Allowable value setting device and allowable value setting method

An allowable value setting device sets an allowable value of a deviation amount between a target pickup position and an actual pickup position in a component when the component is picked up by a suction nozzle. The allowable value setting device includes a first setting section and a second setting section. The first setting section sets a first allowable value, which is the allowable value for each component type of the component to be mounted on a board. The second setting section sets a second allowable value, which is the allowable value that is set for each mounting coordinate of the component and smaller than the first allowable value of the component of the same component type set by the first setting section, the second allowable value being preferentially adopted over the first allowable value in a suction process of the component.

TECHNICAL FIELD

The present specification discloses a technique related to an allowable value setting device and an allowable value setting method.

BACKGROUND ART

A component mounter described in Patent Literature 1 sets a set amount for determining whether a positional deviation amount of a component with respect to a suctioned end face corresponds to a positional deviation amount prohibiting a component mounting, and such a set amount is set to each component which is to be mounted on a circuit board. When there are multiple components to be mounted at different positions even if the component types are the same, the component mounter sets the above-mentioned set amount for each component.

A component mounter described in Patent Literature 2 obtains a maximum occupied area occupied by a component on a board surface for each component when the component is mounted on a circuit board, and calculates the adjacent distance to an occupied area of another component adjacent at the closest position, for each occupied area. The component mounter measures a deviation amount between a suction nozzle and a component held by the suction nozzle when mounting the component, and mounts the held component on the circuit board when the deviation amount is equal to or less than the adjacent distance.

PATENT LITERATURE

BRIEF SUMMARY

Technical Problem

However, in the component mounters described in Patent Literature 1 and Patent Literature 2, it is not clear which allowable value is preferentially adopted between the allowable value for each component type and the allowable value for each mounting coordinate, for an allowable value of a deviation amount between a target pickup position and an actual pickup position when the component is picked up.

In consideration of such a situation, the present specification discloses an allowable value setting device and an allowable value setting method capable of setting two types of allowable values having different priorities for an allowable value of a deviation amount between a target pickup position and an actual pickup position when a component is picked up.

Solution to Problem

The present specification discloses an allowable value setting device for setting an allowable value of a deviation amount between a target pickup position and an actual pickup position in a component when the component is picked up by a suction nozzle. The allowable value setting device includes a first setting section and a second setting section. The first setting section sets a first allowable value, which is the allowable value for each component type of the component to be mounted on a board. The second setting section sets a second allowable value, which is the allowable value set for each mounting coordinate of the component and smaller than the first allowable value of the component of the same component type set by the first setting section, the second allowable value being preferentially adopted over the first allowable value in a suction process of the component.

Also, the present specification discloses an allowable value setting method for setting an allowable value of a deviation amount between a target pickup position and an actual pickup position in a component when the component is picked up by a suction nozzle. The allowable value setting method includes a first setting step and a second setting step. In the first setting step, a first allowable value, which is the allowable value for each component type of the component to be mounted on a board is set. In the second setting step, a second allowable value, which is the allowable value that is set for each mounting coordinate of the component and smaller than the first allowable value of the component of the same component type set by the first setting step, the second allowable value being preferentially adopted over the first allowable value in a suction process of the component is set.

Advantageous Effects

According to the allowable value setting device described above, there are provided a first setting section and a second setting section. As a result, the allowable value setting device can set two types of allowable values (the first allowable value and the second allowable value) having different priorities for the allowable value of the deviation amount between the target pickup position and the actual pickup position when the component is picked up. The above description of the allowable value setting device can be similarly applied to the allowable value setting method.

DESCRIPTION OF EMBODIMENTS

1-1. Configuration Example of Component Mounter10

Component mounter10mounts multiple components91on board90. As illustrated inFIG.1, component mounter10includes board conveyance device11, component supply device12, component transfer device13, part camera14, board camera15, and control device16.

Board conveyance device11is configured by, for example, a belt conveyor or the like, and conveys board90in a conveyance direction (X-axis direction). Board90is a circuit board and at least one of an electronic circuit and an electrical circuit is formed. Board conveyance device11loads board90into component mounter10and positions board90at a predetermined position in component mounter10. After a mounting process of multiple components91by component mounter10is completed, board conveyance device11unloads board90to the outside of component mounter10.

Component supply device12supplies multiple components91to be mounted on board90. Component supply device12includes multiple feeders121that are provided along the conveyance direction of board90(X-axis direction). Each of multiple feeders121pitch-feeds a carrier tape (not shown) that stores multiple components91to supply component91so that component91can be picked up at a supply position located on a distal end side of feeder121. Also, component supply device12can supply relatively large electronic components (for example, lead components) as compared with chip components or the like, in a state of being disposed on a tray.

Component transfer device13includes head driving device131and moving body132. Head driving device131is configured to move moving body132in the X-axis direction and the Y-axis direction by a linear motion mechanism. Mounting head20is detachably (exchangeably) attached to moving body132by a clamp member (not shown). Mounting head20picks up (sucks) and holds component91supplied by component supply device12by using at least one suction nozzle30and mounts component91on board90positioned by board conveyance device11.

As part camera14and board camera15, a well-known imaging device can be used. Part camera14is fixed to a base of component mounter10such that an optical axis thereof is directed upwards in a Z-axis direction (vertically upward direction). Part camera14can capture an image of component91held by suction nozzle30from below.

Board camera15is provided on moving body132of component transfer device13such that an optical axis thereof is directed downward in the Z-axis direction (vertically downward direction). Board camera15can capture an image of board90from above. Part camera14and board camera15perform imaging based on control signals transmitted from control device16. Image data captured by part camera14and board camera15is transmitted to control device16.

Control device16includes a well-known computing device and a storage device, and a control circuit is configured therein (both of which are not shown). Information, image data, and the like output from various sensors provided in component mounter10are input to control device16. Control device16transmits a control signal to each device, based on a control program, a predetermined mounting condition set in advance, and the like.

For example, control device16causes board camera15to capture an image of board90that is positioned by board conveyance device11. Control device16performs image processing with respect to the image captured by board camera15to recognize a positioning state of board90. In addition, control device16causes suction nozzle30to pick up (suck) and hold component91supplied by component supply device12, and causes part camera14to capture an image of component91held by suction nozzle30. Control device16performs image processing with respect to the image captured by part camera14to recognize a holding posture of component91.

Control device16moves suction nozzle30toward an upper side of a mounting planned position set in advance by a control program or the like. In addition, control device16corrects the mounting planned position based on the positioning state of board90, the holding posture of component91, and the like, and sets a mounting position on which component91is actually mounted. The mounting planned position and the mounting position include a rotation angle in addition to the positions (X-coordinate and Y-coordinate).

Control device16corrects a target position (X-coordinate and Y-coordinate) and the rotation angle of suction nozzle30in accordance with the mounting position. Control device16lowers suction nozzle30at the corrected rotation angle at the corrected target position to mount component91on board90. Control device16repeats the pick-and-place cycle described above to execute the mounting process of mounting multiple components91on board90.

1-2. Configuration Example of Allowable Value Setting Device40

Allowable value setting device40sets allowable value TR of a deviation amount between target pickup position PP and actual pickup position PR in component91when component91is picked up by suction nozzle30.FIG.2illustrates an example of a relationship between target pickup position PP and actual pickup position PR.FIG.2is a plan view as seen from a side of suction nozzle30when component91is picked up by suction nozzle30, and illustrates a positional relationship between nozzle tip portion31of suction nozzle30and component91.

Target pickup position PP illustrated inFIG.2is a center position of component91, and actual pickup position PR illustrated inFIG.2is an axial position of suction nozzle30. It should be noted that target pickup position PP is not limited to the center position of component91and may be, for example, a centroid position of component91. The shape of nozzle tip portion31is not limited to a circular shape and may be, for example, an elliptical shape.

As illustrated inFIG.2, when the deviation amount between target pickup position PP and actual pickup position PR increases, nozzle tip portion31of suction nozzle30may protrude from component91. In this case, when component91is mounted on board90, an adjacent member (for example, component91or a wall surface of an accommodation portion accommodating component91) adjacent to component91and nozzle tip portion31may interfere with each other. In addition, when the deviation amount between target pickup position PP and actual pickup position PR increases, the suction state of component91may become unstable.

Therefore, in component mounter10, allowable value TR of the deviation amount between target pickup position PP and actual pickup position PR is set. Control device16of component mounter10, for example, performs image processing with respect to the image captured by part camera14to measure the deviation amount between target pickup position PP and actual pickup position PR. When the deviation amount is within allowable value TR, control device16allows the mounting of component91, and when the deviation amount exceeds allowable value TR, control device16prohibits the mounting of component91and causes component91to be discarded.

Here, when component91is mounted on board90, component91in which a gap between component91and the adjacent member adjacent to component91is narrower than a predetermined gap (the maximum gap at which nozzle tip portion31may interfere with the adjacent member) is regarded as a first component. In addition, component91for which a certain level of stability is required (in other words, a certain level of mounting accuracy is required) in the suction state of component91is regarded as a second component. Further, allowable value TR set for each component type of component91is regarded as first allowable value TR1. The first component is one form of the second component.

Allowable value TR for the first component may be set smaller than first allowable value TR1from the viewpoint of avoiding interference between nozzle tip portion31and the adjacent member. On the other hand, as allowable value TR for component91other than the first component (component91having a gap wider than the predetermined gap), there is no problem even if first allowable value TR1is adopted. In addition, allowable value TR for the second component may be set smaller than first allowable value TR1from the viewpoint of stabilizing the suction state of component91(improvement of the mounting accuracy). On the other hand, as allowable value TR for component91other than the second component (component91with fewer requirements described above), there is no problem even if first allowable value TR1is adopted.

If the same allowable value TR smaller than first allowable value TR1is set for all components91of the same component type as allowable value TR, strict conditions are applied to components91having no problem even if allowable value TR (first allowable value TR1) set for each component type is adopted, which leads to an increase in the disposal rate of component91. Accordingly, allowable value setting device40of the present embodiment sets two types of allowable values (first allowable value TR1and second allowable value TR2) having different priorities with respect to allowable value TR of the deviation amount between target pickup position PP and actual pickup position PR when component91is picked up.

Specifically, allowable value setting device40includes first setting section41and second setting section42when viewed as a control block. In addition, it is preferable that allowable value setting device40further include at least one of change section43, nozzle setting section44, order determining section45, and condition setting section46. However, when allowable value setting device40includes order determining section45, allowable value setting device40includes nozzle setting section44.

As illustrated inFIG.3, allowable value setting device40of the present embodiment includes first setting section41, second setting section42, change section43, nozzle setting section44, order determining section45, and condition setting section46. As illustrated inFIG.1, allowable value setting device40of the present embodiment is provided separately from component mounter10, but may be provided in various devices such as control device16of component mounter10, a management device (not shown) for managing component mounter10, and the like.

First setting section41sets first allowable value TR1, which is allowable value TR for each component type of component91to be mounted on board90. First setting section41can set first allowable value TR1for each component type, for example, based on external dimensions and external shapes of components91.

Specifically, first setting section41can set first allowable value TR1smaller as the external dimension of component91becomes smaller (as component91becomes smaller). In addition, first setting section41can also set first allowable value TR1smaller as the external shape of component91becomes more complicated. First allowable value TR1set by first setting section41can be included in, for example, component data.

FIG.4illustrates an example of the component data. The component data illustrated inFIG.4includes a component type, a component dimension, a nozzle type, a handling condition, and an allowable value TR (first allowable value TR1). InFIG.4, for convenience of illustration, only the component data of component91of component type P1is described, but the component data of multiple types of components91can be included. The component data are not limited to those illustrated inFIG.4. The component data may include, for example, various information about component91, such as shape data of component91.

The component dimension represents the external dimensions of component91. The external dimensions of component91of component type P1are represented by width W1, depth D1, and height H1. The nozzle type represents the type of suction nozzle30that can be used. Suction nozzle30that can be used to pick up component91of component type P1includes suction nozzle30of nozzle type NZ1and nozzle type NZ2. Suction nozzle30of nozzle type NZ1represents suction nozzle30used in the suction process of component91for which first allowable value TR1is set by first setting section41. Suction nozzle30of nozzle type NZ2represents suction nozzle30used in the suction process of component91for which second allowable value TR2is set by second setting section42described below.

The handling condition represents an operation condition of mounting head20(for example, a movement speed of mounting head20or the like). The operation conditions of mounting head20when component91of component type P1is picked up and mounted include condition HV1and condition HV2. Condition HV1represents an operation condition of mounting head20when suction nozzle30that picks up component91for which first allowable value TR1is set by first setting section41is moved. Condition HV2represents an operation condition of mounting head20when suction nozzle30that picks up component91for which second allowable value TR2is set by second setting section42described below is moved.

First allowable value TR1can be represented using the X-coordinate, the Y-coordinate, and the rotation angle in the XY-Cartesian coordinate system. First allowable value TR1of component91of component type P1has allowable value TR1X in the X-axis direction, allowable value TR1Y in the Y-axis direction, and allowable value TR1Q in the rotation angle.

Second setting section42sets second allowable value TR2. Second allowable value TR2is allowable value TR that is smaller than first allowable value TR1of component91of the same component type that is set for each mounting coordinate of component91and is set by first setting section41. Second allowable value TR2is preferentially adopted over first allowable value TR1in the suction process of component91.

The first component described above is component91in which the gap between component91and the adjacent member adjacent to component91is narrower than the predetermined gap when component91is mounted on board90. Accordingly, from the viewpoint of avoiding interference between nozzle tip portion31and the adjacent member, second setting section42may set second allowable value TR2for the first component. The above-described second component is a component91for which a certain level of stability is required (for which a certain level of mounting accuracy is required) in the suction state of component91. Accordingly, from the viewpoint of stabilizing the suction state of component91(improvement of the mounting accuracy), second setting section42may set second allowable value TR2for the second component. Second allowable value TR2set by second setting section42can be included in, for example, mounting use data.

FIG.5illustrates an example of component91to be mounted on board90.FIG.5illustrates that components91having circuit number R1, circuit number R2, circuit number R11, circuit number R12, circuit number R15, and circuit number R16is components91having component type P1. The gap between adjacent components91of circuit number R1and circuit number R2is gap GP1. The gap between adjacent components91of circuit number R11and circuit number R12is gap GP2. The gap between adjacent components91of circuit number R15and circuit number R16is gap GP3. In addition, both gap GP1and gap GP3are narrower than the predetermined gap, and gap GP2is wider than the predetermined gap.

FIG.6illustrates an example of mounting use data. The mounting use data is data used when component mounter10mounts component91on board90. The mounting use data illustrated inFIG.6includes a sequence number, a circuit number, a component type, mounting coordinates, and allowable value TR (second allowable value TR2). InFIG.6, for convenience of illustration, only the mounting use data of component91of component type P1is described, but the mounting use data of multiple types of components91can be included. The mounting use data is not limited to those illustrated inFIG.6. The mounting use data may include, for example, various information about mounting conditions, devices to be used, and the like.

The sequence number represents the mounting order of components91.FIG.6illustrates mounting of component91on board90in order from the sequence number 0001. The circuit number corresponds to the circuit number illustrated inFIG.5, and the component type corresponds to the component type illustrated inFIG.4andFIG.5. The mounting coordinates can be represented using the X-coordinate, the Y-coordinate, and the rotation angle in the XY-Cartesian coordinate system. The X-coordinate and the Y-coordinate represent coordinates of the center position of component91. For example, the center position of component91of circuit number R1has the X-coordinate as coordinate X1, the Y-coordinate as coordinate Y1, and the rotation angle of component91as angle Q1. Components91having other circuit numbers are also represented in the same manner.

Since gap GP1illustrated inFIG.5is narrower than the predetermined gap, and component91having circuit number R2is mounted after circuit number R1, second setting section42sets second allowable value TR2at least for component91having circuit number R2. Similarly, since gap GP3is narrower than the predetermined gap, and component91having circuit number R16is mounted after circuit number R15, second setting section42sets second allowable value TR2at least for component91having circuit number R16.

For example, it is assumed that component91having circuit number R12is component91for which a certain level of stability is required (a certain level of mounting accuracy is required) in the suction state of component91, and is regarded as a second component. At this time, second setting section42sets second allowable value TR2for component91having circuit number R12.

Second allowable value TR2can be represented using the X-coordinate, the Y-coordinate, and the rotation angle in the XY-Cartesian coordinate system. Second allowable value TR2of component91having circuit number R2has allowable value TR2X in the X-axis direction, allowable value TR2Y in the Y-axis direction, and allowable value TR2Q in the rotation angle. Second allowable value TR2is also represented in the same manner for component91having circuit number R12and circuit number R16. For component91having circuit number R1, circuit number R11, and circuit number R15, the allowable value is set to blank instead of second allowable value TR2.

It should be noted that since component91having circuit number R1is mounted ahead of component91having circuit number R2, nozzle tip portion31does not interfere with component91having circuit number R2when component91having circuit number R1is mounted. Therefore, second setting section42of the present embodiment does not set second allowable value TR2for component91having circuit number R1. However, in consideration of the fact that gap GP1is narrower than the predetermined gap and component91having circuit number R2needs to be mounted after component91having circuit number R1is mounted, component91having circuit number R1is required to have mounting accuracy as compared with, for example, component91having circuit number R11.

Accordingly, second setting section42can also set second allowable value TR2for component91having circuit number R1. When second allowable value TR2is set for component91having circuit number R1, condition setting section46described later can easily set the operation condition of mounting head20for moving suction nozzle30to the same operation condition (condition HV2) as the second component. The above description can be similarly applied to component91having circuit number R15.

When second allowable value TR2is set in the mounting use data, second allowable value TR2is adopted in the suction process of component91. When second allowable value TR2is not set in the mounting use data, first allowable value TR1set in the component data is adopted in the suction process of component91. Second allowable value TR2may be appropriately changed based on, for example, the mounting state in which component91is actually mounted. Therefore, it is preferable that second allowable value TR2be included in the mounting use data. As a result, it is possible to avoid the occurrence of an operation of changing the component data in accordance with the change of second allowable value TR2.

It is preferable that second setting section42set second allowable value TR2based on a setting element including at least the mounting coordinates, among the mounting coordinates, the dimensional tolerance of component91, and the mounting accuracy when component91is actually mounted. As a result, allowable value setting device40of the present embodiment can improve the setting accuracy of second allowable value TR2.

Second setting section42can, for example, set second allowable value TR2for the first component by the method described below. Second setting section42can calculate the gap (design value) between adjacent components91, for example, based on the respective mounting coordinates of adjacent components91and the external dimensions of component91.

As illustrated inFIG.6, for example, the mounting coordinate (X-coordinate) of component91having circuit number R1is coordinate X1, and the mounting coordinate (X-coordinate) of component91having circuit number R2is coordinate X2. In the example illustrated inFIG.5, a center-to-center distance between adjacent components91having circuit numbers R1and R2can be calculated from coordinates X1 and X2. In this case, gap GP1is obtained by subtracting the lateral dimension (the dimension in the short-side direction) of component91from the center-to-center distance of component91.

Second setting section42sets second allowable value TR2so that a protruding amount of nozzle tip portion31from component91is at least equal to or less than the calculated gap (design value). In the above example, second setting section42sets second allowable value TR2so that the protruding amount of nozzle tip portion31from component91is equal to or less than gap GP1. In addition, since the external dimension of component91may vary within a range of the dimensional tolerance of component91, second setting section42may consider the dimensional tolerance of component91(using the maximum dimension of component91) when calculating the gap (design value).

In addition, since second allowable value TR2set by the above-described method does not consider an operation error or the like of the device (for example, mounting head20or the like), second setting section42may provide a margin corresponding to the operation error of the device to second allowable value TR2set by the above-described method. The operation error of the device can be estimated, for example, from the mounting accuracy (degree of variation in the actual mounting position with respect to the target mounting position) when component91is actually mounted on the actual machine.

It should be noted that the above-described method can individually set second allowable value TR2for the first components, but the setting operation of second allowable value TR2may be complicated when the number of the first components increases. The mounting coordinates at which the interference between nozzle tip portion31and the adjacent member becomes a problem are often designed such that the gap becomes several types of predetermined gaps at the design stage of board90. For example, gap GP3illustrated inFIG.5is designed to have the same size as gap GP1, and second allowable value TR2illustrated inFIG.6is set to the same value regardless of the mounting coordinates.

The second component is component91for which a certain level of stability is required (a certain level of mounting accuracy is required) in the suction state of component91. Accordingly, second setting section42may set second allowable value TR2according to the request for each mounting coordinate. Similar to the first component, second setting section42may set second allowable value TR2for the second component in consideration of the dimensional tolerance of component91.

Further, similar to the first component, second setting section42may set second allowable value TR2for the second component in consideration of the mounting accuracy when component91is actually mounted. Since the first component is one form of the second component, second setting section42may also set second allowable value TR2of the second component to the same value as second allowable value TR2of the first component.

Change section43collectively changes second allowable value TR2set by second setting section42for components91of the same component type. As a result, allowable value setting device40of the present embodiment can easily change second allowable value TR2as compared with the case where second allowable value TR2is individually changed for each mounting coordinate.

As described above, second allowable value TR2illustrated inFIG.6is set to the same value regardless of the mounting coordinates. Accordingly, when changing second allowable value TR2set to one mounting coordinate, change section43can simultaneously change second allowable value TR2set to another mounting coordinate. In addition, in a case where the gap between nozzle tip portion31and the adjacent member is designed to be several types of predetermined gaps, change section43can change second allowable value TR2collectively in units of groups by dividing the gap into multiple groups according to the size of the gap.

Nozzle setting section44can set, as suction nozzle30to be used in the suction process of component91, suction nozzles30having different contact areas each being a contact area with component91when component91is picked up, between component91for which first allowable value TR1is set by first setting section41and component91for which second allowable value TR2is set by second setting section42, for components91of the same component type.

As described above, suction nozzle30of nozzle type NZ1illustrated inFIG.4represents suction nozzle30to be used in the suction process of component91for which first allowable value TR1is set by first setting section41. Suction nozzle30of nozzle type NZ2represents suction nozzle30to be used in the suction process of component91for which second allowable value TR2is set by second setting section42. At this time, nozzle setting section44can set the contact area between suction nozzle30of nozzle type NZ2and component91to be smaller than suction nozzle30of nozzle type NZ1.

In the first component described above, the gap between component91when mounted on board90and the adjacent member is narrower than the predetermined gap. Therefore, the first component for which second allowable value TR2is set may use suction nozzle30of nozzle type NZ2having a smaller contact area with component91as compared with suction nozzle30of nozzle type NZ1in order to avoid interference between nozzle tip portion31and the adjacent member. In the example illustrated inFIG.6, components91having circuit number R2and circuit number R16are the components corresponding to the above description.

Conversely, component91for which first allowable value TR1is set does not have to avoid the above-described interference. Therefore, component91for which first allowable value TR1is set may use suction nozzle30of nozzle type NZ1in order to increase the contact area between component91and suction nozzle30to stabilize the suction state of component91. In the example illustrated inFIG.6, components91having circuit number R1, circuit number R11, and circuit number R15are the components corresponding to the above description.

In addition, nozzle setting section44can also set, as suction nozzle30to be used in the suction process of component91, suction nozzles30each having the same contact area with component91when component91is picked up, between component91for which first allowable value TR1is set by first setting section41and component91for which second allowable value TR2is set by second setting section42, for components91of the same component type. In this case, each of suction nozzles30of nozzle type NZ1and nozzle type NZ2has the same contact area between component91and suction nozzle30.

The above-described second component is required to have a certain level of stability (a certain level of mounting accuracy is required) in the suction state of component91. Therefore, the second component for which second allowable value TR2is set may use suction nozzle30of nozzle type NZ2having the same contact area as suction nozzle30of nozzle type NZ1in order to stabilize the suction state of component91. In the example illustrated inFIG.6, component91having circuit number R12is the component corresponding to the above description.

The above description with respect to the second component can be similarly applied to a case where second allowable value TR2is set for component91to be mounted first among the first components, from the viewpoint of improvement of the mounting accuracy described above. In the example illustrated inFIG.6, components91having circuit number R1and circuit number R15are targeted.

Order determining section45determines a mounting order of components91to be mounted on board90according to the type of suction nozzle30set by nozzle setting section44. As a result, allowable value setting device40of the present embodiment can determine an appropriate mounting order of components91according to the type of suction nozzle30set by nozzle setting section44.

For example, since second allowable value TR2is not set in component91having circuit number R1, circuit number R11, and circuit number R15illustrated inFIG.6, first allowable value TR1is adopted as allowable value TR. As described above, component91to which first allowable value TR1is adopted uses suction nozzle30of nozzle type NZ1. On the other hand, component91having circuit number R2and circuit number R16illustrated inFIG.6is a first component for which second allowable value TR2is set, and uses suction nozzle30of nozzle type NZ2.

Component91having circuit number R12is a second component for which second allowable value TR2is set, and uses suction nozzle30of nozzle type NZ2having the same contact area with component91as suction nozzle30of nozzle type NZ1. Therefore, component91having circuit number R12may use suction nozzle30of nozzle type NZ1. In the case of the mounting order illustrated inFIG.6, the nozzle type of suction nozzle30is switched three times in the mounting process of six components91from circuit number R1to circuit number R16.

Specifically, after the mounting process of component91having circuit number R1is performed using suction nozzle30of nozzle type NZ1, the mounting process of component91having circuit number R2is performed using suction nozzle30of nozzle type NZ2. Next, the mounting process of components91having circuit number R11, circuit number R12, and circuit number R15is performed using suction nozzle30of nozzle type NZ1. Then, the mounting process of component91having circuit number R16is performed using suction nozzle30of nozzle type NZ2.

In the above example, order determining section45, for example, can determine the mounting order of components91so that the number of times of switching the nozzle type of suction nozzle30is reduced. Specifically, order determining section45changes, for example, the mounting of component91having circuit number R2after mounting of component91having circuit number R16.

In this case, the mounting process of components91having circuit number R1, circuit number R11, circuit number R12, and circuit number R15is performed using suction nozzle30of nozzle type NZ1. Then, the mounting process of components91having circuit number R16and circuit number R2is performed using suction nozzle30of nozzle type NZ2. As a result, the number of times of switching the nozzle type of suction nozzle30is only once.

In addition, order determining section45may prevent the mounting process of component91using suction nozzle30of nozzle type NZ1and the mounting process of component91using suction nozzle30of nozzle type NZ2from mixing in one pick-and-place cycle. In this manner, the production efficiency of component mounter10is improved by order determining section45determining an appropriate mounting order of components91.

Condition setting section46can set, as an operation condition of mounting head20for moving suction nozzle30, operation conditions different from each other between component91for which first allowable value TR1is set by first setting section41and component91for which second allowable value TR2is set by second setting section42, for components91of the same component type. As a result, allowable value setting device40of the present embodiment can appropriately set the operation condition of mounting head20.

As described above, condition HV1illustrated inFIG.4represents an operation condition of mounting head20when suction nozzle30that picks up component91for which first allowable value TR1is set by first setting section41is moved. Condition HV2represents an operation condition of mounting head20when suction nozzle30that picks up component91for which second allowable value TR2is set by second setting section42is moved. At this time, condition setting section46can set condition HV2more strictly than condition HV1.

Condition setting section46, for example, can reduce an operation speed of mounting head20with respect to component91for which second allowable value TR2is set by second setting section42, as compared with component91for which first allowable value TR1is set by first setting section41. The operation speed of mounting head20includes, for example, a movement speed of mounting head20, a lowering speed when a lifting and lowering member (for example, a syringe) holding suction nozzle30is lowered, and the like.

In addition, condition setting section46, for example, can set operation accuracy of mounting head20to be higher for component91for which second allowable value TR2is set by second setting section42, as compared with component91for which first allowable value TR1is set by first setting section41. The operation accuracy of mounting head20includes, for example, positioning accuracy of mounting head20and the lifting and lowering member. Condition setting section46, for example, can set the waiting time during which mounting head20waits until the lifting and lowering member stops to be longer for component91for which second allowable value TR2is set by second setting section42, as compared with component91for which first allowable value TR1is set by first setting section41.

The first component for which second allowable value TR2is set needs to avoid interference between nozzle tip portion31and the adjacent member. At this time, condition setting section46reduces the operation speed of mounting head20with respect to the first component for which second allowable value TR2is set, as compared with component91for which first allowable value TR1is set. In addition, condition setting section46sets the operation accuracy of mounting head20to be higher for the first component for which the second allowable value TR2is set, as compared with component91for which first allowable value TR1is set. As a result, the interference between nozzle tip portion31and the adjacent member can be easily avoided.

The second component for which second allowable value TR2is set needs to stabilize the suction state of component91. At this time, condition setting section46reduces the operation speed of mounting head20with respect to the second component for which second allowable value TR2is set, as compared with component91for which first allowable value TR1is set. In addition, condition setting section46sets the operation accuracy of mounting head20to be higher for the second component for which second allowable value TR2is set, as compared with component91for which first allowable value TR1is set. As a result, the suction state of component91can be easily stabilized. The above description with respect to the second component can be similarly applied to a case where second allowable value TR2is set for component91to be mounted first among the first components, from the viewpoint of improvement of the mounting accuracy described above.

2. Allowable Value Setting Method

The above description of allowable value setting device40can be similarly applied to the allowable value setting method. Specifically, the allowable value setting method includes a first setting step and a second setting step. The first setting step corresponds to the control performed by first setting section41. The second setting step corresponds to the control performed by second setting section42.

It is preferable that the allowable value setting method further include at least one of a changing step, a nozzle setting step, an order determining step, and a condition setting step. The changing step corresponds to the control performed by change section43. The nozzle setting step corresponds to the control performed by nozzle setting section44. The order determining step corresponds to the control performed by order determining section45. The condition setting step corresponds to the control performed by condition setting section46. However, the allowable value setting method includes the nozzle setting step when the order determining step is included.

3. Example of Effect of Embodiment

According to allowable value setting device40, first setting section41and second setting section42are provided. As a result, allowable value setting device40can set two types of allowable values (first allowable value TR1and second allowable value TR2) having different priorities with respect to allowable value TR of the deviation amount between target pickup position PP and actual pickup position PR when component91is picked up. The above description with respect to the allowable value setting device40can be similarly applied to the allowable value setting method.

REFERENCE SIGNS LIST