Arrangement assistance device and arrangement assistance method

Abstract

This arrangement assistance device comprises: a partitioning unit that partitions, at two different locations, an arrangement region in which backup member arrangement work is to be executed, and sets a common region requiring execution of non-interference control for preventing interference with one of a pair of work heads when the other work head enters, and a first region and a second region located opposite one another with the common region in between; and a setting unit that sets, on the basis of the partitioned arrangement region and an arrangement position for each backup member that has been preset in arrangement work scheduled to be executed, a work head in charge of movement for each of a plurality of the backup members to be moved in the arrangement work.

Description

Backup member placement support device and placement support method

[0001] The present invention relates to a backup member placement support device and a placement support method.

[0002] The backup member is applied to a backup device that supports a substrate positioned at a predetermined position in the conveyance direction from below in a predetermined substrate processing operation. Patent Document 1 discloses a component mounting machine that includes a backup device and mounts components on a substrate as a substrate processing operation. In the placement operation of the backup member, the placement position and the like are appropriately set according to the substrate processing operation planned to be executed and the type of the substrate. In the placement operation of the backup member, a picker capable of holding the backup member is used. This picker is provided on the work head or detachably attached to the work head.

[0003] International Publication No. 2004 / 103054

[0004] When the substrate processing machine includes a pair of work heads that can move independently of each other and a picker is provided on each of the pair of work heads, either one or both of the work heads can execute the placement operation of the backup member. However, when both of the pair of work heads cooperate, since non-interference control for preventing mutual interference is involved, the processing load increases. Therefore, there has been a case where a mode of executing the placement operation on either one of the work heads is adopted.

[0005] The purpose of this specification is to provide a placement support device and a placement support method that can improve efficiency by causing a pair of work heads to cooperate in executing the placement operation of the backup member while preventing interference between the pair of work heads.

[0006] This specification applies to a substrate-facing work machine, which has a pair of work heads, a first head and a second head, that are arranged facing each other in a first direction, and divides the placement area in which the placement work of the backup members is performed into two different locations, and defines a common area where non-interference control must be performed to prevent interference between the other when one of the pair of work heads enters, and a first area and a second area located on either side of the common area, and a setting unit that sets the work head responsible for moving each of the plurality of backup members that are to be moved in the placement work, based on the divided placement area and the placement position of each backup member that is set in advance for the placement work to be performed.

[0007] This specification relates to a substrate-facing work machine, which has a pair of work heads, a first head and a second head, that are arranged facing each other in a first direction, and is used to perform predetermined substrate-facing operations on a substrate supported by a backup member. The specification discloses a placement support method comprising: a partitioning step of dividing the placement area in which the placement work of the backup member is performed into two different locations, and defining a common area where non-interference control must be performed to prevent interference between the two work heads if one of the pair of work heads enters, and a first area and a second area located on either side of the common area; and a setting step of defining the work head responsible for moving each of the plurality of backup members that are to be moved in the placement work, based on the partitioned placement area and the placement position of each backup member that is set in advance for the placement work to be performed.

[0008] This specification also discloses the technical idea of ​​changing "the placement support device described in claim 1 or 2" in claim 4 of the original application to "the placement support device described in any one of claims 1 to 3", the technical idea of ​​changing "the placement support device described in claim 1 or 2" in claim 6 of the original application to "the placement support device described in any one of claims 1 to 5", the technical idea of ​​changing "the placement support device described in claim 1 or 2" in claim 7 of the original application to "the placement support device described in any one of claims 1 to 6", and the technical idea of ​​changing "the placement support device described in claim 1 or 2" in claim 12 of the original application to "the placement support device described in any one of claims 1 to 11".

[0009] In this configuration, a work head responsible for moving the backup member is set based on a partitioned placement area that includes a common area requiring non-interference control as needed, and the target placement position. This makes it possible to set the responsibilities so that a pair of work heads work together to perform the backup member placement work while preventing interference between the pair of work heads, thereby improving the efficiency of the placement work.

[0010] This is a schematic diagram showing a production system to which a backup component placement support device is applied. This is a schematic diagram showing the configuration of a component mounting machine. This is a side view showing the backup device of a substrate transport device. This is a top view showing the backup device of a substrate transport device. This is a schematic side view showing the closed state of the cover member of the housing device. This is a schematic side view showing the open state of the cover member of the housing device. This is a functional block diagram of the placement support device. This is a flowchart showing the placement support process. This is a flowchart showing the partitioning process of the placement area. This is a schematic top view showing the state in which the first head and the second head are close to the minimum allowable distance. This is a top view showing the initial state in which a common area has been temporarily set in the placement area. This is a top view showing the state in which the common area, the first area, and the second area have been set by the partitioning process of the placement area. This is a table showing the change in the number of backup components in each area due to the execution of the partitioning process of the placement area.

[0011] 1. Overview of the Placement Support Device 80 for Backup Members 50 The placement support device 80 assists in the placement of backup members 50 applied to a backup device 15 (see Figure 3) that supports the substrate 91 from below. The placement of backup members 50 is performed as needed, for example, in the setup work for substrate work. In this embodiment, an example is given in which the placement support device 80 is applied to a production system Sy configured by a component mounting machine 2 as a substrate work machine equipped with a backup device 15.

[0012] 2. Configuration of Production Line Ln The component mounting machine 2 described above performs the mounting process of mounting components onto the substrate 91 as a predetermined substrate-to-substrate operation. As shown in Figure 1, the production line Ln is configured by installing multiple substrate-to-substrate work machines in the transport direction of the substrate 91. Each of the multiple substrate-to-substrate work machines is connected to a host computer 70 that controls the production line Ln in an integrated manner.

[0013] As shown in Figure 7, the host computer 70 includes a storage unit 71. The storage unit 71 stores a production plan M1 and placement information M2. The production plan M1 indicates the type and production order of the product substrates to be produced. The placement information M2 indicates the placement positions of the backup members 50 set for the substrate processing work corresponding to the production of the product substrates. The placement information M2 is downloaded in response to requests from the substrate processing machines of each production line Ln and stored in the control devices of the substrate processing machines.

[0014] The production line Ln comprises a printing press 1, a component mounting machine 2, a reflow oven 3, and an inspection machine 4, all serving as board-to-board work machines. The printing press 1 prints paste-like solder onto the component mounting positions on the incoming board 91. Each of the component mounting machines 2 mounts components onto the board 91 transported from the upstream side of the production line Ln. The configuration of the component mounting machines 2 will be described later. The reflow oven 3 heats the board 91 transported from the upstream side of the production line Ln, melting the solder on the board 91 to perform soldering. The inspection machine 4 inspects whether the appearance or function of the product boards produced by the production line Ln is normal.

[0015] In this embodiment, the product substrate factory may be configured with multiple production lines Ln (Ln1, Ln2, ...). The configuration of each of the multiple production lines Ln may be appropriately added or changed depending on, for example, the type of product substrate to be produced. Specifically, the multiple production lines Ln may be appropriately equipped with substrate handling equipment such as buffer devices for temporarily holding the transported substrates 91, substrate supply devices, substrate inversion devices, various inspection devices, shielding devices, adhesive coating devices, and ultraviolet irradiation devices.

[0016] 3. Components of Component Mounting Machine 2 As shown in Figure 2, the component mounting machine 2 comprises two sets of work units consisting of a substrate transport device 10, a component supply device 20, a component transfer device 30, a component camera 41, a substrate camera 42, and a nozzle station 43, and a control device 45. In the following description, the horizontal direction that is the front-to-back direction of the component mounting machine 2 (the direction from bottom to top in Figure 2) is defined as the Y direction, the horizontal direction that intersects the Y direction that is the left-to-right direction of the component mounting machine 2 (the direction from left to right in Figure 2) is defined as the X direction, and the vertical direction that is perpendicular to the X and Y directions (the front-to-back direction in Figure 2) is defined as the Z direction.

[0017] The two sets of work units described above are arranged side by side in the Y direction and are configured to be symmetrical with respect to the center in the Y direction. In the following, one side where the two sets of work units are installed (the lower side in Figure 2) will be referred to as the first side S1, and the other side (the upper side in Figure 2) as the second side S2, and the configuration of the work units on the first side S1 will be described. In Figure 2, in order to distinguish between the two sets of units, the components on the first side S1 are denoted with "A" and those on the second side S2 are denoted with "B".

[0018] 3-1. Substrate Transport Device 10 The substrate transport device 10 is composed of transport mechanisms 11 and the like, which are arranged in the Y direction. Each transport mechanism 11 has a pair of guide rails 12 and a pair of conveyor belts 13. The pair of guide rails 12 extend in the transport direction of the substrate (X direction) and support the periphery of the substrate 91 that is placed on the conveyor belt 13 and transported. At least one of the pair of guide rails 12 is mounted on a base so as to be movable in the Y direction.

[0019] The substrate transport device 10 sequentially transports the substrates 91 in the transport direction and positions the substrates 91 at predetermined positions within the machine. The substrate transport device 10 has a backup device 15 that clamps the positioned substrates 91. The detailed configurations of the substrate transport device 10 and the backup device 15 will be described later. After the component mounting process is completed, the substrate transport device 10 transports the substrates 91 out of the component mounting machine 2.

[0020] 3-2. Parts Supply Device 20 The parts supply device 20 comprises a plurality of slots 21 and a plurality of reel holding units 22 arranged in the X direction. Each of the plurality of slots 21 is detachably set with a feeder 23. The feeder 23 feeds and moves a carrier tape containing a large number of parts to supply parts in a way that makes them available for collection. The reel holding units 22 detachably hold reels on which the carrier tape is wound. The parts supply device 20 may also supply, for example, relatively large parts arranged on trays placed on pallets. In the above configuration, the parts supply device 20 draws out a predetermined pallet from a storage device that stores a plurality of pallets according to the mounting process and supplies parts.

[0021] 3-3. Part Transfer Device 30 The part transfer device 30 transfers parts supplied by the part supply device 20 to a predetermined mounting position on the substrate 91 that has been brought into the machine by the substrate transport device 10. The head drive device 31 of the part transfer device 30 moves the mobile table 32 horizontally (X direction and Y direction) by a linear motion mechanism. A mounting head 33 is removably fixed to the mobile table 32 by a clamp member (not shown). Various tools are detachably attached to the mounting head 33. These tools include a suction nozzle 34 for holding parts and a picker 55 for holding a backup member 50, which will be described later (see Figure 3).

[0022] The suction nozzle 34 uses supplied negative pressure air to attract and hold the parts. The lifting position and angle of the suction nozzle 34 relative to the mounting head 33, as well as the supply state of negative pressure air, are controlled. In addition, a chuck for clamping parts can be attached to the mounting head 33 as another tool. Furthermore, a picker 55 for holding the backup member 50 by engaging with a predetermined part of the backup member 50 can be detachably attached to the mounting head 33. As described above, the parts transfer device 30 is configured to hold backup members 50 in addition to parts, and functions as a transfer device for moving backup members 50. The parts transfer device 30 is used for the placement of backup members 50 (including adding, removing, and changing their position).

[0023] As described above, the component mounting machine 2 of this embodiment includes an opposing robot with multiple mounting heads 33 (first head 33A, second head 33B) arranged facing each other in the Y direction. The movable areas of the multiple mounting heads 33 overlap, and they are configured to be able to access the side opposite to the side the machine is close to (for example, the first side S1 of the first head 33A) (for example, the second side S2), allowing them to work alternately on the same substrate 91. Non-interference control is performed on the multiple mounting heads 33 so that interference does not occur in the areas where their movable areas overlap. The first head 33A and the second head 33B each support a picker 55 capable of holding a backup member 50 so that it can be raised and lowered when the mounting work is performed.

[0024] 3-4. Component Camera 41, Substrate Camera 42 The component camera 41 and the substrate camera 42 are digital imaging devices having an image sensor such as a CMOS. The component camera 41 and the substrate camera 42 perform imaging based on control signals and transmit the image data acquired by the imaging. The component camera 41 is configured to be able to image a component held by the suction nozzle 34 from below. The substrate camera 42 is mounted on a movable platform 32 so as to be able to move horizontally integrally with the mounting head 33. The substrate camera 42 is configured to be able to image a substrate 91 from above.

[0025] Furthermore, in addition to imaging the surface of the substrate 91, the substrate camera 42 can also image various devices and other objects as long as they are within the movable range of the mobile platform 32. For example, the substrate camera 42 can capture reference marks and barcodes attached to the nozzle station 43 (described later), or tools (suction nozzles 34 and pickers 55) housed in the nozzle station 43, within its camera field of view. In this way, the substrate camera 42 can be used to image different objects in order to acquire image data used for various image processing applications.

[0026] 3-5. Nozzle Station 43 The nozzle station 43 is installed inside the component mounting machine 2. The nozzle station 43 is a tool station that houses various tools used by the component mounting machine 2, which is a substrate mounting machine, for substrate mounting work. In this embodiment, the nozzle station 43 detachably holds a plurality of suction nozzles 34 and pickers 55. In the process of replacing a suction nozzle 34, the nozzle station 43 holds the suction nozzle 34 that has been removed from the mounting head 33, and also holds another suction nozzle 34 in a removable manner. As a result, the component mounting machine 2 is configured to automatically replace the suction nozzles 34 according to the type of component to be mounted, for example, during the execution of the mounting process.

[0027] The nozzle station 43 is detachably mounted on the base of the parts mounting machine 2. A reference mark and a barcode (not shown) are provided on the upper surface of the nozzle station 43. The reference mark indicates the reference position on the upper surface of the nozzle station 43 and is placed in a predetermined positional relationship with the storage compartments that individually house the tools. The barcode indicates the identification information of the nozzle station 43. This identification information is associated with the identification information and storage position of the tools housed in the nozzle station 43. This storage position is indicated, for example, by the relative position of the storage compartment with respect to the reference position.

[0028] 3-6. Control Device 45 The control device 45 mainly consists of a CPU, various memories, and control circuits. The control device 45 performs a mounting process to attach components to the substrate 91. In the mounting process, the control device 45 controls the operation of the component transfer device 30 based on information output from various sensors, the results of image processing, and a pre-stored control program. This controls the position and angle of the multiple suction nozzles 34 supported by the mounting head 33. The control device 45 also performs placement operations in the mounting process, including adding or removing backup members 50 used by the substrate transport device 10 to support the substrate 91 from below, and changing the position of the backup members 50.

[0029] The control device 45 stores the placement information M2 downloaded from the host computer 70. The "placement information M2" indicates the placement position of the backup member 50 set for the board-side work to be performed (corresponding to the type of product board). The placement information M2 indicates the placement position of the backup member 50 and the type of backup member 50 (pin type: hard, soft). In addition to the above, the placement information M2 may also include the tolerance for the placement of the backup member 50 relative to the placement position. The placement information M2 is set in advance according to the type of board 91 (including size and hardness), the type of product board to be produced (including the mounting position of components), the production process, etc.

[0030] 4. Detailed Configuration of the Substrate Transport Device 10 and Backup Device 15 4-1. Substrate Transport Device 10 The component mounting machine 2 of this embodiment is a double-track conveyor system equipped with a plurality of transport mechanisms 11A and 11B. A pair of guide rails 12 constituting the transport mechanism 11 are provided on a base so as to be able to move relative to each other in the Y direction. As a result, the transport mechanism 11 adjusts the distance between the pair of guide rails 12 in accordance with the Y-direction dimension of the substrate 91 (see Figure 4).

[0031] 4-2. Backup device 15 The backup device 15 supports the substrate 91 transported by the transport mechanism 11 from below and clamps the substrate 91 between itself and a pair of guide rails 12. In this embodiment, the backup device 15 supports the substrate 91 by contacting a backup member 50 to the lower surface of the substrate 91. As a result, the backup device 15 clamps the substrate 91 between itself and a pair of guide rails 12 and prevents the substrate 91 from bending by maintaining the height of the area where the backup member 50 is in contact.

[0032] As shown in Figure 3, the backup device 15 includes a backup plate 16 and a lifting device 17. The backup plate 16 is positioned opposite the lower surface of the substrate 91 positioned by the transport mechanism 11. The backup plate 16 is mounted on a base so as to be able to move up and down in the Z direction. In this embodiment, the backup plate 16 is formed in a rectangular shape overall. The backup plate 16 has a first mounting surface 161 on which the backup member 50 is detachably placed. The first mounting surface 161 is the upper surface of the backup plate 16.

[0033] The lifting device 17 raises and lowers the backup plate 16 relative to the base. In this embodiment, the lifting device 17 has a linear motion mechanism 171 and an electric motor 172. The linear motion mechanism 171 is, for example, a ball screw mechanism, and the operation of the electric motor 172 moves the backup plate 16 in the Z direction. The lifting device 17 may be composed of a plurality of air cylinders. For example, the rods of each air cylinder are detachably fixed to the four corners of the backup plate 16 and move back and forth in the Z direction according to the air pressure of the air cylinders.

[0034] The lifting device 17 of the backup device 15 retracts the backup member 50 downward from the back surface of the substrate 91 when the substrate 91 is loaded or unloaded. This causes the lifting device 17 to lower the backup plate 16 to a preparation height where the components mounted on the back surface of the substrate 91 (back surface components) do not interfere with the backup member 50 (shown by the dashed line in Figure 3). Furthermore, during the mounting process, the lifting device 17 raises the backup plate 16 to the backup height (shown by the solid line in Figure 3). This allows the backup device 15 to push up and support the substrate 91 from below.

[0035] The backup device 15 includes a frame 18 that moves up and down integrally with the backup plate 16. The frame 18 is fixed to the lower side of the backup plate 16 and supports the housing device 60, which will be described later. As a result, the backup plate 16 and the housing device 60 are connected by the frame 18 and move up and down integrally by the drive of the lifting device 17.

[0036] 4-3. Storage device 60 Here, for a predetermined production process (for example, a mounting process by the component mounting machine 2), the number of backup members 50 required for each production process are placed in predetermined positions, as set in the arrangement information. Any surplus backup members 50 in the machine that are not used in the production process are generally moved to a retraction area Ae, which is provided so as not to interfere with the substrate 91 being positioned. However, if the size of the substrate 91 to be processed is large, the available retraction area Ae may become narrow.

[0037] Therefore, the backup device 15 of this embodiment adopts a configuration in which a pair of storage devices 60, which serve as stockers capable of accommodating a plurality of backup members 50, are provided on the first side S1 and the second side S2, with an opening on the upper surface of the backup plate 16 and located below the backup plate 16. Hereinafter, the pair of storage devices 60 that are located on the base end side of the first head 33A in the Y direction (first side S1) will be referred to as the "first stocker 60A", and the pair of storage devices 60 that are located on the base end side of the second head 33B in the Y direction (second side S2) will be referred to as the "second stocker 60B".

[0038] Here, if an opening is provided on the upper surface of the backup plate 16 as described above, the area of ​​the first mounting surface 161 will decrease, and the degree of freedom in arranging the backup member 50 will be reduced accordingly. Therefore, the backup device 15 adopts a configuration that allows the backup member 50 to be arranged in this opening. As shown in Figures 5 and 6, the housing device 60 includes a housing section 61, a cover member 62, a table 63, a guide member 64, a bracket 65, an auxiliary lifting device 66, and a holder block 68.

[0039] The housing section 61 is an opening at the first mounting surface 161 and is a space below the first mounting surface 161 on which the backup member 50 can be accommodated. The term "opening" includes not only the upper end of a through hole that penetrates the backup plate 16 vertically, as shown in Figure 4, but also the upper end of a shape in which a part of the outer edge of the backup plate 16 is cut out. The cover member 62 is provided so as to be openable and closable with respect to the opening 611 of the housing section 61. The overall shape of the cover member 62 is formed to conform to the shape of the opening of the housing section 61 and is a rectangular plate-like member in this embodiment. The upper part of the cover member 62 is made of a magnetic material and has a second mounting surface 621 on which the backup member 50 is placed when closed, as shown in Figure 5.

[0040] Table 63 is provided below the opening 611 so as to be able to move up and down relative to the backup plate 16. The upper surface 631 of table 63 is formed so as to be able to accommodate the backup member 50. In this embodiment, cylindrical bases 633 that support the backup member 50 are arranged on the upper surface 631 of table 63, corresponding to each of the multiple positions where the backup member 50 is placed. The vertical dimension from the upper surface 631 (accommodating surface) of table 63 to the lower surface 622 of the cover member 62 is set to be slightly larger than the vertical dimension of the backup member 50.

[0041] The guide member 64 is fixed to the table 63 and moves up and down integrally with the table 63. In this embodiment, the guide member 64 is made of a plate-shaped member and has an L-shaped guide groove 641 that engages with a guide pin 651, which will be described later. The bracket 65 is fixed to the lower surface of the cover member 62. The bracket 65 has a guide pin 651 that protrudes from a surface facing one side of the guide member 64. The guide pin 651 is configured to be movable along the guide groove 641 of the guide member 64. The bracket 65 has a support shaft 652 that is rotatably supported with respect to the backup plate 16.

[0042] As a result, the cover member 62 is rotatable around a support shaft 652 that is horizontal to the backup plate 16 via a bracket 65. When the table 63 rises relative to the backup plate 16, the guide pin 651 that engages with the guide groove 641 moves along the guide groove 641, causing the cover member 62 to rotate integrally with the bracket 65 around the support shaft 652, and it opens as shown in Figure 6. When the table 63 descends relative to the backup plate 16, the cover member 62 closes as shown in Figure 5. Thus, the opening and closing operation of the cover member 62 is configured to be linked to the raising and lowering operation of the table 63 relative to the backup plate 16.

[0043] The auxiliary lifting device 66 is provided on the frame 18 and raises and lowers the table 63 independently of the lifting movement of the backup plate 16. The auxiliary lifting device 66 is constituted by, for example, a linear motion mechanism and an electric motor or an air cylinder. In a state where the auxiliary lifting device 66 does not operate, the cover member 62 is raised and lowered along with the lifting movement of the backup plate 16 by the operation of the lifting device 17. Further, in a state where the auxiliary lifting device 66 operates, the cover member 62 can be opened and closed by the operation of the auxiliary lifting device 66 regardless of the operating state of the lifting device 17, that is, regardless of the Z-direction position of the backup plate 16.

[0044] The holder block 68 is provided integrally with the backup plate 16. The holder block 68 is a support member that supports the cover member 62 from below so that the first placement surface 161 and the second placement surface 621 are located in the same plane in the closed state of the cover member 62. In the present embodiment, the holder block 68 is formed in a block shape that makes surface contact with the lower surface of the closed cover member 62. The holder block 68 has through holes 681 through which the backup members 50 arranged at a plurality of specified positions on the table 63 can pass. The plurality of through holes 681 are formed at positions corresponding to pedestals 633 regularly arranged on the upper surface 631 of the table 63.

[0045] According to the above configuration, in addition to the retreat area Ae for retreating the spare backup members 50 not used for supporting the substrate 91 on the first placement surface 161, or without providing the retreat area Ae, the spare backup members 50 can be accommodated in the pair of accommodating devices 60. Further, by closing the cover member 62 so as to close the opening 611 of the accommodating portion 61, the backup member 50 can be arranged on the second placement surface 621 which is the upper surface thereof. Thereby, it becomes possible to arrange the backup member 50 not only on the first placement surface 161 but also on the second placement surface 621, and the degree of freedom in arranging the backup member 50 in the arranging operation can be increased.

[0046] 4-4. Backup Member 50 The backup member 50 is detachably arranged on the first placement surface 161 or the second placement surface 621. In the present embodiment, the backup member 50 includes a hard pin 50H in which the support portion 53 at the tip is formed of a relatively hard member (for example, a metal member), and a soft pin 50S in which the support portion 53 is formed of a relatively soft member (for example, a rubber member). In the backup member 50, the support portion 53 is connected to the base portion 51 via the body portion 52. A magnet is embedded in the base portion 51 located at the lower end of the backup member 50, and the backup member 50 is fixed to the backup plate 16, the cover member 62, or the pedestal 633 by magnetic force. Further, an engaging portion 54 having the same shape is formed above the base portion 51 of the backup member 50. The engaging portion 54 engages with a picker 55 attached to the mounting head 33.

[0047] 4-5. Picker 55 As shown in FIG. 3, the picker 55 has a main body portion 56 and a collection portion 57. The main body portion 56 is formed in a cylindrical shape as a whole. The main body portion 56 is formed so as to be attachable to the mounting head 33 in the same manner as the suction nozzle 34. The collection portion 57 is provided at the lower end of the main body portion 56. The collection portion 57 engages with the engaging portion 54 of the hard pin 50H and the engaging portion 54 of the soft pin 50S. The picker 55 presses the tip of the engaging portion 54 by the elastic force of an elastic member provided inside the main body portion 56 in order to maintain the state of holding the hard pin 50H or the soft pin 50S, and biases the lower end portion of the engaging portion 54 toward the collection portion 57.

[0048] 5. Outline of the Arrangement Operation of the Backup Member 50 The control device 45 of the component mounting machine 2 executes an arrangement change process (arrangement operation) of the backup member 50 based on the arrangement information M2 using the component transfer device 30 that functions as a moving device of the backup member 50, for example, before executing a mounting process (next substrate operation) corresponding to a predetermined product substrate. The purpose of executing the arrangement change process is, for example, to correspond to the type of the backup member 50 and the position where it should be arranged, which may vary according to the dimensions of the substrate 91, the quantity and position of the components to be mounted.

[0049] When the type of product substrate to be produced changes, the component mounting machine 2 performs a rearrangement process of the backup members 50 as part of its setup. This rearrangement process includes fixing the backup members 50 to the backup plate 16 located below the substrate 91, as well as removing the backup members 50. Removing the backup members 50 means moving the spare backup members 50 that are not used to support the substrate 91 to a predetermined storage position in the storage section 61 of the pair of storage devices 60 (first stocker 60A, second stocker 60B), or moving them to the retraction area Ae.

[0050] When the control device 45 performs a rearrangement process for the backup member 50, it attaches a picker 55 capable of holding the backup member 50 to the mounting head 33. The picker 55 is housed in the nozzle station 43 and replaces the suction nozzle 34 attached to the mounting head 33. The control device 45 drives the component transfer device 30 to move the target backup member 50 to the appropriate position indicated by the arrangement information M2.

[0051] Here, the component mounting machine 2, having the configuration described above, is capable of automatically performing all the placement work of the backup members 50 during setup. Specifically, when setting up for the next mounting process, the control device 45 uses a picker 55 to move the backup members 50 individually based on the placement information M2, position information indicating the current position of each backup member 50 used in the current mounting process, and preliminary information indicating the current position of spare backup members 50 placed in the storage unit 61 or the retraction area Ae.

[0052] Then, after all the backup members 50 have been placed, the control device 45 moves the picker 55 into the nozzle station and ends the placement change process. The control device 45 also updates and stores position information and preliminary information indicating the current position of the backup members 50 placed in the placement area Rp, the storage area 61, and the retraction area Ae within the component mounting machine 2 where the placement work of the backup members 50 is performed. As a result, the control device 45 can perform the placement change process of the backup members 50 without requiring movement by an operator.

[0053] Furthermore, the backup device 15 is configured to accommodate the backup member 50 in a housing section 61 provided below the first mounting surface 161, and to allow the backup member 50 to be placed on the second mounting surface 621, which is the upper surface of the cover member 62 that closes the opening 611 of the housing section 61. Therefore, in the above arrangement change process, when the cover member 62 is in the open state, a process such as temporarily moving the backup member 50 to a temporary placement position is appropriately executed so that the backup member 50 is not placed on the second mounting surface 621.

[0054] In this embodiment, as in the component mounting machine 2, which has multiple work heads (mounting heads 33), any of the work heads can be fitted with a picker 55, allowing them to perform the task of placing backup members 50 required on the opposite side. By making the picker 55 detachable in this way, the component mounting machine 2 equipped with a counter-robot can select a work head that is suitable for the placement task, thereby improving the degree of freedom in the work.

[0055] Here, if the substrate work machine (e.g., component mounting machine 2) is equipped with a pair of work heads (e.g., mounting heads 33) that can move independently of each other, and each of the pair of work heads is provided with a picker 55, then either one or both work heads can perform the placement work of the backup members 50. However, when both of the pair of work heads work together to perform the placement work, the processing load increases because non-interference control is required to prevent interference between them. For this reason, an approach was sometimes adopted in which the placement work was performed by only one of the work heads (e.g., the second head 33B on the second side S2).

[0056] Therefore, the placement support device 80 and placement support method of this embodiment employ a configuration that improves efficiency by having a pair of work heads (mounting heads 33) work together to perform the placement work of the backup member 50. The placement support device 80 and placement support method are applied to a substrate work machine (component mounting machine 2) which is equipped with a pair of work heads, a first head 33A and a second head 33B, that perform predetermined substrate work on a substrate 91 supported by the backup member 50 and are arranged facing each other in a first direction (Y direction in this embodiment).

[0057] In this embodiment, the placement support device 80 is incorporated into the control device 45, as shown in Figure 5. The placement support device 80 and the placement support method partition the placement area Rp where the placement work of the backup member 50 is performed, and appropriately set the work head responsible for moving the backup member 50. Specifically, the placement support device 80 comprises a partitioning unit 81 and a setting unit 82. The placement support device 80 executes the placement support process (placement support method) shown in Figure 8. The process executed by the partitioning unit 81 corresponds to the partitioning step in the placement support method. The process executed by the setting unit 82 corresponds to the setting step in the placement support method.

[0058] 6. Detailed Configuration of the Placement Support Device 80 6-1. Partitioning Section 81 As shown in Figures 11 and 12, the partitioning section 81 divides the placement area Rp where the backup member 50 is placed at two different locations, setting up a common area Rc and a first area R1 and a second area R2 located on either side of the common area Rc. In this embodiment, the partitioning section 81 divides the placement area Rp at two different locations Cy (Cy1, Cy2) in the Y direction.

[0059] The common area Rc has a width Wy equal to the distance between the two partitioned areas Cy1 and Cy2 in the Y direction. In this embodiment, as shown in Figure 10, the partitioned area 81 sets the width Wy in the Y direction of the common area Rc based on the distance DyP in the Y direction of the positions where the picker 55 is supported when the first head 33A and the second head 33B approach to the minimum allowable distance Dym in the Y direction. For example, the width Wy of the common area Rc is set to a value obtained by adding a safety margin to the reference distance DyP.

[0060] Here, the common area Rc is an area where non-interference control is required to prevent interference between a pair of work heads (mounted heads 33) if one of them enters the common area Rc. Specifically, for example, when the first head 33A enters the common area Rc, the control device 45 sets a restricted area that prohibits the entry of the second head 33B based on the current position of the first head 33A and the minimum distance that is allowed to approach, and prevents interference between the first head 33A and the second head 33B by moving the second head 33B outside the restricted area. In the above non-interference control, the restricted area of ​​the second head 33B also changes according to the current position and target position of the first head 33A.

[0061] Furthermore, the first region R1 and the second region R2 are positioned so as to sandwich the common region Rc in the Y direction. The first region R1 is located on the base end side of the first head 33A (lower side in Figure 11) relative to the common region Rc in the Y direction. The second region R2 is located on the base end side of the second head 33B (upper side in Figure 11) relative to the common region Rc in the Y direction. Here, since the width Wy of the common region Rc is set as described above, the first region R1 is a region in which the first head 33A can operate without requiring non-interference control when the second head 33B is located within the second region R2. Similarly, the second region R2 is a region in which the second head 33B can operate without requiring non-interference control when the first head 33A is located within the first region R1.

[0062] In other words, during the placement of the backup member 50, if the first head 33A does not enter the common area Rc and is located within the first area R1, and the second head 33B does not enter the common area Rc and is located within the second area R2, the control device 45 can omit the execution of non-interference control. That is, in the above example of non-interference control, the control device 45 can omit the process of setting a restricted area based on the current position of the first head 33A, etc.

[0063] Furthermore, regarding the method for setting the Y-direction position SCy of the common area Rc in the placement area Rp, various methods can be adopted in relation to the method for determining whether the first head 33A or the second head 33B is responsible for moving the backup member 50 that is to be moved during the placement work. Details regarding the setting of the Y-direction position SCy of the common area Rc will be described later.

[0064] 6-2. Setting Unit 82 The setting unit 82 sets a work head (first head 33A, second head 33B) responsible for moving each of the multiple backup members 50 that are to be moved during the placement work. In the backup member 50 placement change process, in addition to moving backup members 50 that are already placed on the backup plate 16 to change their position, placement work is performed that includes moving them between the storage device 60 and the evacuation area Ae, and moving them to a temporary placement position when the second mounting surface 621 is used. As described above, the setting unit 82 individually sets whether the first head 33A or the second head 33B is responsible for moving each of the multiple backup members 50 that are to be moved during the placement work.

[0065] In the head assignment process, the setting unit 82 assigns the movement of the backup members 50 to the first head 33A or the second head 33B based on the placement area Rp partitioned by the partitioning unit 81 and the placement position Ps for each backup member 50 that has been set in advance for the placement work to be performed. Various methods can be adopted for the head assignment process.

[0066] In a first embodiment of the method for setting the assigned head, the setting unit 82 sets the movement of the backup member 50 located in the first region R1 to be the responsibility of the first head 33A, and the movement of the backup member 50 located in the second region R2 to be the responsibility of the second head 33B. As a result, the first head 33A moves within the first region R1 and the second head 33B moves within the second region R2, so the control device 45 can prevent interference between the two without having to perform non-interference control.

[0067] The setting unit 82 then sets the task of moving the backup members 50 placed in the common area Rc to be assigned to whichever of the first head 33A and the second head 33B completes the movement of the backup members 50 it is responsible for later. For example, if there are more backup members 50 placed in the second area R2 than in the first area R1, or if the backup members 50 placed in the second area R2 are scattered and the movement distance of the second head 33B during the placement work is long, the time required for the placement work handled by the second head 33B will be longer.

[0068] In such cases, the setting unit 82 sets the second head 33B to be responsible for moving the backup member 50 to the common area Rc, so that the drive state of the head drive device 31B that moves the second head 33B is maintained. As a result, the placement work to the first area R1 and the placement work to the second area R2 are performed by the cooperation of the first head 33A and the second head 33B, and then the placement work to the common area Rc is performed by the second head 33B operating alone. During the placement work to the common area Rc, the first head 33A is in a dormant state, and the control device 45 can omit the execution of non-interference control.

[0069] In a second embodiment of the method for setting the assigned head, the setting unit 82 sets the assigned head so that the placement work to the common area Rc is performed first. This assigned head may be fixed to either the first head 33A or the second head 33B, or it may be set based on the time required for the placement work to the first area R1 and the time required for the placement work to the second area R2, which are performed later. For example, the setting unit 82 sets the first head 33A to be responsible for moving the backup member 50 to the common area Rc, and after the movement of the backup member 50 to the common area Rc is completed, the setting unit 82 causes the second head 33B to move the backup member 50 to the second area R2 in parallel with the first head 33A's movement of the backup member 50 to the first area R1.

[0070] As a result, the placement operation in the common area Rc is performed by the independent operation of either the first head 33A or the second head 33B, and then the placement operations in the first area R1 and the second area R2 are performed by the cooperation of the first head 33A and the second head 33B. During the placement operation in the common area Rc, the other of the first head 33A and the second head 33B is in a dormant state, and the control device 45 can omit the execution of non-interference control.

[0071] The first and second embodiments of the above-described head setting process have the advantage of allowing a pair of work heads (mounting heads 33) to cooperate in the placement work in the first area R1 and the placement work in the second area R2, and also have the advantage of reducing the processing load while ensuring high safety by not requiring the execution of non-interference control throughout the entire process, including the placement work in the common area Rc. On the other hand, if the proportion of backup members 50 placed in the common area Rc increases, the period during which the pair of work heads (mounting heads 33) cooperate becomes shorter.

[0072] Therefore, the third embodiment of the method for setting the assigned head addresses the above-described situation. In the third embodiment, the setting unit 82 sets the movement of the backup member 50 located in the common area Rc to be the responsibility of either the first head 33A or the second head 33B (for example, the first head 33A), and in parallel with the movement of the backup member 50 to the common area Rc and the first area R1, which is performed in a series by the assigned head (first head 33A), the second head 33B is made to move the backup member 50 to the second area R2.

[0073] At this time, the setting unit 82 restricts the movement of the backup member 50 to the second region R2 by the second head 33B so that the operation of the first head 33A entering the common region Rc is given priority. More specifically, according to the third embodiment, the first head 33A performs placement operations in the common region Rc and the first region R1 with priority over the operation of the second head 33B. While the first head 33A is performing placement operations in the common region Rc, the second head 33B performs placement operations in the second region R2 while its movement is restricted by non-interference control.

[0074] Furthermore, while the first head 33A is performing the placement operation in the first region R1, the second head 33B performs the placement operation in the second region R2 without performing non-interference control. With this configuration, it is expected that the time required for the placement operation in the second region R2 using the second head 33B will be longer compared to the first and second embodiments. However, the time required for the placement change process can be shortened by partitioning the placement region Rp in such a way that the time required for the placement operation in the common region Rc and the first region R1 using the first head 33A is reduced.

[0075] Here, the component mounting machine 2 of this embodiment includes a first stocker 60A and a second stocker 60B. In the following, the initial position Pi is defined as the position of the multiple backup members 50 already placed in the placement area Rp before the placement work is performed, and the position of the backup members 50 housed in the pair of stockers (first stocker 60A, second stocker 60B). The target position Pt is defined as the placement position Ps for each of the multiple backup members 50 to be placed by the placement work to be performed, and the housing position Pr of the backup members 50 housed in the pair of stockers (first stocker 60A, second stocker 60B).

[0076] In this configuration, the setting unit 82 sets the first region R1 so that the first head 33A is responsible for moving the backup member 50 between an initial position Pi or a target position Pt relative to the first stocker 60A. The setting unit 82 sets the first head 33A to be responsible for moving the backup member 50 so that the initial position Pi and target position Pt fall within the first region R1. Furthermore, if one of the initial position Pi and target position Pt is inside the first region R1 and the other is outside the first region R1, the setting unit 82 sets the head responsible for each position, taking into account the time required for positioning the first head 33A and the second head 33B.

[0077] Similarly, the setting unit 82 sets the second region R2 so that the second head 33B is responsible for moving the backup member 50 between the initial position Pi and the target position Pt relative to the second stocker 60B. The setting unit 82 sets the second head 33B to be responsible for moving the backup member 50 so that the initial position Pi and the target position Pt fall within the second region R2. Furthermore, if one of the initial position Pi and the target position Pt is inside the second region R2 and the other is outside the second region R2, the setting unit 82 sets the responsible head taking into account the time required for the positioning work of the first head 33A and the second head 33B.

[0078] 7. Placement Support Processing for Backup Members 50 The placement support processing for backup members 50 by the placement support device 80 will be explained with reference to Figures 8-13. After the product substrates to be produced on the first side S1 and second side S2 of a predetermined production line Ln are planned and a production plan M1 is generated, the placement position Ps of the backup members 50 is set for each substrate operation corresponding to the production of each product substrate, and placement information M2 is generated. The placement support device 80 executes the placement support processing shown in Figure 8 when the production of product substrates starts or when production is switched over.

[0079] As shown in Figure 8, the placement support device 80 first performs a preparation process (S11). The preparation process involves acquiring information necessary for subsequent processing and recognizing the current state inside the component mounting machine 2. The preparation process also includes the operation of attaching the pickers 55 to the first head 33A and the second head 33B, respectively. The placement support device 80 may download necessary information (such as the production plan M1 and placement information M2) from the host computer 70, or it may request reference from the host computer 70 as needed. As a result, the placement support device 80 acquires the initial position Pi of the backup member 50 and the target position Pt in the placement change process to be executed.

[0080] Next, the partitioning unit 81 divides the arrangement area Rp at two different locations and performs a partitioning process (partitioning step) to set up a common area Rc, a first area R1, and a second area R2 (see S12 and Figure 9). Here, the partitioning unit 81 performs the partitioning process based on items that have been set in advance regarding the partitioning process. The "items that have been set in advance" include partitioning the arrangement area Rp at two different locations in the first direction (the Y direction in this embodiment) in order to partition it. The reason for partitioning at two different locations in the Y direction is that the first head 33A and the second head 33B are arranged facing each other in the Y direction, and the two housing units 61 are arranged to correspond to the first head 33A and the second head 33B.

[0081] As shown in Figure 9, the partition section 81 first sets the width Wy in the Y direction of the common area Rc (S21). The width Wy of the common area Rc is set to a value obtained by adding a safety margin to the distance DyP of the pair of pickers 55 when the first head 33A and the second head 33B approach each other to the minimum allowable distance Dym in the Y direction, as shown in Figure 10.

[0082] In subsequent processing, the partitioning unit 81 determines the Y-direction position SCy of the common area Rc in the placement area Rp based on predetermined conditions. The predetermined conditions include those corresponding to the method of setting the assigned head to be adopted later by the setting unit 82. Specifically, if the setting unit 82 adopts the first or second method of setting the assigned head, the condition is that the number of backup members 50 to be placed in the first area R1 and the second area R2 respectively will be equalized by the placement work to be performed.

[0083] Furthermore, if the setting unit 82 adopts a third form of the head assignment method (where the first head 33A is responsible for placement in the common area Rc and the first area R1, and the second head 33B is responsible for placement in the second area R2 while its movement is restricted by non-interference control), the condition is that the number of units placed in the common area Rc and the first area R1 is equal to the number of units placed in the second area R2. If the head assignment method set by the setting unit 82 is set in advance, the partitioning unit 81 applies conditions corresponding to that setting. Also, if the head assignment method is set in the preparation process (S11) according to, for example, the target position Pt, the partitioning unit 81 applies conditions corresponding to that setting after the execution of the preparation process.

[0084] Next, the partitioning unit 81 provisionally sets the position SCy in the Y direction of the common area Rc (S22, first step). Specifically, as shown in 11, the partitioning unit 81 provisionally sets the position SCy of the common area Rc such that the placement position Ps1, which is closest to the center NRy in the Y direction of the placement area Rp among the multiple backup members 50 to be placed by the placement work to be performed, is located at the center of the common area Rc in the Y direction (see the "Initial" column in Figure 13). As a result, the first area R1, which is located on the base end side of the first head 33A from the common area Rc, and the second area R2, which is located on the base end side of the second head 33B from the common area Rc, are automatically provisionally set.

[0085] Next, the partitioning unit 81 counts the number of placements (N1, N2) of the multiple backup members 50 that are placed in the placement work included in the first region R1 and the second region R2, respectively, which correspond to the provisionally set common region Rc (S23, second step). If there is a difference (N1-N2) between the respective placements (N1, N2), that is, if the placements (N1, N2) are not equal (S24: No), the partitioning unit 81 provisionally sets the position SCy in the Y direction of the common region Rc so that it moves the common region Rc by a predetermined distance towards the region with the larger placement (N1, N2) (S25, third step).

[0086] As a result, for example, if the number of units in the second region R2 (N2) is greater than the number of units in the first region R1 (N1), the temporarily set common region Rc is moved by a predetermined distance towards the base end of the second head 33B (upper side of Figure 11) and temporarily set again. The above "predetermined distance" may be a fixed value set in advance, or it may be set to be longer as the difference in the number of units (N1-N2) increases.

[0087] The second and third steps described above are repeated until the difference in the number of placements (N1-N2) begins to increase (S24: No). The execution of the second and third steps is terminated when the difference in the number of placements (N1-N2) begins to increase (S24: Yes). The execution of the second and third steps may also be terminated when the difference in the number of placements (N1-N2) becomes 0 or less than or equal to a preset allowable value Th, or when the Y-direction position SCy of the provisionally set common area Rc reaches the end of the settable range.

[0088] As described above, the second and third steps are repeatedly executed, and the partitioned section 81 determines the position SCy in the Y direction of the common area Rc to be the position provisionally set in the third step when the difference (N1-N2) between the respective arrangement numbers (N1, N2) is minimized (S26, fourth step). Specifically, as shown in Figure 13, as the initially provisionally set position SCy in the Y direction of the common area Rc gradually moves (Ys → Ys + Y1 → Ys + Y2 → ...), the difference (N1-N2) between the arrangement numbers of the first area R1 and the second area R2 gradually decreases, and on the Nth time, the difference (N1-N2) becomes minimal (Fmin).

[0089] The partitioning section 81 sets the Y-direction position (Ys + YN) of the common region Rc at this time to the Y-direction position SCy of the common region Rc, as shown in Figure 12. This determines the final two partitioning locations Cy1 and Cy2 in the arrangement area Rp, and also sets the first region R1 and the second region R2 located on either side of the common region Rc in the Y-direction (S26). Note that the difference in the number of arrangements (N1 - N2) may not be zero, or it may be the minimum number when the positions of multiple types of temporarily set common region Rc are the same. In such cases, the settings can be appropriately determined by various conditions, for example, by prioritizing the adoption of common region Rc that is as close as possible to the center NRy in the Y-direction.

[0090] In an embodiment where the decision to repeat the second and third steps is made based on whether the difference in the number of placements (N1-N2) is less than or equal to the allowable value Th, as shown in Figure 13, the position (Ys+YN) provisionally set in the third step when the difference in the number of placements (F0, F1, F2, ..., FN) is less than or equal to the allowable value is determined to be the position SCy in the Y direction of the common area Rc. In this embodiment as well, the number of placements can be equalized.

[0091] Next, the setting unit 82 performs a setting process (setting step) to set a work head (first head 33A, second head 33B) responsible for moving each of the partitioned placement area Rp and the multiple backup members 50 that are to be moved in the placement work to be performed (S13). Specifically, based on the setting method for the assigned heads adopted, the setting unit 82 assigns, for example, that the first head 33A is responsible for moving backup members 50 whose target position Pt is included in the common area Rc or the first head 33A, and that the second head 33B is responsible for moving the other backup members 50 (backup members 50 whose target position Pt is included in the second area R2).

[0092] The setting unit 82 sets the movement path and movement order for each of the multiple backup members 50 to be moved (S14). This sets which mounting head 33 will pick up each of the multiple backup members 50 and how they will be moved from the initial position Pi to the target position Pt. The above movement path may include movement via a temporary placement position as needed. After that, the rearrangement process of the backup members 50 is executed (S15).

[0093] With the above configuration, a work head (first head 33A, second head 33B) responsible for moving the backup member 50 is set based on a placement area Rp partitioned to include a common area Rc where non-interference control is required as needed, and the target placement position Ps. This prevents interference between the first head 33A and the second head 33B, and allows the first head 33A and the second head 33B to work together to perform the placement work of the backup member 50, thereby improving the efficiency of the placement work.

[0094] 8. Modified Embodiments In this embodiment, the substrate work machine is a component mounting machine 2 that mounts components onto the substrate 91. In contrast, the placement support device 80 and placement support method can be applied to a type of opposing robot equipped with multiple work heads among various substrate work machines. Furthermore, in addition to the mounting head 33 that performs component mounting as a substrate work, the work heads may also be used to apply bonding material to the substrate 91 or to inspect the appearance and function of the substrate 91.

[0095] In this embodiment, the placement support device 80 is configured to be integrated into the control device 45. However, part or all of the placement support device 80 may be provided outside the control device 45. For example, the placement support device 80 may be configured to be integrated into a host computer 70 that can communicate with the board work machine or a dedicated external device.

[0096] In this embodiment, the partition 81 divides the arrangement area Rp at two different locations in the Y direction (first direction) to set up a common area Rc, a first area R1, and a second area R2. In contrast, the first direction may be a direction having a predetermined angle with respect to the Y direction, or the X direction. Furthermore, the partition 81 may divide the arrangement area Rp at two different locations Cy in the first direction (for example, the Y direction) to set up a common area Rc, a first area R1, and a second area R2, and further divide the common area Rc at two different locations Cx in a second direction (for example, the X direction) that intersects the first direction.

[0097] As a result, the partitioning section 81 divides the common area Rc into three areas: a central area and a third and fourth area located on either side of the central area in the second direction. The width of the central area in the second direction is set based on the distance in the second direction between the positions where the first head 33A and the second head 33B support the picker 55 when they are close enough to the minimum distance allowed in the second direction (X direction). Furthermore, the positions of the central area in the second direction are equalized, for example, so as to minimize the difference between the number of items in the third area and the number of items in the fourth area.

[0098] The setting unit 82 then sets, for example, the first head 33A to be responsible for the placement work in the first region R1 and the third region, and the second head 33B to be responsible for the placement work in the second region R2 and the fourth region. The head responsible for the central region can be set in the same way as the head responsible for the common region Rc in the embodiment.

[0099] The third region, as configured in this way, becomes a region in which the first head 33A can operate without requiring non-interference control when the second head 33B is located within the fourth region. Similarly, the fourth region becomes a region in which the second head 33B can operate without requiring non-interference control when the first head 33A is located within the third region. This allows for a longer period in which the first head 33A and the second head 33B can cooperate without the need for non-interference control. As a result, the efficiency of the placement work can be improved.

[0100] 2: Component mounting machine, 10: PCB transport device, 15: Backup device, 16: Backup plate, 20: Component supply device, 30: Component transfer device, 31: Head drive device, 32: Mobile platform, 33: Mounting head (working head), 33A: First head, 33B: Second head, 34: Suction nozzle, 41: Component camera, 42: PCB camera, 43: Nozzle station, 45: Control device, 50: Backup member, 55: Picker, 60: Storage device (stocker), 60A: First stocker, 60B: Second stocker, 61: Storage section, 611: Opening, 62: Cover member, 63: Table, 64: Guide member, 65: Bracket, 66: Auxiliary lifting device, 68: Holder block, 70: Host computer, 80: Placement support device, 81: Partition section, 82: Setting section, 91: Circuit board, Rp: Placement area, Rc: Common area, R1: First area, R2: Second area, Ae: Evacuation area, Sy: Production system, Ln, Ln1, L2: Production line

Claims

1. A placement support device applicable to a substrate work machine, comprising a pair of work heads, a first head and a second head, which are provided facing each other in a first direction, for performing predetermined substrate work on a substrate supported by a backup member, wherein the placement area in which the placement work of the backup member is performed is divided into two different locations, and a partitioning unit is set up to define a common area where non-interference control is required to be performed to prevent interference between the other when one of the pair of work heads enters, and a first area and a second area located on either side of the common area; and a setting unit is set up to define the work head responsible for moving each of the plurality of backup members that are to be moved in the placement work, based on the partitioned placement area and the placement position of each backup member that is set up in advance for the placement work to be performed.

2. The placement support device according to claim 1, wherein the partitioned section divides the placement area at two different locations in the first direction, the first area is an area in which the first head can operate without requiring the execution of non-interference control when the second head is located within the second area, and the second area is an area in which the second head can operate without requiring the execution of non-interference control when the first head is located within the first area.

3. The placement support device according to claim 1 or 2, wherein each of the first head and the second head supports a picker capable of holding the backup member in a vertically movable manner when the placement work is performed, the partition divides the placement area into two different locations in the first direction, and the width of the common area in the first direction is set based on the distance in the first direction between the positions in which the first head and the second head support the picker when they approach to the minimum distance allowed in the first direction.

4. The placement support device according to claim 1 or 2, wherein the setting unit sets the movement of the backup members placed in the first area to be the responsibility of the first head, and the movement of the backup members placed in the second area to be the responsibility of the second head, and the partitioning unit partitions the placement area into two different locations in the first direction, and determines the position of the common area in the placement area in the first direction such that the number of backup members placed in the first area and the second area respectively are equalized by the placement work to be performed.

5. The placement support device according to claim 4, wherein the partitioned section performs the following steps: first step of provisionally setting the position of the common area in the first direction such that the position of one of the multiple backup members to be placed by the placement work to be performed is located in the center of the common area in the first direction; second step of counting the number of placements, which is the number of multiple backup members to be placed by the placement work included in the first area and the second area corresponding to the provisionally set common area; third step of provisionally setting the position of the common area in the first direction such that, if there is a difference in the respective number of placements, the common area is moved by a predetermined distance to the area with the larger number of placements; and fourth step of repeatedly performing the second and third steps until the difference in the number of placements begins to increase, and determining the position provisionally set in the third step when the difference in the number of placements becomes the smallest, or the position provisionally set in the third step when the difference in the number of placements becomes less than or equal to a preset allowable value, as the position of the common area in the first direction.

6. The arrangement support device according to claim 1 or 2, wherein the partitioned section divides the arrangement area at two different locations in the first direction to set up the common area, the first area, and the second area, and further divides the common area at two different locations in the second direction intersecting the first direction.

7. The placement support device according to claim 1 or 2, wherein the setting unit sets the movement of the backup member located in the first region to be the responsibility of the first head, and sets the movement of the backup member located in the second region to be the responsibility of the second head.

8. The arrangement support device according to claim 7, wherein the setting unit sets the movement of the backup member arranged in the common area to be the responsibility of the first head and the second head that completes the movement of the backup member in their assigned area later.

9. The placement support device according to claim 7, wherein the setting unit sets the movement of the backup member placed in the common area to be the responsibility of the first head, and after the movement of the backup member to the common area is completed, causes the backup member to move to the second area in parallel with the movement of the backup member to the first area.

10. The arrangement support device according to claim 7, wherein the setting unit sets the movement of the backup member arranged in the common area to be the responsibility of the first head, and in parallel with the movement of the backup member to the common area and the first area performed in a series of movements by the first head, the second head moves the backup member to the second area.

11. The placement support device according to claim 10, wherein the setting unit restricts the movement of the backup member to the second area by the second head so that work in which the first head enters the common area is given priority.

12. The substrate work machine comprises a pair of stockers capable of accommodating a plurality of backup members, the first stocker being located on the base end side of the first head in the first direction, and the second stocker being located on the base end side of the second head, the initial position being the position of the plurality of backup members already placed in the placement area before the placement work is performed, and the target position being the placement position for each of the plurality of backup members to be placed by the placement work to be performed, and the storage position of the backup members to be accommodated in the pair of stockers, the partition section partitions the placement area at two different locations in the first direction, the first region is the region in which the first head is responsible for moving the backup members between the initial position or the target position relative to the first stocker, and the second region is the region in which the second head is responsible for moving the backup members between the initial position or the target position relative to the second stocker, the placement support device according to claim 1 or 2.

13. The arrangement support device according to claim 12, wherein the setting unit sets the movement of the backup member so that the initial position and the target position fall within the first region to be the responsibility of the first head, and sets the movement of the backup member so that the initial position and the target position fall within the second region to be the responsibility of the second head.

14. A placement support method applicable to a substrate-facing work machine, comprising a pair of work heads, a first head and a second head, which are provided facing each other in a first direction, for performing predetermined substrate-facing work on a substrate supported by a backup member, the method comprising: a partitioning step of partitioning the placement area in which the placement work of the backup member is performed into two different locations, and setting a common area where non-interference control is required to be performed to prevent interference between the other when one of the pair of work heads enters, and a first area and a second area located on either side of the common area; and a setting step of setting the work head responsible for moving each of the plurality of backup members that are to be moved in the placement work, based on the partitioned placement area and the placement position of each backup member that is set in advance for the placement work to be performed.

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