Optimization device and optimization method

Abstract

To provide further improvement in optimization of a moving path of a head.SOLUTION: An optimization device moves to a plurality of target positions including a plurality of supply positions where components are supplied by a plurality of feeders and a plurality of mounting positions on a substrate determined for each component, and optimizes a moving path of a head that mounts the plurality of components picked up from the plurality of supply positions respectively to the corresponding mounting positions, and the optimization device comprises: an information acquisition unit that acquires the type of the plurality of components to be mounted on the substrate; and a moving path determination unit that determines a moving path with which the total moving time of the head becomes shortest, on the basis of the distance between the target positions and restrictions on the moving speed of the head set according to the type.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The technology disclosed in this specification relates to a technology for optimizing the movement path of a head that mounts each of a plurality of components to a corresponding mounting position. [Background technology]

[0002] Patent Document 1 discloses an electronic component mounting optimization method for optimizing the total movement distance or total movement time of a mounter head in an electronic component mounting machine.

[0003] Furthermore, Patent Document 2 discloses that in an optimization device that optimizes the placement order of electronic components, the total placement time is calculated taking into account the head speed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-209681 [Patent Document 2] Japanese Patent Application Laid-Open No. 2007-221176 Summary of the Invention [Problem to be solved by the invention]

[0005] The head can move with a component picked up by each of the multiple nozzles. Components vary in weight and size depending on their type, resulting in a larger or smaller moment of inertia. Therefore, in order for the head to move without dropping components, it is necessary to observe limitations on the movement speed depending on the component. While proposals have been made to improve the efficiency of head movement, these proposals have not taken into account limitations on the head movement speed depending on the component, resulting in insufficient efficiency, such as a suboptimal placement order. [Means for solving the problem]

[0006] This specification discloses an optimization device that optimizes the movement path of a head that moves to multiple target positions, including multiple supply positions to which components are supplied by multiple feeders and multiple mounting positions on a board determined for each of the components, and that picks up multiple components from the multiple supply positions and mounts each of the multiple components to the corresponding mounting positions. The optimization device includes an information acquisition unit that acquires the types of the multiple components to be mounted on the board, and a movement path determination unit that determines the movement path that minimizes the total movement time of the head based on the distance between the target positions and a limit on the movement speed of the head set according to the type.

[0007] According to the above configuration, the movement path that minimizes the total movement time of the head is determined based on the distance between the target positions and the limit on the movement speed of the head that is set according to the type, thereby making it possible to make the movement of the head more efficient than before and improve product productivity. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram simply illustrating a system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing a simplified partial configuration of a management computer and a component mounter. [Figure 3] FIG. 2 is a simplified diagram showing the component mounter from an overhead perspective. [Figure 4] 4 is a flowchart showing a control process of the component mounter. [Figure 5] FIG. 4 is a diagram showing an example of a parts database. [Figure 6] FIG. 10 is a diagram showing an example of a travel time table. DETAILED DESCRIPTION OF THE INVENTION

[0009] The main features of the embodiments described below are listed below. Note that the technical elements described below are independent technical elements that exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing.

[0010] In the optimization device disclosed in this specification, the movement path determination unit may apply, for each movement of the head between the target positions, the strictest restriction among the restrictions corresponding to each of the multiple parts held by the head during the movement, and calculate the movement time required for the movement. According to the above configuration, the movement path determination unit can determine a movement path that minimizes the total movement time of the head while ensuring that the components held by the head do not fall while the head is moving.

[0011] The optimization device disclosed in this specification may further include a storage unit that stores a movement time table in which a movement time of the head between the target positions is described in advance for each of the constraints, and the movement path determination unit may determine the movement path by referring to the movement time table. According to the above configuration, the movement path determination unit can easily determine the movement path that will minimize the total movement time of the head by referring to the movement time table.

[0012] In the optimization device disclosed in this specification, the information acquisition unit may acquire at least one of weight, size, and shape as the information indicating the type of the part. According to the above configuration, the movement path determination unit can determine the movement path that will result in the shortest total movement time of the head, based on the restrictions set in accordance with at least one piece of information of the weight, size, and shape of the part.

[0013] In the optimization device disclosed in this specification, the movement path determination unit may determine the movement path by allowing a difference between the order in which the components are picked up by the head when the head picks up the components from the multiple supply positions and the order in which the components are mounted by the head when the head mounts the components to the multiple mounting positions. According to the above configuration, the movement path determination unit can flexibly determine the movement path without being concerned with matching the pick-up order with the mounting order, thereby determining the optimal movement path in terms of the total movement time of the head.

[0014] The category of technology disclosed in this specification is not limited to optimization devices. This specification encompasses various technologies, such as methods implemented by optimization devices, and devices and systems including optimization devices. The optimization method optimizes the movement path of a head that moves to multiple target positions, including multiple supply positions to which components are supplied by multiple feeders and multiple mounting positions on a board determined for each component, and picks up multiple components from the multiple supply positions and mounts them on the corresponding mounting positions. The optimization method includes an information acquisition step of acquiring the types of the multiple components to be mounted on the board, and a movement path determination step of determining the movement path that minimizes the total movement time of the head based on the distance between the target positions and a limit on the head movement speed set according to the type. [Example]

[0015] The embodiments will be described with reference to the drawings. Each drawing is merely an example, and the present embodiment is not limited to the contents shown in the drawings. Also, since each drawing is an example, the shapes shown may not be accurate, and some parts may be omitted.

[0016] FIG. 1 shows a simplified diagram of a system 1 according to this embodiment. The system 1 includes a component mounter 10 and a management computer 90 that manages the component mounter 10. The component mounter 10 is a device that mounts multiple components on a board 12. With respect to the component mounter 10, the X axis represents the left-right direction, the Y axis represents the front-rear direction, and the Z axis represents the up-down direction. The component mounter 10 generally includes a component supply device 20, a board transport device 30 that transports the board 12, a head unit 60 having a rotary head 70, and a movement mechanism 50 that moves the head unit 60. The rotary head 70 is an example of a "head."

[0017] The component supply device 20 is equipped with a plurality of feeders 22 that supply components. In the example of Fig. 1, the plurality of feeders 22 are aligned along the X-axis direction. Although details are omitted, each feeder 22 holds a reel that stores a plurality of components, and supplies the components to the rotary head 70 by sending the reel rearward.

[0018] The movement mechanism 50 includes a guide rail 56 provided on the top of the device along the Y-axis direction, a Y-axis slider 58 that is movable along the guide rail 56, a guide rail 52 provided in front of the Y-axis slider 58 along the X-axis direction, and an X-axis slider 54 that is movable along the guide rail 52 and has a head unit 60 attached. By controlling the movement of the Y-axis slider 58 and the X-axis slider 54, the component mounter 10 can move the head unit 60, i.e., the rotary head 70, to any position on the XY plane.

[0019] The rotary head 70 has suction nozzles 71. The suction nozzles 71 are capable of sucking and holding components by the action of negative pressure. As can be seen from FIG. 3 described below, the rotary head 70 has multiple suction nozzles 71 arranged at predetermined angular intervals in the circumferential direction (on a circumference coaxial with the rotation axis facing the Z-axis direction). The rotary head 70 is capable of intermittent rotation in increments of a predetermined angle, and when the rotary head 70 rotates intermittently, each suction nozzle 71 moves to a different position on the circumference in increments of a predetermined angle. The head unit 60 is equipped with an actuator that can rotate the rotary head 70 clockwise or counterclockwise and move it in the Z-axis direction.

[0020] The component mounter 10 has a component camera 80 for capturing an image of the component picked up by the suction nozzle 71 from below. The management computer 90 is connected to the component mounter 10 via wired or wireless communication so as to be able to communicate with the component mounter 10. A display 96 and input devices 98 such as a mouse and keyboard are connected to the management computer 90 as a user interface (UI).

[0021] 2 is a simplified block diagram showing a portion of the configuration of the management computer 90 and the mounter 10. The management computer 90 has a control unit 92 and a storage unit 94. To distinguish the control unit 92 from the control unit 40 of the mounter 10, the control unit 92 may be referred to as the first control unit 92, and the control unit 40 may be referred to as the second control unit 40. The first control unit 92 has a processor such as a CPU, memory, and other storage media, and the processor executes arithmetic processing in accordance with a program stored in the memory, etc., thereby executing the optimization processing of this embodiment and controlling the mounter 10.

[0022] The first control unit 92 and the second control unit 40 can communicate with each other. Naturally, the second control unit 40 also has components necessary for a controller, such as a processor and memory. In response to commands from the first control unit 92, the second control unit 40 controls each component of the component mounter 10, such as the component supply device 20, the board transport device 30, the movement mechanism 50, the head unit 60, and the part camera 80, to mount components on the board 12. At this time, the rotary head 70 of the head unit 60 moves to multiple target positions, including multiple supply positions to which components are supplied by the multiple feeders 22 and multiple mounting positions on the board 12 determined for each component, and mounts each of the multiple components picked up from the multiple supply positions at the corresponding mounting position.

[0023] Figure 3 shows a simplified view of the component mounter 10 from above. For ease of viewing, Figure 3 shows only the board 12, rotary head 70, parts camera 80, and multiple feeders 22, and omits other components as appropriate. The small circles within the rotary head 70 indicate the positions of the multiple suction nozzles 71 that the rotary head 70 has.

[0024] The movement of the rotary head 70 will be briefly described with reference to FIG. 3. The dashed rectangles drawn on each of the multiple feeders 22 indicate the component supply positions P to which the respective feeders 22 supply components. The rotary head 70 picks up components supplied by each feeder 22 to each supply position P using suction nozzles 71. After picking up components using each suction nozzle 71 at each of the multiple supply positions P, the rotary head 70 moves toward the board 12 via the parts camera 80. The rotary head 70 may continuously pick up multiple components from the same feeder 22. As the rotary head 70 moves above the parts camera 80, the second control unit 40 controls the parts camera 80 to capture images of each component picked up by each suction nozzle 71 from below, thereby obtaining bottom images. While details are omitted, the bottom images are used by the second control unit 40 to correct misalignment of the components relative to their mounting positions on the board 12, which may be caused by misalignment of the picked-up components relative to the suction nozzles 71.

[0025] Each of the multiple dashed rectangles drawn on the board 12 indicates a component mounting position Q. On the board 12, the rotary head 70 moves to each mounting position Q and mounts the corresponding component at each mounting position Q. Then, after mounting the component it had picked up, the rotary head 70 returns to the supply position P of the feeder 22 and repeats the same movement to mount the component on the next board 12. In FIG. 3, the path indicated by the arrow is an example of such a movement path of the rotary head 70. This is merely an example, and the illustrated movement path is not necessarily the movement path determined by the optimization process of this embodiment.

[0026] In this embodiment, the first control unit 92 functions as an "information acquisition unit 92a" and a "movement path determination unit 92b" by executing a program. Of course, these functions are only a part of the functions realized by the first control unit 92. A configuration including the first control unit 92 corresponds to an "optimization device" that optimizes the movement path of the rotary head 70. Therefore, the management computer 90 having the first control unit 92 is an example of an optimization device. However, the optimization process described below as being performed by the first control unit 92 may also be performed by the second control unit 40. In that case, a configuration including the second control unit 40 corresponds to the optimization device, and the component mounter 10 is an example of an optimization device.

[0027] The memory unit 94 is configured with a storage medium. The memory unit 94 stores various information required by the first control unit 92, such as a component database 94a and a movement time table 94b. As will be described later, the movement time table 94b is an example of a table in which the movement time of the head between target positions is described in advance for each restriction. At least a part of the memory unit 94 may be a memory included in the first control unit 92. The memory unit 94 may also be considered to be part of the first control unit 92. Alternatively, the memory unit 94 may be a storage medium external to the management computer 90 that is accessible by the first control unit 92. When the component mounter 10 is considered to be an optimization device as described above, a configuration equivalent to the memory unit 94 may also be considered to be included in the component mounter 10.

[0028] 4 is a flowchart showing the main points of the control process of the mounter 10 executed by the first control unit 92. In step S100, the information acquisition unit 92a acquires the types of multiple components to be mounted on the board 12. Then, in step S110, the movement path determination unit 92b determines a movement path that minimizes the total movement time of the rotary head 70 based on the distance between target positions and a limit on the movement speed of the rotary head 70 set according to the type. Step S100 as described above corresponds to an example of an "information acquisition process," and step S110 corresponds to an example of a "movement path determination process." The process including steps S100 and S110 is an optimization process.

[0029] The restriction on the movement speed of the rotary head 70 may be rephrased as a restriction on the movement speed of the head unit 60. In step S120, the first control unit 92 transmits a component mounting command to the second control unit 40, including a command to set the movement path determined in step S110 as the movement path of the rotary head 70. As a result, the component mounter 10 performs component mounting in accordance with such a command under the control of the second control unit 40.

[0030] The optimization process will now be described in detail. When the rotary head 70 moves from one target position to another, it accelerates from a stopped state to a certain constant speed, moves at a constant or approximately constant speed, and then decelerates and stops. Therefore, in this embodiment, the "limitation on the movement speed" of the rotary head 70 means a limit on all or at least some of the acceleration, constant speed, and deceleration. Furthermore, a "strict" limit means that if the limit is on acceleration or deceleration, the amount of change in speed per unit time is reduced, and if the limit is on a constant speed, the speed is slowed. In either case, the stricter the limit, the longer it takes to move the same distance.

[0031] In this embodiment, multiple restriction modes with different degrees of restriction are provided. As an example, there are provided a first mode (slow mode) with the strictest restriction, a second mode (normal mode) with the next strictest restriction after the first mode, and a third mode (fast mode) with the least strict restriction. Of course, the restriction modes and the types of parts described below do not need to be limited to three, and may be two, four, or more.

[0032] When determining the movement path of the rotary head 70, the first control unit 92 must first recognize what kind of component should be mounted at which position on the board 12. Therefore, the information acquisition unit 92a acquires each piece of information by referencing a component database 94a stored in the storage unit 94. FIG. 5 shows an example of the component database 94a. The component database 94a associates and describes the component name (column A), the component supply position by the feeder 22 (column B), the component mounting position on the board 12 (column C), the component type (column D), and the like. By referencing the component database 94a and other information stored in the storage unit 94, the information acquisition unit 92a acquires information such as which component should be picked up at which supply position and at which mounting position on the board 12 it should be mounted.

[0033] The type of part described in the part database 94a is, for example, information indicating the weight of the part. The heavier the part, the more carefully it needs to be carried to prevent it from falling from the suction nozzle 71. In the example of FIG. 5, type "1" represents the heaviest classification, and type "3" represents the lightest classification. Type "2" represents a classification between types "1" and "3" in weight. In other words, each part is classified in advance according to its weight.

[0034] Alternatively, the type of component described in the component database 94a may be information indicating the size of the component, for example. The size of a component refers to its length, width, etc. It can be said that the larger the component, the more careful it needs to be carried to prevent it from falling from the suction nozzle 71. Type "1" may be interpreted as meaning the largest size category, and type "3" as meaning the smallest size category. Type "2" refers to a size category between type "1" and type "3." In this way, each component may be classified in advance according to its size.

[0035] Alternatively, the type of part described in the part database 94a may be, for example, information indicating the shape. For example, parts with curved surfaces are more difficult to pick up with the suction nozzle 71 than parts with flat surfaces, and therefore must be transported with care. Type "1" may be interpreted as meaning the shape classification least suitable for pickup, and type "3" as meaning the shape classification most suitable for pickup. Type "2" refers to a shape classification whose suitability for pickup is between types "1" and "3." In this way, each part may be classified in advance according to its shape.

[0036] Alternatively, the types of parts described in the parts database 94a may be information indicating types classified according to a combination of two or more of the weight, size, and shape of the parts. In this embodiment, the first mode is applied to parts of type "1," the second mode is applied to parts of type "2," and the third mode is applied to parts of type "3." Of course, the numbers "1," "2," and "3" indicating the types in FIG. 5 are merely used for convenience and may be expressed in any way. In this embodiment, it is sufficient that the characteristics related to the ease (or difficulty) of carrying a part by the suction nozzle 71 are associated with the modes related to the restrictions described above.

[0037] In this way, the information acquiring unit 92a acquires the type of each component to be mounted on the board 12 by referring to the component database 94a and other information stored in the storage unit 94 (step S100). Furthermore, according to the above explanation, it can be said that the information acquiring unit 92a acquires at least one piece of information from among weight, size, and shape as information indicating the type of component.

[0038] The movement path determination unit 92b determines a movement path that minimizes the total movement time of the rotary head 70 based on the information acquired by the information acquisition unit 92a, the distances between target positions known from the design of the component mounter 10, and the above-mentioned restrictions according to the type of component (step S110). At this time, the movement path determination unit 92b calculates the total movement time of the rotary head 70 for each of all possible paths that pass through all of the supply positions and mounting positions for each component to be mounted. For each movement of the rotary head 70 between target positions, the movement path determination unit 92b applies the strictest restriction among the restrictions corresponding to each of the multiple components that the rotary head 70 will hold during that movement, and calculates the movement time required for that movement. Then, of the paths for which the total movement times have been calculated, the path with the shortest total movement time is determined as the movement path of the rotary head 70.

[0039] For a deeper understanding, a specific example will be described below. In this specific example, the movement of the rotary head 70 satisfies all of the following conditions a to i. Condition a: Any one of the first supply position P1 by the first feeder 22, the second supply position P2 by the second feeder 22, and the third supply position P3 by the third feeder 22 is set as the start position of movement. Condition b: The first component is picked up by the suction nozzle 71 from the first supply position P1. Condition c: The second component is picked up by the suction nozzle 71 from the second supply position P2. Condition d: The third component is picked up by the suction nozzle 71 from the third supply position P3. Condition e: With the first, second, and third components each being picked up, the robot moves toward the board 12 via the parts camera 80. Condition f: The first component is mounted on the substrate 12 at the first mounting position Q1. Condition g: The second component is mounted on the substrate 12 at the second mounting position Q2. Condition h: The third component is mounted on the board 12 at the third mounting position Q3. Condition i: After mounting the first, second, and third components, return to the starting position.

[0040] In this specific example, the first component corresponds to type "1," the second component corresponds to type "2," and the third component corresponds to type "3." Information about each supply position, each mounting position, and each component is information acquired by information acquisition unit 92a. For the sake of convenience in this specific example, the number of components to be mounted on board 12 is three, but it goes without saying that the number of components is not limited to three.

[0041] The movement path determination unit 92b calculates the total movement time of the rotary head 70 for each of all paths that satisfy all of the conditions a to i. Since there are 36 paths that satisfy all of the conditions a to i, the total movement time is calculated for each of these paths, and the path with the shortest total movement time is determined as the movement path of the rotary head 70. For example, a path (first path) that proceeds in the order of "first supply position P1 as start position → second supply position P2 → third supply position P3 → parts camera 80 → first mounting position Q1 → second mounting position Q2 → third mounting position Q3 → start position (first supply position P1)" is one of the paths that satisfy the conditions a to i.

[0042] Furthermore, for example, a route (second route) that proceeds in the order of "third supply position P3 as start position → second supply position P2 → first supply position P1 → part camera 80 → first mounting position Q1 → second mounting position Q2 → third mounting position Q3 → start position (third supply position P3)" is also one of the routes that satisfy conditions a to i. Here, an example will be described in which the movement route determination unit 92b calculates the total movement time for the second route. The movement route determination unit 92b refers to a movement time table 94b.

[0043] 6 shows an example of the movement time table 94b. The movement time table 94b includes a first table 94b1 for the first mode, a second table 94b2 for the second mode, and a third table 94b3 for the third mode. The first table 94b1 contains the movement time of the rotary head 70 between target positions on the component mounter 10, such as the first supply position P1, the second supply position P2, the third supply position P3, the position of the part camera 80, the first mounting position Q1, the second mounting position Q2, the third mounting position Q3, etc., which is calculated and stored in advance when the first mode is applied. For example, the movement time T1 stored in the first table 94b1 is the time required for the rotary head 70 to move the distance between the first supply position P1 and the second supply position P2 in the first mode.

[0044] Similarly, the second table 94b2 contains a calculated and stored list of travel times between target positions for the rotary head 70 when the second mode is applied, and the third table 94b3 contains a calculated and stored list of travel times between target positions for the rotary head 70 when the third mode is applied.

[0045] In the second path described above, rotary head 70 moves from third supply position P3, which is the start position, to second supply position P2 with suction nozzle 71 picking up the third component. Rotary head 70 also moves from second supply position P2 to first supply position P1 with the second and third components picked up, and moves from first supply position P1 to part camera 80 and from part camera 80 to first mounting position Q1 with the first, second, and third components picked up. As described above, when rotary head 70 is holding multiple types of components in this way, the strictest restriction corresponding to the components being held at that time is applied to its movement. Furthermore, the rotary head 70 moves from the first mounting position Q1 to the second mounting position Q2 while picking up the second and third components, moves from the second mounting position Q2 to the third mounting position Q3 while picking up the third component, and moves from the third mounting position Q3 to the start position (third supply position P3) without picking up anything.

[0046] Therefore, the movement path determination unit 92b reads out the movement time between the third supply position P3 and the second supply position P2 from the third table 94b3 as the movement time from the start position (third supply position P3) to the second supply position P2. The movement path determination unit 92b also reads out the movement time between the second supply position P2 and the first supply position P1 from the second table 94b2 as the movement time from the second supply position P2 to the first supply position P1. The movement path determination unit 92b also reads out the movement time between the first supply position P1 and the part camera 80 from the first table 94b1 as the movement time from the first supply position P1 to the part camera 80, and reads out the movement time between the part camera 80 and the first mounting position Q1 from the first table 94b1 as the movement time from the part camera 80 to the first mounting position Q1.

[0047] Furthermore, the movement path determination unit 92b reads the movement time between the first mounting position Q1 and the second mounting position Q2 from the second table 94b2 as the movement time from the first mounting position Q1 to the second mounting position Q2. As the movement time from the second mounting position Q2 to the third mounting position Q3, it reads the movement time between the second mounting position Q2 and the third mounting position Q3 from the third table 94b3. As the movement time from the third mounting position Q3 to the start position (third supply position P3), it reads the movement time between the third table 94b3 and the third mounting position Q3. The movement path determination unit 92b then determines the sum of these read movement times as the total movement time of the second path. Here, it is assumed that the rotary head 70 moves in the third mode when it is not holding anything.

[0048] As described above, according to this embodiment, the optimization device can determine the movement path that minimizes the total movement time of the rotary head 70 in a situation where the rotary head 70 is holding and moving multiple types of components that have different movement speed restrictions to comply with while mounting each component on the board 12. In the past, for example, priority was given to selecting a path that minimizes the total head movement distance, which resulted in the head holding a type of component with relatively strict restrictions for a long period of time, wasting a lot of time. According to this embodiment, this type of situation can be avoided and true efficiency can be achieved in the movement of the rotary head 70.

[0049] The movement path determination unit 92b can efficiently perform the process of step S110 by determining the movement path with reference to the movement time table 94b as described above. However, it is not essential for the optimization device to have or refer to the movement time table 94b. The movement times described in the movement time table 94b are values calculated in advance based on the distance between target positions and restrictions on the movement speed of the rotary head 70 according to the type of part. However, in step S110, the movement path determination unit 92b may calculate such movement times between target positions each time to calculate the total movement time for each path.

[0050] As can be seen from the example of the second path, in this embodiment, the movement path determination unit 92b allows the picking order of components (first component, second component, third component) when the rotary head 70 picks up components from multiple supply positions (e.g., first supply position P1, second supply position P2, third supply position P3) to differ from the mounting order of components (first component, second component, third component) when the rotary head 70 mounts components to multiple mounting positions (first mounting position Q1, second mounting position Q2, third mounting position Q3). If the second path were determined as the movement path of the rotary head 70, the actual picking order and mounting order would not match. In this way, the movement path determination unit 92b determines the movement path while allowing the picking order and mounting order to differ, so it is possible to determine the optimal movement path in terms of the total movement time of the rotary head 70.

[0051] As can be seen from the above explanation, in this embodiment, the path or movement path of the rotary head 70 refers to a path that can be achieved by moving the head unit 60 in the X-axis direction or the Y-axis direction using the movement mechanism 50. Therefore, the total movement time to be minimized basically refers to the time required for movement by the movement mechanism 50. However, the concept of movement of the rotary head 70 may also include movement along the Z-axis direction and rotation of the rotary head 70 itself. Therefore, the movement path determination unit 92b may calculate the total movement time by including the time required for the rotary head 70 to move along the Z-axis direction or rotate when picking up a component at the supply position P or mounting it at the mounting position Q. Furthermore, the total movement time may also be calculated by applying a movement speed limit to the movement or rotation of the rotary head 70 along the Z-axis direction depending on the type of component being picked up by the suction nozzle 71 at that time.

[0052] In the above-described embodiment, the movement time table 94b stores the movement time of the rotary head 70 between target positions to calculate the total movement time of the rotary head 70. However, the technology disclosed in this specification is not limited to this configuration. For example, limit values for the acceleration, constant speed, and deceleration of the rotary head 70 for each type of component may be stored in the memory unit 94, and the movement path determination unit 92b may calculate the total movement time using these stored limit values. Since the position of the feeder 22 is known, the supply position of each component is also known, and the mounting position of each component is also known, and the position of the part camera 80 is also known. Therefore, once one path for the rotary head 70 is determined, the distance of the path along which the rotary head 70 will travel can be calculated. Since limit values for the acceleration, constant speed, and deceleration of the rotary head 70 when moving along each path are given, these limit values can be used to calculate the total movement time along that path. In this configuration, it is only necessary to preset the limit values for the head's acceleration, constant speed, and deceleration, thereby reducing the amount of data to be input into the memory unit 94.

[0053] Although specific examples of the technology disclosed in this specification have been described in detail above, these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and variations of the specific examples exemplified above. Furthermore, the technical elements described in this specification or drawings exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Furthermore, the technology exemplified in this specification or drawings simultaneously achieves multiple objectives, and achieving one of those objectives itself has technical utility. [Explanation of symbols]

[0054] 1: System 10: Component mounter 12: Circuit board 20: Parts supply device 22: Feeder 30: Substrate transport device 40: Second control section 50 Moving mechanism 60: Head unit 70: Rotary head 71: Suction nozzle 80: Parts camera 90:Administrative computer 92: First control section 92a: Information acquisition section 92b: Movement path determination unit 94: Storage part 94a: Parts database 94b: Travel time table

Claims

1. 1. An optimization device that optimizes a movement path of a head that moves to a plurality of target positions including a plurality of supply positions to which components are supplied by a plurality of feeders and a plurality of mounting positions on a board determined for each of the components, and that picks up a plurality of the components from the plurality of supply positions and mounts each of the plurality of components on the corresponding mounting positions, an information acquisition unit that acquires the types of the plurality of components to be mounted on the board; and a movement path determination unit that determines the movement path that minimizes the total movement time of the head based on the distance between the target positions and a limit on the movement speed of the head set according to the type.

2. 2. The optimization device according to claim 1, wherein the movement path determination unit calculates the movement time required for each movement of the head between the target positions by applying the strictest restriction among the restrictions corresponding to each of the plurality of parts held by the head during the movement.

3. a storage unit that stores a movement time table in which movement times of the head between the target positions are described in advance for each of the restrictions; The optimization device according to claim 1 , wherein the travel route determination unit determines the travel route by referring to the travel time table.

4. The optimization device according to claim 1 , wherein the information acquisition unit acquires at least one of weight, size, and shape as the information indicating the type of the part.

5. 2. The optimization device according to claim 1, wherein the movement path determination unit determines the movement path by allowing a difference between a pick-up order of the components when the head picks up the components from the plurality of supply positions and a mounting order of the components when the head mounts the components at the plurality of mounting positions.

6. 1. An optimization method for optimizing a movement path of a head that moves to a plurality of target positions including a plurality of supply positions to which components are supplied by a plurality of feeders and a plurality of mounting positions on a board determined for each of the components, and picks up a plurality of the components from the plurality of supply positions and mounts each of the plurality of components on the corresponding mounting positions, comprising: an information acquisition step of acquiring the types of the plurality of components to be mounted on the board; and a movement path determination step of determining the movement path that minimizes the total movement time of the head based on the distance between the target positions and a limit on the movement speed of the head set according to the type.

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