Tape feeding device and taping machine

Abstract

To provide a tape feeding device and a taping machine which are advantageous for conveying a carrier tape so as to accurately position each storage part in a desired position.SOLUTION: A tape feeding device for feeding a carrier tape, having a plurality of storage parts for workpieces includes: a control device for performing correction processing, determining a conveyance correction amount relative to a conveyance reference amount of the carrier tape, and determining a tape conveyance amount based on the conveyance reference amount and the conveyance correction amount; a conveyance device for conveying the carrier tape along a conveyance passage according to the tape conveyance amount; and a deviation amount acquisition device for acquiring a position deviation amount each of the storage parts in the conveyance passage. In the correction processing, the conveyance correction amount is determined based on the position deviation amount each of the storage parts, and when the position deviation amount is in an allowable range (Y in S16), the conveyance correction amount is zero (S12), and when the position deviation amount exceeds the allowable range (N in S16), the conveyance correction amount is other than zero (S13).SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a tape feeding device and a taping machine. [Background technology]

[0002] A taping machine is known that thermocompresses a top tape onto a carrier tape, thereby sealing workpieces (such as electronic components) contained in each of a number of recesses formed in the carrier tape with the carrier tape and top tape (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-41083 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to accommodate a workpiece in each of the numerous recesses (accommodation sections) provided on the carrier tape, the carrier tape is fed so as to sequentially position the recesses at predetermined insertion positions, and the workpiece is inserted into each of the recesses that are positioned at the insertion positions one after another.

[0005] However, due to various factors such as manufacturing errors, the numerous recesses formed on the carrier tape are not necessarily all formed exactly at the desired positions on the carrier tape, and some recesses may be formed in positions that are shifted from their original positions.

[0006] When a workpiece is inserted into a recess formed at such an offset position, the workpiece may be positioned at a position that is offset from the actual insertion position, and the workpiece may not be inserted (stored) properly. In some cases, the carrier tape (for example, the edge portion defining the recess) and the workpiece may collide with each other unintentionally, resulting in a large force and causing damage to the carrier tape and / or the workpiece.

[0007] The present disclosure has been made in consideration of the above circumstances, and provides a tape feeding device and a taping machine that are advantageous for feeding a carrier tape so as to accurately position each housing portion at a desired position. [Means for solving the problem]

[0008] One aspect of the present disclosure relates to a tape feeding device that feeds a carrier tape having a plurality of work storage sections, the tape feeding device comprising: a control device that performs a correction process to determine a transport correction amount relative to a reference transport amount of the carrier tape and determines the tape transport amount based on the reference transport amount and the transport correction amount; a transport device that transports the carrier tape along a transport path according to the tape transport amount; and a deviation amount acquisition device that acquires the positional deviation amount of each storage section on the transport path, wherein in the correction process, the transport correction amount is determined based on the positional deviation amount of each storage section, and when the positional deviation amount is within an allowable range, the value of the transport correction amount is zero, and when the positional deviation amount exceeds the allowable range, the value of the transport correction amount is a value other than zero.

[0009] The carrier tape may have a plurality of position reference portions arranged at equal intervals, and the deviation amount acquisition device may acquire the position deviation amount of each storage portion by comparing the positions of the plurality of position reference portions with the positions of the plurality of storage portions.

[0010] The carrier tape may have a plurality of conveying holes, the conveying device may have a conveying body, and the carrier tape may be conveyed by applying a conveying force from the conveying body to the carrier tape while the conveying body is inserted into one or more conveying holes, and the deviation amount acquisition device may use the plurality of conveying holes as a plurality of position reference portions.

[0011] The conveying device may have a conveying motor that operates in response to a drive signal input under the control of a control device, and the amount of conveyance of the carrier tape by the power output from the conveying motor may be determined in response to the number of pulses of the drive signal, and the control device may determine the number of pulses of the drive signal based on a reference pulse number corresponding to a conveying reference amount and a correction pulse number corresponding to a conveying correction amount.

[0012] The control device may determine the pulses of the drive signal based on the correction pulse number so that the carry motor operates at a pulse rate according to the reference pulse number and the correction pulse number.

[0013] Another aspect of the present disclosure relates to a taping machine including the above-mentioned tape feeding device that feeds a carrier tape having multiple storage compartments for workpieces, and a tape joining device that joins a top tape to the carrier tape so as to cover the multiple storage compartments. [Effects of the Invention]

[0014] According to the present disclosure, it is possible to provide a tape feeding device and a taping machine that are advantageous for transporting a carrier tape so as to accurately position each housing section at a desired position. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of an example of a taping machine. [Figure 2] FIG. 2 is a functional block diagram showing an example of the connection configuration of the control device, the deviation amount acquisition device, and the transport device (particularly the transport motor). [Figure 3] FIG. 3 is an enlarged plan view showing a schematic configuration of an example of a carrier tape. [Figure 4] FIG. 4 is a side view showing a schematic configuration of an example of a transport device. [Figure 5] FIG. 5 is a flowchart showing an example of a tape feeding method for feeding a carrier tape by a taping machine (particularly, a carrier tape feeding device). [Figure 6] FIG. 6 is a flowchart showing an example of a correction processing method. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0017] In the following description, the terms "upstream" and "downstream" refer to the running direction of the various tapes (carrier tape, top tape, and work sealing tape) during normal operation of the taping machine 10, and the various tapes are fed from upstream to downstream.

[0018] FIG. 1 is a diagram showing a schematic configuration of an example of a taping machine 10. As shown in FIG.

[0019] The taping machine 10 shown in FIG. 1 includes a carrier tape feeding device that feeds the carrier tape Ta, a top tape feeding device that feeds the top tape Tb, and a tape splicing device 27 that splices the top tape Tb to the carrier tape Ta to make a work sealing tape Tc.

[0020] The carrier tape Ta has a plurality of recesses with bottoms used as workpiece storage compartments, and a workpiece (in this example, an electronic component such as a capacitor) is inserted into each recess by a workpiece supply device 30. The top tape Tb is overlaid on the carrier tape Ta so as to cover the recesses containing the workpieces, and is thermocompression bonded to the carrier tape Ta by a tape bonding device 27. In the workpiece sealing tape Tc produced in this manner, the workpieces stored in each recess are individually sealed by the carrier tape Ta and the top tape Tb. The carrier tape Ta and the top tape Tb can be made of, for example, resin and / or paper, but can also be made of any other material that can be appropriately bonded to each other (thermocompression bonded in this example).

[0021] The carrier tape Ta is transported along the transport path P by the transport device 20, and after being unwound from the carrier tape supply roller 15, it is guided by the guide roller R and sent sequentially to the position deviation acquisition position P1, the work supply position P2, and the joining position P3.

[0022] The top tape Tb is unwound from the top tape supply roller 16 and then fed to the splicing position P3 while being guided by the guide roller R. In this example, the top tape Tb is spliced ​​to the carrier tape Ta by the tape splicing device 27 at the splicing position P3, and then transported downstream together with the carrier tape Ta as the work sealing tape Tc. Therefore, the top tape Tb is unwound from the top tape supply roller 16 and transported toward the splicing position P3 by the transport force received from the carrier tape Ta while in the state of the work sealing tape Tc.

[0023] The workpiece sealing tape Tc is sent downstream by the conveying force of the conveying device 20 that sends the carrier tape Ta downstream, and is finally taken up by the tape recovery roller 17. The tape recovery roller 17 is actively rotated by a driving device (motor or the like) not shown, and actively takes up the workpiece sealing tape Tc sent from the tape splicing device 27.

[0024] 1 includes a parts feeder 31 and an index table 32. The parts feeder 31 receives a large number of works supplied manually or mechanically, and provides the supplied works to the index table 32 one by one.

[0025] The index table 32 transports the workpieces supplied from the part feeder 31 to the workpiece supply position P2. The workpieces transported one after another by the index table 32 to the workpiece supply position P2 are inserted into the storage section of the carrier tape Ta at the workpiece supply position P2 and stored therein. In the example shown in FIG. 1, the index table 32 rotates intermittently about a rotation center axis extending along the height direction (vertical direction), but this is not limited to this. For example, the rotation center axis of the index table 32 may extend along a direction inclined with respect to the height direction, or may extend along the horizontal direction.

[0026] The method for storing the workpieces in the storage section of the carrier tape Ta from the index table 32 is not limited, and any method can be used. For example, a loading device (not shown) may apply a force to the workpiece located at the workpiece supply position P2 in a contact or non-contact manner to move the workpiece into the storage section, or gravity may be used to move the workpiece located at the supply position P2 into the storage section.

[0027] 1 is provided at the work supply position P2, and feeds the carrier tape Ta downstream by contacting and applying force to a portion of the carrier tape Ta located at the work supply position P2. In this way, the conveying device 20 of this example can convey the carrier tape Ta so as to adjust the position of the carrier tape Ta at the work supply position P2 with high precision.

[0028] A deviation amount acquisition device 25 is provided upstream of the work supply position P2 (between the carrier tape supply roller 15 and the work supply device 30 (particularly the index table 32) in the example shown in FIG. 1). The deviation amount acquisition device 25 acquires the amount of positional deviation of each storage section of the carrier tape Ta on the transport path P. The "positional deviation amount" here refers to the amount of deviation from the desired position of the carrier tape Ta where the storage section is originally intended to be placed. The deviation amount of each storage section acquired by the deviation amount acquisition device 25 includes the amount of positional deviation in the transport direction Dt of the carrier tape Ta (hereinafter also referred to as the "tape transport direction").

[0029] FIG. 2 is a functional block diagram showing an example of the connection configuration of the control device 40, the deviation amount acquisition device 25, and the transport device 20 (particularly the transport motor 21).

[0030] The deviation amount acquisition device 25 shown in FIG. 2 transmits a deviation amount signal Sm indicating the positional deviation amount of each container to the control device 40.

[0031] The control device 40 performs a correction process to determine a transport correction amount for the carrier tape Ta relative to the transport reference amount, determines the tape transport amount based on the transport reference amount and the transport correction amount, and transmits a motor drive signal Sd corresponding to the determined tape transport amount to the transport motor 21 of the transport device 20. The transport motor 21 operates based on the motor drive signal Sd from the control device 40. As a result, the transport device 20 is driven so that the carrier tape Ta is transported by the tape transport amount corresponding to the motor drive signal Sd.

[0032] In the above-described correction process performed by the control device 40, the transport correction amount is determined based on the positional deviation amount of each storage unit indicated by the deviation amount signal Sm. The tape transport amount is determined for each storage unit, and a corresponding tape transport amount is assigned to each storage unit. When the transport device 20 positions each storage unit at the workpiece supply position P2, it transports the carrier tape Ta downstream by the corresponding tape transport amount, thereby making it possible to accurately position all storage units provided on the carrier tape Ta individually at the workpiece supply position P2.

[0033] In particular, the control device 40 of this embodiment sets the value of the corresponding transport correction amount to zero when the positional deviation amount of each storage section is within the allowable range, and sets the value of the corresponding transport correction amount to a value other than zero when the positional deviation amount of each storage section exceeds the allowable range.

[0034] The value (boundary value) defining the "tolerance" here is not limited, but is preferably determined based on the size (length) of each storage section and the size of the workpiece (particularly, the length of the workpiece in the tape feed direction Dt, based on the orientation of the workpiece when stored in the storage section) in the longitudinal extension direction of the carrier tape Ta (corresponding to the tape feed direction Dt). That is, the tolerance is preferably determined so that even if a workpiece to be inserted into a storage section is misaligned relative to the carrier tape Ta (particularly, the corresponding storage section into which it is to be inserted) in the tape feed direction Dt, the workpiece can be properly inserted into the corresponding storage section. Therefore, the absolute value of the boundary value of the "tolerance" here is preferably equal to or less than the difference between the "size of the workpiece" and the "size of the corresponding storage section" in the tape feed direction Dt, and is preferably smaller than this difference. For example, it may be smaller than 50% of this difference, and may be any value equal to or less than 10 μm. The "size of the workpiece" may also be the nominal size of the workpiece.

[0035] Fig. 3 is an enlarged plan view showing a schematic configuration of an example of the carrier tape Ta. Fig. 4 is a side view showing a schematic configuration of an example of the conveying device 20.

[0036] The carrier tape Ta may have a plurality of position reference portions, and such a plurality of position reference portions may be provided at equal intervals in the tape feed direction Dt (extension direction of the carrier tape Ta). In this case, the deviation amount acquisition device 25 can acquire the amount of positional deviation of each of the accommodating portions 52 by comparing the positions of such a plurality of position reference portions with the positions of the accommodating portions 52.

[0037] 3 has a plurality of transport holes 51 arranged in a straight line in the extension direction (corresponding to the tape transport direction Dt), and a plurality of accommodating sections 52 arranged in another straight line in the extension direction. The plurality of transport holes 51 and the plurality of accommodating sections 52 are basically provided on the carrier tape Ta so as to be arranged at equal intervals in the extension direction (tape transport direction Dt) of the carrier tape Ta. The interval (pitch) between the accommodating sections 52 in the extension direction (tape transport direction Dt) of the carrier tape Ta is not limited, but the plurality of accommodating sections 52 can be provided at a pitch of 1 mm, 2 mm, or 4 mm, for example.

[0038] In particular, each transport hole 51 is formed accurately at a desired position on the carrier tape Ta without any basic positional deviation (particularly without any positional deviation in the extending direction of the carrier tape Ta (tape transport direction Dt)). On the other hand, each accommodation section 52 may have a positional deviation in the extending direction of the carrier tape Ta (tape transport direction Dt) due to manufacturing errors or the like, and the relative position of each accommodation section 52 with respect to the associated transport hole 51 (in this example, the one or two transport holes 51 located nearest to it) may deviate from the desired relative position.

[0039] The transport device 20 shown in Fig. 4 has a transport motor 21 (only the rotating shaft of the transport motor 21 is shown in Fig. 4) and a transport body 22 rotated by the transport motor 21. When the protrusion of the transport body 22 protruding radially outward is inserted into one or more transport holes 51, the transport body 22 is rotated by the transport motor 21, and a transport force acts from the transport body 22 on the carrier tape Ta, transporting the carrier tape Ta in the tape transport direction Dt.

[0040] As described above, when the carrier tape Ta is transported by rotating the protrusion of the transport body 22 while it is inserted into the transport hole 51, the transport hole 51 moves in the tape transport direction Dt by an amount corresponding to the amount of rotation of the protrusion of the transport body 22, and as a result, the carrier tape Ta is transported in the tape transport direction Dt by the desired amount.

[0041] The deviation amount acquisition device 25 of this embodiment uses such a plurality of conveyance holes 51 as the above-mentioned plurality of position reference portions.

[0042] In the example shown in Figure 3, the multiple accommodating sections 52 of the carrier tape Ta include accommodating sections 52 that are arranged so that their positions in the carrier tape extension direction (tape conveying direction Dt) coincide with those of each conveying hole 51, and accommodating sections 52 that are arranged so that their positions in the carrier tape extension direction coincide with the center position between adjacent conveying holes 51.

[0043] A virtual line L1 (i.e., a first auxiliary line extending in a direction perpendicular to the carrier tape extension direction) passing through the center of a accommodating section 52 that is provided so that its position in the carrier tape extension direction coincides with that of a transport hole 51 and that of the carrier tape, when the accommodating section 52 is provided at a desired position on the carrier tape Ta, passes through the center of the corresponding transport hole 51. Furthermore, the first auxiliary line L1 that passes through the center of a accommodating section 52 that is provided so that its position in the carrier tape extension direction coincides with the center position between adjacent transport holes 51 and that extends in the tape width direction Dw passes through the center position between the corresponding adjacent transport holes 51 when the accommodating section 52 is disposed at a desired position.

[0044] Therefore, the amount of misalignment of a accommodating section 52 that is arranged so that the position of a transport hole 51 coincides with the position of the carrier tape in the extending direction can be obtained based on the difference (distance) in the position in the carrier tape extending direction (tape feeding direction Dt) between the center of the accommodating section 52 and the center of the corresponding transport hole 51. Similarly, the amount of misalignment of a accommodating section 52 that is arranged so that the position in the carrier tape extending direction coincides with the center position between adjacent transport holes 51 can be obtained based on the difference (distance) in the position in the carrier tape extending direction (tape feeding direction Dt) between the center of the accommodating section 52 and the center of one or both of the corresponding two adjacent transport holes 51. When determining the amount of misalignment of a accommodating section 52 in this manner, a first auxiliary line L1 that passes through the center of each transport hole 51 and / or each accommodating section 52 and extends in the tape width direction Dw, or a second auxiliary line L2 that passes through the centers of the multiple transport holes 51 and extends in the carrier tape extending direction (tape feeding direction Dt) may or may not be used.

[0045] In order to acquire the amount of misalignment of each of the storage sections 52 based on the above-described technique, the misalignment amount acquisition device 25 may include an imaging device (not shown) that captures an image of the carrier tape Ta at the misalignment acquisition position P1 and an image analysis device (not shown) that analyzes the image acquired by the imaging device. In this case, under the control of the control device 40, the imaging device of the misalignment amount acquisition device 25 acquires an image of each of the storage sections 52 so that each of the storage sections 52 is captured together with the corresponding one or more transport holes 51, and the image analysis device analyzes the image to acquire the amount of misalignment of each of the storage sections 52.

[0046] The imaging device of the deviation amount acquisition device 25 may simultaneously capture images of two or more storage sections 52 and one or more transport holes 51 corresponding to the two or more storage sections 52, so that the two or more storage sections 52 and the corresponding one or more transport holes 51 appear in a single captured image. In this case, the image analysis device can acquire the positional deviation amounts of the two or more storage sections 52 from such a single captured image.

[0047] [Example of determining tape feed amount] Next, an example of a method for determining the tape feed amount will be described.

[0048] In the example shown below, the transport motor 21 of the transport device 20 is composed of a stepping motor, and the amount of transport of the carrier tape Ta by the output power from the transport motor 21 is determined based on the number of pulses of the motor drive signal Sd input to the transport motor 21.

[0049] The circumferential movement amount (resolution) A [μm / pulse] of the conveying body 22 (conveying device 20) corresponding to one pulse of the motor drive signal Sd, the number of pulses (reference pulse number) B [pulses] of the motor drive signal Sd required to move the conveying body 22 circumferentially by the conveying reference amount, and the circumferential movement amount (conveying reference amount) C [μm] of the conveying body 22 when the motor drive signal Sd with the reference pulse number B is input to the conveying motor 21 are expressed by the following relationship.

[0050] A=C / B[μm / pulse]

[0051] The "conveying reference amount C" referred to here corresponds to the distance (pitch) in the carrier tape extension direction between adjacent accommodating sections 52, assuming that each accommodating section 52 is accurately positioned at the desired position in the carrier tape extension direction (tape conveying direction Dt) on the carrier tape Ta.

[0052] If the amount of positional deviation of the accommodating section 52 in the tape transport direction Dt is represented by "E", the quotient of "E / A" is represented by "q", and the remainder of "E / A" is represented by "r", the remainder r is expressed by the following relational expression.

[0053] r = |E-(A×q)|

[0054] The "positional deviation amount E [μm]" referred to here corresponds to the transport correction amount relative to the transport reference amount C of the carrier tape Ta, and is represented by a plus (+) when the accommodating section 52 is deviated in the direction of travel (to the right as indicated by the arrow Dt in Figure 3) relative to the desired position, and is represented by a minus (-) when it is deviated in the opposite direction of travel (to the left as indicated in Figure 3).

[0055] And the number of correction pulses D [pulses] corresponding to the amount of displacement E [μm] of the storage portion 52 (in the example shown in FIG. 3, a square hole pocket) is determined based on the following relational expression.

[0056] · When "(A / 2) <r (that is, A / 2 <| E - (A×q) |)" is satisfied: D = q + 1

[0057] · When "r ≤ (A / 2) (that is, | E - (A×q) | ≤ (A / 2))" is satisfied: D = q

[0058] The number of correction pulses D [pulses] mentioned here is expressed as an absolute value without the polarity of "plus" / "minus".

[0059] [[ID=!22]]Based on the "reference pulse number B corresponding to the conveyance reference amount C" and the "correction pulse number D corresponding to the conveyance correction amount (displacement amount E)" obtained as described above, the control device 40 determines the "drive pulse number F of the motor drive signal Sd corresponding to the tape conveyance amount". In particular, the control device 40 of this example further determines the drive pulse number F by performing correction processing in consideration of the "differential cumulative pulse number G of the drive pulse number F with respect to the reference pulse number B". The "differential cumulative pulse number G" mentioned here corresponds to the displacement amount E of the preceding storage portion 52 (hereinafter also referred to as "preceding storage portion 52") positioned at the work supply position P2 immediately before the target storage portion 52 (hereinafter also referred to as "target storage portion 52").

[0060] That is, the tape conveyance amount (drive pulse number F) is derived by performing correction based on the conveyance correction amount (correction pulse number D) for canceling the displacement amount E of the target storage portion 52 in addition to the correction based on the cumulative correction amount (differential cumulative pulse number G) for canceling the displacement amount E of the preceding storage portion 52 with respect to the conveyance reference amount C (reference pulse number B).

[0061] More specifically, the method for calculating the number of drive pulses F is classified as follows based on the conveyance correction amount (position deviation amount E) and the differential cumulative pulse number G. The differential cumulative pulse number G is represented as positive (+) when the preceding accommodation unit 52 is displaced toward the advancing direction side (the right side indicated by the arrow Dt in FIG. 3) with respect to the desired position, and is represented as negative (-) when it is displaced toward the reverse advancing direction side (the left side in FIG. 3).

[0062] · When satisfying "E < 0" and "G < 0": F = B + D + |G|

[0063] · When satisfying "E < 0" and "G = 0": F = B + D

[0064] · When satisfying "E < 0" and "0 < G": F = B + D - |G|

[0065] · When satisfying "0 < E" and "0 < G": F = B - D - |G|

[0066] · When satisfying "0 < E" and "G = 0": F = B - D

[0067] · When satisfying "0 < E" and "G < 0":<000024​​​​​​​​​​​​​​​​​​​​​​As described above, in this embodiment, when the amount of displacement E of each storage unit 52 is within the allowable range, the conveyance correction amount (correction pulse number D) is zero (0), and when the amount of displacement E of each storage unit 52 exceeds the allowable range, the conveyance correction amount (correction pulse number D) is other than zero (0). Therefore, based on such an allowable range, the above formula for calculating the drive pulse number F is transformed as follows.

[0072] In the following formula, the plus-side boundary value of the allowable range is represented by "H1", and the minus-side boundary value of the allowable range is represented by "H2". The plus-side boundary value H1 is a value that determines the allowable range when the target storage unit 52 is displaced to the forward direction side (the right side shown by the arrow Dt in FIG. 3), and has a plus polarity. On the other hand, the minus-side boundary value H2 is a value that determines the allowable range when the target storage unit 52 is displaced to the reverse direction side (the left side in FIG. 3), and has a minus polarity.

[0073] · When "H2 ≤ E ≤ H1" and "G < 0" are satisfied: F = B + |G|

[0074] · When "H2 ≤ E ≤ H1" and "G = 0" are satisfied: F = B <s

[0075] · When "H2 ≤ E ≤ H1" and "0 < G" are satisfied: F = B - |G|

[0076] · When "E < H2" and "G < 0" are satisfied: F = B + D + |G|

[0077] <0000°280>· When "E < H2" and "G = 0" are satisfied: F = B + D

[0078] · When "E < H2" and "0 < G" are satisfied: F = B + D - |G|

[0079] · When "H1 < E" and "0 < G" are satisfied: F = B - D - |G|

[0080] · When the conditions "H1 < E" and "G = 0" are satisfied: F = B - D

[0081] · When the conditions "H1 < E" and "G < 0" are satisfied: F = B - D + |G|

[0082] After determining the number of drive pulses F as described above, the control device 40 may determine the pulses of the motor drive signal Sd based on the correction pulse number D so that the conveyance motor 21 is driven at a pulse rate corresponding to the number of drive pulses F based on the reference pulse number B and the correction pulse number D. The pulse rate mentioned here represents the speed of the conveyance motor (stepping motor) 21, is expressed as the number of pulses per unit time, and is generally often expressed in the unit of pps (pulse per second).

[0083] Generally, the rotor of a stepping motor operates by the attractive force and repulsive force generated by sequentially switching the excitation of the part that functions as the electromagnet of the stator. The rotor that operates in this way may be stopped at a stable point while undergoing damped vibration (damping), but may also be stopped between stable points in some cases such as when microstepping is used. When stopping the rotor at a position between stable points (that is, a position other than the stable point) in this way, the damping tends to increase under the influence of inertia and the like. Therefore, from the perspective of suppressing damping, it is preferable that the rotor stops at a stable point. The "stable point" mentioned here is a position determined based on the torque due to the magnetic force acting between the stator and the rotor. For example, the rotor can stop at a stable point when no external force acts.

[0084] On the other hand, the stop position of the rotor is also affected by the pulse rate.

[0085] Therefore, when the control device 40 applies to the conveying motor 21 a motor drive signal Sd having the number of drive pulses F determined as described above for each storage section 52, it is advantageous to select a pulse rate that allows the rotor to stop at a stable point and determine the pulses of the motor drive signal Sd based on that pulse rate in order to suppress damping.

[0086] Specifically, the number of drive pulses F of the motor drive signal Sd in this embodiment is determined based on the reference number of pulses B and the correction number of pulses D, and therefore the pulse rate that is optimal for damping suppression for such number of drive pulses F is a pulse rate selected based on the reference number of pulses B and the correction number of pulses D. Therefore, the pulses of the motor drive signal Sd that correspond to such an optimal pulse rate can be determined based on the correction number of pulses D.

[0087] In the above example, the number of drive pulses F is determined based not only on the number of correction pulses D but also on the differential cumulative number of pulses G. In this case, the number of pulses of the motor drive signal Sd may be determined based on the number of correction pulses D and the differential cumulative number of pulses G so that the carry motor 21 is driven at a pulse rate according to the reference number of pulses B, the number of correction pulses D, and the differential cumulative number of pulses G.

[0088] [Tape feeding method] Fig. 5 is a flowchart showing an example of a tape feeding method for feeding the carrier tape Ta by the taping machine 10 (particularly the carrier tape feeding device).Fig. 6 is a flowchart showing an example of a correction processing method.

[0089] According to the tape feeding method shown in FIG. 5, the positional deviation amount of each of the receiving portions 52 of the carrier tape Ta is obtained by the deviation amount obtaining device 25 (S1 in FIG. 5).

[0090] Then, the control device 40 performs a correction process to determine the tape feed amount for each storage section 52 (S2). In the example of the correction process method shown in FIG. 6, the control device 40 determines whether the positional deviation amount in the tape feed direction Dt for each storage section 52 is within the allowable range (S11 in FIG. 6). If the positional deviation amount of a storage section 52 is within the allowable range (Y in S11), the control device 40 sets the value of the feed correction amount for that storage section 52 to "0 (zero)" (S12). On the other hand, if the positional deviation amount of a storage section 52 exceeds the allowable range (N in S11), the control device 40 determines the value of the feed correction amount for that storage section 52 to a value other than "0" depending on the positional deviation amount (S13). Then, the control device 40 determines the tape feed amount for each storage section 52 based on the feed reference amount and the feed correction amount as described above (S14).

[0091] The conveying device 20 then conveys the carrier tape Ta in the tape conveying direction Dt by the tape conveying amount allocated to each storage section 52 (S3), thereby enabling each storage section 52 to be accurately positioned at the work supply position P2. As a result, works can be inserted accurately from the work supply device 30 (particularly the index table 32) into each storage section 52 at the work supply position P2.

[0092] As described above, according to the taping machine 10 and carrier tape feeding device of this embodiment, a correction process is performed based on the amount of positional deviation of each storage section 52 to determine the tape transport amount, so that each storage section 52 can be accurately positioned at the work supply position P2.

[0093] In particular, when determining the transport correction amount, the amount of positional deviation of each storage section 52 is checked against the allowable range to evaluate whether or not to set the transport correction amount to "0 (zero)." By providing a dead zone where the transport correction amount is "0 (zero)" in this way, an improvement in processing speed can be expected.

[0094] As described above, according to this embodiment, it is possible to achieve a good balance between highly accurate positioning of each of the accommodation sections 52 at the workpiece supply position P2 and simplification of the transport adjustment process of the carrier tape Ta.

[0095] [Variations] In the above-described embodiment, the single misalignment amount acquisition device 25 includes an imaging device and an image analysis device, but the imaging device and the image analysis device may be provided as separate devices. For example, the misalignment amount acquisition device 25 may include an imaging device but not an image analysis device, and the control device 40 or another device may include the image analysis device. In this case, the control device 40 or another device analyzes the captured image sent from the misalignment amount acquisition device 25, and therefore essentially functions as "the misalignment amount acquisition device 25 that acquires the positional misalignment amount of each storage section 52."

[0096] It should be noted that the embodiments and modifications disclosed in this specification are merely illustrative in all respects and should not be construed as limiting. The above-described embodiments and modifications may be omitted, substituted, and modified in various ways without departing from the scope and spirit of the appended claims. For example, the above-described embodiments and modifications may be combined in whole or in part, and embodiments other than those described above may be combined with the above-described embodiments or modifications. Furthermore, the effects of the present disclosure described in this specification are merely illustrative, and other effects may be obtained.

[0097] The technical category that embodies the above technical idea is not limited. For example, the above technical idea may be embodied by a computer program that causes a computer to execute one or more procedures (steps) included in a method of manufacturing or using the above device. The above technical idea may also be embodied by a computer-readable non-transitory recording medium on which such a computer program is recorded. [Explanation of symbols]

[0098] 10 Taping machine, 15 Carrier tape supply roller, 16 Top tape supply roller, 17 Tape recovery roller, 20 Transport device, 21 Transport motor, 22 Transport body, 25 Misalignment amount acquisition device, 27 Tape splicing device, 30 Work supply device, 31 Parts feeder, 32 Index table, 40 Control device, 51 Transport hole, 52 Storage section, B Reference pulse number, C Transport reference amount, D Correction pulse number, Dt Tape transport direction, Dw Tape width direction, L1 First auxiliary line, L2 Second auxiliary line, P Transport path, P1 Position misalignment acquisition position, P2 Work supply position, P3 Splicing position, R Guide roller, Sm Misalignment amount signal, Sd Motor drive signal, Ta Carrier tape, Tb Top tape, Tc Work sealing tape

Claims

1. A tape feeding device that feeds a carrier tape having a plurality of workpiece storage sections, a control device that performs a correction process to determine a transport correction amount for a carrier tape transport reference amount, and determines a tape transport amount based on the transport reference amount and the transport correction amount; a conveying device that conveys the carrier tape along a conveying path based on the tape conveyance amount; a displacement amount acquisition device that acquires a positional displacement amount of each storage unit on the conveying path, In the correction process, the transport correction amount is determined based on the positional deviation amount of each storage unit, If the positional deviation amount is within the allowable range, the value of the transport correction amount is zero. When the positional deviation amount exceeds the allowable range, the value of the transport correction amount is a value other than zero. Tape feeder.

2. the carrier tape has a plurality of position reference portions provided at equal intervals; the deviation amount acquisition device acquires the positional deviation amount of each of the storage units by comparing the positions of the plurality of position reference units with the positions of the plurality of storage units.

2. The tape feeding device according to claim 1.

3. the carrier tape has a plurality of conveying holes; the conveying device has a conveying body, and conveys the carrier tape by applying a conveying force from the conveying body to the carrier tape while the conveying body is inserted into one or more conveying holes; the deviation amount acquisition device uses the plurality of conveyance holes as the plurality of position reference portions; 3. The tape feeding device according to claim 2.

4. the transport device has a transport motor that operates based on a drive signal input under the control of the control device; a transport amount of the carrier tape by the power output from the transport motor is determined based on the number of pulses of the drive signal; the control device determines the number of pulses of the drive signal based on a reference pulse number corresponding to the transport reference amount and a correction pulse number corresponding to the transport correction amount.

2. The tape feeding device according to claim 1.

5. the control device determines the pulses of the drive signal based on the correction pulse number so that the carry motor operates at a pulse rate according to the reference pulse number and the correction pulse number.

5. The tape feeding device according to claim 4.

6. a tape feeding device according to any one of claims 1 to 5, which feeds a carrier tape having a plurality of workpiece storage sections; a tape splicing device that splices a top tape onto the carrier tape so as to cover the plurality of storage sections; A taping machine comprising:

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