JP7197284B2 - Tape collecting mechanism, tape feeder, mounting device, tape collecting method - Google Patents

Description

The present invention relates to a tape collecting mechanism, a tape feeder, a mounting device, and a tape collecting method for collecting a tape by driving force of a motor.

2. Description of the Related Art In general, as a tape collection mechanism used in various devices, there is known a mechanism that collects a tape while suppressing slack of the tape (see, for example, Patent Document 1). In the tape recovery mechanism described in Patent Document 1, an adjustment mechanism such as a tension roller is provided in the tape transport path. There is a certain amount of tension on the Since tension continues to act on the tape even when the motor of the tape recovery mechanism is stopped, reverse rotation of the motor is suppressed by weakly exciting the motor and applying a braking force.

JP 2012-018999 A

However, in the general tape collecting mechanism as described above, since weak excitation must be continued even when the motor is stopped, there is a problem that power consumption and heat generation increase. On the other hand, when the weak excitation of the motor is turned off, the motor cannot withstand the tensile force of the tape, causing the motor to rotate in the reverse direction, resulting in a loss of synchronization with the input signal.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and provides a tape collecting mechanism, a tape feeder, a mounting device, and a tape collecting method that can prevent a motor from stepping out while keeping power consumption and heat generation low. One of the purposes is to

A tape collecting mechanism according to one aspect of the present invention is a tape collecting mechanism for collecting a tape fed out from a supply source, comprising: a roller for feeding the tape in a collecting direction; and a motor connected to the roller. Before turning off the excitation, the motor is rotated by a predetermined amount in a direction opposite to the direction in which the tape is collected, and the predetermined amount is an amount of rotation such that at least the tensile force of the tape becomes smaller than the load torque of the motor. , characterized in that

A tape collecting method according to one aspect of the present invention is a tape collecting method for collecting a tape fed from a supply source, comprising the step of exciting a motor to cause a roller connected to the motor to collect the tape; rotating the motor by a predetermined amount in a direction opposite to the direction in which the tape is retrieved, before turning off the excitation , wherein the predetermined amount is such that at least the tensile force of the tape is smaller than the load torque of the motor. It is characterized by being the amount of rotation .

According to these configurations, the motor is stopped in a state in which the tape is slackened by rotating the motor by a predetermined amount in a direction opposite to the direction in which the tape is collected before the excitation of the motor is cut off. Since the tension on the tape is released, the tape does not rotate even when the excitation of the motor is turned off. Therefore, since the motor is not excited when the motor is stopped, power consumption and heat generation can be kept low, and reverse rotation of the motor can be suppressed to prevent step-out.

In the tape collecting mechanism of one aspect of the present invention, the motor is energized before the tape is collected, and is maintained in a stopped state after rotating in the forward direction by a predetermined amount. According to this configuration, by rotating the motor forward by a predetermined amount, the tape can be re-tensioned and ready for the tape recovery operation.

A tape feeder according to one aspect of the present invention includes the above-described tape recovery mechanism, causes the tape recovery mechanism to recover a cover tape peeled off from a carrier tape packaging a large number of components, and removes components exposed from the carrier tape. It is characterized by sending out toward the supply position. According to this configuration, the power consumption and heat generation of the motor can be kept low, and step-out can be prevented, so that the parts can be stably supplied by the tape feeder.

In the tape feeder according to one aspect of the present invention, the motor is energized a predetermined time before the start of supply of parts scheduled in the operation schedule, and the motor is rotated in the forward direction by a predetermined amount and then maintained in a stopped state. be. According to this configuration, since the tape is reapplied based on the operation schedule, the parts supply operation is not delayed due to the operation time for reapplying the tape. Therefore, re-tapping of the tape does not affect the component supply operation, and reduction in tact time during component supply can be suppressed. Also, by keeping the increase in the excitation time of the motor short, power consumption and heat generation can be kept low.

In the tape feeder according to one aspect of the present invention, the motor is energized during the waiting time for supplying the component, and after the motor rotates in the forward direction by a predetermined amount, it is maintained in a stopped state. According to this configuration, since the tape is reapplied using the waiting time for supplying the parts, the supply operation of the parts is not delayed due to the operation time for reapplying the tape. Therefore, re-tapping of the tape does not affect the component supply operation, and reduction in tact time during component supply can be suppressed. Also, by keeping the increase in the excitation time of the motor short, power consumption and heat generation can be kept low.

A mounting apparatus according to one aspect of the present invention includes the tape feeder described above, and a mounting head that mounts a component fed from the tape feeder onto a substrate. According to this configuration, the mounting head can stably receive the component from the tape feeder and mount it on the board while keeping the power consumption and heat generation of the tape feeder low.

According to the present invention, by rotating the motor by a predetermined amount in the direction opposite to the direction in which the tape is collected before the excitation of the motor is turned off, power consumption and heat generation can be kept low, and step-out of the motor can be prevented. can.

1 is a schematic diagram showing an entire mounting apparatus according to an embodiment; FIG. 4 is a schematic diagram showing the periphery of the mounting head of the embodiment; FIG. It is a figure which shows an example of the supply operation|movement of components of this Embodiment. It is a figure which shows an example of the motor control of this Embodiment.

A mounting apparatus according to the present embodiment will be described below with reference to the accompanying drawings. FIG. 1 is a schematic diagram showing the entire mounting apparatus of this embodiment. FIG. 2 is a schematic diagram showing the tape feeder of this embodiment. Note that the mounting apparatus of the present embodiment is merely an example, and can be modified as appropriate.

As shown in FIG. 1 , the mounting apparatus 1 is configured to mount various components supplied by a tape feeder 20 on predetermined positions of a substrate W using a mounting head 12 . A base 10 of the mounting apparatus 1 is provided with a substrate transfer section 11 that transfers the substrate W in the X-axis direction. The substrate conveying unit 11 loads the substrate W before component mounting from one end side in the X-axis direction below the mounting head 12 and positions the substrate W, and carries out the substrate W after component mounting from the other end side in the X-axis direction to the outside of the apparatus. are carrying out. Also, on both sides of the substrate transfer section 11, a feeder bank 19 in which a plurality of tape feeders 20 are arranged side by side in the X-axis direction is detachably connected.

A tape reel (supply source) 21 is detachably attached to the tape feeder 20, and a carrier tape 22 (see FIG. 2) that packages a large number of components is wound around the tape reel 21. FIG. In the tape feeder 20, the carrier tape 22 is conveyed toward the supply position where it is picked up by the mounting head 12 by rotating the sprocket wheel 31 (see FIG. 2). At the supply position with respect to the mounting head 12, the surface cover tape 23 (see FIG. 2) is peeled off from the carrier tape 22 to expose the components in the pockets of the carrier tape 22 to the outside. Note that the component is not particularly limited to an electronic component or the like as long as it can be mounted on the substrate W. FIG.

A moving mechanism 13 for horizontally moving the pair of mounting heads 12 in the X-axis direction and the Y-axis direction is provided on the base 10 . The moving mechanism 13 has a pair of Y-axis driving portions 14 extending in the Y-axis direction and an X-axis driving portion 15 extending in the X-axis direction. The pair of Y-axis driving portions 14 are supported by support portions (not shown) erected at the four corners of the base 10, and the X-axis driving portion 15 is movable in the Y-axis direction by the pair of Y-axis driving portions 14. is set up. Mounting head 12 is mounted on X-axis driving section 15 so as to be movable in the X-axis direction. The components are mounted on the substrate W at desired positions.

As shown in FIG. 2, the tape feeder 20 is configured to peel off the cover tape 23 from the carrier tape 22 and feed the components exposed from the carrier tape 22 toward the supply position for the mounting head 12 (see FIG. 1). ing. An opening 24 is provided in the lower part of the rear side of the feeder frame 25 , and the carrier tape 22 unwound from the tape reel 21 (see FIG. 1) is inserted into this opening 24 and fed along the transport guide 26 in the feeder frame 25 . A carrier tape 22 has been sent out. The carrier tape 22 is guided obliquely upward from the opening 24 of the feeder frame 25 by the transport guide 26 and then guided forward along the upper surface of the feeder frame 25 .

An upper cover 27 is attached to the front side of the feeder frame 25 to cover the carrier tape 22 from above. A slit 28 is formed in the upper cover 27 , the cover tape 23 peeled from the carrier tape 22 is folded back through the slit 28 , and the carrier tape 22 from which the cover tape 23 is peeled forwards inside the upper cover 27 . transported towards. A supply port 29 is formed in front of the slit 28 in the upper cover 27 , and components in the pocket of the carrier tape 22 are exposed through the supply port 29 . Components exposed from the supply port 29 are transferred to the nozzle 17 of the mounting head 12 .

A sprocket wheel 31 for feeding the carrier tape 22 forward is supported on the front side of the feeder frame 25 . A feed motor 33 is connected to the sprocket wheel 31 via a reduction gear train 32 . The sprocket wheel 31 is interlocked with the rotation of the feed motor 33 , so that the carrier tape 22 is fed forward by the sprocket wheel 31 and the components are sequentially supplied toward the supply port 29 . The cover tape 23 separated from the carrier tape 22 is folded backward, and then sent into a recovery box 47 on the rear side of the feeder frame 25 by a guide roller 41, a tension roller 42, and a pair of recovery rollers (rollers) 44. there is

A pair of recovery rollers 44 for feeding the cover tape 23 in the recovery direction is supported near the entrance of the recovery box 47 . A pull motor (motor) 46 is connected to the collection roller 44 via a reduction gear train 45 . When the collection roller 44 is interlocked with the rotation of the pull motor 46 , the cover tape 23 is fed rearward by the collection roller 44 and collected in the collection box 47 . A tension roller 42 supported by the tip of a tension arm 43 is positioned in front of the pair of collection rollers 44 . As the cover tape 23 is pushed by the tension roller 42, the cover tape 23 is collected under tension.

By recovering the cover tape 23 while applying a constant tension with the tension roller 42 in this manner, the cover tape 23 is detached from the carrier tape 22 when the carrier tape 22 is sent out. The tape feeder 20 is provided with a control circuit 49 to which the feed motor 33 and the pull motor 46 are connected. The control circuit 49 is communicably connected to the mounting apparatus 1 (see FIG. 1) via a communication connector, and receives a control command from the mounting apparatus 1 to control the excitation timing of the feed motor 33 and the pull motor 46. is controlled.

The control circuit 49 is composed of processors, memories, and the like that control various motors. The memory is composed of one or a plurality of storage media such as ROM (Read Only Memory) and RAM (Random Access Memory) depending on the application, and stores control programs for controlling various motors. The feed motor 33 and the pull motor 46 may be provided with encoders for detecting the amount of rotation of each motor. By feeding back the detection result of the encoder to each motor, it is possible to control the feeding amount of the tape by each motor with high accuracy.

By the way, in the tape feeder 20, the gear ratio of the pull motor 46 is set small enough so that the operator can manually pull in the cover tape 23 so that the setup can be performed with the power turned off. Since tension continues to act on the cover tape 23 by the tension roller 42 even when the power is turned off, the reverse rotation of the pull motor 46 due to the tensile force of the cover tape 23 is suppressed by normally applying weak excitation to the pull motor 46 . However, there is a problem that the pull motor 46 must always be weakly excited, increasing the power consumption and heat generation of the pull motor 46 .

Therefore, in the tape recovery mechanism 40 of the present embodiment, the pull motor 46 is rotated by a predetermined amount in a direction opposite to the direction in which the cover tape 23 is recovered to loosen the cover tape 23 before the excitation of the pull motor 46 is cut off. As a result, power consumption and heat generation of the pull motor 46 can be kept low, and loss of synchronism due to reverse rotation of the pull motor 46 can be prevented. Further, in order to resume feeding the carrier tape 22, the cover tape 23 needs to be re-tensioned. The supply operation of the tape feeder 20 is not delayed due to re-tensioning of the tape 23. - 特許庁

Hereinafter, the operation of supplying components by the tape feeder of the present embodiment will be described with reference to FIGS. 3 and 4. FIG. FIG. 3 is a diagram showing an example of the component supply operation according to the present embodiment. FIG. 4 is a diagram showing an example of motor control according to this embodiment. It should be noted that each time of the motor control in FIG. 4 is not particularly limited, and can be appropriately changed according to the control program. Further, in FIG. 4, the reference numerals in FIG. 3 are appropriately used for description.

As shown in FIG. 3A, during the component supply operation, a supply operation control command is output to the feed motor 33 and the pull motor 46 through the control circuit 49 . The feed motor 33 intermittently feeds the carrier tape 22 by the sprocket wheel 31 according to the control command, and feeds the components to the supply port 29 by the carrier tape 22 in order. The pull motor 46 feeds the cover tape 23 separated from the carrier tape 22 into the collection box 47 by the same feeding amount as the carrier tape 22 by the pair of collection rollers 44 in synchronization with the feed motor 33 according to the control command. .

At this time, since the cover tape 23 is stretched by the tension roller 42 , the drawing force of the collection roller 44 strongly acts on the cover tape 23 at the peeling position where the cover tape 23 is peeled from the carrier tape 22 . Since the carrier tape 22 is strongly fed forward of the tape feeder 20 and the cover tape 23 is strongly pulled in while being folded back to the rear side of the tape feeder 20, the cover tape 23 is easily peeled off from the carrier tape 22.例文帳に追加Therefore, the cover tape 23 is not peeled off from the carrier tape 22 and the cover tape 23 is not caught on the supply port 29 side of the tape feeder 20 .

As shown in FIG. 3B, when the carrier tape 22 is stopped, a control command is output through the control circuit 49 to turn off the excitation of the feed motor 33 and the pull motor 46 . The feed motor 33 begins to be deenergized in response to the control command, and the rotation of the sprocket wheel 31 stops, thereby stopping the feeding of the carrier tape 22 . The pull motor 46 rotates by a predetermined amount in a direction opposite to the direction in which the cover tape 23 is recovered before being deenergized according to a control command. The collection roller 44 is reversely rotated by the pull motor 46, and the cover tape 23 is sent out from the collection box 47, so that the tension applied to the cover tape 23 is released.

Then, the pull motor 46 starts to be deenergized, and the reverse rotation of the collection roller 44 stops, thereby stopping the feed of the cover tape 23 . Since the cover tape 23 is slack, the pull motor 46 is not strongly pulled by the cover tape 23. - 特許庁Therefore, even if the pull motor 46 is not excited, the stop state can be maintained by the mechanical load torque of the pull motor 46, and the power consumption and heat generation of the pull motor 46 do not increase. In addition, since the reverse rotation of the pull motor 46 is prevented, synchronization with the control command is not lost, and the pull motor 46 does not become uncontrollable due to step-out.

In this way, the pull motor 46 intentionally reverses itself to release the tension of the cover tape 23 before the excitation is turned off, so that the pull motor 46 is stopped in a controllable state in the next recovering operation of the cover tape 23 . The predetermined amount of rotation of the pull motor 46 in the direction opposite to the direction in which the cover tape 23 is recovered should be such that the tensile force of the cover tape 23 is at least smaller than the load torque of the pull motor 46 . Therefore, the reverse rotation of the pull motor 46 does not require the cover tape 23 to be completely slackened, and the pull motor 46 may be slightly pulled by the cover tape 23 .

As shown in FIG. 3C, when resuming the supply of components, the control circuit 49 outputs a control command to start supply preparation to the pull motor 46 before the control circuit 49 outputs the control command for the supply operation. The pull motor 46 is energized according to the control command before the cover tape 23 is recovered, and rotates by a predetermined amount in the same forward direction as the cover tape 23 recovery direction. The recovery roller 44 is rotated forward by the pull motor 46, and the cover tape 23 is fed into the recovery box 47, so that slack is removed from the cover tape 23 and the cover tape 23 is stretched again.

After the pull motor 46 rotates by a predetermined amount due to excitation of the pull motor 46, it is maintained in a stopped state. At this time, although the cover tape 23 has been re-tensioned, the pulling force of the cover tape 23 does not reverse the pull motor 46 because the pull motor 46 is given a braking force by the excitation. Then, the supply operation control command is output again to the feed motor 33 and the pull motor 46 through the control circuit 49, and the feeding operation of the carrier tape 22 and the collecting operation of the cover tape 23 are performed. In this manner, the pull motor 46 rotates in the forward direction by a predetermined amount, so that the cover tape 23 is re-tensioned and ready for the tape recovery operation.

In this case, the re-stretching of the cover tape 23 is completed slightly before the feeding operation of the carrier tape 22 is started. For example, since the mounting apparatus 1 (see FIG. 1) operates based on the operation schedule, the pull motor 46 is energized a predetermined time before the feeding operation of the carrier tape 22 scheduled according to the operation schedule, and the pull motor 46 is forwarded. It is maintained at rest after rotating a predetermined amount in a direction. In addition, even if the pull motor 46 is energized during the waiting time for the tape feeder 20 to supply components to the mounting head 12 (see FIG. 1), the pull motor 46 is rotated in the forward direction by a predetermined amount and then maintained in a stopped state. good.

As shown in FIG. 4, a control command to start supply preparation is sent from the mounting apparatus 1 (see FIG. 1) to the pull motor 46 of the tape feeder 20 at least 50 [ms] before the start of the component supply operation based on the operation schedule. is notified. The pull motor 46 returns a status response to the mounting apparatus 1, the pull motor 46 is excited, and supply preparation is started. At this time, the cover tape 23 is reapplied for 50 [ms] to 210 [ms] after 2 [ms] has passed due to current-up. In this manner, preparations are made for the collection operation of the cover tape 23 by the pull motor 46 before the component supply operation.

After 50 [ms] or more have elapsed from the start of re-stretching, the mounting apparatus 1 notifies the feed motor 33 and the pull motor 46 of a supply operation control command. The feed motor 33 feeds the carrier tape 22 and returns a status response to the mounting apparatus 1 after 2 [ms] of current-up. The pull motor 46 waits for the current of the feed motor 33 to rise, collects the cover tape 23 , and returns a status response to the mounting apparatus 1 . The feeding operation of the feed motor 33 and the collecting operation of the pull motor 46 are synchronized, and the interval from the reception of the command to the return of the response is set to 60 [ms], for example.

Since the re-tensioning of the cover tape 23 is performed 50 [ms] or more before the feeding operation of the carrier tape 22, preparations for the recovering operation of the pull motor 46 are completed at the time when the feeding operation is performed by the feed motor 33. there is Further, since the excitation time of the pull motor 46 is only slightly longer, the increase in the excitation time of the pull motor 46 can be suppressed to keep the power consumption and heat generation of the pull motor 46 low. Furthermore, since the cover tape 23 is reapplied by effectively utilizing the standby time during which the component supply operation is not performed based on the operation schedule, the component supply operation is not delayed due to the operation time for reapplying the cover tape 23.例文帳に追加

When the component supply operation is repeated a plurality of times and a plurality of components are supplied to the mounting head 12 , the mounting apparatus 1 notifies the feed motor 33 and the pull motor 46 of a supply preparation end control command. The feed motor 33 returns a status response to the mounting apparatus 1, and the excitation is turned off after 100 [ms]. Excitation of the pull motor 46 is cut after 100 [ms] after loosening the cover tape 23 over 45 [ms] via a status response to the mounting device 1 . Since the cover tape 23 is slack, the pull motor 46 is not reversed even when the excitation of the pull motor 46 is cut off.

Furthermore, when the mounting head 12 mounts the component on the substrate and returns to the tape feeder 20 to pick up the component again, the waiting time during the supply of the component from the tape feeder 20 to the mounting head 12 is used to feed the cover tape. 23 is re-tensioned. In this case, similarly to the above, the cover tape 23 is re-tensioned by the pull motor 46 at least 50 [ms] before the start of the feeding operation of the carrier tape 22, and preparations for the recovering operation of the cover tape 23 are made. By utilizing the idle time before the component supply operation, re-tensioning of the cover tape 23 does not affect the component supply operation, and reduction in tact time during component supply can be suppressed.

As described above, in the tape recovery mechanism 40 of the present embodiment, the pull motor 46 rotates by a predetermined amount in the opposite direction to the recovery of the cover tape 23 before deenergization of the pull motor 46, thereby loosening the cover tape 23. , the pull motor 46 is stopped. Since the tension of the cover tape 23 is released, even if the excitation of the pull motor 46 is cut off, it will not reverse. Therefore, since the pull motor 46 is not excited when stopped, power consumption and heat generation can be kept low, and reverse rotation of the pull motor 46 can be suppressed to prevent step-out.

In addition, although the configuration in which the tape collection mechanism is applied to the tape feeder has been described in the present embodiment, the configuration is not limited to this. The tape recovery mechanism may be any mechanism that recovers the tape fed from the supply source, and can be applied to various processing apparatuses that transport the tape.

Further, in the present embodiment, the tape collecting mechanism is applied to the structure in which the pull motor of the tape feeder is controlled to collect the cover tape, but it may be applied to the structure in which the feed motor of the tape feeder is controlled to collect the carrier tape. good too.

Further, in the present embodiment, the recovery roller may have any configuration as long as it feeds the tape in the recovery direction. good.

Further, in the present embodiment, the suction nozzle is exemplified as the nozzle, but the configuration is not limited to this. The nozzle may be capable of holding a part, and may be, for example, a gripper nozzle.

Further, in the present embodiment, the board is not limited to a printed board as long as various components can be mounted thereon, and may be a flexible board placed on a jig board.

Also, the program of the present embodiment may be stored in a storage medium. The recording medium is not particularly limited, but may be a non-transitory recording medium such as an optical disk, a magneto-optical disk, or a flash memory.

Moreover, although the embodiments and modifications of the present invention have been described, as other embodiments of the present invention, the above-described embodiments and modifications may be wholly or partially combined.

Moreover, the embodiments of the present invention are not limited to the above-described embodiments and modifications, and may be changed, replaced, and modified in various ways without departing from the spirit of the technical idea of the present invention. Furthermore, if the technical idea of the present invention can be realized in another way by advances in technology or another derived technology, the method may be used for implementation. Therefore, the claims cover all embodiments that can be included within the scope of the technical concept of the present invention.

Furthermore, in the above embodiment, the tape collecting mechanism for collecting the tape fed from the supply source includes a collecting roller for feeding the tape in the collecting direction, and a motor connected to the collecting roller. Secondly, the motor rotates by a predetermined amount in a direction opposite to the direction in which the tape is recovered. According to this configuration, the motor is stopped with slack in the tape by rotating the motor by a predetermined amount in a direction opposite to the direction in which the tape is collected before the excitation of the motor is cut off. Since the tension on the tape is released, the tape does not rotate even when the excitation of the motor is turned off. Therefore, since the motor is not excited when the motor is stopped, power consumption and heat generation can be kept low, and reverse rotation of the motor can be suppressed to prevent step-out.

INDUSTRIAL APPLICABILITY As described above, the present invention has the effect of preventing the step-out of a motor while keeping power consumption and heat generation low. It is useful for collecting mechanisms, tape feeders, mounting devices, and tape collecting methods.

Reference Signs List 1: mounting device 12: mounting head 20: tape feeder 21: tape reel (supplier)
22: Carrier tape 23: Cover tape (tape)
33: feed motor 40: tape recovery mechanism 44: recovery roller (roller)
46: pull motor (motor)
W: Substrate

Claims (7)

A tape recovery mechanism for recovering a tape fed from a supply source,
a roller for feeding the tape in a recovery direction;
a motor coupled to the roller;
before turning off the excitation of the motor, rotating the motor by a predetermined amount in a direction opposite to the direction in which the tape is collected ;
The tape recovery mechanism , wherein the predetermined amount is an amount of rotation such that at least the tensile force of the tape is smaller than the load torque of the motor . 2. The tape collecting mechanism according to claim 1, wherein the motor is energized before the tape is collected, and is maintained in a stopped state after the motor rotates in the forward direction by a predetermined amount. Equipped with a tape recovery mechanism according to claim 1 or claim 2,
A tape feeder, wherein a cover tape peeled off from a carrier tape packaging a large number of components is recovered as a tape by the tape recovery mechanism, and the components exposed from the carrier tape are delivered to a supply position. 4. The apparatus according to claim 3, wherein the motor is energized a predetermined time before the start of supply of parts scheduled in the operation schedule, and is maintained in a stopped state after the motor rotates in the forward direction by a predetermined amount. Tape feeder as described. 4. The tape feeder according to claim 3, wherein said motor is energized during a waiting time for feeding a component, and after said motor rotates in the forward direction by a predetermined amount, it is maintained in a stopped state. a tape feeder according to any one of claims 3 to 5;
A mounting apparatus comprising: a mounting head for mounting a component fed from the tape feeder onto a substrate. A tape recovery method for recovering a tape fed from a supply source,
energizing a motor to recover the tape with a roller connected to the motor;
a step of rotating the motor by a predetermined amount in a direction opposite to the direction in which the tape is collected before deenergizing the motor ;
The predetermined amount is an amount of rotation such that at least the tensile force of the tape is smaller than the load torque of the motor.
A tape collection method characterized by:

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