JP2021031106A - Taping device and taping method - Google Patents

Abstract

To provide a taping device which can sequentially insert parts of various sizes into pockets of various carrier tapes by one device.SOLUTION: A taping device comprises: part supply means 30 which can supply specified parts of the number according to a size to a part mounting unit 20 in a scattered state; part position recognition means 40 which can recognize a position of each scattered part of the part mounting unit 20; part holding means (50) which can hold the scattered parts in each of a plurality of part holding units 52 based on part position information from the part position recognition means 40; part direction recognition means 60 which can recognize the direction of each held part held in the plurality of part holding units 52; and part insertion means (50) which can sequentially insert the parts into pockets CTa of specified carrier tapes after the direction of the held part is adjusted based on part direction information from the part direction recognition means 60.SELECTED DRAWING: Figure 1

Description

The present invention relates to a taping device and a taping method capable of sequentially inserting parts into a pocket of a carrier tape.

When manufacturing the parts storage tape, it is necessary to prepare a carrier tape having pockets (parts storage recesses) corresponding to the size of the parts and sequentially insert the parts into the pockets of the carrier tape. Incidentally, the component storage tape refers to a carrier tape after the component is inserted with a cover tape for closing the pocket attached.

By the way, since the taping device capable of sequentially inserting parts into the pockets of the carrier tape is generally a dedicated device designed based on the size of the parts (see Patent Documents 1 and 2 described later), parts of other sizes can be inserted. A taping device with a different design is required to insert it into the pockets of other carrier tapes in sequence.

That is, when parts of various sizes are required to be inserted into pockets of various carrier tapes, it is necessary to install a number of taping devices according to the size of the parts in order to satisfy the request. , The burden of installing the equipment tends to increase.

JP-A-2002-209505 Japanese Unexamined Patent Publication No. 2006-168754

An object to be solved by the present invention is to provide a taping device and a taping method capable of sequentially inserting parts of various sizes into pockets of various carrier tapes with one device.

In order to solve the above problems, the taping device according to the present invention can sequentially insert designated parts having a size corresponding to the pockets of the designated carrier tapes among a plurality of types of carrier tapes arranged so as to be intermittently movable. A taping device, a component supply means capable of supplying a number of the designated parts according to the size to the component mounting portion in a scattered state, and a component position capable of recognizing the positions of the scattered components of the component mounting portion. Each of the recognition means, the component holding means capable of holding the scattered parts in each of the plurality of component holding portions based on the component position information from the component position recognizing means, and the holding components held in the plurality of component holding portions. The component orientation recognizing means capable of recognizing the orientation and the component inserting means capable of sequentially inserting the holding component into the pocket of the designated carrier tape after adjusting the orientation based on the component orientation information from the component orientation recognizing means are provided.

Further, the taping method according to the present invention is a taping device capable of sequentially inserting designated parts having a size corresponding to the pocket of a designated carrier tape among a plurality of types of carrier tapes arranged so as to be intermittently movable. , The step of supplying the specified number of the designated parts to the component mounting portion in a scattered state by using the component supplying means, and the positions of the scattered parts of the component mounting portion using the component position recognizing means. A step of recognizing, a step of holding the scattered parts in each of a plurality of component holding portions based on the component position information from the component position recognizing means using the component holding means, and the plurality of components using the component orientation recognizing means. After adjusting the orientation of the holding component based on the step of recognizing the orientation of each holding component held in the holding portion and the component orientation information from the component orientation recognizing means using the component inserting means, the holding component is placed in the pocket of the designated carrier tape. It includes a step of sequentially inserting.

According to the taping device and taping method according to the present invention, parts of various sizes can be sequentially inserted into pockets of various carrier tapes with one device.

FIG. 1 is a top view of a taping device showing an application example of the present invention. 2 (A) to 2 (C) are partial top views showing an example of a carrier tape that can be used in the taping device. FIG. 3A is an enlarged vertical sectional view of the parts supply means shown in FIG. 1, and FIGS. 3B and 3C are operation explanatory views of the parts supply means. FIG. 4A is a vertical cross-sectional view showing a modified example of the component supply means shown in FIG. 3, and FIG. 4B is an operation explanatory view of the modified example. 5 (A) is an enlarged side view of the component holding / inserting means shown in FIG. 1, FIG. 5 (B) is an enlarged vertical sectional view of the enlarged portion of FIG. 5 (A), and FIG. 5 (C) is of FIG. 5 (B). An enlarged vertical sectional view, FIG. 5 (D) is an enlarged bottom view of the head portion shown in FIG. 5 (A). FIG. 6 is a diagram showing a control system of the taping device. FIG. 7A is a flow chart of initial data input of the taping device, and FIG. 7B is a flow chart of operation condition input of the taping device. FIG. 8 is a flow chart of parts supply of the taping device. FIG. 9A is a flow chart of component position recognition of the taping device, and FIG. 9B is an operation explanatory view of the component position recognition. FIG. 10 (A) is a flow diagram of holding parts of the taping device, and FIG. 10 (B) is an operation explanatory view of holding the parts. FIG. 11A is a flow chart of component orientation recognition of the taping device, and FIG. 11B is an operation explanatory diagram of component orientation recognition of the taping device. FIG. 12 (A) is a flow diagram of component insertion of the taping device, and FIG. 12 (B) is an operation explanatory view of the component insertion. 13 (A) and 13 (B) are operation explanatory views of the component orientation adjustment of the component holding / inserting means shown in FIG. FIG. 14 (A) is a flow diagram of component re-holding of the taping device, FIG. 14 (B) is a flow diagram of component orientation re-recognition of the taping device, and FIG. 14 (C) is a flow diagram of component reinsertion of the taping device. 14 (D) is a flow chart of component resupply of the taping device, and FIG. 14 (E) is a flow chart of component position re-recognition of the taping device. FIG. 15 (A) is an enlarged vertical sectional view showing a modified example of the component holding / inserting means shown in FIG. 5, and FIG. 15 (B) is an operation explanatory view of the modified example.

First, with reference to FIGS. 1 to 6, the structure and control system of the taping device (reference numeral omitted) illustrated in FIG. 1 and the parts and carrier tapes that can be used in the taping device will be described.

The taping device shown in FIG. 1 is a device capable of sequentially inserting a designated part having a size corresponding to the pocket of a designated carrier tape among a plurality of types of carrier tapes arranged so as to be intermittently movable, and is a means of transportation. 10, a component mounting unit 20, a component supply means 30, a component position recognizing means 40, a component holding / inserting means 50 having a component holding function and a component inserting function, a component orientation recognizing means 60, and a tape feeding means 70. And have.

The parts EC1 and the three carrier tapes CT1 to CT3 shown in FIG. 1 are drawn according to the description of the taping method later, and the parts and carrier tapes that can be used in the taping device shown in FIG. 1 are drawn. It does not limit the size and type of taping.

<Explanation of parts and carrier tape that can be used for taping equipment>
Typical examples of components that can be used in the taping device shown in FIG. 1 are electronic components having a rectangular shape, such as a capacitor element, a varistor element, an inductor element, an array element, and a composite element. Of course, as the parts, parts other than the rectangular parallelepiped electronic parts, and non-rectangular electronic parts or parts other than the electronic parts can also be used.

When the part to be inserted is a rectangular parallelepiped electronic part, the size is 0.4 mm to 3.2 mm in the range of the length reference dimension and the range of the width reference dimension is 0. The range of height (thickness) reference dimensions is 0.2 mm to 2.5 mm, which is 2 mm to 2.5 mm. The relationship between the length reference dimension, the width reference dimension, and the height reference dimension is as follows: length reference dimension> width reference dimension = height reference dimension, length reference dimension> width reference dimension> height reference dimension, length reference. Dimension> Height reference dimension> Width reference dimension.

If the carrier tape that can be used in the taping device shown in FIG. 1 has pockets (parts storage recesses) capable of storing the above-mentioned parts at equal intervals, the width, pocket size, and pitch are particularly limited. There are no restrictions on the material.

Here, using FIGS. 2 (A) to 2 (C), the three types of carrier tapes CT1 to CT3 used in the later explanation of the taping method and the pocket CTa of the respective carrier tapes CT1 to CT3 can be stored. The three types of parts EC1 to EC3 (not shown) will be described in detail.

The width W of the carrier tape CT1 shown in FIG. 2A is 4 mm, the pitch Pa of the rectangular parallelepiped pocket CTa is 1 mm, the pitch Pb of the circular tape feed hole CTb is 2 mm, and each pocket CTa has a length. A rectangular parallelepiped part (electronic part) EC1 having a reference dimension of 0.4 mm, a width reference dimension of 0.2 mm, and a height reference dimension of 0.2 mm can be stored.

The width W of the carrier tape CT2 shown in FIG. 2B is 8 mm, the pitch Pa of the rectangular parallelepiped pocket CTa is 1 mm, the pitch Pb of the circular tape feed hole CTb is 4 mm, and each pocket CTa has a length. A rectangular parallelepiped part (electronic part) EC2 having a reference dimension of 0.6 mm, a width reference dimension of 0.3 mm, and a height reference dimension of 0.3 mm can be stored.

The width W of the carrier tape CT2 shown in FIG. 2B is 8 mm, the pitch Pa of the rectangular parallelepiped pocket CTa is 2 mm, the pitch Pb of the circular tape feed hole CTb is 4 mm, and each pocket CTa has a length. A rectangular parallelepiped part (electronic part) EC3 having a reference dimension of 0.6 mm, a width reference dimension of 0.3 mm, and a height reference dimension of 0.15 mm can be stored.

<Explanation of transportation means 10>
As shown in FIG. 1, the moving means 10 has a Y-direction moving portion 11 and an X-direction moving portion 12 provided on the base plate BP. As shown by the arrows on the left side of FIG. 1, the Y direction points to the vertical direction of FIG. 1, the X direction points to the left and right direction of FIG. 1, and the Y direction and the X direction are orthogonal to each other in the plane.

The Y-direction moving unit 11 has a first table 11a and a linear moving mechanism (not shown) using a motor 11b (see FIG. 6). The first table 11a is connected to the movable portion of the linear movement mechanism, and can move in the + Y direction and the −Y direction by the forward and reverse rotation of the motor 11b.

The X-direction moving unit 12 has a second table 12a and a linear moving mechanism (not shown) using a motor 12b (see FIG. 6). The second table 12a is connected to the movable portion of the linear movement mechanism, and can move in the + X direction and the −X direction by the forward and reverse rotation of the motor 12b.

<Explanation of component mounting unit 20>
As shown in FIGS. 1 and 3, the component mounting portion 20 is electrically operated so as to be able to apply vibration, preferably vibration in the XY direction, to the tray portion 21 having the flat mounting surface 21a and the tray portion 21. It has a component diffusion unit 22 (see also FIG. 6). The lower surface of the component mounting portion 20 is connected to the first table 11a, and can move to the component supply location P1 and the component position recognition location P2 shown in FIG. 1 in conjunction with the first table 11a. .. Incidentally, the component supply location P1 and the component position recognition location P2 are predetermined locations on the XY plane by the XY coordinates, and the X-direction coordinate values of the centers of the respective locations P1 and P2 are the same.

The component diffusion unit 22 applies vibration to the tray unit 21 to provide the components (EC1 in FIGS. 1 and 3) supplied from the component supply means 30 to the mounting surface 21a of the tray unit 21 at the component supply location P1. It is possible to increase the diffusion, specifically the gaps between the parts.

Further, the mounting surface 21a is located lower than the upper surface of the tray portion 21 and is surrounded by a wall, and when the parts are dropped and supplied from the component supply means 30 to the mounting surface 21a of the tray portion 21. (See FIG. 3B), the component is prevented from spilling from the periphery of the mounting surface 21a to the outside.

Although it depends on the component drop distance, when the component dropped and supplied from the component supply means 30 to the mounting surface 21a of the tray portion 21 jumps, a synthetic resin or synthetic rubber is used to prevent the jump. It is preferable to arrange a mat (not shown) formed of an elastomer or the like on the mounting surface 21a.

<Explanation of parts supply means 30>
As shown in FIGS. 1 and 3, the component supply means 30 includes a component accommodating portion 31 capable of accommodating a large number (for example, thousands to tens of thousands) of components (EC1 in FIGS. 1 and 3), and components. It has a component supply unit 32 that can lead out a component from the outlet 31a of the accommodating portion 31 and that can transport the derived component and drop it from the transport end to the component mounting section 20. It is configured so that a number of parts according to the size can be supplied to the component mounting portion 20 at the component supply location P1 according to the transport distance of 32. The component supply means 30 is arranged adjacent to the component supply location P1 shown in FIG. 1, and its frame (not shown) is connected to the base plate BP.

The component accommodating portion 31 has an inverted truncated cone shape in appearance, has a tubular portion (reference numeral omitted) below the truncated cone shape, and has a rectangular outlet 31a in the tubular portion. The component supply unit 32 has an endless belt 32a having a flat support portion 32a1 capable of supporting the component led out from the outlet 31a of the component accommodating unit 31, and a belt rotating portion 32b capable of rotating the endless belt 32a. There is. The belt rotating portion 32b is a motor 32b1 (see FIG. 6) that rotates and drives two pulleys (reference numerals omitted) around which the endless belt 32a is wound and the pulley on the right side of FIG. 3A at a constant speed in the clockwise direction. ), And the transport distance of the endless belt 32a can be controlled by the operating time of the motor 32b1.

Further, the transport end 32a2 of the endless belt 32a is located above the center of the component mounting portion 20 at the component supply location P1 (above the center of the mounting surface 21a of the tray portion 21). That is, the parts that are dropped and supplied from the transport end 32a2 of the endless belt 32a are scattered on the mounting surface 21a of the tray portion 21 so as to spread from the center to the outside.

Explaining the operation of the component supply means 30 with reference to FIGS. 3 (B) and 3 (C), when the component mounting unit 20 is at the component supply location P1, the components housed in the component accommodating unit 31 (FIG. 3). In (B) and FIG. 3 (C), EC1) is derived from the outlet 31a by the rotation of the endless belt 32a, and the derived component is supported by the support portion 32a1 of the endless belt 32a. It is transported toward 20 and is dropped and supplied from the transport end 32a2 of the endless belt 32a to the center of the mounting surface 21a of the tray portion 21 of the component mounting portion 20 (see FIG. 3B). Since the drop supply of this component continues from the start of rotation of the endless belt 32a to the stop (until the transfer is stopped), the number of components corresponding to the transfer distance of the endless belt 32a is the component mounting portion 20. It will be supplied to the mounting surface 21a of the tray portion 21.

The parts supplied to the mounting surface 21a of the tray portion 21 of the component mounting portion 20 are scattered so as to spread outward from the center of the mounting surface 21a of the tray portion 21 according to the transport distance of the endless belt 32a. Further, the component spreading section 22 of the component mounting section 20 operates after the component supply process or the component supply is stopped, and the components supplied to the mounting surface 21a of the tray section 21 are diffused by the vibration from the component spreading section 22. To. That is, the parts supplied from the parts supply means 30 to the mounting surface 21a of the tray portion 21 of the component mounting portion 20 are scattered on the mounting surface 21a of the tray portion 21 and diffused by the vibration from the component diffusion portion 22. This results in a more appropriate scattered state (see FIG. 3C). Incidentally, the scattered state means a state in which each suction nozzle 52 of the component holding / inserting means 50 can hold the component on the mounting surface 21a of the tray section 21 of the component mounting section 20 without any trouble.

Even if vibration is not applied from the component diffusion portion 22, the components dropped and supplied from the transport end 32a2 of the endless belt 32a to the center of the mounting surface 21a of the tray portion 21 are in an appropriate scattered state on the mounting surface 21a. In this case, the component diffusion unit 22 may be omitted.

Here, the point that the number of parts supplied from the parts supply means 30 to the parts mounting unit 20 is controlled by the transport distance of the endless belt 32a of the parts supply unit 32 will be described in detail.

Since the component mounting portion 20 is shared by parts of various sizes, in order to disperse the parts supplied to the mounting surface 21a of the tray portion 21, the parts are supplied to the mounting surface of the tray portion 21. It is necessary to make the number of parts to be different according to the size of the parts.

Taking the case of an electronic component having a rectangular parallelepiped shape as an example, for example, the range of the length reference dimension is 0.4 mm to 3.2 mm, the range of the width reference dimension is 0.2 mm to 2.5 mm, and the height (thickness). When the standard dimension range is 0.2 mm to 2.5 mm, the area where the smallest component (0.4 mm x 0.2 mm x 0.2 mm) is in contact with the mounting surface 21a of the tray portion 21 is the largest. Since a large-sized component (3.2 mm × 2.5 mm × 2.5 mm) is 1/100 (calculated) of the area in contact with the mounting surface 21a of the tray portion 21, it is necessary to secure the scattered state. It is necessary to reduce the number of parts with the largest size compared to the number of parts with the smallest size.

Further, when the component supply means 30 is shared by components of various sizes, the size (height dimension and width dimension) of the outlet 31a of the component accommodating portion 31 is the largest component (3.2 mm × 2.5 mm × 2). It must be a size that can pass (5.5 mm), for example, 10 mm x 10 mm or 5 mm x 5 mm. That is, when the size of the outlet 31a is adjusted to the part having the largest size, the part having the smallest size (0.4 mm × 0.2 mm × 0.2 mm) is more likely to be derived from the outlet 31a in an overlapping state. .. Moreover, since the orientation of the parts accommodated in the parts accommodating portion 31 is random, the number of parts taken out from the outlet 31a at one time changes slightly regardless of the size of the parts.

Therefore, when the component supply means 30 is shared by components of various sizes, the optimum number to be supplied to the mounting surface 21a of the tray section 21 of the component mounting section 20 is determined in advance for each component size by a preliminary experiment. In addition to being determined, the transport distance of the endless belt 32a for supplying the optimum number to the mounting surface 21a of the tray portion 21 is predetermined for each part size, and the transport distance for each size (motor 32b1 is fixed). In the case of high-speed rotation, the operation time for each size can be substituted), and it is necessary to store it in the storage unit 104 (see FIG. 6) before the operation.

By the way, when the endless belt 32a is used for transporting parts as in the parts supply unit 32 shown in FIGS. 1 and 3, even if the diameter of the pulley is made as small as possible, the transport end 32b is rounded, so that the parts supply is stopped. There is a concern that the rounding will cause the parts to be supplied at the time of the next parts supply to fall as surplus parts, which will increase the actual number of parts supplied to the part mounting portion 20 from the optimum number. (See FIG. 4 (A)).

In order to eliminate such a concern, as shown in FIG. 4, the component supply unit 33 is provided with a surplus component receiving unit 33 capable of receiving the surplus component that has fallen from the transport end 32b of the component supply unit 332 after the component supply is stopped. It is good to add it to 30.

The surplus component receiving unit 33 can receive and receive the surplus component that is in the state of FIG. 4 (A) when the component supply is stopped and has fallen from the transport end 32b, and can receive the surplus component that has fallen from the transport end 32b. The surplus parts that have changed to the state and have been accepted can be supplied to the part mounting unit 20. As a drive source for changing the surplus component receiving unit 33 into the state shown in FIG. 4A and the state shown in FIG. 4B, a solenoid, a motor, or the like (not shown) can be used.

Although the parts supply means 30 shown in FIGS. 1, 3 and 4 uses an endless belt 32a as the parts supply unit 32, the parts supply unit 32 can exhibit the same transport function. It is also possible to use a vibrating linear feeder.

<Explanation of component position recognition means 40>
As shown in FIG. 1, the component position recognizing means 40 includes a first image pickup unit 41 (see also FIG. 6) incorporating an image pickup element such as CMOS or CCD and an optical system, and an image obtained by the first image pickup section 41. It has a first image processing unit 42 (see FIG. 6) capable of recognizing the position of each of the scattered parts of the component mounting unit 20, specifically, the XY coordinates of the center of each component as component position information. ..

The upper surface of the first imaging unit 41 is connected to the second table 12a, and can move to the component position recognition location P2 shown in FIG. 1 in conjunction with the second table 12a. That is, the first imaging unit 41 can image the scattered components of the component mounting unit 20 from above at the component position recognition location P2. Incidentally, the component position information recognized by the first image processing unit 42 is stored in the storage unit 104 (see FIG. 6).

<Explanation of component holding and inserting means 50>
As shown in FIGS. 1 and 5, the component holding / inserting means 50 includes a head portion 51 having a columnar appearance and a plurality of suction nozzles as a plurality of component holding portions 52 provided on the head portion 51 (drawings). 8 pieces, hereinafter referred to as suction nozzles 52), a head rotating part 53 that can rotate the head part 51, a nozzle raising and lowering part 55 that can raise and lower each suction nozzle 52 individually, and each suction nozzle 52 to rotate individually. It has a possible nozzle rotating portion 56. Incidentally, the angular distance between the centers of the suction nozzles 52 is 45 degrees, and the distance between each center and the rotation center of the head portion 51 is the same.

The head rotating portion 53 has a motor 53a (see FIG. 6) provided on the upper surface of the second table 12, and the shaft 53b of the motor 53a passes through the columnar hole 12b1 of the second table 12a to form the head portion 53. It is connected to the center of the upper surface of the above (see FIG. 5 (A)). That is, the component holding / inserting means 50 can move to the component position recognition location P2, the component orientation recognition location P3, and the component insertion location P4 shown in FIG. 1 in conjunction with the second table 12a, and the head rotation. The head portion 53 can rotate the head portion 51 in the clockwise direction and the counterclockwise direction in the top view by rotating the motor 11b in the forward and reverse directions.

As can be seen from FIG. 1, the center of the component holding / inserting means 50 interlocking with the second table 12a is separated from the center of the component position recognizing means 40 connected to the same second table 12a in the X direction. By the way, the component orientation recognition location P3 is a location predetermined on the XY plane by the XY coordinates, and the Y-direction coordinate value of the center of the component orientation recognition location P3 is the same as the Y-direction coordinate value of the center of the component position recognition location P2. is there. Further, the component insertion location P4 is a location along the X direction common to the carrier tapes CT1 to CT3 predetermined by only the Y direction coordinate values on the XY plane. By the way, the center of one of the eight suction nozzles 52 of the component holding / inserting means 50 is predetermined to intersect the extension line of the component insertion location P4 (see the two-dot chain line in FIG. 1) in a top view. (See FIG. 5 (D)).

Each suction nozzle 52 has a nozzle support portion 52a having a larger outer shape than the suction nozzle 52 and a rotation restricting portion 53b integrally or separately, and is a cylindrical nozzle in a state of being urged upward by a compression coil spring 52c. It is arranged so as to be able to move up and down on the holder 54 (see FIG. 5C). Further, the nozzle support portion 52a is located in the columnar hole 54a below the nozzle holder 54 so as to be able to move up and down, and the rotation restricting portion 52c is located in the nozzle holder 54 in a state where the nozzle holder 54 can be raised and lowered and is prevented from rotating. There is. Although not shown, negative pressure and positive pressure can be supplied from the air supply source 105 (see FIG. 6) to the suction holes of each suction nozzle 52 via an air tube. That is, each suction nozzle 52 is arranged in each nozzle holder 54 in a state where it can only move up and down, and by applying a negative pressure, a component can be held at the lower end thereof, and a positive pressure is also provided. By doing so, the holding of the parts can be released.

The nozzle elevating part 55 has an air cylinder 55a provided on the upper surface of each nozzle holder 54, and the rod 55b of the air cylinder 55a passes through the columnar hole 54b at the upper part of the nozzle holder 54 to regulate the rotation of the suction nozzle 52 53c. It is in contact with the center of the upper surface of the above (see FIG. 5 (C)). Although not shown, positive pressure and negative pressure can be supplied from the air supply source 105 (see FIG. 6) to the airport of each air cylinder 55a via an air tube. That is, each nozzle elevating part 55 can lower the suction nozzle 52 by lowering the rod 55b by applying a positive pressure to the air cylinder 55a, and the rod 55b by applying a negative pressure to the air cylinder 55a. The suction nozzle 52 can be raised while utilizing the restoring force of the compression coil spring 52c.

As can be seen from FIGS. 5B and 5D, the unit provided with the suction nozzle 52, the nozzle holder 54, and the nozzle elevating part 55 described above (see FIG. 5C, reference numeral omitted) is a head. The lower portion of the nozzle holder 54 is rotatably arranged in a columnar hole 51a provided at equal intervals (45 degree intervals in the drawing) around the lower surface of the portion 51 with the lower portion protruding downward.

The nozzle rotating portion 56 includes a motor 56a (see also FIG. 6) arranged in the head portion 51 corresponding to each unit, a gear 56c connected to the shaft 56b of the motor 56a, and a nozzle holder 54 of each unit. It is provided on the upper outer surface and has an external gear-shaped uneven portion 54c with which the gear 56c meshes (see FIG. 5B). That is, each nozzle rotation unit 56 can rotate the suction nozzle 52 in the clockwise direction and the counterclockwise direction in the top view by the forward and reverse rotation of the motor 56a.

<Explanation of component orientation recognition means 60>
As shown in FIG. 1, the component position recognition means 60 includes a second image pickup unit 61 (see also FIG. 6) incorporating an image pickup element such as CMOS or CCD and an optical system, and an image obtained by the second image pickup section 61. The orientation of each of the holding parts held by each suction nozzle 52 of the part holding / inserting means 50, specifically, the angle θ of the parts with reference to the X direction (see FIG. 13A), or the Y direction. It has a second image processing unit 62 (see FIG. 6) that can recognize the angle of the component (not shown) with reference to the component orientation information.

The lower surface of the second imaging unit 61 is connected to the base plate BP, and is arranged at the component orientation recognition location P3 shown in FIG. That is, the second imaging unit 61 can image the holding component held by each suction nozzle 52 of the component holding / inserting means 50 from below at the component orientation recognition location P3. Incidentally, the component orientation information recognized by the second image processing unit 62 is stored in the storage unit 104 (see FIG. 6).

<Explanation of tape feeding means 70>
As shown in FIG. 1, the tape feeding means 70 includes a pair of reel support portions 71 provided on the base plate BP at intervals in the X direction, and a shaft 72 supported by the pair of reel support portions 71. And a cap 73 for fixing the shaft, which is put on the protruding portions at both ends of the shaft 72.

Since three carrier tapes CT1 to CT3 (see FIG. 2) are drawn in FIG. 1 in accordance with the explanation of the taping method later, the shaft 72 is connected to the supply reel TR1 on which the carrier tape CT1 is wound. The supply reel TR2 around which the carrier tape CT2 is wound and the supply reel TR3 around which the carrier tape CT3 is wound are rotatably and detachably arranged via the spacer ring 74.

That is, the supply reels TR1 to TR3 can be replaced by removing at least one cap 73 and taking out the shaft 72 from the reel support portion 71. Incidentally, the carrier tapes CT1 to CT3 wound around the supply reels TR1 to TR3 are unwound from the supply reels TR1 to TR3 with the pockets CTa facing upward.

Further, in addition to the above, the tape feeding means 70 intermittently inserts the three tape guides 75 to 77 provided at the component insertion place P4 and the carrier tapes CT1 to CT3 on the tape guides 75 to 77 in the + Y direction. It has three movable tape feeders (not shown). Each of the tape guides 75 to 77 has grooves 75a to 77a corresponding to the width W of the carrier tapes CT1 to CT3, and each tape feeding portion is a carrier tape CT1 to CT3 in the tape guides 75 to 77. It has sprockets (not shown) that can be engaged with the tape feed holes CTb of the above, and motors 78 to 80 (see FIG. 6) that can rotate each sprocket. That is, the pitch Pa of each pocket CTa is guided by the tape guides 75 to 77 while guiding the carrier tapes CT1 to CT3 unwound from the supply reels TR1 to TR3 by the motors 78 to 80 of each tape feeding unit. Can be moved intermittently in the + Y direction.

Further, in addition to the above, the tape feeding means 70 has three cover tape attachment portions (not shown) provided at positions separated from the component insertion location P4 in the + Y direction. Each cover tape attachment portion includes three cover tape supply reels (not shown) capable of supplying thermocompression-bondable cover tapes corresponding to the widths of the carrier tapes CT1 to CT3, and cover tapes from the cover tape supply reels. Has movable heater portions 81 to 83 (see FIG. 6) that can be attached to the carrier tapes CT1 to CT3 by thermocompression bonding. That is, by operating the movable heater portions 81 to 83 of the cover tape attachment portions, the cover tape can be attached to the carrier tapes CT1 to CT3 after inserting the parts that move intermittently in the + Y direction to close the pocket CTa. it can.

Further, in addition to the above, the tape feeding means 70 has three tape winding portions (not shown) provided at positions separated from the tape guides 75 to 77 in the + Y direction. Each tape take-up unit winds up three take-up reels (not shown) capable of taking up each carrier tape CT1 to CT3 (parts storage tape) after the cover tape is attached after inserting the parts, and each take-up reel. It has motors 84 to 86 (see FIG. 6) that are rotatable in the direction. That is, by operating the motors 84 to 86 of each tape winding unit, each carrier tape CT1 to CT3 (parts storage tape) after the parts are inserted and the cover tape is attached can be wound around each winding reel.

<Explanation of control system>
As shown in FIG. 6, the control system of the above-mentioned taping device includes a main control unit 101 having a microcomputer, various drivers, interfaces, and the like, an input unit 102 such as a keyboard, and a display unit 103 such as a liquid crystal display. It has a storage unit 104 for storing various types of data, and an operation control program is stored in the memory or the storage unit 104 of the main control unit 101. Incidentally, since the other control system elements shown in FIG. 6 and their functions are as described above, the description thereof will be omitted.

Next, the taping method by the above-mentioned taping device will be described with reference to FIGS. 7 to 13 and FIG.

<Explanation of taping method using the above-mentioned taping device>
First, using the input unit 102 and the display unit 103 of the control system, all types of parts that are highly likely to be used, all types of carrier tapes corresponding to each part, and parts corresponding to each part predetermined by prior experiments. The transport distance for each size of the endless belt 32a of the supply means 30 (when the motor 32b1 rotates at a constant speed, the operation time for each size can be substituted) is input and stored in the storage unit 104 (step S101 in FIG. 7A). (See S104). By the way, the product number, model number, etc. can be used for the types of parts and carrier tapes. Further, it is desirable that the input data is in a format in which the type of carrier tape and the transport distance for each size are associated with each size of the component.

Subsequently, the actual operating conditions are input and stored in the storage unit 104 using the input unit 102 and the display unit 103 of the control system (see steps S111 and S112 in FIG. 7B). For example, when the parts to be inserted are the above-mentioned three types of EC1 to EC3 and the carrier tapes are the above-mentioned three types of CT1 to CT3, the parts EC1 and the carrier tape CT1 are selected from the above input data, and the carrier tape CT1 is selected. Enter the placement position of the carrier tape CT1 (leftmost in FIG. 1), the number of parts to be inserted, and the insertion order. Similarly, the parts EC2 and the carrier tape CT2 are selected, and the placement position of the carrier tape CT2 (center in FIG. 1). ), The number of parts to be inserted and the insertion order, the parts EC3 and the carrier tape CT3 are selected, and the arrangement position of the carrier tape CT3 (far right in FIG. 1), the number of parts to be inserted and the insertion order are input. Incidentally, when the above input data is in a format in which the carrier tape type and the like are associated with each component size, it is not necessary to select the carrier tape. Further, since the arrangement positions of the carrier tapes CT1 to CT3 (supply reels TR1 to TR3) can be arbitrarily selected from the three positions of the left, middle, and right in FIG. 1, even if the arrangement order is other than that shown in FIG. Good.

When the above-mentioned operating conditions are, for example, the insertion of the part EC1 is the first and the number of insertions is 10,000, the insertion of the part EC2 is the second and the number of insertions is 5,000, and the insertion of the part EC3 is the third and the number of insertions is 500. Subsequently, as shown in FIG. 1, the component EC1 is inserted into the component accommodating portion 31 of the component supply means 30, and the supply reels TR1 to TR3 are attached to the tape feeding means 70 according to the arrangement position. The ends of the carrier tapes CT1 to CT3 drawn from the supply reels TR1 to TR3 are connected to the take-up reels (not shown) through the tape guides 75 to 77 to prepare for operation.

After the operation preparation is completed, the operation based on the above-mentioned operation conditions is started by using the input unit 102 and the display unit 103 of the control system. When the operation is started, as described above with reference to FIGS. 1 and 3, the component supply unit 32 of the component supply means 30 operates and the optimum number for the component mounting unit 20 at the component supply location P1. The component EC1 is supplied, and the component EC1 supplied to the component mounting unit 20 is diffused by the operation of the supply component diffusion unit 22 (see steps S121 to S123 in FIG. 8). If the component EC1 after supply is in an appropriate scattered state even if the component diffusion unit 22 is not operated, the component diffusion unit 22 does not need to be operated. Further, as the component supply means 30, the component supply means 30 having the surplus component receiving unit 33 described with reference to FIG. 4 may be used.

When the component supply is completed, as shown in FIG. 9B, the component mounting unit 20 is moved to the component position recognition location P2 by the Y-direction moving unit 11, and the component position recognition means at the component position recognition location P2. The scattered parts EC1 of the component mounting unit 20 are imaged from above by the first imaging unit 41 of the 40, and the positions and conditions of the scattered parts EC1 of the component mounting unit 20 are obtained from the image obtained by the first imaging unit 41. The XY coordinates of the center of each component EC1 are recognized by the first image processing unit 42, and the component position information is stored in the storage unit 104 (see steps S131 to S133 in FIG. 9A).

When the component position recognition is completed, as shown in FIG. 10B, the component holding / inserting means 50 is moved to the component position recognition location P2 by the X-direction moving unit 12, and is based on the component position information stored in step S133. Then, a part of the component EC1 in the scattered component EC1 of the component mounting portion 20 at the component position recognition location P2 is held by each suction nozzle 52 of the component holding / inserting means 50 (step S141 in FIG. 10A). (See S143).

Here, the component holding method in step S143 will be supplemented. As one component holding method, eight component EC1s having XY coordinates close to the XY coordinates of the eight suction nozzles 52 of the component holding / inserting means 50 are selected from the scattered component EC1 of the component holding unit 20, and the components are selected. By moving the holding and inserting means 50 in the X direction and moving the component mounting portion 20 in the Y direction, each suction nozzle 52 is appropriately moved so that its XY coordinates match the XY coordinates of the component EC1 to be suctioned. Examples thereof include a method of repeating the operation of lowering the 52 in order and raising the parts after holding the parts.

Further, as another component holding method, one of the eight suction nozzles 52 of the component holding / inserting means 50, for example, one that intersects the extension line of the component insertion location P4 in the top view (FIG. 5 (D)). (See) is set as the suction position, and eight parts EC1 having XY coordinates close to the XY coordinates of the suction position are selected, and the suction nozzle 52 at the suction position is changed by rotating the head portion 51. Further, by moving the component holding / inserting means 50 in the X direction and moving the component mounting portion 20 in the Y direction, the suction nozzle 52 at the suction position is appropriately moved so that its XY coordinates match the XY coordinates of the component EC1 to be suctioned. A method of repeating the operation of lowering the suction nozzle 52 after moving the suction nozzle 52 and raising the suction nozzle 52 after holding the component can be mentioned.

When the component holding is completed, as shown in FIG. 11B, the component holding / inserting means 50 is moved to the component orientation recognition location P3 by the X-direction moving unit 12, and the component orientation recognition means at the component orientation recognition location P3. The holding component EC1 held by each suction nozzle 52 of the component holding / inserting means 60 is imaged from below by the second imaging unit 61 of 60, and is held by each suction nozzle 52 from the image obtained by the second imaging unit 61. The orientation of the holding component EC1 is, specifically, the angle θ of the component with respect to the X direction (see FIG. 13 (A)) or the angle of the component EC1 with reference to the Y direction (not shown). 2 The component orientation information recognized by the image processing unit 62 and recognized is stored in the storage unit 104 (see steps S151 to S153 in FIG. 11A).

When the component orientation recognition is completed, as shown in FIG. 12C, the component holding / inserting means 50 inserts the component of the carrier tape CT1 corresponding to the component insertion location P4, specifically, the component EC1 by the X-direction moving unit 12. Based on the component orientation information stored in step S153, the holding component EC1 held in each suction nozzle 52 of the component holding / inserting means 60 is sequentially inserted into the pocket CTa of the carrier tape CT1 after the orientation is adjusted. (See steps S161 to S163 in FIG. 12 (A)).

Here, the component insertion method in step S163 will be supplemented. As a component insertion method, one of the eight suction nozzles 52 of the component holding / inserting means 50 intersects the extension line of the component insertion location P4 of the carrier tape CT1 when viewed from above (see FIG. 5D). The existing position is set as the insertion position, and the rotation of the head portion 51 changes the suction nozzle 52 at the insertion position, and the rotation of the suction nozzle 52 at the insertion position aligns the orientation of the holding component with the orientation of the pocket CTa of the carrier tape CT1. Examples thereof include a method of repeating the operation of appropriately rotating the suction nozzle 52 after the rotation, lowering the suction nozzle 52 after the rotation, and raising the suction nozzle 52 after the component holding is released.

Further, in addition to the above-mentioned component insertion, the operation of intermittently moving the pocket CTa of the component insertion location P4 in the + Y direction by the operation of the tape feed portion corresponding to the carrier tape CT1 of the tape feed means 70, and the carrier tape of the tape feed means 70. After the cover tape is attached after the parts are inserted by the operation of the cover tape attachment part corresponding to CT1 to close the pocket CTa after inserting the parts with the cover tape and the operation of the tape winding part corresponding to the carrier tape CT1 of the tape feeding means 70. The carrier tape CT1 (parts storage tape) is wound around the take-up reel.

When the above-mentioned component orientation information is the angle θ of the component EC1 with respect to the X direction (see FIG. 13A), the X direction of the holding component EC1 held by the suction nozzle 52 at the suction position described above. If the angle θ based on the above is calculated based on the component orientation information and the suction nozzle 52 is rotated so that the angle θ becomes zero, the orientation of the holding component EC1 held by the suction nozzle 52 is set to the carrier tape. The component EC1 after the orientation adjustment can be inserted into the pocket CTa by adjusting so as to match the orientation of the pocket CTa of the CT1. Further, even when the above-mentioned component orientation information is the angle of the component with respect to the Y direction (not shown), if the suction nozzle 52 is rotated so that the angle is 90 degrees, the suction nozzle 52 is held by the suction nozzle 52. The orientation of the holding component EC1 can be adjusted to match the orientation of the pocket CTa of the carrier tape CT1, and the orientation-adjusted component EC1 can be inserted into the pocket CTa.

In the above-mentioned example of operating conditions, since the number of inserted parts EC1 is 10,000, all the holding parts EC1 held in each suction nozzle 52 of the part holding / inserting means 50 are inserted into the pocket CTa of the carrier tape CT1 in step S163. Then, the component holding / inserting means 50 is moved to the component position recognition location P2 by the X-direction moving unit 12 (see FIG. 10B), and the component position recognition is performed based on the component position information stored in step S133. A part of the component EC1 in the scattered component EC1 of the component mounting portion 20 at the place P2 is held again by each suction nozzle 52 of the component holding / inserting means 50 (steps S171 to S173 in FIG. 14A). reference).

When the component re-holding is completed, the component holding / inserting means 50 is moved to the component orientation recognition location P3 by the X-direction moving unit 12 (see FIG. 11B), and the component orientation recognition means 60 at the component orientation recognition location P3. The holding component EC1 held by each suction nozzle 52 of the component holding / inserting means 60 is imaged from below by the second image unit 61, and is held by each suction nozzle 52 from the image obtained by the second imaging unit 61. The orientation of the holding component EC1 is recognized by the second image processing unit 62, and the recognized component orientation information is stored in the storage unit 104 again (see steps S181 to S183 in FIG. 14B).

When the component orientation re-recognition is completed, the component holding / inserting means 50 is moved to the component insertion location P4 by the X-direction moving unit 12, specifically, to the component insertion location P4 of the carrier tape CT1 corresponding to the component EC1 (FIG. 12 (B). ), The holding component EC1 held in each suction nozzle 52 of the component holding / inserting means 60 is sequentially inserted into the pocket CTa of the carrier tape CT1 again based on the component orientation information stored in step S183. (See steps S191 to S193 in FIG. 14C).

That is, for the scattered component EC1 of the component mounting portion 20 that has moved to the component position recognition location P2, the above-mentioned component position recognition (see FIG. 9A) and the component until the remaining number is less than eight. Following retention (see FIG. 10A), component orientation recognition (see FIG. 11A) and component insertion (see FIG. 11A), the aforementioned component re-holding (see FIG. 14A). ), Part orientation re-recognition (see FIG. 14B) and component reinsertion (see FIG. 14C) are repeated.

Further, since the number of inserted parts EC1 is 10,000 in the above-mentioned example of operating conditions, when the number of scattered parts EC1 supplied from the parts supply means 30 to the component mounting portion 20 is less than 10,000. At the timing when the remaining number of parts EC1 of the part mounting part 20 becomes less than 8, the part mounting part 20 is moved to the part supply place P1 by the Y-direction moving part 11 (see the two-dot chain line in FIG. 12). ), The component EC1 is supplied to the component mounting unit 20 again by the operation of the component supply unit 32 of the component supply means 30 (see steps S201 to S203 of FIG. 14 (D)).

When the component resupply is completed, the component mounting unit 20 is moved to the component position recognition location P2 by the Y-direction moving unit 11, and the component is mounted by the first imaging unit 41 of the component position recognition means 40 at the component position recognition location P2. The scattered component EC1 of the placement unit 20 is imaged from above, and the positions of the scattered parts EC1 of the component mounting unit 20 are recognized and recognized by the first image processing unit 42 from the image obtained by the first imaging unit 41. The component position information is stored in the storage unit 104 again (see steps S211 to S213 in FIG. 14E).

That is, in the above-mentioned example of operating conditions, since the component EC1 is inserted first and the number of insertions is 10,000, the above-mentioned component re-holding is performed until the 10,000 component EC1 is inserted into the pocket CTa of the carrier tape CT1 (FIG. Following 14 (A), component orientation re-recognition (see FIG. 14 (B)) and component reinsertion (see FIG. 14 (C)), the aforementioned component resupply (see FIG. 14 (C)) as needed. D)) and component position re-recognition (see FIG. 14E) are also repeated. As described above, it is possible to obtain a take-up reel in which 10000 parts EC1 are inserted and a carrier tape CT1 (parts storage tape) to which a cover tape is attached is wound.

In the above-mentioned example of operating conditions, the component EC2 is inserted second and the number of insertions is 5000. Therefore, the component that can be supplied by the component supply means 30 is subsequently replaced from the component EC1 to the component EC2. The replacement method includes a method of removing the component EC1 remaining in the component accommodating portion 31 and then charging the component EC2 into the component accommodating portion 31, and a component supplying unit 30 together with the remaining component EC1. A method of inserting the component EC2 into the component accommodating portion 31 after removing from the component accommodating portion 31 and attaching another component accommodating portion 31, and a method of removing the component supplying means 30 from the base plate BP and arranging another component supplying means 30 before the component Any method of inserting the component EC2 into the accommodating portion 31 may be adopted.

When the operation is restarted after the parts are replaced (see step S121 in FIG. 8), 5000 parts EC2 are sequentially inserted into the pocket CTa of the carrier tape CT2 in the same procedure as in the case of the parts EC1, and the 5000 parts EC2 It is possible to obtain a take-up reel on which the carrier tape CT2 (parts storage tape) to which the cover tape is attached and which is inserted is wound.

Further, in the above-mentioned example of operating conditions, since the component EC3 is inserted third and the number of insertions is 500, the components that can be supplied by the component supply means 30 are subsequently replaced from the component EC1 to the component EC2. This exchange method is the same as above.

When the operation is restarted after the parts are replaced (see step S121 in FIG. 8), 500 parts EC3 are sequentially inserted into the pockets CTa of the carrier tape CT2 in the same procedure as for the parts EC1, and the 500 parts EC3 It is possible to obtain a take-up reel on which the carrier tape CT3 (parts storage tape) to which the cover tape is attached and the carrier tape CT3 (parts storage tape) is wound.

Next, the main effects that can be obtained by the above-mentioned taping apparatus and taping method will be described.

<Main effect>
According to the above-mentioned taping device and taping method, one device is used to connect the pocket CTa of the designated carrier tape (CT1, CT2 or CT3) among the three types of carrier tapes arranged so as to be intermittently movable to the pocket CTa. Since designated parts (EC1, EC2 or EC3) of the corresponding size can be inserted in sequence, parts of various sizes (EC1, EC2 or EC3) are inserted into the pocket CTa of various carrier tapes (CT1, CT2 or CT3). Even when requested, it is not necessary to install a number of taping devices according to the size of the parts (EC1, EC2 or EC3) in order to satisfy the request, and the burden on device installation can be reduced.

Further, as the component supply means 30, a number of designated parts (EC1, EC2 or EC3) corresponding to the size can be supplied to the component mounting unit 20 according to the transport distance of the component supply unit 32, which is optimal regardless of the size. A number of parts (EC1, EC2 or EC3) can be supplied to the part mounting part 20 to be in a scattered state, and each suction nozzle 52 (part holding part) of the part holding and inserting means 50 can be used to the part mounting part 20. A certain part (EC1, EC2 or EC3) can be held without any trouble.

Next, a modified example of the above-mentioned taping device and taping method will be described.

<Modification Example 1> In the drawings and description, three types of parts EC1 to EC3 having different sizes corresponding to electronic parts having a rectangular parallelepiped shape are shown, and each part EC1 to EC3 is stored as three types of carrier tapes CT1 to CT3. Although those having a possible rectangular parallelepiped pocket CTa are shown, parts other than rectangular parallelepiped electronic parts and non-rectangular electronic parts or parts other than electronic parts can also be used as the parts to be inserted. However, as the carrier tape to be inserted, a carrier tape having pockets (parts storage recesses) capable of storing the above-mentioned parts at equal intervals can be appropriately used.

<Modification 2> In the drawings and description, three types of parts EC1 to EC3 having different sizes are sequentially inserted into each of the pockets CTa of the three types of carrier tapes CT1 to CT3, but four pieces are inserted into the tape feeding means 70. By arranging the above supply reels so that four or more types of carrier tapes can be fed out under intermittent movement, four or more types of parts having different sizes can be sequentially inserted into the corresponding carrier tapes.

<Modification 3> In the drawings and description, the number of parts to be inserted and the order of parts to be inserted into the three types of parts EC1 to EC3 having different sizes are as follows: The number of inserted parts is 5000, the number of inserted parts EC3 is the third, and the number of inserted parts is 500. However, the number of inserted parts and the order of inserting parts may be arbitrarily changed. Of course, even when four or more types of parts having different sizes are to be inserted, the number of parts to be inserted and the order of parts to be inserted can be arbitrarily set.

<Modification Example 4> In the drawings and description, the component holding / inserting means 50 having eight suction nozzles 52 (parts holding portions) is shown, but the number of suction nozzles 52 (parts holding portions) may be increased or decreased as appropriate. Often, especially if the number of suction nozzles 52 (parts holding portions) is increased, the maximum number of parts inserted in steps S163 and S193 (see FIGS. 12A and 14C) can be increased to a desired number. The time required to insert the component into the pocket of the carrier tape, that is, the time from the start of insertion to the completion of insertion can be shortened.

<Modification Example 5> In the drawings and description, each suction nozzle 52 (part holding portion) of the component holding / inserting means 50 has a nozzle support portion 52a and a rotation restricting portion 53b integrally or separately, but the insertion target is When it is necessary to replace each suction nozzle 52 according to the size of the component to be used, the structure shown in FIG. 15 may be adopted.

In the structure shown in FIG. 15 (A), the nozzle portion 52'is removable and has a ball engaging groove 52e above it, and the nozzle support portion 52a' has a nozzle insertion hole 52a1, an outer collar 52a2, and a ball placement hole. An operation cylinder 57 having 52a3 and balls 52a4 and having a ball retaining groove 57a on the inner surface outside the nozzle support portion 52a'falls off under the urging of a compression coil spring 58 provided between the outer flange 52a2 and the outer flange 52a2. Arranged so that there is no. That is, in the structure shown in FIG. 15A, as shown in FIG. 15B, the operation cylinder 57 is raised against the urging force of the compression coil spring 58 to the position where the ball 52a4 enters the ball shunting groove 57a. By doing so, the nozzle portion 52'can be extracted from the nozzle insertion hole 52a1 of the nozzle support portion 52a'.

That is, a nozzle collector (not shown) having a hole capable of receiving each nozzle portion 52'in a part capable of pushing up the operation cylinder 57, and each replacement nozzle portion can be extracted in a part capable of pushing up the operation cylinder 57. If a nozzle feeder (not shown) having a provided hole is arranged within the movable range of the component holding / inserting means 50 in the X direction, each of the component holding / inserting means 50 can be moved onto the nozzle collector. By pulling out the nozzle portion 52'from each nozzle support portion 52a'in a lump and moving the component holding / inserting means 50 onto the nozzle feeder, each replacement nozzle portion can be attached to each nozzle support portion 52a' in a lump. ..

EC1 ... Parts (electronic parts), CT1 to CT3 ... Carrier tape, CTa ... Pocket, 10 ... Moving means, 11 ... Y direction moving part, 12 ... X direction moving part, 20 ... Parts mounting part, 21 ... Tray part, 21a ... mounting surface, 22 ... parts diffusion part, 30 ... parts supply means, 31 ... parts storage part, 31a ... outlet, 32 ... parts supply part, 32a ... endless belt, 32a1 ... support part, 32a2 ... transport end, 32b ... Belt rotating unit, 33 ... Surplus component receiving unit, 40 ... Component position recognizing means, 41 ... First imaging unit, 42 ... First image processing unit, 50 ... Parts holding and inserting means, 51 ... Head unit, 52 ... Parts holding Unit (suction nozzle), 53 ... head rotating part, 54 ... nozzle holder, 55 ... nozzle elevating part, 56 ... nozzle rotating part, 60 ... component orientation recognition means, 61 ... second imaging unit, 62 ... second image processing unit , 70 ... Tape feeding means, TR1 to TR3 ... Supply reel, 71 ... Reel support, 75 to 77 ... Tape guide, P1 ... Parts supply location, P2 ... Parts position recognition location, P3 ... Parts orientation recognition location, P4 ... Parts Insertion location.

Claims (16)

It is a taping device that can sequentially insert designated parts of the size corresponding to the pocket of the designated carrier tape among a plurality of types of carrier tapes arranged so as to be intermittently movable.
A component supply means capable of supplying a number of the designated components according to the size to the component mounting portion in a scattered state, and
A component position recognition means capable of recognizing the position of each of the scattered components in the component mounting portion, and
A component holding means capable of holding the scattered parts in each of a plurality of component holding portions based on the component position information from the component position recognizing means, and
A component orientation recognizing means capable of recognizing the orientation of each of the holding components held by the plurality of component holding portions,
A component inserting means capable of sequentially inserting the holding component into the pocket of the designated carrier tape after adjusting the orientation of the holding component based on the component orientation information from the component orientation recognizing means.
Taping device. The parts supply means can take out the designated parts from a parts accommodating portion capable of accommodating a large number of the designated parts and an outlet of the parts accommodating portion, and conveys the derived designated parts to the conveying end thereof. It is configured to have a component supply unit that can be dropped from the component mounting unit to the component mounting unit, and to supply the designated parts to the component mounting unit in a number corresponding to the size according to the transport distance of the component supply unit. Yes,
The taping device according to claim 1. The transport end of the component supply section is located above the center of the component mounting section when the designated component is supplied to the component mounting section.
The taping device according to claim 2. The component supply unit includes an endless belt having a support portion capable of supporting the designated component derived from the outlet of the component accommodating unit, and a belt rotating portion capable of rotating the endless belt.
The taping device according to claim 2 or 3. The component supply means further includes a surplus component receiving unit capable of receiving the surplus designated component dropped from the transport end of the component supply unit after supplying the designated component to the component mounting unit.
The taping device according to any one of claims 2 to 4. The surplus component receiving unit is configured so that the received surplus designated component can be dropped onto the component mounting unit at the next supply.
The taping device according to claim 5. The component mounting portion has a tray portion having a flat surface and a component diffusion portion capable of applying vibration to the tray portion, and is supplied from the component supply means to the flat surface of the tray portion. The component is configured so that it can be diffused by vibration from the component diffusion section.
The taping device according to any one of claims 1 to 6. The component position recognition means includes a first image pickup unit and a first image processing unit capable of recognizing the positions of scattered parts of the component mounting section from the image obtained by the first image pickup section.
The component holding means includes a head portion provided with a plurality of suction nozzles as the plurality of component holding portions, and a head rotating portion capable of rotating the head portion.
The component orientation recognizing means includes a second imaging unit and a second image processing unit capable of recognizing the orientation of each of the holding components held by the plurality of component holding units from the images obtained by the second imaging unit. And
The component inserting means includes a nozzle rotating portion capable of individually rotating the plurality of suction nozzles, and a nozzle elevating portion capable of individually raising and lowering the plurality of suction nozzles.
The taping device according to any one of claims 1 to 7. The component mounting portion can be moved to the component supply location and the component position recognition location, the first imaging unit can be moved to the component position recognition location, and the head portion can be moved to the component position recognition location and the component orientation recognition location. With additional means of transportation that can be moved to and where parts are inserted,
The second imaging unit is arranged at the component orientation recognition location.
The taping device according to claim 8. The moving direction of the component mounting portion and the moving direction of the first imaging unit and the head portion are orthogonal to each other in a plane.
The taping device according to claim 9. The designated component is an electronic component having a rectangular parallelepiped shape.
The taping device according to any one of claims 1 to 10. It is a taping device that can sequentially insert designated parts of the size corresponding to the pocket of the designated carrier tape among a plurality of types of carrier tapes arranged so as to be intermittently movable.
A step of supplying the specified number of the designated parts according to the size to the parts mounting portion in a scattered state by using the parts supply means, and
A step of recognizing the position of each of the scattered parts of the component mounting portion using the component position recognizing means, and
A step of holding the scattered parts in each of a plurality of part holding portions based on the part position information from the part position recognizing means by using the part holding means.
A step of recognizing the orientation of each of the holding parts held by the plurality of component holding portions by using the component orientation recognizing means, and
It is provided with a step of sequentially inserting the holding component into the pocket of the designated carrier tape after adjusting the orientation based on the component orientation information from the component orientation recognizing means using the component inserting means.
Taping method. The parts supply means can take out the designated parts from a parts accommodating portion capable of accommodating a large number of the designated parts and an outlet of the parts accommodating portion, and conveys the derived designated parts to the conveying end thereof. It has a parts supply part that can be dropped from the parts mounting part.
The number of the designated parts corresponding to the size can be supplied to the component mounting unit depending on the transport distance of the component supply unit.
The taping method according to claim 12. The component supply means further includes a surplus component receiving unit capable of receiving the surplus designated component dropped from the transport end of the component supply unit after supplying the designated component to the component mounting unit.
The surplus designated parts received by the surplus component receiving portion can be dropped onto the component mounting portion at the next supply.
The taping method according to claim 13. The component mounting portion has a tray portion having a flat surface and a component diffusion portion capable of applying vibration to the tray portion.
The designated parts supplied from the parts supply means to the flat surface of the tray portion can be diffused by vibration from the component diffusion portion.
The taping method according to any one of claims 12 to 14. The component position recognition means includes a first image pickup unit and a first image processing unit capable of recognizing the positions of scattered parts of the component mounting section from the image obtained by the first image pickup section.
The component holding means includes a head portion provided with a plurality of suction nozzles as the plurality of component holding portions, and a head rotating portion capable of rotating the head portion.
The component orientation recognizing means can recognize the orientation of each of the second imaging unit arranged at the component orientation recognition location and the holding components held by the plurality of component holding units from the images obtained by the second imaging unit. It has a second image processing unit and
The component inserting means includes a nozzle rotating portion capable of individually rotating the plurality of suction nozzles and a nozzle elevating portion capable of individually raising and lowering the plurality of suction nozzles.
The component mounting portion can be moved to the component supply location and the component position recognition location by the moving means, the first imaging unit can be moved to the component position recognition location by the moving means, and the head portion can be moved to the component position recognition location. It is possible to move to the component position recognition location, the component orientation recognition location, and the component insertion location by the moving means.
The taping method according to any one of claims 12 to 15.

Images