KR101076310B1 - Conveying device and computer program - Google Patents

Abstract

[Problem] Even with respect to the difference in the conveyed amount such as periodic conveyance unevenness, the conveyed amount can be corrected effectively also with respect to the difference in the conveyed amount that occurs suddenly, and the conveyance of the continuum such as the tape and the sheet with high precision Provided are a conveying apparatus and a computer program that can be realized.

[Solution means] A pair of upper and lower conveying rollers for conveying a strip-shaped continuum, a drive motor for driving the conveying roller, and a sensor for detecting a mark of the continuum. It is judged whether or not the mark is detected by the sensor at the time of conveyance with the predetermined conveyance amount, and generates an on signal or an off signal in accordance with whether it is determined that it is detected. The count value is set according to the generated on signal or off signal, and the set count value is stored. Based on the statistical value calculated statistically based on the plurality of stored count values and the count value set immediately before, the conveyance amount of the strip-shaped continuum is corrected.

Carrier device, computer program

Description

Carrier and Computer Program {CONVEYING DEVICE AND COMPUTER PROGRAM}

The present invention relates to a conveying apparatus and a computer program capable of stably conveying a strip-like continuum such as a carrier tape.

Conventionally, the conveying apparatus which conveys a elongate member, a strip | belt-shaped member, etc. by winding up the elongate member, strip | belt-shaped member, etc., such as a film and a tape wound on a conveyance reel to the reel for windings provided with a rotation drive means, It is widely provided. By using such a conveying apparatus, for example, the rotation drive means is temporarily stopped in the middle of a manufacturing process, predetermined processing is performed on a predetermined part such as a long member, a band-like member, and the like, and then the rotation drive means is restarted. A desired product is manufactured by winding up in a winding reel.

With the recent thinning and downsizing (downsizing) of electronic devices, the demand for small components such as LSIs, chip capacitors, and chip inductors has increased rapidly, and the fine pitch of the carrier tape Screen printing is performed to form the wiring, and the processed electronic components, for example, processed workpieces such as mold chips having lead wires are stored, and not only conveyed, but also the accuracy of the conveyed amount of the carrier tape and the like Problems are increasing.

In order to control sheet conveyance amounts, such as a carrier tape, for example, patent document 1 discloses the sheet conveyance apparatus which detects the difference of a rotation angle, and intermittently calculates the difference from the reference conveyance amount of a sheet conveyance amount. In patent document 1, the conveyance amount which should be corrected is calculated by calculating the difference of a sheet conveyance amount and a reference conveyance amount at the timing of the integer multiple of the rotation period of the driven roller which conveys a sheet.

[Patent Document 1] Japanese Unexamined Patent Publication No. Hei 6-122238

However, in the sheet conveying apparatus disclosed in Patent Literature 1, since the difference is calculated at the timing of the integral multiple of the rotation period of the driven roller, it is suitable for the difference of the relatively small conveying amount which occurs unexpectedly due to the occurrence of burrs or the like. Although the correction amount can be calculated, an appropriate correction amount cannot be calculated for the difference of relatively large conveyance amount, such as periodic conveyance unevenness generate | occur | produced by the eccentricity etc. of the roller itself. Therefore, there existed a problem that the case which cannot convey a sheet stably occurs.

In order to solve this problem, for example, a sensor for detecting a cavity formed on a carrier tape is provided. If the sensor detects a cavity, the value is '1'. There was also a conveying device only for increasing or decreasing the next sheet conveying amount based on the on-off signal of -1 '. As a result, although it is possible to cope with periodic conveyance unevenness caused by the eccentricity of the roller itself or the like, a problem arises that the correction amount cannot be increased and the correction cannot be corrected for a relatively large difference in the conveyance amount that occurs suddenly. have. In addition, a taping device having a rotation angle sensor as well as an on-off signal and correcting the conveying amount with respect to the increase or decrease of the rotation angle has also been developed. In this case, although it is possible to cope with a relatively large conveyance amount such as periodic conveyance unevenness caused by eccentricity of the roller itself, etc., there is a problem that an appropriate correction amount cannot be calculated when a large conveyance amount is unexpectedly generated. there was.

In addition, for example, when a material such as a carrier tape or a sheet is a material that is easily stretched due to a change in temperature or humidity of paper or a synthetic resin, it is stretched over the entire length of the carrier tape or a sheet, and the difference between immediately before Even if the conveyance amount is corrected accordingly, the conveyance difference cannot be solved as a whole.

This invention is made | formed in view of such a situation, and even about the difference of the conveyance amount, such as a periodic conveyance nonuniformity, also about the difference of the conveyance amount which arises abruptly, an effective conveyance amount can be correct | amended and tape with high precision An object of the present invention is to provide a conveying apparatus and a computer program capable of realizing conveyance of a continuum such as a sheet.

In order to achieve the said objective, the conveying apparatus by 1st invention has a pair of upper and lower conveyance rollers which convey a strip | belt-shaped continuum, the drive motor which drives this conveyance roller, and the sensor which detects the mark of the said continuum, In the conveying apparatus which conveys the strip | belt-shaped continuous body which has a mark, 1st judgment means which judges whether it conveyed by predetermined | prescribed conveyance amount, and the said sensor in the said time point judged that it conveyed by this 1st judgment means. A coefficient value depending on the receiving means for receiving the detection signal, second judging means for judging whether or not the received detection signal is an on signal, and whether or not the second judging means judges that the detection signal is an on signal. On the basis of a coefficient value setting means for setting a value, a coefficient value storage means for storing the set coefficient value, and a plurality of stored coefficient values. On the basis of the coefficient values set to the calculated statistical value, and immediately before it is characterized in that it comprises a conveyance amount correction means for correcting the conveyance amount of the band on the continuum.

Further, in the conveying apparatus according to the second invention, in the first invention, the conveying amount correcting means includes statistical value calculating means for calculating a statistical value that is a statistical count value based on a plurality of counted values stored therein; And a weight setting means for setting a statistical value, a weighting ratio of the coefficient value set immediately before, and a conveying amount calculating means for calculating a conveying amount of the strip-shaped continuum according to the set weighting ratio.

In the second invention, the conveying apparatus according to the third aspect of the invention is characterized in that the statistical value calculating means calculates a moving average value of count values for a predetermined number of times stored.

Then, in order to achieve the said objective, the conveying apparatus by 4th invention is a pair of upper and lower conveyance rollers which convey a strip | belt-shaped continuous body, the drive motor which drives this conveying roller, the encoder which detects the rotation angle of the said conveying roller, A conveying device having a sensor for detecting a mark of the continuum and conveying a strip-shaped continuum having a plurality of marks, wherein the guess is based on the mark detected by the sensor and the rotation angle detected by the encoder. Means, a difference calculation means for calculating a difference between the estimated stop position and a reference position that is an assumed stop position, a difference storage means for storing the calculated difference, and a statistically calculated based on the plurality of stored differences And a conveying amount correction means for correcting a conveying amount of the strip-shaped continuum based on the statistical difference and the difference calculated immediately before. The.

Further, in the conveying apparatus according to the fifth invention, in the fourth invention, the conveying amount correcting means includes statistical difference calculating means for calculating a statistical difference which is a statistical difference based on a plurality of stored differences, and the calculated statistical difference. And a weight setting means for setting a weighting ratio of the difference calculated immediately before, and a conveying amount calculating means for calculating a conveying amount of the strip-shaped continuum according to the set weighting ratio.

Moreover, the conveying apparatus by 6th invention is a 5th invention WHEREIN: The said statistical difference calculating means is characterized by calculating the moving average value of the difference for the predetermined number of times memorize | stored.

Then, in order to achieve the above object, the computer program according to the seventh invention has a pair of upper and lower conveying rollers for conveying a strip-shaped continuum, a drive motor for driving the conveying roller, and a sensor for detecting the marks of the continuum, A computer program that can be executed by a computer that controls the operation of a conveying apparatus for conveying a strip-shaped continuum having a plurality of marks, comprising: first judging means for judging whether or not the computer is conveyed at a predetermined conveying amount; Reception means for receiving a detection signal from the sensor at a time point judged to have been returned by the first determination means, second judging means for judging whether or not the received detection signal is an ON signal, and this second judgment Count value setting means for setting a count value according to whether or not the detection signal is judged by the means to be an on signal; A coefficient value storage means for storing a predetermined coefficient value, a statistical value calculated statistically based on a plurality of stored coefficient values, and a conveyed amount correction for correcting a conveyed amount of a strip-shaped continuum based on a coefficient value set immediately before It functions as a means.

Then, in order to achieve the above object, the computer program according to the eighth invention includes a pair of upper and lower conveying rollers for conveying a strip-shaped continuum, a drive motor for driving the conveying rollers, and an encoder for detecting a rotation angle of the conveying rollers; A computer program having a sensor for detecting a mark of the continuum and capable of being executed by a computer that controls the operation of a conveying apparatus for conveying a strip-shaped continuum having a plurality of marks, the mark detected by the sensor And estimation means for estimating a stop position according to the rotation angle detected by the encoder, a difference calculating means for calculating a difference between the estimated stop position and a reference position which is an assumed stop position, and a difference storage means for storing the calculated difference. And statistical differences calculated based on a plurality of stored differences, and the difference calculated immediately before. It is characterized by functioning as conveying amount correction means for correcting the conveying amount of the strip-shaped continuum.

In the first and seventh inventions, a detection signal from a sensor is received at a time when it is determined that the carrier is conveyed at a predetermined conveyance amount, the count value is set according to whether the received detection signal is an on signal, and the set count value is set. Remember it. Based on the statistical value calculated statistically based on the plurality of stored count values and the count value set immediately before, the conveyance amount of the strip-shaped continuum is corrected. When large correction is performed only by the coefficient value set just before, the conveying amount does not converge only by alternating alternately. For example, statistical values for a plurality of times (multiple pitches) in the past are also corrected by correcting the conveying amount. Since the conveyance amount is not changed, a relatively large correction can be performed. Therefore, the influence of a measurement error can be suppressed, and it is not necessary to require a high level, such as the conveyance accuracy of the installation itself, the manufacturing precision of a continuum, and it becomes possible to provide the conveying apparatus with high conveying accuracy.

Here, the "coefficient value" means a value obtained by digitizing the on-signal as '1' and the off-signal as '-1', for example, based on the on-off of the digital signal. In addition, a "mark" is a wide concept which means the to-be-detected object by the sensor provided substantially equally spaced in order to generate | occur | produce on-off signals, such as a cavity and a printing part formed in the strip | belt-shaped continuous body. A "statistical value" is a representative value which statistically processed the count value in the case of conveying a plurality of times in the past (several times, conveying for one pitch), and means a moving average value, a weighted moving average value and the like.

In the second invention, a statistical value that is a statistical coefficient value is calculated on the basis of a plurality of stored coefficient values, and a weighting ratio of the calculated statistical value and the coefficient value set immediately before is set. By calculating the conveying amount of the strip-shaped continuum according to the set weighting ratio, a plurality of corrections are made according to the occurrence situation such as the difference in the conveying amount which is suddenly generated by the occurrence of burrs or the like, and the unevenness of the periodic conveying amount caused by the eccentricity of the roller itself. The conveyed amount can be calculated, the influence of the measurement error can be suppressed, and it is possible to provide a conveying device with high conveying accuracy without requiring a high level for conveying accuracy of the equipment itself, manufacturing precision of the continuum, and the like. do.

In the third aspect of the invention, by calculating the moving average value of the count value for the predetermined number of times stored, it is possible to effectively use the past result to suppress the influence of the measurement error.

In the fourth and eighth inventions, the stop position is estimated according to the mark detected by the sensor and the rotation angle detected by the encoder, the difference between the estimated stop position and the reference position which is the assumed stop position is calculated, and the calculated difference Remember it. The amount of conveyance of the strip-shaped continuum is corrected based on the statistical difference calculated statistically based on the plurality of stored differences and the difference calculated immediately before. If the mark cannot be detected due to the presence of burrs, adhesion of impurities, or the like only by the difference between the last stop positions, there is a possibility that incorrect correction may be performed, which may deteriorate the positioning accuracy. On the contrary, for example, the statistical difference between the stationary position differences of a plurality of times in the past is also corrected, so that the conveyed amount is not suddenly changed by correcting the conveyed amount, so that a relatively large correction can be performed. Therefore, the influence of a measurement error can be suppressed, and it is not necessary to require a high level, such as the conveyance accuracy of the installation itself, the manufacturing precision of a continuum, and it becomes possible to provide the conveying apparatus with high conveying accuracy.

Here, the "reference position" means a position reached when the difference between the belt-shaped continuum and the conveying roller does not exist, the center of the rotating shaft of the conveying roller is not eccentric, and is conveyed by rotation without rotation unevenness. it means. That is, the position theoretically reached under the same conditions. On the other hand, the "inferred stop position" means the arrival position estimated based on the detection signal detected by the sensor. In addition, a "mark" is a wide concept which means the to-be-detected object by the sensor provided substantially equally spaced in order to estimate the movement amount of the cavity, printing part, etc. formed in the strip | belt-shaped continuous body. The "statistical difference" is a representative value obtained by statistically processing a plurality of differences in the past, and means a moving average value, a weighted moving average value, and the like.

In the fifth invention, a statistical difference which is a statistical difference is calculated on the basis of a plurality of stored differences, and the weighted ratio of the calculated statistical difference and the difference calculated immediately before is set. By calculating the conveying amount of the strip-shaped continuum according to the set weighting ratio, a plurality of corrections are made according to the occurrence situation such as the difference in the conveying amount which is suddenly generated by the occurrence of burrs or the like, and the unevenness of the periodic conveying amount caused by the eccentricity of the roller itself. The conveyed amount can be calculated, the influence of the measurement error can be suppressed, and it is possible to provide a conveying device with high conveying accuracy without requiring a high level for conveying accuracy of the equipment itself, manufacturing accuracy of the continuum, etc. Done.

In the sixth invention, by calculating the moving average value of the difference for a predetermined number of times stored, it is possible to effectively use the past results and to suppress the influence of the measurement error.

In addition, in embodiment mentioned later, the 1st determination means has the process of step S501 of the CPU 31, the receiving means has the process of step S502 of the CPU 31, and the 2nd determination means has the process of step S503 of the CPU 31. The processing includes the processing of the step S504 and the step S505 of the CPU 31, the counting value setting means of the processing of the step S506 of the CPU 31, and the transfer amount correcting means of the step S508 of the CPU 31. The process of step S909 corresponds to each. The statistical value calculating means corresponds to the processing of step S507 of the CPU 31, the weight setting means corresponds to the processing of step S601 of the CPU 31, and the transfer amount calculating means corresponds to the processing of the step S602 of the CPU 31, respectively. do.

In addition, the guessing means is the processing of step S905 of the CPU 31, the difference calculating means is the processing of step S906 of the CPU 31, and the difference storing means is the processing of step S907 of the CPU 31, and the statistical difference calculating means. The processing of step S908 of the CPU 31 corresponds to the processing of step S1001 of the CPU 31 for the weight setting means, and the processing of step S1002 of the CPU 31 for the transport amount calculating means.

[Effects of the Invention]

According to the above configuration, even when it is difficult to maintain a stable conveying amount when a large correction is made only by the difference between the count value and the stop position set immediately before, for example, the statistical value for the past multiple times (multiple pitches), the stop In addition to the difference in position, by correcting the conveying amount, the conveying amount is not changed suddenly, and a relatively large correction can be performed. Therefore, the influence of a measurement error can be suppressed, and it is not necessary to require a high level, such as the conveyance accuracy of the installation itself, the manufacturing precision of a continuum, and it becomes possible to provide the conveying apparatus with high conveying accuracy.

EMBODIMENT OF THE INVENTION Hereinafter, the conveying apparatus by embodiment of this invention is demonstrated concretely based on drawing based on a carrier tape conveying apparatus as an example.

(Embodiment 1)

BRIEF DESCRIPTION OF THE DRAWINGS It is a perspective view which shows typically the structure of the conveying apparatus by Embodiment 1 of this invention. As shown in FIG. 1, the conveying apparatus 10 by Embodiment 1 is a carrier which is a strip | belt-shaped continuum which forms the cavity 11, 11, ... at substantially equal intervals as a mark for conveying an electronic component. It is possible to convey the tape 1 to the conveyance roller 4.

The conveyance roller 4 is comprised from the feed roller 41 connected to the drive source 5, such as a motor, and the pressure roller 42 which pinches | interposes the carrier tape 1. As the feed roller 41 rotates in the direction of the arrow 43, the carrier tape 1 is sandwiched between the feed roller 41 and the pressure roller 42 and conveyed in the direction of the arrow 12.

In the vicinity of the center of FIG. 1, the electronic component is inserted into the cavities 11, 11,... Of the carrier tape 1. The sensor 2 which detects the presence of the cavities 11, 11, ... is provided in the predetermined position ahead of the inserted position. The sensor 2 is an optical sensor, for example, and is provided with a light emitting part and a light receiving part, and can receive the light irradiated from the light emitting part only at the light receiving part when the cavity 11 has passed. The received optical signal is output to the control device 3 which is connected by a signal line as a photoelectrically converted pulse signal.

The drive source 5 is comprised by the stepping motor, for example, and a rotation direction and a rotation angle are designated according to the command pulse signal from the control apparatus 3 connected with the signal line. Stepping motor is not limited to the structure connected to the feed roller 41, For example, the structure connected to not only the feed roller 41 but the pressure roller 42 may be sufficient.

FIG. 2: is a top view which showed typically the partial structure of the conveying apparatus 10 by Embodiment 1 of this invention. As shown in FIG. 2, the electronic components 13, 13,... Are grooves 72, 72,... Of the index table 7 which are rotated in the direction of the arrow 71 by the conveyor 15. ), And as the index table 7 is rotated, it is moved to just above the carrier tape 1. Then, the drop 14 is inserted into the cavity 11 formed in the carrier tape 1 through the insertion nozzle 6 disposed immediately above the carrier tape 1, and the arrow 14 moves in accordance with the movement of the carrier tape 1. Is conveyed in the direction of).

3 is a block diagram showing the configuration of the control device 3 of the transport apparatus 10 according to the first embodiment of the present invention. As shown in FIG. 3, the control device 3 includes at least a CPU (central computing device) 31, a RAM 32, a storage device 33, an input device 34, an output device 35, and a communication device. (36), an auxiliary bus (37), and an internal bus (38) connecting the hardware described above. The CPU 31 is connected to the respective hardware units of the control device 3 as described above via the internal bus 38, controls the operations of the hardware units described above, and stores them in the storage device 33. The pulse signal is processed from the sensor 2 connected in accordance with the computer program 8 which is connected, and the operation | movement of the drive source 5, the index table 7, etc. is controlled.

The RAM 32 is composed of an SRAM, a flash memory, or the like, and stores load data that is generated when the computer program 8 is executed and is generated when the computer program 8 is executed.

The memory device 33 is composed of a built-in fixed memory device (hard disk) or the like. The computer program 8 stored in the storage device 33 is stored in the auxiliary storage device 37 from a portable recording medium 9 such as a DVD or a CD-ROM in which information such as a program and data is recorded. Is executed by being expanded from the storage device 33 to the RAM 32 at the time of execution. Of course, it may be a computer program downloaded from an external computer via the communication device 36.

The storage device 33 also includes a history information storage unit 331 for storing history information of count values set by past on or off signals. The CPU 31 corrects the conveyed amount by using a moving average value of the count value of the past predetermined number of times (predetermined pitch amount) stored in the history information storage unit 331.

The communication device 36 is connected to the internal bus 38 and connected to an external network such as the Internet, a LAN, or a WAN, so that data can be transmitted and received to or from an external computer. For example, the above-described storage device 33 is not limited to the configuration incorporated in the control device 3, and may be an external recording medium such as external storage connected via the communication device 36.

The input device 34 is a data input medium such as a keyboard and a mouse. The output device 35 is a display device such as a CRT monitor or LCD, or a printing device such as a laser printer or an inkjet printer.

4 is a block diagram showing a schematic configuration of a drive source 5 of the conveying apparatus 10 according to the first embodiment of the present invention. As shown in FIG. 4, the PPMC (pulse oscillator) 51 which receives the operation signal from the CPU 31 of the control device 3 converts the operation signal into a command pulse signal and transmits it to the motor driver 52. . The motor driver 52 which received the command pulse signal rotates the stepping motor 53 according to the number of pulses of the command pulse signal.

For example, when the command pulse signal is a rotation direction control signal, the rotation direction of the stepping motor 53 is determined according to the digital value 1 or 0 indicating the rotation direction. In addition, the rotation speed of the stepping motor 53 can be changed in accordance with the frequency of the command pulse signal.

5 is a flowchart showing a processing procedure of the CPU 31 in the control device 3 of the transport apparatus 10 according to the first embodiment of the present invention. In FIG. 5, the CPU 31 of the control device 3 determines whether the conveyance for the designated conveyance amount, for example, one pitch, has been completed (step S501), and determines that the CPU 31 has not been completed. If it does (step S501: NO), it will be in a waiting state for completion. If it is determined that the CPU 31 is completed (step S501: YES), the CPU 31 receives the detection signal from the sensor 2 (step S502), and determines whether it is an on signal (step S503). .

When the CPU 31 determines that it is the ON signal (step S503: YES), the CPU 31 sets the count value to '1' (step S504), and sets the set count value to the history information of the storage device 33. It stores in the memory | storage part 331 (step S506).

When the CPU 31 determines that the signal is not an on signal, that is, an off signal (step S503: NO), the CPU 31 sets the count value to '-1' (step S505) and stores the set count value. It is stored in the history information storage part 331 of the apparatus 33 (step S506).

The CPU 31 calculates a moving average value as a statistical value of count values of the past predetermined pitches, for example, the past 2000 pitches, based on the plurality of count values stored in the history information storage unit 331 (step S507). ). The calculated statistical value is not limited to the moving average value, and any statistical value may be used as long as it is a statistical value representative of the coefficient values of the past multiple pitches.

The CPU 31 calculates the conveyance amount of the carrier tape 1 on the basis of the calculated moving average value and the count value of the straight root (step S508). In this way, since the conveying amount is not changed suddenly by calculating the conveying amount by considering the moving average value of the count value of the past 2000 pitches as well as the counting value of the straight root, a relatively large conveying amount can be corrected, and the conveyance unevenness Converges surely. Therefore, the influence of a measurement error can be suppressed, and it is not necessary to require a high level, such as the conveyance accuracy of the installation itself, the manufacturing precision of a continuum, etc.

The method for calculating the conveyance amount is not particularly limited, but for example, the conveyance amount may be calculated by weighting the moving average value of the rectus value and the past count value. 6 is a flowchart showing a processing procedure of the CPU 31 in the control device 3 of the transport apparatus 10 according to the first embodiment of the present invention.

In FIG. 6, the CPU 31 of the control device 3 determines the past pitches, for example, the past 2000 pitches, based on the plurality of count values stored in the history information storage unit 331. The moving average value is calculated as a statistical value (step S507). The CPU 31 sets the weighting ratio of the moving average value and the rectifier's counting value (step S601), and divides both to calculate the conveyance amount of the carrier tape 1 (step S602). For example, the conveyed amount Z corrected using the weighting coefficient is calculated as in Equation (1).

Z = f (aX + bY)... (One)

a + b = 1

In Equation (1), X represents a coefficient value of the straight root, and Y represents a moving average value of the coefficient value. The coefficients a and b calculate an evaluation value in consideration of the moving average value Y of the coefficient value, and calculate the corrected conveyance amount Z by using a function f for obtaining the conveyance amount Z from the evaluation value. Even when an unexpected abnormal value is detected, an appropriate conveyance amount Z which is not greatly affected can be calculated.

Specifically, for example, a standard count value indicating a state in which there is no difference in the conveyance amount is set to '0', and the table is stored in the storage device 33 to calculate a stepped conveyance amount according to the deviation from the standard count value. It is good to remember. 7 is an exemplary view of a conveyance amount control using a moving average value of count values and a count value of straight roots.

In FIG. 7, when the detection signal output from the sensor 2 is received, the on signal '1' and the light blocking case are the off signal '-1'. And the conveyance amount control example of the conveying apparatus 10 which conveys 2.000 mm when the deviation is "0" is made into the standard count value which shows that a conveyance difference did not generate | occur | produced as "0".

In the example of FIG. 7, the CPU 31 multiplies the moving average value of the count values for the past 2000 pitches stored in the history information storage unit 331 of the storage device 6 by six times and the count value of the rectus muscle 2. The value which added the multiplied value is computed as evaluation value P. The CPU 31 changes the conveyance amount in steps of 0.004 mm based on the magnitude of the evaluation value P. FIG. Specifically, the storage device 33 stores the correspondence between the evaluation value P and the transport amount, and specifies the transport amount according to the size of the evaluation value P. As shown in FIG.

In the example of FIG. 7, when the evaluation value P is more than 3 or less than -3, the conveyed quantity is not changed from the maximum value or the minimum value. This is because when the conveyance amount is corrected to be larger than the predetermined size, for example, when a large measurement error is detected, an incorrect correction amount may be calculated, and it becomes difficult to carry out stable conveyance.

As described above, in the first embodiment, not only the coefficient value of the rectus root but also the statistical value of the count value for the past multiple times (multiple pitches), for example, while suppressing the influence of the measurement error by correcting the conveying amount, Therefore, a large correction can be performed and it is possible to provide a conveying apparatus with high conveying accuracy without requiring a high level such as conveying accuracy of the equipment itself, manufacturing accuracy of the continuum, and the like. Moreover, even when the whole carrier tape is stretched and contracted by temperature, humidity, etc., it becomes possible to reliably correct | amend with an appropriate conveyance amount by correct | amending conveyance amount based on a statistical value.

(Embodiment 2)

Since the structure of the conveying apparatus 10 by Embodiment 2 of this invention is the same as that of Embodiment 1, detailed description is abbreviate | omitted by attaching | subjecting the same code | symbol about the element which exhibits the same function. In this Embodiment 2, the rotary encoder 20 which detects the rotation angle of the conveyance roller 4 is provided, and a conveyance amount is correct | amended using the stop position estimated based on the rotation angle of the drive source 5. It differs from Embodiment 1 in that it does.

FIG. 8: is a perspective view which showed typically the structure of the conveying apparatus 10 by Embodiment 2 of this invention. As shown in FIG. 8, the conveying apparatus 10 which concerns on this Embodiment 2 forms the carrier tape 1 which forms the cavity 11, 11, ... at substantially equal intervals as a mark for conveying an electronic component. Can be conveyed by the conveyance roller 4.

The conveyance roller 4 is comprised from the feed roller 41 connected to the drive source 5, such as a motor, and the pressure roller 42 which pinches | carries the carrier tape 1. As shown in FIG. As the feed roller 41 rotates in the direction of the arrow 43, the carrier tape 1 is sandwiched between the feed roller 41 and the pressure roller 42 and conveyed in the direction of the arrow 12.

In the vicinity of the center of FIG. 8, the electronic components 13, 13,... Are inserted into the cavities 11, 11,... Of the carrier tape 1. The sensor 2 which detects the presence of the cavities 11, 11, ... is provided in the predetermined position ahead of the inserted position. The sensor 2 is an optical sensor, for example, and is provided with the light emitting part and the light receiving part, and can receive the light irradiated from the light emitting part only at the light receiving part when the cavity 11 which functions as a mark passes. The received optical signal is output to the control device 3 which is connected by a signal line as a photoelectrically converted pulse signal.

The drive source 5 is comprised by the stepping motor, for example, and a rotation direction and a rotation angle are designated according to the command pulse signal from the control apparatus 3 connected with the signal line. Stepping motor is not limited to the structure connected to the feed roller 41, For example, the structure connected to not only the feed roller 41 but the pressure roller 42 may be sufficient.

In addition, the drive source 5 includes a rotation angle sensor for detecting the rotation angle of the drive source 5, for example, a rotary encoder 20, and a control device 3 connected with information about the detected rotation angle by a signal line. To send). Of course, the rotation angle sensor is not limited to the rotary encoder.

The structure of the control apparatus 3 of the conveying apparatus 10 is the same as that of Embodiment 1. FIG. That is, the CPU 31 of the control device 3 is connected to each hardware part of the control device 3 via the internal bus 38, controls the operation of each hardware part, and is stored in the storage device 33. The pulse signal from the sensor 2 and the rotary encoder 20 connected according to the computer program 8 which is connected is processed, and the operation | movement of the drive source 5, the index table 7, etc. is controlled.

The history information storage unit 331 of the storage device 33 further includes a stop position estimated based on the pulse signal detected by the sensor 2 by the sensor 2 and the rotation angle detected by the rotary encoder 20. The history information of the difference between the reference position which is the assumed stop position is stored. The CPU 31 corrects the conveyed amount by using the moving average value of the difference for the past predetermined number of times stored in the history information storage unit 331.

9 is a flowchart showing a processing procedure of the CPU 31 in the control device 3 of the transfer device 10 according to the second embodiment of the present invention. In FIG. 9, the CPU 31 of the control device 3 outputs an angle signal indicating the initial angle of the feed roller 41 from the rotary encoder 20 before the start of conveyance for a predetermined conveyance amount, for example, one pitch. It receives (step S901). The CPU 31 determines whether or not an ON signal indicating that light has been received from the sensor 2, that is, indicating detection of the cavity 11 has been received (step S902).

When it is determined that the CPU 31 has not received the on signal (step S902: NO), the CPU 31 enters a standby state for receiving the on signal. If it is determined that the CPU 31 has received the ON signal (step S902: YES), the CPU 31 receives an angle signal indicating the rotation angle of the feed roller 41 at that time from the rotary encoder 20, (Step S903), a rotation angle is calculated from a difference with an initial angle (step S904).

The CPU 31 estimates the stop position at the end of conveyance for one pitch based on the rotation angle (step S905). Since the conveyance amount for one pitch is known beforehand (for example, conveyance amount 2 mm), the stop position estimation method knows the absolute distance from the position at the time of conveyance start to the cavity 11, for example. Can be. Since the distance to be actually conveyed can also be calculated from the calculated rotation angle, the distance from the ratio of the conveyance to 2 mm can be estimated from the ratio between them and the stop position can be estimated, and the stop position can be estimated. . The estimation method is not particularly limited to this.

The CPU 31 calculates the difference between the estimated stop position and the reference position to be stopped at the time when the conveyance for one pitch is completed (step S906), and the calculated difference is stored in the history information storage section of the storage device 33 ( 331) (step S907).

The CPU 31 calculates a moving average value as a statistical difference between the past predetermined pitches, for example, the past 50 pitches, based on the plurality of differences stored in the history information storage unit 331 (step S908). The calculated statistical difference is not limited to the moving average value, and any statistical value may be used as long as it is a statistically representative difference in the past multiple pitches.

The CPU 31 calculates the conveyance amount of the carrier tape 1 based on the calculated moving average value and the difference between the straight roots (step S909). In this way, since the conveying amount is not changed suddenly by considering the moving average value of not only the difference between the straight roots but also the difference of the past predetermined pitch, the relatively large conveying amount can be corrected and the conveyance unevenness is assured. Converge. Therefore, the influence of a measurement error can be suppressed, and it is not necessary to require a high level, such as the conveyance accuracy of the installation itself, the manufacturing precision of a continuum, etc.

Although the method of calculating a conveyance amount is not specifically limited, For example, you may calculate the conveyance amount which divided | segmented by weighting the difference of the rectus and the moving average value of the difference of the past. 10 is a flowchart showing a processing procedure of the CPU 31 in the control device 3 of the transport apparatus 10 according to the second embodiment of the present invention.

In FIG. 10, the CPU 31 of the control device 3 is based on a plurality of differences stored in the history information storage unit 331, and statistical differences between the past predetermined pitches, for example, the past 50 pitches. As a result, a moving average value is calculated (step S908). The CPU 31 sets the weighted ratio of the moving average value and the difference between the straight roots (step S1001), and calculates the conveyance amount of the carrier tape 1 by dividing both of them (step S1002). For example, the conveyed amount S corrected using the weighting coefficient is calculated as in Equation (2).

S = f (aT + bU)... (2)

a + b = 1

In Formula (2), T has shown the difference of straight roots, and U has shown the moving average value of a difference. The coefficients a and b are used to calculate an evaluation value that takes into account the moving average value Y of the difference, and calculate the corrected conveyance amount S by using a function f that calculates the conveyance amount S from the evaluation value. Even when an abnormal value is detected, it is possible to calculate an appropriate conveyance amount S which does not have an extremely large influence.

Specifically, for example, a standard conveyance amount representing a state where there is no difference in the conveyance amount is set to '2 mm', and a stepwise conveyance amount is calculated according to the difference of the stop position inverted from the stop position estimated as the standard conveyance amount. It is good to make it into a table and to store it in the memory | storage device 33 so that it may be stored. Fig. 11 is an illustration of the conveyance amount control using the moving average value of the difference and the difference between the straight roots.

In FIG. 11, the conveyance apparatus 10 which calculates based on the ON signal from the sensor 2 and the angle signal from the rotary encoder 20, conveys a standard conveyance amount to "2.000mm" using the difference of a stop position. A conveyance amount control example is shown.

In the example of FIG. 11, the CPU 31 doubles the moving average value of the difference of the past 50 pitches stored in the history information storage unit 331 of the storage device 33 and the value obtained by adding the difference of the rectus roots. It calculates as evaluation value P. The CPU 31 changes the conveyed amount stepwise from -0.034 mm to +0.034 mm based on the magnitude of the evaluation value P. FIG. Specifically, the storage device 33 stores the correspondence between the evaluation value P and the transport amount, and specifies the transport amount according to the size of the evaluation value P. As shown in FIG.

As described above, in the second embodiment, not only the difference in the stop position of the rectus muscle but also the statistical difference of the difference in the stop position of the past multiple times is corrected, so that the conveyed amount is not changed suddenly so that a relatively large correction can be performed. . Therefore, the influence of a measurement error can be suppressed, and it is not necessary to require a high level, such as the conveyance accuracy of the installation itself, the manufacturing precision of a continuum, and it becomes possible to provide the conveying apparatus with high conveying accuracy. Moreover, even when the whole carrier tape is stretched and contracted by temperature, humidity, etc., it becomes possible to reliably correct | amend with an appropriate conveyance amount by correct | amending conveyance amount based on a statistical difference.

In the above-described embodiment, the carrier tape for conveying the electronic components is described as an example. However, the same configuration can be used for a conveying device for conveying a strip-shaped continuum, for example, a taping machine, a long press-type printer, a laminating machine, and the like. Effects similar to those described above can be expected.

It goes without saying that Embodiments 1 and 2 described above can be changed without departing from the spirit of the present invention. For example, the sensor 2 may be an image sensor instead of an optical sensor, a cavity may not be formed as a mark, and may be an identification code by image printing.

BRIEF DESCRIPTION OF THE DRAWINGS It is a perspective view which shows typically the structure of the conveying apparatus by Embodiment 1 of this invention.

It is a top view which shows typically the partial structure of the conveying apparatus by Embodiment 1 of this invention.

3 is a block diagram showing the configuration of a control device for a conveying apparatus according to Embodiment 1 of the present invention.

4 is a block diagram showing a schematic configuration of a driving cause of a conveying apparatus according to Embodiment 1 of the present invention.

5 is a flowchart showing a processing procedure of a CPU of the control apparatus of the transfer apparatus according to the first embodiment of the present invention.

6 is a flowchart showing a processing procedure of a CPU of the control device of the transfer device according to the first embodiment of the present invention.

7 is an exemplary view of a conveyance amount control using a moving average value of count values and a count value immediately before.

8 is a perspective view schematically showing the configuration of a conveying apparatus according to Embodiment 2 of the present invention.

9 is a flowchart showing a processing procedure of a CPU of the control device of the transfer device according to the second embodiment of the present invention.

10 is a flowchart showing a processing procedure of a CPU of the control device of the transfer device according to the second embodiment of the present invention.

Fig. 11 is an illustration of the conveyance amount control using the moving average value of the difference and the difference immediately before.

[Description of the code]

1 carrier tape (continuous body) 2 sensor

3: control device 4: conveying roller

5: driving source 8: computer program

9: Portable recording medium 10: Carrier

11: cavity (mark) 31: CPU

32: RAM 33: Memory

34: input device 35: output device

36: communication device 37: auxiliary storage device

38: internal bus

Claims (8)

A pair of upper and lower conveyance rollers which conveys a strip | belt-shaped continuous body, A drive motor for driving this conveying roller; Having a sensor for detecting a mark of the continuum, In the conveying apparatus which conveys the strip | belt-shaped continuum which has a some mark: First judging means for judging whether or not it has been conveyed at a predetermined conveyance amount; Reception means for receiving a detection signal in the sensor at a time when it is determined that the first determination means has conveyed; Second judging means for judging whether or not the received detection signal is an on signal; Coefficient value setting means for setting a coefficient value according to whether or not the detection signal is judged to be an ON signal by the second determination means; Coefficient value storage means for storing the set coefficient value; And a conveying amount correcting means for correcting a conveying amount of a strip-shaped continuum based on a statistical value calculated statistically based on a plurality of stored count values and a count value set immediately before. The method of claim 1, The conveying amount correction means, Statistical value calculating means for calculating a statistical value that is a statistical coefficient value based on a plurality of stored coefficient values; Weight setting means for setting the weighted ratio of the calculated statistical value and the coefficient value set immediately before, And a conveying amount calculating means for calculating a conveying amount of the strip-shaped continuum according to the set weighting ratio. The method of claim 2, The statistical value calculating means, The conveying apparatus characterized by calculating the moving average value of the count value for the predetermined number of times memorize | stored. A pair of upper and lower conveyance rollers which conveys a strip | belt-shaped continuous body, A drive motor for driving this conveying roller; An encoder for detecting a rotation angle of the conveying roller; Having a sensor for detecting a mark of the continuum, In the conveying apparatus which conveys the strip | belt-shaped continuum which has a some mark: Estimation means for inferring a stop position according to the mark detected by the sensor and the rotation angle detected by the encoder; Difference calculation means for calculating a difference between the estimated stop position and the reference position which is the assumed stop position; Difference storage means for storing the calculated difference, And a conveying amount correcting means for correcting a conveying amount of a strip-shaped continuum based on a statistical difference calculated statistically based on a plurality of stored differences and a difference calculated immediately before. The method of claim 4, wherein The conveying amount correction means, Statistical difference calculating means for calculating a statistical difference which is a statistical difference based on a plurality of stored differences; Weighting setting means for setting the calculated statistical difference and the weighting ratio of the difference calculated immediately before, And a conveying amount calculating means for calculating a conveying amount of the strip-shaped continuum according to the set weighting ratio. The method of claim 5, The statistical difference calculating means, The conveying apparatus characterized by calculating the moving average value of the difference for the predetermined number of times memorize | stored. delete delete

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