JP3187643B2 - Banding device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a band sticking apparatus for sticking a band on a surface to be stuck of a work.

[0002]

2. Description of the Related Art In Japanese Utility Model Laid-Open Publication No. 64-14769, a cylinder 202 is provided in a housing 200 as shown in FIG.
, And gears 300 to 303 and a pressing roller 205 are provided on the support base 204.
An apparatus is disclosed in which a sealing material C1 is attached by pressing the sealing material C1 onto an attachment surface N3 of a work N.

[0003] A housing 200 is mounted on the robot arm. In this device, the tip C2 of the sealing material C1 is used.
FIG. 14 shows a state in which the side is adhered to the surface N3 to be adhered of the work N.
As can be understood from FIG. 5, the housing 200 is moved in the direction of arrow X2 by the operation of the robot arm. Then, the pressing roller 205 rotates in the direction of the arrow E6 due to the frictional force between the sealing material C1 and the pressing roller 205. With the rotation of the pressing roller 205, the gear 300 rotates in the same direction, the gear 301 meshing with the gear 300 further rotates, and the gear 302 meshing with the gear 301 further rotates, and thus the feeding gear coaxial with the gear 302. 303 rotates, whereby the sealing material C1 engaged with the teeth of the feeding gear 303 is fed in the direction of arrow E1.

In this case, the peripheral speed of the feed gear 303 is set to be slightly higher than the peripheral speed of the gear 300, whereby the feed speed of the sealing material C1 by the feed gear 303 is increased. Therefore, the sealing material C1 slightly loosens between the pressing roller 205 and the feeding gear 303,
Tension acting on the sealing material C1 is prevented, and breakage of the sealing material C1 is avoided.

In the above-described apparatus, as described above, the pressing roller 205 is rotated by the frictional force with the sealing material C1, whereby the feeding gear 303 is rotated, and the sealing material C1 is fed in the direction of arrow E1. That is, the feeding of the sealing material C1 is based on the premise that the pressing roller 205 is rotated by the frictional force when the sealing material C1 and the pressing roller 205 are slid.

[0006]

However, in some cases, the feeding gear 303 does not rotate during the sticking, and the sealing material C1 cannot be fed normally. In this case, the teeth of the feed gear 303 remain engaged with the sealing material C1. In this state, when the feeding gear 303 is moved together with the housing 200 in the direction of the arrow X2 by the robot arm, a large tension is generated in the sealing material C1 in the length direction thereof. This is because the tip C2 side of the sealing material C1 is stuck and fixed to the surface N3 to be stuck of the work N. In this case, the sealing material C1 may be peeled off from the surface N3 to be stuck, or the sealing material C1 may be removed in some cases.
May be broken.

For example, as shown in FIG. 15, a protruding standing wall portion N1 is formed on a surface N3 to be adhered of a work N, and a sealing material is provided on both the first side surface N10 and the second side surface N11 of the standing wall portion N1. Etc. may be attached. In this case, it is necessary to raise the housing 200 in the direction of arrow Y1 shown in FIG. 16 in order to avoid collision with the upright wall portion N1. When lifted in this manner, the pressing roller 205 is easily lifted up and away from the sealing material C1, and the frictional force between the pressing roller 205 and the sealing material C1 disappears. Therefore, the pressing roller 205 does not rotate normally and the feeding gear 30
3 also does not rotate. In this state, when the housing 200 is moved in the direction of the arrow X2 by the operation of the robot arm, a large tension is generated in the sealing material C1 as described above. For this reason, the sealing material C1 that has been stuck is moved in the direction of arrow F1 shown in FIG. 16 and peeled off, or in some cases, the sealing material C1 is broken.

Therefore, the conventional apparatus shown in FIG.
1 was not practically applicable to the attachment of the work N provided with No. 1. Further, in the above-described conventional apparatus, at the time of starting the sticking, a process of feeding the tip of the sealing material C1 to the pressing roller 205, a so-called cueing process, is performed manually. The reason is that in the above-described apparatus, the pressing roller 205
At the start when the cueing process is not performed, the leading end of the sealing material C1 does not reach the pressing roller 205, so that the two are not in contact with each other at the start of the cueing process. No frictional force is generated between C1 and the pressing roller 205. Therefore, the feeding force of the sealing material C1 by the feeding gear 303 cannot be obtained.

The present invention has been made in view of the above situation. The object of claim 1 is to adopt a switching means that can switch the driving force of the driving unit to the feeding rotary body or to switch the driving force to non-transmission, so that the rotation of the feeding rotary body that feeds the belt-like body is caused by some factor. Even when it is insufficient, for example, when the rotation of the feed rotator is insufficient due to the lifting of the pressing rotator, the feed rotation is performed by the driving force of the drive unit with the switching of the cutting means. It is an object of the present invention to provide a band attaching apparatus capable of rotating a body so that the band can be fed without any trouble, thereby enabling the band to be adhered satisfactorily.

A second object of the present invention is to provide, in addition to the above-mentioned object, even when the leading end of the belt-shaped body does not reach the pressing rotary body, the driving force of the driving unit is transmitted by the switching of the switching means. An object of the present invention is to provide a band attaching device which can perform a cueing process of a band by transmitting it to a body.

[0011]

According to a first aspect of the present invention, there is provided a belt attaching apparatus which is rotatably provided and feeds the belt to a position on a workpiece to which the workpiece is to be attached as the workpiece is rotated. A driving unit that generates a driving force for rotating the feed rotator, and a belt that is fed by the feed rotator to the application position of the work application surface on the work application surface, and presses the work-form application surface onto the work application surface. A pressing rotator rotating in sliding contact with the body, a rotation transmitting means for transmitting the rotational force of the pressing rotator to the feeding rotator, and a driving force of the driving portion interposed between the feeding rotator and the driving portion; Switching means for switching between a transmission form for transmitting the rotation to the feed rotator, and a non-transmission form for not transmitting the driving force of the drive section to the feed rotator; and a feed rotator, a drive section, and a pressing rotator. , And a base for holding the rotation transmitting means and the switching means.

According to a second aspect of the present invention, in the first aspect, the strip cutting means for cutting the strip is disposed between the feeding rotary body and the pressing rotary body in the feeding direction of the strip. And held at the base.

[0013]

The operation of the device according to the first aspect will be described together with the method of use. First, when the belt-like body is stuck on the surface to be stuck, the switching means is switched to the "non-transmission mode", and the driving force of the drive unit is not transmitted to the feeding rotary body. However, the rotational force of the pressing rotator can be transmitted to the feed rotator by the rotation transmitting means.

In this state, the base is relatively moved with respect to the work along the surface to which the workpiece is to be attached while pressing the belt-like body against the surface to which the workpiece is to be attached by the pressing rotary body. Thereby, the belt-like body is sequentially attached to the surface to be attached of the work. At this time, since the pressing rotator touches the belt-shaped body, the pressing rotator rotates due to friction between the two. The rotational force of the pressing rotator is transmitted to the feed rotator via the rotation transmitting means, and the feed rotator rotates,
The belt is fed toward the pressing rotator by the rotation of the feed rotator.

Further, when the belt and the pressing rotator are separated from each other, the rotation driving force of the feeding rotator cannot be obtained normally, which hinders the feeding of the belt by the feeding rotator. Therefore, in this case, the switching means is switched to the “transmission mode”. Therefore, the driving force of the driving unit is transmitted to the feeding rotary body, and the feeding rotary body rotates, whereby the belt-shaped body is fed to the pressing rotary body side.

In the apparatus according to the second aspect, when the strip is attached to a desired position on the surface to which the workpiece is to be attached, the strip is cut by the strip cutting means. Since the strip cutting means is disposed between the feeding rotary body and the pressing rotary body, the cut end of the strip does not reach the pressing rotary body. Therefore, in this case, the switching means is switched to the “transmission mode”. As a result, the driving force of the driving unit is transmitted to the feeding rotary body, and the feeding rotary body rotates, whereby the cut end of the belt-shaped body is fed to the pressing rotary body side, so-called cueing processing is executed.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. In this example, a band-shaped pad as a band is applied to a work (for example, a component part of an automobile, specifically, a center pillar garnish, a deck side trim, or the like). This band-shaped pad functions as a sound absorbing, cushioning, abnormal noise preventing and the like.

(Structure of the Embodiment) FIG.
2 shows a cross section of FIG. This band-shaped attaching device 1 is for attaching a band-shaped pad. As shown in FIG. 1, a box-shaped base 10 which can be said to be a housing of the band-shaped attaching device 1 has wall bodies 10 a to 10.
0e, pad entrance 11, pad exit 12, fixed guide 1
3 is provided. Pad running surface 13a of fixed guide 13
Is laminated with a non-adhesive coating film of, for example, a fluororesin, thereby facilitating the running of the belt-shaped pad S.

The feed roller 2 and the take-up reel 3 are rotatably held on the base 10. A guide roller 14 having a small diameter is held at the bottom of the base 10, and a guide roller 15 r is rotatably held at the top of the base 10. The guide plate 15 functions as a belt-shaped pad guide portion, and includes a vertical guide portion 15a, a horizontal guide portion 15b, and a regulating plate 15c. When the feed roller 2 rotates in the direction of arrow K1, the belt-shaped pad S is fed along the guide plate 15 in the direction of arrow Y3. Therefore, the feed roller 2 functions as a feed rotator that feeds the belt-shaped pad S toward the surface to which the workpiece is to be stuck.

As shown in FIG. 1, the base 10 holds a band-like body cutting means 4. The band cutting means 4 includes a base 10.
A rodless cylinder 40 held by the wall body 10c of
And a movable portion 41 which is moved up and down in the directions of arrows Y1 and Y2 by a rodless cylinder 40. The rodless cylinder 40 functions as a cutting driving unit. Further, as shown in FIG. 2, the band-shaped body cutting means 4 includes a blade body 42 c and a movable section 4.
An advancing / retracting portion 43 held in the one hole 41 e so as to be able to advance and retreat, and a coil-shaped spring 44 wound around the advancing / retreating portion 43 are provided. As can be understood from FIG. 2, the movable portion 41 descends in the direction of the arrow Y2, and the inclined surface 43c of the advance / retreat portion 43 becomes the belt-like pad S.
Abuts against the spring 44, the advancing / retracting portion 43 is drawn into the hole 41e of the movable portion 41, and the tip 42k of the blade body 42c protrudes from the inclined surface 43c.
The band-shaped pad S is cut by c.

The band-shaped pad S of this embodiment is composed of a pad material having an adhesive surface on one side in the thickness direction, and a release paper laminated on the adhesive surface of the pad material. The band according to the present invention is not limited to this, and may be a band such as a tape, a sealing material, or a foil. In FIG.
The air cylinder 17 has a pin 1 on the first bracket 10s.
It is pivotally supported via 7i. A second bracket 10t is held at the tip of a cylinder rod 17c of the air cylinder 17, and a pressing roller 46 is rotatably held by the pressing shaft 47 on the second bracket 10t. The pressing roller 46 presses the belt-shaped pad S against the surface to which the workpiece is to be attached, and functions as a pressing rotating body. Here, when the air cylinder 17 extends, the pressing roller 46 moves down in the direction of arrow Y2. When the air cylinder 17 contracts, the pressing roller 46 moves up in the direction of arrow Y1. Therefore, the air cylinder 17 functions as a pressing rotator lifting / lowering drive unit that moves the pressing rotator up and down.

In this example, from the left to the right in FIG.
Are arranged in this order. Further, as shown in FIG. 3, a feed gear 21 and a toothed pulley 21a are coaxially held on the shaft end side of the feed shaft 20 of the feed roller 2. The toothed pulley 22 is coaxially held at the shaft end of the pressing shaft 47 of the pressing roller 46. An endless toothed timing belt 42 is provided between the toothed pulley 22 and the toothed pulley 21a. Accordingly, when the pressing roller 46 rotates, both the pressing shaft 47 and the toothed pulley 22 rotate in the same direction, and the toothed pulley 21a and the feed gear 2
1 rotates, the feed shaft 20 and the feed roller 2
Rotate in the same direction as 6. Therefore, the toothed pulley 22, the toothed pulley 21a, and the toothed timing belt 42 function as rotation transmitting means for transmitting the rotational force of the pressing roller 46 to the feed roller 2.

In this example, when the base 10 of the band-shaped attaching device 1 in FIG. 3 moves in the direction of arrow X2,
If the friction loss is ignored, basically (the base 10 is
(The distance moved in two directions = the rotation distance of the pressing roller 46 = the rotation distance of the feeding roller 2 = the feeding length of the belt-shaped pad S). Therefore, if the base 10 is moved in the direction of the arrow X2, a large tension is not generated on the belt-shaped pad S,
A band-shaped pad S can be attached.

As shown in FIG. 3, a take-up reel 3 as a release paper take-up means is provided on the wall 10e of the base 10. A take-up gear 31 as a reel drive unit is coaxially held at a shaft end of a take-up shaft 30 of the take-up reel 3.
An intermediate gear 38 is arranged between the winding gear 31 and the feed gear 21 via a shaft 38h. As understood from FIG. 3, when the feed gear 21 rotates, the intermediate gear 38 rotates, the take-up gear 31 rotates in the same direction as the feed gear 21, and the take-up reel 3 rotates via the clutch mechanism 5. I do.

FIG. 6 is a view taken on line CC of FIG. The clutch mechanism 5 will be described with reference to FIG. The clutch mechanism 5 has a so-called torque limiter mechanism, and includes a square shaft 50 connected to the take-up reel 3 side, a round shaft 52 connected to the take-up gear 31 side and arranged in a central hole 50b of the square shaft 50, A bolt-shaped regulating shaft 53 having a mounting nut 53x held on the square shaft 50;
Of the indenter 5 held in the hole 53f through a biasing spring 53i.
4 is provided. Indenter 5 urged by urging spring 53i
4 is in pressure contact with the outer peripheral surface 52t of the round shaft 52.
The torque transmission between the round shaft 52 and the square shaft 50 is performed by the friction locking force caused by the pressing. If the torque becomes excessive, the torque transmission between the round shaft 52 and the square shaft 50 will be cut off. The square shaft 50
The female screw of the mounting nut 53x is screwed to the male screw of the regulating shaft 53 in a state where the male screw of the outer peripheral portion of the regulating shaft 53 is screwed to the female screw of the inner peripheral portion of the screw hole 50w. 53 is fixed to the square shaft 50. Therefore, the mounting nut 5
Since the biasing force of the biasing spring 53i can be adjusted by the 3x screw advance / retreat, and thus the frictional engagement force can be adjusted, the mounting nut 53X constitutes a frictional engagement force adjusting means.

In this embodiment, as shown in FIG.
Are connected to the feed shaft 20. The switching link 6 has a “<” shape as a whole, includes a first arm 61 and a second arm 62 that are integrally formed, and further includes a slide arm 63. The slide pin 64 held by the second arm 62 and the elongated hole 63c of the slide arm 63
Are fitted. Therefore, the slide arm 63 can slide a predetermined length with respect to the second arm 62 in the length direction of the long hole 63c, that is, along the direction of the arrow E6 shown in FIG. Here, as shown in FIG. 5, when the air cylinder 17 contracts and the pressing roller 46 is at the position T1, the distance between the axis of the pressing roller 46 and the axis of the feed gear 21 is L1.

As can be understood from FIG. 5, the center of the switching link 6 is pivotally supported by the feed shaft 20 as described above. Therefore, the switching link 6 can swing about the feed shaft 20 in the directions of the arrows R1 and R2. A switching gear 65 is rotatably held on the end side of the first arm 61 by a shaft 65c, and an intermediate gear 66 is rotatably held by a shaft in a central region of the first arm 61. Note that the switching gear 65 and the switching link 6 constitute switching means.

As shown in FIG. 5, a drive motor 7 as a drive unit is fixed to the wall 10e of the base 10. A drive gear 70 is mounted on a motor shaft 7c of the drive motor 7. As can be understood from FIG. 5, when the drive motor 7 is driven in a state where the drive gear 70 and the switching gear 65 are meshed, the drive gear 70 rotates, the switching gear 65 rotates, and the intermediate gear 66 rotates. Then, the feed gear 21 rotates, and the feed roller 2 rotates. Further, as can be understood from FIG. 3, the intermediate gear 38 rotates via the feed gear 21, and the winding gear 31 rotates.

The above is what constitutes the band-shaped attaching device 1 of this embodiment. Next, the robot 8 as a three-dimensional operating mechanism will be described with reference to FIG. As shown in FIG.
Has a bendable robot arm 80 having a hand 80x and an elbow 80y, a shoulder 81 holding the robot arm 80, and a fixing portion 82 fixed to the installation surface. The base 10 of the band-shaped attaching device 1 is attached to a hand 80x. Further, a pad reel 84 in which band-shaped pads S are wound in multiple layers is held by a mounting bracket 80i of an elbow 80y. The belt-shaped pad S is supported by a hanging prevention bar 85. The control means 86 controls the robot arm 80
, The operation of the air cylinder 17, the operation of the drive motor 7, the operation of the rodless cylinder 40, and the like.

The internal memory and the external memory of the control means 86 store data such as the sticking start end and sticking end of the work N, the sticking trajectory, the separation start position between the base 10 and the pressing roller 46, and the like. Data such as the moving speed is stored in advance by teaching or the like. Similarly, work N
In the case where there is a standing wall portion N1, data of a position for lifting the base portion 10 in order to avoid collision with the standing wall portion N1, and a position for lowering the base portion 10 after lifting are stored in the memory in advance by teaching or the like. Therefore, a separation start signal, a lifting start signal of the base 10, a lifting end signal of the base 10, a lowering start signal of the base 10, and a base 10
, And a command signal such as a moving speed signal of the base 10 is output from the control means 86 to the robot 8, based on which the robot arm 80 operates to operate the base 10 in a three-dimensional space.

(Usage of Embodiment) The usage of the embodiment will be described in the following (A) and (B). (A) Normal Attaching Form First, as shown in FIG. 1, the band-shaped pad S is inserted from the pad entrance 11 of the base 10. When the thickness of the band-shaped pad S changes, the fixture 10r shown in FIG.
Is appropriately moved in the directions of the arrows X1 and X2. In this example, the belt-shaped pad S is guided to the feed roller 2 by the cooperation of the guide roller 15r and the guide plate 15. In the state where the band-shaped pad S is inserted in this manner, the control means 86 issues a command signal for contracting the air cylinder 17 to the air cylinder 1.
7 is output. As a result, in FIG.
7 contracts and the pressing roller 46 rises in the direction of the arrow Y1 to reach the position T1 shown in FIG. Then, as can be understood from FIG.
The switching gear 65 meshes with the drive gear 70 in the direction, and the "transmission form" is established. When the drive motor 7 rotates in response to the motor-on signal from the control means 86 in the meshed state, the drive gear 70 rotates and the feed gear 21 through the switching gear 65 and the intermediate gear 66.
Rotates, and the feed roller 2 rotates.

The belt-shaped pad S inserted from the pad inlet 11 is fed by the rotation of the feed roller 2 in the direction of arrow Y3 shown in FIG. Be transported. When the free tip of the band-shaped pad S reaches below the pressing roller 46, a photoelectric sensor (not shown) detects this, and a motor-off signal is output from the control means 86, and the driving motor 7 is turned off, and the feeding of the band-shaped pad S is started. The belt-shaped pad S is stopped, the free tip of the belt-shaped pad S stops at a fixed position, and the cueing process of the belt-shaped pad S is performed. Accordingly, the photoelectric sensor functions as a cue detection unit for the strip-shaped pad.

Since the feed gear 21 also rotates during the feeding of the band pad S, as can be understood from FIG. 3, the pressing roller 46 is also moved in the same direction via the timing belt 42 and the toothed pulley 22. Rotate. When the cueing process of the band-shaped pad S is executed in this manner, the release paper S1 is manually separated from the free front end of the band-shaped pad S, and the front end of the release paper S1 is attached to the take-up reel 3 via the guide roller 14 ( FIG.
reference). This operation is performed by opening the door 10p (see FIG. 3) provided with the hinge 10k of the base 10. After work, door 10p
Close. The release surface of the release paper S1 exposes the adhesive surface of the band-shaped pad S, and as shown in FIG.
3 faces the pad running surface 13a.

When the release paper S1 is mounted on the take-up reel 3 as described above, the air cylinder 17 is extended by the command signal from the control means 86 to lower the pressing roller 46 in the direction of arrow Y2, and the position shown in FIG. Let it be T2. Thereby, the adhesive surface of the band-shaped pad S is pressed against the surface N3 to be adhered of the work N. Then, the adhesive surface at the free tip of the band-shaped pad S is attached to the surface N3 to be attached, and is fixed.

When the pressing roller 46 is lowered, the switching link 6 swings in the direction of the arrow R1, the switching gear 65 is switched to the “non-transmission mode”, and is separated from the driving gear 70. Therefore, the drive gear 70 and the switching gear 65 are in a non-meshing state. Next, the control means 86 outputs a command signal for operating the robot arm 80. Therefore, the base 10 moves along the direction of the arrow X2 shown in FIG. 1 along the sticking locus and the sticking speed previously stored in the memory of the control means 86. Then, the pressing roller 46 that comes into contact with the band-shaped pad S adhered to the surface N3 to be adhered of the work N is
It rotates by the frictional force with the pad material. FIG. 3
As can be understood from FIG. 2, the feed roller 2 also rotates in the same direction via the timing belt 42 and the feed gear 21, thereby feeding the belt-shaped pad S in the direction of the arrow Y3 (see FIG. 1).

In this embodiment, if the friction loss is neglected, as described above, substantially (the distance that the base 10 has been moved in the direction of the arrow X2 by the robot arm 80 = the rotation distance of the pressing roller 46 = feeding) Since the rotation distance of the roller 2 = the feeding length of the band-shaped pad S), the band-shaped pad S corresponding to the consumption length of the band-shaped pad S consumed by sticking accompanying the movement of the base 10 is a feeding roller. 2 automatically sent. Therefore, if the base 10 is moved at a high speed by the robot arm 80, it is possible to achieve a high sticking speed.

When the feed roller 2 rotates as described above, the take-up reel 3 also rotates via the feed shaft 20, the feed gear 21, the intermediate gear 38, and the take-up gear 31, as can be understood from FIG. The release paper S1 separated from the belt-shaped pad S is also automatically wound on the take-up reel 3 without slack, so that the release paper S1 is prevented from scattering. In this example, the number of teeth of the gears 21, 38, 31 is set so that the number of rotations of the take-up reel 3 is slightly larger than the number of rotations of the feed roller 2. Appropriate tension acts on the release paper S1 to be taken out, so that looseness of the release paper S1 can be prevented. At this time, if the tension acting on the release paper S1 becomes excessive, the torque transmission cutting function of the clutch mechanism 5 is exhibited. That is, as can be understood from FIG. 6, the indenter 54 of the regulating shaft 53 slides relatively to the outer peripheral surface 52t in the circumferential direction of the round shaft 52, and the torque transmission between the square shaft 50 and the round shaft 52 is performed. Is blocked. As a result, even if the take-up gear 31 rotates, the take-up reel 3 does not rotate, that is, the take-up gear 31 idles with the take-up reel 3 stopped, and the release paper S1 due to excessive tension. Is prevented from breaking.
When the excessive tension is released, the torque can be transmitted again by the pressing action of the indenter 54 urged by the spring 53i.

In this embodiment, the robot arm 80 is
0 is moved by a predetermined distance in the direction of the arrow X2 along the sticking trajectory and the sticking of the band-shaped pad S is performed to a desired position, and the rodless cylinder 40 of the band-shaped body cutting means 4 is operated by a control signal from the control means 86. As a result, the blade body 42c descends, and the band-shaped pad S is cut. After cutting as described above, the control means 86 controls the robot arm 80 to control the base 10.
To the next sticking start position. Feeding of the band-shaped pad S is performed during the movement. That is, the air cylinder 17 is contracted by the control means 86 to raise the pressing roller 46 to the position T1 (see FIG. 5), and the switching link 6 is rotated in the direction of the arrow R2.
5 is switched to the “transmission form”, the switching gear 65 and the driving gear 7
0 is engaged. In this meshing state, the drive motor 7 drives the drive gear 70 by the motor-on signal of the control means 86, and the drive gear 70, the switching gear 65, the intermediate gear 66, and the feed gear 21 rotate, and the feed roller 2 Rotates to feed the band-shaped pad S. When the free end, which is the cut end of the belt-shaped pad S, reaches below the pressing roller 46, this is detected by a photoelectric sensor (not shown) as described above, and the drive motor 7 is stopped by the motor-off signal from the control means 86, and the belt-shaped pad S is stopped. The supply of the pad S is stopped. Thereby, the cueing process of the band-shaped pad S is executed. (B) Attaching Form When Work N Has Standing Wall Part N1 FIG. 7 shows a form for coping with the work N having the standing wall part N1.

As can be understood from FIG. 7, the base 10 moved in the direction of the arrow X2 becomes the upright wall N1 (height: for example, 40 to 6).
0 mm), it interferes with and collides with the standing wall portion N1. However, as long as there is no interference or collision, the band-shaped pad S is pressed by the pressing roller 46 as described above, and the adhesive surface Sa is stuck to the surface N3 to be stuck. On the other hand, when the base 10 is likely to interfere with and collide with the upright wall N1, the control means 86 further moves the air cylinder 17 to the arrow Y2.
A command signal for lowering in the direction is output to the air cylinder drive circuit, and a command signal for lifting the base 10 in the direction of arrow Y1 is output to the robot 8.

As a result, as can be understood from FIG. 7, the pressing roller 46 descends in the direction of arrow Y2 to the position T3, and the base 10 lifted by the robot arm 80.
Is disposed above the upper end N4 of the standing wall portion N1. That is, the base 10 moves away from the pressing roller 46 along the direction in which the standing wall portion N1 of the work N is erected, that is, in the direction of the arrow Y1. By this separation, interference and collision between the base portion 10 and the standing wall portion N1 are avoided.

At this time, as can be understood from FIG. 7, as the pressing roller 46 descends, the slide pin 64 relatively slides along the long hole 63c, and the slide arm 63 moves to the second arm 6
2, the distance between the axis of the pressing roller 46 and the axis of the feed gear 21 (feed roller 2) is L2. Here, L2 is longer than L1 by ΔL (L
2 = L1 + ΔL). At this time, the extensible timing belt 42 made of rubber can extend by ΔL and follow the slide of the slide arm 63.

FIG. 9 shows the first wall N1 of the workpiece N.
The form in which the band-shaped pad S is attached also to the side surface N10 and the second side surface N11 is schematically abbreviated. FIG. 9 (A)-
9C is basically the same as the embodiment shown in FIG. 7. As can be understood from FIGS. 9A and 9B, the bottom surface 10 m of the base 10 moved by the robot arm 80 in the direction of the arrow X <b> 2 is removed. Since it is lifted in the direction of arrow Y1 so as to pass over the standing wall portion N1, interference and collision between the base portion 10 and the standing wall portion N1 are avoided.

As shown in FIG. 9B, when the base 10 is lifted in the direction of arrow Y1 while the pressing roller 46 lands on the surface N3 to be stuck, the band-shaped pad S is moved from the pad outlet 12 as the base 10 is lifted. Drawn out. The length that is pulled out is shorter than the feed length due to the rotation of the feed roller 2. If the base 10 is further moved in the direction of arrow X2 by the robot arm 80 from the configuration shown in FIG.
As can be understood from (C), the band-shaped pad S can be pressed to the vicinity of the lower end N10a of the first side surface N10 of the standing wall portion N1 by the pressing roller 46 in a state of landing on the surface N3 to be stuck.
The band-shaped pad S can be satisfactorily adhered and fixed to the vicinity of the lower end N10a. Thereafter, as can be understood from FIG. 9D, the pressing roller 46 is moved by the arrow Y1 by the contraction operation of the air cylinder 17.
When the pressure roller 46 is moved upward in the direction to approach the base 10, the pressing roller 46 is at the position T1. At this time, the band-shaped pad S is raised by the pressing roller 46 rising along the first side surface N10.
Can be pressed against the first side surface N10.

Further, as shown in FIG.
Is closer to the base 10 and at the position T1,
As can be understood from the description of FIG. 5 described above, the switching link 6 and the switching gear 65 rotate in the direction of the arrow R <b> 2 and the “transmission form”.
Has been switched to. Therefore, in this case, the drive motor 7 is rotationally driven by a control signal from the control means 86, and the driving force of the drive motor 7 is transmitted to the feed roller 2 to rotate the feed roller 2, and the feed roller 2 rotates the belt. The pad S is automatically fed to the pressing roller 46. Therefore, when the end S6 of the band-shaped pad S is stuck and fixed to the surface N3 to be stuck, even if the robot arm 80 moves the base 10 in the direction of the arrow X2, the tension in the band-shaped pad S can be avoided or reduced. Therefore, the strip-shaped pad S is prevented from peeling or breaking. This is different from the prior art.

As can be understood from FIG. 9 (F), the standing wall portion N1
After the bottom surface 10m of the base 10 has passed over the upper end N4 of the base 10, the base 10 is then moved to the lower end N of the second side surface N11 of the upright wall N1.
It is lowered in the direction of arrow Y2 so as to be located near 11a. The first side surface N10 and the second side surface N10 as shown in FIG.
In the region K5 enclosing the side surface N11, the drive motor is driven via the switching gear 65 in the "switching mode", rather than feeding the band-shaped pad S with the movement of the base 10 in the direction of the arrow X2. 7, the command to reduce the moving speed of the base 10 in the direction of the arrow X2 is output from the control means 86 to the robot arm 80.

In the embodiment shown in FIG. 9C, the belt-shaped pad S is pressed against the first side face N10 of the standing wall portion N1 by raising the pressing roller 46. However, the present invention is not limited to this, and the pressing roller 46 at the position T3 is raised to the position T1 by contracting the air cylinder 17 in the form shown in FIG. 9B. As described above, when the pressing roller 46 is at the position T1, the switching link 6 switches to the “switching position” as described above, so that the feeding roller 2 is rotated by the driving force of the driving motor 7 to feed the belt-shaped pad S. it can. That is, the belt-shaped pad S corresponding to the height of the first side face N10 can be fed by the driving force of the drive motor 7. Thereafter, while the base 10 is being lifted, the air cylinder 17 is operated to extend to lower the pressing roller 46, and the lowered pressing roller 46 is raised again, whereby the band-shaped pad S is raised by the rising pressing roller 46 to the first wall N1. It may be pressed against one side face N10 to increase the sticking and fixing properties.

In this embodiment, the attachment form shown in FIG. 10 is also possible. In the embodiment shown in FIG. 10, the height of the standing wall portion N1 is H
The diameter of the pressing roller 46 is D, and α is a desired value. Then, the base 10 is moved in the direction of arrow X2 by the robot arm to approach the standing wall N1. At this time, the standing wall N
Position M at a distance of {H + α + (1/2) × D} from 1
Let it be 1. When the axis of the pressing roller 46 moving in the direction of the arrow X2 reaches the position M1, or before the position M1 is reached and before the base 10 collides with the standing wall portion N1, the bottom surface 10m of the base 10 is raised. The base 10 is lifted over the upper end N4 of the part N1. At this time, the base 10 is lifted while the pressing roller 46 lands on the surface N3 to be bonded and the band-shaped pad S is pressed against the surface N3 to be bonded, so that the band-shaped pad S protrudes from the pad outlet 12. When the belt-shaped pad S protrudes from the pad outlet 12 by a distance corresponding to the distance of {H + α}, the control unit 86 causes the band-shaped body cutting unit 4 to protrude.
Is operated to cut the band-shaped pad S with the blade body 42c to obtain cut ends Sx and Sy. Next, the base 10 lifted above the upper end N4 is further moved in the direction of the arrow X2 to approach the standing wall N1 with the pressing roller 46 landing.
That is, the axis of the pressing roller 46 is made to approach the standing wall N1 from the standing wall N1 to a position M3 separated by a distance of {(1/2) × D}. At this time, as can be understood from FIG.
The band-shaped pad S is stuck on the surface N3 to be stuck of the work N by the pressing roller 46 that has landed on the surface. Therefore, the cut end Sx of the band-shaped pad S is disposed substantially at the position M3, and is located at a position closest to the standing wall portion N1. As described above, in this embodiment, the band-shaped pad S can be attached to the vicinity of the upright wall portion N1.

(Effects of Embodiment) As described above, in this embodiment, when the feeding of the belt-shaped pad S by the feeding roller 2 is hindered, the driving force of the driving motor 7 is obtained by the switching action of the switching link 6. Can be transmitted to the feed roller 2 and the drive motor 7
The belt-shaped pad S is fed by the driving force of
Will not interfere with the delivery of

Further, in this embodiment, as can be understood from FIGS. 9A to 9F, an upright wall portion N1 is provided on the surface N3 to which the work N is to be attached.
When the band-shaped pad S is also stuck on the first side surface N10 and the second side surface N11, a feeding amount of the band-shaped pad S corresponding to the region K5 in FIG. 9F is necessary. However, the area K5
, The moving distance of the base 10 in the direction of the arrow X2 is small. Therefore, even if the pressing roller 46 rotates due to friction with the band-shaped pad S and the feeding roller 2 rotates, the feeding amount of the band-shaped pad S is insufficient. In addition, in this case, since the base 10 is lifted, the pressing roller 46 tends to float up and away from the band-shaped pad S, which hinders the feeding of the band-shaped pad S. In this respect, in the present embodiment, the driving force of the drive motor 7 can be transmitted to the feed roller 2 by the switching action of the switching link 6 and the belt-shaped pad S is fed by the driving force of the drive motor 7. Does not hinder. Therefore, the band-shaped pad S can be satisfactorily stuck to the first side surface N10 and the second side surface N11 of the standing wall portion N1, and the sound-absorbing function, the buffer function, the abnormal sound preventing function, and the like of the band-shaped pad S in the standing wall portion N1 are ensured. It is advantageous for

In the present embodiment, even when the band-shaped pad S is cut in the middle, as can be understood from FIG. 10, up to a position close to the standing wall portion N1, specifically, a half of the diameter D of the pressing roller 46. The advantage is obtained that the band-shaped pad S can be stuck to the position M3 which is close to the standing wall portion N1 to the extent. Therefore, also in this sense, it is advantageous to secure the sound absorbing function, the buffer function, the abnormal noise preventing function, and the like of the band-shaped pad S in the standing wall portion N1.

In addition, in the present embodiment, the cutting means 4 makes the feeding roller 2 and the pressing roller 46 in the feeding direction of the belt-shaped pad S.
When the band-shaped pad S is cut, as can be understood from FIG. 10, the cut end Sy of the band-shaped pad S does not reach the pressing roller 46. Therefore, in this case, the air cylinder 17 contracts and the switching link 6 and the switching gear 65 rotate in the direction of the arrow R2 to “transmission mode”.
Is switched to As a result, the driving force of the drive motor 7 receiving the control signal from the control means 86 is transmitted to the feed roller 2, and the feed roller 2 rotates, whereby the cut end Sy of the band-shaped pad S moves toward the pressing roller 46. The so-called cueing process can be automatically executed.

Furthermore, in this embodiment, since the photoelectric sensor detects that the cut end Sy of the band-shaped pad S has reached below the pressing roller 46, the sticking start position is highly accurate. In this embodiment, the switching link 6 is turned in the direction of arrow R1 to switch to the “non-transmission mode” during the normal attachment of the band-shaped pad S.
Is not sent. Therefore, the robot arm 80
The base pad 10 can be moved in the direction of the arrow X2 by using only the moving speed of
This is advantageous for increasing the sticking speed of the sheet.

In this embodiment, if the release paper S1 taken up by the take-up reel 3 is removed from the base 10 together with the take-up reel 3,
It can be used for recycling the release paper S1. In this case,
What is necessary is just to mount | wear the take-up reel 3 with the release paper automatic sticking machine which sticks release paper to a double-sided tape. (Another Example) FIG. 11 shows another example. As shown in FIG. 11, in this example, an air cylinder 68 is provided on the base 10, and a switching gear 69 is held on a cylinder rod 68a of the air cylinder 68. The air cylinder 68 is operated by the control signal from the control means 86, and the cylinder rod 68
When a extends in the direction of the arrow α1, the switching gear 69 is engaged with the drive gear 70 and the feed gear 21, and
The mode is switched to “transmission mode”. Accordingly, the driving force of the drive motor 7 is transmitted through the switching gear 69 and the feed gear 21 to the feed roller 2.
And can be used for feeding the band-shaped pad S. Further, when the air cylinder 68 moves backward by the control signal from the control means 86 and the cylinder rod 68a expands and contracts in the direction of the arrow α2, the switching gear 69 is disengaged from the drive gear 70 and the feed gear 21 and becomes in a non-meshing state. Transmission mode ”. Therefore, the driving force of the driving motor 7 is not transmitted to the feed roller 2 via the switching gear 69. Therefore, in the example shown in FIG. 11, the air cylinder 68 and the switching gear 69 function as switching means. In this example, there is an advantage that the air cylinder 68 operates independently of the elevating operation of the pressing roller 46 to switch between the “transmission mode” and the “non-transmission mode”.

In the example shown in FIG.
9, the drive gear 70 and the feed gear 21 are gears, but may be friction wheels instead. In the case of a friction wheel, gear meshing at the time of switching is eliminated, so that switching is facilitated and gear meshing noise that may be a cause of abnormal noise can be eliminated. Incidentally, when the air cylinder 17 is extended and the pressing roller 46 is moved downward to the position T3 as in the embodiment shown in FIG. 7, the timing belt 42 needs to be extended. In this respect, the example shown in FIG. 12 is provided with a belt extension mechanism for increasing the amount of extension of the timing belt 42, for example, a tensioner 49. Tensioner 4
9 is a cylinder 49a controlled by the control means 86.
Biasing roller 49b for biasing the timing belt 42
And In this case, when the tensioner 49 is operated, the timing belt 42 is loosened, so that there is an advantage that the timing belt 42 is easily extended.

In attaching the band-shaped pad S to the vertical wall portion N1 of the work N, the form shown in FIGS. 13A to 13D may be adopted. Examples shown in FIGS. 13A to 13D are shown in FIGS.
The configuration is basically the same as that of the band-shaped attaching device 1 shown in FIG. 8, and the usage pattern is basically the same as the modes shown in FIGS. 9 (A) to 9 (F). However, in the case of the example shown in FIG. 13, the air cylinder 17 is not provided, and the pressing roller 46 cannot move up and down with respect to the base 10. Here robot arm 8
0 moves in the direction of the arrow X2 by the vertical wall N
1, the base 10 is lifted by the robot arm 80 in the direction of the arrow Y1 as shown in FIG. At this time, the pressing roller 46 floats up and away from the band-shaped pad S, which hinders the feeding of the band-shaped pad S by the feeding roller 2. Then, as described above, the switching link 6 is switched to the “transmission mode”, and the feed roller 2 is rotated by the drive motor 7 to feed the belt-shaped pad S toward the pressing roller 46. Since the fed band-shaped pad S hangs down by its own weight, the band-shaped pad S is placed on the first side surface N10 of the standing wall portion N1.
Or the second side surface N11. At this time, if possible, the band-shaped pad S may be appropriately pressed by the pressing roller 46. Alternatively, the belt-shaped pad S may be pressed and attached to the first side surface N10 or the second side surface N11 of the standing wall portion N1 by another robot or manual work.

Further, in the examples shown in FIGS. 1 to 9 described above, the base 10 is connected to the robot arm 80 and the robot arm 80 is moved to move the base 10. However, the present invention is not limited to this.
May be moved along the sticking locus. In this case, when the standing wall N1 of the moving workpiece N approaches the fixed base 10, the workpiece N is moved up and down by the operation of the robot arm 80 to avoid collision. Further, when the pressing roller 46 is separated from the band-shaped pad S, the mode is switched to the “transmission mode”, and the feeding roller 2 is rotated by the drive motor 7 to feed the band-shaped pad S.

In the above example, the pressing roller 46 is employed as the pressing rotator, but the invention is not limited to this, and a gear-shaped rotator may be used. Although the feed roller 2 is employed as the feed rotary member, the present invention is not limited thereto, and a gear-shaped rotary member may be used.
Instead of the air cylinder 17 for lifting and lowering the pressing roller 46 used in the above-described example, a hydraulic cylinder or a motor mechanism may be employed. In other words, any lifting drive unit that can raise and lower a pressing rotating body such as the pressing roller 46 may be used. Good.

Instead of the robot 8 used in the above example,
A three-dimensional operating mechanism (for example, equipped with an X slider, a Y slider, and a Z slider) that can move the base 10 and the work N three-dimensionally may be employed. The rotation transmitting means provided between the feed roller 2 and the pressing roller 46 includes the timing belt 42, but is not limited thereto.
Obviously, the transmission may be performed by a gear mechanism, a belt, a chain, or the like, or by roller transmission. The same applies to driving force transmission at other locations. The work is not particularly limited, and can be appropriately selected from other automobile parts, packaging boxes, machinery, electric parts, and the like.

(Supplementary Note) The following technical ideas can be understood from the embodiments shown in the above drawings. A feed rotator that is rotatably provided and feeds the belt-shaped body to the sticking position of the work to be stuck with the rotation, a driving unit that generates a driving force to rotationally drive the feed rotator, and a feed rotation The belt presses the band-shaped body fed to the position where the work is to be bonded to the work to be bonded onto the work-to-be-bonded surface, and sends the pressing rotator rotating in sliding contact with the band and the rotational force of the pressing rotator. A rotation transmitting means for transmitting to the feeding rotary body, a transmission mode interposed between the feeding rotary body and the driving section, for transmitting the driving force of the driving section to the feeding rotary body, and the driving force of the driving section. A band attaching apparatus 1 having a switching means capable of switching to a "non-transmission form" in which the sheet is not transmitted to the feeding rotary body, and one of the band attaching apparatus and the work is held, and the work is attached. A three-dimensional operating unit (for example, a robot) that relatively moves the band-shaped attaching device and the work along the surface ), And a control means for outputting to the switching means a command for switching between the “transmission form” and the “non-transmission form” of the switching means. Body pasting machine. Using the band-shaped sticking machine according to the above and a work having a standing wall portion, when sticking the band along the sticking locus on the sticking surface of the work, on a flat sticking surface without a standing wall portion, the control means While increasing the moving speed of the band attaching device 1 by the command, the switching unit is switched to the “non-transmission form” by the command of the control unit, and the feeding rotator is rotated by the rotational force of the pressing rotator rotating by friction with the band. Rotating, thereby feeding the belt toward the pressing rotator, and comparing the belt-applying device, which is relatively moved along the sticking locus, to the vertical wall of the work before approaching the vertical wall Then, the moving speed of the band attaching device 1 is reduced by a command from the control unit, and the switching unit is switched from the “non-transmission mode” to the “transmission mode” by the command from the control unit, and the feeding rotation is performed by the driving force of the driving unit. Rotate the body, and this After finishing the step of feeding the body toward the pressing rotating body and attaching the band to the standing wall, the moving speed of the band attaching apparatus 1 is increased by a command from the control means, and the switching means is switched by a command from the control means. Is switched from the "transmission mode" to the "non-transmission mode", and the feed rotator is rotated by the rotational force of the pressing rotator that rotates due to friction with the belt, thereby feeding the belt toward the pressing rotator. And a step of attaching a band-shaped body to a work having an upright wall portion. According to this, the production efficiency is improved by the high-speed attachment, and the attachment to the both side surfaces of the upright wall portion where it is difficult to attach the belt-like body becomes easy.

[0060]

According to the first aspect of the present invention, even if the feeding rotary body has a problem in feeding the belt-like body for some reason, for example, a standing wall portion or a projection is formed on the work. Even if the pressing rotator separates from the belt and hinders the feeding of the belt by the feeding rotator, if the switching means is switched to the "transmission mode", the feeding rotation is performed by the driving force of the driving unit. By rotating the body, the band can be satisfactorily fed, and the band can be stuck well.

According to the second aspect of the present invention, even when the leading end of the belt-shaped body has not reached the pressing rotary body, the driving force of the driving unit is transmitted by switching the switching means to the "transmission mode". Since it can be transmitted to the feeding rotating body, the cueing process of the belt-shaped body can be favorably performed.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view of a band attaching device.

FIG. 2 is a side view of a main part of the strip cutting means.

FIG. 3 is a view taken in the direction of arrows AA in FIG. 1;

FIG. 4 is a view as seen from the direction of arrow B in FIG. 1;

FIG. 5 is a rear view of the belt-shaped body sticking device in a state where the pressing roller is lifted.

FIG. 6 is a sectional view taken along line CC of FIG. 3, showing a clutch mechanism.

FIG. 7 is a rear view of the band-shaped attaching device, showing a form in which a band-shaped pad is attached near the standing wall portion.

FIG. 8 is a perspective view showing a state in which the robot arm is equipped with a band attaching device together with a control block diagram.

FIG. 9 is an operation state explanatory view schematically showing a form in which a band-shaped pad is attached to the front surface and the back surface of the upright wall portion of the work.

FIG. 10 is an operation state explanatory view schematically showing a form in which a cut end of a cut band-shaped pad is stuck to a position close to a standing wall portion.

FIG. 11 is a rear view of a band-like body attaching apparatus including a switching unit according to another example.

FIG. 12 is a configuration diagram according to another example of a state in which a tensioner is provided on the timing belt.

FIG. 13 is an explanatory diagram of an operation state according to another example schematically showing a form in which a band-shaped pad is attached to the front surface and the back surface of the upright wall portion of the work.

FIG. 14 is a configuration diagram of an apparatus according to a conventional example.

FIG. 15 is a configuration diagram showing a form in which a band such as a band pad is attached to the front surface and the back surface of a vertical wall portion of a work.

FIG. 16 is a configuration diagram according to a conventional example showing a form in which a band-shaped pad is attached to a work having an upright wall portion.

[Explanation of symbols]

In the drawing, 1 is a band sticking device, 10 is a base, 2 is a feed roller (feed rotating body), 4 is a band cutting means, 42 is a timing belt (rotation transmitting means), 46 is a pressing roller (pressing and rotating). Body, 6 is a switching link (switching means), 65 is a switching gear (switching means), 7 is a drive motor (drive unit), S is a band-shaped pad, N1 is an upright wall, and N3 is an attachment surface.

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Mutsuya Izuhara 50, Higashisumiyoshi, Tsutsumi-cho, Toyota-shi, Aichi Prefecture Inside Toyotsu Engineering Co., Ltd. (56) References JP-A-6-32521 (JP, A) ( 58) Field surveyed (Int. Cl. ⁷ , DB name) B65H 35/07

Claims (2)

(57) [Claims] 1. A feed rotator which is rotatably provided to feed a belt-like body to a sticking position on a sticking surface of a workpiece with rotation, and a drive for generating a driving force for rotating the feed rotator. A pressing rotator that presses the band-shaped body fed to the application position of the work-applied surface on the work-applied surface to the work-applied surface by the feeding rotator, and slides and rotates with the band-shaped body; A rotation transmitting means for transmitting the rotational force of the pressing rotator to the feed rotator, interposed between the feed rotator and the drive unit, and transmitting the drive force of the drive unit to the feed rotator. And a switching unit capable of switching between a non-transmission form in which the driving force of the driving unit is not transmitted to the feed rotator; and the feed rotator, the drive unit, the pressing rotator, A belt-shaped body comprising: a rotation transmitting unit; and a base holding the switching unit. With equipment. 2. A belt-like body cutting means for cutting a belt-like body, which is located between a feeding rotary body and a pressing rotary body in a direction in which the belt-like body is fed, and is held by a base. Item 2. The band-shaped attaching device according to Item 1.