diagram showing the effect of such a “takeover method”. Here, for convenience of explanation, the suction up and down times are compared for the initial task 731 generated by the algorithm up to now and the initial task 732 generated by this "takeover method", for one component histogram 730. There is. It should be noted that the components surrounded by thick lines mean that they belong to the same task, and the numerical value in the components indicates the mounting head number that attracts the component. According to the conventional method, FIG.
As shown in the upper part of FIG.
Is composed of four tasks 731, 732a and b, 733a and b, 734, and thus requires a total of 40 suction up and down times. On the other hand, according to the “takeover method”, as shown in the lower part of FIG.
Since 0 is composed of four tasks 735 to 738, it only requires a total of 140 suction up and down times.

4.3.2 Task division By optimizing the nozzle replacement, the mounting time of general-purpose components can be greatly shortened. However, it is not possible to directly control nozzle replacement using NC data,
The component mounter 1 according to the component type described in the NC data
00 body automatically replaces the nozzle. Therefore, in order to optimize the replacement operation during nozzle replacement, the types of components included in the task are changed to perform the optimization indirectly, and the task optimization and the nozzle replacement operation are performed simultaneously. Must be, this is not realistic. Therefore, we decided to create a task organization that would reduce the nozzle replacement itself, and aim to shorten the overall implementation time. One method of task organization is “task division”. Specifically, it examines the nozzle pattern used by each task in the initial task, pays attention to the task in which nozzle replacement is performed before and after that task, and consists of component types that can be adsorbed by the nozzle pattern before nozzle replacement The task is divided into a task composed of a component type that can be sucked by the nozzle pattern after the nozzle replacement, and a task that does not needless nozzle replacement is reconfigured. FIG. 146 is a flowchart showing the processing procedure of the optimization algorithm of the nozzle replacement operation by “task division”. First, regarding the task sequence (or initial task) to be optimized,
By examining the nozzle pattern, it is determined whether or not there is a task that uses two or more types of nozzles (S74).
0). As a result, if such a task does not exist (No in S740), it is determined that the "task division" is unnecessary and the processing ends. On the other hand, when such a task exists (Yes in S740), the tasks are separated so that the number of nozzles is one (S741). Then, one of the tasks obtained by the separation (a task that uses a nozzle different from the immediately preceding task) is a series of tasks with the same nozzle (hereinafter, a series of tasks that uses the same type of nozzle is referred to as a "task set"). Is moved to the end of (S742). As a result, the task in which nozzles of different types are mixed disappears, and all the tasks are knitted only by the parts using the nozzles of the same type.

FIG. 147 is a diagram showing a specific example of the processing in the flowchart shown in FIG. 146. Here, an example is shown in which “task division” is performed on an initial task generated by the “takeover method”. FIG. 147 (a) shows a task sequence 740 that is the target of “task division”, and here, it is equivalent to the task sequence 727 shown in FIG. 144 (d). Here, the task sequence 740
Two types of nozzles are mixed in the task 3 that constitutes the above. Therefore, nozzle replacement is required before and after this task 3. That is, task 2
Nozzle replacement from type S to M is required when executing task 3 after completing step 3 and when executing task 4 after completing task 3. FIG. 147 (b) corresponds to FIG.
The state of task separation in step S741 of 6 is shown. Here, task 3 includes task 741 including only nozzle type S and task 7 including only nozzle type M.
It is divided into 42 and. FIG. 147 (c) shows FIG.
The state of movement of the task in step S742 is shown. Here, the separately generated task 742 has been moved to the end of the task set 743. FIG. 147
(D) is a nozzle pattern corresponding to the task sequence in FIG. 147 (c). The tasks containing different types of nozzles disappeared and the original initial task was to be organized from three tasks containing only type S nozzles and three tasks containing only type M nozzles. As can be seen from the nozzle pattern after such “task division”, this task sequence only requires nozzle replacement (types S to M) when task 3 is completed and task 4 is executed. The number of nozzle changes required twice is reduced to one.

4.3.3 Task Fusion According to the "task division" described above, the number of nozzle replacements is reduced, but the number of tasks is increased. Therefore, the total optimization level may not be sufficient. Therefore, "task fusion" that suppresses an increase in the total number of tasks is performed by merging the increased tasks with other tasks. FIG. 148 is a flowchart showing the processing procedure of the optimization algorithm by “task fusion”. First, with respect to the task sequence to be optimized, it is determined for each task set whether or not there is a set of tasks that can be fused, that is, whether or not there is a set of tasks whose mounting head positions do not overlap. (S75
0). Specifically, the nozzle mounting AND is performed for each mounting head (at the same position on the multi-mounting head 112).
A set of tasks is set so that the values of all nozzles become 0 when (logical product of "1" when nozzle mounting is required and "0" when not required) is taken. As a result, when such a set of tasks does not exist (No in S750),
The “task fusion” is judged to be impossible, and the process ends. On the other hand, if there is such a set of tasks (Y in S750,
es), the tasks are merged (S751). Specifically, these tasks are combined while maintaining the position of the nozzle to be combined into one task. FIG. 149 shows
It is a figure which shows the specific example of the process in the flowchart shown by FIG. 148. Here, an example is shown in which “task fusion” is performed on the task sequence generated by the “task division” shown in FIG. 147. FIG. 149
(A) shows the task sequence which is the target of "task fusion", and here, it is equal to that shown in FIG. 147 (c). Here, since task 5 and task 742 belong to the same task set and include only parts that are attracted at different positions on the multi-mounting head 112, it is determined that these tasks 5 and 742 can be merged. To be done. 14
FIG. 9B shows the state of task fusion in step S751 of FIG. 148. Here, it is shown that task 5 and task 742 are integrated while maintaining the positions of the parts. FIG.
It is a nozzle pattern corresponding to the task sequence of (b). As can be seen by comparing with the nozzle pattern shown in FIG. 147 (d), in the nozzle pattern shown in FIG. 149 (c), the number of tasks including nozzles of type M is reduced by one. With this, without increasing the number of nozzle replacements,
The total number of tasks can be reduced and the optimization level can be further improved. Specifically, the number of nozzle replacements is 2 to 1
Has been reduced to times.

4.3.4 Task Swap The nozzle replacement operation was optimized by the above-mentioned "task division" and "task fusion", but the optimization was performed for one target task string (in many cases, Optimization within a single component group). That is, there is a possibility that wasteful nozzle replacement may occur in relation to the task rows located before and after that. FIG. 150 shows a specific example thereof. Here, the nozzle patterns 760 and 76 of the two component groups 1 and 2 in which the nozzle replacement operation is optimized for each component group by “task division”, “task fusion”, or the like.
1 is shown. Nozzle pattern 7 of parts group 1
60, the type S task set 760a and the type M task set 760b are arranged in this order, and the nozzle pattern 761 of the component group 2 is the type M task set 761a and the type S task set 7
It is assumed that 61b are arranged in this order. As can be seen from the nozzle pattern shown in this figure, wasteful nozzle replacement occurs between the component groups. For example,
Focusing on the type S nozzle, the task set 760a
Mounted on the multi-mounting head 112 to perform
The multi-mounting head 112 is removed from the multi-mounting head 112 to execute the following task set 760b, but is again removed to execute the task set 761a.
There is a waste of having to be attached to.
That is, since the nozzle type has changed from S → M → S → M, it is necessary to replace the nozzle three times in total. Therefore, in order to eliminate unnecessary nozzle replacement between component groups, "task replacement" is performed to replace the task sets belonging to each component group within the component group.

FIG. 151 is a flow chart showing the processing procedure of the optimization algorithm by "task replacement".
Here, the optimum arrangement of task sets is determined by the so-called brute force method. Specifically, first, permutations of all possible task sets are specified for all the plurality of component groups to be optimized (S760). At this time, be careful not to change the order of parts groups.
Each task set can be moved only within the parts group. Then, for each permutation (S761 to S763),
The number of times of nozzle replacement in that nozzle pattern is calculated (S762), and the nozzle pattern (permutation of the task set) having the smallest number of nozzle replacement is obtained as the optimum solution (S764). FIG. 152 shows an example of a nozzle pattern obtained by optimization by “task replacement”. This nozzle pattern is obtained by "task replacement" with respect to the nozzle pattern shown in FIG. 150, and the order of the two task sets 760a and 760b constituting the component group 1 is switched. According to the nozzle pattern shown in this figure, the nozzle type is M → S →
Since it only changes to M, it is only necessary to replace the nozzle twice. In other words, the "task replacement" reduces the number of nozzle replacements from three to two.

4.4 Optimization in Consideration of Nozzle Constraints Here, a method for dealing with the case where the position of the nozzle placed in the nozzle station 119 is fixed, and a small part when the number of nozzles is less than 10 The optimization of is explained.

4.4.1 Correspondence to the case where the nozzle arrangement on the nozzle station is fixed When the plural NC data are optimized at the same time, the nozzle arrangement on the nozzle station 119 is made different for each NC data. There is a case where the “nozzle arrangement on the nozzle station 119” is fixed and is one of the constraint conditions in the optimization due to the fact that it is not allowed to be kept. When the nozzle arrangement on the nozzle station 119 is fixed, the mechanical restrictions of the component mounter 100 (on the nozzle station 119 and the component supply unit 1)
From the movable range of the multi-mounting head 112 on 15a and 15b), it may happen that the specified component cannot be adsorbed by the specified nozzle. Therefore, when the nozzle arrangement on the nozzle station 119 is given, a possible solution check (determination as to whether or not there is a possible component mounting sequence) is performed. That is, when the nozzle arrangement on the nozzle station 119 and the Z arrangement of the component tapes are given, it is determined whether or not all the target components can be adsorbed by the corresponding nozzles. FIG. 153
Is a diagram for explaining the constraint as its premise,
Multi mounting head 11 on the nozzle station 119
It is a figure which shows the restrictions of the nozzle replacement based on the movable range of 2. Here, the relative positional relationship between the multi-mounting head 112 and the nozzle station 119 when the multi-mounting head 112 is located at the rightmost end (multi-mounting head 1
12 and a front view of the nozzle station 119), a plan view of the nozzle station 119, and a table 770 showing the relationship between the nozzle arrangement and the replaceable (mountable) mounting head (a circle indicates that the nozzle is replaceable). Has been done.
Regarding the left direction, the multi-attachment head 112 is
It is possible to move beyond the position of the nozzle station 119 and there is no restriction on nozzle replacement. As can be seen from this figure, the mounting heads capable of mounting the nozzles n1 to n4 placed in the first to fourth rows counting from the leftmost end on the nozzle station 119 are the mounting heads H1 to H10, and there is no restriction. . However, there are restrictions on the other nozzles n5 to n10. That is, the mounting heads capable of mounting the nozzles n5 placed in the fifth row are mounting heads H2 to H10.
The mounting heads that can mount the nozzles n6 placed in the sixth row are limited to the mounting heads H3 to H10, ...
The mounting heads capable of mounting the nozzles n10 placed in the tenth row are limited to the mounting heads H7 to H10. FIG. 154 shows
FIG. 6 is a diagram for explaining another constraint, and is a diagram showing a constraint of component suction based on a movable range of the multi-mounting head 112 on the component supply units 115a and 115b (corresponding to FIG. 5, but FIG. Is a different example in the content and details).

FIG. 154 (a) shows the multi-mounting head 11
2 illustrates a relative positional relationship between the multi-mounting head 112 and the component supply unit 115a when 2 is located at the leftmost end. Here, the series of numerical values written in the component supply unit 115a are Z numbers. FIG. 154 (b) shows the multi-mounting head 1 when the multi-mounting head 112 is located at the rightmost end.
12 illustrates a relative positional relationship between the component 12 and the component supply unit 115b. FIG. 154 (c) is a table showing the mounting heads (O marks) and the mounting heads (X marks) that are accessible for each Z number. As you can see from this figure, Z numbers 1-1
Not all mounting heads can access the component tapes 7, 86 to 96. That is, Z number 1
The mounting head that can access the component tape of No. 2 is only the mounting head H1, and the mounting heads that can access the component tape of Z number 2 are the mounting heads H1 and H2.
The mounting heads that can access the component tape of Z number 17 are the mounting heads H1 to H9, and the mounting head that can access the component tape of Z number 86 is the mounting head H2.
The mounting heads that can access the component tape of Z number 96 are mounting heads H7 to H10. It should be noted that it is convenient in designing the mounter 100 that such access restrictions occur near the left and right ends of the Z axis. That is, this is because priority is given to increasing the number of component tapes that can be set in the component supply units 115a and 115b, rather than such a restriction. As can be seen from FIGS. 153 and 154 described above, the possible solution check when the nozzle arrangement on the nozzle station 119 is given is whether the mounting nozzle can access the component arranged near the left end of the Z axis. It will be good to consider whether or not. The mounting heads accessible near the left end of the Z-axis are limited to the mounting heads with low head numbers (see FIG. 154).
(C)) Moreover, the mounting head with a low head number cannot adsorb all the nozzles on the nozzle station 119 (FIG. 153 (c)). On the other hand, Z
No such consideration is required near the right end of the axis.
At least, the mounting head H10 can suck all the nozzles on the nozzle station 119 (see FIG. 15).
3 (c)), since the position of the maximum Z number 96 can be accessed (FIG. 154 (c)), there is no restriction due to the nozzle arrangement on the nozzle station 119. FIG. 155 is a flowchart showing a processing procedure for checking a possible solution when the nozzle arrangement on the nozzle station is given. First, the minimum Z number PZmin (Ntype, Z array) for each nozzle type Ntype is specified from the Z array of the given component tape (S780). For example, among the component tapes using the type S nozzle, the Z number of the component tape placed at the leftmost end is specified. Next, the following processing is repeated for each nozzle type Ntype from the given nozzle arrangement NP on the nozzle station 119 (S781 to S785). First, the nozzle type Ntyp
The smallest head number Hmi that can adsorb the nozzle of e
n (Ntype, NP) is specified (S782). For example, when the type S nozzles are placed in the sixth row counting from the leftmost row on the nozzle station 119, the nozzles shown in FIG.
By referring to the table shown in (c), the minimum number of the mounting head capable of adsorbing the nozzles of this type S can be specified as "3". Next, the head number Hmin (Ntyp
From e, NP), the minimum Z coordinate NZmin (Ntype, NP) that the nozzle of nozzle type Ntype can reach is specified (S78).
3). For example, when the head number Hmin (Ntype, NP) is "3", the minimum Z coordinate NZmin (Nty that this nozzle can reach is referred to by referring to the table shown in FIG. 154 (c).
pe, NP) can be specified as “4”. Next, it is determined whether or not the Z coordinate NZmin (Ntype, NP) just specified is less than or equal to the Z number PZmin (Ntype, Z array) specified in step S780 for the nozzle type Ntype (S).
784). That is, it is determined whether or not NZmin (Ntype, P) ≦ PZmin (Ntype, Z array) holds for the Ntype. This is this nozzle type
For Ntype nozzles, the minimum accessible Z coordinate NZmin (Ntype, NP) determined by the nozzle arrangement on the nozzle station 119 is less than or equal to the minimum Z number PZmin (Ntype, Z array) determined from the given Z array. That is, with respect to the movement of the multi-mounting head 112 to the left, it is determined whether or not the nozzle can suck all the components to be sucked. As a result, if the determination in step S784 is established for all nozzle types Ntype, it is determined that there is a feasible solution for the given nozzle arrangement and Z arrangement (S786), and if not, It is determined that there is no feasible solution (S78).
7). By performing such a feasible solution check at the time of configuring the initial task or updating the state, it is possible to perform optimization that takes in the influence of fixing the nozzle arrangement on the nozzle station.

4.4.2 Optimization of small parts when the number of nozzles used is less than 10 The multi-mounting head 112 can pick up a maximum of 10 parts at the same time, but such an efficient picking of parts is possible. It is assumed that 10 nozzles are mounted on the multi-mounting head 112. However, in a production site, a situation occurs in which the number of nozzles that can be used by a certain component mounter 100 is less than 10. Even in such a situation, since the multi-mounting head 112 can change the position of the nozzle to be mounted by changing the nozzles on the nozzle station 119, theoretically, it is necessary. If at least one nozzle of any type is prepared, the component placed at any position on the Z-axis can be sucked and the mounting for all components can be completed. However, since nozzle replacement is a time-consuming operation, a mounting order that minimizes nozzle replacement is required, especially for small components with a large number of mounting points. Therefore, as the optimization of small parts when the number of nozzles used is less than 10, the following optimization is performed so that the nozzle replacement is minimized based on the conventional algorithm for small parts such as trimming processing. I have decided. Now, assuming that the number of nozzles used is n (<10),
Regarding the nozzle pattern, the following two nozzle patterns are prepared, and all the small components are mounted using only these two nozzle patterns (in some cases, only one of the nozzle patterns). (i) Nozzle pattern 1 pattern in which nozzles are attached to head numbers 1 to n (ii) Nozzle pattern 2 Pattern in which nozzles are attached to head numbers (10-n + 1) to 10

FIG. 156 shows an example of two nozzle patterns prepared when the number of used nozzles is six. Nozzle pattern 1 is a state in which nozzles are mounted only on the six mounting heads having head numbers 1 to 6, and nozzle pattern 2
Is a state in which the nozzles are mounted only on the six mounting heads having head numbers 5 to 10. FIG. 157 is a flowchart illustrating the timing of nozzle replacement. Here, which of the two types of nozzle patterns 1 and 2 is used, and at what timing the nozzle patterns are exchanged, depending on the position (left and right blocks, Z number) in the Z array of the given component tape. Is shown. For component tapes placed in the left block (S800
In the left), if at least one component tape is arranged at the positions of Z numbers 1 to 17 (Yes in S801), the component is sucked in the direction of Z numbers 1 to 48 using the nozzle pattern 1. At last (S802), when there are no components to be sucked at the positions of Z numbers 1 to 17 (No in S801), the nozzle pattern of the multi-mounting head 112 is changed from 1 to 2, and the remaining components are Z numbers 18 to 48. Is adsorbed in the direction of (S803). On the other hand, if no component tape is placed at the positions of Z numbers 1 to 17 in the left block (No in S801), the nozzle pattern 2 is used from the beginning to pick up components in the directions of Z numbers 18 to 48. Do (S
803). Further, for the component tape arranged in the right block (right in S800), all components are sucked by the nozzle pattern 2 from the beginning (S804). The reason for such nozzle replacement timing is as follows. That is, as can be seen from the head numbers of the accessible mounting heads for each Z number shown in FIG. 154 (c), the mounting head H10 with the head number 10 can access the positions with the Z numbers from 18 to 96. Therefore,
As long as the number n of used nozzles is 1 or more, the component tapes of Z numbers 18 to 96 can be sucked by the nozzle pattern 2 without fail. On the other hand, for the component tapes with Z numbers 1 to 17, at least the mounting head H1 with the head number 1 can access these component tapes, so the number of nozzles used n
Is 1 or more, the component tapes of Z numbers 1 to 17 can always be adsorbed by the nozzle pattern 1. Then, the nozzle pattern 2 that can access many Z numbers is preferentially used. This makes it possible to use only two types of nozzle patterns and to apply to any type of Z array with a small number of nozzle replacements. In addition, for the generation of the suction pattern, n is used for the given component histogram instead of the unit of 10 points so far.
The suction pattern may be generated by performing cutting processing or the like in units of points.

Although the optimization of the component mounting order according to the present invention has been described above based on the embodiment, the present invention is not limited to this embodiment. For example, the optimizing device 300 is a component mounter 100 having a specific configuration,
It was used to generate the optimal NC data to download to each of the 200, but not only for such applications, but also to determine the configuration of the production line needed to meet the productivity requirements. Needless to say, it can be used for. Whether the mounting point data of the board to be produced and the mounting device information of the modeled virtual electronic component mounting system are given to the optimizing device 300, and whether the obtained optimum state (line tact) satisfies the required specifications. Just make a decision. Specifically, this optimizing device 30
0 is (i) as the design of the mounting device, for example, changing the number of nozzles of the multi-mounting head 112 from 4 nozzle heads to 10 nozzle heads to 8 nozzle heads, or changing the nozzle pitch from 21.5 mm to 22 m. Used to determine the most efficient (highly productive) head, etc. by observing, changing the pitch of the component cassette (Z-axis pitch), or changing the position of the component recognition camera. Or (i
i) It is used to decide which production line (or mounting device) should produce the target board among multiple production lines, or (iii) As a tool for selling or selling mounting device, any option (part Equipped with a cassette and the number of nozzles), it can be used to calculate what productivity (how many substrates can be produced per hour) is secured. In addition, the optimization device 300
Is a device independent of the component mounters 100 and 200, but may be built in these component mounters 100 and 200. The state optimizing unit 316 also controls the small parts belonging to the parts groups G [1] to G [5] and the parts group G [6].
Each general-purpose component belonging to G [9] is optimized by a different search approach, but the present invention is not limited to such classification and approach. Further, in the above intersection elimination method, the optimal mounting order is determined depending on whether or not the tact becomes smaller by changing the mounting order so as to eliminate the intersection between the polygonal lines (paths) connecting the mounting points of the components of the two tasks. I made it, but you may try replacing the paths that do not intersect. This is because the tact may be shortened by replacing the paths of tasks that do not intersect. As industrial applicability, the component mounting order optimizing method according to the present invention can be used for an optimizing device for optimizing the mounting sequence of components by a component mounter that mounts electronic components on a printed circuit board. it can. Not only as a controller for the component mounter installed and used on the production line, but also before the production line is built, such as estimating the relationship between the configuration and specifications of the component mounter to be introduced and the component mounting time. It can also be used as a simulation / evaluation tool used for this purpose.

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), an optimal arrangement of component cassettes in a component mounter (where component tapes containing component tapes are placed in which position (Z axis) of the component mounter). The placement order, the order of suction and mounting of components by the multi-mounting head (from which component cassette the component is sucked and at which mounting point on the board to mount) are determined. Component mounter: A production robot that picks up components from a component cassette using a multi-mounting 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 includes one multi-mounting head and a plurality of component cassettes, and that mounts components on a board independently (in parallel) from other sub-equipment. Single cassette: A type of component cassette in which only one component tape is loaded. Double cassette: A type of component cassette that can be loaded with up to two component tapes. However, it is limited to the component tape having 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). Component type: The type of electronic components such as resistors and capacitors.
Each component type is associated with component information (electrical characteristics, shape, number of components, maximum division number, cassette type, etc.). Parts tape: Multiple parts of the same part type arranged on a tape. In the optimization process, it is data that specifies a set of parts belonging to the same part type (a plurality of parts arranged on a virtual tape). In some cases, a component group (or one component tape) belonging to one component type may be divided into a plurality of component tapes by a process called “component division”. 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. In some cases, components of 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 of the component type (total number of components to be mounted). Parts histogram: A columnar graph with parts tape (part type) on the horizontal axis and the number of parts on the vertical axis. The optimization ultimately maps to an array of component cassettes. Core: A component histogram in which component tapes are arranged in descending order of the number of components is cut up by the "cutting method" with a suction pattern of n-point simultaneous suction, and the remaining parts are called "core parts". The component tape containing the core component and the component cassette are referred to as "core component tape" and "core cassette", respectively. Cutting up: A process of removing 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. Task: A single mounting operation (adsorption / movement / mounting) in a series of mounting operations such as picking / moving / mounting / mounting components on a board using a multi-mounting head. Adsorption pattern: A diagram showing the parts that the multi-attachment head adsorbs (simultaneously) for one or more tasks in task units
Or, those parts group. Task group: A group of related tasks from the viewpoint of simultaneous adsorption of parts. N tapes with the same number of parts
Optimal for arranging parts cassettes by creating a task group aiming to collect tasks that can pick up n points at a time so that n pieces can be picked up from each of these n parts tapes, one point at a time. This method is called "task group generation method". Mountain: A collection of component tapes whose arrangement is determined by optimization, or a histogram of corresponding component tapes. The component histogram after optimization by the “cut-up method” has a “mountain” shape having a gentle slope and a steep slope. In some cases, the generated "mountain" may be further optimized. Line balance: A 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".

[0188]

As is apparent from the above description, the present invention is intended for a production line including one or more component mounters for mounting components on a board, and optimizes the component mounting sequence using a computer. A method for classifying a plurality of parts to be optimized into a plurality of parts groups in which a set of parts having the same or a certain range of heights is one part group, and a part having a small height A sorting step for determining a mounting order in component group units so that the components belonging to the group are mounted on the board first. As a result, components are mounted in order from the component group with the smallest component height. Therefore, when a component with a large component component is mounted on the board first, there is a problem (the movement trajectory of the work head is constrained, resulting in a large mounting time). It avoids the occurrence of collisions between the components already mounted on the board and the components that have been picked up by the mounting head. The quality of implementation is improved. In addition, the present invention provides two independent first and second equipments having a mounting head that picks up a maximum of n (≧ 2) components from a row of component cassettes storing the components and mounts the components on a board. In a method for optimizing a mounting order of components by a computer, which is provided for a component mounter equipped with the component cassette, the component cassette is provided with the first and second component cassettes so that a processing load in component mounting by the first and second facilities is leveled. A method for allocating to any one of equipments, wherein a plurality of parts to be optimized are allocated to any one of the first and second equipments according to a certain rule, and then the mounting heads are respectively targeted to the allocated parts. So as to increase the number of times that n parts are picked up, an initial distribution step for specifying a plurality of peaks having a plurality of related component tapes, and all assigned parts. In order to make the load level indicating the magnitude of the processing for mounting the device substantially equal in the first equipment and the second equipment, the tape is distributed between the first and second equipment in units of component tapes or mountains. And a changing step for changing. As a result, when parts are sequentially mounted by a production line consisting of two or more independent mounting equipment, the processing load in each equipment is leveled and the pipeline efficiency is improved. Time is shortened.
Further, the present invention is a method for optimizing the mounting order of components using a computer, which is intended for a component mounter that mounts components on a board, and a plurality of components to be optimized are
A classification step of classifying into a small component group and a general-purpose component group based on the height of the component, and a small component optimization that optimizes the mounting order of the components belonging to the small component group using the first algorithm. And a general-purpose parts optimizing step of optimizing the mounting order of the parts belonging to the general-purpose parts group using a second algorithm different from the first algorithm. As a result, the characteristics of the components mounted on the substrates of many electronic devices such as mobile phones, that is, a large number (for example, 90%) of the components are small components called small components (chips) such as resistors. Yes, the remaining few (for example, 10%) parts can be considered as a large-sized deformed part called a general-purpose part such as a connector, so that the time required for optimization can be optimized with a high optimization level ratio. Can be realized.

Specifically, for small parts, for example,
Adopts an algorithm that can maximize the number of 10-point batch suction tasks and execute optimization processing at high speed. On the other hand, for general-purpose components, the mounting time in task units is used as an evaluation function to determine the state (possible implementation By adopting a highly flexible algorithm that derives the optimum mounting order while changing one of the orders, the optimization level can be increased as a whole. Further, the present invention is intended for a component mounter equipped with a mounting head that picks up a maximum of n (≧ 2) components from a row of component cassettes that store the components and mounts them on a board, using a computer. In the method of optimizing the mounting order of parts, a set of parts of the same type
A method of optimizing the arrangement of component tapes in the case where the component tapes are stored in the component cassette in units of one component tape. By arranging in descending order,
A histogram generating step of generating a component histogram, and a two-dimensional process in which a partial histogram that is a part of the generated component histogram is extracted and the arrangement of the component cassettes is plotted on the horizontal axis and the number of times of suction by the mounting head is plotted on the vertical axis. By repeating the arrangement at the coordinates,
The width of the diagram formed by the collection of partial histograms arranged on the two-dimensional coordinates in the horizontal axis direction is n.
Or a diagram generating step of generating a diagram in which the number of parts is an integer multiple of n, and determining the arrangement of the component tapes corresponding to the obtained diagram as the optimized arrangement of the component tapes. Characterize. As a result, the horizontal width of the diagram formed by the component histogram in the optimized arrangement of the component tapes becomes the number (n) of components that can be adsorbed by the work head, or an integral multiple thereof, or a value close to that, so that the work head is used once. The frequency of picking up n parts is increased by the sucking up and down operation, and the mounting of the components is completed by a small number of times of the sucking up and down operations. Further, in the present invention, in the diagram generating step, suction is performed on n parts which are continuously arranged in the horizontal axis direction in the order in which a part tape having a small number of parts disappears first in the generated part histogram. Core processing for deforming the pattern so that the pattern is repeatedly extracted until the pattern cannot be extracted, and the component histogram after the pattern is extracted by the trimming step becomes a diagram of n components having a width on the horizontal axis. Step, all the parts taken out in the cutting step and all the parts after the deformation in the core processing are combined in correspondence with the positions on the horizontal axis, and the parts tape corresponding to the obtained parts histogram is obtained. And a synthesizing step for determining the arrangement as an optimized arrangement of component tapes. According to such a cutting method, a task group method of “collecting n component tapes having the same number of components and simultaneously adsorbing one point from each of the n component tapes to form an n point simultaneous adsorption task (task group)” Compared with the following advantages. That is, according to the trimming method, the component histogram is divided into component tape units,
Since the divided ones can be placed in the front sub-equipment and the rear sub-equipment, compared to the "task group method", parts can be moved in smaller units, and the Z axis (parts supply unit)
The frequency of occurrence of unplaced parts is reduced, and it becomes easy to balance the mounting time of the front sub-equipment and the rear sub-equipment.

Further, in the task group method, parts are divided for each task group, and a parts cassette for storing the parts tape generated by the parts division is used, whereas in the cutting method, parts are divided only for the core parts tape. Since this is done, the total number of component divisions is reduced, and the number of component cassettes required for component division is suppressed. Further, in the present invention, the general-purpose component optimizing step includes an initializing step of generating an initial state as a first state when each possible mounting order of a plurality of components to be optimized is set as a state. , By temporarily changing the first state,
The state changing step of generating the second state and the component mounter can mount all the components according to the mounting order corresponding to the generated second state, and the time required for mounting all the components. A determination step of determining whether the time is shorter than the time in the first state, and the component mounter can mount all components, and the time is determined to be shorter than the time in the first state. In this case, the second state is set as a new first state, the state changing step and the determining step are repeated, and the first state is updated to optimize the mounting order of components. It is characterized by including and. As a result, the global minimum in the tact vs state distribution can be reliably searched for as an optimum solution. Here, in the state changing step, in the case where all the target states are classified into a plurality of groups, the second state belongs such that the groups to which the second state belongs have equal probability for each of the plurality of groups. May be generated. As a result, the search for the optimal solution is performed by incorporating both the local search and the global search, so that a state that is locally optimal but not optimal is searched as the optimal state. The trouble is avoided.
Further, according to the present invention, in the component mounting order optimizing method, a component mounting apparatus is provided with a mounting head that picks up a maximum of n (≧ 2) components from a row of component cassettes storing the components and mounts them on a substrate. In a method for optimizing the mounting order of components by a computer for a machine, a task is a component group that is mounted by one series of operations in a series of operations of suction, movement, and mounting of components by a mounting head. The mounting head can mount a maximum of n suction nozzles for sucking components in a replaceable manner, and a plurality of components to be optimized include: The parts that can be picked up by each of two or more different types of pick-up nozzles are included. In addition, by arranging multiple parts to be optimized for each corresponding suction nozzle type, the part tapes are arranged in descending order of the number of parts. From a histogram generation step of generating a histogram on a two-dimensional coordinate as an axis for each type of suction nozzle and arranging the generated histograms on the horizontal axis, and an array of the generated histograms, a component is scanned in the horizontal axis direction. And a step of generating the tasks and sequentially arranging the tasks until all the components forming the histogram array are exhausted.
As a result, for example, even in the case of optimization for general-purpose components that require different types of suction nozzles, as in the case of small components, the randomly selected mounting order is not adopted as the initial value of the mounting order to be searched. Instead, it is possible to adopt a mounting order in which the number of parts to be picked up by one picking up / down movement by the work head (by the “takeover method”) can be adopted, so that the time required for searching can be greatly shortened. In addition, the present invention provides the component mounting order optimization method,
This is a method of optimizing while complying with the constraint that a specific component tape must be placed at a specific position, and the histogram generation step considers the constraint for a plurality of components to be optimized. Without performing the temporary optimization step of optimizing the arrangement in units of component tapes,
A changing step of changing the arrangement of the component tapes so as to comply with the constraint, with respect to the arrangement of the component tapes obtained in the temporary optimization step. As a result, the optimization is performed assuming that there is no fixed array constraint in the initial stage, so the same optimization algorithm is sufficient whether the fixed array constraint exists or not. One algorithm can be applied even if the constraint of array fixing is given. In addition, this algorithm for array fixing is compatible with the constraint of array fixing by breaking the ideal arrangement of component tapes obtained by optimization under the condition that there is no constraint of array fixing. It is possible to compare the mounting time between the case of using a different component tape array and the case of using a component tape array with array fixing. 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.

Further, the present invention is intended for a component mounter equipped with a mounting head for picking up components from a row of component cassettes containing the components and mounting the components on a board. A method of optimizing a task group consisting of an array of a plurality of tasks, each of which is a component group implemented by one series of operations in a series of repeated operations of suction, movement, and mounting of a component by a mounting head. For each generated task group generation step and generated task group, the order of the tasks in the task group is changed so that the time required for mounting all the components that make up the task group is minimized. And a task replacement step for optimizing the mounting order of the parts corresponding to the order. . This shortens the movement distance when the work head finishes mounting the component in one task and returns for mounting the next task, and thus shortens the total mounting time in the entire task group. Also,
The present invention is directed to a component mounter equipped with a mounting head that picks up a maximum of n (≧ 2) components from a row of component cassettes that store the components and mounts them on a board, and uses a computer to store the components. A method for optimizing the mounting sequence, which comprises a sequence of a plurality of tasks, each of which is a group of components to be mounted by one series of operations in a series of repeated operations of suction, movement, and mounting of parts by a mounting head. For each task group generation step that generates a task group, and for each generated task group, the time required to implement all the components that make up that task group is the minimum, without changing the combination of the component types that make up each task. Therefore, the component replacement step of changing the mounting order of the components is included. As a result, useless movement trajectories in mounting components for each task are eliminated, and components are mounted in a shorter moving distance as a whole, so that the total mounting time for the entire task group is shortened. The present invention also provides a mounting head that picks up a maximum of n (≧ 2) components from a component cassette array including a component cassette (double cassette) that can store two types of components and mounts the components on a substrate. In the method of optimizing the mounting order of components by the computer for the mounted component mounting machine, comply with the constraint that the two types of components stored in the double cassette must be taping components used at the same feed pitch. A method for optimizing the arrangement of the component tapes when the component tapes are stored in the component cassette in units of component tapes, each of which is a collection of components of the same type, and is used at a first feed pitch. The arrangement of component tapes, which is a collection of components of the same type, is determined so that the mounting head picks up n components more frequently than all the components. A first optimizing step, and a first folding step of cutting and folding back the determined arrangement at an intermediate position so that the component tapes of the first half and the second half obtained by cutting are alternately arranged A second optimization step of deciding the arrangement of component tapes so that the number of times the mounting head picks up n components is increased for all components used in the second feed pitch. By cutting and folding back the array at an intermediate position, the component tapes of the first half and the second half obtained by cutting are synthesized so as to be arranged alternately.
The folding step, the arrangement of the component tapes obtained in the first folding step and the arrangement of the component tapes obtained in the second folding step are fused, and the obtained arrangement is
It is characterized by including an merging step for determining an optimal arrangement of component tapes. As a result, the arrangement of the component types is determined such that a pair of two component tapes having the same feed pitch is maintained and the work head picks up n components at the same time more times. Therefore, the method of optimizing the component mounting order applicable to the component mounting machine using the double cassette is realized. Further, according to the present invention, a maximum of n can be selected from the arrangement of the component cassettes storing the components
In a method for optimizing the mounting order of components by a computer for a component mounter equipped with a mounting head composed of n suction nozzles that picks up (≧ 2) components and mounts them on the substrate. N for the specific area of
When accommodating the restriction that only m suction nozzles out of the suction nozzles can mount the components, a group of the same type of components is stored in the component cassette in the unit of the component tape as one component tape. Is a method for optimizing the arrangement of component tapes, wherein each of the plurality of components subject to the optimization is a component subject to the constraint and a component not subject to the constraint, and the number of the component tapes is large. A component histogram generating step of generating two component histograms arranged in order, and n pieces of component tapes having a small number of components arranged in a row in the horizontal axis direction in order of the component tapes having a smaller number of components in each of the two component histograms. Repeatedly take out the suction pattern, which is a part of the product, until it cannot be taken out, and place it at the corresponding position on the first and second coordinate axes. That the Kariage step, the relative Kariage each of the two parts histograms after retrieval by step, as diagram width on the horizontal axis of n components are generated, respectively,
A component histogram obtained by synthesizing a core processing step of arranging a component tape at a position corresponding to the first and second coordinate axes and a component histogram arranged on the first and second coordinate axes after the core processing step And a synthesizing step of determining the arrangement of the component tapes corresponding to the above as the optimized arrangement of the component tapes. As a result, the size of the board to be mounted is large in the carrying direction, such as the LL board, and the mounting operation of the work head is restricted. Even if there is a restriction on the mounting operation by the work head due to the large size in the direction in which the components are mounted, the component mounting order can be optimized in consideration of the constraint. Further, the present invention is directed to a component mounter equipped with a mounting head that picks up a maximum of n (≧ 2) components from a row of component cassettes that accommodate the components and mounts the components on a board, and the computer mounts the components. A method for optimizing the mounting order, which is a method for optimizing the arrangement of component tapes when a set of components of the same type is stored in the component cassette in units of component tapes, which is one component tape. From the sorting step of arranging the plurality of components to be processed on the first coordinate axis in the order of the number of components in the unit of the component tape, and the arrangement of the component tapes arranged on the first coordinate axis, in the descending order of the number of components. A replacement step of taking out the component tapes and placing them on the corresponding second coordinate axes of the component cassettes for all component tapes. In the step, after the first component tape taken out from the arrangement of component tapes on the first coordinate axis is placed on the second coordinate axis, the second to predetermined m-th component tapes are the Two
Repeatedly placing the last part, the last part, and the beginning in the sequence of the component tapes immediately before placed on the coordinate axis,
For all the (m + 1) th and subsequent component tapes,
It is characterized in that the placing of the component tape immediately before the placement on the second coordinate axis is repeated at the end of the line. As a result, the component histogram becomes a triangular histogram having two slopes (one is steeper than the other) simply by changing the arrangement of the component tapes.
In other words, without dividing the component tape (increasing the total number of required component tapes), a component histogram that is close to the ideal shape after optimization by core processing can be obtained. Even if there are restrictions or if there is not enough free space in the parts supply unit,
An array of component tapes that can mount components with a small number of tasks is obtained. Further, the present invention is directed to a component mounter equipped with a mounting head that picks up a maximum of n (≧ 2) components from a row of component cassettes that accommodate the components and mounts the components on a board, and the computer mounts the components. In the method of optimizing the mounting order, in the case where a plurality of NC data corresponding to a plurality of types of boards are targeted, and a set of components of the same type is stored in the component cassette in units of component tapes. A method for optimizing the arrangement of component tapes, wherein all sets of a plurality of NC data having a predetermined similarity including a property that the types of components used are common are detected from the plurality of NC data. And a combining step of combining a plurality of NC data having a certain similarity into one NC data for all the detected pairs, and a combination step after combining. All of the NC that
A sequence determining step for determining an optimum sequence of component tapes for each NC data in the order of increasing number of boards to be produced for the data, and in the sequence determining step, the component tapes already determined are removed. Then, the arrangement of the component tapes included in the NC data is determined. As a result, the arrangement of the component tapes that can be commonly used for two or more NC data is determined. Therefore, by configuring the component supply unit of the component mounter according to the arrangement of the component tapes determined here, It becomes unnecessary to change the arrangement of the component cassettes set in the component supply unit when switching the type of the board produced by the component mounter.

[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.

FIG. 5 is a diagram and a table showing an example of a position (Z axis) of a component supply unit that can adsorb 10 nozzle heads.

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.

FIG. 13 is a functional block diagram showing a configuration of an optimizing device.

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

FIG. 15A is a diagram for explaining a component group generated by a component group generation unit, and FIG. 15B is an example of a component table generated in a component group generation process by the component group generation unit. FIG.

FIG. 16 is a diagram showing how the first LBM unit of the line balance optimization unit allocates task groups to sub-equipment.

FIG. 17 shows a tact distribution before the line balance optimization by the second LBM unit of the line balance optimization unit, a state of movement of a task group by the optimization, and a tact distribution after the optimization.

FIG. 18 is a flowchart showing a procedure of optimizing line balance by the second LBM unit of the line balance optimizing unit.

FIG. 19 is a flowchart showing a schematic procedure for optimizing the mounting order of small components by the small component optimizing unit of the state optimizing unit.

FIG. 20 is a diagram for explaining a suction pattern.

FIG. 21 shows a component histogram of a component for which a suction pattern is generated by the task group generation method, and a suction pattern generated from the component histogram.

FIG. 22 shows an unplaced portion in a component histogram and a suction pattern generated from the unplaced portion in the component histogram.

FIG. 23 is a component histogram of a component for which a suction pattern is generated by the cutting method.

24 is 1 from the component histogram shown in FIG.
It is a figure which shows a mode that parts are picked up (cut up) in the unit of 0 parts arrangement.

FIG. 25 is a parts histogram for the parts left after cutting up shown in FIG. 24.

FIG. 26 is a diagram showing how a diagram is generated in accordance with the task group generation method for the component histogram shown in FIG. 25.

FIG. 27 is an adsorption pattern for a component type whose Z axis is determined by the cutting method.

28 is a component histogram (reconstructed without changing the Z axis) corresponding to the suction pattern shown in FIG. 27. FIG.

FIG. 29 is a flowchart showing a procedure of optimizing the mounting order of components by the random selection method.

FIG. 30 shows how two mounting points are switched by the random selection method.

FIG. 31 is a diagram showing how the mounting order of components is optimized by the intersection elimination method.

FIG. 32 is a diagram showing a movement locus (mounting path) of the work head generated when the order of tasks is optimized by the return locus method.

FIG. 33 is a diagram showing a movement trajectory of the work head generated by the return trajectory method when a plurality of suction patterns at the same position are included.

FIG. 34 (a) is a flowchart showing a procedure for optimizing a mounting order of general-purpose components by a general-purpose component optimizing unit, and FIG. 34 (b) illustrates an optimum solution search approach by the optimization. It is a figure which shows the relationship of the state vs. tact for.

FIG. 35 is a flowchart showing a detailed procedure of optimization (steps S551 and S553) by the hill climbing method shown in FIG. 34 (a).

FIG. 36 is a flow chart showing a detailed procedure of optimization (step S552) by the multicanonical method shown in FIG. 34 (a).

FIG. 37 (a) shows a specific example of the intermediate representation used by the general-purpose component optimizing unit, and (b) to (e) show the meaning of the intermediate representation shown in (conversion to Z-axis array). ) Is a figure which shows.

FIG. 38 is a parts histogram for explaining the concept of optimization by the “task group method”.

FIG. 39 is a flowchart of an optimization process for small parts.

FIG. 40 is a component histogram showing a state of cutting up processing.

FIG. 41 is a parts histogram showing a state of core processing.

FIG. 42 is a component histogram after the cutting process and the core process are performed.

FIG. 43 is a mounting path diagram for explaining the concept of optimization by the “intersection elimination method”.

FIG. 44 is a diagram showing the movement of the work head for illustrating the concept of “return optimization”.

FIG. 45 is a component histogram showing an outline of optimization under the constraint of fixed array.

FIG. 46 is a diagram showing a restricted area based on a limit of a range in which a work head can move when mounting a component on an LL size board and an XL size board.

FIG. 47 is a component histogram for explaining the concept of optimization targeting an LL size board.

[Fig. 48] Optimization step (1) by the "cutting method"
3 is a component histogram for explaining

FIG. 49 is a parts histogram for explaining the step (2).

FIG. 50 is a parts histogram for explaining the step (3).

FIG. 51 is a parts histogram for explaining the step (4).

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

FIG. 53 is a parts histogram for explaining the step (6).

FIG. 54 is a parts histogram for explaining the step (7).

FIG. 55 is a parts histogram for explaining the step (8).

FIG. 56 is a parts histogram for explaining the step (9).

FIG. 57 is a parts histogram for explaining the step (10).

FIG. 58 is a parts histogram for explaining the step (11).

FIG. 59 is a parts histogram for explaining the step (12).

FIG. 60 is a component histogram for explaining the step (13).

FIG. 61 is a parts histogram for explaining the step (14).

FIG. 62 is a component histogram for explaining the step (15).

FIG. 63 is a parts histogram for explaining the step (16).

FIG. 64 is a parts histogram for explaining the step (17).

FIG. 65 is a parts histogram for explaining the step (18).

FIG. 66 is a parts histogram for explaining the step (19).

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

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

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

FIG. 70 is a parts histogram for explaining the step (23).

FIG. 71 is a parts histogram for explaining steps (1) to (3) of optimization by cassette division using a parallelogram template.

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

FIG. 73 is a parts histogram for explaining the steps (7) to (8).

FIG. 74 is a component histogram for explaining a part of the step (9).

FIG. 75 is a component histogram for explaining the remaining step (10) of the same step (9).

FIG. 76 is a parts histogram for explaining steps (1) to (3) of optimization by cassette division using a rectangular template.

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

FIG. 78 is a component histogram for explaining a part of the step (5).

FIG. 79 is a parts histogram for explaining the remaining part of step (5).

[Fig. 80] Fig. 80 is a mounting path diagram showing the concept of optimization by the "crossing elimination method".

FIG. 81 is an implementation route diagram for explaining an algorithm of the “intersection elimination method”.

FIG. 82 is a mounting path diagram showing an application example of optimization by the “intersection elimination method”.

FIG. 83 is a movement trajectory diagram of the work head showing the concept of optimization by the “return optimization method”.

FIG. 84A 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. 85 is a parts histogram for explaining the optimization step (1) under the constraint of array fixing for a double cassette.

FIG. 86 is a parts histogram for explaining the step (2).

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

FIG. 88 is a parts histogram for explaining the step (4).

FIG. 89 is a parts histogram for explaining the step (5).

FIG. 90 is a parts histogram for explaining the step (6).

FIG. 91 is a parts histogram for explaining the step (7).

FIG. 92 is a parts histogram for explaining the step (8).

FIG. 93 is a parts histogram for explaining the step (9).

FIG. 94 is a component histogram for explaining the step (10).

95 (a) and 95 (b) are explanatory diagrams showing an example of the mounting time of the front sub-equipment and the rear sub-equipment when the Z axis has a space, and the line balance processing at that time. (c) And (d) is an explanatory view showing an example of mounting time of the front sub-equipment and the rear sub-equipment when there is no space in the Z-axis, and the line balance processing (swap processing) at that time.

Fig. 96 "Cut-up method" for double cassettes
3 is a component histogram for explaining the optimization step (1) according to FIG.

97 is a component histogram for explaining the step (2). FIG.

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

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

FIG. 100 is a parts histogram for explaining the step (5).

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

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

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

104 is a component histogram for explaining the step (9). FIG.

FIG. 105 is a parts histogram for explaining the step (10).

FIG. 106 is a parts histogram for explaining the step (11).

FIG. 107 is a diagram for explaining the nozzle replacement algorithm, (a) is a table showing the types of target parts (number of usable nozzles) and the number of parts, and (b) is a processing step; 3 is a parts histogram showing

FIG. 108 is a diagram showing a display example of a “main screen”.

FIG. 109 is a diagram illustrating a display example of “”.

FIG. 110 is a diagram illustrating a display example of an “open screen”.

FIG. 111 is a diagram showing a display example of a “cassette number setting screen”.

FIG. 112 is a diagram showing a display example of a “parts division setting screen”.

FIG. 113 is a diagram showing a display example of a “nozzle number setting screen”.

FIG. 114 is a diagram showing a display example of a “nozzle station selection screen”.

FIG. 115 is a diagram showing a display example of an “option setting screen”.

FIG. 116 is a diagram showing a display example of a “Z-axis information screen”.

FIG. 117 is a diagram showing a display example of a “nozzle station information screen”.

FIG. 118 is a flowchart showing a processing procedure of an algorithm for determining an efficient suction pattern (Z array) without dividing a component.

FIG. 119 shows an arrangement of component tapes for explaining the processing procedure of the flowchart shown in FIG. 118.

FIG. 120 is a diagram for explaining the level of optimization by the optimization algorithm shown in FIG. 118, and simply shows a component histogram in which component tapes are arranged in order of increasing number of members (from right to left).

121 shows a suction up-and-down frequency pattern when the component histogram shown in FIG. 120 is cut up.

122 shows a component histogram sorted by the procedure shown in FIG. 118. FIG.

123 shows a suction up-and-down frequency pattern when the component histogram shown in FIG. 122 is cut up.

FIG. 124 is a flowchart showing a procedure of mountain distribution processing to right and left blocks.

125 shows an aspect of processing according to the flowchart shown in FIG. 124. FIG.

FIG. 126 shows a state of processing in another case according to the flowchart shown in FIG. 124.

FIG. 127 is a flowchart showing a processing procedure of an algorithm for estimating the number of double cassettes used.

FIG. 128 shows a breakdown of component tapes belonging to a certain component group.

FIG. 129 shows an example of calculation of the number of required double cassettes.

FIG. 130 is a flowchart showing a processing procedure of a Z-array optimization algorithm that considers fixation of pairs of double cassettes.

131 shows the manner of processing in step S660 in FIG. 130. FIG.

132 shows an aspect of the processing in step S661 in FIG.

133 shows an aspect of the processing in step S662 in FIG.

FIG. 134 shows a state of processing in step S664 in FIG. 130.

FIG. 135 is a flowchart showing a processing procedure of an optimization algorithm considering an NG head.

[Fig. 136] Fig. 136 is a diagram for comparing and explaining suction patterns when there is no NG head and when there is an NG head, and shows a target component histogram.

FIG. 137 shows a suction pattern (by cutting processing and core processing) for the component histogram shown in FIG. 136 when there is no NG head.

FIG. 138 shows a suction pattern for the component histogram shown in FIG. 136 when the mounting head with head number 2 is an NG head.

FIG. 139 is a flowchart showing an overall processing procedure when simultaneously optimizing a plurality of NC data.

FIG. 140 is a flowchart showing a processing procedure for simultaneously optimizing Z arrays of a plurality of NC data.

FIG. 141 is a diagram showing a specific example illustrating three types of methods used for determining an initial Z array.

[Fig. 142] Fig. 142 is a flowchart illustrating a processing procedure of an initial task generation algorithm by a "takeover method".

FIG. 143 is a diagram showing a specific example of the first half processing (S720 to S722) in the flowchart shown in FIG. 142;

FIG. 144 is a diagram showing a specific example of the latter half processing (S723 to S726) in the flowchart shown in FIG. 142.

[FIG. 145] FIG. 145 is a diagram illustrating an effect of optimization by a “takeover method”.

FIG. 146 is a flowchart showing a processing procedure of an optimization algorithm of a nozzle replacement operation by “task division”.

FIG. 147 is a diagram showing a specific example of processing in the flowchart shown in FIG. 146.

FIG. 148 is a flowchart showing a processing procedure of an optimization algorithm by “task fusion”.

FIG. 149 is a diagram showing a specific example of a process in the flowchart shown in FIG. 148.

FIG. 150 shows an example of a nozzle pattern before optimization by “task replacement”.

FIG. 151 is a flowchart showing a processing procedure of an optimization algorithm based on “task replacement”.

FIG. 152 shows an example of a nozzle pattern obtained by optimization by “task replacement”.

[FIG. 153] FIG. 153 is a diagram illustrating a constraint on nozzle replacement based on a movable range of a multi-mounting head on a nozzle station.

FIG. 154 is a diagram showing restrictions on component suction based on the movable range of the multi-mounting head on the feeder supply unit.

FIG. 155 is a flowchart showing a processing procedure for checking a possible solution when a nozzle arrangement on a nozzle station is given.

FIG. 156: 2 to be prepared when the number of nozzles used is 6
An example of one nozzle pattern is shown.

FIG. 157 is a flowchart illustrating a nozzle replacement timing when a component is sucked using the nozzle pattern shown in FIG. 156.

[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 314 Parts group generation unit 315 Line balance optimization unit 315a First LBM part 315b Second LBM part 315c Third LBM part 316 State optimization unit 316a Small parts optimization unit 316b General-purpose parts optimization unit 316c Optimization engine section

─────────────────────────────────────────────────── ─── 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) JP-A-10-163678 (JP, A) JP-A-11-163596 (JP, A) JP-A-11 -330790 (JP, A) JP 10-209681 (JP, A) JP 2002-50900 (JP, A) JP 2000-261190 (JP, A) JP 2000-312094 (JP, A) JP 2000-183587 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) H05K 13/00-13/08

Claims (16)

(57) [Claims] 1. Arrangement of component cassettes containing components
, A device capable of picking up a maximum of n (≧ 2) parts
The wearing head picks up the parts and the XY robot is used to load the parts.
Pair the component mounter that moves the mounting head to mount on the board.
The computer is executed so that the component mounting order is maximized.
A method of optimization, in which multiple parts to be optimized are based on their height.
The small parts group and the general-purpose parts group.
In the case where a task is a component group to be mounted by a series of one operation in repeating a series of operations of suction, movement, and mounting of the component by the mounting head for the parts belonging to the small component group , The first algorithm, which is an algorithm that generates as many tasks as n parts
Optimizing the mounting order using an algorithm
When the optimization step and the possible mounting order for the components belonging to the general-purpose component group are set to the states, the mounting time in task units is used as the evaluation function, and while changing the states, The second algorithm, which is an algorithm that searches for a state that minimizes the calculated implementation time ,
General-purpose component optimization step for optimizing the mounting sequence using
A method for optimizing a component mounting sequence , including : 2. A second algorithm used by the general components optimization step, local optimum by the hill-climbing method
The optimal solution from a global perspective in the process of optimization
2. The component mounting order optimization method according to claim 1, wherein the optimization is performed by the multi-canonical method. 3. An array of component cassettes containing components
, A device capable of picking up a maximum of n (≧ 2) parts
The wearing head picks up the parts and the XY robot is used to load the parts.
Pair the component mounter that moves the mounting head to mount on the board.
The computer is executed so that the component mounting order is maximized.
A method for optimizing, among the plurality of components to be optimized, the classification step of classifying all of the components below a certain predetermined height small component group, the other components as a general purpose component group For the parts that belong to the small parts group,
To maximize the simultaneous suction of parts by the head
Subsection that optimizes the mounting order using the algorithm of 1
Product optimization step and possible for parts belonging to the general-purpose parts group
Optimal mounting while changing the state, which is one of the mounting orders
Use the second algorithm to derive the order
It includes a general-purpose parts optimization step for performing optimization.
The method of optimizing the component mounting order. 4. A row of parts cassettes containing parts
, A device capable of picking up a maximum of n (≧ 2) parts
The wearing head picks up the parts and the XY robot is used to load the parts.
This is a device that optimizes the mounting order of components by executing a computer , targeting a component mounting machine that moves the mounting head and mounts it on the board. based on a classification means for classifying into a small component group and general components group, for the component belonging to the small component groups, the mounting f
And small parts optimization means for optimizing the mounting order with the first algorithm the simultaneous adsorption of components due to head to be able to maximize for parts belonging to the generic component group may take
Optimal mounting while changing the state, which is one of the mounting orders
A component mounting order optimizing device comprising: a general-purpose component optimizing means for optimizing a mounting sequence using a second algorithm for deriving a sequence . 5. An array of parts cassettes containing parts
, A device capable of picking up a maximum of n (≧ 2) parts
The wearing head picks up the parts and the
A program that is used by a device that optimizes the mounting order of components by executing a computer , targeting a component mounter that moves a mounting head and mounts it on a board . based on the height of the component, and classifying means for classifying into a small component group and general components group, for the component belonging to the small component groups, the mounting f
And small parts optimization means for optimizing the mounting order with the first algorithm the simultaneous adsorption of components due to head to be able to maximize for parts belonging to the generic component group may take
Optimal mounting while changing the state, which is one of the mounting orders
A program characterized by causing a computer to function as a general-purpose component optimizing means for optimizing a mounting order using a second algorithm for deriving an order . 6. A computer-readable recording medium in which the program according to claim 5 is recorded. 7. An array of parts cassettes containing parts
, A device capable of picking up a maximum of n (≧ 2) parts
The wearing head picks up the parts and the
The mounter go mounted on the substrate by moving the deposition head interest is a program for use in an apparatus for optimizing a mounting order of components by executing the computer, component suction, moving, attachment of by the mounting head That one
By a series of one operation in the repetition of a series of operations
Can be picked up at the same time when the mounted component group is used as a task
A series of corresponding tasks for various component cassettes
The parts constituting the Ranaru task group, and initializing means for generating an initial state in the case where the state of the individual mounting sequence that can take a plurality of components to be optimized as a first state, the task group Randomly about the constituent parts
By replacing the mounting points selected for
State changing means for changing the state to a second state, and the component mounter can mount all the components according to a mounting order corresponding to the second state, and a time required for mounting all the components. A determining unit that determines whether the time is shorter than the time in the first state, and the component mounter can mount all the components, and the time is determined to be shorter than the time in the first state. In this case, the second state is set as a new first state, and the second state is generated by the state changing unit and the determination unit is repeatedly made to update the first state. A program characterized by causing a computer to function as repetitive control means for optimizing. 8. A row of parts cassettes containing parts
, A device capable of picking up a maximum of n (≧ 2) parts
The wearing head picks up the parts and the XY robot is used to load the parts.
In a method of optimizing the mounting order of components by a computer for a component mounting machine that moves a mounting head and mounts it on a substrate, in a series of repeated operations of suction, movement, and mounting of the component by the mounting head, 1 A method for determining a sequence of tasks having a component group mounted by a series of batch operations as a task , wherein the mounting head mounts a maximum of n suction nozzles for sucking a component in a replaceable state. The multiple parts to be optimized include parts that can be sucked by each of two or more different types of suction nozzles, and are optimal when a set of parts of the same type is made into one part tape. The parts tapes are arranged horizontally by arranging the parts tapes for each of the corresponding suction nozzle types in descending order of the number of parts. , The number of components per component tape histograms on the two-dimensional coordinates to the longitudinal axis generated for each type of the suction nozzle, a histogram generating step of arranging the generated histogram on the horizontal axis, for each histogram the generated Parts that form the task by extracting parts sequentially from the line in the horizontal axis direction
The number of the generated said task so as to maximize that will sequentially arranged toward upward from the bottom of each histogram
And a task generation step that is repeated until all the components that make up the histogram sequence are exhausted.
A featured component mounting sequence optimization method. 9. In the task generation step, parts are acquired.
9. The component mounting order optimizing method according to claim 8 , wherein a histogram having a small number of nozzle resources is prioritized as a histogram order to be ejected. The method according to claim 10, wherein the task generating step, but components to be adsorbed by the suction nozzle of different types coexist,
9. The component mounting order optimizing method according to claim 8 , wherein the tasks are generated while maximizing the number of components constituting each task. 11. A device capable of picking up a maximum of n (≧ 2) parts from an array of parts cassettes containing parts.
The wearing head picks up the parts and the XY robot is used to load the parts.
In a method of optimizing the mounting order of components by a computer for a component mounting machine that moves a mounting head and mounts it on a substrate, in a series of repeated operations of suction, movement, and mounting of the component by the mounting head, 1 A method of determining a sequence of tasks having a component group mounted by a series of batch operations as a task, wherein the mounting head mounts a maximum of n suction nozzles for sucking a component in a replaceable state. The list of tasks to be optimized includes a mixed task including a component that can be sucked by each of two or more different types of suction nozzles. The mixed task includes a component that uses the same type of suction nozzle. And a suction nozzle used in the immediately preceding task of the plurality of partial tasks. A partial task that uses different types of suction nozzles is a series of tasks with the same suction nozzle.
The task by moving to the task set
And a step for preventing the mixed task from existing, and a component mounting sequence optimizing method. 12. The method of claim 11, wherein the partial task moves the sequence data
For another set of tasks belonging to the squeeze set, determining for each position of the n suction nozzles whether or not the total number of parts included in the set of tasks is 1 or less; If the total number for any position is less than or equal to 1, claims, characterized in that it comprises the step of fusing said set of tasks, one of the tasks still position maintaining the components contained in each 11. The component mounting order optimization method according to item 11 . 13. A device capable of picking up a maximum of n (≧ 2) parts from an array of parts cassettes containing the parts.
The wearing head picks up the parts and the XY robot is used to load the parts.
In a method of optimizing the mounting order of components by a computer for a component mounting machine that moves a mounting head and mounts it on a substrate, in a series of repeated operations of suction, movement, and mounting of the component by the mounting head, 1 A method of determining a sequence of tasks having a component group mounted by a series of batch operations as a task, wherein the mounting head mounts a maximum of n suction nozzles for sucking a component in a replaceable state. The sequence of tasks to be optimized is composed of a sequence of task sets whose task set is a continuous sequence of only tasks that use the same type of suction nozzle. Identifying the possible permutations and a task set that uses different types of suction nozzles for each identified permutation. Of the suction nozzles required for the execution of the task set of the permutation by specifying the locations where the nozzles are arranged adjacent to each other A method for optimizing a component mounting order, which comprises the step of changing the order of tasks to be optimized so as to be a permutation of a task set that corresponds to the specified minimum value. 14. A device capable of picking up a maximum of n (≧ 2) parts from an array of parts cassettes containing the parts.
The wearing head picks up the parts and the XY robot is used to load the parts.
In a device for optimizing the mounting order of components by a computer for a component mounting machine that moves a mounting head and mounts it on a substrate, 1 in a series of repeated operations of suction, movement, and mounting of components by the mounting head. A device for determining a sequence of tasks having a component group mounted by a series of batch operations as a task, wherein the mounting head mounts a maximum of n suction nozzles for sucking a component in a replaceable state. The multiple parts that can be optimized include parts that can be sucked by two or more different types of suction nozzles respectively, and are optimal when a set of parts of the same type is made into one part tape. The parts tapes are arranged horizontally by arranging the parts tapes for each of the corresponding suction nozzle types in descending order of the number of parts. , The number of components per component tape histograms on the two-dimensional coordinates to the longitudinal axis generated for each type of the suction nozzle, a histogram generating means for arranging the generated histogram on the horizontal axis, for each histogram the generated Parts that form the task by extracting parts sequentially from the line in the horizontal axis direction
The number of the generated said task so as to maximize that will sequentially arranged toward upward from the bottom of each histogram
And a task generation unit that repeats until all the components that form the histogram array are exhausted. 15. A device capable of picking up a maximum of n (≧ 2) parts from an array of parts cassettes containing the parts.
The wearing head picks up the parts and the XY robot is used to load the parts.
The mounter go mounted on the substrate by moving the deposition head target, 1 in the repeating of the device for optimizing the mounting order of components by a computer, a series of operations that the component suction, moving, attachment of by the mounting head A program used in an apparatus for determining a sequence of tasks having a component group mounted by a series of batch operations as a task, wherein the mounting head has a maximum of n in a state where a suction nozzle for sucking a component is replaceable. The multiple parts that can be mounted individually and that are the target of optimization include parts that can be sucked by two or more different types of suction nozzles, respectively, and a set of the same type of parts is regarded as one part tape. In this case, by arranging multiple parts to be optimized by arranging the component tapes in descending order of the number of parts for each type of corresponding suction nozzle. The horizontal axis the arrangement of component tapes, generated for each type of the suction nozzle histograms on the two-dimensional coordinates of the vertical axis the number of components per component tape, a histogram generating means for arranging the generated histogram on the horizontal axis, From the array of each of the generated histograms , parts are sequentially extracted in the horizontal axis direction to form the task.
The number of the generated said task so as to maximize that will sequentially arranged toward upward from the bottom of each histogram
Only a program for causing a computer to function as all the parts are repeated until no task generation means constituting the sequence of the histogram. 16. A computer-readable recording medium in which the program according to claim 15 is recorded.