Work equipment

Abstract

The working device (50) is a working device having a robot hand (60) that holds a reel (5) around which a carrier tape (4) is wound. The robot hand (60) includes a reel holding section (70) that holds the reel (5), a tape holding section (80) that holds the carrier tape (4) pulled out from the reel (5) held by the reel holding section (70), and a tape feeding section (90) that feeds out the carrier tape (4) held by the tape holding section (80).

Description

Technical Field

[0006] , , ,

[0001] The present invention relates to a working device.

Background Art

[0002] Patent Document 1 discloses a tape feeder that holds a reel around which a carrier tape for holding electronic components is wound, pulls out the carrier tape, and feeds it to a substrate working machine. In a factory floor for manufacturing a mounting substrate using such a tape feeder, there are many operations for handling the carrier tape, such as an operation of conveying the carrier tape to a mounting line and an operation of supplying the carrier tape to the tape feeder.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In recent years, there has been an increasing need to automate operations for handling carrier tapes on a factory floor for the purpose of improving productivity and reducing labor.

[0005] Therefore, an object of the present invention is to provide a working device capable of efficiently performing operations for handling a carrier tape wound in a reel shape.

Means for Solving the Problems

[0006] (1) A working device according to one aspect of the present invention is a working device having a robot hand that holds a reel around which a carrier tape is wound, wherein the robot hand comprises a reel holding unit that holds the reel, a tape holding unit that holds the carrier tape pulled out from the reel held by the reel holding unit, and a tape feeding unit that feeds out the carrier tape held by the tape holding unit.

[0007] According to the work apparatus described in (1), the carrier tape is fed out by the tape feeding unit from the reel held by the reel holding unit while the carrier tape is held by the tape holding unit. In this way, the carrier tape can be efficiently fed out from the reel held by the reel holding unit through the cooperation of the tape holding unit and the tape feeding unit. Therefore, it is possible to efficiently handle carrier tape wound on a reel.

[0008] (2) In the work apparatus described in (1) above, the reel holding part holds the reel such that the pull-out position from which the carrier tape is pulled out is located on the upper side of the reel, and the tape feeding part may include a sprocket having a pin that engages with the feed hole of the carrier tape from above the carrier tape, and a sprocket driving part that rotates the sprocket to feed out the carrier tape.

[0009] According to the working apparatus described in (2), the reel holding part holds the reel so that the pull-out position is located on the upper side of the reel, so that the carrier tape can be pulled out from the reel at a small inclination with respect to the horizontal plane. When the sprocket rotates with the sprocket pin engaged with the feed hole of the carrier tape in this position, the carrier tape can be fed out smoothly.

[0010] (3) In the work apparatus described in (2) above, the robot hand may include a base portion and a displacement member that is displaceable relative to the base portion, and the sprocket drive unit may convert the displacement of the displacement member relative to the base portion into rotational motion to rotate the sprocket.

[0011] According to the working device described in (3), the displacement of the displacement member relative to the base is converted into rotational motion, causing the sprocket to rotate. Therefore, the sprocket can be rotated in conjunction with the displacement of the displacement member. This makes it possible to rotate the sprocket by displacing the displacement member, even without directly rotating the sprocket.

[0012] (4) In the work apparatus described in (2) above, the sprocket drive unit may be equipped with a one-way clutch that allows the sprocket to rotate in the direction of feeding the carrier tape and restricts rotation in the opposite direction.

[0013] According to the working device described in (4), the one-way clutch allows the sprocket to rotate in the direction that feeds the carrier tape and restricts rotation in the opposite direction, thereby preventing the sprocket from pulling the carrier tape back. Therefore, the carrier tape can be fed out stably.

[0014] (5) In the work apparatus described in (3) or (4) above, the displacement member may be displaced by an external force.

[0015] According to the work device described in (5), since the displacement member is displaced by an external force, a drive source for displacing the displacement member is not required, and the overall size of the device can be suppressed.

[0016] (6) In the work device described in any one of (3) to (5) above, the sprocket drive unit may amplify the amount of displacement of the displacement member to rotate the sprocket.

[0017] According to the work device described in (6), the sprocket drive unit amplifies the displacement of the displacement member and rotates the sprocket, so that the sprocket can be rotated by a predetermined amount even if the displacement of the displacement member is small.

[0018] (7) In the work apparatus described in any one of (2) to (6) above, the robot hand may be provided with a reset unit that returns the position of the pin of the sprocket to a position in which it can be inserted into the feed hole of the carrier tape before the tape holding unit holds the carrier tape.

[0019] According to the work apparatus described in (7), before the tape holding section holds the carrier tape, the reset section returns the position of the sprocket pin to a position where it can be inserted into the feed hole of the carrier tape, so that the position of the pin and the position of the feed hole can be aligned. Therefore, when the tape holding section holds the carrier tape, the pin can be inserted into the feed hole more reliably.

[0020] (8) In the work apparatus described in any one of (2) to (7) above, the tape holding unit may include a pair of tape guide members that guide the carrier tape in a position that sandwiches the carrier tape in the width direction, and an opening / closing drive unit that opens and closes the pair of tape guide members, wherein each of the pair of tape guide members is provided with a tape receiving portion that supports the carrier tape from below.

[0021] According to the work apparatus described in (8), the carrier tape can be released by opening the pair of tape guide members with the opening / closing drive unit. When the pair of tape guide members are closed, they support and guide the carrier tape at the tape receiving portion, so it is not necessary to provide separate members for guiding the carrier tape and members for supporting it. Therefore, the overall size of the apparatus can be kept down.

[0022] (9) In the working device according to (8) above, each of the tape receiving portions of the pair of tape guide members may support the carrier tape in a state where a part of the lower portion of the carrier tape is exposed.

[0023] According to the working device described in (9), since each of the tape receiving portions of the pair of tape guide members supports the carrier tape in a state where a part of the lower portion of the carrier tape is exposed, the holding of the carrier tape can be smoothly released without increasing the opening and closing amount (opening and closing stroke) of the pair of tape guide members.

Effect of the Invention

[0024] According to the working device according to the present invention, the work of handling the reel and the carrier tape stored in the reel can be efficiently performed.

Brief Description of the Drawings

[0025] [Figure 1] FIG. 1 is an explanatory diagram showing a schematic configuration of a component mounting facility according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram showing a schematic configuration of a feeder according to an embodiment. [Figure 3] FIG. 3 is a schematic diagram showing a schematic configuration of a hand portion according to an embodiment. [Figure 4] FIG. 4 is a schematic diagram showing a tape holding portion and a tape feeding portion according to an embodiment. [Figure 5] FIG. 5 is a cross-sectional view taken along a cutting plane including a V-V cutting line in FIG. 4. [Figure 6] FIG. 6 is a cross-sectional view taken along a cutting plane including a VI-VI cutting line in FIG. 4. [Figure 7] FIG. 7 is an explanatory diagram for explaining the operation of a tape feeding portion according to an embodiment. [Figure 8] FIG. 8 is an explanatory diagram showing the positional relationship between an opening and closing drive portion and a tape guide member according to an embodiment. [Figure 9]Figure 9 is an explanatory diagram showing the state in which the carrier tape is released from being held in the tape holding unit according to the embodiment. [Figure 10] Figure 10 is an explanatory diagram showing the configuration and operation of the reset unit according to the embodiment. [Figure 11] Figure 11 is a top view showing a reel rack according to an embodiment. [Figure 12] Figure 12 is a schematic diagram showing the cross-section including the XII-XII line in Figure 11. [Figure 13] Figure 13 is a cross-sectional view of the cross-section including the XIII-XIII cutting line in Figure 12. [Figure 14] Figure 14 is an explanatory diagram showing the support plate, clamp portion, and identification portion according to the embodiment. [Figure 15] Figure 15 is an explanatory diagram showing the positional relationship between the first receiving portion, the second receiving portion, and the third receiving portion of the tape guide member according to the embodiment, and the through holes of the support plate. [Figure 16] Figure 16 is an explanatory diagram showing the state in which the leading edge of the carrier tape is supported on the support plate according to the embodiment. [Figure 17] Figure 17 is an explanatory diagram showing the state in which the hand portion according to the embodiment holds the leading edge of the reel and carrier tape housed in the reel rack. [Figure 18] Figure 18 is a block diagram showing the control configuration of a component mounting equipment according to an embodiment. [Figure 19] Figure 19 is an explanatory diagram showing the operation when the reel and carrier tape are held by the work device of the work system according to the embodiment. [Figure 20] Figure 20 is an explanatory diagram showing the operation when the leading edge of the carrier tape is inserted into the feeder by the work device of the work system according to the embodiment. [Modes for carrying out the invention]

[0026] Hereinafter, a parts mounting facility 10 equipped with a work system, etc., according to embodiments and modified versions thereof of the present invention will be described with reference to the drawings. Note that the embodiments and modified versions thereof described below are all general or specific examples. The numerical values, shapes, materials, components, arrangement positions of components, and connection configurations shown in the following embodiments and modified versions thereof are examples and are not intended to limit the present invention. In addition, each figure is a schematic diagram, and dimensions, etc., are not necessarily shown precisely. Furthermore, in each figure, the same or similar components are denoted by the same reference numeral. In the following description, the X-axis direction is the width direction of each device (parts mounting device 20 and work device 50) provided in the parts mounting facility 10, the Y-axis direction is the direction in which each device is arranged, and the Z-axis direction is the height direction (vertical direction) of each device. In the following description, the X-axis direction may also be referred to as the horizontal direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction.

[0027] Furthermore, expressions indicating relative directions or orientations, such as parallel and orthogonal, include cases where the direction or orientation is not strictly accurate. For example, two directions being parallel does not only mean that the two directions are perfectly parallel, but also that they are substantially parallel, meaning that there may be a difference of, for example, a few percent. Moreover, simply saying "in the X-axis direction" means either the bidirectional or unidirectional direction parallel to the X-axis. The same applies to terminology related to the Y-axis and Z-axis.

[0028] (Embodiment) Figure 1 is an explanatory diagram showing the schematic configuration of a component mounting equipment 10 according to an embodiment. As shown in Figure 1, the component mounting equipment 10 according to the embodiment comprises a component mounting device 20 and a work system 30.

[0029] The component mounting device 20 is a device that mounts components 3 (see Figure 16, etc.) supplied by a component supply unit 22 on a trolley 21 onto a circuit board 2. Specifically, the component mounting device 20 comprises a component mounting device body 23 and a trolley 21. The component mounting device body 23 includes a head 24 that takes components 3 from the component supply unit 22 on the trolley 21 and transfers and mounts them onto the circuit board 2, and a circuit board transport unit 25 that transports the circuit board 2 with the components 3 mounted by the head 24 to a subsequent device (not shown).

[0030] The trolley 21 is a trolley positioned and connected to the main body of the parts mounting device 23 in the negative Y-axis direction. The trolley 21 includes a parts supply unit 22 that supplies parts 3 by pulling in a carrier tape 4 that stores parts 3, and a plurality of reel housing sections 26 that detachably house two reels 5 on which the carrier tape 4 is wound. The carrier tape 4 has a plurality of housing recesses 42 for housing parts 3, which are intermittently formed in the longitudinal direction of the carrier tape 4, and a cover tape 45 is attached to the carrier tape 4 so as to cover each housing recess 42 (see Figure 16, etc.). In addition, the carrier tape 4 has a plurality of feed holes 41 formed in the longitudinal direction of the carrier tape 4.

[0031] Multiple reel housing sections 26 are arranged in the X-axis direction. Each reel housing section 26 comprises a first housing section 261 for housing one reel 5 and a second housing section 262 for housing the other reel 5, and these are arranged in the Y-axis direction.

[0032] The parts supply unit 22 has a plurality of feeders 221 (parts supply devices) arranged in the X-axis direction so as to be paired with each reel housing section 26. Each feeder 221 pulls out a carrier tape 4 from a reel 5 housed in at least one of the first housing section 261 and the second housing section 262, and transports the parts 3 stored on the carrier tape 4 to the position where they can be picked up by the head 24.

[0033] Figure 2 is a schematic diagram showing the general configuration of a feeder 221 according to an embodiment. As shown in Figure 2, a tape path 222, which is the path for the carrier tape 4, is formed inside the feeder 221 along the Y-axis direction. The upstream end (end in the negative Y-axis direction) of the tape path 222 is the insertion port for the carrier tape 4, and the downstream end (end in the positive Y-axis direction) is the discharge port for the carrier tape 4. Multiple sprockets 223 that engage with the carrier tape 4 and provide propulsion are arranged on the upstream and downstream sides of the tape path 222.

[0034] Downstream of the tape path 222, the carrier tape 4 is exposed facing upward, and at this exposed portion, the component 3 of the carrier tape 4 is picked up by the head 24. In other words, the exposed portion is the aforementioned pick-up position. Although not shown in the diagram, upstream of the pick-up position in the feeder 221, a peeling mechanism is provided to peel the cover tape 45 from the carrier tape 4 and expose the component 3.

[0035] Furthermore, a target mark 225 is provided at the Y-axis negative end of the feeder 221. The insertion opening of the tape path 222 is provided with a positioning section 226 for positioning the hand section 62 of the work device 50 provided in the work system 30, a guide plate 227 for guiding the carrier tape 4, and a tape sensor 228 for detecting the carrier tape 4. The positioning section 226 is located at the Y-axis negative end of the feeder 221 and has a surface shape that allows for positioning of the tip of the hand section 62 (contact section 924, which will be described later).

[0036] [Work System] As shown in Figure 1, the work system 30 comprises a base 31, a reel rack 40, and a work device 50. The base 31 is an autonomous mobile transport robot that travels on the floor surface while supporting the reel rack 40 and the work device 50. In this embodiment, the work system 30 is a work robot in which the work device 50 and the base 31 (transport robot) are integrated. The base 31 carries and transports the reel rack 40. The reel rack 40 is a rack that stores multiple reels 5 arranged in the X-axis direction. The work device 50 comprises a robot hand 60 that holds one of the multiple reels 5 stored in the reel rack 40. The robot hand 60 comprises an arm portion 61 connected to the base 31 and a hand portion 62 attached to the tip of the arm portion 61.

[0037] Figure 3 is a schematic diagram showing the general configuration of the hand unit 62 according to the embodiment. In Figure 3, the hand unit 62 is shown holding the reel 5. As shown in Figure 3, the hand unit 62 includes a mounting part 63, a first camera 64, a second camera 65, a reel holding part 70, a tape holding part 80, and a tape feeding part 90. In Figure 3, the tape holding part 80 is shown with a dashed line.

[0038] The mounting section 63 is attached to the tip of the arm section 61 and supports the first camera 64, the second camera 65, the reel holding section 70, the tape holding section 80, and the tape feeding section 90.

[0039] The first camera 64 is a camera that recognizes the position of the feeder 221 by photographing the target mark 225 of the feeder 221.

[0040] The second camera 65 is a camera that recognizes the position of the leading edge of the carrier tape 4 of the reel 5 stored in the reel rack 40 by photographing the leading edge of the tape.

[0041] The reel holding section 70 is the part that holds the reel 5. The reel holding section 70 comprises a pair of reel arms 71 aligned in the X-axis direction and an opening / closing section 72 that opens and closes the pair of reel arms 71. The opening / closing section 72 is fixed to the mounting section 63, and each reel arm 71 extends from this opening / closing section 72 in the negative Y-axis direction and the negative Z-axis direction. At the tip of each reel arm 71, an engaging projection 711 protrudes inward in the X-axis direction for engaging with a central hole that penetrates the winding core of the reel 5. When each reel arm 71 is closed by the opening / closing section 72, the engaging projection 711 of each reel arm 71 engages with the central hole of the reel 5, and the reel 5 is held. On the other hand, when each reel arm 71 is opened by the opening / closing section 72, the engaging projection 711 of each reel arm 71 disengages from the central hole of the reel 5, releasing the hold on the reel 5.

[0042] Next, the tape holding section 80 and the tape feeding section 90 will be described. The tape holding section 80 is the part that holds the carrier tape 4 that has been pulled out from the reel 5 held in the reel holding section 70. The tape feeding section 90 is the part that feeds out the carrier tape 4 held in the tape holding section 80.

[0043] Figure 4 is a schematic diagram showing the tape holding section 80 and tape feeding section 90 according to an embodiment. Figure 5 is a cross-sectional view of the cross-section including the VV cutting line in Figure 4. Figure 6 is a cross-sectional view of the cross-section including the VI-VI cutting line in Figure 4.

[0044] As shown in Figure 4, the tape feeding unit 90 comprises a base unit 91, a displacement member 92, and a gear group 93. In Figure 4, the displacement member 92 is shown by a dashed line, and the carrier tape 4 is shown by a dashed line.

[0045] The base portion 91 is fixed to the mounting portion 63 and is a J-shaped frame with the positive Y-axis direction open. Specifically, the base portion 91 includes a flange portion 911 extending in the Y-axis direction, a base portion 912 positioned below the flange portion 911 and extending in the Y-axis direction with a shorter length than the flange portion 911, and a column portion 913 connecting the ends of the flange portion 911 and the base portion 912 in the negative Y-axis direction.

[0046] The flange portion 911 is provided with two sliders 914 arranged in the Y-axis direction to guide the displacement member 92 in the Y-axis direction. The base portion 912 is provided with a first mounting portion 915 to which one end of an elastic member 94, such as a spring or rubber, is attached. A rack gear 95 protrudes from the tip of the base portion 912 in the Y-axis positive direction.

[0047] The displacement member 92 is a plate-shaped portion that is slidably held relative to the base portion 91. The displacement member 92 is displaced relative to the base portion 91 by sliding. The lower end of the displacement member 92 in the negative Y-axis direction is notched in a concave shape. Inside this notch 921, a second mounting portion 922 is provided to which the other end of the elastic member 94 is attached.

[0048] A guide rail 923 is fixed to the upper part of the displacement member 92, facing the notch 921, and engages with two sliders 914. The guide rail 923 is held slidably in the Y-axis direction by the two sliders 914. In the displacement member 92, the portion in the Y-axis positive direction from the middle section has an inclined surface that moves in the Z-axis positive direction as the lower end moves in the Y-axis positive direction. In addition, a contact portion 924 is provided at the Y-axis positive tip of the displacement member 92, which is pressed against the positioning portion 226 of the feeder 221. The contact portion 924 is notched in a V-shape when viewed in the X-axis direction, and the displacement member 92 and the positioning portion 226 are positioned by pressing the contact portion 924 against the positioning portion 226.

[0049] The gear group 93 comprises a first gear 931, a second gear 932, and a third gear 933, which are arranged in this order from the negative Y-axis direction to the positive Y-axis direction. The first gear 931, the second gear 932, and the third gear 933 are rotatably held with respect to the displacement member 92.

[0050] As shown in Figures 4 and 6, the first gear 931 comprises a pinion gear 931a and a transmission gear 931b arranged coaxially. The transmission gear 931b is coupled to the X-axis positive end of a shaft 931d that penetrates the displacement member 92 in the X-axis direction. The shaft 931d is rotatably mounted on the displacement member 92 by a bearing 931e. The pinion gear 931a meshes with the rack gear 95. The transmission gear 931b meshes with the second gear 932. As shown in Figure 6, the pinion gear 931a is provided with a one-way clutch 931c located at the X-axis negative end of the shaft 931d. The one-way clutch 931c transmits the forward rotation (counterclockwise rotation in Figure 4) of the pinion gear 931a to the shaft 931d, but does not transmit the rotation in the reverse direction. In other words, the forward rotation of the pinion gear 931a is transmitted to the transmission gear 931b on the shaft 931d, but rotation in the opposite direction is not transmitted. To put it another way, the one-way clutch 931c allows forward rotation at the transmission gear 931b and restricts rotation in the opposite direction.

[0051] The third gear 933 comprises a final gear 933a, a sprocket 933b, and a ratchet gear 933c, all arranged coaxially. The final gear 933a meshes with the second gear 932. As a result, the rotation of the second gear 932 is transmitted to the final gear 933a, causing the sprocket 933b and ratchet gear 933c to rotate as well. In this way, the gear group 93 converts the displacement of the displacement member 92 relative to the base portion 91 into rotational motion, thereby rotating the sprocket 933b. In other words, the gear group 93 is an example of a sprocket drive unit according to this disclosure.

[0052] The pin 934b of the sprocket 933b engages with at least one feed hole 41 provided in the carrier tape 4. When the sprocket 933b rotates in this state, the pin 934b imparts a thrust to the carrier tape 4 in the positive Y-axis direction, thereby feeding out the carrier tape 4. Here, the gear ratios of the first gear 931, the second gear 932, and the third gear 933 are such that the linear motion of the rack gear 95, that is, the displacement of the displacement member 92, is amplified and transmitted to the sprocket 933b. As a result, the sprocket 933b can be rotated by a predetermined amount even if the displacement of the displacement member is small.

[0053] Figure 7 is an explanatory diagram illustrating the operation of the tape feeding unit 90 according to the embodiment. Figure 7 corresponds to Figure 4. As shown in Figure 7, the robot hand 60 moves the tape feeding unit 90 toward the positioning unit 226 of the feeder 221, making contact with the contact unit 924, and then moves it further in the positive Y-axis direction (arrow Y1). The displacement member 92 stops moving in the positive Y-axis direction when it is pressed against the positioning unit 226, so only the base unit 91 moves in the positive Y-axis direction. That is, the displacement member 92 slides in the negative Y-axis direction relative to the base unit 91 (arrow Y2). As a result, the rack gear 95 moves in the positive Y-axis direction relative to the pinion gear 931a (arrow Y3). The pinion gear 931a rotates forward in conjunction with this movement (arrow Y4). In this case, the one-way clutch 931c transmits the forward rotation of the pinion gear 931a to the shaft 931d, so the transmission gear 931b mounted on the shaft 931d also rotates forward (arrow Y4), causing the second gear 932 and the third gear 933 to rotate (arrows Y5, Y6). As a result, the sprocket 933b also rotates, and the carrier tape 4 engaged with the pin 934b of the sprocket 933b is fed towards the feeder 221 (arrow Y7).

[0054] Subsequently, when the robot hand 60 is retracted, the displacement member 92 remains pressed against the positioning part 226 by the elastic member 94, while the base part 91 moves in the negative Y-axis direction. As a result, the rack gear 95 moves in the negative Y-axis direction relative to the pinion gear 931a (see Figure 4). At this time, the pinion gear 931a reverses direction in conjunction with this movement, but the one-way clutch 931c prevents the transmission gear 931b from rotating. Therefore, the sprocket 933b also does not rotate, maintaining the position of the carrier tape 4 inserted into the feeder 221. In this way, by providing the one-way clutch 931c in the gear group 93, the reverse rotation of the pinion gear 931a is not transmitted to the sprocket 933b, preventing the sprocket 933b from rotating in the reverse direction and pulling back the carrier tape 4 inserted into the feeder 221.

[0055] As shown in Figures 4 and 5, the tape holding unit 80 comprises a pair of tape guide members 81, an opening / closing drive unit 82, and a reset unit 83. The pair of tape guide members 81 are plate-shaped bodies positioned corresponding to the third gear 933, and are arranged to sandwich the tape feeding unit 90 in the X-axis direction. At the upper end of each tape guide member 81, there is a pivot portion 811 that is rotatably supported on the upper end of the displacement member 92. Directly below the pivot portion 811 of each tape guide member 81, there is a protruding piece 812 that protrudes inward. The tip surface of each protruding piece 812 is an inclined surface 813 where the spacing narrows as it goes downward. A spring 814 is attached to each protruding piece 812 that biases each protruding piece 812 toward each other.

[0056] The lower end of each tape guide member 81 is bent inward to form a tape receiving portion 815. This tape receiving portion 815 supports the carrier tape 4 from below. The tape receiving portion 815 of each tape guide member 81 supports the carrier tape 4 with a portion of the lower part of the carrier tape 4, specifically the central part in the X-axis direction (width direction of the carrier tape 4), exposed. The carrier tape 4, which is propelled by the sprocket 933b, is fed out while being guided by the upper surface of each tape receiving portion 815.

[0057] Furthermore, as shown in Figure 4, each tape receiving section 815 is divided into three sections along the Y-axis direction. Hereafter, each section of the tape receiving section 815 will be referred to as the first receiving section 815a, the second receiving section 815b, and the third receiving section 815c, in order from the positive Y-axis direction. The first receiving section 815a, the second receiving section 815b, and the third receiving section 815c are arranged with a gap between them in the Y-axis direction. The first receiving section 815a, the second receiving section 815b, and the third receiving section 815c support and guide the carrier tape 4 from below with their respective upper surfaces.

[0058] The opening / closing drive unit 82 is the part that opens and closes the pair of tape guide members 81. As shown in Figure 3, the opening / closing drive unit 82 is an actuator such as a solenoid or air cylinder fixed to the mounting part 63.

[0059] Figure 8 is an explanatory diagram showing the positional relationship between the opening / closing drive unit 82 and the tape guide member 81 according to the embodiment. As shown in Figure 8, the opening / closing drive unit 82 is positioned such that the shaft 821 extends and retracts within the spacing between each protruding piece 812. Figure 5 shows the case where the shaft 821 is retracted from the spacing between each protruding piece 812, thereby closing the pair of tape guide members 81. In this state, the pair of tape guide members 81 are pulled together by the spring 814, and the carrier tape 4 can be supported by each tape receiving portion 815. Note that the shaft 821 in this state is shown by a solid line in Figure 8.

[0060] In this manner, when the carrier tape 4 is held by the pair of tape guide members 81, the tape feed unit 90 can feed out the carrier tape 4. During feeding, the reel holding unit 70 holds the reel 5 in the posture shown in Figure 3. Specifically, this posture is such that the pull-out position P, where the carrier tape 4 is pulled out from the reel 5, is located on the upper side of the reel 5, that is, the pull-out position P is located in the upper half of the reel 5. In this posture, the carrier tape 4 can be pulled out from the reel 5 with a small inclination with respect to the horizontal plane (XY plane). In other words, the amount of deflection of the pulled-out carrier tape 4 can be reduced, thereby reducing the load on the pin 934b of the sprocket 933b engaged with the feed hole 41. Therefore, the carrier tape 4 can be fed out smoothly.

[0061] Figure 9 is an explanatory diagram showing the state in which the carrier tape 4 is released from being held in the tape holding unit 80 according to the embodiment. Figure 9 corresponds to Figure 5. Figure 9 shows the case in which the pair of tape guide members 81 are opened by the shaft 821 entering the gap between each protruding piece 812. Specifically, the shaft 821 of the opening / closing drive unit 82 protrudes more than in the closed state and enters the gap between each protruding piece 812 and contacts the inclined surface 813 of each protruding piece 812. Note that the shaft 821 in this state is shown by a dashed line in Figure 8. As the amount of protrusion of the shaft 821 increases, the shaft 821 pushes open the inclined surface 813 of each protruding piece 812, and each tape guide member 81 gradually rotates against the biasing force of the spring 814 and opens. When it is in the open state, the tape receiving portion 815 of each tape guide member 81 separates from the carrier tape 4, so the carrier tape 4 falls off the pin 934b of the sprocket 933b.

[0062] Furthermore, when the shaft 821 of the opening / closing drive unit 82 returns to its original position and retracts from the gap between each protruding piece 812, the biasing force of the spring 814 causes each tape guide member 81 to rotate and close (see Figure 5).

[0063] Next, the reset section 83 will be described. The reset section 83 is the part that returns the position of the pin 934b of the sprocket 933b to a position where it can be inserted into the feed hole 41 of the carrier tape 4, before the carrier tape 4 is held by the tape holding section 80.

[0064] Figure 10 is an explanatory diagram showing the configuration and operation of the reset unit 83 according to the embodiment. Figure 10(a) shows the reset unit 83 when the pair of tape guide members 81 are in the closed state. Figure 10(b) shows the reset unit 83 when the pair of tape guide members 81 are in the open state.

[0065] As shown in Figure 10, the reset unit 83 is mounted on the displacement member 92, positioned between the third gear 933 and the opening / closing drive unit 82. The reset unit 83 comprises a first engaging piece 831, a second engaging piece 832, a rotating shaft 833, and a spring 834. The rotating shaft 833 is a shaft extending in the X-axis direction, with the first engaging piece 831 provided at its X-axis positive end and the second engaging piece 832 at its X-axis negative end (see Figure 5). The first engaging piece 831 and the second engaging piece 832 are elongated members, extending from the rotating shaft 833 with their respective longitudinal directions being different. The first engaging piece 831 and the second engaging piece 832 rotate around the rotating shaft 833 while maintaining their relative positions.

[0066] As shown in Figure 5, the first engaging piece 831 is positioned so that its tip moves back and forth within the space between the protruding pieces 812 of the pair of tape guide members 81. Therefore, it can also be said that the first engaging piece 831 is positioned on the protruding path of the shaft 821 of the opening / closing drive unit 82. When the first engaging piece 831 comes into contact with the shaft 821 of the opening / closing drive unit 82, the rotation of the reset unit 83 is locked.

[0067] The second engaging piece 832 is positioned so that its tip faces the teeth 935c of the ratchet gear 933c.

[0068] As shown in Figure 10, a spring 834 is connected to the base of the first engaging piece 831. This spring 834 provides a biasing force to the first engaging piece 831 to remain within the spacing of each protruding piece 812 (see Figures 5 and 10(a)). In this state, the reset unit 83 is not locked by the opening / closing drive unit 82. As a result, even if the third gear 933 rotates, the third gear 933 rotates smoothly because the second engaging piece 832 overcomes the teeth 935c of the ratchet gear 933c.

[0069] On the other hand, when the shaft 821 of the opening / closing drive unit 82 extends and lowers the tip of the first engaging piece 831, the reset unit 83 rotates and locks (see Figure 10(b)). At this time, the second engaging piece 832 rotates while engaging with the teeth 935c, and the third gear 933 also rotates in conjunction with this rotation. This rotation returns the position of the pin 934b of the sprocket 933b to a position where it can be inserted into the feed hole 41 of the carrier tape 4 (reference position PS in Figure 10). Note that the rotation of the sprocket 933b by the second engaging piece 832 is rotation in a direction not restricted by the one-way clutch 931c (forward rotation), so it can rotate freely even if the pinion gear 931a does not rotate.

[0070] Next, the reel rack 40 will be described. Figure 11 is a top view showing the reel rack 40 according to an embodiment. Figure 12 is a schematic diagram of the cross-section including the XII-XII cutting line in Figure 11. Figure 13 is a cross-sectional view of the cross-section including the XIII-XIII cutting line in Figure 12.

[0071] As shown in Figures 11 to 13, the reel rack 40 includes a storage support section 51, multiple reel storage sections 52, and a tape support section 53.

[0072] The storage support section 51 is a part that supports multiple reel storage sections 52 arranged in the X-axis direction. The storage support section 51 comprises a pair of wall sections 511 and a pair of beam sections 512 that are spaced apart in the X-axis direction.

[0073] The pair of wall sections 511 are plate-shaped members that align with the vertical plane (YZ plane). The pair of wall sections 511 are connected via a pair of beam sections 512. Each pair of wall sections 511 is provided with a plurality of reel storage sections 52 and a recording section 510 that records reel storage information indicating the relationship between the reels 5 stored in each reel storage section 52. The recording section 510 is a wirelessly wireless memory (wireless tag) and is freely connected to a reader 509 (described later: see Figure 18). The reel storage information is created during the preparation work for storing the reels 5 in the reel rack 40 and is recorded in the management computer 100 (described later) and the recording section 510.

[0074] The pair of beam sections 512 are cylindrical bodies extending in the X-axis direction and are spaced apart in the Y-axis direction. The beam sections 512 in the negative Y-axis direction are located near the corners in the negative Z-axis and negative Y-axis directions in each wall section 511. The beam sections 512 in the positive Y-axis direction are located in the middle of the Y-axis direction and near the end in the negative Z-axis direction in each wall section 511. Multiple reel storage sections 52 are supported by the pair of beam sections 512.

[0075] The reel storage section 52 is a part that houses the reel 5 in an upright position along a vertical plane (YZ plane). Multiple reel storage sections 52 are arranged at predetermined intervals in the width direction (X-axis direction) of the reel 5. The reel storage section 52 includes a reel position limiting member 530 and a reel biasing section 56. The reel 5 is erected along the vertical plane by being sandwiched between the reel position limiting member 530 and the reel biasing section 56. In this state, the reel 5 is spanned between a pair of beam sections 512 and supported from below by the pair of beam sections 512.

[0076] The reel position limiting member 530 is fixed to a pair of beams 512 and contacts one side of the reel 5, which is supported by the pair of beams 512, to limit the position of the reel 5. Specifically, the reel position limiting member 530 is a U-shaped plate when viewed in the X-axis direction. The reel position limiting member 530 includes a first bottom portion 531 extending in the Y-axis direction and a pair of first protrusions 532 projecting upward from both ends of the first bottom portion 531 in the Y-axis direction. The pair of beams 512 are fixed to the first bottom portion 531 with the beams passing through it. The upper ends of the pair of first protrusions 532 are bent so as to be inclined away from the reel 5.

[0077] With respect to the reel 5 supported by a pair of beams 512, the first bottom portion 531 is positioned below the center of the side surface (winding core) of the reel 5. The pair of first protrusions 532 are positioned to avoid the center of the side surface of the reel 5. The upper ends of the pair of first protrusions 532 are positioned near the upper end of the side surface of the reel 5. The first cutout portion 533, formed by the pair of first protrusions 532 and the first bottom portion 531, is exposed from the upper to the center of the side surface of the reel 5.

[0078] The reel biasing section 56 is a part that contacts the other side of the reel 5, which is supported by a pair of beam sections 512, and biases the reel 5 toward the reel position limiting member 530. Specifically, the reel biasing section 56 comprises a fixed plate 57, a movable plate 58, three connecting pins 59, and three biasing members 561.

[0079] The fixing plate 57 is fixed to a pair of beam sections 512, with a gap between it and the reel position limiting member 530 in the positive X-axis direction. The fixing plate 57 is a U-shaped plate when viewed in the X-axis direction. The fixing plate 57 includes a second bottom section 571 extending in the Y-axis direction and a pair of second protrusions 572 projecting upward from both ends of the second bottom section 571 in the Y-axis direction.

[0080] A pair of beam sections 512 are fixed through the second bottom section 571. The second bottom section 571 is positioned to correspond to the first bottom section 531, and each second protrusion 572 is positioned to correspond to each first protrusion 532. The fixing plate 57 is sized and shaped to overlap the reel position limiting member 530 overall when viewed in the X-axis direction. For this reason, the second notch 573 formed by the pair of second protrusions 572 and the second bottom section 571 is exposed from the upper to the central part of the side surface of the reel 5.

[0081] The movable plate 58 is a member that contacts the other side of the reel 5, which is supported by a pair of beams 512. The movable plate 58 is located between the reel position limiting member 530 and the fixed plate 57 in the X-axis direction, and is positioned above the pair of beams 512. The movable plate 58 is a U-shaped plate when viewed in the X-axis direction. The movable plate 58 has a third bottom portion 581 extending in the Y-axis direction, and a pair of third protrusions 582 projecting upward from both ends of the third bottom portion 581 in the Y-axis direction. The third bottom portion 581 is positioned to correspond to the first bottom portion 531, and each third protrusion 582 is positioned to correspond to each first protrusion 532. The movable plate 58 is sized and shaped to overlap the reel position limiting member 530 overall when viewed in the X-axis direction. For this reason, the third notch 583 formed by the pair of third protrusions 582 and the third bottom portion 581 is also exposed from the upper to the central part of the side of the reel 5. The first notch 533, the second notch 573, and the third notch 583 expose the side of the reel 5 from the upper to the central part. In other words, the first notch 533, the second notch 573, and the third notch 583 are examples of openings that expose the side of the reel 5 from the upper to the central part.

[0082] The upper ends of the pair of third protrusions 582 are positioned near the upper end of the side surface of the reel 5 and are bent so as to incline away from the reel 5. In other words, each third protrusion 582 on the movable plate 58 and each first protrusion 532 on the reel position limiting member 530 are inclined so that the distance between them increases as their respective upper ends are directed upward. As a result, the reel 5 inserted from above can be smoothly guided between the movable plate 58 and the reel position limiting member 530 by these upper ends.

[0083] The three connecting pins 59 are provided on the second bottom portion 571 of the fixed plate 57 and on each second protrusion 572. Each connecting pin 59 is a connecting member that connects the fixed plate 57 and the movable plate 58. Each connecting pin 59 has a pin head 591 and a pin shaft 592 that protrudes from the pin head 591 in the X-axis direction. The pin shaft 592 slides freely through the fixed plate 57 with its tip fixed to the movable plate 58. The pin head 591 has a larger diameter than the outer diameter of the pin shaft 592, preventing it from coming out of the fixed plate 57. In other words, the movable plate 58, which is fixed to the connecting pins 59, moves toward and away from the fixed plate 57 in conjunction with the sliding of the connecting pins 59 relative to the fixed plate 57.

[0084] Each biasing member 561 is attached to each connecting pin 59. The biasing member 561 is positioned between the fixed plate 57 and the movable plate 58, with the biasing member 561 inserted into the pin shaft 592 of the connecting pin 59. The biasing member 561 is an elastic material such as rubber, a spring, or a washer. When the reel position limiting member 530 and the movable plate 58 sandwich the reel 5, the biasing member 561 is compressed, biasing the movable plate 58 toward the reel position limiting member 530. As a result, the reel 5 is pressed against the reel position limiting member 530 by the movable plate 58, thereby positioning the reel 5 and stabilizing its posture.

[0085] Next, the tape support section 53 will be described. As shown in Figure 11, the tape support section 53 is the part that supports the leading edge of the carrier tape 4 that is pulled forward (in the positive Y-axis direction) from the reel 5 stored in each reel storage section 52. The tape support section 53 is located in front of each reel storage section 52. The tape support section 53 comprises a support plate 54 spanning a pair of wall sections 511, a plurality of clamp sections 550, and a plurality of identification sections 508. Each clamp section 550 and each identification section 508 are arranged in accordance with each reel storage section 52.

[0086] Figure 14 is an explanatory diagram showing the support plate 54, clamp portion 550, and identification portion 508 according to the embodiment. Figure 14(a) is a top view of the support plate 54, etc., and Figure 14(b) is a cross-sectional view of the cross-section including the XIVb-XIVb cutting line in Figure 14(a).

[0087] As shown in Figure 14, the support plate 54 has three through holes 541 arranged in the Y-axis direction and two rows in the X-axis direction. The first receiving portion 815a, the second receiving portion 815b, and the third receiving portion 815c of each tape guide member 81 move forward and backward individually through each through hole 541.

[0088] Figure 15 is an explanatory diagram showing the positional relationship between the first receiving portion 815a, the second receiving portion 815b, and the third receiving portion 815c of the tape guide member 81 according to the embodiment, and the through holes 541 of the support plate 54. Figure 15(a) is a front view showing the tape guide member 81 provided in the tape holding portion 80. Figure 15(b) is a top view showing each through hole 541. As shown in Figure 15, each through hole 541 in the positive Y-axis direction is shaped so that each first receiving portion 815a can enter when the pair of tape guide members 81 are in the open state. Each through hole 541 in the negative Y-axis direction is shaped so that each third receiving portion 815c can enter when the pair of tape guide members 81 are in the open state. Each intermediate through hole 541 in the Y-axis direction is shaped so that each second receiving portion 815b can enter when the pair of tape guide members 81 are in the open state. Thus, the multiple through holes 541 are an example of relief portions to avoid interference with the robot hand 60.

[0089] The clamp section 550 comprises a reference plate 551, a slide plate 552, and a leaf spring section 553. The reference plate 551 is fixed by being superimposed on the support plate 54. The end of the reference plate 551 in the X-axis positive direction is arranged to correspond to three through holes 541 in the X-axis negative direction row, and is formed in a meandering manner so as to expose the entirety of these three through holes 541. Four end faces 551a in the X-axis positive direction of the reference plate 551 are provided so as to be flush with the ZY plane. These end faces 551a of the reference plate 551 are an example of guide surfaces along one side of the carrier tape 4.

[0090] The slide plate 552 is positioned on the support plate 54 and is held on the support plate 54 so as to be slidable in the X-axis direction. Specifically, the slide plate 552 has a pair of elongated holes 554 that are elongated in the X-axis direction. Locking pins 555, which are fixed to the support plate 54, are inserted into these elongated holes 554. In other words, the locking pins 555 are guided by the elongated holes 554, allowing the slide plate 552 to slide freely in the X-axis direction relative to the support plate 54.

[0091] In the slide plate 552, the end in the negative X-axis direction is positioned to correspond to the three through holes 541 in the positive X-axis direction, and is formed in a meandering manner so as to expose the entirety of these three through holes 541. Two end faces 551b in the negative X-axis direction of the slide plate 552 are provided so as to be flush with the ZY plane. The gripping distance between each end face 551b of the slide plate 552 and each end face 551a of the reference plate 551 is set to be smaller than the width of the carrier tape 4 when nothing is placed within the gripping distance.

[0092] The leaf spring portion 553 is a component that biases the slide plate 552 toward the reference plate 551. The leaf spring portion 553 is positioned in the positive X-axis direction of the slide plate 552, with its end in the negative Y-axis direction fixed and its end in the positive Y-axis direction curved and in contact with the slide plate 552.

[0093] An identification unit 508 is positioned on the upper surface of the support plate 54 in the positive Y-axis direction of the slide plate 552. The identification unit 508 includes identification information for identifying the corresponding reel storage unit 52. The form of the identification unit 508 can be anything as long as it contains identification information, such as a two-dimensional barcode or an ID tag (in this embodiment, it is shown as a two-dimensional barcode).

[0094] As shown in Figure 11, a pair of reference marks 543 are provided on the upper surfaces of both ends of the support plate 54 in the X-axis direction. These reference marks 543 are provided to allow the working device 50 to recognize the position of the reel rack 40, and more specifically, the positions of the reel storage section 52, the tape support section 53, and the identification section 508. Before starting to hold the reel 5 and the carrier tape 4, the working device 50 captures images of these reference marks 543 with the second camera 65 and obtains images, and processes these images with the control unit 302 (described later: see Figure 18) to recognize the positions of the two reference marks 543. Since the relative positional relationship between the positions of the two reference marks 543 and the reel storage section 52, the tape support section 53, and the identification section 508 is known, the working device 50 (control unit 302) can recognize the positions of the reel storage section 52, the tape support section 53, and the identification section 508.

[0095] Figure 16 is an explanatory diagram showing the state in which the leading edge of the carrier tape 4 is supported on the support plate 54 according to the embodiment. Figure 16 corresponds to Figure 14.

[0096] As shown in Figure 16, during the preparation work, the leading edge of the carrier tape 4 pulled out from the reel 5 is fitted, for example, by an operator between each end face 551b of the slide plate 552 and each end face 551a of the reference plate 551. Specifically, the slide plate 552 is pressed in the positive X-axis direction by the operator so that the gripping distance is increased. Then the operator positions the leading edge of the carrier tape 4 within the gripping distance. Here, the support plate 54 is provided with a positioning pin 542 that is inserted into the feed hole 41 of the carrier tape 4, so the operator inserts this positioning pin 542 into the feed hole 41 of the carrier tape 4 to position the carrier tape 4. Next, when the operator releases the pressure on the slide plate 552, the slide plate 552 slides in the negative X-axis direction due to the biasing force from the leaf spring 553, bringing the leading edge of the carrier tape 4 into contact with the reference plate 551. As a result, the carrier tape 4 is fixed on the support plate 54. The carrier tape 4 is stably held by the clamp portion 550, which restricts its movement along the XY plane and its rotation around the Z axis. In this way, the slide plate 552 and the leaf spring portion 553 contact the other side surface of the carrier tape 4, biasing the carrier tape 4 toward the end face 551a (guide surface) of the reference plate 551. In other words, the slide plate 552 and the leaf spring portion 553 are an example of a tape biasing portion.

[0097] With the carrier tape 4 gripped by the clamp portion 550, the tape holding portion 80 holds the leading edge of the carrier tape 4. Specifically, with the tape guide members 81 of the tape holding portion 80 in the open state, the first receiving portion 815a, the second receiving portion 815b, and the third receiving portion 815c enter each through hole 541 of the support plate 54. As a result, the first receiving portion 815a, the second receiving portion 815b, and the third receiving portion 815c are positioned below the leading edge of the carrier tape 4. Subsequently, as each tape guide member 81 closes, the leading edge of the carrier tape 4 is held by each tape guide member 81 (see Figure 5).

[0098] Next, we will show the positional relationships when the hand portion 62 of the work device 50 holds the leading ends of the reels 5 and carrier tapes 4 housed in the reel rack 40. Figure 17 is an explanatory diagram showing the state when the hand portion 62 according to the embodiment holds the leading ends of the reels 5 and carrier tapes 4 housed in the reel rack 40.

[0099] As shown in Figure 17, the tape holding portion 80 of the hand portion 62 is positioned opposite the leading edge of the carrier tape 4 on the support plate 54 of the reel rack 40 (tape holding position). The tape holding position is the position in which the leading edge of the carrier tape 4, supported by the support plate 54 of the tape support portion 53, can be held by the pair of tape guide members 81 of the tape holding portion 80.

[0100] On the other hand, the reel holding portion 70 of the hand portion 62 is positioned opposite the reel 5 stored in the reel storage portion 52 of the reel rack 40 (reel holding position). The reel holding position is the position in which each reel arm 71 of the reel holding portion 70 can engage with and hold the winding core of the reel 5 stored in the reel storage portion 52.

[0101] In other words, when the tape holding section 80 is positioned at the tape holding position that holds the leading edge of the carrier tape 4 supported by the tape support section 53, the reel holding section 70 is positioned at the reel holding position opposite the reel 5 stored in the reel storage section 52. This allows the reel 5 to be held by the reel holding section 70 immediately before or after the tape holding section 80 has held the carrier tape 4. In other words, the holding of the carrier tape 4 and the holding of the reel 5 can be performed in a short period of time, making it possible to improve the efficiency of the work of handling the carrier tape 4.

[0102] Here, it is preferable that the first interval H1 between the portion of the reel holding section 70 that holds the reel 5 and the portion of the tape holding section 80 that holds the carrier tape 4 is equal to the second interval H2 between the reel holding position and the tape holding position. The portion of the reel holding section 70 that holds the reel 5 is the engaging projection 711 of each reel arm 71. On the other hand, the portion of the tape holding section 80 that holds the carrier tape 4 is the tape receiving portion 815 of each tape guide member 81.

[0103] Since the first interval H1 is equivalent to the second interval H2, the tape holding section 80 can hold the leading edge of the carrier tape 4 while the reel holding section 70 can hold the reel 5. In other words, by being able to hold the leading edge of the carrier tape 4 and the reel 5 simultaneously, the work of handling the carrier tape 4 can be made more efficient. Even if it is not done simultaneously, the hand section 62 does not need to be moved much in order to hold the carrier tape 4 and the reel 5, so the work can be made more efficient.

[0104] Furthermore, the first interval H1 only needs to be equal to or less than the second interval H2. With this relationship, the carrier tape 4 can be held by the tape holding section 80 without being pulled out excessively from the reel 5. Also, the first interval H1 may be greater than or equal to the second interval H2.

[0105] [Control configuration for component mounting equipment] Next, the control configuration of the parts mounting equipment 10 will be described. Figure 18 is a block diagram showing the control configuration of the parts mounting equipment 10 according to an embodiment. As shown in Figure 18, the parts mounting equipment 10 includes a parts mounting device 20, a work system 30, and a management computer 100, which are connected by a communication network, and the entire system is controlled by the management computer 100.

[0106] The component mounting device 20 comprises a head 24, a substrate transport unit 25, a component supply unit 22, a communication unit 201, and a control unit 202 that controls these components. The communication unit 201 is a communication module for communicating with the management computer 100 and the work system 30 wirelessly or via wired connection, and is freely connected to a communication network. The control unit 202 has a CPU, RAM, and ROM, and controls each part of the component mounting device 20 by having the CPU load programs from ROM into RAM and execute them. The control unit 202 may also control each part based on commands from the management computer 100.

[0107] The work system 30 comprises a work device 50, a reading device 509, a communication unit 301, and a control unit 302 that controls these. The communication unit 301 is a communication module for communicating with the management computer 100 and the component mounting device 20 wirelessly or via wired connection, and is freely connected to a communication network. The control unit 302 has a CPU, RAM, and ROM, and controls the parts of the work device 50 and the reading device 509 by having the CPU load programs from ROM into RAM and execute them. The control unit 302 may also control the parts based on commands from the management computer 100.

[0108] [Operation] Next, the operation of the work system 30 will be described.

[0109] The work system 30, through preparation work, places the reel rack 40 containing the reels 5 onto the base 31 and moves to the location of the target parts mounting device 20. Once the reel rack 40 is placed on the base 31, the work system 30 reads the reel storage information from the recording unit 510 of the reel rack 40 using the reading device 509 and stores it in the memory unit of the control unit 302. This allows the work system 30 to recognize the relationship between the reel storage unit 52 of the reel rack 40, which is the cargo, and the reels 5, specifically the correspondence between the position and identification number of the reel storage unit 52, the identification information of the reels 5, or the information regarding the parts stored in the reels 5.

[0110] When the work system 30 moves to a position adjacent to the target component mounting device 20, the work device 50 photographs the reference mark 543 on the reel rack 40 with the second camera 65 to recognize the positions of the reel storage section 52, tape support section 53, and identification section 508 (see Figure 19(a)). This identifies the positions of the reel storage section 52, tape support section 53, and identification section 508 in the coordinate system of the work device 50.

[0111] First, the work device 50 retrieves the reel 5 containing the requested parts from the reel rack 40 based on instructions from the management computer 100 or the parts mounting device 20 and transfers it to the parts mounting device 20. Figure 19 is an explanatory diagram showing the operation when the work device 50 of the work system 30 according to the embodiment holds the reel 5 and the carrier tape 4.

[0112] The control unit 302 of the work system 30 controls the arm unit 61 based on commands from the management computer 100 or the component mounting device 20, thereby moving the hand unit 62 to a position facing the target tape support unit 53 (see Figure 19(b)). At that time, the control unit 302 controls the position of the hand unit 62 based on the positions of the reel storage unit 52 and the tape support unit 53 obtained by recognizing the reference mark 543.

[0113] Next, the control unit 302 controls the opening / closing unit 72 to open the pair of reel arms 71, and controls the opening / closing drive unit 82 to open the pair of tape guide members 81.

[0114] Next, the control unit 302 controls the arm unit 61 to move the hand unit 62 so that the tape holding unit 80 faces the tape holding position and the reel holding unit 70 faces the reel holding position (see Figure 19(c)). After that, the control unit 302 controls the opening / closing unit 72 to close the pair of reel arms 71, thereby holding the reel 5. At the same time, or around the same time, the control unit 302 controls the opening / closing drive unit 82 to close the pair of tape guide members 81, thereby holding the leading edge of the carrier tape 4. While the hand unit 62 is gripping both, the control unit 302 controls the arm unit 61 to maintain the hand unit 62 in approximately the same position.

[0115] Next, the control unit 302 controls the arm unit 61 to raise the hand unit 62 so that the reel holding unit 70 and the tape holding unit 80, which hold the leading edges of the reel 5 and the carrier tape 4, rise (see Figure 19(d)).

[0116] Figure 20 is an explanatory diagram showing the operation when the leading edge of the carrier tape 4 is inserted into the feeder 221 by the work device 50 of the work system 30 according to the embodiment.

[0117] The control unit 302 controls the arm unit 61 based on commands from the management computer 100 to move the hand unit 62 to a position where the first camera 64 is facing the target mark 225 on the feeder 221 (see Figure 20(a)). In this state, the control unit 302 captures an image of the target mark 225 with the first camera 64 and recognizes its position. As a result, the control unit 302 recognizes the position of the positioning unit 226 provided on the feeder 221.

[0118] Next, the control unit 302 controls the arm 61 to move the hand 62 so that the contact 924 of the tape feeding unit 90 is connected to the positioning unit 226 (see Figure 20(b)). At this time, the control unit 302 presses the hand 62 toward the positioning unit 226 so that the displacement member 92 slides relative to the base 91 in the negative Y-axis direction. As a result, the sprocket 933b rotates in conjunction with the relative movement of the displacement member 92 in the negative Y-axis direction, and the carrier tape 4 is fed to the feeder 221. The carrier tape 4 is supplied to the feeder 221 in this way.

[0119] Next, the control unit 302 controls the opening / closing drive unit 82 to open the pair of tape guide members 81, thereby releasing the leading edge of the carrier tape 4 (Figure 20(c)). As a result, the leading edge of the carrier tape 4 falls from the pair of tape guide members 81.

[0120] Next, the control unit 302 controls the arm 61 to move the hand 62 in the negative Y-axis direction, detaching it from the feeder 221 (Figure 20(d)). Note that although the hand 62 is moved in the negative Y-axis direction to detach it from the feeder 221 after the carrier tape 4 has fallen from the tape guide member 81, the carrier tape 4 may also be dropped from the tape guide member 81 after the hand 62 has been moved in the negative Y-axis direction.

[0121] Subsequently, the control unit 302 controls the arm unit 61 to move the hand unit 62 so that the reel holding unit 70 faces the empty reel housing unit 26 (see Figure 1), and then controls the opening / closing unit 72 to open the pair of reel arms 71, thereby releasing the reel 5. As a result, the reel 5 falls out of the reel holding unit 70 and is housed in the reel housing unit 26. Alternatively, the carrier tape 4 may be supplied to the feeder 221 after the reel 5 has been housed in the reel housing unit 26.

[0122] [Effects, etc.] As described above, according to the above embodiment, the carrier tape 4 is held by the tape holding unit 80 and then fed out by the tape feeding unit 90 from the reel 5 held by the reel holding unit 70. In this way, the carrier tape 4 can be efficiently fed out from the reel 5 held by the reel holding unit 70 by the cooperation of the tape holding unit 80 and the tape feeding unit 90. Therefore, it is possible to efficiently handle the carrier tape 4 wound on a reel.

[0123] Furthermore, since the reel holding section 70 holds the reel 5 such that the pull-out position P is positioned above the reel 5, the carrier tape 4 can be pulled out from the reel 5 with a small inclination relative to the horizontal plane. When the sprocket 933b rotates with the pin 934b of the sprocket 933b engaged with the feed hole 41 of the carrier tape 4 in this position, the carrier tape 4 can be fed out smoothly.

[0124] Furthermore, since the displacement of the displacement member 92 relative to the base portion 91 is converted into rotational motion, causing the sprocket 933b to rotate, the sprocket 933b can be rotated in conjunction with the displacement of the displacement member 92. As a result, the sprocket 933b can be rotated by displacing the displacement member 92, even without directly rotating the sprocket 933b.

[0125] Furthermore, the one-way clutch 931c allows the sprocket 933b to rotate in the direction that feeds out the carrier tape 4, while restricting rotation in the opposite direction. This prevents the sprocket 933b from pulling back the carrier tape 4. Therefore, the carrier tape 4 can be fed out stably.

[0126] Furthermore, since the displacement member 92 is displaced by an external force, a drive source for displacing the displacement member 92 is not required, thus preventing the overall size of the device from increasing.

[0127] Furthermore, since the sprocket drive unit (gear group 93) amplifies the displacement of the displacement member 92 and rotates the sprocket 933b, the sprocket 933b can be rotated by a predetermined amount even if the displacement of the displacement member 92 is small. Therefore, the amount of feed for the carrier tape 4 can be secured without increasing the overall size of the device.

[0128] Furthermore, before the tape holding section 80 holds the carrier tape 4, the reset section 83 returns the position of the pin 934b of the sprocket 933b to a position where it can be inserted into the feed hole 41 of the carrier tape 4, so that the position of the pin 934b and the position of the feed hole 41 can be aligned. Therefore, when the tape holding section 80 holds the carrier tape 4, the pin 934b can be reliably inserted into the feed hole 41.

[0129] Furthermore, opening the pair of tape guide members 81 with the opening / closing drive unit 82 releases the carrier tape 4 from being held. When the pair of tape guide members 81 are closed, they guide the carrier tape 4 while supporting it with the tape receiving portion 815, so it is not necessary to provide separate members for guiding the carrier tape 4 and members for supporting it. Therefore, the overall size of the device can be kept down.

[0130] Furthermore, since the tape receiving portions 815 of each of the pair of tape guide members 81 support the carrier tape 4 with a portion of the lower part of the carrier tape 4 exposed, the holding of the carrier tape 4 can be smoothly released without increasing the opening and closing amount (opening and closing stroke) of the pair of tape guide members 81.

[0131] Furthermore, since the tape support section 53 supports the leading ends of multiple carrier tapes 4 stored in each reel storage section 52, the robot hand 60 can hold the leading ends of the carrier tapes 4 that are pre-supported by the tape support section 53. Therefore, even in automated equipment, it is possible to easily handle the carrier tapes 4 wound on reels.

[0132] Furthermore, since the reel storage section 52 has openings (first notch 533, second notch 573, and third notch 583) that expose the reel 5 from the upper to the central part of its side surface, these openings prevent the robot hand 60 from interfering with the reel storage section 52.

[0133] Furthermore, since the reel biasing unit 56 biases the reel 5 toward the reel position limiting member 530, the reel 5 can be positioned toward the reel position limiting member 530, thereby suppressing misalignment of the reel 5.

[0134] Furthermore, since the slide plate 552 and the leaf spring portion 553 (tape biasing portion) bias the carrier tape 4 toward the end face 551a (guide surface) of the reference plate 551, the carrier tape 4 can be positioned toward the guide surface, and misalignment of the carrier tape 4 can be suppressed.

[0135] Furthermore, the multiple through holes 541 (relief holes) in the tape support section 53 prevent interference with the robot hand 60, allowing the robot hand 60 to smoothly hold the carrier tape 4.

[0136] Furthermore, the positioning pin 542 is inserted into the feed hole 41 of the carrier tape 4 to position the carrier tape 4, which further suppresses misalignment of the carrier tape 4.

[0137] Furthermore, since reel storage information is recorded in the recording unit 510, the management computer 100 can read the reel storage information from the recording unit 510, thereby allowing the management computer 100 to recognize the relationship between the multiple reel storage units 52 and the reels 5 stored in those reel storage units 52.

[0138] Furthermore, since it is equipped with multiple identification units 508 corresponding to each reel storage unit 52, it is possible to manage the reels 5 stored in each reel storage unit 52 using each identification unit 508. It is also possible to update the reel storage information in the recording unit 510 by reading the identification information provided on each identification unit 508 and each reel 5.

[0139] Furthermore, when the tape holding section 80 is positioned at the tape holding position for holding the leading edge of the carrier tape 4 supported by the tape support section 53, the reel holding section 70 is positioned at the reel holding position opposite the reel 5 stored in the reel storage section 52. This allows the reel 5 to be held by the reel holding section 70 immediately before or after the tape holding section 80 has held the carrier tape 4. In other words, the holding of the carrier tape 4 and the holding of the reel 5 can be performed in a short period of time, making it possible to improve the efficiency of the work involved in handling the carrier tape 4.

[0140] Furthermore, since the first interval H1 is equal to or less than the second interval H2, the carrier tape 4 is not pulled out excessively from the reel 5, and the leading edge of the carrier tape 4 can be held by the tape holding section 80.

[0141] Furthermore, since the first interval H1 is equivalent to the second interval H2, the tape holding section 80 can hold the leading edge of the carrier tape 4 while the reel holding section 70 can hold the reel 5. In other words, by simultaneously holding the leading edge of the carrier tape 4 and holding the reel 5, it is possible to make the work of handling the carrier tape 4 more efficient.

[0142] (others) Although the component mounting equipment 10 according to an embodiment of the present invention has been described above, the present invention is not limited to this embodiment. In other words, the embodiments disclosed herein are illustrative in all respects, and the scope of the present invention includes all modifications in the sense and scope equivalent to the claims.

[0143] For example, in the above embodiment, a working device 50 for supplying the carrier tape 4 to the feeder 221 was illustrated, but any working device having a robot hand for holding the reel is acceptable.

[0144] Furthermore, although the above embodiment illustrates a case where the displacement member 92 is displaced by an external force, the displacement member 92 does not necessarily have to be displaced by an external force. In this case, the tape feed unit may have a drive source (motor or solenoid, etc.) for displacing the displacement member.

[0145] Furthermore, in the above embodiment, an example was given in which the sprocket drive unit (gear group 93) converts the displacement of the displacement member 92 into rotational motion to rotate the sprocket 933b. However, it is not necessary to transmit the displacement of the displacement member 92 to the sprocket 933b. In this case, the tape feed unit may have a motor or the like that directly rotates the gear group 93 or the sprocket 933b.

[0146] Furthermore, forms constructed by arbitrarily combining the components included in each of the above embodiments and their modified examples are also included within the scope of the present invention. [Industrial applicability]

[0147] This invention can be applied to work devices, such as those having a robotic hand that holds a reel around which a carrier tape is wound. [Explanation of symbols]

[0148] 2 circuit boards 3 parts 4 Carrier Tape 5 reels 10. Parts mounting equipment 20. Parts mounting device 21 bogies 22. Parts supply unit 23. Component mounting device main body 24 heads 25. Substrate transport section 26 Reel storage section 30 Work Systems 31 base 40 Reel Rack 41 Hole 42 Receiving recess 45 Cover Tape 50 Working equipment 51 Storage support section 52 Reel storage compartment 53 Tape support section 54 Support plate 56 Reel biasing unit 57 Fixed plate 58 Movable plate 59 Connecting pins 60 Robot Hands 61 Arm section 62 Hand section 63 Mounting part 64 First Camera 65 Second Camera 70 Reel holding section 71 Reel Arm 72 Opening / Closing Section 80 Tape holding section 81 Tape guide member 82 Opening / closing drive unit 83 Reset section 90 Tape feed section 91 Base section 92 Displacement member 93. Gear group (sprocket drive unit) 94 Elastic members 95 Rack Gear 100 Management Computers 201, 301 Communications Department 202, 302 Control Unit 221 Feeder 222 Tape Path 223 sprocket 225 Target Mark 226 Positioning section 227 Guide plate 228 Tape Sensor 261 First Detention Unit 262 Second Detention Unit 508 Identification Unit 509 Reader 510 Records Section 511 Wall section 512 Beam section 530 Reel position limiting member 531 First bottom 532 First protrusion 533 First cutout (open part) 541 Through hole (relief section) 542 Positioning pins 550 Clamp section 551 Reference plate 551a End face (guide face) 551b End face 552 Slide plate (tape biasing section) 553 Leaf spring section (tape biasing section) 554 long hole 555 Locking pin 561 Biasing member 571 Second bottom 572 Second protrusion 573 Second notch (open section) 581 Third bottom 582 Third protrusion 583 Third notch (open section) 591 Pinhead 592 Pin Axis 711 Engagement protrusion 811 Axial branch 812 Projecting piece 813 Slope 814, 834 Springs 815 Tape receiving section 815a First receiving section 815b Second receiving section 815c Third receiving part 821 Shaft 831 First engaging piece 832 Second engaging piece 833 Rotation axis 911 Guard section 912 Base 913 Pillar section 914 Slider 915 First mounting section 921 Notch 922 Second mounting section 923 Guide Rail 924 Contact section 931 First Gear 931a Pinion Gear 931b Transmission Gear 931c One-Way Clutch 931d axis 931e bearing 932 Second gear 933 Third Gear 933a Final Gear 933b sprocket 933c Ratchet Gear 934b pin 935c teeth H1 first interval H2 second interval P position PS reference position Y1, Y2, Y3, Y4, Y5, Y6, Y7 Arrows

Claims

1. A work device having a robotic hand that holds a reel around which a carrier tape is wound, The aforementioned robot hand is The reel holding part that holds the reel, A tape holding section that holds the carrier tape pulled out from the reel held in the reel holding section, The system includes a tape feeding unit that feeds out the carrier tape held in the tape holding unit, The reel holding portion holds the reel such that the pull-out position from which the carrier tape is pulled out is located on the upper side of the reel. The tape feed unit is A sprocket having a pin that engages with the feed hole portion of the carrier tape from above the carrier tape, The system includes a sprocket drive unit that rotates the sprocket to feed out the carrier tape. Work equipment.

2. The aforementioned robot hand is The base part, The base portion is equipped with a displaceable member, The sprocket drive unit converts the displacement of the displacement member relative to the base portion into rotational motion to rotate the sprocket. The work apparatus according to claim 1.

3. The sprocket drive unit includes a one-way clutch that allows the sprocket to rotate in the direction that feeds the carrier tape and restricts rotation in the opposite direction. The work apparatus according to claim 2.

4. The displacement member is displaced by an external force. The work apparatus according to claim 2.

5. The sprocket drive unit amplifies the displacement of the displacement member to rotate the sprocket. The work apparatus according to claim 2.

6. The aforementioned robot hand is Before the tape holding portion holds the carrier tape, a reset portion is provided to return the position of the pin of the sprocket to a position where it can be inserted into the feed hole of the carrier tape. The work apparatus according to claim 1.

7. The tape holding portion is A pair of tape guide members that guide the carrier tape while the carrier tape is positioned to sandwich the carrier tape in the width direction, It comprises an opening / closing drive unit for opening and closing the pair of tape guide members, Each of the pair of tape guide members is provided with a tape receiving portion that supports the carrier tape from below. The work apparatus according to claim 1.

8. Each of the pair of tape guide members supports the carrier tape with a portion of the lower part of the carrier tape exposed. The work apparatus according to claim 7.

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