Sequence optimization device, sequence optimization method, sequence optimization program, and recording medium

Abstract

By optimizing the sequence that defines the actions required for a pick-and-place device to perform a predetermined task, effective power saving is achieved. [Solution] A standard production program Pr is acquired (step S101), and a provisional production program is set by changing the speed profile F from the standard production program Pr (step S201). The decrease in power consumption ΔWm of the component mounting machine 4 operating under the provisional production program is estimated compared to the power consumption of the component mounting machine 4 operating under the standard production program Pr (step S204). Furthermore, the cycle time required for the component mounting machine 4 to complete the mounting work according to the provisional production program is estimated (step S109). Then, based on the decrease in power consumption ΔWm of the component mounting machine 4 and the cycle time, a production program Pe is determined to cause the component mounting machine 4 to perform the mounting work.

Description

Technical Field

[0001] This invention relates to a technique for optimizing a sequence that defines an operation for causing a pick-and-place device to perform a predetermined operation.

Background Art

[0002] A component mounter that mounts components on a substrate by transferring components supplied by a feeder to the substrate using a mounting head is known. Also, throughput is emphasized as an index for evaluating the efficiency of such a component mounter. However, as pointed out in Patent Document 1, there is a trade-off relationship between the throughput of a component mounter and the power consumption. Therefore, in Patent Document 1, when the throughput of component mounting during execution is higher than necessary, power saving is achieved by reducing the throughput.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, Patent Document 1 does not evaluate the amount of power reduced by reducing the throughput. Therefore, there was room for improvement to effectively achieve power saving.

[0005] This invention has been made in view of the above problems, and an object thereof is to optimize a sequence that defines an operation for causing a pick-and-place device to perform a predetermined operation and enable effective power saving.

Means for Solving the Problems

[0006] The sequence optimization device according to the present invention is a sequence optimization device that optimizes a sequence that defines the operation for causing a pick-and-place device to perform a predetermined task, and comprises: a reference sequence acquisition unit that acquires a reference sequence; a provisional sequence setting unit that sets a provisional sequence different from the reference sequence; a first estimation unit that estimates an estimated power reduction amount that shows the amount of reduction in the power consumption of a pick-and-place device that performs a predetermined task according to a provisional sequence, relative to the power consumption of a pick-and-place device that performs a predetermined task according to a reference sequence; a second estimation unit that estimates the estimated work time required for the pick-and-place device to complete a predetermined task according to a provisional sequence; and a sequence determination unit that determines an execution sequence for causing the pick-and-place device to perform a predetermined task based on the estimated power reduction amount and the estimated work time.

[0007] The sequence optimization method according to the present invention is a sequence optimization method for optimizing a sequence that defines the operation for causing a pick-and-place device to perform a predetermined task, and comprises the steps of: acquiring a reference sequence; setting a provisional sequence different from the reference sequence; estimating an estimated power reduction amount that shows the reduction in power consumption of a pick-and-place device performing a predetermined task according to a provisional sequence, relative to the power consumption of a pick-and-place device performing a predetermined task according to a reference sequence; estimating the estimated work time required for the pick-and-place device to complete a predetermined task according to a provisional sequence; and determining an execution sequence for causing the pick-and-place device to perform a predetermined task based on the estimated power reduction amount and the estimated work time.

[0008] The sequence optimization program according to the present invention is a sequence optimization program that causes a computer to optimize a sequence that defines the operation for causing a pick-and-place device to perform a predetermined task, and causes a computer to perform the following steps: acquire a reference sequence; set a provisional sequence that is different from the reference sequence; estimate an estimated power reduction amount that shows the amount of reduction in power consumption of a pick-and-place device that performs a predetermined task according to a provisional sequence, relative to the power consumption of a pick-and-place device that performs a predetermined task according to a reference sequence; estimate the estimated work time required for the pick-and-place device to complete a predetermined task according to a provisional sequence; and determine an execution sequence for causing the pick-and-place device to perform a predetermined task based on the estimated power reduction amount and the estimated work time.

[0009] The recording medium according to the present invention records a sequence optimization program in a way that can be read by a computer.

[0010] In the present invention (sequence optimization device, sequence optimization method, sequence optimization program, and recording medium) configured as described above, an estimated power reduction is estimated, which represents the reduction in the power consumption of a pick-and-place device that performs a predetermined task according to a provisional sequence (provisional power consumption) relative to the power consumption of a pick-and-place device that performs a predetermined task according to a reference sequence (reference power consumption). Furthermore, an estimated work time required for the pick-and-place device to complete the predetermined task according to the provisional sequence is estimated. Based on the estimated power reduction and the estimated work time, an execution sequence for causing the pick-and-place device to perform the predetermined task is determined. Therefore, the pick-and-place device will perform the predetermined task according to the execution sequence determined not only based on the estimated work time but also on the estimated power reduction. As a result, the sequence that defines the operation for causing the pick-and-place device to perform the predetermined task is optimized, enabling effective power saving.

[0011] Furthermore, the sequence determination unit may be configured as a sequence optimization device to determine a provisional sequence in which an estimated power reduction greater than zero is estimated as the execution sequence. This ensures that a provisional sequence in which the provisional power consumption is lower than the reference power consumption is determined as the execution sequence. Therefore, the amount of power consumed by the pick-and-place device to perform a predetermined task can be effectively suppressed.

[0012] Furthermore, the sequence determination unit may be configured as a sequence optimization device that determines a provisional sequence for which an estimated work time of less than or equal to a predetermined time is determined as the execution sequence. This enables the pick-and-place device to complete the predetermined task within an appropriate time.

[0013] Furthermore, the motor of the pick-and-place device operates according to a speed profile, which includes an acceleration period that accelerates the motor speed from zero to maximum speed, a constant speed period that maintains the motor speed at maximum speed, and a deceleration period that reduces the motor speed from maximum speed to zero. The provisional sequence setting unit may be configured as a sequence optimization device that creates a provisional sequence from a reference sequence by reducing the absolute value of the motor acceleration during each of the acceleration and deceleration periods. In such a configuration, the amount of power consumed by the pick-and-place device to perform a predetermined task can be effectively suppressed by reducing the motor acceleration, which has a strong correlation with power consumption.

[0014] Furthermore, the provisional sequence setting unit may be configured as a sequence optimization device that creates a provisional sequence from a reference sequence by further reducing the maximum speed. In such a configuration, the maximum speed of the motor, which has a strong correlation with power consumption, can be reduced, thereby effectively suppressing the amount of power consumed by the pick-and-place device to perform a predetermined task.

[0015] Furthermore, the provisional sequence setting unit sets up multiple provisional sequences with different combinations of the absolute value of the motor's acceleration during the acceleration period and the deceleration period, and the maximum speed. The first estimation unit performs a sequence determination process to select one provisional sequence from among the multiple provisional sequences and determine it as the execution sequence. In the sequence determination process, the sequence optimization device may be configured to select one provisional sequence based on the results of estimating the estimated power reduction for each of the multiple provisional sequences. With such a configuration, the motor can be operated with an execution sequence appropriate for power saving, allowing the pick-and-place device to perform a predetermined task. Therefore, the amount of power consumed by the pick-and-place device to perform the predetermined task can be effectively suppressed.

[0016] Furthermore, the sequence optimization device may be configured such that the first estimation unit estimates an estimated time increase, which is the increase in the time required for the pick-and-place device to perform a predetermined task according to a provisional sequence, relative to the time required for the pick-and-place device to perform a predetermined task according to a reference sequence; the sequence determination process estimates the estimated time increase for each of the multiple provisional sequences; and based on the estimated power reduction and the estimated time increase, selects one provisional sequence from among the multiple provisional sequences. In such a configuration, one provisional sequence can be selected while taking into account the impact of the time increase associated with changing the sequence.

[0017] Furthermore, in the sequence determination process, the sequence optimization device may be configured to select a provisional sequence based on a comparison between the amount of power obtained by multiplying the standby power consumed by the pick-and-place device during the suspension of a predetermined operation by an estimated increase in time, and an estimated decrease in power. In such a configuration, a provisional sequence can be selected by taking into account the amount of standby power consumed during the time increased due to the sequence change.

[0018] Further, the first estimation unit may configure the sequence optimization device to estimate, as the estimated power reduction amount, the reduction amount of the power consumption of the motor operating according to the speed profile indicated by the tentative sequence with respect to the power consumption of the motor operating according to the speed profile indicated by the reference sequence, and to estimate, as the estimated time increase amount, the increase amount of the operating time of the motor operating according to the speed profile indicated by the tentative sequence with respect to the operating time of the motor operating according to the speed profile indicated by the reference sequence. In such a configuration, the estimated power reduction amount and the estimated time increase amount are obtained based on the operation of the motor, rather than based on the execution of a predetermined operation of the pick-and-place device. Therefore, the computational load for obtaining these can be kept low.

Effect of the Invention

[0019] As described above, according to the present invention, it is possible to effectively save power by optimizing the sequence that defines the operation for causing the pick-and-place device to execute a predetermined operation.

Brief Description of the Drawings

[0020] [Figure 1] A plan view schematically showing a configuration of an example of a component mounter included in a substrate production line. [Figure 2] A block diagram showing an electrical configuration of the component mounter shown in FIG. 1. [Figure 3] A diagram schematically showing an example of a speed profile. [Figure 4] A block diagram showing an example of a computer corresponding to a device for optimizing a production program. [Figure 5] A flowchart showing an example of optimization of a production program considering power consumption. [Figure 6] A flowchart showing an example of power saving evaluation executed in the optimization of the production program of FIG. 5. [Figure 7] A diagram schematically showing the basic concept of optimization of a production program. [Figure 8] A diagram schematically showing an example of a motor operation list. [Figure 9] A diagram schematically showing the content executed in power saving evaluation.

Embodiments for Carrying Out the Invention

[0021] FIG. 1 is a plan view schematically showing the configuration of a component mounter which is an example of a pick and place device. FIG. 2 is a block diagram showing the electrical configuration of the component mounter shown in FIG. 1. In FIG. 1, an X direction which is a horizontal direction, a Y direction which is a horizontal direction orthogonal to the X direction, and a Z direction which is a vertical direction are shown.

[0022] The component mounter 4 executes a mounting operation for mounting the component E on the substrate B. As shown in FIG. 2, this component mounter 4 includes a control unit 400 that comprehensively controls the entire device. The control unit 400 includes a main control unit 401 constituted by a processor or the like, a storage unit 402 constituted by an SSD (Solid State Drive) or the like, a drive control unit 403 that controls the drive system of the component mounter 4, and an air control unit 404 that controls the air supply system of the component mounter 4. Then, the main control unit 401 controls the drive control unit 403 and the air control unit 404 according to the production program Pe stored in the storage unit 402, and executes component mounting in the procedure specified by the production program Pe. Further, a UI (User Interface) 405 is provided in the component mounter 4. This UI 405 is a touch panel display. The main control unit 401 displays the operating status of the component mounter 4 on the UI 405 and receives commands from the operator input to the UI 405.

[0023] As shown in Figure 1, the component mounting machine 4 includes a transport unit 41 that transports the substrate B in the X direction (substrate transport direction). This transport unit 41 has a pair of conveyors 411 arranged in parallel in the X direction and a conveyor motor Mc that drives the conveyors 411. When the conveyor motor Mc drives the conveyors 411, the conveyors 411 transport the substrate B in the X direction. The spacing between these conveyors 411 can be changed in the Y direction (width direction) perpendicular to the X direction, and the transport unit 41 adjusts the spacing between the conveyors 411 according to the width of the substrate B to be transported. The drive control unit 403 controls the conveyor motor Mc to transport the substrate B from the upstream side in the X direction, which is the substrate transport direction, to a predetermined work position (the position of substrate B in Figure 1), and then transports the substrate B with the components E mounted on it from the work position to the downstream side in the X direction.

[0024] On each side of the transport unit 41 in the Y direction, two component supply units 42 are arranged in the X direction, and in each component supply unit 42, multiple tape feeders 421 are arranged in the X direction. The component supply unit 42 is provided with multiple component supply locations 422 arranged in the X direction, and tape feeders 421 that supply the components E to be supplied to each component supply location 422 are attached to each component supply location 422 in correspondence and are detachably mounted. A component supply reel is arranged for each tape feeder 421, around which a carrier tape containing small pieces of components E such as integrated circuits, transistors, and capacitors at predetermined intervals is wound, and the carrier tape drawn from the component supply reel is loaded into each tape feeder 421. In addition, each tape feeder 421 has a feed motor Mf, and the feed motor Mf intermittently drives the carrier tape to supply components E to the component supply locations 422 at the tip of the tape feeder 421.

[0025] Furthermore, the component mounting machine 4 is provided with a pair of Y-axis rails 43 extending in the Y direction, a Y-axis ball screw 44 extending in the Y direction, and a Y-axis motor My (servo motor) that rotates the Y-axis ball screw 44. The X-axis rail 45 is fixed to the nuts of the Y-axis ball screw 44 while being supported by the pair of Y-axis rails 43 so as to be movable in the Y direction. The X-axis rail 45 is fitted with an X-axis ball screw 46 extending in the X direction and an X-axis motor Mx (servo motor) that rotates the X-axis ball screw 46. The head unit 47 is fixed to the nuts of the X-axis ball screw 46 while being supported by the X-axis rail 45 so as to be movable in the X direction. Therefore, the drive control unit 403 can move the head unit 47 in the Y direction by rotating the Y-axis ball screw 44 with the Y-axis motor My, or move the head unit 47 in the X direction by rotating the X-axis ball screw 46 with the X-axis motor Mx.

[0026] The head unit 47 has a plurality of mounting heads 48 arranged linearly in the X direction. Each of the plurality of mounting heads 48 is provided with a Z-axis motor Mz (servo motor) that drives the mounting head 48 in the Z direction.

[0027] The drive control unit 403 controls the X-axis motor Mx and the Y-axis motor My to position the nozzle at the lower end of the mounting head 48 facing the component supply location 422 from above. Next, the drive control unit 403 uses the Z-axis motor Mz to lower the mounting head 48 toward the component E at the component supply location 422, bringing the nozzle at the lower end of the mounting head 48 into contact with the component E. In this state, the air control unit 404 generates negative pressure in the nozzle to attract the component E to the nozzle. Furthermore, the drive control unit 403 controls the X-axis motor Mx and the Y-axis motor My to position the component E, which is attracted to the nozzle by the mounting head 48, toward the substrate B from above. Then, the drive control unit 403 controls the Z-axis motor Mz to lower the mounting head 48, which is attracting the component E to the nozzle, toward the substrate B, bringing the component E into contact with the substrate B. In this state, the air control unit 404 generates positive pressure in the nozzle to mount the component E onto the substrate B. The drive control unit 403 supplies negative and positive pressure to the nozzle at the lower end of the mounting head 48 by opening and closing a solenoid valve provided in the piping connecting the negative and positive pressure sources to the mounting head 48.

[0028] The above mounting work is performed by the main control unit 401 controlling the drive control unit 403 and the air control unit 404 based on the production program Pe. This production program Pe defines the procedure for picking up component E from component supply point 422 and mounting it on substrate B in order to perform the mounting work. In particular, the production program Pe includes speed profiles that define the operation of each of the above motors Mx, My, Mz, Mc and Mf (hereinafter collectively referred to as motor M) in order to perform the mounting work.

[0029] Figure 3 schematically shows an example of a speed profile. This speed profile F shows the change in speed of motor M over time, and in Figure 3, the speed profile F is shown on a graph with time on the horizontal axis and speed on the vertical axis. The speed profile F shows an acceleration period A1 in which motor M accelerates from zero to a maximum speed Vx, a constant speed period A2 in which motor M maintains its speed at the maximum speed Vx, and a deceleration period A3 in which motor M decelerates from the maximum speed Vx to zero. Motor M operates according to the speed profile F. That is, motor M accelerates from zero to a maximum speed Vx in acceleration period A1, and then operates at a constant speed of the maximum speed Vx in constant speed period A2. Furthermore, motor M decelerates from the maximum speed Vx to zero in deceleration period A3 following constant speed period A2.

[0030] In this embodiment, the production program Pe is optimized while taking into account the amount of power consumed by the motor M as it performs the operation defined in the speed profile F. This point will be explained next.

[0031] Figure 4 is a block diagram showing an example of a computer that corresponds to a device for optimizing production programs. Computer 6 comprises an arithmetic unit 61, which is a processor such as a CPU (Central Processing Unit), and a storage unit 62, which is a storage device such as an SSD. The storage unit 62 contains an optimization program 7 for optimizing the production program Pe while considering power consumption. Furthermore, computer 6 comprises a UI (User Interface) 63 and a communication unit 64. The UI 63 is, for example, a touch panel display. The communication unit 64 communicates with external devices such as a component mounting machine 4 or a server computer.

[0032] Figure 5 is a flowchart showing an example of optimizing a production program considering power consumption, Figure 6 is a flowchart showing an example of power saving evaluation performed in the production program optimization in Figure 5, and Figure 7 is a diagram schematically showing the basic concept of production program optimization. The flowcharts in Figures 5 and 6 are executed by the calculation unit 61.

[0033] Let's start with the basic concept shown in Figure 7. Figure 7 shows two graphs with time on the horizontal axis and the power consumption of the component mounting machine 4 on the vertical axis. The upper graph Gr shows the change in power consumption over time when the mounting work is performed based on a production program that optimizes the procedure without considering power consumption. The lower graph Ge shows the change in power consumption over time when the mounting work is performed based on a production program that optimizes the procedure while considering power consumption.

[0034] During the operating periods of graphs Gr and Ge, the component mounting machine 4 performs mounting work, and during the downtime, the component mounting machine 4 stops mounting work. During the operating periods, the component mounting machine 4 sequentially performs mounting work on n boards B1, B2, B3, ... Bn. The time allowed to complete the mounting work on n boards B1, B2, B3, ... Bn is the maximum production time T.

[0035] In graph Gr, the amount of power consumed by the component mounting machine 4 during the mounting process on one board B is the power consumption Wr, and in graph Ge, the amount of power consumed by the component mounting machine 4 during the mounting process on one board B is the power consumption We. Here, power consumption We is less than power consumption Wr. Also, in graphs Gr and Ge, the power consumption of the component mounting machine 4 during the idle period is the standby power Pw.

[0036] In graph Gr, the time required for the component mounting machine 4 to complete the mounting process on one board B (cycle time) is the work time tr. In graph Ge, the time required for the component mounting machine 4 to complete the mounting process on one board B (cycle time) is the work time te. Here, the work time te is longer than the work time tr.

[0037] In graph Gr, the power consumption of component mounting machine 4 during the operating period is n × Wr, and the power consumption of component mounting machine 4 during the idle period (= maximum production time T - operating period) is Pw × (Tn × tr). Therefore, the power consumption during the maximum production time T is n×Wr+Pw×(Tn×tr) …Formula 1 This is the result.

[0038] In graph Ge, the power consumption of component mounting machine 4 during the operating period is n × We, and the power consumption of component mounting machine 4 during the idle period (= maximum production time T - operating period) is Pw × (Tn × te). Therefore, the power consumption during the maximum production time T is n×We+Pw×(Tn×te) …Formula 2 This is the result.

[0039] For graph Ge to be more power-efficient than graph Gr, the power consumption in Equation 2 must be less than the power consumption in Equation 1. That is, n × Wr + Pw × (Tn × tr) > n × We + Pw × (Tn × te) This is the result. To summarize, (Wr-We)+Pw×(te-tr)>0 This is the result.

[0040] Therefore, the power saving evaluation value D is, D = (Wr - We) + Pw × (te - tr) ... Power saving evaluation formula This is how it is defined.

[0041] As shown in Figure 5, in production program optimization, the calculation unit 61 acquires a reference production program Pr (step S101). This reference production program Pr is created by optimizing the mounting work procedure without considering the power consumption of the component mounting machine 4. The reference production program Pr may be acquired by receiving it from an external server computer, or it may be acquired by the calculation unit 61 performing optimization.

[0042] In step S102, the calculation unit 61 extracts the motor M operations defined by the standard production program Pr and creates a list of motor M operations (Figure 8). Figure 8 is a schematic diagram showing an example of a motor operation list. The motor operation list Lm in Figure 8 includes serial numbers (No.) to identify multiple motor operations defined by the standard production program Pr. Here, a motor operation is an operation performed by motor M according to the speed profile F. In the motor operation list Lm, the motor performing the motor operation corresponding to the serial number, the distance traveled by the motor operation, the acceleration of the motor during acceleration period A1, the maximum speed Vx during constant speed period A2, the deceleration of the motor during deceleration period A3 (negative acceleration), the time required to complete the motor operation (estimated operation time), and the amount of power consumed by the execution of the motor operation (estimated power consumption) are associated with each other. Once the calculation unit 61 has created this motor operation list Lm, it saves it to the storage unit 62.

[0043] In step S103, the calculation unit 61 selects and registers target motor operations from among the multiple motor operations indicated by the motor operation list Lm, based on the estimated power consumption of each motor operation. For example, a motor operation that consumes an estimated power consumption greater than a predetermined threshold power consumption is selected as a target motor operation. Alternatively, a predetermined number of motor operations are selected as target motor operations in descending order of estimated power consumption. In this way, Nmx target motor operations are selected, where Nmx is an integer greater than or equal to 2.

[0044] In step S104, the count value Nm, which identifies the target motor operation, is reset to zero. In step S105, the count value Nm is incremented by 1. Then, in step S106, a power saving evaluation is performed for the target motor operation with the count value Nm.

[0045] As shown in Figure 6, in the power saving evaluation, Npx different speed profiles F are provisionally set for the motor M that performs the target motor operation (step S201). Here, Npx is a natural number greater than or equal to 2. These multiple speed profiles F have different combinations of the absolute value of acceleration during the acceleration period A1 and the constant speed period A2 and the maximum speed Vx. In particular, each speed profile F is set by performing at least one of the operations that reduces acceleration and the operation that reduces the maximum speed Vx on the speed profile F of the target motor operation shown in the standard production program Pr.

[0046] In step S202, the count value Np, which identifies multiple speed profiles F, is reset to zero, and in step S203, the count value Np is incremented by 1.

[0047] In step S204, the power consumption Wmr of motor M when motor M is operated at the speed profile F indicated by the standard production program Pr, and the power consumption Wme of motor M when motor M is operated at the speed profile F indicated by the count value Np are calculated. Then, the decrease in power consumption Wme relative to power consumption Wmr, ΔWm (= power consumption Wmr - power consumption Wme), is calculated.

[0048] In step S205, the operating time tmr required for motor M to complete the operation of speed profile F indicated by the standard production program Pr, and the operating time tme required for motor M to complete the operation of speed profile F indicated by the count value Np are calculated. Then, the increase in time tmt relative to time tmr, Δtm (= operating time tme - operating time tmr), is calculated.

[0049] In step S206, the power saving evaluation value D is calculated based on the decrease in motor power consumption ΔWm and the increase in motor operating time Δtm. Specifically, in the power saving evaluation formula that gives the power saving evaluation value D, the decrease ΔWm is substituted into (Wr-We) and the increase Δtm is substituted into (te-tr) to calculate the power saving evaluation value D.

[0050] In step S207, the calculation unit 61 determines whether the power saving evaluation value D is greater than a predetermined value. Here, the predetermined value is a value greater than zero. If the power saving evaluation value D is less than or equal to the predetermined value (if "NO" is the result in step S207), the process returns to step S203. If the power saving evaluation value D is greater than the predetermined value (if "YES" is the result in step S207), the process proceeds to step S208.

[0051] In step S208, the calculation unit 61 calculates the production time based on the increase in motor operating time Δtm. Specifically, the cycle time required for the component mounting machine 4 to perform mounting work on one board B is calculated in advance based on the standard production program Pr and stored in the storage unit 62. The calculation unit 61 then calculates the production time by adding the increase in motor operating time Δtm to the said cycle time and multiplying the result by the number of boards B n. In step S209, the calculation unit 61 determines whether the production time obtained in step S208 is less than the maximum production time T. If the production time is greater than or equal to the maximum production time (if "NO" is answered in step S209), the process returns to step S203. If the production time is less than the maximum production time (if "YES" is answered in step S209), the process proceeds to step S210. In step S210, the calculation unit 61 registers the speed profile F of the count value Np in the evaluation clear list.

[0052] In step S210, the calculation unit 61 determines whether the count value Np has reached the maximum value Npx. If the count value Np is less than the maximum value Npx (if "NO" is the result in step S211), the process returns to step S203. If the count value Np has reached the maximum value Npx (if "YES" is the result in step S211), the process proceeds to step S212. In step S212, among the speed profiles F in the evaluation clear list, the speed profile F with the maximum power saving evaluation value D is selected as the speed profile F that controls the operation of the target motor with a count value Nm. The power saving evaluation is then completed.

[0053] Figure 9 schematically illustrates the process performed in the power saving evaluation. As shown in Figure 9, in the power saving evaluation, a power saving evaluation value D is calculated for each of several speed profiles F, each having a different combination of the absolute value of acceleration during the acceleration period A1 and the constant speed period A2, and the maximum speed Vx. In this example, it is assumed that the absolute value of acceleration during the acceleration period A1 and the absolute value of deceleration (negative acceleration) during the constant speed period A2 are equal. In this power saving evaluation, among the multiple speed profiles F, speed profiles F that have a power saving evaluation value D greater than a predetermined value and do not exceed the maximum production time T are registered in the evaluation clear list (steps S207, S210). Then, from the evaluation clear list, the speed profile F with the maximum power saving evaluation value D is selected.

[0054] As shown in Figure 5, once the power saving evaluation (step S106) is completed, the calculation unit 61 determines whether the count value Nm, which identifies the target motor operation, has reached the maximum value Nmx (step S107). If the count value Nm is less than the maximum value Nmx (if "NO" is found in step S107), the process returns to step S105. Steps S105 to S106 are repeated until the count value Nm reaches the maximum value Nmx (until "YES" is found in step S107). In this way, a speed profile F for controlling each of the target motor operations selected in step S103 is determined.

[0055] If the count value Nm reaches the maximum value Nmx (if "YES" is answered in step S107), the process proceeds to step S108. In step S108, the calculation unit 61 sets the candidate production program Pc. Specifically, the candidate production program Pc is set by replacing the speed profile F of each of the multiple target motor operations included in the standard production program Pr with the speed profile F selected by the power saving evaluation.

[0056] In step S109, the calculation unit 61 estimates the production time when the component mounting machine 4 performs the mounting work according to the candidate production program Pc. Specifically, the cycle time required for the component mounting machine 4 to perform the mounting work on one board B is calculated according to the candidate production program Pc. Then, the production time is estimated by multiplying the cycle time by the number of boards n.

[0057] In step S110, the calculation unit 61 determines whether the production time is less than the maximum production time T. If the production time is greater than or equal to the maximum production time T (if the result in step S110 is "NO"), the process proceeds to step S111. In step S111, the calculation unit 61 identifies the target motor operation with the lowest power saving evaluation value D among the target motor operations included in the candidate production program Pc as the minimum target motor operation. The calculation unit 61 then changes the speed profile F of the minimum target motor operation to the speed profile F assigned to the minimum target motor operation in the standard production program Pr.

[0058] Thus, in step S111, the standard production program Pr is changed. Then, steps S109 to S110 are executed based on the changed standard production program Pr. Steps S111 and S109 are repeated until the production time is less than the maximum production time T (until "YES" is obtained in step S110).

[0059] Then, when the production time becomes less than the maximum production time T and the result in step S110 is determined to be "YES", the candidate production program Pc at that point is determined to be production program Pe. As a result, the component mounting machine 4 performs the mounting work based on production program Pe.

[0060] In the embodiment described above, a standard production program Pr (standard sequence) is acquired (step S101), and a provisional production program (provisional sequence) is set by changing the speed profile F from the standard production program Pr (step S201). Then, the reduction in power consumption of the component mounting machine 4 operating under the provisional production program, ΔWm (estimated power reduction), is estimated compared to the power consumption of the component mounting machine 4 operating under the standard production program Pr (step S204). Furthermore, the cycle time (estimated work time) required for the component mounting machine 4 to complete the mounting work according to the provisional production program is estimated (step S109). Then, based on the reduction in power consumption ΔWm and the cycle time, a production program Pe (execution sequence) for causing the component mounting machine 4 to perform the mounting work is determined (steps S106-S112). Therefore, the component mounting machine 4 will perform the mounting work according to the production program Pe determined not only based on the cycle time but also on the reduction in power consumption ΔWm. As a result, the production program that defines the operation for the component mounting machine 4 to perform the mounting work can be optimized, enabling effective power saving.

[0061] Furthermore, the calculation unit 61 determines a production program Pe (execution sequence) that includes a speed profile F in which a reduction amount ΔWm greater than zero is estimated (steps S106, S112). This determines the production program Pe such that it consumes less power compared to the reference production program Pr. Therefore, the amount of power consumed by the component mounting machine 4 to perform mounting work can be effectively suppressed.

[0062] Furthermore, the calculation unit 61 determines a production program Pe for which a cycle time of less than or equal to a predetermined time (the time obtained by dividing the maximum production time T by the number of boards B n) is estimated (steps S109 to S112). This enables the component mounting machine 4 to complete the mounting work within an appropriate time.

[0063] Furthermore, the motor M of the component mounting machine 4 operates according to a speed profile F. This speed profile F consists of an acceleration period A1 in which the speed of the motor M is accelerated from zero to maximum speed, a constant speed period A2 in which the speed of the motor M is maintained at maximum speed Vx, and a deceleration period A3 in which the speed of the motor M is reduced from maximum speed Vx to zero. In response to this, the calculation unit 61 creates a provisional production program from the standard production program Pr by reducing the absolute value of the acceleration of the motor M during each of the acceleration period A1 and deceleration period A3 (step S201). With this configuration, the amount of power consumed by the component mounting machine 4 to perform mounting work can be effectively suppressed by reducing the acceleration of the motor M, which has a strong correlation with the amount of power consumed.

[0064] Furthermore, the calculation unit 61 creates a provisional production program from the standard production program Pr by further reducing the maximum speed Vx (step S201). In this configuration, the maximum speed Vx of the motor M, which has a strong correlation with power consumption, can be reduced, thereby effectively suppressing the amount of power consumed by the component mounting machine 4 to perform the mounting work.

[0065] Furthermore, the calculation unit 61 sets up multiple provisional production programs with different combinations of the absolute value of the motor M's acceleration during acceleration period A1 and deceleration period A3, and the maximum speed Vx (step S201). Then, the calculation unit 61 executes a sequence determination process (steps S106 to S112) to determine one production program selected from the multiple provisional production programs as the production program Pe (execution sequence). In the sequence determination process, one production program is selected based on the results of estimating the reduction in power consumption ΔWm for each of the multiple provisional production programs (steps S201 to S212). With this configuration, the motor M can be operated with the production program Pe, which is appropriate for power saving, and the component mounting machine 4 can perform the mounting work. Therefore, the amount of power consumed by the component mounting machine 4 to perform the mounting work can be effectively suppressed.

[0066] Furthermore, the calculation unit 61 estimates the increase in time Δtm (estimated time increase) required for the component mounting machine 4 to perform mounting work according to a provisional production program, relative to the time required for the component mounting machine 4 to perform mounting work according to a standard production program Pr (step S205). Then, in the sequence determination process, the increase Δtm is estimated for each of the multiple provisional production programs. Then, based on the decrease ΔWm and the increase Δtm, one production program is selected from among the multiple provisional production programs (steps S201 to S212). With this configuration, an appropriate production program can be selected, taking into account the impact of the time increase due to a change in the production program.

[0067] Furthermore, in the sequence determination process, a provisional production program is selected (power saving evaluation value D) based on a comparison between the amount of power obtained by multiplying the standby power Pw consumed by the component mounting machine 4 during the stoppage of mounting work by the increase in the operating time of the motor M Δtm (estimated time increase), and the decrease in the power consumption of the motor M ΔWm. In this configuration, an appropriate production program can be selected by taking into account the amount of standby power consumed during the time increased due to the change in the production program.

[0068] Furthermore, the calculation unit 61 estimates the decrease ΔWm in power consumption ΔWm of the motor M operating according to the speed profile F indicated by the provisional production program, relative to the power consumption ΔWm of the motor M operating according to the speed profile F indicated by the standard production program Pr. It also estimates the increase Δtm in the operating time Δtm of the motor M operating according to the speed profile F indicated by the provisional production program, relative to the operating time of the motor M operating according to the speed profile F indicated by the standard production program Pr. In this configuration, the decrease in power and increase in time are determined based on the operation of the motor M, rather than based on the execution of the mounting work of the component mounting machine 4. Therefore, there is no need to perform simulations or the like on the component mounting machine 4, and the computational load required to determine these can be kept low.

[0069] As described above, in this embodiment, the component mounting machine 4 corresponds to an example of the "pick and place device" of the present invention, the computer 6 corresponds to an example of the "sequence optimization device" of the present invention, the standard production program Pr corresponds to an example of the "standard sequence" of the present invention, the calculation unit 61 corresponds to an example of the "standard sequence acquisition unit," "provisional sequence setting unit," "first estimation unit," "second estimation unit," and "sequence determination unit" of the present invention, the optimization program 7 corresponds to an example of the "sequence optimization program" of the present invention, and the storage unit 62 corresponds to an example of the "recording medium" of the present invention.

[0070] It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made to those described above without departing from the spirit of the invention. For example, considering standby power Pw, as shown in Figure 7, is not essential for optimizing the production program. Therefore, the production program may be optimized so that the power consumption We decreases relative to the power consumption Wr.

[0071] Furthermore, the production program may be optimized to take into account the amount of electricity consumed by equipment other than motors, such as lighting.

[0072] Furthermore, the specific configuration of the component mounting machine 4 is not limited to the example described above. [Explanation of Symbols]

[0073] 4…Component mounting machine 6… Computer 61...Arithmetic section 62...Storage section 7…Optimization Program Pr...Standard Production Program

Claims

1. A sequence optimization device that optimizes the sequence that defines the actions required for a pick-and-place device to perform a predetermined task, A reference sequence acquisition unit that acquires a reference sequence, A provisional sequence setting unit sets a provisional sequence that is different from the aforementioned reference sequence, A first estimation unit estimates an estimated power reduction amount, which represents the amount of reduction in power consumption of the pick-and-place device when it performs the predetermined work according to the provisional sequence, relative to the power consumption of the pick-and-place device when it performs the predetermined work according to the reference sequence. A second estimation unit estimates the estimated work time required for the pick-and-place device to complete the predetermined task according to the provisional sequence, A sequence determination unit determines an execution sequence for causing the pick-and-place device to perform the predetermined task based on the estimated power reduction and the estimated work time. A sequence optimization device equipped with the following features.

2. The sequence optimization device according to claim 1, wherein the sequence determination unit determines the provisional sequence in which the estimated power reduction amount greater than zero is estimated to be the execution sequence.

3. The sequence optimization device according to claim 2, wherein the sequence determination unit determines the provisional sequence, for which the estimated work time is less than or equal to a predetermined time, as the execution sequence.

4. The motor in the aforementioned pick-and-place device operates according to a speed profile. The speed profile indicates an acceleration period in which the motor speed is increased from zero to maximum speed, a constant speed period in which the motor speed is maintained at the maximum speed, and a deceleration period in which the motor speed is reduced from the maximum speed to zero. The sequence optimization device according to claim 1, wherein the provisional sequence setting unit creates the provisional sequence from the reference sequence by reducing the absolute value of the acceleration of the motor during the acceleration period and the deceleration period, respectively.

5. The sequence optimization device according to claim 4, wherein the provisional sequence setting unit creates the provisional sequence from the reference sequence by further reducing the maximum speed.

6. The provisional sequence setting unit sets a plurality of provisional sequences in which the absolute value of the motor's acceleration during the acceleration period and the deceleration period, and the maximum speed are different, The first estimation unit performs a sequence determination process to determine one provisional sequence selected from the plurality of provisional sequences as the execution sequence. The sequence optimization device according to claim 5, wherein in the sequence determination process, one provisional sequence is selected based on the result of estimating the estimated power reduction amount for each of the plurality of provisional sequences.

7. The first estimation unit estimates an estimated time increase amount, which represents the increase in the time required for the pick-and-place device to perform the predetermined task according to the provisional sequence, relative to the time required for the pick-and-place device to perform the predetermined task according to the reference sequence. The sequence optimization device according to claim 6, wherein the sequence determination process estimates the estimated time increase for each of the plurality of provisional sequences, and selects one provisional sequence from the plurality of provisional sequences based on the estimated power decrease and the estimated time increase.

8. The sequence optimization device according to claim 7, wherein in the sequence determination process, the device selects a provisional sequence based on a comparison between the amount of power obtained by multiplying the standby power consumed by the pick-and-place device during the suspension of the predetermined operation by the estimated time increase and the estimated power decrease.

9. The sequence optimization device according to claim 7 or 8, wherein the first estimation unit estimates the amount of decrease in the power consumption of the motor operating according to the speed profile indicated by the provisional sequence relative to the power consumption of the motor operating according to the speed profile indicated by the reference sequence as the estimated power decrease, and estimates the amount of increase in the operating time of the motor operating according to the speed profile indicated by the provisional sequence relative to the operating time of the motor operating according to the speed profile indicated by the reference sequence as the estimated time increase.

10. A sequence optimization method for optimizing the sequence that defines the actions to cause a pick-and-place device to perform a predetermined task, The process of obtaining a reference sequence, A step of setting a provisional sequence that is different from the aforementioned reference sequence, A step of estimating an estimated power reduction amount, which represents the amount of reduction in power consumption of the pick-and-place device when it performs the predetermined work according to the provisional sequence, relative to the power consumption of the pick-and-place device when it performs the predetermined work according to the standard sequence, A step of estimating the estimated work time required for the pick-and-place device to complete the predetermined task according to the provisional sequence, A step of determining an execution sequence for causing the pick-and-place device to perform the predetermined task based on the estimated power reduction and the estimated work time. A sequence optimization method comprising the following features.

11. A sequence optimization program that causes a computer to optimize the sequence of operations that define the actions required for a pick-and-place device to perform a predetermined task, The process of obtaining a reference sequence, A step of setting a provisional sequence that is different from the aforementioned reference sequence, A step of estimating an estimated power reduction amount, which represents the amount of reduction in power consumption of the pick-and-place device when it performs the predetermined work according to the provisional sequence, relative to the power consumption of the pick-and-place device when it performs the predetermined work according to the standard sequence, A step of estimating the estimated work time required for the pick-and-place device to complete the predetermined task according to the provisional sequence, A step of determining an execution sequence for causing the pick-and-place device to perform the predetermined task based on the estimated power reduction and the estimated work time. A sequence optimization program that causes a computer to execute a sequence.

12. A recording medium for recording the sequence optimization program described in claim 11 in a way that can be read by a computer.

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