JP2020136620A - Component supply device and control method of the component supply device - Google Patents

Abstract

To perform an operation for conveying a component to a fetching position for a short time, while reducing a device cost.SOLUTION: A component supply device that conveys a carrier tape having a plurality of pockets which can house a component to a position where a component is fetched out from a component mounting device, comprises: a conveying part that conveys the carrier tape; and a control part that controls the conveying part. The conveying part includes: a motor; and an encoder that outputs a pulse signal by a rotation of the motor, and outputs a plurality of reference signals at a prescribed rotational positions of the motor. The control part determines the rotational position of the motor on the basis of the number of pulse signals between the plurality of reference signals.SELECTED DRAWING: Figure 8

Description

The present disclosure relates to a parts supply device and a control method for the parts supply device.

Conventionally, in an electronic component mounting device for mounting an electronic component on a substrate, an electronic component mounting device including a motor capable of controlling the number of rotations and the amount of rotation and an absolute encoder capable of detecting an absolute position is known (for example). See Patent Document 1). In this electronic component mounting device, a carrier tape holding electronic components is fed at an arbitrary setting (for example, feed rate, feed pitch, pitch feed stop position, etc.) using a sprocket that rotates with the drive rotation of the motor. .. The absolute encoder can individually detect the rotational position of each pin of the sprocket when stopped. The electronic component mounting device controls the sprocket to stop at the correct rotation stop position based on the amount of rotation of the motor corresponding to the correct rotation stop position from the pin position of the sprocket. As a result, the labor required for alignment for each tape feeder used can be reduced, and work efficiency can be improved.

Japanese Patent No. 3885547

However, the absolute encoder used in Patent Document 1 described above is very expensive, and it is difficult to use a large number of absolute encoders for each tape feeder. Moreover, since the high-resolution absolute encoder is large in size, it is difficult to mount it on a tape feeder.

Incremental encoders, which are relatively inexpensive compared to absolute encoders, are known. The incremental encoder is a lattice disk having a predetermined number of slits in the circumferential direction, a phase A photosensor in which each of a plurality of light emitting diodes and a plurality of photodiodes facing each other so as to sandwich the lattice disk, and a phase B photo. Fixed with a sensor and an A-phase slit and a B-phase slit for detecting an A-phase signal and a B-phase signal arranged between a plurality of light emitting diodes and a lattice disk and indicating the rotation angle of the lattice disk. It is composed of a board. The A-phase photosensor and the B-phase photosensor output a phase A signal and a phase B signal, which are pulse signals obtained by receiving light passing through the A-phase slit or the B-phase slit, respectively.

In order to detect the reference position (origin), the incremental encoder has a Z-phase slit carved in one place in the axial direction of the fixed plate, and a light emitting diode and a photodiode facing each other so as to sandwich the lattice disk and the fixed plate. Includes a Z-phase photodiode paired with. The Z-phase photosensor outputs a Z (zero) phase signal obtained by receiving light passing through a Z-phase slit. The incremental encoder can detect the reference position of the grid disk by detecting the pulse signal of the Z-phase signal. The incremental encoder calculates the rotation angle from the reference position (origin) based on the number of pulses of the A-phase signal or the B-phase signal from the reference position where the Z-phase signal is detected.

However, when a motor equipped with an incremental encoder performs an origin search to detect a reference position (origin), it detects a Z-phase slit engraved on the grid disk and detects the current rotation angle and reference position (origin). It was necessary to rotate the grid disk for one round at the maximum to detect the Z-phase signal. Therefore, when such a motor is mounted on the electronic component mounting device, the origin return operation (alignment) for each tape feeder is required every time the electronic component mounting device is intermittently started, so that the component is transported to the take-out position. It took a long time to start the tape feeding operation, and as a result, the productivity was lowered.

The present disclosure has been devised in view of the above-mentioned conventional situation, and is a component supply device and a component supply capable of performing an origin return operation and an operation of transporting a component to a take-out position in a short time while reducing the device cost. It is an object of the present invention to provide a control method of an apparatus.

The present disclosure is a component supply device that transports a carrier tape having a plurality of pockets capable of accommodating components to a position where the component mounting device takes out the component, and a transport unit that transports the carrier tape and the transport unit. The transport unit has a motor and an encoder that outputs a pulse signal by rotation of the motor and outputs a plurality of reference signals at a plurality of predetermined rotation positions of the motor. Then, the control unit provides a component supply device that determines the rotation position of the motor based on the number of pulse signals between the plurality of reference signals.

The present disclosure is a control method of a component supply device that conveys a carrier tape having a plurality of pockets capable of accommodating components to a position where a component mounting device takes out a component, and the component supply device has a motor. It has a transport unit for transporting the carrier tape and a control unit for controlling the transport unit, and the transport unit outputs a pulse signal by rotation of the motor and at a plurality of predetermined rotation positions of the motor. The control unit provides a control method for a component supply device that outputs a plurality of reference signals and determines the rotation position of the motor based on the number of pulse signals included in the plurality of reference signals.

According to the present disclosure, it is possible to perform the home return operation and the operation of transporting the component to the take-out position in a short time while reducing the device cost.

The figure which shows the whole configuration example of the electronic component mounting apparatus which arranges the tape feeder which concerns on Embodiment 1. Side view showing an example of internal configuration of a tape feeder Block diagram showing a configuration example of the control system of the tape feeder Side view showing an example of a transport mechanism of a tape feeder Top view showing an example of a transfer mechanism of a tape feeder Diagram showing an example of internal configuration of an encoder The figure explaining the transmission of a signal between a feeder control part and a motor Schematic diagram illustrating an example of origin search Timing chart of A-phase signal, B-phase signal and Z-phase signal output from the encoder Flow chart showing an example of origin search and origin return procedure by the feeder control unit

(Background to the contents of the first embodiment)
Recently, in an electronic component mounting device that supplies electronic components to a substrate, an electronic component mounting device including a motor capable of controlling the number of rotations and the amount of rotation and an absolute encoder capable of detecting an absolute position is known (for example, See Patent Document 1). The absolute encoder can individually detect the rotational position of each pin of the sprocket when stopped. The electronic component mounting device controls the sprocket to stop at the correct rotation stop position based on the amount of rotation of the motor corresponding to the correct rotation stop position from the pin position of the sprocket. As a result, the electronic component mounting device can reduce the alignment effort required for each tape feeder used and improve the work efficiency. Further, as compared with such an absolute encoder, an incremental encoder which is relatively inexpensive, has a small size, and is easily mounted on a tape feeder is known.

Incremental encoders are a lattice disk having a predetermined number of slits in the circumferential direction of the lattice disk, and a phase A photosensor and B in which each of a plurality of light emitting diodes and a plurality of photodiodes facing each other so as to sandwich the lattice disk are paired. A phase photosensor, an A-phase slit and a B-phase slit for detecting an A-phase signal and a B-phase signal arranged between a plurality of light emitting diodes and a lattice disk and indicating the rotation angle of the lattice disk. It is configured to include a fixing plate having. The A-phase photosensor and the B-phase photosensor output a phase A signal and a phase B signal, which are pulse signals obtained by receiving light passing through the A-phase slit or the B-phase slit, respectively.

In order to detect the reference position (origin), the incremental encoder has a Z-phase slit carved in one place in the axial direction of the fixed plate lattice disk, and a light emitting diode that faces the lattice disk so as to sandwich the fixed plate. Includes a Z-phase photosensor paired with a photodiode. The Z-phase photosensor outputs a Z (zero) phase signal obtained by receiving light passing through a Z-phase slit. The incremental encoder detects the reference position of the grid disk by detecting the pulse signal of the Z-phase signal. In the incremental encoder, the rotation angle from the reference position (origin) can be calculated based on the number of pulses of the A-phase signal or the B-phase signal from the reference position where the Z-phase signal is detected.

However, when a motor equipped with an incremental encoder performs an origin search to detect a reference position (origin), it detects a Z-phase slit carved on the grid disk and detects the current rotation angle and reference position (origin). ), It was necessary to rotate the encoder grid disk for a maximum of one round to detect the Z-phase signal. As described above, in order to return to the origin, it is necessary to rotate the motor up to one rotation, and it takes time to search the origin. Therefore, when such a motor is mounted on the tape feeder of the parts supply device, it is necessary to align the origin return position for each tape feeder every time the parts supply device is intermittently started, so that the parts can be transported to the take-out position. It took a long time to start the tape feed operation. As a result, productivity was reduced.

In Patent Document 1, in order to perform the alignment required for each tape feeder used by using an absolute encoder that can individually detect the rotation position of each pin of the sprocket when stopped, the tape feeder using an incremental encoder is used. Alignment is not expected.

Hereinafter, the electronic component mounting device according to the embodiment in which the component supply device and the control method of the component supply device according to the present disclosure are specifically disclosed will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanations of already well-known matters and duplicate explanations for substantially the same configuration may be omitted. This is to avoid unnecessary redundancy of the following description and to facilitate the understanding of those skilled in the art. It should be noted that the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

(Embodiment 1)
The structure of the electronic component mounting device 1 will be described with reference to FIG. FIG. 1 is a diagram showing an overall configuration example of an electronic component mounting device 1 in which the tape feeder 4 according to the first embodiment is arranged. FIG. 1 is a diagram showing a configuration of a component supply unit 2 of an electronic component mounting device 1 on which one tape feeder 4 is mounted.

The parts supply unit 2 as an example of the parts supply device includes a feeder base 3, a tape feeder 4, a carriage 5, and a supply reel 6.

A plurality of tape feeders 4 are mounted side by side on the upper surface of the feeder base 3 so as to be detachably attached to the component supply unit 2. The feeder base 3 locks and fixes each of the plurality of tape feeders 4 to the end portion.

The tape feeder 4 as an example of the transport unit is a carrier tape 7 holding electronic components from a supply reel 6 set on a carriage 5 located below the feeder base 3 and having a certain length (hereinafter, a predetermined pitch). Notation) is pulled out and the electronic components held by the carrier tape 7 are supplied to the pickup position of the transfer head 8.

The control unit 14 is, for example, a processor configured by using a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), or an FPGA (Field Programmable Gate Array). The control unit 14 functions as a controller that controls the overall operation of the tape feeder 4, and controls processing for controlling the operation of each part of the tape feeder 4, data input / output processing with and from each part of the tape feeder 4, and so on. Performs data calculation processing and data storage processing. The control unit 14 operates according to the program and data stored in the storage unit 15. The control unit 14 uses the storage unit 15 during operation, and stores the data generated or acquired by the control unit 14 in the storage unit 15.

The head drive unit 11 controls the transfer head 8. The transfer head 8 sucks and takes out the electronic component 16 (see FIG. 4) housed in the recess 7a of the carrier tape 7 located at the suction position (in other words, the take-out position of the electronic component 16). The transfer head 8 is driven by the head drive unit 11 and moves the electronic component 16 taken out from the carrier tape 7 to the substrate 10 positioned on the transport path 9. The transfer head 8 mounts the electronic component 16 on the substrate 10 based on the mounting position data including the mounting position coordinates of the attracted electronic component 16.

The camera 12 is arranged above the suction position of the electronic component 16 of the tape feeder 4 and images the vicinity of the suction position of the electronic component 16, for example, the notch 29a (see FIG. 5). The camera 12 outputs the captured image data to the recognition unit 13.

The recognition unit 13 performs image processing based on the image pickup data captured by the camera 12. The recognition unit 13 recognizes the position of the feed hole (not shown) of the carrier tape 7 or the position of each feed pin 21a of the sprocket 21 for tape feed based on the result of image processing, and indicates these normal positions. The amount of misalignment between each of the feed pins 21a and the transfer head 8 is detected based on the normal position data. The recognition unit 13 outputs the detection result regarding the amount of misalignment to the control unit 14.

The control unit 14 conveys the electronic component 16 housed in the recess 7a of the carrier tape 7 to the suction position based on the tape data. The control unit 14 calculates the stop position data and the suction position data, which will be described later, based on the input displacement amount of the feed pin 21a and the electronic component 16.

The storage unit 15 is, for example, a RAM (Random Access Memory) as a work memory used when executing each process of the control unit 14, and a ROM (Read Only Memory) for storing a program and data defining the operation of the control unit 14. And have. Data or information generated or acquired by the control unit 14 is temporarily stored in the RAM. A program that defines the operation of the control unit 14 (for example, the operation for the transfer head 8 to suck and take out the electronic component 16 from the carrier tape 7) is written in the ROM. Further, the storage unit 15 stores tape data, stop position data, suction position data, mounting position data, and the like.

The tape data is data related to control when the carrier tape 7 is pitch-fed to the suction position of the electronic component 16 at a predetermined pitch in the tape feeder 4, and is calculated by the control unit 14. The tape data is data including, for example, a tape feeding pitch, a feeding speed, an acceleration / deceleration pattern of the feeding speed, and the like. The tape data is preset for each type of carrier tape 7 to be used. Further, the control unit 14 controls the head drive unit 11 based on the tape data.

The stop position data is correction data for preventing variations in the stop positions of the feed pins 21a of the sprocket 21 caused by instrumental errors inherent in each of the tape feeders 4, and is correction data for preventing variations in the stop positions of the feed pins 21a of the sprocket 21, which will be described later. Correct the stop position of. As a result, the stop position data can correct the stop position of the feed pin 21a of the sprocket 21 and correctly position the electronic component 16 held by the carrier tape 7 at the suction position. The stop position data will be described in detail in FIG. 5 described later.

The suction position data is correction data for preventing variation in the suction position when the transfer head 8 sucks and takes out the electronic component 16 from the carrier tape 7, and is a direction orthogonal to the tape feed direction (FIGS. 5 and 5). Correct the suction position in the Y direction). By presetting the suction position data for each tape feeder 4, it is possible to correct the inherent instrumental error between the tape feeder 4 and each type of carrier tape 7 to be used. Further, the mounting position data is data on the actual phase position (coordinates) of the electronic component 16 on the substrate 10. The suction position data will be described in detail in FIG. 5 described later.

The tape feeder 4 will be described with reference to FIG. FIG. 2 is a side view showing an example of the internal configuration of the tape feeder 4. The tape feeder 4 includes a sprocket 21, a motor 22, and a feeder control unit 24. As the motor 22, a brushless motor, a DC motor, a pulse motor, or the like is used.

The tape feeder 4 is attached to the feeder base 3 with the lower surface of the elongated main body 4a along the upper surface of the feeder base 3. The tape feeder 4 fixes the position of the tape feeder 4 by locking the locking portion 4b provided on the lower surface of the main body portion 4a to the end portion of the feeder base 3.

The tip of the tape feeder 4 is set at the suction position of the electronic component 16 which is sucked and taken out by the transfer head 8. The tape feeder 4 is provided with a pressing member 29 on the upper surface of the tip portion, and pitch-feeds the carrier tape 7 carried out to the tip portion while pressing it downward. The pressing member 29 includes a notch 29a (see FIG. 5). When the electronic component 16 is carried out to the suction position set in the notch 29a, the suction nozzle 8a sucks and takes out the electronic component 16 held in the recess 7a of the carrier tape 7.

Further, the tape feeder 4 peels off the top tape (not shown) for protecting electronic components from the upper surface of the carrier tape 7 by pulling the top tape (not shown) at the edge of the cutout portion 29a in the direction opposite to the carrying-out direction of the carrier tape 7. The top tape is peeled off and stored in a tape storage container (not shown) built in the main body 4a.

The sprocket 21 is driven in conjunction with the motor 22 and is arranged in the vicinity of the suction position. The sprocket 21 has each of a plurality of pins 21a provided on the outer circumference at a predetermined pitch. The plurality of pins 21a mesh with each of a plurality of feed holes (not shown) for feeding the tape provided in the carrier tape 7 at a predetermined pitch in the carry-out direction to carry out the carrier tape 7. Further, the side surface of the sprocket 21 is provided with a plurality of tooth surfaces 21b (see FIG. 4) that are coupled to the drive shaft of the motor 22 and mesh with the bevel gear 23 that transmits the rotational driving force to the sprocket 21.

The motor 22 includes an encoder 60 (see FIG. 6) capable of detecting the rotation position of the sprocket 21, and drives the sprocket 21 based on a control signal of the feeder control unit 24.

The feeder control unit 24 is built in the main body unit 4a. When the position of the tape feeder 4 is fixed, the feeder control unit 24 is connected to the control unit 14 of the electronic component mounting device 1 via the connector 28 provided in the locking unit 4b. Of the data stored in the storage unit 15, the feeder control unit 24 acquires data necessary for operation control of the tape feeder 4, such as tape data and stop position data, from the storage unit 15. Based on these data, the feeder control unit 24 controls the rotation amount of the motor 22 to arbitrarily control the rotation amount of the sprocket 21 when the carrier tape 7 is pitch-fed. As a result, the feeder control unit 24 can arbitrarily control the tape feed rate, feed pitch, stop position, and the like.

The configuration of the control system of the tape feeder 4 will be described with reference to FIG. FIG. 3 is a diagram showing a configuration example of the control system of the tape feeder 4. The tape feeder 4 has a built-in feeder control unit 24. The feeder control unit 24 includes a motor control unit 25, a communication unit 27, and a data storage unit 26.

The motor control unit 25 is, for example, a processor configured by using a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), or an FPGA (Field Programmable Gate Array). Controls the motor 22. The motor control unit 25 acquires tape data and stop position data preset for each type of carrier tape 7 from the communication unit 27. The motor control unit 25 controls control parameters related to the amount of rotation of the motor 22 based on the acquired tape data and stop position data. Further, when the motor control unit 25 acquires only the data related to the type of the carrier tape 7 from the communication unit 27, the tape feed speed of the tape feeder 4 or the tape feed rate of the tape feeder 4 is based on the tape data and the stop position data stored in the data storage unit 26. Change the feed pitch, etc.

The data storage unit 26 stores, for example, a RAM (Random Access Memory) as a work memory used when executing each process of the feeder control unit 24, and a ROM (Read) that stores a program and data that define the operation of the feeder control unit 24. It has Only Memory). Data or information generated or acquired by the communication unit 27 is temporarily stored in the RAM. A program that defines the operation of the feeder control unit 24 (for example, the motor control unit 25 controls the sprocket 21 based on the control signal received from the communication unit 27) is written in the ROM. In addition, the data storage unit 26 stores tape data, stop position data, and the like.

The communication unit 27 receives a control signal for controlling the sprocket 21 such as tape data and stop position data related to the carrier tape 7 used from the control unit 14 of the electronic component mounting device 1. The communication unit 27 outputs control parameters related to the rotation amount of the motor 22 to the motor control unit 25 based on the input control signal. The communication unit 27 writes and stores data such as tape data and stop position data input from the control unit 14 in the data storage unit 26. Further, when the received tape data matches the tape data of the carrier tape 7 already stored in the data storage unit 26, the communication unit 27 outputs only the data related to the type of the carrier tape 7 to the motor control unit 25. ..

The transport mechanism of the tape feeder 4 will be described with reference to FIG. FIG. 4 is a side view showing an example of a transport mechanism of the tape feeder 4. In FIG. 4, the sprocket 21 carries out a carrier tape 7 for storing an electronic component 16 in each of a plurality of recesses 7a as an example of a pocket. Further, the camera 12 is arranged above the suction position of the electronic component 16 of the carrier tape 7 and images the vicinity of the suction position of the electronic component 16 (for example, the notch portion 29a).

The sprocket 21 engages each of the plurality of feed pins 21a with a plurality of feed holes (not shown) provided in the carrier tape 7 to convey the electronic component 16 housed in the carrier tape 7 to the suction position. The side surface of the sprocket 21 is provided with each of a plurality of tooth surfaces 21b formed along the circumferential direction. Each of the plurality of tooth surfaces 21b meshes with the bevel gear 23 that transmits the driving force of the motor 22 to drive the sprocket 21. The gear that drives the sprocket 21 is not limited to the bevel gear 23, and may be another gear.

A method of measuring the imaging data captured by the camera 12 and the amount of misalignment of the feed pin 21a will be described with reference to FIG. FIG. 5 is a plan view showing an example of a transport mechanism of the tape feeder 4. In FIG. 5, the carrier tape 7 is not set in the tape feeder 4. Further, a feed pin 21a located near the top of the sprocket 21 is arranged in the notch 29a.

The camera 12 takes an image of the cutout portion 29a including the suction position of the electronic component 16 in a state where the carrier tape 7 is not set. The camera 12 outputs the captured image data to the recognition unit 13. The recognition unit 13 measures the positions of the plurality of feed pins 21a located near the top of the sprocket 21 based on the input imaging data. The recognition unit 13 compares the measured position data of the feed pin 21a with the preset normal position data of the feed pin 21a, and positions the plurality of feed pins 21a in the X and Y directions, respectively. Offset data indicating the amount is created and output to the control unit 14. As for the offset data, the offset data in the X direction corresponds to the suction position data, and the offset data in the Y direction corresponds to the stop position data.

The control unit 14 outputs the offset data of each of the plurality of feed pins 21a output from the recognition unit 13 to the storage unit 15 and stores them. The control unit 14 controls the motor 22 based on the position data and the offset data of the feed pin 21a included in the image pickup data imaged by the camera 12 in the operating state of the electronic component mounting device 1. As a result, the control unit 14 can always stop each of the plurality of feed pins 21a at the correct stop position, and can suck and take out the electronic component 16 at the correct suction position.

Next, the encoder 60 built in the motor 22 will be described with reference to FIG. FIG. 6 is a diagram showing an example of the internal configuration of the encoder 60. The motor 22 according to the first embodiment is equipped with a relatively inexpensive and small incremental encoder.

The encoder 60 is connected to the drive shaft of the motor 22 and detects the rotational position of the drive shaft. The encoder 60 includes a rotating shaft 61 connected to the drive shaft of the motor 22, a lattice disk 62 pivotally supported at the end of the rotating shaft 61, and a fixing plate 63 arranged so as to face the lattice disk 62. And photosensors 65, 66, 67 for detecting A-phase signal, B-phase signal, and Z (zero) phase signal, which are a plurality of signals for calculating the rotation position of the motor 22, respectively. To.

The rotating shaft 61 transmits the rotational driving force of the motor 22 to the grid disk 62. The photosensors 65, 66, and 67 convert the slit light that has passed through each of the A-phase slit 72, the B-phase slit 73, and the Z-phase slit 76 into an electric signal. The converted electric signal is input to the motor control unit and used to determine the rotational position of the motor 22. Hereinafter, a predetermined number of slits 71 formed on the peripheral portions of the lattice disk 62 and the lattice disk 62 will be described.

A predetermined number of slits 71 are formed at equal intervals in the axial direction on the peripheral edge of the lattice disk 62 as an example of the rotating plate. The predetermined number of slits 71 shown in FIG. 6 has 400 slits as an example. However, the number of slits of the predetermined number of slits 71 is not limited to 400 and may be any number. The resolution of the encoder 60 is determined according to the number of slits, and the higher the number of slits, the higher the resolution. Therefore, the rotation amount of the motor 22 can be controlled with higher accuracy.

Further, a plurality of Z-phase slits 75 are formed in the inner peripheral portion of the lattice disk 62 in the axial radial direction. Each of the plurality of Z-phase slits 75 is formed at unequal intervals and is arranged at different angles from each other. As an example, in the arrangement of the Z-phase slits SL1, SL2, SL3, and SL4 in the first embodiment, assuming that the slit 71 at the position where the Z-phase slit SL1 is engraved is the first slit, the Z-phase slit SL2 is 80. The main, Z-phase slit SL3 is located at the 90th, and the Z-phase slit SL4 is located at the 110th. In other words, each of the Z-phase slits SL1, SL2, SL3, and SL4 has 80 slits between the Z-phase slits SL1 and SL2, 90 slits between the Z-phase slits SL2 and SL3, and the Z-phase slit SL3. 110 slits are arranged between the and SL4, and 120 slits 71 are arranged between the Z-phase slits SL4 and SL1.

The motor control unit 25 rotates the grid disk 62 once in advance to measure the position where each of the plurality of Z-phase slits 75 is formed and the number of slits, and outputs the measurement result to the control unit 14. The motor control unit 25 receives the A-phase signal and the B-phase signal included between the output of the Z-phase signal set as the reference position (origin) and the output of each of the other plurality of Z-phase signals. Measure the number of pulse signals. As a result, the control unit 14 can calculate the positions of a plurality of other Z-phase signals with reference to the Z-phase signal located at the reference position (origin). Further, the motor control unit 25 can detect a plurality of other Z-phase signals as a reference position (origin) relative to the reference position (origin). Therefore, the motor 22 and the electronic component mounting device 1 equipped with the encoder 60 according to the first embodiment perform the origin return operation in a short time, and shorten the time to start the operation of transporting the electronic component 16 to the take-out position. Can be done.

The motor control unit 25 is a Z-phase output at the respective positions of the plurality of Z-phase slits SL1, SL2, SL3, SL4 and the respective slit positions of the plurality of Z-phase slits SL1, SL2, SL3, SL4. Measure the number of pulsed signals between the signals. The motor control unit 25 outputs and stores the respective positions of the plurality of Z-phase slits SL1, SL2, SL3, SL4 and the number of pulse signals between the plurality of Z-phase signals in the data storage unit 26.

It should be noted that between the slits of the plurality of Z-phase slits SL1, SL2, SL3, SL4 according to the first embodiment shown in FIG. 6, between the Z-phase slits SL1 and the Z-phase slits SL2, Eighty predetermined number of slits 71 are included, and 90 predetermined number of slits 71 are included between the Z-phase slit SL2 and the Z-phase slit SL3, and the Z-phase slit SL3 and the Z-phase slit A predetermined number of 110 slits 71 are included between SL4, and 120 predetermined number of slits 71 are included between the Z-phase slit SL4 and the Z-phase slit SL1. Further, each of the plurality of Z-phase slits SL1, SL2, SL3, and SL4 is not limited to the interval shown in FIG. 6, and may be any number of slits that are unequal to each other.

The fixing plate 63 includes an A-phase slit 72, a B-phase slit 73, and a Z-phase slit 74 corresponding to the respective arrangements of the photosensors 65, 66, and 67. The fixing plate 63 has an A-phase slit 72, a B-phase slit 73, and a Z-phase light that correspond to the light of the light emitting diodes 65z, 66z, and 67z projected from the photosensors 65, 66, and 67, respectively. Passing or blocking using each of the slits 74. The light of the light emitting diodes 65z, 66z, and 67z that passed through the fixed plate 63 passed through a predetermined number of slits 71 or Z-phase slits 75 carved in the lattice disk 62, and the photodiodes 65y, 66y, and 67y, respectively. Received light. Further, the A-phase slit 72 and the B-phase slit 73 are formed so that the A-phase signal and the B-phase signal, which will be described later, are pulse signals having different phases.

Hereinafter, the respective configurations of the photosensors 65, 66, and 67 will be described in detail.

The A-phase photosensor 65 is arranged so as to face each other with the fixed plate 63 and the lattice disk 62 interposed therebetween, and the A-phase light emitting diode 65z is arranged on the light emitting side and the A-phase photodiode 65y is arranged on the light receiving side. It consists of a pair of diodes. The fixing plate 63 has an A-phase slit 72 engraved at a position where the optical axis of the A-phase photosensor 65 passes. The A-phase light emitting diode 65z emits light toward the fixed plate 63 and passes through the A-phase slits 72 of the fixed plate 63 and a predetermined number of slits 71 of the lattice disk 62, respectively. As a result, the light of the A-phase light emitting diode 65z becomes slit light without being diffused, and is received by the A-phase photodiode 65y on the light receiving side. The motor control unit 25 converts the light received by the A-phase photodiode 65y into an electric signal and outputs the A-phase signal.

Similarly, the B-phase photosensor 66 is arranged so as to face each other with the fixed plate 63 and the lattice disk 62 interposed therebetween, the B-phase light emitting diode 66z is arranged on the light emitting side, and the B-phase photodiode 66 is arranged on the light receiving side. It consists of a pair of arrangements of 66y. The fixing plate 63 has a B-phase slit 73 engraved at a position where the optical axis of the B-phase photosensor 66 passes. The B-phase light emitting diode 66z emits light toward the fixed plate 63 and passes through the B-phase slits 73 and a predetermined number of slits 71 of the lattice disk 62, respectively. As a result, the light of the B-phase light emitting diode 66z becomes slit light without being diffused, and is received by the B-phase photodiode 66y on the light receiving side. The motor control unit 25 converts the light received by the B-phase photodiode 66y on the light receiving side into an electric signal and outputs the B-phase signal.

The A-phase signal and the B-phase signal are pulse signals having different phases. The A-phase slit 72 and the B-phase slit are formed so that the output A-phase signal and the B-phase signal are output as pulse signals having different phases.

When the lattice disk 62 rotates, the number of slit lights that have passed through a predetermined number of slits 71 detected by the A-phase photosensor 65 or the B-phase photosensor 66 is detected as the number of pulses.

Further, the Z-phase photosensor 67 is arranged so as to face each other with the fixed plate 63 and the lattice disk 62 interposed therebetween, the Z-phase light emitting diode 67z is arranged on the light emitting side, and the Z-phase photodiode 67y is arranged on the light receiving side. Consists of a pair of placements. The fixing plate 63 has a plurality of Z-phase slits 77 engraved at positions where the optical axis of the Z-phase photosensor 67 passes. The Z-phase light emitting diode 67z emits light toward the fixed plate 63 and passes through the Z-phase slits 75 and a predetermined number of slits 71 of the lattice disk 62, respectively. As a result, the light of the Z-phase light emitting diode 67z becomes slit light without being diffused, and is received by the Z-phase photodiode 67y on the light receiving side. The motor control unit 25 converts the light received by the Z-phase photodiode 67y on the light receiving side into an electric signal and outputs the Z-phase signal.

The Z-phase signal is a pulse signal like the A-phase signal and the B-phase signal. The control unit 14 of the motor 22 is based on the number of pulses of the A-phase signal and the B-phase signal included between the output first Z-phase signal and the next output second Z-phase signal. Calculate the rotation position.

The transmission of signals between the feeder control unit 24 and the motor 22 will be described with reference to FIG. 7. FIG. 7 is a diagram illustrating transmission of a signal between the feeder control unit 24 and the motor 22.

The control unit 14 drives the motor 22 to control the carrier tape 7 to be conveyed to the suction position of the electronic component 16. The control unit 14 calculates the rotation amount and rotation position of the motor 22 based on the A-phase signal, the B-phase signal, and the Z-phase signal transmitted from the encoder 60, and controls the rotation amount of the motor 22.

The motor control unit 25 includes a power circuit unit 25z and a control unit 25y. The power circuit unit 25z includes a power conversion unit that converts the electric power supplied from the electronic component mounting device into electric power suitable for the specifications of the motor 22. The control unit 25y inputs a speed command value from the control unit 14 as an external command, compares this speed command value with the speed based on the pulse signal from the encoder 60, and the rotation speed of the motor 22 becomes the speed command value. The speed is controlled as follows. The control unit 25y is configured by using an MPU (Micro Processing Unit), a CPU (Central Processing Unit), a DSP (Digital Signal Processor), a gate circuit, or the like.

FIG. 8 is a schematic diagram illustrating an origin search. In FIG. 8, the origin search method according to the first embodiment will be described by comparing the conventional encoder with the encoder 60 according to the first embodiment. Further, the encoder 60 according to the first embodiment in FIG. 8 shows a case where a predetermined number of slits 71 formed in the lattice disk 62 are 400 as an example. Each of the A-phase signal and the B-phase signal is output including a signal of 400 pulses during one rotation. In FIG. 8, a predetermined number of slits 71 are omitted for the sake of clarity.

In a conventional encoder, one Z-phase slit SL0 for detecting a reference position (origin) on a lattice disk, a Z-phase photosensor in which an opposing light emitting diode and a photodiode are paired, and a light emitting diode slit. It is composed of a fixing plate that makes light. The Z-phase B photosensor outputs a Z (zero) phase signal obtained by receiving light passing through a Z-phase slit. A motor and an electronic component mounting device equipped with a conventional encoder start rotation from an arbitrary stop position and detect a pulse signal of a Z-phase signal. The conventional encoder calculates the reference position (origin) from the number of pulses included in the A-phase signal and the B-phase signal output until the Z-phase signal is detected, and performs the origin return operation.

From the above, since the conventional encoder has to rotate the motor up to one rotation according to an arbitrary stop position of the encoder, there is a problem that the rotation amount of the motor required for the origin search and the time thereof become long. Therefore, in the component mounting device equipped with the conventional encoder, it takes a long time to start the origin return operation and the supply of electronic components, and as a result, the productivity is lowered.

On the other hand, the encoder 60 according to the first embodiment has a grid disk 62 in which each of the plurality of Z-phase slits SL1, SL2, SL3, and SL4 is formed. The Z-phase slit SL1 corresponds to a Z-phase slit that outputs a Z-phase signal indicating a reference position (origin) in a conventional encoder. Further, each of the other plurality of Z-phase slits SL2, SL3, and SL4 is a reference position (origin) relative to the Z-phase slit SL1 indicating the reference position (origin).

The plurality of Z-phase slits SL1, SL2, SL3, and SL4 are located at unequal intervals from each other. Further, as the Z-phase signal, each of the Z-phase signals Z1, Z2, Z3, Z4 is output at each position of the plurality of Z-phase slits SL1, SL2, SL3, SL4. Eighty slits 71 are formed between the Z-phase slit SL1 and the Z-phase slit SL2. An 80-pulse A-phase signal and a B-phase signal are included and output between the Z-phase signal Z1 and the Z-phase signal Z2. Similarly, 90 slits 71 are formed between the Z-phase slit SL2 and the slit SL3. A 90-pulse A-phase signal and a B-phase signal are included and output between the Z-phase signal Z1 and the Z-phase signal Z2. Further, 110 slits 71 are formed between the Z-phase slit SL3 and the slit SL4. A 110-pulse A-phase signal and a B-phase signal are included and output between the Z-phase signal Z3 and the Z-phase signal Z4. 120 slits 71 are formed between the Z-phase slit SL4 and the slit SL1. A 120-pulse A-phase signal and a B-phase signal are included and output between the Z-phase signal Z4 and the Z-phase signal Z1. The control unit 14 outputs and stores the positions of the plurality of Z-phase slits SL1, SL2, SL3, and SL4 and the number of pulse signals between the plurality of Z-phase signals in the storage unit 15.

Next, the origin search in the encoder 60 will be described. The control unit 14 starts the origin search from, for example, the rotation position (stop position) at time t0 at the stop position. The control unit 14 detects the first Z-phase signal Z1 (FIG. 8, time t1) after starting the rotation, and further detects the second Z-phase signal Z2 (FIG. 8, time t2). The control unit 14 measures the number of pulses included in the A-phase signal or the B-phase signal between the detection of the first Z-phase signal Z1 and the detection of the second Z-phase signal Z2. The control unit 14 has the measured number of pulses (for example, 80 pulses), the positions of the plurality of Z-phase slits SL1, SL2, SL3, SL4 stored in the storage unit 15, and the pulses between the plurality of Z-phase signals. The stop position and the respective positions of the first Z-phase signal Z1 and the second Z-phase signal Z2 are calculated based on each of the number of signals. As a result, the control unit 14 completes the origin search with the first Z-phase signal Z1 as the reference position (origin). Further, the feeder control unit 24 reversely rotates from the position where the second Z-phase signal Z2 is detected by the number of pulses (for example, 80 pulses) of the predetermined A-phase signal and B-phase signal, thereby causing the first Z-phase. It returns to the detection position of the signal Z1 and completes the return-to-origin operation (FIG. 8, time t3).

As a result, the electronic component mounting device 1 equipped with the encoder 60 according to the first embodiment can perform an origin search by rotating the motor 22 by a maximum of 1/2 rotation according to an arbitrary stop position of the encoder. Therefore, the electronic component mounting device 1 can shorten the rotation amount and the time of the motor 22 required for the origin search. Further, the electronic component mounting device 1 can perform the origin return operation at each position of the plurality of Z-phase slits SL2, SL3, SL4 as a reference position (origin) relative to the plurality of Z-phase slits SL1. Therefore, the electronic component mounting device 1 can shorten the time for performing the origin search and also the time for returning to the origin.

The A-phase signal, the B-phase signal, and the Z-phase signal output from the motor control unit 25 will be described with reference to FIG. FIG. 9 is a timing chart of the A-phase signal, the B-phase signal, and the Z-phase signal output from the motor control unit 25.

The A-phase signal and the B-phase signal have, for example, 400 pulses, which is the same number as a predetermined number of slits 71 formed in the lattice disk 62. Further, the A-phase signal and the B-phase signal have different phases as shown in the figure. For example, the A-phase signal outputs a signal waveform whose phase is advanced by 90 ° with respect to the B-phase signal when the motor 22 rotates clockwise, and 90 with respect to the B-phase signal when the motor 22 rotates counterclockwise. ° Outputs a signal waveform with a delayed phase. Therefore, the rotation direction of the motor 22 can be specified based on the phase relationship between the signal waveforms of the A-phase signal and the B-phase signal.

As the Z-phase signal, each of the plurality of Z-phase signals Z1, Z2, Z3, Z4 is output corresponding to each of the plurality of Z-phase slits SL1, SL2, SL3, SL4. Each of the plurality of Z-phase signals Z1, Z2, Z3, Z4 is output at intervals including 80 pulses, 90 pulses, 110 pulses, and 120 pulses of the A-phase signal and the B-phase signal, respectively.

FIG. 10 is a flowchart showing an example of the origin search and origin return procedure by the control unit 14. The control unit 14 performs an origin search and origin return operation on the feed pin 21a of the sprocket 21 at the stop position in order to attract and take out the electronic component 16 housed in the recess 7a of the carrier tape 7.

The control unit 14 rotationally drives the motor 22 from the stopped state to rotate the grid disk 62 of the encoder 60. The motor control unit 25 detects the first Z-phase signal Z1 by using the Z-phase photo sensor 67 (S1).

The motor control unit 25 converts and outputs slit light passing through a predetermined number of slits 71 detected by using the A-phase photosensor 65 or the B-phase photosensor 66. The control unit 14 starts measuring the number of pulses of the output A-phase signal or B-phase signal (S2).

The motor control unit 25 detects the second Z-phase signal using the Z-phase photo sensor 67 (S3). Here, the second Z-phase signal detected after the first Z-phase signal is detected is a second Z-phase signal adjacent to the first Z-phase slit first detected from the stop position in the rotation direction. It is a Z-phase signal detected by the Z-phase slit of. The second Z-phase slit in which the second Z-phase signal is detected is not limited to the adjacent Z-phase slits, but is a Z-phase slit at a rotational position with one or more Z-phase slits sandwiched between them. You may.

When the control unit 14 detects the second Z-phase signal, the A-phase signal or the B-phase signal due to the slit light passing through a predetermined number of slits 71, which is detected by the A-phase photosensor 65 or the B-phase photosensor 66, The measurement of the number of pulses (pulse count number) of is completed (S4). The control unit 14 has the pulse counts measured between the detection of the first Z-phase signal and the detection of the second Z-phase signal, and the Z-phase signals Z1 and Z1 registered in the storage unit 15. The second detected second is based on the number of pulses corresponding to the intervals of Z2, Z3, Z4 (in other words, the number of slits formed at the respective intervals of the plurality of Z-phase slits SL1, SL2, SL3, SL4). The position of the Z-phase slit (second reference position) of the above is specified (S5). It is also possible to perform an origin search by rotating the encoder 60 in the reverse direction.

The control unit 14 specifies the position of the first Z-phase slit (first reference position) first detected from the specified position of the second Z-phase slit (second reference position). The control unit 14 has the first Z-phase slit and the second Z-phase slit from the position of the second Z-phase slit (the second reference position, strictly speaking, the position where the encoder is stopped after detecting the second Z-phase slit). The motor 22 is rotated in the opposite direction by the number of pulse counts between the Z-phase slit and the motor 22, and the rotation position of the motor 22 is returned to the first reference position (origin) of the first Z-phase slit (S6). Here, it is assumed that the encoder 60 stops at the rotation position where the second Z-phase slit is detected, but the encoder 60 detects the second Z-phase slit due to inertia, backlash of the pin, or the like. It may stop beyond the second reference position. In this case, the home return operation is performed by adding the excess pulse number to the pulse count number.

Further, the returned first reference position (origin) is a reference position at a position closest to the stop position where the motor 22 stopped when the carrier tape 7 was previously conveyed. As a result, the electronic component mounting device 1 can shorten the feed amount of the carrier tape 7 conveyed for the home return operation as compared with the conventional encoder, and the loss of the electronic component 16 due to the home return operation can be shortened. Can be reduced.

The electronic component mounting device 1 according to the first embodiment searches for the origin by rotating the motor 22 in the transport direction (forward direction) of the carrier tape 7, but is opposite to the transport direction of the carrier tape 7. The origin search may be performed by rotating the motor 22 in the direction of (reverse direction).

Further, the encoder 60 may increase the number of slits in the Z-phase slit 75. As a result, the feeder control unit 24 determines the amount of rotation from the stop position after detecting the second Z-phase slit to the relative reference position (origin) which is the rotation position of the first Z-phase slit. It can be shortened, and the time until the two Z-phase signals are detected can be shortened. Therefore, the electronic component mounting device 1 can perform the origin return operation in a short time, and can shorten the time to start the operation of transporting the electronic component 16 to the take-out position. Further, the electronic component mounting device 1 can reduce the feed amount of the carrier tape 7 conveyed for the home return operation, and can reduce the loss of the electronic component 16 due to the home return operation.

As described above, the motor 22 in the electronic component mounting device 1 according to the first embodiment outputs a plurality of Z-phase signals Z1, Z2, Z3 corresponding to each of the plurality of reference positions (origins) of the lattice disk 62. It is possible to perform origin search and origin return operations for any of each of, and Z4. Therefore, the electronic component mounting device 1 starts the operation of transporting the electronic component 16 to the take-out position by shortening the time until the origin search and the origin return operation even when the inexpensive and small encoder 60 is mounted. You can save time.

The electronic component mounting device 1 conveys the carrier tape 7 in which the electronic component 16 is housed in each of the plurality of recesses 7a to a suction position where the electronic component 16 is taken out. The component supply unit 2 includes a tape feeder 4 (an example of a transport unit) that conveys the carrier tape 7, and a feeder control unit 24 (an example of a control unit) that controls the tape feeder 4. The tape feeder 4 has a motor 22 and an encoder 60. The control unit 14 determines the rotation position of the motor 22 based on the number of pulse signals between each of the plurality of Z-phase signals Z1, Z2, Z3, and Z4 output as reference signals.

As a result, even when the motor 22 is equipped with an inexpensive and small incremental encoder, the control unit 14 can perform the operation of transporting the electronic component 16 to the suction position with high accuracy in a short time.

Further, the motor control unit 25 outputs a first Z-phase signal (first reference signal) at the first rotation position among the plurality of reference positions, and outputs a second Z-phase signal at the second rotation position. (Second reference signal) is output. In the encoder 60, the number of pulse signals in the first rotation section separated by the first Z-phase signal and the second Z-phase signal and the number of pulse signals in the second rotation section are different from each other.

As a result, the electronic component mounting device 1 calculates the rotation position where each of the Z-phase signals is output because the number of pulse signals in the first rotation section and the number of pulse signals in the second rotation section are different. be able to.

Based on the determination result of the rotation position of the motor 22, the control unit 14 determines the first reference position corresponding to the first Z-phase signal among the plurality of Z-phase signals (reference signals) output from the encoder 60. It is set as a reference position (origin) of the rotation position of the motor 22.

As a result, the electronic component mounting device 1 can calculate the reference position (origin) closest to the stop position without rotating the motor 22 by one rotation, and perform the home return operation.

Further, the encoder 60 has a grid disk 62 (rotary plate) that is pivotally supported by a drive shaft of the motor 22 and has a predetermined number of slits 71 for outputting different pulse signals. The lattice disk 62 is formed with a plurality of Z-phase slits (reference slits) for outputting Z-phase signals at each of the plurality of rotation positions.

As a result, the electronic component mounting device 1 can shorten the amount of rotation until it returns to the reference position (origin), and further shorten the time until it detects two Z-phase signals. Therefore, the electronic component mounting device 1 can perform the origin return operation in a short time, and can shorten the time to start the operation of transporting the electronic component 16 to the take-out position. Further, the electronic component mounting device 1 can reduce the feed amount of the carrier tape 7 conveyed for the home return operation, and can reduce the loss of the electronic component 16 due to the home return operation.

In the above-described embodiment, an example using an optical transmission type encoder has been described, but an optical reflection type encoder may be used. When an optical reflection encoder is used, miniaturization of the component mounting device can be expected.

Although the embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can come up with various modification examples, modification examples, replacement examples, addition examples, deletion examples, and equal examples within the scope of claims. It is understood that it belongs to the technical scope of the present disclosure. Further, each component in the above-described embodiment may be arbitrarily combined as long as the gist of the invention is not deviated.

Further, the present disclosure has shown a case where it is applied to an electronic component mounting device which is an example of a component supply device, but the present invention is not limited to this, and works such as a distribution device such as a conveyor for transporting articles and a lathe for moving a tool post. It can be applied to various devices such as machines and robots that produce things.

The present disclosure discloses a control method for a component supply device and a component supply device that can perform an operation of transporting a component to a take-out position in a short time while reducing the device cost when the carrier tape is conveyed to a position where the component is taken out. It is useful as.

2 Parts supply unit 7 Carrier tape 22 Motor 24 Feeder control unit 60 Encoder

Claims (5)

A component supply device for transporting a carrier tape having a plurality of pockets capable of storing components to a position where the component mounting device takes out the components.
A transport unit that transports the carrier tape and
It has a control unit that controls the transport unit, and has
The transport unit
With the motor
It has an encoder that outputs a pulse signal by rotation of the motor and outputs a plurality of reference signals at a plurality of predetermined rotation positions of the motor.
The control unit determines the rotational position of the motor based on the number of pulse signals between the plurality of reference signals.
Parts supply equipment. The parts supply device according to claim 1.
The encoder outputs a first reference signal at the first rotation position and outputs a second reference signal at the second rotation position among the plurality of rotation positions.
The number of the pulse signals in the first rotation section separated by the first reference signal and the second reference signal is different from the number of the pulse signals in the second rotation section.
Parts supply equipment. The parts supply device according to claim 1 or 2.
Based on the determination result of the rotation position of the motor, the control unit uses the rotation position corresponding to the first reference signal among the plurality of reference signals output from the encoder as the origin of the rotation position of the motor. Set,
Parts supply equipment. The parts supply device according to any one of claims 1 to 3.
The encoder
It has a rotating plate that is pivotally supported by the motor and has a predetermined number of slits formed to output different pulse signals.
The rotating plate is provided with a plurality of reference slits for outputting a reference signal at each of the plurality of rotating positions.
Parts supply equipment. A control method for a component supply device that transports a carrier tape having a plurality of pockets capable of storing components to a position where the component mounting device takes out the components.
The parts supply device is
It has a transport unit that has a motor to transport the carrier tape, and a control unit that controls the transport unit.
The transport unit
A pulse signal is output by the rotation of the motor, and a plurality of reference signals are output at a plurality of predetermined rotation positions of the motor.
The control unit
The rotation position of the motor is determined based on the number of pulse signals included in the plurality of reference signals.
How to control the parts supply device.

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