JPH03205252A - Tape type article conveyance device - Google Patents

Abstract

PURPOSE:To surely transport an article by controlling the third reel which is fixed at the edge part of a cover tape and takes up the cover tape, by a prescribed turn on the basis of the detection signal of a tape slack detecting means. CONSTITUTION:When a transport tape 3 and a cover tape 5 are driven out from a reel 6 for part device, and shifted in the A direction, the cover tape 5 covering a part P accommodated in a recessed part 3a is turned back by a guide roller 17, and after the recessed part 3a is opened for a robot hand H, the cover tape 5 is taken up on a taking-up reel 8 through a guide roller 27 and an actuator 25 for removing the slack of the cover tape 5. In this case, if slack is generated on the cover tape 5, and the actuator 25 turns in the C direction, and the slack over a prescribed quantity is generated, a tape slack detection sensor 24 detects the slack, and turning-controls the cover tape taking-up reel 8 by a prescribed quantity. Accordingly, articles can be surely transported, and the completely automatic robot hand operation can be carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a tape-type article conveying device that intermittently conveys articles using a continuous tape.

[Prior Art] In recent years, various automatic assembly devices have been proposed in conjunction with factory automation, but these automatic assembly devices are capable of supplying articles (parts) to be assembled quickly, reliably, and at low cost. This is the technical issue.

In other words, the general and most widespread conventional method of supplying parts to automatic assembly equipment is to prepare a pallet for placing parts in consideration of the external shape, weight, material, etc. of the parts to be supplied.
A pallet system has been used in which parts are placed on the pallet in advance in an aligned state, the pallet is then transported to a predetermined position, and the parts are sequentially taken out and assembled from the pallet by an automatic assembly device. Although this pallet method can be applied to relatively large parts and has some effect, small parts such as screws are too small to be handled by the pallet method, and the quantity used is large. It was impossible to implement this pallet method.

Furthermore, even if a pallet were to be applied to small parts such as screws, it would be very difficult to place them on the pallet in the same direction as it would take a lot of man-hours.

In view of this problem, it is possible to store small parts such as screws separately in a container, vibrate the container to align the orientation of the parts, and feed them one by one in an aligned state. In some cases, a vibrating parts feeder method was used.

However, both the pallet method and the vibrating parts feeder method described above have a problem in that when supplying multiple types of articles, pallets or vibrating parts feeders, etc., must be prepared according to the external shape of each item.

Therefore, a cassette-type parts supply device that solves the above problems was proposed in ``Parts Supply Device'' published in Japanese Patent Application Laid-Open No. 60-48855. They were trying to keep them in prison continuously by supporting them. However, according to this proposal, the removal operation cannot be performed using a robot hand or the like provided in the parts assembly equipment, and the tape that can be repeatedly touched and separated has a limit number of times, and if the number of times is exceeded, the tape must be replaced. Furthermore, when the tape is wound onto a reel, the tape sags, making it impossible to reliably send parts, and there is no way to detect the presence or absence of parts. There were many problems such as the inability to move the hand.

Therefore, the applicant of the present application filed Japanese Patent Application No. 1-84881,
2, 84883, 84884, and 84885, and have solved the problems of the above-mentioned ``parts feeding device'' of JP-A No. 60-48855 to realize fully automatic robot hand operation. is possible.

[Problem to be solved by the invention] However, the applicant's "tape-type article conveyance device"
According to the above, the conveyance force of each tape was controlled by controlling a dedicated motor installed on each reel to set the tension of each tape, but it was found that control to prevent sagging of the cover tape was particularly difficult. Therefore, there was a problem that sagging of the cover tape occurred.

Therefore, the tape-type article conveyance device of the present invention has been developed in view of the above-mentioned problems, and its purpose is to ensure that articles can be conveyed without sagging on the cover tape. An object of the present invention is to provide a tape-type article conveying device that is capable of fully automatic robot hand operation.

[Means for Solving the Problems] and [Operation] In order to solve the above-mentioned problems and achieve the objectives, the tape-type article conveying device of the present invention has a plurality of continuous recesses formed for storing and conveying articles. a transport tape, a cover tape that covers the opening of the recess of the transport tape, and a first reel that simultaneously winds the transport tape and the cover tape by fixing respective ends of the transport tape and the cover tape. a second reel that fixes an end of the transport tape and winds only the transport tape; a third reel that fixes an end of the force bar tape and winds only the cover tape; and a third reel that winds only the cover tape with the end of the force bar tape fixed. , a drive assembly for driving a second reel and a third reel in predetermined rotations, respectively; an intermittent drive means for intermittent driving of the transport tape by being engaged with a continuous guide hole bored in the transport tape; A control means for controlling and driving the assembly and the intermittent drive means, an opening surface for taking out and storing the articles housed in the recess of the conveying tape, and a tape sag detection means that operates when sag occurs in the cover tape. The third reel is rotated in a predetermined manner based on the detection signal of the tape sag detection means, thereby eliminating sag of the cover tape.

[Examples] Examples of the present invention will be described below with reference to the drawings.

FIG. 1 is a basic principle diagram showing how a part P is stored (placed) or taken out (picked) on a tape. In FIG. 1, to explain the basic principle by which a part P can be transported or taken out by a tape, a transport tape 3
The external dimensions (depth, width, height) of part P are shown in the diagram.
Recesses 3a having internal dimensions slightly larger than the recesses 3a are continuously provided at equal intervals, and detection holes 4 through which light from a home position stop sensor 20 (described later) passes are located near the recesses 3a at equal intervals. It is perforated. Pitch holes 3b are continuously drilled near both edges of the conveyance tape 3 as shown in the figure, and the pitch holes 3b engage with a sprocket l2, which will be described later, to apply driving force to the conveyance tape 3. I'm trying to convey it. Furthermore, by covering the part P set inside the recess 3a as shown in the figure, the cover tape 5 holds the part P set inside the recess 3a in the set position, and also allows parts to be removed from the recess 3a. This is provided to allow P to be taken out.

That is, when the transport table 3 and the cover tape 5 are moved in the direction of the arrow B shown by the broken line in the figure, the part P manufactured by the molding machine or the like is gripped and moved by the robot hand H, and the transport table 3 After being set inside the recess 3a of the part P, the upper surface of the part P is covered with a cover tape 5, and the part P is wound up with a reel to be described later.

On the other hand, the conveyor table 3 is moved in the eight directions indicated by the solid line in the figure, and the cover table 5, whose direction is changed by the guide roller l7 which is rotatable around the stud S, is also moved in the direction shown by the arrow A shown in the solid line. In the state where the parts P are moved in the direction, the upper surfaces of the parts P are exposed to the robot hand H one after another, so that the parts P can be taken out upward.

In order to accommodate or supply the parts P as described above, each tape is wound inside each reel described later, or the parts P are continuously accommodated and supplied by supplying the tape from each reel. I have to.

The cover tape take-up reel 8 drives the cover tape 5 in the eight directions indicated by solid lines, and
It is provided to wind up the cover tape 5 and to supply the cover tape 5 in the direction of the arrow B shown by the broken line, and a motor, which will be described later, is provided for driving. Between the cover tape winding wheel 8 and the guide roller 17, an actuator 25 is provided which functions to prevent the cover tape 5 from sagging and to detect the occurrence of sag when the sag exceeds an allowable range. is provided.

This actuator 25 has a structure in which a lever part 2 is rotatably held around a stud S and is rotated in the direction of an arrow C from a position shown by a chain double-dashed line to a position shown by a solid line.
5a, the lever part 25a is vertically installed at one end of the lever part 25a, and is rotated in the direction of arrow C from the position shown by the two-dot chain line in accordance with the tensioned state of the cover tape 5 by coming into contact with the back surface of the cover tape 5. The spring 26 is stretched between the arm lever 25b that moves to the position shown by the solid line, and the stud S and a hole 25d drilled in the corner of the other end of the lever part 25a.
and the detection section 24 that is shielded by the other end of the lever part 25a.
A tape sag detection sensor 24 is provided with a tape sag detection sensor 24. The actuator 25 configured as described above is moved in the direction of arrow C to prevent the occurrence of sag on the cover tape 5, and when the sag exceeds the allowable range, it outputs a signal indicating that sag has occurred, and the cover tape winding reel is moved. 8 winding drive is performed.

Next, FIG. 2 is a perspective view showing another configuration of the actuator 25, in which the rotation direction of the actuator 25 is reversed, and the actuator 25 comes into contact with the end of the lever part 25a to prevent further rotation. A stopper 28 is provided to restrict the movement of the cover tape 5, and the cover tape 5 passes under the guide roller 27.

Other parts of the structure are the same as the actuator 25 in FIG. 1, so they will be omitted, but the actuator 25 as shown in FIG.
5, the lever portion 25a shields the detection portion 24a of the tape sag detection sensor 24 when in contact with the stopper 28, thereby enabling more stable detection.

Again, in FIG. 1, between the guide rollers 17 and 27 there is an almost full warning sensor 22 and a low remaining warning sensor 23.
are provided facing each other so as to enter both ends of the cover tape 5 in the width direction, and a detection mark 29 printed or otherwise provided near the end of the cover tape 5 is detected by the near-full warning sensor 22. At the same time, by detecting the detection mark 30 near the opposite end of the bar table 5 with the low quantity alarm sensor 23, the state of accommodation or supply of the parts P is detected.

On the other hand, the origin position stop sensor 2 detects the aforementioned detection hole 4 at a position corresponding to the operation reference position of the robot hand H.
0 integrally includes a light emitting element 20a and a light receiving element 2ob. A reflecting mirror 21 is disposed above the origin position stop sensor 20 with the conveying table 3 interposed therebetween, and when the light beam emitted from the light emitting element 20a passes through the detection hole 4, the reflecting mirror 21 reflects the light beam. is reflected and returned to the light receiving element 20b and detected, so that the position of the detection hole 4 is detected. Therefore, the cover table 5 is made of a resin material that does not transmit light.

Next, FIG. 3 is a sectional view showing how the detection hole 4 is detected at a position corresponding to the operation reference position of the robot hand H. In this figure, a light beam emitted from the light emitting element 20a of the origin position stop sensor 20 passes through the detection hole 4, is reflected by the ζ reflector 21, and travels from the position where it is detected by the light receiving element 20b to the center position of the robot hand H. A distance D is set, and this position is the distance D of the robot hand H.
This is used as the origin position for moving and placing parts.

Next, FIG. 4 is a side view showing a schematic configuration of the tape type article conveying device 50 of the embodiment, and shows how the above-mentioned conveying tape 3 and cover tape 5 are wound inside each reel. .

In FIG. 4, a reinforcing member (not shown) is integrally provided on the board 1, which is made from a plate material and processed to have the outline shown in the drawing. The substrate 1 has strength. A stud S, indicated by the symbol S in the figure, is installed vertically on the base plate 1 from above a frame (not shown) that is integrally formed with the base plate 1, and allows the reel, wheel, etc. to rotate and pivot freely. I try to support them.

As described above, the conveying table 3 and the cover table 5 with the component P set in the recess 3a are arranged so that the opening of the recess 3a is covered by the cover table 5 and the component P is wound up by the component mounting reel 6 as shown in the figure. For this purpose, a cover tape take-up reel 8 that takes up and supplies the component mounting reel 6 and the cover tape 5, and a tape take-up reel 7 that takes up and supplies the transport tape 3, respectively. is rotatable around the stud S.

On the other hand, the tape ends of the rotation centers 6C, 7c, and 8c of these reels are fixed at fixing portions 6d, 7d, and 8d, and the rotation center portions 6c, 7 of each reel
The respective tapes are wound up by the outer peripheral surfaces of c and 8c. Each of these reels is provided with a rotating means, and the rotating means transmits rotational driving force while in contact with the outer peripheral edge of the reel.

Therefore, the component mounting reel 6, the tape winding reel 7, and the cover tape winding reel 8 are each provided with a rotating means for applying a driving force.

FIG. 5 is an external view showing the drive assembly 13 of the component mounting reel 6 among the rotating means. In FIG. 5, a tape take-up reel 7 and a cover tape take-up reel 8 are shown.
Drive assemblies 14 and 15 having similar configurations are also provided, respectively, and the explanation will be given using drive assembly 13 as a representative, and explanation of drive assemblies 14 and 15 will be omitted.

In FIG. 5, a pair of rubber rollers 13b made of urethane rubber are fixed to both ends of the output shaft of a motor 13a for driving the various tapes mentioned above and for generating tension on the tapes. In order to make the outer peripheral surfaces of these rubber rollers 13b come into contact with the outer peripheral edges of the hubs 6a and 6b of the component mounting reel 6 with biasing force, the motor 13
As shown in the figure, a is provided at the tip of an arm member 13c which is rotatably supported around a stud S vertically provided from the base plate 1, so that it is in the abutting position shown in the figure.

Furthermore, a tension spring 13e is stretched between the other end 13d of this arm member 13c and the stud S.
A biasing force is applied to rotate the arm member 13c in a clockwise direction, and the outer peripheral surface of the rubber roller 13b is attached to the hub 6a of the component mounting reel 6. For the outer peripheral edge of 6b,
They are brought into contact with each other with a biasing force and are frictionally driven.

Again, in FIG. 4, wiring indicated by two-dot chain lines in the figure is connected to the control device 10 from the motors 13a, 14a, 15a, which are configured as explained based on FIG. The motors 13a and 14 are used to drive the motors 13a and 14, which will be described later.
a, 1"5a.

This control device 10 is provided with a changeover switch loa at a position that can be operated from the outside, and a changeover switch 10a.
is used when switching the operation mode, which will be described later.

As shown in the figure, this control section 10 is built into a tape-type article conveyance device 50, and when set to an assembly device M or a parts manufacturing device N, which will be described later, a signal and a power line are connected to the assembly device M or a component manufacturing device N. It is automatically connected to the parts manufacturing equipment N.

Further, when the tape type article conveyance device 50 is set in the parts manufacturing device N or the assembly device M, the power is automatically turned on, and the operation mode switching performed by the above-mentioned changeover switch 10a can also be performed automatically. It is.

Next, the stepping motor 9 indicated by a broken line is connected to a control device 10 through wiring indicated by a two-dot chain line in the figure, and is driven by control from the control device 10. However, the rotational driving force of the stepping motor 9 is transmitted to the subrocket gear 12b of the subrocket 12, which is rotatable around the stud S, via the belt 11 shown in broken lines.

On the outer peripheral surface of this subrocket 12, bins 12a that engage with the pitch holes 3b of the conveying table 3 are planted at equal intervals with the pitch holes 3b of the conveying table 3.
can be conveyed by rotating the stepping motor 9. Two of these subrockets 12 are integrally constructed with a subrocket gear 12b, and are adapted to engage with two rows of pitch holes 3b of the conveying table 3.

On the other hand, the aforementioned origin position stop sensor 20 is disposed near the right of these two subrockets 12, while a reflecting mirror 21 is disposed above this origin position stop sensor 20. Further, the nearly full warning sensor 22 and the low remaining warning sensor 23, which were explained based on FIG. 10.

On the other hand, a tape sag detection sensor 24 that is turned on and off by the rotational movement of the actuator 25 is also connected to the control device section 10.

Next, a guide roller 16 rotatably supported around a stud S on the substrate 1 is provided to change the direction of conveyance movement of the conveyance table 3 from the vertical direction toward the subrocket 12 as shown in the figure. It is being

Further, a guide roller 17, which is supported by a shaft in the same way as the guide roller 16, is provided to change the conveying direction of the cover table 5 from the direction toward the subrocket l2 as shown in the figure to the direction toward the component mounting reel 6. It is being

Furthermore, as shown in the figure, the guide rail 18, which is provided on the substrate 1 and is shaped to form a circular arc in the plate material, has a conveyor table 3 and a cover tape 5 that covers the conveyor table 3. It is provided for guiding along the outer periphery of a circular arc. Further, a pair of cam followers 19 rotatably supported around studs S near the left and right ends of the base 1 are connected to an assembly device M or a parts manufacturing device N, which will be described later, to assemble the entire tape type article conveyance device 50. It is used as a guide for relative positioning when setting.

Next, FIG. 6 is an external perspective view showing how the tape-type article conveying device 50 is set in an assembly device M equipped with a robot hand H, and FIG. 7 is a parts manufacturing device equipped with a robot hand H. FIG. 5 is an external perspective view showing how the tape-type article conveying device 50 is set on the N.

In both FIGS. 6 and 7, guide guides are used for relative positioning after the tape type article conveying device 50 is set and inserted into the mounting section 32 fixed at a predetermined position of the assembly device M or the parts manufacturing device N. as a pair of cam followers-1
9 falls into the locking groove 32a of the mounting portion 32 and is set at a predetermined position.

Each of these assembly devices M or parts manufacturing devices N is provided with a robot hand H, and the movement of the robot hand H is completely synchronized with the stepping motor 9 of the tape-type article conveying device 50, so that the parts manufacturing device The part P manufactured by the device N is placed into the recess 3a of the transport table 3, while the assembly device M is used to start the part P while the part P is stored in the recess 3a of the transport table 3. There is.

Next, FIG. 8 is a block diagram of a schematic configuration of the tape type article conveying device 50, and the configuration of the tape type article conveying device 50 in this figure is connected to the control device 10 having the configuration described based on FIG. The components and elements already explained in FIG. 4 are given the same numbers and symbols as in FIG. 4, and their explanations are omitted. In FIG. 8, motors constituting drive assemblies 13, 14, 15 and a stepping motor 9, respectively, and a motor connected between a control device 10 and generating voltage and current for driving the stepping motor. Each driver is connected. An alarm device A is further connected to this control device 10 to notify the operator of the occurrence of an abnormality. Further, the optical connector C2 and the power connector C1, which are optically coupled to the central control device 100 of the parts manufacturing device N or the assembly device M, and which exchange signals and supply power, are connected to the control device 100, respectively.
It is connected to the.

The operation of the tape type article conveying device 50 having the above configuration will be explained based on the operation flowcharts shown in FIGS. 9 and 10.

First, the flowchart in FIG. 9 shows an operation mode in which the parts P manufactured by the parts manufacturing apparatus N are accommodated on the conveying table 3. In the state where the parts P manufactured by the parts manufacturing apparatus N are set by guiding the cam follower 19, The conveying table 3 is fully wound up by the tape winding reel 7, and the cover tape 5 is also fully wound by the cover tape winding reel 8, so that the cover tape 5 is fully wound. This state is basically after the detection mark 30 provided near the end of the component mounting reel 6 has been detected by the low quantity alarm sensor 23.

Therefore, the component mounting reel 6 is in an empty state, and the transport table 3 is located at the rotation center 6c of the component mounting reel 6.
Only the overlapping ends of the cover tape 5 and the cover tape 5 are fixed. Now, in this state, when set in the parts manufacturing apparatus N, switch 1 of the control section 10
0a is automatically set to the storage side or manually set.

Next, proceeding to step S1, the origin position stop sensor 20
It is determined whether the on/off state of
Proceeding to step S6, the central control device 1 of the parts manufacturing apparatus N
00 that parts placement is possible. Therefore,
Proceeding to step S7, the part P is placed in the recess 3a of the transport table 3 by the robot hand H provided in the part manufacturing apparatus N. After this accommodation, in step S8, when the control device 10 receives communication from the central control device 100 indicating completion of accommodation, the process proceeds to step S2,
The drive assemblies 13 and 15 and the stepping motor 9 are rotated in order to advance the conveying table 3 and the cover tape 5 in the direction of the dashed arrow B in FIG. 1 until the home position stop sensor 20 is turned on. After being driven, the drive is stopped to allow the next part to be placed.

In the following step S3, the on/off state of the almost full warning sensor 22 is determined. If it is determined that the OFF state is determined and that the transport table 3 has not yet reached the end, the process proceeds to step S6 described above, where parts placement is performed. will be carried out. Thereafter, the operations of steps S2, S6, S7, and S8 are repeated until the component mounting reel 6 is full.

When this component mounting reel 6 is almost full, the detection mark 29 of the cover tape 5 whose end is fixed to the cover tape take-up reel 8 is detected by the near-full warning sensor 22.
As a result of the detection, the on state is detected in step S3.

When this ON state is detected, the process proceeds to step S4, and the central controller 100 is notified of the nearly full warning sensor 2.
2, it is communicated that the detection mark 29 on the cover tape 5 has been detected.

After this, the process proceeds to step S5, where a nearly full warning (3) is output, and a bridle warning is issued to notify the operator that the placement of the part P is almost over. Before and after this alarm, the remaining number of concave portions 3a of the transport table 3 in (2) is subtracted from L for each place of the part P. Step S5
When the remaining number L of the concave portion 3a of the transport table 3 becomes zero in (2), an abnormality alarm of the main end is issued to notify the operator that the placement of the part P has been completed, and the parts manufacturing equipment N The placing operation of the robot hand H is completed and stopped.

In this way, the parts P are directly placed from the parts manufacturing apparatus N.

Next, when the component mounting reel 6 is fully wound up, the tape type article conveying device 50 is removed from the component manufacturing machine N, and the robot hand H shown in FIG. The cam follower 19 of the tape type article conveying device 50 is guided and set in the assembly device M equipped with the following.

Next, the switch 10a of the control unit 10 is automatically or manually set to the supply side.

After this, the drive assemblies 14 and 15 and the stepping motor 9 are rotated, so that the parts mounting reel 6, the cover tape take-up reel 8, the tape take-up reel 7, and the subrocket wheel 12 are rotated. is rotated to move each tape in the eight directions indicated by the solid line arrows shown in FIG. That's what I do.

The flowchart in FIG. 10 shows an operation mode in which the parts P to be assembled by the parts assembling apparatus M are picked up from the transport table 3. In FIG. 10, when the parts assembly apparatus M is set, the switch 10a of the control section 10 is automatically set to the big side or manually set.

Next, proceeding to step S1, the origin position stop sensor 20
The on/off state is determined, and when the on state is determined and it is determined that the conveying table 3 is at the origin position,
Proceeding to step S6, the central control device 1 of the parts assembly device M
00 is notified that parts big is possible. Next, the process proceeds to step S7, in which the robot hand H provided in the component assembly device M takes out the component P from the recess 3a of the transport table 3. After this big, step S
8, when the control device 10 receives the communication that the ejection is completed from the central control device 100, the process proceeds to step S2, and the drive assembly 14, 15 and the stepping motor 9 are rotated, and the origin position stop sensor 2 is rotated.
After being driven until 0 is turned on, the drive is stopped and the next component is placed in a position where it can be picked up.

Here, the drive control of the drive assembly 15 is performed by an actuator 25.
When the tape sag detection sensor 24, which detects tape sagging as the cover tape 5 rotates, is turned off and sag has occurred on the cover tape 5, rotating the drive assembly 15 clockwise will cause the cover tape to sag. 5 so that tension always acts on it.

In the following step S3, the remaining quantity alarm sensor 23
If it is determined that the transport table 3 is not at the end and the transport table 3 has not yet reached the end, the process proceeds to step S6, where parts are picked up.

Thereafter, the operations of steps S2, S6, S7, and S8 are repeated to start the component P from the component mounting reel 6.

When the number of parts mounting reels 6 remaining decreases, the detection mark 30 of the cover tape 5 whose terminal end is fixed to the cover tape take-up reel 8 is detected by the remaining quantity alarm sensor 23, and as a result, the step On-state detection is performed in S3.

When this ON state is detected, the process proceeds to step S4, and the central control device 100 is notified of the low remaining quantity alarm sensor 23.
This communicates that the detection mark 30 on the cover tape 5 has been detected. After this, proceed to step S5■
It outputs a low remaining alarm and a briendage alarm to notify the operator that the end of the big part P is coming soon. Before and after this alarm, the recess 3a of the transport table 3 shown in
is subtracted from the registered remaining number N every time a part P is picked. In step S5 (■), the concave portion 3 of the conveying table 3
When the remaining registration number N of a becomes zero, this time an abnormality alarm is issued at the main end to inform the operator that the picking of the part P has been completed, and the picking operation of the robot hand H of the parts assembly device M is ended. and stop.

In this way, the parts P are picked up from the tape type article conveyance device 50 to the parts assembly device M.

Thereafter, by repeating the above operations, the parts P manufactured by the parts manufacturing apparatus N are supplied to the assembly apparatus M. Here, if a large number of tape-type article conveyance devices 50 are prepared, the operating rate of the assembly device M and the parts manufacturing device N can be increased.

In the above embodiment, the control section 10 is incorporated in the tape type article conveyance device 50, and when set in the assembly device M and the parts manufacturing device, the signal lines are automatically connected, but it functions independently. Anything is fine.

As explained above, by conveying the assembled parts using a tape provided with recesses that match the shape of the assembled parts, accurate positioning is possible when installing and removing the assembled parts. Furthermore, robots and the like have made it easier to automate the transportation and supply of small articles, which was previously quite difficult.

In addition, since the transport tape and cover tape are wound up without any adhesives, they can be used repeatedly semi-permanently, eliminating the need to replace the tapes.
We were able to significantly reduce running costs.

Furthermore, since a tape sag detection sensor 24 operated by an actuator 25 is used in addition to the driving stepping motor 9 and rotation assemblies 13, 14, and 15, there is a risk of tape winding errors due to tape sag, etc. Troubles such as parts P falling almost no longer occur.

Furthermore, the tape drive section can be provided outside the tape type article conveyance device 50 and used in common.

In the above embodiment, the part P is a rectangular parallelepiped, but if the recess 3a of the conveying table 3 is formed to enable accurate positioning of the part P, it can also be used for parts with complex shapes. Needless to say.

[Effects of the Invention] As explained above, according to the tape-type article conveying device of the present invention, since no sagging occurs in the cover tape, articles can be reliably conveyed, and fully automatic robot hand operation is possible. It is possible to provide a tape-type article conveying device that enables the following.

[Brief explanation of drawings]

Figure 1 is a basic principle diagram showing how parts P are stored (placed or taken out) on a tape, Figure 2 is a perspective view showing another configuration of the actuator 25, and Figure 3 is the operating standard of the robot hand H. 4 is a side view showing a schematic configuration of the tape type article conveying device 50 of the embodiment, and FIG. FIG. 6 is an external view showing the drive assembly 13 of the component mounting reel 6; FIG. FIG. 7 is an external perspective view showing how the tape-type article conveyance device 50 is set in a parts manufacturing apparatus N equipped with a robot hand H, FIG. 8 is a block diagram of a schematic configuration of the tape-type article conveyance device 50, and FIG. This figure and FIG. 10 are operational flowcharts for explaining the operation of the tape type article conveying device 50. In the figure, 1... Board, 2... Takeout part, 3... Conveying tape, 3a... Concave part, 3b... Pitch hole, 4...
...Detection hole, 5...Cover tape, 6...Reel for parts equipment, 7...Reel for tape winding, 8...
Cover tape take-up reel, 9... Stewing motor, 10... Control device, l1... Belt, 12
...Subrocket, 13,14.15...Rotating assembly, 16,l7...Guide roller, 18...Guide rail, 19...Cam follower 20...Origin position sensor 21...・Reflector, 22... Almost full alarm sensor 23... Low remaining alarm sensor 24...
Tape sag detection sensor, 27...guide roller,
29, 30...Detection mark, 50...Tape type article conveyance device, P...Parts, H...Robot hand, M
... Assembly equipment, N... Parts manufacturing equipment, S... Stud, A... Alarm device, C1... Optical connector, C2
...This is a power connector. 60 Figure 9 Figure 10

Claims (1)

[Scope of Claims] A transport tape having a plurality of continuous recesses for storing and transporting articles; a cover tape that covers the openings of the recesses of the transport tape; and respective ends of the transport tape and the cover tape. a first reel that fixes the ends of the transport tape and winds the transport tape and the cover tape at the same time; a second reel that fixes the ends of the transport tape and winds only the transport tape; and an end of the cover tape. a third reel for winding only the cover tape while fixing the reel; a drive assembly for driving each of the first reel, second reel, and third reel in predetermined rotations; and a continuous guide provided in the conveying tape. an intermittent drive means that engages in the hole and drives the conveying tape intermittently; a control means that controls and drives the drive assembly and the intermittent drive means; and a control means that takes out and accommodates articles accommodated in the recesses of the conveyance tape. and a tape sag detection means that operates when sag occurs in the cover tape, and the third
A tape-type article conveying device characterized by controlling a reel to rotate in a predetermined manner.