Mounting assistance device and mounting assistance method

Abstract

This mounting assistance device is applied to a component mounting machine that executes a picking cycle for moving a mounting head to sequentially pick components accommodated in a plurality of cavities, and a mounting cycle for sequentially mounting a plurality of components onto a substrate. The mounting assistance device comprises: a route searching unit that searches for route patterns which are candidates for a movement path of the mounting head in the picking cycle, on the basis of accommodation information indicating the positions of a plurality of cavities which are among the plurality of cavities and which accommodate components capable of being picked; and a route setting unit that sets the sets, as the movement path, a route pattern selected on the basis of the movement distance of the mounting head calculated for each of the plurality of route patterns.

Description

Wearing assistance device and wearing assistance method

[0001] The present invention relates to a wearing assistance device and a wearing assistance method.

[0002] The mounting support device supports a mounting process by a component mounting machine using a bulk feeder. The bulk feeder is equipped to the component mounting machine that mounts components on a board and supplies the components in bulk (see Patent Document 1). During the mounting process, the component mounting machine performs a pickup cycle in which the mounting head moves to sequentially pick up components housed in multiple cavities, and a mounting cycle in which the multiple components are sequentially mounted on the board.

[0003] JP 2011-114084 A

[0004] In this case, the component mounting machine performs image processing to recognize the state of component supply by the bulk feeder during the mounting process, and controls the component suction operation using the suction nozzle based on the results of this image processing. It is desirable for component mounting machines to reduce the time required for the mounting process.

[0005] The present specification aims to provide a mounting assistance device and a mounting assistance method that support the mounting process by improving the efficiency of the picking cycle according to the supply status of components by a bulk feeder.

[0006] This specification discloses a mounting assistance device that is applicable to a component mounting machine that executes a collection cycle in which a mounting head is moved to sequentially pick up components housed in a plurality of cavities, and a mounting cycle in which the plurality of components are sequentially mounted on a board, and that includes a path search unit that searches for path patterns that are candidates for the movement path of the mounting head in the collection cycle based on housing information that indicates the positions of a plurality of cavities that house the components in a manner that allows them to be picked, and a path setting unit that sets the path pattern selected based on the movement distance of the mounting head calculated for each of the plurality of path patterns as the movement path.

[0007] This specification discloses a mounting assistance method that is applicable to a component mounting machine that executes a pickup cycle in which a mounting head is moved to sequentially pick up components housed in a plurality of cavities, and a mounting cycle in which the plurality of components are sequentially mounted on a board, and that includes a path search process that searches for path patterns that are candidates for the movement path of the mounting head in the pickup cycle, based on accommodation information that indicates the positions of a plurality of cavities that accommodate the components in a manner that allows them to be picked, and a path setting process that sets the path pattern selected based on the movement distance of the mounting head calculated for each of the plurality of path patterns as the movement path.

[0008] This specification also discloses the technical idea of ​​changing "the wearing assistance device according to claim 1 or 2" in claim 4 originally filed to "the wearing assistance device according to any one of claims 1 to 3," and the technical idea of ​​changing "the wearing assistance device according to claim 1 or 2" in claim 5 originally filed to "the wearing assistance device according to any one of claims 1 to 4." This specification also discloses the technical idea of ​​changing "the wearing assistance device according to claim 5" in claim 7 originally filed to "the wearing assistance device according to claim 5 or 6," and the technical idea of ​​changing "the wearing assistance device according to claim 1 or 2" in claim 8 originally filed to "the wearing assistance device according to any one of claims 1 to 7." This specification also discloses the technical idea of ​​changing "the wearing assistance device according to claim 1 or 2" in claim 9 as originally filed to "the wearing assistance device according to any one of claims 1 to 8", and the technical idea of ​​changing "the wearing assistance device according to claim 1 or 2" in claim 11 as originally filed to "the wearing assistance device according to any one of claims 1 to 10".

[0009] With this configuration, the movement distance of the mounting head in the collection cycle can be shortened, thereby improving the efficiency of the collection cycle and the mounting process.

[0010] FIG. 3 is a plan view schematically showing a component mounting machine. FIG. 4 is a side view schematically showing a part of a bulk feeder including a supply area. FIG. 5 is a plan view seen from direction III in FIG. 2. FIG. 6 is a block diagram showing a component mounting machine to which a mounting assistance device is applied. FIG. 7 is a flowchart showing a mounting process by the component mounting machine. FIG. 8 is a flowchart showing a supply state recognition process. FIG. 9 is a diagram showing image data of an image of a supply area. FIG. 10 is a diagram showing the results of the supply state recognition process. FIG. 11 is a flowchart showing a movement path setting process. FIG. 12 is a diagram showing a movement path before change and an initial solution. FIG. 13 is a diagram showing a movement path set based on a path pattern. FIG. 14 is a graph showing the respective movement distances of the movement path that is the initial solution, the set movement path, and the conditionally set movement path. FIG. 15 is a diagram showing groups divided according to the results of the supply state recognition process.

[0011] 1. Overview of the Placement Support Device 50 The placement support device 50 supports the placement process by the component placement machine 10 using the bulk feeder 30. In this embodiment, the placement support device 50 is incorporated into the control device 20 of the component placement machine 10. The placement support device 50 aims to improve the efficiency of the collection cycle in accordance with the supply status of components supplied by the bulk feeder 30.

[0012] The component mounting machine 10 described above performs a mounting process for mounting components on a board 91 as a predetermined substrate-related operation. The component mounting machine 10 is installed along with other substrate-related operation machines in the transport direction of the board 91 to form a production line. Each of the multiple substrate-related operation machines is communicably connected to a host computer 60 (see FIG. 4) that controls the production line as a whole. The production line includes, for example, multiple substrate-related operation machines, such as a printing machine, the component mounting machine 10, a reflow oven, and an inspection machine.

[0013] 1, the component mounting machine 10 includes a board transport device 11. The board transport device 11 sequentially transports the boards 91 in a transport direction and positions the boards 91 at predetermined positions within the machine.

[0014] 2-2. Component Supply Device 12 The component mounting machine 10 is equipped with a component supply device 12. The component supply device 12 supplies components to be mounted on the board 91. The component supply device 12 has feeders 122 set in multiple slots 121. For example, a tape feeder that feeds and moves a carrier tape containing a large number of components to supply the components so that they can be picked is used as the feeder 122. Furthermore, a bulk feeder 30 that supplies components stored in a bulk state so that they can be picked is used as the feeder 122. Details of the bulk feeder 30 will be described later.

[0015] 2-3. Component Transfer Device 13 The component mounting machine 10 is equipped with a component transfer device 13. The component transfer device 13 transfers components supplied by the component supply device 12 to predetermined mounting positions on the board 91. The component transfer device 13 is equipped with a head drive device 131, a movable table 132, a mounting head 133, and a suction nozzle 134. The head drive device 131 moves the movable table 132 in horizontal directions (X and Y directions) using a linear motion mechanism. The mounting head 133 is detachably fixed to the movable table 132 by a clamp member (not shown) and is provided so as to be movable horizontally within the machine.

[0016] The mounting head 133 supports a plurality of suction nozzles 134 that are rotatable and movable up and down. The suction nozzles 134 are holding members that pick up and hold components supplied by the feeder 122. The suction nozzles 134 use supplied negative pressure air to pick up the components supplied by the feeder 122. A chuck or the like that grips and holds components can be used as the holding member attached to the mounting head 133.

[0017] 2-4. Component camera 14, board camera 15 The component mounting machine 10 is equipped with a component camera 14 and a board camera 15. The component camera 14 and the board camera 15 are digital imaging devices having imaging elements such as CMOS. The component camera 14 and the board camera 15 capture images based on control signals and send image data acquired by the images. The component camera 14 is configured to be able to capture images of the components held by the suction nozzle 134 from below. The board camera 15 is mounted on a moving stage 132 so as to be movable horizontally integrally with the mounting head 133. The board camera 15 is configured to be able to capture images of the board 91 from above.

[0018] Furthermore, in addition to capturing an image of the surface of the circuit board 91, the board camera 15 can also capture an image of various devices within the movable range of the movable stage 132. For example, in this embodiment, as shown in Fig. 3, the board camera 15 can capture an image of the supply area As to which the bulk feeder 30 supplies components and the reference mark 49 provided on the upper part of the bulk feeder 30 within the camera's field of view. In this way, the board camera 15 can be used to capture images of different objects in order to obtain image data to be used for various image processing.

[0019] 2-5. Control Device 20 The component mounting machine 10 is equipped with a control device 20. The control device 20 is mainly composed of a CPU, various memories, and control circuits. As shown in FIG. 4, the control device 20 is equipped with a storage unit 21. The storage unit 21 is composed of a storage device such as a hard disk drive or flash memory. The storage unit 21 of the control device 20 stores various data used to control the mounting process, such as a control program M1, component data M2, cavity information M3, and accommodation information M4.

[0020] The control program M1 indicates the placement positions, placement angles, and component types of components to be placed on the board 91 in the planned placement order during the placement process. The placement process includes a process of repeating a PP cycle (pick-and-place cycle), which includes a pickup cycle and a placement cycle, multiple times. The "pick-up cycle" refers to a process of repeating a pickup operation, in which components supplied by the component supply device 12 are picked up by the suction nozzle 134, multiple times.

[0021] Here, the components to be picked during the picking cycle may be supplied by the bulk feeder 30. If the supply area As of the bulk feeder 30 is formed with cavities 45 (see FIG. 3) that individually accommodate components, the picking cycle involves moving the mounting head 133 to sequentially pick up the components accommodated in the multiple cavities 45.

[0022] The above-mentioned "mounting cycle" refers to the process of sequentially mounting picked components onto the board 91, and more specifically, to the process of repeating a mounting operation multiple times to mount components at a predetermined mounting position on the board 91 at a predetermined mounting angle. In this way, the control program M1 has preset therein the execution order of a PP cycle, which is made up of multiple picking operations and mounting operations grouped together, taking into consideration the number of suction nozzles 134 supported by the mounting head 133, the movement distance of the mounting head 133, etc.

[0023] The part data M2 includes shape data for each type of part. The "shape data" includes at least one of the outer edge shape of the part, the shape of the feature part of the part, and the dimensions of the part. The "outer edge shape" of a part corresponds to the shape of the outer edge when the inside of the part and the background are separated using the outer edge as a boundary.

[0024] The "shape of the characteristic part" of a part corresponds to the boundary shape of the characteristic part on the exterior due to the part's shape, pattern, color, etc. The characteristic part of a part may be a corner, bump, terminal, lead, etc. of the part. In addition to the shape data, the part data M2 may also include, for example, the maximum allowable movement speed (acceleration) for each part, the pick-up position (for example, the position where the part comes into contact with the suction nozzle 134), etc.

[0025] The cavity information M3 is information about the cavities 45 formed in the supply area As of the bulk feeder 30, associated with the identification information (ID) of the bulk feeder 30. The cavity information M3 may include the shape (including the length of each side and depth), position, orientation, and type of corresponding part of the cavity 45 in the supply area As. The accommodation information M4 is information that indicates the positions of the multiple cavities 45 that accommodate parts so that they can be picked. Details of the accommodation information M4 will be described later.

[0026] The control device 20 executes a process for recognizing the holding state of the components held by each of the multiple holding members (suction nozzles 134). Specifically, the control device 20 processes image data acquired by imaging with the component camera 14, and recognizes the position and angle of each component relative to the reference position of the mounting head 133. Note that in addition to the component camera 14, the control device 20 may also process image data acquired by, for example, a head camera unit integrally provided on the mounting head 133 capturing an image of the component from the side, below, or above.

[0027] In the mounting process, the control device 20 controls the mounting operation by the mounting head 133 so that the component is mounted on the board 91 in a predetermined orientation. At this time, the control device 20 controls the mounting operation based on the recognized holding state of the component. In other words, the control device 20 corrects the position of the mounting head 133 and the angle of the suction nozzle 134 about the Q axis so as to correct any positional and angular deviations of the component held by the suction nozzle 134 relative to the Q axis (the axis of rotation of the suction nozzle 134). As a result, the component held by the suction nozzle 134 is mounted at a predetermined mounting position and angle instructed by the control program M1.

[0028] 3. Configuration of Bulk Feeder 30 Bulk feeder 30 is set in component mounting machine 10 and functions as part of component supply device 12. Bulk feeder 30 supplies components housed in component cases in a bulk state (loose, with each component in an irregular position) that is not packaged like a carrier tape. Therefore, unlike tape feeders, bulk feeder 30 does not use carrier tape, which has the advantage of eliminating the need to load carrier tape and collect used tape.

[0029] Some bulk feeders 30 supply components in irregular positions to the planar supply area As. However, if the components are so close together in the supply area As that they touch each other, or if they are piled up (overlapping vertically), or if the components are positioned horizontally so that their widths are vertical, the component mounting machine 10 cannot pick these components. Therefore, to increase the percentage of components that can be picked, some bulk feeders 30 supply components in an aligned state in the supply area As. In this embodiment, a bulk feeder 30 that aligns components will be described as an example.

[0030] The bulk feeder 30 has a track unit 40 attached to a flat, box-shaped feeder body 31 so that the track unit 40 can vibrate and be detachably attached to the feeder body 31. A connector 311 and two positioning pins 312 are provided at the front (right end in FIG. 2 ) of the feeder body 31. When the feeder body 31 is set in the slot 121 of the component supply device 12, it is supplied with power via the connector 311 and is capable of communicating with the control device 20 of the component mounting machine 10.

[0031] The track unit 40 is vibrated by the vibration device 35. The track unit 40 is formed with a transport path R along which a plurality of parts are transported, and a supply area As that is connected to the transport path R and opens upward so that a plurality of parts can be picked up. The track unit 40 is formed to extend in the front-to-rear direction (left-to-right direction in FIG. 3 ) of the feeder body 31. A pair of side walls 46 that protrude upward are formed on both edges of the track unit 40 in the width direction (up-down direction in FIG. 3 ). The pair of side walls 46, together with a tip end 47 of the track unit 40, surround the periphery of the transport path R and are wall members that prevent parts transported on the transport path R from leaking out.

[0032] As shown in FIG. 3 , multiple cavities 45 are formed in the supply area As of the track unit 40. Each of the multiple cavities 45 opens upward and accommodates components with their thickness direction aligned vertically. In this embodiment, the multiple cavities 45 are arranged in a staggered pattern. Here, the "supply area As" of the track unit 40 refers to an area where components are supplied in bulk and where components can be picked up by suction nozzles 134 supported by the mounting head 133. The "transport path R" of the track unit 40 refers to a path along which components circulated from the component case to the track unit 40 are transported to the supply area As.

[0033] The vibration device 35 also applies vibration to the track unit 40 so that the multiple parts are transported along the transport path R. When the track unit 40 vibrates, a forward and upward external force or a backward and upward external force is applied to the parts. As a result, the multiple parts are transported to the front or rear of the track unit 40. The bulk feeder 30 controls the operation of the vibration device 35 using the feeder control device 36 to transport the parts and supply them to the supply area As. When the parts are stored in the multiple cavities 45 through the supply operation, the suction nozzle 134 is ready to pick up the parts.

[0034] A shutter 48 capable of closing the opening of the supply area As is provided on the upper part of the track unit 40. When the track unit 40 is attached to the feeder body 31, the shutter 48 is in a state where its opening and closing operation is controlled by a shutter drive device (not shown). By opening and closing the shutter 48, the bulk feeder 30 can prevent parts from flying out and foreign objects from entering the supply area As.

[0035] 4. Mounting Process by Component Mounting Machine 10 The mounting process by the component mounting machine 10 will be described with reference to Fig. 5. Here, it is assumed that the bulk feeder 30 is set in the component supply device 12. In the mounting process, first, the board transport device 11 of the component mounting machine 10 executes a board 91 loading process (S11), as shown in Fig. 5. As a result, the board 91 is loaded into the machine and positioned at a predetermined position within the machine.

[0036] In parallel with the mounting process, the bulk feeder 30 executes a component supply operation at a predetermined timing. After the component supply operation is executed, a process is executed to recognize the component supply status in the supply area As. The supply status recognition process will be described in detail later.

[0037] Next, the control device 20 executes a PP cycle. In the PP cycle, the control device 20 executes a pickup cycle in which the pickup operation of picking up components using the multiple suction nozzles 134 is repeated (S12). At this time, the control device 20 controls the operation of the mounting head 133 in the pickup operation so that the mounting head 133 is sequentially positioned according to the positions of the components that can be picked up.

[0038] Furthermore, when the bulk feeder 30 is supplying the component to be picked, the control device 20 positions the suction nozzle 134 by appropriately switching between the coordinate values ​​of the center of the cavity 45 and the coordinate values ​​of the reference position of the component as the position of the component that can be picked. The movement path of the mounting head 133 in the picking cycle (S12) is set by the mounting support device 50. The process of setting the movement path will be described in detail later.

[0039] Next, the control device 20 executes a process for recognizing the holding state of the components held by each of the plurality of suction nozzles 134 (S13). Specifically, the control device 20 moves the mounting head 133 above the component camera 14 and sends an image capture command to the component camera 14. The control device 20 processes the image data acquired by the component camera 14, and recognizes the orientation (position and angle) of the components held by each of the plurality of suction nozzles 134.

[0040] Thereafter, the control device 20 executes a mounting cycle (S14) in which the mounting operation of mounting components using the plurality of suction nozzles 134 is repeated. In the mounting operation of this mounting cycle (S14), the control device 20 controls the operation of the mounting head 133 so that each component is mounted at a mounting position specified by the control program. Furthermore, the control device 20 controls the operation of the mounting head 133 so that the suction nozzles 134 are positioned and angled relative to the mounting positions based on the results of the recognition process (S13).

[0041] The control device 20 determines whether all PP cycles have been completed based on the control program (S15). If all PP cycles have not been completed (S15: No), the control device 20 executes the PP cycles (S12-S14). If all PP cycles have been completed (S15: Yes), the control device 20 executes the unloading process of the board 91 (S16). In the unloading process of the board 91, the board transport device 11 unclamps the positioned board 91 and unloads the board 91 from the component mounting machine 10.

[0042] 5. Configuration of the Mounting Assist Device 50 The configuration of the mounting assist device 50 will be described with reference to Figures 4 and 6-11. The mounting assist device 50 assists the picking cycle executed by the control device 20 of the component mounting machine 10 in the mounting process. In a picking cycle that includes components supplied by the bulk feeder 30 as picking targets, image processing is first performed to recognize the supply status of components by the bulk feeder 30, and the component picking operation using the suction nozzle 134 is controlled based on the results of that image processing.

[0043] Here, when the process of supplying components to the supply area As of the bulk feeder 30 is performed, it is not guaranteed that all cavities 45 will contain components that can be picked up. Therefore, in the above-described supply status recognition process, the cavities 45 that contain components that can be picked up are recognized, and the movement path of the mounting head 133 is set so that the suction nozzle 134 is positioned sequentially with respect to those cavities 45.

[0044] In this embodiment, the multiple cavities 45 are arranged in a cavity row, each row consisting of multiple cavities 45 arranged along a first direction (the X direction in this embodiment), aligned in a second direction (the Y direction in this embodiment) intersecting the X direction. Therefore, the movement path described above is set such that the starting position for the picking operation is a cavity 45 located at one end of the cavity row closest to the substrate 91 in the X direction, which first accommodates a pickable component, moving toward the other end in the X direction. A meandering movement path can then be set, moving from the cavity 45 at the starting position to the other end in the X direction, then moving to the adjacent cavity row in the Y direction, and then moving toward the one end in the X direction (see FIG. 9A ).

[0045] The above-described movement path can be said to be efficient when the plurality of cavities 45 housing pickable components are evenly distributed. However, in reality, the plurality of cavities 45 housing pickable components in the supply area As may be unevenly distributed, and a movement path that is more efficient than the above-described movement path setting method may exist. Therefore, the placement assistance device 50 employs a configuration that supports the placement process by improving the efficiency of the picking cycle according to the component supply status by the bulk feeder 30.

[0046] In this embodiment, as shown in Fig. 4, the mounting assistance device 50 includes a state recognition unit 51, a path search unit 52, and a path setting unit 53. The state recognition unit 51 executes the supply state recognition process (S20) shown in Fig. 6. The path search unit 52 and the path setting unit 53 execute the movement path setting process (S30) shown in Fig. 8. The control device 20 controls the operation of the mounting head 133 in the collection cycle according to the movement path set by the setting process.

[0047] 5-1. Status Recognition Unit 51 The status recognition unit 51 processes image data D1 (see FIG. 7A) acquired by capturing an image of the supply area As of the components 92 in the bulk feeder 30, which has multiple cavities 45 formed therein, to recognize the supply status of the components 92 in the supply area As and generate storage information M4. The supply status of the components 92 includes a determination result as to whether the components 92 supplied to the supply area As of the bulk feeder 30 are suitable for the component mounting machine 10 to pick up the components 92.

[0048] 6, the state recognition unit 51 acquires image data D1 by capturing an image with a camera (in this embodiment, the board camera 15) (S21). In the supply area As, there are many bulk components 92, and some of them may be housed in the cavity 45 in a normal position, some may be outside the cavity 45, some may be in contact with or piled up with each other, and some may be lying down.

[0049] Next, the state recognition unit 51 performs image processing on the image data D1 to recognize the components 92 in the image data D1 (S22). More specifically, the state recognition unit 51 recognizes the components 92 included in the image data D1, for example, by blob analysis. The state recognition unit 51 binarizes the image data D1 using a predetermined threshold value to generate blobs. The state recognition unit 51 recognizes the components 92 based on the size and shape of the generated blobs and the component data M2.

[0050] Next, the state recognition unit 51 executes a process to determine whether the recognized component 92 can be picked (S23). In other words, this determination process determines whether the recognized component 92 is suitable for picking by the component mounting machine 10. That is, if a component 92 is present in the supply area As but is not accommodated in the cavity 45 or is in contact with another component 92, it is determined to be unpickable (unsuitable for picking).

[0051] The status recognition unit 51 records the recognition result of the supply status as accommodation information M4 (S24). In this embodiment, the status recognition unit 51 determines the status of each of the multiple cavities 45. As a result, the multiple cavities 45 are classified into accommodation cavities that can accommodate components 92 so that they can be picked (shown with diagonal lines in FIG. 7B as "OK"), NG cavities that cannot be picked even though components 92 are present around them (shown with diagonal X marks in FIG. 7B as "NG"), and empty cavities that do not have components 92 present around them (shown with dashed lines in FIG. 7B as "EMP"). The status recognition unit 51 calculates the number (V1, V2, V3) of each status (OK, NG, EMP) of the multiple cavities 45.

[0052] This accommodation information M4 indicates the positions of the multiple cavities 45 that accommodate components that can be picked. Furthermore, if there is a component suitable for picking during the supply status recognition process, the status recognition unit 51 recognizes the position and angle of that component. Thus, in addition to the status (OK, NG, EMP) of each cavity 45, the accommodation information M4 records the position (e.g., the center coordinates of the component) and angle (e.g., the tilt angle of the cavity 45 relative to a reference angle) of the component that can be picked in the cavity 45.

[0053] The supply status recognition process (S20) is executed after the bulk feeder 30 has supplied the components 92. The status recognition unit 51 can generate the storage information M4 by executing the recognition process, for example, in parallel with the board loading process (S11) or the PP cycle. When the components 92 are picked up from the bulk feeder 30, the storage information M4 is updated in accordance with the picking operation, and is discarded when the bulk feeder 30 has supplied the components 92.

[0054] 5-2. Path Search Unit 52 The path search unit 52 searches for path patterns that are candidates for the movement path of the mounting head 133 in the pickup cycle, based on the accommodation information M4. Here, the "movement path" refers to the path along which the mounting head 133 moves in the XY direction to pick up components 92 from multiple cavities 45 in the pickup cycle of the PP cycle, and indicates the positions and order of the multiple cavities 45 in which the mounting head 133 is positioned.

[0055] 9A and 9B , the mounting head 133 moves along the movement path Nr to a predetermined cavity 45. In particular, when performing the picking operation, the control device 20 adjusts the position of the mounting head 133 and the angle of the suction nozzle 134 in consideration of the position and angle of the component 92 accommodated in the cavity 45.

[0056] The "route pattern" refers to a candidate for the movement route Nr that is searched for before the final movement route Nr is set, and is searched for, for example, by swapping the start point or end point of a route having two cavities 45 as the start point and end point with another route in a predetermined route pattern. The route search unit 52 searches for a route pattern based on predetermined conditions from the perspective of improving the efficiency of the collection cycle.

[0057] 5-3. Path setting unit 53 The path setting unit 53 sets, as the movement path Nr, a path pattern selected based on the movement distance Lm of the mounting head 133 calculated for each of the multiple path patterns. Specifically, the path setting unit 53 calculates the total length of each route included in the path pattern as the movement distance Lm of the mounting head 133.

[0058] The movement distance Lm roughly corresponds to the movement distance of the mounting head 133 moving along the movement path Nr set in the path pattern, and correlates with the required time for the collection cycle. In other words, the evaluation by the path setting unit 53 using the movement distance Lm for each path pattern is synonymous with the evaluation using the required time for the collection cycle calculated for each path pattern.

[0059] 6. Support for Placement Process by Placement Support Device 50 (Placement Support Method) 6-1. Movement Path Setting Process The movement path setting process (S30) by the placement support device 50 will be described. Here, the movement path setting process (S30) is executed after the bulk feeder 30 executes the supply operation of components 92 and the supply status recognition process (S20) is completed. For example, if the bulk feeder 30 executes the supply operation after the collection cycle of the first PP cycle is completed, the supply area As of the bulk feeder 30 is imaged and image data D1 is acquired after the placement cycle of the first PP cycle is completed.

[0060] Using the image data D1, a supply status recognition process (S20) is executed, followed by a movement path setting process (S30). At this time, the mounting head 133 can execute the above processes (S20, S30) in parallel with the above processes for picking components 92 supplied by the feeder 122 during the picking cycle of the second PP cycle, which does not require the result of the movement path setting process (S30).

[0061] In the process of setting the movement path (S30), the path search unit 52 first acquires various information (S31). The various information may include, in addition to accommodation information M4 indicating the positions of multiple cavities 45 that accommodate components 92 so that they can be picked, a control program M1, component data M2, cavity information M3, and conditions and parameters used to set the movement path.

[0062] Next, the path search unit 52 determines a first cavity (S32, determination step). Here, the "first cavity" refers to the cavity 45 from which the mounting head 133 first picks a component 92 in the path pattern Hr, among the multiple cavities 45 that accommodate pickable components 92. In other words, it is the position that serves as the starting point of all path patterns Hr. The path search unit 52 may set the first cavity Cf based on the position of the mounting head 133 when the picking cycle begins.

[0063] Specifically, the first cavity Cf is determined to be the cavity that includes at least one of the plurality of cavity rows and is closest to the current position of the mounting head 133 in the cavity row closest to the substrate 91. Once the path search unit 52 has determined the first cavity Cf, the mounting head 133 can start moving toward the first cavity Cf. This allows the mounting head 133 to move without waiting for the movement path setting process (S30) to finish, thereby preventing waiting time.

[0064] In this embodiment, the path search unit 52 and the path setting unit 53 search for the path pattern Hr and set the movement path Nr using an algorithm applied to solving the traveling salesman problem. That is, the path search unit 52 and the path setting unit 53 define a plurality of cavities 45 that store components 92 so that they can be picked as nodes, define a combination of routes that visit these nodes once each as one path pattern Hr, and evaluate the total length of the route as the movement distance of the mounting head 133 in the path pattern Hr.

[0065] Known algorithms that can be used to solve the traveling salesman problem include the neural network (NN) method and the 2-opt method. The algorithm to be applied can be set arbitrarily. For example, if an algorithm that is likely to experimentally obtain an optimal solution is determined in advance based on the supply status of the components 92 (the proportion of the receiving cavities, the degree of bias in the receiving cavities), the algorithm to be applied may be switched depending on the recognized supply status.

[0066] When searching for a path pattern Hr using the above-described algorithm, if the first cavity Cf has been determined, the path search unit 52 uses the first cavity Cf as a reference. Then, the path search unit 52 sets an initial solution for the algorithm (S33). Specifically, the path search unit 52 provides the algorithm with a preliminary path Ni formed by connecting the ends of paths (paths in the X direction) along adjacent cavity rows with a path along the Y direction as an initial solution. As shown in FIG. 9A , this preliminary path Ni, which is the initial solution, corresponds to a movement path before the mounting assistance device 50 improves efficiency.

[0067] The path search unit 52 searches for a path pattern Hr obtained by changing the route from the initial solution, using the first cavity Cf as a reference (fixed starting point) (S34, path search step). At this time, if the mounting head 133 has started moving toward the first cavity Cf, the path search unit 52 executes the search step (S34) while the mounting head 133 is moving. Then, when the path search unit 52 generates the path pattern Hr as a search result, the path search unit 52 executes a movement path setting process (S35, path setting step).

[0068] 10, the path setting unit 53 compares the travel distance Lm (total length of the route) of the mounting head 133 on the preliminary path Ni, which is the initial solution, with the travel distance Lm of the mounting head 133 on the searched path pattern Hr, and if a difference Fd1 exists and the travel distance Lm is shorter, sets this path pattern Hr as the temporary travel path Nr. Each time the travel distance Lm of the mounting head 133 on the next generated path pattern Hr becomes shorter, the path setting unit 53 updates the travel path Nr by overwriting it.

[0069] If the search for the path pattern has not been completed (S36: No), the above processing (S34-S35) is repeated. If the search for the path pattern has been completed (S36: Yes), the finally set movement path Nr is applied to the movement of the mounting head 133 in the collection cycle. Note that the end of the search for the path pattern may occur when all path patterns (excluding obviously redundant patterns) have been searched for by the algorithm, or may occur when the search is terminated due to the progress of the collection cycle.

[0070] Specifically, first, by the above processing (S34-S35), a movement path Nr such as that shown in FIG. 9B is set by the above algorithm for the movement path Nr ( FIG. 9A ) for which the preliminary path Ni is set as the initial solution. Then, if a collection cycle is being executed in parallel with the movement path setting processing (S30), the mounting head 133 moves along the provisionally set movement path Nr. Then, during the execution of the collection cycle, the path search unit 52 continues to search for a path pattern Hr (S34), and the path setting unit 53 continues to set a movement path Nr (S35), targeting the portion of the movement path Nr that the mounting head 133 has not yet reached.

[0071] In this way, the control device 20 of the component mounting machine 10 moves the mounting head 133 along the movement path Nr that is currently determined to be the best by the mounting assist device 50, and if a more efficient movement path Nr is set for the untraveled portion of the mounting head 133 by the end of the collection cycle, the control device 20 moves the mounting head 133 along that movement path Nr. When the collection cycle ends, there are no untraveled portions of the movement path Nr, and the search for the path pattern ends.

[0072] According to the above-described configuration of the mounting assistance device 50, the movement distance Lm of the mounting head 133 in the collection cycle can be shortened, thereby improving the efficiency of the collection cycle and the mounting process. Here, a configuration for further optimizing the movement path Nr set as described above and improving the efficiency of the setting process will be described.

[0073] 6-2. Optimization of Movement Route In the route pattern search step (S34), the route search unit 52 may search for a route pattern Hr based on the storage information M4 and the required number Ra of parts 92 to be collected in the scheduled collection cycle. In other words, if the number V1 of cavities 45 (storage cavities) that can store the parts 92 so that they can be collected (hereinafter referred to as the collectable number Vc) is greater than the required number Ra in the scheduled collection cycle (the collection cycle including the uncompleted portion if the collection cycle is being executed in parallel), the route search unit 52 imposes a condition that the required number Ra is the number of nodes in the traveling salesman problem.

[0074] With this configuration, a travel path Nr for collecting the required number Ra in the most recent collection cycle is set, which makes it possible to improve the efficiency of the process for setting the travel path Nr, and also improves the search speed as the number of nodes decreases, thereby optimizing the travel path Nr. Note that if the collectable number Vc is greater than the sum of the required numbers Ra1 and Ra2 of parts 92 to be collected in collection cycles scheduled to be executed in consecutive PP cycles, the path search unit 52 may add a condition to the algorithm that the required numbers Ra1 and Ra2 are the number of nodes.

[0075] Here, in the initial efficiency solution, as shown in the middle of Figure 10, the movement path Nr is set so that the route length between nodes between consecutive PP cycles (the length of the blocks indicated by X marks connecting diagonal lines in Figure 10) is also as short as possible. However, because the mounting head 133 actually moves toward the substrate 91, shortening the route length between nodes between consecutive PP cycles does not contribute to overall efficiency. Therefore, by adding a condition that takes into account the required number Ra as described above, the route length between consecutive PP cycles is allowed to be longer, and the movement path Nr is set with priority given to shortening the movement distance Lm of the mounting head 133 during the collection cycle.

[0076] 10, in the conditional efficiency improvement solution, the overall travel distance Lm is longer by the difference Fd2 compared to the initial efficiency improvement solution, but the travel distance Lm of the mounting head 133 in the collection cycle is shorter by the difference FdV, making it more effective. In this way, by applying various conditions to the path pattern search step (S34) according to the supply status and mounting process of the components 92, it may be possible to set a path Nr that is more suited to the current situation.

[0077] For example, the path search unit 52 may impose conditions assuming that the storage cavities may be unevenly distributed in the supply area As of the bulk feeder 30. Specifically, the path search unit 52 first divides the multiple cavities 45 (storage cavities) that store the components 92 indicated in the storage information M4 in a pickable manner into multiple groups Gr (Gr1, Gr2) based on the degree of distribution of the multiple cavities 45, as shown in Fig. 11. Note that one possible method for setting the groups Gr is to search for a closed area that includes a predetermined allowable number of defective cavities and empty cavities, based on a region where a predetermined number of storage cavities are consecutive in at least one of the X and Y directions.

[0078] Next, the path search unit 52 searches for a path pattern Hr based on the number of cavities 45 (number of containing cavities) included in each of the multiple groups Gr (Gr1, Gr2) and the required number Ra (Ra1, Ra2) of parts 92 to be picked in the planned picking cycle. With this configuration, a path pattern is searched for within a group Gr that can secure the required number Ra, which makes it possible to improve the efficiency of the process for setting the movement path Nr, improves the search speed as the number of nodes decreases, and is expected to optimize the movement path Nr.

[0079] Note that, for example, when the available number of collections Vc is greater than the required number Ra (Ra1, Ra2) of collection cycles of consecutive PP cycles to be executed, the path search unit 52 may apply a path pattern search method that does not use the group Gr in the process of setting the movement path Nr for the most recent PP cycle. This allows the movement of the mounting head 133 in the collection cycle executed in parallel with the process of setting the movement path to be prioritized.

[0080] Then, in the process of setting the movement path Nr for the next PP cycle, the method of searching for a path pattern using the group Gr as a condition may be switched to apply. In this way, by appropriately switching the algorithm and conditions in consideration of the progress of the mounting process, the supply state in the supply area As, and the execution schedule of the supply operation of the components 92 by the bulk feeder 30, it is possible to expect the efficiency of the process of setting the movement path Nr and the optimization of the movement path Nr.

[0081] 7. Modifications of the Embodiment In the embodiment, the placement assist device 50 is configured to be incorporated into the control device 20 of the component placement machine 10. However, part or all of the placement assist device 50 may be incorporated into the host computer 60 or other external device. For example, the placement assist device 50 may be incorporated into the host computer 60 or may be a dedicated device installed on the production line Ln.

[0082] 10: Component mounting machine, 12: Component supply device, 13: Component transfer device, 131: Head drive device, 132: Moving table, 133: Mounting head, 134: Suction nozzle, 14: Component camera, 15: Board camera, 20: Control device, 21: Memory unit, 30: Bulk feeder, 31: Feeder body, 40: Track unit, 45: Cavity, 50: Mounting support device, 51: Status recognition unit, 52: Path search unit, 53: Path setting unit, 60: Host computer, 91: Board, 92: Component, As: Supply area, R: Conveying path, M1: Control program, M2: Component data, M3: Cavity information, M4: Storage information, D1: Image data, Nr: Movement path, Ni: Preliminary path (initial solution), Hr: Path pattern, Cf: first cavity; Ra, Ra1, Ra2: required number; Lm: moving distance; V1, Vc: number that can be collected; Gr, Gr1, Gr2: group

Claims

1. A mounting assistance device applicable to a component mounting machine which executes a picking cycle in which a mounting head is moved to pick up components housed in a plurality of cavities in sequence, and a mounting cycle in which the plurality of components are mounted on a board in sequence, comprising: a path search unit which searches for path patterns which are candidates for the movement path of the mounting head in the picking cycle, based on accommodation information which indicates the positions of a plurality of the cavities which accommodate the components in a manner that allows them to be picked; and a path setting unit which sets the path pattern selected based on the movement distance of the mounting head calculated for each of the plurality of path patterns as the movement path.

2. The mounting assistance device according to claim 1, wherein the path search unit searches for the path pattern based on the accommodation information and the required number of the parts to be picked in the picking cycle to be executed.

3. The mounting assistance device of claim 1 or 2, wherein the component mounting machine executes a PP cycle including the picking cycle and the mounting cycle a plurality of times, and the path search unit searches for the path pattern based on the storage information and each of the required numbers of the components to be picked up by the picking cycles scheduled to be executed in successive PP cycles.

4. The mounting assistance device of claim 1 or 2, wherein the path search unit divides the cavities into a plurality of groups based on the degree of bias of the cavities that accommodate the parts indicated in the accommodation information so that they can be picked, and searches for the path pattern based on the number of cavities included in each of the plurality of groups and the required number of parts to be picked in the planned picking cycle.

5. The mounting assistance device of claim 1 or 2, wherein the path search unit executes a determination process for determining a first cavity from among the plurality of cavities that accommodate the component in a pickable manner in the path pattern from which the mounting head will first pick up the component, and a search process for searching the path pattern based on the first cavity.

6. The mounting assistance device of claim 5, wherein the path search unit sets the first cavity based on the position of the mounting head when the collection cycle is started.

7. The mounting assistance device according to claim 5, wherein the path search unit executes the search step during a period in which the mounting head moves to the first cavity determined in the determination step.

8. A mounting assistance device as described in claim 1 or 2, wherein during a period in which the mounting head moves along the set movement path, the path search unit continues to search for the path pattern and the path setting unit continues to set the movement path, targeting portions of the movement path that the mounting head has not yet reached.

9. The wearing assistance device according to claim 1 or 2, wherein the route search section and the route setting section search for the route pattern and set the movement route using an algorithm applied to solving the traveling salesman problem.

10. The mounting assistance device described in claim 9, wherein the cavities are arranged in a cavity row consisting of a plurality of cavities arranged along a first direction, arranged in a second direction intersecting the first direction, and the path search unit provides a preliminary path formed by connecting ends of paths along each of the adjacent cavity rows with a path along the second direction as an initial solution to the algorithm.

11. The mounting assistance device of claim 1 or 2, further comprising a state recognition unit that performs image processing on image data acquired by imaging the component supply area in a bulk feeder in which a plurality of the cavities are formed, recognizes the supply state of the components in the supply area, and generates the storage information.

12. A mounting assistance method applied to a component mounting machine that executes a collection cycle in which a mounting head is moved to sequentially pick up components housed in a plurality of cavities, and a mounting cycle in which the plurality of components are sequentially mounted on a board, comprising: a path search process that searches for path patterns that are candidates for the movement path of the mounting head in the collection cycle, based on accommodation information that indicates the positions of a plurality of cavities that accommodate the components in a manner that allows them to be picked; and a path setting process that sets the path pattern selected based on the movement distance of the mounting head calculated for each of the plurality of path patterns as the movement path.