JP6207895B2 - Tape feeder, tape feeder measuring device, and tape feeder control method - Google Patents

Description

  The present invention relates to a tape feeder that intermittently drives a sprocket with a motor and intermittently feeds a tape with perforation formed at a pitch equal to or lower than the pitch of the perforation, a tape feeder measuring device that measures a tape feeding error by the tape feeder, The present invention also relates to a tape feeder control method for controlling intermittent feeding of a tape by a tape feeder.

  The tape feeder as described above is used in the field of electronic component mounting. That is, the tape feeder as described above is mounted on an electronic component mounting apparatus that mounts electronic components on a circuit board. An electronic component is embedded or affixed to the tape with perforated holes at regular intervals, and the tape feeder attached to the electronic component mounting device inserts sprocket teeth into the tape perforation and intermittently sprockets the motor with a motor. By driving, the tape is intermittently fed by the arrangement pitch of the electronic components. In this electronic component mounting apparatus, while the tape is stopped, the electronic components are taken out from the tape one by one with a suction nozzle or the like and mounted on the circuit board.

  An important point of this tape feeder is that the tape is intermittently fed with high accuracy in accordance with the arrangement pitch of the electronic components.

  Particularly in recent years, electronic components have been miniaturized, and electronic components are arranged on a tape at a pitch of 1 mm, for example. As the suction nozzle for taking out the electronic component on the tape, an extremely small one corresponding to the size of the electronic component is used. In this case, the tape feeder is also required to perform intermittent feed with high accuracy at a pitch of 1 mm so that small electronic components on the tape can be reliably taken out by the small suction nozzle or the like.

  Here, although the amount of rotation of the motor itself for rotationally driving the sprocket can be controlled with high accuracy, a driving force transmission mechanism such as a gear train is interposed between the motor and the sprocket. Since the driving force transmission mechanism has a dimensional error or the like, it is not possible to realize intermittent feeding with high accuracy sufficient to satisfy the requirements only by driving the motor with high accuracy.

  As one of the means for realizing high-precision intermittent feeding of the tape, it is conceivable to attach a high-precision rotary encoder directly to the sprocket and measure the rotation angle of the sprocket with high precision. However, such a high-accuracy rotary encoder is expensive, which greatly increases the cost of the tape feeder and greatly increases the mounting cost of the electronic component and the cost of the circuit board on which the electronic component is mounted. Further, the electronic component mounting apparatus is packed with a plurality of tape feeders that intermittently feed a plurality of tapes each having a plurality of electronic components mounted on the circuit board. For this reason, when a full-scale high-precision encoder is attached to the sprocket of the tape feeder, it is impossible to incorporate the tape feeder into the electronic component mounting apparatus itself.

  Patent Document 1 proposes one solution to this problem. That is, in Patent Document 1, an encoder that accepts an error is mounted on a sprocket of a tape feeder, an intermittent feed error is accurately measured separately, and a correction value for canceling the error is obtained. It has been proposed to achieve intermittent feed with high accuracy using

JP 2007-227491 A

  In the above-mentioned Patent Document 1, as a method of accurately measuring the intermittent feed error, a camera is arranged above the sprocket, the image captured by the camera is processed, the position of the imaging target is recognized, and the image It describes that an error between the stop position of the tape recognized by the processing and the reference stop position is measured. However, this Patent Document 1 does not describe any further information, and it is not clear how to actually recognize or measure the actual stop position sufficiently accurately.

  In view of the above circumstances, an object of the present invention is to accurately measure a tape feeding error.

The tape feeder measuring device of the present invention that achieves the above object measures a tape feed error by a tape feeder that intermittently drives a sprocket with a motor and intermittently feeds a tape with a perforation formed at a pitch equal to or less than the pitch of the perforation. A tape feeder measuring device for receiving light passing between adjacent teeth of a sprocket and a position facing the light receiving portion with the teeth of the sprocket sandwiched between the light receiving portion The light receiving unit is arranged to generate a light receiving pattern of a region blocked by the sprocket teeth and a region passing between adjacent teeth of the sprocket from the lateral direction with respect to the tape traveling direction toward the sprocket teeth. a sensor having a light emitting portion for irradiating a running direction of the Yukimitsu Taira light beams that have a long enough,
An error calculation unit that calculates a feed error at each stop of the tape over one revolution of the sprocket based on each light reception pattern at each stop during intermittent drive of the sprocket by the motor obtained by the sensor It is characterized by.

  The tape feeder measuring device of the present invention includes the sensor using the parallel light described above, so that the position of the sprocket teeth in the traveling direction at each stop is accurately measured, and based on this accurately measured position. Accurate feed error can be calculated.

  Here, in the tape feeder measuring device of the present invention, the light emitting unit irradiates parallel light to a portion of the sprocket teeth adjacent to the rotation axis side of the sprocket with respect to the portion inserted into the sprocket of the tape. Is preferred.

  From the standpoint of intermittently feeding the tape with high accuracy, it is preferable to irradiate the portion of the sprocket tooth that is inserted into the tape perforation (tape traveling path) with parallel light.

  However, in this case, when the tape is run, the tape gets in the way, so the measurement is performed in the state of an empty sprocket without running the tape, and the position is shifted from the same stop position as the tape running load is applied. May stop.

  Compared to this, if the sprocket teeth are configured to irradiate parallel light to the portion of the sprocket teeth that are adjacent to the sprocket teeth in the radial direction of the sprocket, the position of the sprocket teeth can be adjusted while actually running the tape intermittently. Can be measured.

  The portion that irradiates the parallel light may be on the radially outer side of the sprocket or on the radially inner side.

  In the tape feeder measuring apparatus of the present invention, it is preferable to further include an accuracy determining unit that determines whether or not the feed error calculated by the error calculating unit is within an allowable error.

  The tape feeder measuring device of the present invention may include this accuracy determination unit and be used as a device for selecting a tape feeder.

  Further, in the tape feeder measuring apparatus of the present invention, the sprocket of the motor for each stop angle corresponding to each stop of the sprocket based on the feed error at each stop of the tape over one turn calculated by the error calculation unit. It is also a preferable aspect to further include a correction value calculation unit that calculates a correction value of the driving amount of the motor.

  If this correction value calculation unit is provided, the tape can be intermittently fed with high accuracy using the calculated correction value even if the tape feeder has an original low feeding accuracy.

  The correction value calculation unit may be used in combination with the above-described accuracy determination unit to calculate a correction value only for a tape feeder that does not have sufficient accuracy, or without the above-described accuracy determination unit, Alternatively, the correction value may be calculated.

  Further, the tape feeder to be measured in the tape feeder measuring device of the present invention includes an absolute encoder that detects the absolute rotation angle of the sprocket, and the correction value calculation unit of the tape feeder measuring device is an absolute encoder. It is preferable to calculate a correction value associated with the absolute rotation angle of the obtained sprocket.

  Even if this absolute encoder cannot measure the rotation angle of the sprocket with the same accuracy as the rotary encoder, it is preferable that the absolute encoder is less expensive than the rotary encoder and does not require much installation space.

  Here, a case where the operation of the tape feeder is temporarily stopped will be considered. If the tape feeder is not equipped with the absolute encoder described above and can only detect the initial position of the sprocket (zero rotation angle), high-precision intermittent feed is realized immediately after restarting the operation of the tape feeder. This is not possible, and highly accurate intermittent feed is realized after the sprocket has passed the initial position. Therefore, electronic components on the tape until the sprocket passes through the initial position may fail to be taken out from the tape. For this reason, the electronic components on the tape are discarded while being left on the tape until the highly accurate intermittent feed is resumed by passing the sprocket through the initial position.

  On the other hand, by associating the correction value with the absolute rotation angle of the sprocket obtained by the absolute encoder, when the tape feeder stops and restarts, it knows the current absolute rotation angle of the sprocket and Correction can be performed using a correction value corresponding to the absolute rotation angle. By doing so, it is possible to perform intermittent feed with high accuracy immediately without waiting for the sprocket to pass the initial position.

  The absolute encoder detects the absolute rotation angle of the sprocket. However, the absolute encoder is not limited to the one that is provided in the sprocket itself and directly detects the absolute rotation angle of the sprocket. For example, in a configuration in which driving force is transmitted from a motor to a sprocket via a gear train, the absolute encoder directly detects the absolute rotation angle of one of the gears constituting the gear train. Then, the absolute rotation angle of the gear may be converted into the absolute rotation angle of the sprocket.

Also, the tape feeder of the present invention that achieves the above object is a tape feeder that intermittently drives a sprocket with a motor and intermittently runs the tape on which the perforation is perforated at a pitch equal to or lower than the pitch of the perforation. And a notch on either side of the procket adjacent to the tooth, with the teeth inserted in the perforation in between.

If such a window or cutout tape feeder having a cover member which is formed, but may apply the tape feeder measuring apparatus of the present invention performs the calculation of the determination or the correction value of the tape intermittently feeding accuracy .

Moreover, the tape feeder control method of the present invention that achieves the above-described object includes the step of obtaining the correction value of the tape feeder using the tape feeder measuring device of the present invention of the aspect for calculating the correction value,
Storing the acquired correction value or the corrected driving amount for each stop angle of the sprocket by the motor, corrected by the correction value, in the tape feeder;
And a step of causing the motor to drive the sprocket based on the corrected driving amount corrected by the correction value.

  According to the tape feeder control method of the present invention, the tape can be intermittently fed with high accuracy using the tape feeder.

  According to the present invention described above, the intermittent feeding error of the tape by the tape feeder is accurately measured.

It is the perspective view which showed the outline | summary of the tape feeder. It is a side view of the tape feeder which showed the perspective view in FIG. It is the top view which showed a part of tape. It is the figure which showed the corresponding | compatible relationship between the operation position (FIG. 4 (a)) of a suction nozzle, and a motor operating speed (FIG.4 (b)). FIG. 5 is a schematic diagram illustrating the operation of FIG. 4. It is the figure which showed the outline | summary of the tape drive mechanism of the tape feeder shown in FIG. 1, FIG. It is the figure which showed the outline | summary of the absolute encoder. It is the external appearance perspective view which showed the outline | summary of the electronic component mounting apparatus. It is the perspective view which showed the state which attached the sensor which comprises the tape feeder measuring device of this embodiment to the tape feeder. It is the figure which showed the positional relationship of the parallel light light-emitted by the light emission part of the sensor, and the tooth | gear of a sprocket. It is the figure which showed the position of the sprocket tooth | gear for every tape feed amount. It is the figure which showed the light reception pattern when it exists in the position shown in FIG. It is the figure which showed the outline | summary of the tape feeder measuring device of this embodiment. It is a flowchart showing the process performed by the calculating part of FIG. It is a figure showing the relationship between error dY and angle (theta). It is the figure which showed the table before a measurement. It is the figure which showed the table at the time of a measurement end. It is the figure which showed the 2nd example of the correction table. It is the figure which showed an example of the shape (Fig.19 (a)) of a sprocket, and the shape (FIG.19 (b)) of the tooth | gear of the sprocket. It is the figure which showed the relationship between the measured value of the tooth | gear of a sprocket, and the position of a tooth | gear. It is explanatory drawing of the calculation method of the theoretical value X 'of a sending edge. It is explanatory drawing of the calculation method of the theoretical value X 'of a sending edge.

  Embodiments of the present invention will be described below.

  FIG. 1 is a perspective view showing an outline of a tape feeder.

  FIG. 2 is a side view of the tape feeder whose perspective view is shown in FIG.

  1 and 2 show a suction nozzle 21 for sucking electronic components in addition to the tape feeder 10. The suction nozzle 21 is not a component provided in the tape feeder 10 itself, but a component of an electronic component mounting apparatus described later.

  FIG. 3 is a plan view showing a part of the tape.

  First, the structure of the tape will be described with reference to FIG.

  For example, perforations 31 are formed on the tape 30 at a pitch of 4 mm. Further, the tape 30 is arranged so that electronic parts 32 are embedded in the tape 30 at a pitch of 1 mm, and a cover tape 33 shown by hatching in FIG. 3 is attached so as to cover the electronic parts 32. It is attached.

  The teeth of the sprocket 11 provided in the tape feeder 10 shown in FIGS. 1 and 2 enter the perforation 31 of the tape 30. Due to the intermittent rotation of the motor 12, the driving force is transmitted to the sprocket 11 via the gear train 13, and the sprocket 11 rotates intermittently, thereby intermittently feeding the tape 30.

  Here, the sprocket 11 of the tape feeder 10 has teeth 111 (see FIG. 6) having the same pitch as the pitch (4 mm) of the perforations 31 formed in the tape 30. Since the electronic components 32 on the tape 30 are arranged at a pitch of 1 mm, the sprocket 11 is intermittently driven at a pitch (1 mm) that is 1/4 of the pitch of the teeth 111 (4 mm), and the tape 30 is intermittently moved by 1 mm. Let me send it.

  The sprocket 11 has 30 teeth 111 formed around it. Therefore, the pitch of the teeth 111 is 12 ° as the rotation angle of the sprocket 11. Here, since the intermittent rotation is repeated at the 1/4 pitch, the rotation angle at one time is 3 °.

  As shown in FIGS. 1 and 2, the tape 30 is wound around the tape reel 40, passes through a passage provided in the tape feeder 10, is guided by the cover member 14, and engages with the teeth 111 of the sprocket 11. The sprocket 11 is intermittently fed by the intermittent rotation. The cover tape 33 is peeled off from the tape 30 at a position just before engaging with the teeth 111 of the sprocket 11, and the cover tape 33 is pulled back to the tape reel 40 side.

  The position immediately after the cover tape 33 is peeled off from the tape 30 is picked up by one electronic component 32 each time the suction nozzle 21 moves and the travel of the tape 30 stops, and is taken out from the tape 30. It is. The electronic component 32 taken out from the tape 30 is placed on a circuit board (not shown).

  FIG. 4 is a diagram showing a correspondence relationship between the operation position of the suction nozzle (FIG. 4A) and the motor operation speed (FIG. 4B).

  FIG. 5 is a schematic diagram illustrating the operation of FIG.

  Here, the suction nozzle shows only the vertical movement of interest here, and the movement for placing the electronic component on the circuit board is omitted.

  5A to 5E correspond to timings A to E shown in FIG.

  At timing A, as shown in FIG. 5A, the suction nozzle 21 is descending, and the motor is operating while slowing the rotation speed.

  Timing B indicates the moment when the motor stops rotating. The suction nozzle 21 is still descending.

  Timing C is a timing at which the motor is stopped and the suction nozzle is sucking the electronic component at the bottom.

  Timing D indicates the moment when the suction nozzle has moved up to a position that avoids interference between the suction nozzle and the electronic component on the tape while the suction nozzle is sucking the component. The motor starts to rotate.

  Timing E is the timing when the rotation of the motor reaches the maximum speed. The suction nozzle 21 continues to rise.

  By repeating the above operations A to E, the electronic components 32 on the tape 30 are taken out one by one by the suction nozzle in synchronization with the intermittent feeding of the tape.

  FIG. 6 is a diagram showing an outline of the tape drive mechanism of the tape feeder shown in FIGS. 1 and 2.

  As described above, when the motor 12 rotates, the rotational driving force is transmitted to the sprocket 11 via the gear train 13. The motor 12 repeats rotation and stop, so that the sprocket 11 rotates intermittently. The teeth 111 of the sprocket 11 enter the perforation 31 of the tape 30 (see FIG. 1), and the tape 30 is intermittently sent out as the sprocket 11 rotates intermittently.

  The rotation and stop of the motor 12 are controlled by the control unit 15. The control unit 15 is provided with a storage unit 151 that stores a correction table (to be described later) in which correction values are recorded. The control unit 15 includes the motor 12 according to the correction table stored in the storage unit 151. Controls the amount of rotation per revolution. Thus, the tape 30 (see FIGS. 1 and 2) can be intermittently fed at a constant pitch with high accuracy.

  In the present embodiment, an absolute encoder 50 is provided on the sprocket 11, and the absolute rotation angle of the sprocket 11 is detected by the absolute encoder 50. However, the absolute encoder 50 alone does not have a resolution until the tape 30 is intermittently fed at a constant pitch while maintaining the required accuracy.

  FIG. 7 is a diagram showing an outline of the absolute encoder.

  The absolute encoder 50 includes a concavo-convex pattern 51 engraved on the sprocket 11 and an absolute sensor 52 that detects the concavo-convex pattern 51.

  The concavo-convex pattern 51 has a constant pitch in the radial direction of the sprocket 11 and engraved concavo-convex patterns encoded in the rotation direction. A combination of a plurality of concavo-convex patterns in the radial direction is the absolute rotation of the absolute encoder 50. It represents an angle.

  The absolute sensor 52 has a plurality of detection elements 521 arranged at the same pitch as the pitch in the radial direction of the concavo-convex pattern 51, and is disposed on the concavo-convex pattern 51 at a position indicated by a broken line close to the concavo-convex pattern 51. This is a sensor that reads the uneven pattern in the radial direction. The absolute sensor 52 may be a photoelectric sensor or a magnetic sensor, and the detection principle does not matter as long as position (angle) information according to the concavo-convex pattern can be read.

  The absolute sensor 52 is fixed to the frame of the tape feeder 10, and the concave / convex pattern 51 is rotated by the rotation of the sprocket 11, whereby the concave / convex pattern detected by the absolute sensor 52 changes, and the absolute rotation angle of the sprocket 11 is changed. Detected.

  FIG. 8 is an external perspective view showing an outline of the electronic component mounting apparatus.

  As shown in the figure, a plurality of tape feeders 10 are mounted on the electronic component mounting apparatus 60 in a horizontal arrangement. This is because a large number of various types of electronic components are mounted on a circuit board (not shown), and therefore, a plurality of types of tapes on which each of the large number of electronic components is arranged are attached to the electronic component mounting apparatus 60. It is necessary to send in.

  A circuit board (not shown) is fed into the electronic component mounting apparatus 60 while being guided by the guide member 62 in the arrow W direction. On the circuit board sent to the electronic component mounting apparatus 60, the electronic components on each tape sent by each tape feeder 10 are attached to the suction nozzle 21 (FIG. 1, FIG. 1) provided in the electronic component mounting apparatus 60. 2) and is placed on the circuit board. The circuit board on which the electronic components are mounted is sent out from the side opposite to the side into which the electronic parts are sent.

  The electronic component mounting apparatus 60 is provided with a lamp 63 that is lit when an error occurs.

  The electronic component mounting apparatus 60 itself is not the theme of the present invention and this embodiment, and further description of the electronic component mounting apparatus 60 is omitted here.

  Next, an embodiment of the tape feeder measuring device will be described.

  The tape feeder measuring device described below is a device that measures an intermittent feeding error of a tape when the tape feeder 10 described so far is operated, and calculates a correction value for improving the feeding accuracy. The correction value calculated here is stored in the storage unit 151 in the control unit 15 shown in FIG. 6 and is used for high-precision intermittent feed control of the tape by the control unit 15.

  FIG. 9 is a perspective view showing a state in which a sensor constituting the tape feeder measuring device of the present embodiment is attached to the tape feeder.

  The sensor 70 includes a light emitting unit 71 and a light receiving unit 72. From the light emitting portion 71, it has passed from the lateral direction with respect to the traveling direction of the tape 30 toward the teeth of the sprocket 11, and to the light receiving portion 72 between the region blocked by the teeth of the sprocket and the adjacent teeth of the sprocket. The slit-shaped parallel light 73 having a length in the traveling direction is generated so as to generate a light receiving pattern depending on the region.

  In the light receiving unit 72, the light that has passed between adjacent teeth of the sprocket 11 among the parallel light 73 emitted from the light emitting unit 71 is received. And in this light emission part 71, the area | region obstruct | occluded by the tooth | gear of the sprocket 11 among the parallel lights 73 light-emitted from the light emission part 71 at the time of each stop during the intermittent drive of the sprocket 11 by the motor 12 by this light reception. And a region that has passed between adjacent teeth of the sprocket 11, a light receiving pattern in the tape running direction is generated. For example, a so-called laser micrometer can be used as the sensor 70. The measurement of the light receiving pattern by the sensor 70 is performed while intermittently feeding the tape 30.

  FIG. 10 is a diagram illustrating a positional relationship between the parallel light emitted from the light emitting unit of the sensor and the teeth of the sprocket.

  From the light emitting unit 71 (see FIG. 9), parallel light 73 is irradiated toward the teeth 111 of the sprocket 11 from the lateral direction with respect to the traveling direction of the tape 30. The cover member 14 of the tape feeder 10 (see also FIGS. 1 and 2) is formed with a window 141 through which the parallel light passes. In FIG. 10, a window 141 is shown, but instead of the window surrounded by four sides, a notch connected to a hole into which the suction nozzle 21 enters is formed on the upper surface of the cover member 14 as shown in FIGS. It may be formed. Moreover, the passage location of the parallel light 73 may be covered with a plastic material or the like that transmits the parallel light 73.

  The parallel light 73 is applied to a portion of the tooth 111 of the sprocket 11 that is adjacent to the portion of the sprocket 11 that is inserted into the perforation 31 (see FIG. 3) of the tape 30 and that is adjacent to the rotating shaft side of the sprocket 11.

  FIG. 11 is a diagram showing the positions of the sprocket teeth for each tape feed amount.

  FIG. 12 is a diagram showing a light receiving pattern when it is in each position shown in FIGS.

  The symbols A and B in FIGS. 11 and 12 represent the ends of the passage areas A to B of the parallel light 73.

  The pitch of the teeth 111 of the sprocket 11 in this embodiment is equivalent to 4 mm, which is the same as the pitch of the perforations 31 of the tape 30 shown in FIG. 3, while the pitch of the arrangement of the electronic components 32 on the tape 30 is 1 mm. Therefore, here, the sprocket 11 is rotated by an amount corresponding to 1 mm of the tape 30, and the teeth 111 of the sprocket 11 have the four positional relationships shown in FIGS. 11A to 11D when the error is ignored. Therefore, as shown in FIGS. 12A to 12D, four light receiving patterns are basically repeated. However, this is a story when the error is ignored, and since the error is actually included, each position in FIGS. 11A to 11D and each light receiving pattern in FIGS. Therefore, it fluctuates for each tooth 111 of the sprocket 11.

  FIG. 13 is a diagram showing an outline of the tape feeder measuring apparatus of the present embodiment.

  The tape feeder measuring device 90 includes a calculation unit 80 in addition to the sensor 70 including the light emitting unit 71 and the light receiving unit 72 shown in FIG.

  FIG. 14 is a flowchart showing processing executed by the calculation unit of FIG.

  Here, while intermittently feeding the tape 30, the angle of the absolute sensor 52 (see FIG. 7) and the light receiving pattern (see FIG. 12) of the light sensor 72 at each stop of the tape 30 for one revolution of the sprocket 11. Obtained (steps S11 and S12) and temporarily stored in the buffer. When acquisition of the absolute sensor angle and the light receiving pattern for one revolution of the sprocket is completed, the position of the sprocket teeth (position in the tape running direction) is calculated based on each light receiving pattern at each stop (step S13). In the calculation unit 80 shown in FIG. 13, data on the theoretical position of the sprocket tooth 111 of the sprocket 11 in each posture of FIGS. 11A to 11D in the tape running direction (Y direction) ( (Referred to as “theoretical value”). This theoretical value is a value when the error of the intermittent tape feeding calculated from the shape of the sprocket 11 and the rotation amount of the motor 12 per rotation is zero. Since this is a theoretical value, only four patterns shown in FIG. 11 can be used for one revolution of the sprocket.

  When the actual position of the sprocket tooth (referred to as “measured value”) is calculated in step S13 in FIG. 14, the error of the measured value from the theoretical value in the tape running direction (Y direction) (Y of the sprocket tooth) A direction deviation error) is calculated (step S14). Here, this error is referred to as “dY”. This error dY is calculated for each stop position for one revolution of the sprocket.

  Next, this error dY is compared with a reference value (step S15). This reference value is a value that ensures that the electronic component 32 on the tape 30 is reliably sucked and taken out by the suction nozzle 21 if the error is within this range.

  Next, it is determined whether the error dY of each stop position over the entire round of the sprocket is within the reference value or there is an error dY that deviates from the reference value (step S16). If the error dY over the entire sprocket is within the reference value, no further correction is necessary, and the process ends at this point.

  If there is an error dY that deviates from the reference value, the sprocket angle θ is calculated from the error dY.

  FIG. 15 is a diagram illustrating the relationship between the error dY and the angle θ.

  Here, the teeth 111 of the sprocket 11 are schematically indicated by triangles. The tooth 111a shown with the broken line is a theoretical position (theoretical value). Further, the tooth 111b shown by a solid line is a measured position (measured value). The error from the theoretical value of the measured value in the tape running direction (Y direction) is the error dY, and the value obtained by converting the error dY into the rotation angle of the sprocket 11 is the angle θ.

  Returning to FIG. 14, the description will be continued.

  When the angle θ is calculated in step S17, writing to a table described below with reference to FIGS. 16 to 18 is performed (step S18). The contents of this table are stored in the storage unit 151 in the control unit 15 (see also FIG. 6) shown in FIG. The control unit 15 uses the values in the table stored in the storage unit 151 as correction values to adjust the feed amount per tape once for the entire circumference of the sprocket.

  FIG. 16 is a diagram showing a table before measurement.

  FIG. 16A is a table showing the relationship among the rotation angle [°] of the sprocket, the tooth number of the sprocket, and the aforementioned error dY (see FIG. 15).

  The table of FIG. 16A is referred to herein as a “sprocket error table”.

  The sprocket 11 is provided with teeth 111 at every rotation angle of 12 °, and this rotation angle of 12 ° corresponds to the travel distance of 4 mm of the tape 30, that is, the interval of 4 mm between the perforations 31 provided on the tape 30.

  On the other hand, the distance traveled once in the intermittent feeding of the tape is 1 mm. This corresponds to a sprocket rotation angle of 3 °. Therefore, in the “sprocket rotation angle [°]” column of the “sprocket error table” in FIG. 16A, a value of 3 degrees is entered for one revolution of the sprocket. Further, the 1-mm travel distance of the tape is 0.25 times the pitch when converted to the sprocket tooth pitch (equivalent to 4 mm). For this reason, in the “sprocket tooth number” column of the “sprocket error table”, a value of 0.25 is entered from the pin number 1 onwards. In the error dY column, all zeros are written as initial values.

  FIG. 16B is a table in which the angle measured by the absolute sensor is written. Here, this table is referred to as “correction table A”.

  The values in this correction table may be indefinite before being written.

  FIG. 16C is a table in which the correction angle [°] is written. Here, this correction angle is an angle θ obtained by converting the error dY in the sprocket error table of FIG. 16A into the rotation angle of the sprocket (see FIG. 15). In this correction table B, the initial value zero is written in correspondence with the fact that the initial value zero is written in the column of the error dY in the sprocket error table of FIG.

  FIG. 17 shows a table at the end of measurement.

  FIGS. 17 (a), (b), and (c) correspond to FIGS. 16 (a), (b), and (c), respectively, and the sprocket error table after the measurement (FIG. 17 (a)). The correction table A (FIG. 17B) and the correction table B (FIG. 17C).

  The error dY is written in the sprocket error table of FIG.

  Here, dY1, dY1.25,... Are shown, but actual error dY (see FIG. 15) obtained by measurement is written here.

  In the correction table A of FIG. 17B, the angles at the time of each stop obtained from the absolute sensor are written.

  The correction table A is referred to when the operation is resumed after the tape feeder temporarily stops the operation. By referring to this correction table A, it is possible to know the current posture (rotation angle) of the sprocket with an accuracy sufficient to identify the sprocket tooth number.

  In the correction table B of FIG. 17C, values θ1, θ1.25, θ1.5... Obtained by converting the error dY in the sprocket error table of FIG. FIG. 15).

  The correction table A and the correction table B are stored in the storage unit 151 in the control unit 15 of the tape feeder 10 (see FIGS. 6 and 13).

  When necessary, the control unit 15 of the tape feeder 10 knows the current sprocket tooth number (see FIG. 17A) from the correction table A, and determines the correction angle corresponding to the tooth number from the correction table B. Knowing that, the motor 12 (see FIGS. 1, 2 and 6) is controlled to a rotation angle corresponding thereto. By doing so, the tape 30 is intermittently fed accurately by 1 mm by the tape feeder 10.

  FIG. 18 is a diagram illustrating a second example of the correction table.

  The correction table A in FIG. 18A is the same as the correction table A in FIG. 17B and is stored in the storage unit 151 in the control unit 15 of the tape feeder 10.

  A corrected table C in FIG. 18B is a table stored in the storage unit 151 in the control unit 15 of the tape feeder 10 in place of the correction table B in FIG.

  In the corrected table C, corrected rotation angles corresponding to the absolute sensor angles of the correction table A, that is, 0-θ1 [°], 3-θ1.25 [°],... Are written. Yes.

  When referring to the correction table B in FIG. 17C, the rotation angles corresponding to the corrected table C in FIG. 18B in the control unit 15, that is, 0-θ1, 3-θ1.25, etc. And the motor is controlled so as to have a rotation amount corresponding to the rotation angle after the calculation.

  On the other hand, when referring to the correction table C in FIG. 18B, since the calculation has already been performed, the control unit 15 causes the motor 12 to rotate the rotation amount corresponding to the rotation angle written in the correction table C. Control may be performed so that

  In the embodiment described so far, as shown in the flowchart of FIG. 14, the theoretical value and the measured value are compared (step S15), and when the error dY of all the measured values over the entire sprocket is within the reference value. Except for this, correction values (correction tables A and B shown in FIG. 17) are calculated.

  However, the tape feeder measuring device of the present invention is not necessarily limited to a device that calculates a correction value, and it is determined whether or not the feeding error dY of the tape feeder to be measured is within a reference value to select a tape feeder. It may be useful.

  Further, in steps S11 and S12 of FIG. 14, it has been described that the angle of the absolute sensor and the light reception pattern are acquired over the entire sprocket, but the calculation unit 80 of the tape feeder measuring device 90 (see FIG. 13). When the calculation speed is in time, when the intermittent feeding of the tape is stopped once, the absolute sensor angle and the light receiving pattern for one stop time are acquired, and subsequently, Steps S13 to S18 are executed, and then The absolute sensor angle at the time of stopping and the light receiving pattern acquisition (steps S11 and S12) may be entered. In this case, in step S15, the reference value and the measured value are compared at the time of the single stop. In step S16, when the error dY at the time of the single stop is within the reference value, It is assumed that the process returns to step S11 until the error dY for the entire circumference of the sprocket is within the reference value, instead of terminating immediately.

  The error and the correction angle converted from the error are calculated as the difference between the theoretical value and the measured value of the sprocket. Here, since the theoretical value of the sprocket is calculated from the mechanical size and shape of the sprocket, the calculation of the theoretical value depends on the specific size and shape of the sprocket.

  In the following, an example of the mechanical dimensions and shape of a sprocket will be shown, and the calculation method of a theoretical value, an error, and a correction angle will be exemplified by taking the sprocket as an example.

  FIG. 19 shows an example of the shape of the sprocket (FIG. 19A) and the shape of the sprocket teeth (FIG. 19B).

Here, as shown in FIGS. 19A and 19B,
Diameter to tooth tip: R
Sprocket tooth rotation angle: θ
Tooth tip width: a
Root width: b
Teeth height: c
Tooth tip feed side edge: A
Root feed side edge: B
Edge arc center: D
Diameter of circle that is concentric with the sprocket and whose circumference passes over D: r
Edge arc radius: R ₀
Edge after tooth rotation after θ rotation: A '
Edge after rotation after θ rotation: B '
Parallel light irradiation position on the sending edge after θ rotation: X ′
Center of arc of edge after θ rotation: D ′
And Here, as shown in FIG. 19B, the y-axis and the x-axis are defined in the tangential direction of the root circle so as to pass through the center of the reference position of the sprocket teeth.

  Parallel light is irradiated to the base B of the sprocket tooth edge of the sprocket at the reference position.

  When the sprocket rotates θ from the reference position, the position where the parallel light is applied to the sending edge moves to X ′.

  The position of X ′ can be obtained by the following calculation.

  The coordinates of the centers D and D 'of the edge arc are determined as follows.

The following relational expression holds between D and D ′.

The edge arc equation is

It is. Substituting y = 0 and solving for x

It becomes. From FIG. 19B, the larger solution is a coordinate to be obtained.

Substituting (x ′ ₀ , y ′ ₀ ) to obtain the coordinates of X ′ is as follows.

  FIG. 20 is a diagram showing the relationship between the measured value of the sprocket tooth and the position of the tooth.

  As shown in FIG. 20, from the measured value x, the position X of the feed edge is obtained here as the position of the sprocket teeth. The measured value x is the width from the edge of the window to the sprocket feed edge.

  Parallel light is irradiated to the base of the feed-side edge of the sprocket tooth at the reference position.

  If the distance from the window edge to the y-axis is e, the position X of the sending edge can be obtained by the following equation.

  There are two methods for calculating the theoretical value X ′ of the feed edge position.

  21 and 22 are explanatory diagrams of a method for calculating the theoretical value X ′ of the sending edge.

    (1) The theoretical value is obtained with reference to the initial position as shown in FIG.

    (2) The theoretical value is obtained based on the previous stop position as shown in FIG.

    Hereinafter, each of (1) and (2) will be described.

  (1) The initial position is used as a reference (see FIG. 21).

  The position of the sprocket teeth of 1, 2, 3 [mm] is obtained based on the tape feed amount 0 [mm].

From the shape of the sprocket and the theoretical rotation angle θ ′, the theoretical value X ′ of the feed side edge position is as follows.
・ When tape feed amount is 0 [mm]

・ When the tape feed amount is 1, 2, 3 [mm]

The sprocket tooth position error d is obtained from the feed side edge position X and the theoretical value X ′.
As shown in FIG. 21, the sprocket tooth position error d is the tangential direction of the root circle.

The correction value α is obtained in consideration of the shift of the previous measurement position.

(2) Based on the previous stop position (see FIG. 22).
When the tape feed amount is 0 [mm] When the tape feed amount is 0 [mm], the theoretical value X ′ of the edge position is obtained with the theoretical angle θ ′ = 0 of the teeth.

When the tape feed amount is 1, 2, 3 [mm] When the tape feed amount is 1, 2, 3 [mm], the theoretical value X ′ is obtained on the basis of the actual angle θ stopped last time. From the tooth angle θ obtained from the feed side edge position X of the previous stop position, the theoretical rotation amount Δθ is added and the theoretical sprocket tooth angle θ ′ = θ + Δθ is added to the tooth angle θ from the feed side edge position X. The tooth angle θ can be obtained by solving the following equation for θ.

The theoretical sprocket tooth angle θ 'is

Therefore, the theoretical value X ′ of the feed side edge position is obtained as follows.

The sprocket tooth position error d is obtained from the feed side edge position X and the theoretical value X ′.
As shown in FIG. 22, the sprocket tooth position error d is the tangential direction of the root circle.

The correction value α is as follows.

DESCRIPTION OF SYMBOLS 10 Tape feeder 11 Sprocket 12 Motor 13 Gear train 14 Cover member 15 Control part 21 Adsorption nozzle 30 Tape 31 Perforation 32 Electronic component
33 Cover tape 40 Tape reel 50 Absolute encoder 51 Concavity and convexity pattern 52 Absolute sensor 60 Electronic component mounting device 62 Guide member 63 Lamp 70 Sensor 71 Light emitting portion 72 Light receiving portion 73 Parallel light 80 Calculation portion 90 Tape feeder measuring device 111 Tooth 141 Window 151 Memory 521 Detection element

Claims (7)

A tape feeder measuring device that measures a feeding error of a tape by a tape feeder that intermittently drives a sprocket with a motor and intermittently feeds a tape with a perforation formed at a pitch equal to or less than the pitch of the perforation. A light receiving portion for receiving light passing between the teeth to be received, and a position facing the light receiving portion with the teeth of the sprocket sandwiched between the light receiving portion and a transverse direction to the running direction of the tape The traveling direction in which the light receiving part only generates a light receiving pattern from the direction toward the sprocket teeth from the direction and the region that has passed between the adjacent teeth of the sprocket and the region blocked by the sprocket teeth. a sensor having a light emitting portion for irradiating a Yukimitsu Taira light beams that have a length of,
An error calculation unit that calculates a feed error at each stop of the tape over one revolution of the sprocket based on each light receiving pattern at each stop during intermittent driving of the sprocket by the motor obtained by the sensor. And a tape feeder measuring device.   2. The light emitting portion irradiates the parallel light to a portion of the sprocket tooth adjacent to the sprocket tooth in the radial direction with respect to a portion inserted into the sprocket of the tape. Tape feeder measuring device.   3. The tape feeder measuring device according to claim 1, further comprising an accuracy determining unit that determines whether or not the feeding error calculated by the error calculating unit is within an allowable error.   Based on the feed error at each stop of the tape over one turn of the sprocket calculated by the error calculation unit, the drive amount of the sprocket for each stop angle corresponding to each stop by the motor is corrected. The tape feeder measuring device according to claim 1, further comprising a correction value calculating unit that calculates a value. The tape feeder includes an absolute encoder that detects an absolute rotation angle of the sprocket,
5. The tape feeder measuring apparatus according to claim 4, wherein the correction value calculation unit calculates the correction value associated with the absolute rotation angle of the sprocket obtained by the absolute encoder. A tape feeder that intermittently drives a sprocket with a motor and intermittently runs a tape on which perforation is perforated at a pitch equal to or less than the pitch of the perforation,
Of the tape, a cover member for guiding the running of the tape covering from above the region adjacent to said sprocket, said cover member, said sprocket, was placed between the teeth that are inserted into the perforations A tape feeder having a window or a notch through which light is transmitted or transmitted on both sides. Obtaining the correction value of the tape feeder using the tape feeder measuring device according to claim 4 or 5;
Storing the correction value or the corrected driving amount for each stop angle of the sprocket by the motor, corrected by the correction value, in the tape feeder;
And a step of causing the motor to drive the sprocket based on a corrected driving amount corrected by the correction value.

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