JP4672491B2 - Tape feeder and surface mounter - Google Patents

Description

  The present invention relates to a tape feeder that is mounted on a surface mounter and supplies mounting components using a tape as a carrier, and a surface mounter that includes the tape feeder as a component supply device.

  Conventionally, a tape feeder is generally known as an apparatus for supplying components for mounting in a surface mounter. This feeder holds a tape containing parts at regular intervals wound around a reel, and feeds the tape from this reel to the parts take-out part in front of the feeder, while using the tape as a carrier to put the parts in the parts take-out part. The tape is fed out by the tape feeding mechanism as the component is picked up by the component mounting head.

  The tape feeding mechanism has a sprocket that engages with the tape, and is configured to feed the tape at a constant pitch corresponding to the pitch of the storage components by rotationally driving the sprocket with a motor.

In such a motor-driven tape feeding mechanism, it is necessary to feed the tape accurately at a predetermined pitch, and generally, an encoder is incorporated in the motor to control the rotational position and speed. Recently, an absolute encoder capable of detecting an absolute position is incorporated in a motor (for example, Patent Document 1).
JP 2003-124688 A

  According to the conventional tape feeder disclosed in Patent Document 1, the rotational driving force of the motor is transmitted to the sprocket via the gear transmission mechanism, so that the sprocket is driven based on the output of the encoder incorporated in the motor. In one tape feeder, a rotation error may occur due to backlash between the motor and the sprocket, and as a result, an error may occur in the pitch feed of the tape. Therefore, it is desirable to improve this point.

  In addition, according to the conventional tape feeder, the absolute position of the motor in the rotation direction can be detected, so that the motor rotation control to the target position can be easily performed. Is necessary to move the sprocket rotational position to the origin position, detect the motor rotational position at that time, and determine the correlation between the rotational position and the sprocket rotational position. It becomes. For this reason, useless tape feeding accompanying the return to origin operation is required, and there is a problem that the starting operation cannot be performed efficiently.

  The present invention has been made in view of the above circumstances, and a first object is to increase the tape feeding accuracy as compared with the conventional one, and a second object is immediately after the feeder is started. The purpose is to increase the accuracy of the tape feeding as compared with the conventional one while improving the efficiency of the starting work by enabling the tape feeding.

In order to solve the above problems, a tape feeder of the present invention comprises a guide portion for guiding a tape in which components are stored at regular intervals in the longitudinal direction, and a plurality of pins arranged at predetermined intervals in the circumferential direction, and a sprocket the pin to the tape at a specific position in the tape guiding direction by the guide portion is arranged to engage, and a motor for the sprocket rotation drive, the tape a predetermined in accordance with the rotation of the sprocket in the tape feeder for feeding the component supply section, the sprocket or sprockets and provided on the rotating body which rotates together, and absolute position information that can you to identify the rotational position of the sprocket to detect the absolute position information a detecting means for, and control means for driving and controlling the motor to feed the said tape to said component supply unit, the Storage means you storing data correlating the rotation correction amount of the sprocket at the target times translocation and these target rotational position of the predetermined said sprocket to placement number of pins to the specific position, respectively, The rotation correction amount is a correction amount for correcting a deviation of the pin from the specific position in the rotation direction when the sprocket is rotated to the target rotation position, respectively, and the target rotation position. the and sprocket at the one obtained from the image by each image a respective pin disposed in the specific position while rotating, said control means, based on the absolute position information detected by said detecting means detecting a rotational position of the sprocket, setting a target rotational position of the sprocket on the basis of the detected position Corrects the target rotational position to be only the rotation correction amount corresponding to the target rotational position location based on the data stored in the storage means, wherein in order to rotate the sprocket to a target rotational position after the correction a shall be driven controls the motor (claim 1).

  According to this tape feeder, the rotational position of the sprocket is immediately identified based on the detection of absolute position information provided on the sprocket or the like. In addition, when the tape is fed, the rotation position is directly specified from the sprocket and the motor is driven and controlled. Therefore, even if the driving force of the motor is transmitted to the sprocket via a gear transmission mechanism or the like. The sprocket can be driven with high accuracy without being affected by rush or the like.

Another tape feeder of the present invention includes a guide portion for guiding a tape in which components are stored at regular intervals in the longitudinal direction thereof, and a plurality of pins arranged at predetermined intervals in the circumferential direction, and the tape by the guide portion. a sprocket the pin to the tape at a specific position in the guide direction is arranged to engage a sprocket and a motor for rotating the drive, to a predetermined component supply section of the tape with the rotation of the sprocket in the tape feeder for feeding, provided in front Symbol sprocket, and absolute position information that can you to identify the rotational position of the sprocket, and detecting means for detecting the absolute position information, the tape said component supply unit preset in order to place and control means for driving and controlling the motor, the plurality of pins to the specific position, respectively to send out the And a storage means you store data associated with the rotation correction amount of the sprocket at the target times translocation and these target rotational position of the sprockets, the sprockets are rotated in the rotor integral with the motor The rotation correction amount is a deviation of the pin from the specific position in the rotation direction when the sprocket is rotated to the target rotation position, respectively. are those obtained from the image by each image a respective pin disposed in the specific position while rotating the sprocket to the target rotational position to a correction amount for correcting, said control means detects the rotational position of the sprocket on the basis of the absolute position information detected by the detection unit, the detection Corrected by the rotation correction amount corresponding to the target rotational position location based on the target rotational position Rutotomo to set the target rotational position of the sprocket on the basis of the location on the data stored in the storage means, the a shall be driving and controlling the motor to rotate the sprocket to a target rotational position after the correction (claim 2).

  Also in the case of this tape feeder, the rotational position of the sprocket is immediately identified based on the detection of absolute position information provided on the sprocket. In addition, in the case of this feeder, the sprocket is rotationally driven directly by a motor without going through a transmission mechanism, so that it is not affected by backlash or the like, and its rotational position is specified directly from the sprocket. Since the motor is driven and controlled, the sprocket can be rotated to the target position with higher accuracy.

As a more specific structure of these tape feeders, the control means, after the start, while maintaining the motor in a stopped state until the feed Ri out of the first tape, when the motor stop state the rotational position of the sprocket senses, but you implement out feeding first tape by Rukoto to drive control the motor based on the rotational position based on the absolute position information detected by said detecting means it is preferred that (claim 3).

  According to this configuration, the first tape feeding operation is performed immediately after the start without performing the so-called home return operation of detecting the rotational position of the motor and grasping the correlation between the rotational position and the rotational position of the sprocket. It becomes possible.

Another tape feeder of the present invention includes a guide portion for guiding a tape in which components are stored at regular intervals in the longitudinal direction thereof, and a plurality of pins arranged at predetermined intervals in the circumferential direction, and the tape by the guide portion. a sprocket the pin to the tape at a specific position in the guide direction is arranged to engage a sprocket and a motor for rotating the drive, to a predetermined component supply section of the tape with the rotation of the sprocket In the tape feeder to send out, a plurality of magnets fixed to the sprocket or a rotating body that rotates integrally with the sprocket and an analog waveform signal having a phase difference from each other by detecting a change in the magnetic field accompanying the rotation of the magnet of the magnetic sensor, and control means for driving and controlling the motor to feed the said tape to said component supply unit, said double Storage means of the pin into the specific position each you store data correlating the rotation correction amount of the sprocket in a preset target times translocation and these target rotational position of the sprocket in order to place, the The rotation correction amount is a correction amount for correcting a deviation of the pin from the specific position in the rotation direction when the sprocket is rotated to the target rotation position, respectively. are those obtained from the image by each image a respective pin disposed in the specific position while rotating the sprocket, wherein the control unit, the basis of the analog waveform signal output from each magnetic sensor detecting the rotational position of the sprocket, setting a target rotational position of the sprocket on the basis of the detected position Corrects the target rotational position to be only the rotation correction amount corresponding to the target rotational position location based on the data stored in the storage means, wherein in order to rotate the sprocket to a target rotational position after the correction a shall be driven controls the motor (claim 4).

  According to this tape feeder, the rotational position of the sprocket is immediately identified based on the value of the analog waveform signal output from each magnetic sensor. In addition, when the tape is fed, the rotation position is directly specified from the sprocket and the motor is driven and controlled. Therefore, even if the driving force of the motor is transmitted to the sprocket via a gear transmission mechanism or the like. The sprocket can be driven with high accuracy without being affected by rush or the like.

Another tape feeder of the present invention includes a guide portion for guiding a tape in which components are stored at regular intervals in the longitudinal direction thereof, and a plurality of pins arranged at predetermined intervals in the circumferential direction, and the tape by the guide portion. a sprocket the pin to the tape at a specific position in the guide direction is arranged to engage a sprocket and a motor for rotating the drive, to a predetermined component supply section of the tape with the rotation of the sprocket in the above tape feeder, a magnet is fixed to the front Symbol sprocket, a plurality of magnetic sensor that outputs an analog waveform signal having a phase difference from each other by detecting a change in magnetic field caused by the rotation of the magnet, the tape to feed and control means for driving and controlling the motor to feed out the component supply unit, to place the plurality of pins into the specific position respectively And a storage means you store data associated with the rotation correction amount of the sprocket in a preset target times translocation and these target rotational position of the sprocket in order, the sprocket includes a rotor of the motor The rotation correction amount is coupled directly or indirectly to the rotor so as to rotate integrally, and the rotation correction amount is determined when the sprocket rotates in the rotation direction of the pin at the target rotation position. are those obtained from the image by imaging the respective pin disposed in the specific position while rotating the sprocket to the target rotational position to a correction amount for correcting a deviation from a particular position, respectively , the control means, the rotational position of the sprocket on the basis of the analog waveform signal output from each magnetic sensor It detects the rotation correction amount corresponding to the target rotational position location based on the target rotational position Rutotomo to set the target rotational position of the sprocket on the basis of the detected position to the data stored in the storage means amount corresponding to the correction, is shall be driving and controlling the motor to rotate the sprocket to a target rotational position after the correction (claim 5).

  Also in the case of this tape feeder, the rotational position of the sprocket is immediately identified based on the value of the analog waveform signal output from each magnetic sensor. In addition, in the case of this feeder, the sprocket is rotationally driven directly by a motor without going through a transmission mechanism, so that it is not affected by backlash or the like, and its rotational position is specified directly from the sprocket. Since the motor is driven and controlled, the sprocket can be rotated to the target position with higher accuracy.

Even specific configuration of these tape feeders, the control means, after the start, while maintaining the motor in a stopped state until the feed Ri out of the first tape, each at the motor stop state detecting a rotational position of the sprocket on the basis of the analog waveform signal output from the magnetic sensor, the Rukoto to drive control the motor based on the rotational position of those you implement out feeding first tape is preferred (claim 6). According to this arrangement, without performing the work of so-called homing to grasp the correlation between the rotational position of the rotational position and the sprocket to detect the rotational position of the motor, after starting, immediately first tape feed Ri out operation It becomes possible to execute.

On the other hand, the surface mounter of the present invention engages a mounter body having a movable head for mounting components, and a tape that is mounted on the mounter body and contains components at regular intervals. and a tape feeder issuing Ri sent to the component supply unit by rotating the sprocket in the motor, in the produced surface mounter to mount on a substrate by adsorbing components from the tape feeder by said head, said comprising a tape feeder according to any one of claims 1 to 6 as a tape feeder, the control means of the tape feeder when the feeder-side control unit, the mounter body component mounting including an operation of the head includes a main body control means for controlling the various operations for the feeder-side control means, Ri feed tape supplied from the main body controller Those that are configured to drive and control the motor based on the information for the teeth (claim 7).

According to this configuration, from the mounting machine body side information only for the tape feed Ri put the tape feeder is given, specific tape feeding operation (motor drive control), the tape feeder own feeder-side control It will be controlled by means.

Further, another surface mounter according to the present invention includes a mounter body having a movable head for mounting components, and a tape that is mounted on the mounter body and stores components at regular intervals. and a tape feeder issuing Ri sent to the component supply unit by rotating the sprocket to be engaged with the motor, configured surface mounter to mount on a substrate by adsorbing components from the tape feeder by the head The tape feeder according to any one of claims 1 to 6 is provided as the tape feeder , and the mounting machine body controls various operations for component mounting including the operation of the head and the control of the tape feeder. a body-side control means including a function as a means, the tape feeder, that the motor is driven and controlled by the main body controller Ri is intended to feed the tape to the component supply section (claim 8).

According to this configuration, the specific tape feeding operation (motor drive control) of the tape feeder is controlled by the main body side control means mounted on the mounting machine main body side.

  According to the tape feeder according to claims 1 to 6 of the present invention, since the motor is driven and controlled by directly detecting the rotational position from a sprocket or the like, it is not affected by the operating error of the transmission mechanism such as backlash. The sprocket can be driven with high accuracy. Therefore, the tape feeding accuracy can be increased as compared with the conventional case. In particular, according to the tape feeder according to claims 3 and 6, since it is possible to feed the pitch of the tape without performing the so-called home return operation from the time of start-up, useless tape feed associated with the home-return operation is unnecessary, and the start-up is started. Work can be performed efficiently.

  Further, according to the surface mounter according to the seventh and eighth aspects, since the tape feeder as described above is provided, it is possible to take out the components with the head more accurately and to improve the efficiency of the starting work. be able to.

  Embodiments of the present invention will be described with reference to the drawings.

  1 and 2 schematically show the overall configuration of a surface mounter (a surface mounter on which a tape feeder according to the present invention is mounted).

  In these figures, a substrate conveying conveyor 2 is arranged on a base 1 of a surface mounting machine (hereinafter abbreviated as a mounting machine), and a printed circuit board 3 is conveyed on the conveyor 2 to perform a predetermined mounting. It is stopped at the work position and is held by a substrate holding means such as a push-up pin (not shown). In the following description, the direction of the conveyor 2 is the X-axis direction, the direction orthogonal to the X-axis on the horizontal plane is the Y-axis direction, and the direction orthogonal to the X-axis and the Y-axis is the Z-axis direction. .

  On both sides of the conveyor 2, component supply units 4 for supplying electronic components to be mounted on the printed circuit board 3 are provided. In these component supply sections 4, a plurality of tape feeders 4a according to the present invention are arranged in the X-axis direction. Each tape feeder 4a is detachably mounted with a reel wound with a postscript tape that stores and holds small chip components such as ICs, transistors, capacitors, etc., from this reel to a component take-out portion at the tip of the feeder. A component is picked up by a head unit 5 to be described later while intermittently feeding out the tape. The configuration of the tape feeder 4a will be described in detail later.

  Above the base 1, a component mounting head unit 5 is further provided. The head unit 5 is movable in the X-axis direction and the Y-axis direction within a certain region so that the components can be sucked from the component supply unit 4 and mounted on the printed circuit board 3.

  That is, the support member 11 of the head unit 5 is arranged on the base 1 so as to be movable on the fixed rail 7 in the Y-axis direction, and the head unit 5 extends along the guide member 14 in the X-axis direction on the support member 11. It is supported so that it can move. The support member 11 is screwed to the ball screw 8 driven by the Y-axis servo motor 9 so that the support member 11 is moved in the Y-axis direction while being driven by the X-axis servo motor 15. When the head unit 5 is mounted on the ball screw 13, the head unit 5 is configured to move in the X-axis direction.

  The head unit 5 is mounted with a plurality of mounting heads 20 for sucking components and mounting them on the printed circuit board 3. In this embodiment, the four mounting heads 20 are arranged in a row in the X-axis direction. It is mounted in a state arranged in.

  These mounting heads 20 are connected to an elevating mechanism using a Z-axis servomotor (not shown) as a drive source and connected to a rotating mechanism using an R-axis servomotor (not shown) as a drive source, respectively. By these mechanisms, the head unit 5 is driven in the vertical direction (Z-axis direction) and around its own axis (referred to as the R-axis direction). Further, a nozzle 21 for sucking components is provided at the tip of each mounting head 20. Each nozzle 21 is connected to a negative pressure supply means via a valve or the like not shown in the figure, and when taking out the component from the tape feeder 4a, the negative pressure is supplied to the tip of the nozzle 21 to attract the component. To be done.

  The head unit 5 is further provided with a substrate recognition camera 22. The board recognition camera 22 is mounted on the head unit 5 with the imaging direction facing downward, and takes an image of the fiducial mark of the printed board 3 held at the mounting work position. In addition, when performing error data acquisition work, which will be described later, a post-part extraction unit 37 of each tape feeder 4a set in the component supply unit 4 is imaged.

  On the other hand, on the base 1, a component recognition camera 17 is further provided for recognizing an image of a component suction state by each mounting head 20. The component recognition camera 17 is provided between the conveyor 2 and each component supply unit 4. When the head unit 5 is disposed at a predetermined imaging position above the component recognition camera 17, each component recognition camera 17 is mounted. The suction component by the head 21 is imaged from below.

  With the above configuration, in the mounting machine, components are mounted on the printed circuit board 3 as follows.

  First, the head unit 5 moves above the component supply unit 4, and components are removed from the tape feeder 4 a by each mounting head 20. Specifically, the predetermined mounting head 20 to which the component is to be sucked down moves to suck the component, and further rises with the component sucked to pick up the component from the tape feeder 4a. At this time, if possible, the components are simultaneously taken out by the plurality of mounting heads 20.

  When the suction of the components by all the mounting heads 20 is completed, the head unit 5 moves above the component recognition camera 17, and each suction component is imaged, so that the suction state of each component is determined based on the imaging result. Be examined. Then, after the head unit 5 is moved onto the printed circuit board 3, the mounting heads 20 are moved up and down while the head unit 5 is moved sequentially to a predetermined component mounting point. Implemented above.

  3 and 4 schematically show the configuration of the tape feeder 4a.

  As shown in the figure, the tape feeder 4a moves back and forth between a box-type feeder main body portion 25 flat in the width direction (X-axis direction) and a plate-like reel support portion 26 provided continuously to the feeder main body portion 25. In the state where the front end side, that is, the feeder main body 25 is directed to the conveyor 2 side, it is set on the feeder mounting base 6 of the component supply section 4, and is attached to and detached from the mounting base 6 by a clamping means (not shown). It is fixed as possible.

  In the example of FIG. 3, the side surface of the feeder main body 25 is shown in an open state (a state in which a tape feeding mechanism and a take-off mechanism described later are exposed). The tape feeding mechanism and the like are hidden inside the feeder main body 25.

  A reel 31 having a tape 32 wound around its rear end portion (left end portion in FIG. 3) is rotatably held by the reel support portion 26, and the tape 32 is transferred from the reel 31 to the feeder main body portion 25 at the front. Has been derived.

  The tape 32 is for storing and holding small pieces of components such as ICs, transistors, capacitors, etc. at regular intervals. As shown in FIG. 5, the carrier tape 33 and a cover tape adhered to the carrier tape 33 are provided. 34. The carrier tape 33 has hollow component storage portions 33a opened upward at regular intervals, and components such as ICs are stored in the respective component storage portions 33a. Further, on one side of the carrier tape 33, engagement holes 33b penetrating along the edge in the tape thickness direction are provided at regular intervals. On the other hand, the cover tape 34 is bonded to the upper surface of the carrier tape 33 so as to cover a portion where the component storage portion 33a is opened.

  As shown in FIG. 3, a guide portion 35 extending in the front-rear direction (Y-axis direction) is provided on the upper portion of the feeder main body portion 25, and a cover member 36 is provided so as to cover the upper portion. The tape 32 led out from is guided below the cover member 36 along the guide portion 35.

  A component take-out part 37 is provided at the front end portion of the feeder main body part 25. The component take-out portion 37 is a portion where components are picked up by the mounting head 20. In this portion, the tape 32 guided along the guide portion 35 is passed through an opening portion 36 a formed in the cover member 36. The cover tape 34 is peeled off from the tape 32 and folded back along the edge of the opening portion 36a. As a result, the component storage portion 33a is opened upward, and the mounting head 20 is exposed. It is possible to take out the parts.

  Inside the feeder main body 25, a tape feeding mechanism and a take-up mechanism for the cover tape 34 are provided.

  The tape feed mechanism feeds the tape 32 along the guide portion 35, and includes a sprocket 50 disposed below the component take-out portion 37, a feed motor 42 as a drive source, and an output shaft (rotor) of the motor 42. And a gear 44 which is integrally coupled to the sprocket 50 and meshes with the drive gear 43.

  The sprocket 50 has a part of the outer edge thereof facing the guide part 35 through an opening formed in the inner ceiling part of the feeder main body 25, and a part of its pin (tooth) is a part of the opening part 36a. The portion is engaged with the tape 32 by fitting into the engagement hole 33b. That is, when the feed motor 42 is operated, the sprocket 50 is rotated accordingly, and the tape 32 is sent out toward the component take-out portion 37 while pulling out the tape 32 from the reel 31 by this rotation.

  The feed motor 42 is composed of, for example, a radial gap type flat motor, and as shown in FIG. 4, a board integrated into a printed board 40 (hereinafter referred to as a motor board 40 to be distinguished from the mounted printed board 3). It has an integrated configuration. In this motor 42, the motor substrate 40 is fixed to the inner side surface of the feeder main body 25 via an insulating sheet, a spacer, or the like, so that the output shaft (rotor shaft) is the feed direction of the tape 32 (in FIG. 4). The drive gear 43 is mounted and fixed integrally with the output shaft.

  In addition, a magnetized portion (magnetized portion) is formed in a predetermined pattern on the side surface of the sprocket 50 facing the side plate 25a, so that the magnetized portion causes the sprocket 50 to rotate in the rotational direction. Absolute position information for detecting the absolute position is recorded, and on the other hand, the side plate 25a has a magnetic sensor 45 for detecting the magnetized portion (absolute position information) (corresponding to the detecting means according to the present invention). Is provided. In other words, the sprocket 50 and the magnetic sensor 45 constitute an absolute encoder that detects the absolute position of the sprocket 50. When the tape 32 is delivered, the magnetic sensor 45 detects the magnetized portion. Based on this, the rotational position of the sprocket 50 is detected.

  More specifically, as shown in FIG. 6, the sprocket 50 is formed with five tracks 51a to 51e arranged concentrically on the circumferential direction at a predetermined pitch. Then, the magnetization of each track 51a to 51e is specified so that the absolute position of the sprocket 50 can be specified based on the combination of the magnetized portion and the non-magnetized portion arranged side by side (the radial direction of the sprocket 50). The circumferential length of the magnetic part, the arrangement pitch, and the like are set.

  On the other hand, the magnetic sensor 45 has five Hall elements 45a to 45e (shown in FIG. 7) arranged side by side in the radial direction of the sprocket 50 and corresponding to the tracks 51a to 51e, respectively. That is, when the sprocket 50 is rotated, the Hall voltage corresponding to the presence or absence of the magnetized portion is output from each Hall element 45a to 45e for each of the tracks 51a to 51e. Therefore, as shown in FIG. The presence or absence of magnetized portions of the tracks 51a to 51e is detected, and the rotational position (absolute position) of the sprocket 50 is detected by the feeder control means 70 described later based on the combination of the presence and absence. In FIG. 7, the outputs (Hall voltages) of the Hall elements 45a to 45e are binarized.

  On the other hand, the take-off mechanism peels the cover tape 34 from the tape 32 (carrier tape 33), and is provided on the feeder main body 25 on the rear side of the tape feed mechanism as shown in FIG.

  The take-up mechanism includes a take-up motor 52, take-off gear pairs 56a and 56b, and gears 54 and 55 that transmit the rotational driving force of the take-up motor 52 to the take-off gear pairs 56a and 56b. The cover tape 34 peeled off from the tape 32 at the notch 36a is guided between the take-off gear pairs 56a and 56b. That is, at the time of component supply, the take-off gear pair 56a, 56b is rotationally driven by the operation of the take-off motor 52, and the cover tape 34 is peeled off from the carrier tape 33 by the take-off force (rotational force).

  Similarly to the feed motor 42 of the tape feed mechanism, the take-up motor 52 of the take-up mechanism is composed of a radial gap type flat motor integrated into a printed circuit board. In the present embodiment, FIG. As shown in FIG. 3, the tape is mounted on the same motor substrate 40 as the feed motor 42 of the tape feed mechanism, and is fixed to the inner surface of the feeder main body 25 integrally with the feed motor 42. The take-off gear pairs 56a and 56b and the transmission gear 55 are pivotally supported on the same surface of the feeder main body 25 as the motor substrate 40 is assembled, while the take-up motor 52 rotates. The gear 54 is mounted on the shaft, and the gear 54 and the gear 55 are provided in mesh with each other.

  FIG. 8 schematically shows a control system of the tape feeder 4a. This figure mainly shows only the configuration related to the tape feeding control of the tape feeder 4a, and the illustration of the other parts related to the control is omitted.

  In this figure, reference numeral 60 indicates a main body control means (corresponding to the main body side control means according to the present invention) mounted on the mounting machine main body, and reference numeral 70 indicates a feeder control means mounted on each tape feeder 4a. Yes. The main body control means 60 and the feeder control means 70 are electrically connected to each other via a terminal (not shown) provided on the mounting base 6 when the tape feeder 4a is assembled to the feeder mounting base 6. It is like that.

  The main body control means 60 mainly controls the mounting machine main body. The main body control means 60 is a well-known CPU for executing logical operations, a ROM for storing various programs for controlling the CPU, and various data temporarily during operation of the apparatus. As a functional configuration related to the control of the tape feeder 4a, a main control unit 61, an image processing unit 62, a calculation unit 63, and the like are included.

  The main control unit 61 controls the driving of the motors 9 and 15 and the like in order to operate the head unit 5 and the like in accordance with a program stored in advance, and issues a command signal such as tape feeding to each tape feeder 4a. Output. In particular, in the error data acquisition process described later, the head unit 5 and the like are driven and controlled so that the board extracting camera 22 takes an image of the part takeout part 37 of the tape feeder 4a set in each part supply part 4.

  The image processing unit 62 performs predetermined processing on the image data output from the board recognition camera 22.

  The calculation unit 63 recognizes each pin of the sprocket 50 based on the image data of the component extraction unit 37 that is imaged during error data acquisition processing described later, and the tape feed direction (Y-axis direction) of each pin with respect to the reference position. The deviation is calculated and the correction amount Δ is calculated, table data (see FIG. 9) described later is created and transferred to the feeder control means 70.

The feeder control means 70 controls the drive of the tape feeder 4a, and is integrated into the motor board 40. The feeder control means 70 is composed of a CPU, ROM, RAM, and the like. As its functional configuration, a main control section 71 (corresponding to the feeder-side control means of the present invention) , a motor driver section 72, a storage section 73, and the like. Contains.

  The main control unit 71 comprehensively controls the driving of the motors 42, 44, etc. via the motor driver unit 72 so as to send out the tape 32 at a predetermined pitch based on a command signal from the main body control means 60. It is.

  The storage unit 73 stores table data transferred from the main body control means 60 (calculation unit 63). The main control unit 71 is stored in the storage unit 73 when the tape 32 is sent out. The feed motor 42 is driven and controlled based on the table data.

  Here, the error data acquisition process will be described.

  The error data acquisition process refers to the rotation of the sprocket 50 by measuring in advance the positional deviation in the opening portion 36a (part extracting portion 37) of each pin of the sprocket 50, specifically, the positional deviation in the tape feeding direction (Y-axis direction). In this process, table data associated with the position correction amount is created and stored in the storage unit 73.

  That is, in order to supply the component held on the tape 32 to the correct position of the component take-out portion 37, it is necessary to stop the sprocket 50 at the correct position in the intermittent rotation of the sprocket 50. However, the sprocket 50 has variations in pin positions and the like due to individual differences, and errors in the feeding of the tape 32 occur due to the variations. Accordingly, while the sprocket 50 is pitch-fed, each pin located in the opening portion 36a is sequentially imaged by the substrate recognition camera 22 mounted on the head unit 5 to obtain the positional deviation, and the correction value Δ is associated with the pin. Table data is created and stored.

  Specifically, the sprocket 50 is rotationally driven and stopped at a predetermined target position corresponding to pitch feed, and the pin position is obtained from the image data by imaging the opening portion 36a by the substrate recognition camera 22, and The amount of deviation of this position from the normal position is obtained. Then, the rotation correction amount Δ of the sprocket 50 corresponding to the deviation amount is obtained, and the same operation is performed for all the pins of the sprocket 50. As a result, as shown in FIG. 9, the target position (indicated by 1, 2, 3,... For convenience), that is, a predetermined target position corresponding to pitch feed, and the above correction corresponding to the target position. Table data in which the amount Δ (indicated by β1, β2, β3... For the sake of convenience) is created is created. The calculation of the correction value Δ and the creation of table data are performed by the calculation unit 63 of the main body control means 60.

  The error data acquisition process is performed in a state in which the tape feeder 4a is set in the component supply unit 4 in advance separately from the mounting work, and the table data created in the calculation unit 63 is controlled by the main body control means 60 from the feeder control. By being transferred to the means 70, it is stored in the storage unit 73 as data unique to each tape feeder 4a.

  Next, the effect of the tape feeder 4a as described above will be described.

  When a command signal (corresponding to one piece of information for tape feeding according to the present invention) is output from the main body control means 60 to the tape feeder 4a during the mounting operation, the feed motor 42 and The take-up motor 52 is driven, and the tape 32 is sent out by this driving, and the parts are supplied to the part take-out part 37.

  Specifically, when the sprocket 50 is rotationally driven by the feed motor 42, the tape 32 is pulled out from the reel 31 and sent to the component take-out portion 37, while the take-off motor 52 takes the take-out gear pair 56 a, The cover tape 34 is peeled off from the tape 32 (carrier tape 33) by driving the rotation 56b. As a result, the component storage portion 33a of the tape 32 is sent to the component extraction portion 37 while being opened upward, and is arranged in the component extraction portion 37 in a state where the components can be extracted.

  Here, for example, when the mounting machine (tape feeder 4a) is immediately after startup, the motor 42 is maintained in a stopped state after the startup until the command signal is output to the feeder control means 70. At this time, the rotational position of the sprocket 50 is detected based on the output from the magnetic sensor 45 (Hall elements 45a to 45e). When a command signal is output from the main body control means 60, the motor 42 is driven and controlled based on the rotational position, whereby the first tape feeding is performed. At this time, as described above, the tape feeder 4a can detect the absolute position of the sprocket 50 by detecting the absolute position information (the tracks 51a to 51e) recorded on the sprocket 50 by the magnetic sensor 45. As described above, the rotational position of the sprocket 50 is immediately identified even immediately after the mounting machine is started, and the tape 32 is immediately sent out at a predetermined pitch without performing the so-called home position return operation of the sprocket 50. Become.

  In the feeding operation of the tape 32, a predetermined target position corresponding to the pitch feeding of the tape 32 is read into the main control unit 71, and the target position is determined from the table data stored in the storage unit 73. Is determined, and the target position of the sprocket 50 is corrected based on the correction value Δ. The feed motor 42 is driven and controlled by the main controller 71 based on the corrected target position and the output from the magnetic sensor 45. That is, the rotational position of the sprocket 50 is feedback-controlled based on the output from the magnetic sensor 45 so that the sprocket 50 stops at the corrected target position. As a result, when the sprocket 50 is stopped, the pin stops at the normal position of the opening portion 36a, and as a result, the tape 32 is fed out so that the component storage portion 33a is always located at the correct position. Become.

  As described above, the tape feeder 4a feeds the tape 32 by driving the sprocket 50 by the feed motor 42. As described above, the absolute position information (tracks 51a to 51e) is provided in the sprocket 50, and this is used. By detecting with the magnetic sensor 45, the rotational position of the sprocket 50 is immediately detected even at the start-up so that the tape 32 can be sent out without performing the so-called home return operation. There is no need to perform useless tape feeding accompanying the work, and as a result, the starting work can be performed efficiently.

  Moreover, in the tape feeder 4a, absolute position information (tracks 51a to 51e) is provided in the sprocket 50, and the rotational position is directly detected from the sprocket 50, and the feed motor 42 is driven and controlled based on the detection. Therefore, as described above, the driving force of the feed motor 42 is transmitted to the sprocket 50 via the gears 43 and 44 (gear transmission mechanism), but is not affected by the backlash of the gears 43 and 44. The sprocket 50 can be accurately stopped at the target position.

  Therefore, the procket 50 can be stopped at the target position with higher accuracy as compared with the conventional tape feeder of this type that may cause a rotation error due to backlash between the motor and the sprocket. It is possible to effectively prevent shortage of delivery or excessive feed, and effectively prevent component misalignment or take-out error due to such shortage of delivery.

  By the way, in the tape feeder 4a of the said embodiment, as shown in FIG. 6, the five types of tracks 51a-51e which provided the magnetized part by the predetermined pattern were provided in the sprocket 50, and the magnetized part of these tracks 51a-51e Is detected by a magnetic sensor 45 (Hall elements 45a to 45e) to detect the absolute position of the sprocket 50, that is, an absolute encoder that detects the absolute position of the sprocket 50 is configured. The configuration of this encoder is not limited to the configuration of the above embodiment, and may be as follows.

  For example, as shown in FIG. 10 (a), the types of tracks 81a and 81b composed of magnetized portions having different patterns are provided on concentric circles, and one track 81a is used as a detecting means as shown in FIG. 10 (b). (Or 81b) is provided with a magnetic sensor 82 in which a plurality of Hall elements 82a to 82c (83a to 83c) are arranged at predetermined intervals (angles θ1 and θ2) in the circumferential direction. As shown in FIG. You may make it detect the absolute position of the sprocket 50 based on the combination of the magnetized part of each track 81a, 81b detected by 82a-82c, 83a-83c, and a non-magnetized part. According to such an encoder configuration, although the number of Hall elements increases, the absolute position of the sprocket 50 can be detected with a small number of tracks.

  In the example of FIG. 10A, magnetized portions (black portions) and non-magnetized portions are alternately arranged on the track 81a at intervals of 30 °, while the magnetized portions and non-magnetized portions are arranged 180 ° on the track 81b. As shown in FIG. 11, the intervals θ1 of the Hall elements 83a to 83c corresponding to the track 81a are set to 40 ° and the interval θ2 of the Hall elements 82a to 82c corresponding to the track 81b is set to 60 °. The rotational position of the sprocket 50 can be detected at an interval of 0 °, but this is an example for convenience in explaining the configuration of the encoder, and a higher resolution can be achieved by the pattern configuration of the magnetized portions of the tracks 81a and 81b. It goes without saying that you can get it.

  In this case, for example, as shown in FIG. 10A, a track 81c in which the magnetized portions are arranged at a narrower pitch than the tracks 81a and 81b is provided, and the magnetized portion of the track 81c is Detection may be performed using the MR element 84 having higher resolution than the Hall elements 82a to 82c and 83a to 83c, and the rotational speed control of the sprocket 50, for example, may be performed based on the output of the MR element 84. According to this configuration, a compact configuration in which the encoder for controlling the rotational position of the sprocket 50 and the encoder for controlling the rotational speed are integrated using the sprocket 50 as a medium is achieved. That is, both the rotational position control information (tracks 81a and 81b) and the rotational speed control information (track 81c) are provided in the sprocket 50, and the hall elements 82a to 82c and 83a to 83c are provided to the sprocket 50. There is an advantage that a compact configuration in which the MR elements 84 are arranged in a concentrated manner is achieved.

  As another encoder configuration, for example, as shown in FIGS. 12 and 13, a track 85 in which bar codes 86 as absolute position information are arranged in the circumferential direction at a constant pitch is provided on the sprocket 50 and detected. As a means, a bar code reader 87 may be provided to detect each bar code 86, thereby detecting the absolute position of the sprocket 50. In this case, the bar code 86 may be one in which bars are arranged in the radial direction of the sprocket 50 as shown in FIG. 14 in addition to the bars arranged in the circumferential direction as shown in FIG.

  As another encoder configuration, as shown in FIG. 15, a disc-shaped magnet 90 having S poles and N poles is provided at the center of the sprocket, and a 90 ° difference in the circumferential direction with respect to the magnet 90 is provided. A pair of Hall elements 92a and 92b (magnetic sensors) arranged in a row may be arranged, and the absolute position of the sprocket 50 may be detected based on the outputs from the Hall elements 92a and 92b. That is, according to the configuration shown in FIG. 15, the output value of each Hall element 92a, 92b is about 90 ° as shown in FIG. 16 due to the variation of the magnetic field to each Hall element 92a, 92b as the magnet 90 rotates. It becomes a sin wave (analog waveform signal) having a phase difference. Therefore, the absolute position of the sprocket 50 can be detected linearly based on the combination of the output values of the hall elements 92a and 92b.

  According to such a configuration, the rotational position of the sprocket 50 can be detected with high resolution by the magnet 90 and the two Hall elements 92a and 92b. In this case, if the output values of the Hall elements 92a and 92b are monitored at a predetermined time interval, the rotational speed of the sprocket 50 can be obtained by calculation based on the time change of the output values. Therefore, this rotational speed (calculated value) is fed back to the main control unit 71 to control the driving of the feed motor 42, so that the rotational speed of the sprocket 50, that is, the tape 32, can be used without changing the configuration shown in FIG. There is an advantage that the feed rate can be controlled.

  In the above embodiment, the tracks 51a to 51e are directly provided on the sprocket 50. However, for example, a rotating body that rotates integrally with the sprocket 50 is provided, and the tracks 51a to 51e are provided on the rotating body. Also good.

  In the above embodiment, the sprocket 50 is driven by transmitting the rotational driving force of the feed motor 42 by the gear transmission mechanism (gears 43, 44). By connecting the sprocket 50 directly to the rotor, a so-called direct drive configuration in which the sprocket 50 is directly driven by the feed motor 42 may be employed. According to this configuration, since the backlash itself by the gear transmission mechanism is eliminated, the sprocket 50 can be driven and controlled with higher accuracy.

  In the above embodiment, as the absolute position information, a plurality of tracks 51a to 51e composed of magnetized portions having different patterns are provided on the sprocket 50, and this is detected by the magnetic sensor 45 (Hall elements 45a to 45e) as detection means. However, a slit is provided in the sprocket 50 in place of the magnetized portion, and a photosensor having a light irradiating part and a light receiving part sandwiching the sprocket 50 is used in place of the magnetic sensor 45. The rotational position of the sprocket 50 may be detected by examining the light receiving state of the photo sensor.

  In the above embodiment, the feeder control means 70 having a CPU or the like is mounted on each tape feeder 4a. During the mounting operation, a command signal for instructing the tape feeder 4a to feed the tape from the main body control means 60. Is output, and the specific tape 32 feed operation control (drive control of the motor 42, etc.) of each tape feeder 4a is performed by the unique feeder control means 70. For example, the feeder control The functions of the main control unit 71 and the like of the means 70 may be included in the mounting machine main body side, for example, the main body control means 60, and the main body control means 60 may directly control the specific operation of each tape feeder 4a. .

It is a top view which shows the surface mounting machine with which the tape feeder which concerns on this invention is mounted. It is a front view which shows a surface mounting machine. It is a perspective schematic diagram showing a tape feeder. It is sectional drawing of the tape feeder which shows the structure of a tape feeding mechanism. It is a perspective view which shows the structure of the tape used with a tape feeder. It is a schematic diagram explaining the structure (absolute position information (track) and magnetic sensor provided in a sprocket) of the encoder for detecting the rotational position of a sprocket. It is a timing chart which shows the output state from a magnetic sensor (each Hall element). It is a figure which shows the control system of a tape feeder. It is a figure which shows an example of the table data produced in a calculating part (main body control means) by error data acquisition operation | work. It is a figure which shows another structure of the encoder for detecting the rotation position of a sprocket ((a) is a figure which shows the track formed in a sprocket, (b) is arrangement | positioning of the Hall element and MR element with respect to each track | truck Is a diagram showing). It is a timing chart which shows the output state from a Hall element, and the rotation angle of a sprocket. It is a figure which shows another structure of the encoder which detects the rotation position of a sprocket. It is a figure which shows a barcode. It is a figure which shows another example of a barcode. It is a figure which shows another structure of the encoder which detects the rotation position of a sprocket. It is a figure which shows the output state from a Hall element.

Explanation of symbols

4a Tape feeder 25 Feeder body 26 Reel support 32 Tape 37 Component take-out 40 Printed circuit board (motor board)
41 Magnetic sensor 42 Feed motor 50 Sprocket

Claims (8)

A guide portion that guides a tape in which parts are stored at regular intervals in the longitudinal direction thereof, and a plurality of pins that are arranged at a predetermined interval in the circumferential direction, and the pins on the tape at a specific position in the tape guide direction by the guide portion. the sprocket but which is arranged to engage, and a motor for the sprocket rotation drive, the tape feeder to feed the tape to a predetermined component supply unit in accordance with the rotation of the sprocket,
Said sprocket, or sprocket and provided on the rotating body which rotates together, particular to Rukoto capable absolute position information of the rotational position of the sprocket,
Detecting means for detecting the absolute position information;
Control means for driving and controlling the motor to send the tape to the component supply unit;
Storage means you storing data correlating the rotation correction amount of the sprocket in a preset target times translocation and these target rotational position of the sprocket in order to place the plurality of pins into the specific position respectively With
The rotation correction amount is a correction amount for correcting a deviation of the pin from the specific position in the rotation direction when the sprocket is rotated to the target rotation position, and the sprocket is moved to the target rotation position. the are each pin being disposed in the specific position while rotating was determined from the image by each imaging,
Said control means detects a rotational position of the sprocket on the basis of the absolute position information detected by said detecting means, the target rotational position Rutotomo to set the target rotational position of the sprocket on the basis of the detected position the rotation correction amount by correction, Rukoto to driving and controlling the motor to rotate the sprocket to a target rotational position after the correction corresponding to the target rotational position location based on the data stored in said storage means Tape feeder characterized by A guide portion that guides a tape in which parts are stored at regular intervals in the longitudinal direction thereof, and a plurality of pins that are arranged at a predetermined interval in the circumferential direction, and the pins on the tape at a specific position in the tape guide direction by the guide portion. the sprocket but which is arranged to engage, and a motor for the sprocket rotation drive, the tape feeder to feed the tape to a predetermined component supply unit in accordance with the rotation of the sprocket,
Provided in front Symbol sprocket, and absolute position information that can you to identify the rotational position of the sprocket,
Detecting means for detecting the absolute position information;
Control means for driving and controlling the motor to send the tape to the component supply unit;
Storage means you storing data correlating the rotation correction amount of the sprocket in a preset target times translocation and these target rotational position of the sprocket in order to place the plurality of pins into the specific position respectively With
The sprocket is connected directly or indirectly to the rotor so as to rotate integrally with the rotor of the motor,
The rotation correction amount is a correction amount for correcting a deviation of the pin from the specific position in the rotation direction when the sprocket is rotated to the target rotation position, and the sprocket is moved to the target rotation position. the are each pin being disposed in the specific position while rotating was determined from the image by each imaging,
Said control means detects a rotational position of the sprocket on the basis of the absolute position information detected by said detecting means, the target rotational position Rutotomo to set the target rotational position of the sprocket on the basis of the detected position the rotation correction amount by correction, Rukoto to driving and controlling the motor to rotate the sprocket to a target rotational position after the correction corresponding to the target rotational position location based on the data stored in said storage means Tape feeder characterized by The tape feeder according to claim 1 or 2,
Wherein, after activation, while maintaining the motor in a stopped state until the Eject and feeding of the first tape, the based on the absolute position information detected by the detecting means when the motor stop state tape feeder detects the rotational position of the sprocket, characterized that you implement out feeding first tape by Rukoto to drive control the motor based on the rotational position. A guide portion that guides a tape in which parts are stored at regular intervals in the longitudinal direction thereof, and a plurality of pins that are arranged at a predetermined interval in the circumferential direction, and the pins on the tape at a specific position in the tape guide direction by the guide portion. the sprocket but which is arranged to engage, and a motor for the sprocket rotation drive, the tape feeder to feed the tape to a predetermined component supply unit in accordance with the rotation of the sprocket,
A magnet fixed to the sprocket or a rotating body that rotates integrally with the sprocket;
A plurality of magnetic sensors that output analog waveform signals having a phase difference from each other by detecting a change in the magnetic field accompanying the rotation of the magnet;
Control means for driving and controlling the motor to send the tape to the component supply unit;
Storage means you storing data correlating the rotation correction amount of the sprocket in a preset target times translocation and these target rotational position of the sprocket in order to place the plurality of pins into the specific position respectively With
The rotation correction amount is a correction amount for correcting a deviation of the pin from the specific position in the rotation direction when the sprocket is rotated to the target rotation position, and the sprocket is moved to the target rotation position. the are each pin being disposed in the specific position while rotating was determined from the image by each imaging,
Said control means detects a rotational position of the sprocket on the basis of the analog waveform signal output from each magnetic sensor, the target rotational position Rutotomo to set the target rotational position of the sprocket on the basis of the detected position the rotation correction amount by correction, Rukoto to driving and controlling the motor to rotate the sprocket to a target rotational position after the correction corresponding to the target rotational position location based on the data stored in said storage means Tape feeder characterized by A guide portion that guides a tape in which parts are stored at regular intervals in the longitudinal direction thereof, and a plurality of pins that are arranged at a predetermined interval in the circumferential direction, and the pins on the tape at a specific position in the tape guide direction by the guide portion. the sprocket but which is arranged to engage, and a motor for the sprocket rotation drive, the tape feeder to feed the tape to a predetermined component supply unit in accordance with the rotation of the sprocket,
A magnet is fixed to the front Symbol sprocket,
A plurality of magnetic sensors that output analog waveform signals having a phase difference from each other by detecting a change in the magnetic field accompanying the rotation of the magnet;
Control means for driving and controlling the motor to send the tape to the component supply unit;
Storage means you storing data correlating the rotation correction amount of the sprocket in a preset target times translocation and these target rotational position of the sprocket in order to place the plurality of pins into the specific position respectively With
The sprocket is directly or indirectly connected to the rotor so as to rotate integrally with the rotor of the motor;
The rotation correction amount is a correction amount for correcting a deviation of the pin from the specific position in the rotation direction when the sprocket is rotated to the target rotation position, and the sprocket is moved to the target rotation position. the are each pin being disposed in the specific position while rotating was determined from the image by each imaging,
Said control means detects a rotational position of the sprocket on the basis of the analog waveform signal output from each magnetic sensor, the target rotational position Rutotomo to set the target rotational position of the sprocket on the basis of the detected position the rotation correction amount by correction, Rukoto to driving and controlling the motor to rotate the sprocket to a target rotational position after the correction corresponding to the target rotational position location based on the data stored in said storage means Tape feeder characterized by The tape feeder according to claim 4 or 5,
Wherein, after activation, while maintaining the motor in a stopped state until the feed Ri out of the first tape, on the basis of the analog waveform signal the output from each magnetic sensor when the motor stop state tape feeder for detecting a rotational position of the sprocket, characterized that you implement out feeding first tape by Rukoto to drive control the motor based on the rotational position. A mounting machine main body having a movable head for mounting components, and a tape mounted on the mounting machine main body and storing the components at regular intervals, and a sprocket that engages the tape is driven by a motor to rotate the parts. and a tape feeder issuing Ri feed to the feed unit, in the produced surface mounter to mount on a substrate by adsorbing components from the tape feeder by said head,
Comprising a tape feeder according to any one of claims 1 to 6 as the tape feeder,
When the control unit of the tape feeder is a feeder-side control unit, the mounting machine body includes a body-side control unit that controls various operations for component mounting including the operation of the head.
The feeder-side control means, a surface mounting machine, characterized in that for driving and controlling the motor based on the information for the Eject and feed tape given from the main body controller. A mounting machine main body having a movable head for mounting components, and a tape mounted on the mounting machine main body and storing the components at regular intervals, and a sprocket that engages the tape is driven by a motor to rotate the parts. and a tape feeder issuing Ri feed to the feed unit, in the produced surface mounter to mount on a substrate by adsorbing components from the tape feeder by said head,
Comprising a tape feeder according to any one of claims 1 to 6 as the tape feeder,
The mounting machine body includes body-side control means that controls various operations for component mounting including the operation of the head and includes a function as the control means of the tape feeder .
The surface mounter is characterized in that the tape feeder sends out the tape to the component supply section when the motor is driven and controlled by the main body side control means .

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