JP7612232B2 - Sticker attachment device - Google Patents

Description

The present invention relates to a sticker application device that applies linearly shaped stickers to a target area.

A seal application device having the following configuration has been known in the past. That is, according to this conventional sealing device, a peeling means and a pressing means are attached to the tip of a robot as the effector of the robot, and further, a tip of a first pipe for supplying the seal and a tip of a second pipe for collecting the protective film are attached to the tip of the robot.

Here, the seal has a linear adhesive layer, which is further covered with a linear protective film. The peeling means peels the protective film from the seal to expose the adhesive layer, and the pressing means presses the exposed adhesive layer against a target area to attach it. The robot moves the peeling means and pressing means to pull the seal out from the tip of the first pipe, peeling off the protective film and pressing the seal against the target area to attach it.

The inside of the first pipe is also sucked with negative pressure, and the seal is also sucked toward the inside of the pipe. This provides the seal with an appropriate tension between the nozzle and the pressing means, allowing it to be smoothly attached to the target area. The inside of the second pipe is also sucked with negative pressure, and the protective film is sucked into the inside of the second pipe and collected (see, for example, Patent Documents 1 and 2).

However, with conventional sticker application devices, for example, when switching between application sites, such as when application to a specific target site is completed and application to a different target site is started, the following operations are required. That is, once application to the specific target site is completed, the robot operation is stopped and the entire sticker, including the protective film, is cut off at the end of the target site.

Thereafter, before starting application to another target area, it is necessary to peel the protective film from the seal at the tip portion of the seal, set the tip portion of the seal on the pressing means and apply it to the starting region of the target area, and also set the tip portion of the protective film on the peeling means and insert it inside the second pipe.
In this way, when switching the target site for application, the work is extremely cumbersome, and there is a demand for reducing the workload.

Patent No. 6892413 Patent No. 6948286

The present disclosure has been made to solve the above problems, and its purpose is to reduce the complexity of the work involved in switching the target area for application of stickers in a sticker application device.

The sticker application device of the present disclosure is a device that applies a linearly shaped sticker to a target portion set on a predetermined workpiece . The sticker has a linear adhesive layer, which is covered with a linear protective film. The sticker application device peels off the protective film while feeding out the sticker, exposing the adhesive layer and applying the sticker linearly to the target portion.

The seal application device also includes a peeling means, a pressing means, a cutting means, a cutting control means, and a relative movement means. Here, the peeling means peels off a protective film from the seal to expose the adhesive layer, the pressing means presses the exposed adhesive layer against a target portion, and the cutting means makes a cut in the seal. The cutting control means controls the cutting means, and the relative movement means changes the relative positions of the peeling means, the pressing means, and the cutting means relative to the workpiece, thereby pressing the adhesive layer against the target portion and attaching the seal .

Then, before the protective film is peeled off by the peeling means, the cutting control means brings the blade of the cutting means close to the seal from the side opposite to the side where the protective film exists, cuts into the seal, and pulls the blade away from the seal before it reaches the protective film.
Furthermore, the cutting control means starts cutting into the seal when the seal reaches a predetermined position just before the end of the target area so that the location of the cutting by the cutting means substantially coincides with the end of the target area.
As a result, the sticker application device of the present disclosure can potentially reduce the workload involved when switching between target sticker application areas.

FIG. 1 is an overall configuration diagram of a sticker affixing device (first embodiment). FIG. 2 is a diagram showing the main configuration of a sticker affixing device according to the first embodiment; 4 is a flowchart showing a method for controlling the sticker affixing device (first embodiment). FIG. 11 is a diagram showing the main configuration of a seal affixing device (embodiment 2). FIG. 11 is an overall configuration diagram of a seal affixing device (third embodiment).

The seal application device of the embodiment will be explained based on the following example.

[Configuration of Example 1]
The configuration of a sticker pasting device 1 according to a first embodiment will be described with reference to Figs. 1 and 2 (hereinafter, the sticker pasting device 1 may be abbreviated to simply "pasting device 1").
The application device 1 feeds out a linearly shaped sponge sticker 2 and applies it linearly to a target site 3. The sticker 2 is provided with a linear adhesive layer 4, which is further covered with a linear protective film 5.

The application device 1 then sends out the sticker 2 in the protected state while peeling off the protective film 5, exposing the adhesive layer 4 and applying it in a line to the target area 3 (hereinafter, in the sticker 2, the state in which the adhesive layer 4 is covered with the protective film 5 may be referred to as the "protected state", and the state in which the protective film 5 has been peeled off and the adhesive layer 4 is exposed may be referred to as the "exposed state").
Hereinafter, the bonding device 1 will be described in detail with respect to each of its components.

The application device 1 includes a robot 6 , which will be described below, various effectors provided at the tip of the robot 6 , a control unit 7 , a supply unit 8 , and a suction unit 9 .
First, the robot 6 is, for example, a well-known six-axis articulated robot, and has various means as effectors at its tip. The control unit 7 is, for example, a control panel, and mainly controls the application of the sticker 2 by issuing commands to the actuators of the robot 6 and the various means.
The various effectors at the tip of the robot 6 will be described later.

Next, the supply unit 8 is a supply source of the seal 2 in a protected state. A flexible pipe 11 is connected to the supply unit 8, and the tip of the pipe 11 is attached to the tip of the robot 6. The seal 2 in a protected state is sent from the supply unit 8 to the tip of the robot 6 through the inside of the pipe 11 by a sending means 13 described below. In the supply unit 8, the seal 2 is wound on a specified bobbin (not shown) and stored.

Next, the suction unit 9 sucks and collects the protective film 5 peeled off from the adhesive layer 4, and includes a collection tank 9a for storing the collected protective film 5, and a suction machine 9b for generating negative pressure. A flexible pipe 15 is connected to the collection tank 9a, and the tip of the pipe 15 is attached to the tip of the robot 6. The protective film 5 is sucked through the inside of the pipe 15 and collected from the tip of the robot 6 into the collection tank 9a.
Hereinafter, the pipes 11 and 15 may be referred to as the first and second pipes 11 and 15, respectively.

Various means serving as effectors of the robot 6 will be described in detail below.
The bonding device 1 has, as effectors of the robot 6, the following sending means 13, tensioning means 17, peeling means 18, pressing means 19 and cutting means 20.
First, the delivery means 13, which draws out the protected seal 2 from the tip of the first pipe 11 and delivers it towards the target site 3, is mainly composed of a drive roller 22A and a driven roller 23A. Here, the drive roller 22A is driven to rotate by a predetermined actuator. The driven roller 23A sandwiches the protected seal 2 between itself and the drive roller 22A, and rotates with the rotation of the drive roller 22A.

Next, the tension applying means 17 applies tension to the seal 2 sent out by the sending means 13, and mainly consists of drive and driven rollers 22B, 23B assembled on the side of the target area 3 rather than the drive and driven rollers 22A, 23A.
The drive roller 22B is rotated by a predetermined actuator. The driven roller 23B sandwiches the seal 2 in a protected state between itself and the drive roller 22B, and rotates with the rotation of the drive roller 22B.

Then, as the drive roller 22B is driven to rotate and the driven roller 23B also rotates, tension is applied to the protected seal 2 between the drive and driven rollers 22A, 23A and the drive and driven rollers 22B, 23B, and the seal 2 is sent out toward the target area 3.

Next, the peeling means 18 peels off the protective film 5 to expose the adhesive layer 4, and is mainly composed of the above-mentioned drive roller 22B and the following driven roller 23C. Here, the driven roller 23C is assembled separately from the driven roller 23B and rotates with the rotation of the drive roller 22B. The protective film 5 is sandwiched between the driven roller 23C and the drive roller 22B, and is peeled off from the adhesive layer 4 by the drive roller 22B being driven to rotate and the driven roller 23C also rotating.

Furthermore, a roller 24 is also attached closer to the target site 3 than the driven rollers 23B and 23C, and the roller 24 stabilizes the peeling of the protective film 5 from the adhesive layer 4.
Then, the protective film 5 is peeled off from the adhesive layer 4 at the periphery of the roller 24 , pulled up by the driving roller 22 B and the driven roller 23 C, and sent to the tip of the second pipe 15 , and is sucked into the interior of the second pipe 15 .

The pressing means 19 presses the exposed adhesive layer 4 against the target area 3 to attach the exposed seal 2, and is composed of the roller 25, support 26, and biasing means 27, etc., as described below. First, the roller 25 is pressed against the exposed seal 2 from the opposite side of the adhesive layer 4, and directly presses the exposed seal 2 against the target area 3. The support 26 is a member that rotatably supports the roller 25, and the biasing means 27 biases the support 26 toward the target area 3, and the exposed seal 2 is pressed against the target area 3 from the opposite side of the adhesive layer 4 via the support 26 and roller 25 by the biasing force of the biasing means 27. The biasing means 27 is, for example, a coil spring.

The exposed sticker 2 is then pressed against the target area 3 by the biasing force of the biasing means 27, and the entire effector is moved by the robot 6, so that it is attached to the target area 3 along a predetermined movement trajectory.
In other words, the robot 6 functions as a relative movement means for moving the pressing means 19 relative to the target area 3, and by moving the pressing means 19 as an effector relative to the target area 3, the sticker 2 is attached to the target area 3.

In addition, the pressing means 19 is provided so as to be freely protruded by an actuator not shown, and can protrude further toward the tip side relative to the sending means 13, the tensioning means 17 and the peeling means 18, i.e., away from the tip of the robot 6.
Therefore, for example, when it is desired to apply the sticker 2 without interruption at a corner with a large curvature at the target area 3, the pressing means 19 can be extended toward the tip while the tensioning means 17, peeling means 18, etc. are moved away from the target area 3, thereby smoothly changing the direction of travel and continuing to apply the sticker 2.

The cutting means 20 cuts the seal 2, and is composed of, for example, a well-known solenoid 29 and a blade unit 30 that is assembled so as to be freely protruded by the solenoid 29. The control unit 7 also has the function of cutting control means that controls the cutting means 20. Furthermore, the cutting means 20 is assembled in a position where it can cut the seal 2 that is in a protected state and appropriately tensioned between the drive and driven rollers 22A, 23A and the drive and driven rollers 22B, 23B.

The cutting control means uses a solenoid 29 to bring the blade portion 30 closer to the seal 2 from the side opposite to the side where the protective film 5 is present, and cuts into the seal 2, and then pulls the blade portion 30 away from the seal 2 before it reaches the protective film 5.
The delivery means 13, tensioning means 17, peeling means 18, pressing means 19 and cutting means 20 are housed within a predetermined outer shell 32, and rollers 24, 25 protrude from the outer shell.

[Control method of embodiment 1]
A control method of the application device 1 of the first embodiment will be described with reference to the flowchart of Fig. 3. Note that this flow is executed, for example, when application to the target site 3 is completed.
First, in step S1, it is determined whether or not the sticker 2 has reached just before the end of the target area 3. This determination can be made, for example, based on the distance traveled by the pressing means 19 and the like after attachment has begun. Then, if it is determined in step S1 that the sticker 2 has reached just before the end of the target area 3 (YES), the process proceeds to step S2, where the protrusion of the blade portion 30 of the cutting means 20 begins. If it is determined that the sticker 2 has not reached the end (NO), the process returns to step S1.

Next, in step S3, it is determined whether the seal 2 in the protected state has been cut to a predetermined depth. This determination can be made, for example, based on the amount of protrusion or the pressure of the blade portion 30. If it is determined in step S3 that the seal 2 has been cut to the predetermined depth (YES), the process proceeds to step S4, where the protrusion of the blade portion 30 is stopped and the seal 2 begins to be pulled away. If it is determined that the seal 2 has not been cut to the predetermined depth (NO), the process returns to step S3.

Next, in step S5, it is determined whether or not the sticker 2 has reached the end of the target area 3. This determination can be made, for example, based on the distance traveled by the pressing means 19, etc. after application has begun. Then, if it is determined in step S5 that the sticker 2 has reached the end of the target area 3 (YES), the process proceeds to step S6, where post-processing is performed. If it is determined that the sticker 2 has not reached the end (NO), the process returns to step S5.

In the post-processing, for example, the operations of the delivery means 13, tensioning means 17, peeling means 18, pressing means 19, and suction unit 9 are stopped. Next, without cutting the protective film 5, the delivery means 13, tensioning means 17, peeling means 18, pressing means 19, etc. are pulled up from the end of the target area 3 to tear off the exposed seal 2 at the cut location, and then the operation of the robot 6 is stopped.
In addition, the movement distance from just before the end of the target area 3 to the end of the target area 3 is set, for example, so as to approximately match the length of the cut point on the seal 2 when the blade portion 30 is pulled away and the point located at the end.

[Effects of Example 1]
The application device 1 of the first embodiment is a device that uses a robot 6 to apply a linearly formed sticker 2 to a target site 3 in a linear shape. The sticker 2 is provided with a linear adhesive layer 4, which is further covered with a linear protective film 5. The application device 1 then feeds out the sticker 2 and peels off the protective film 5, exposing the adhesive layer 4 and applying the sticker in a linear shape to the target site 3.

The application device 1 also includes, as effectors of the robot 6, a peeling means 18, a pressing means 19, and a cutting means 20. Here, the peeling means 18 peels the protective film 5 from the sticker 2 to expose the adhesive layer 4, the pressing means 19 presses the exposed adhesive layer 4 against the target area 3 to attach it, and the cutting means 20 makes a cut in the sticker 2. The robot 6 functions as a relative movement means for moving the pressing means 19 relative to the target area 3.

Furthermore, the bonding device 1 includes, as a function of the control unit 7, a cutting control means for controlling the cutting means 20. Then, before the protective film 5 is peeled off by the peeling means 18, the cutting control means brings the blade portion 30 of the cutting means 20 close to the seal 2 from the side opposite to the side where the protective film 5 is present, and cuts into the seal 2, and then pulls the blade portion 30 away from the seal 2 before it reaches the protective film 5.
This reduces the workload when switching the target area 3.

That is, for example, after the above-mentioned post-processing, the protective film 5 can be left uncut and set in the suction unit 9 and passed through the second pipe 15 until application to the next target area 3 begins. Also, the end of the seal 2 that is newly exposed after tearing can be left set in the pressing means 19 and left waiting.

Therefore, the end of the seal 2 is lowered while still set on the pressing means 19 at the starting point of the next target area 3, and the operation of the robot 6, the sending means 13, the tensioning means 17, the peeling means 18, the pressing means 19, and the suction unit 9, etc. is initiated, so that application to the next target area 3 can begin.
This makes it possible to significantly reduce the workload involved when switching between target sites 3.

The application device 1 of Example 1 also includes the following sending means 13 as an effector of the robot 6. That is, the sending means 13 sends out the sticker 2 toward the target site 3, and includes the following drive roller 22A and driven roller 23A. That is, the drive roller 22A is driven to rotate by a specific actuator, and the driven roller 23A pinches the sticker 2 in a protected state between itself and the drive roller 22A, and rotates with the rotation of the drive roller 22A.

The delivery means 13 delivers the protected seal 2 towards the target site 3 as the drive roller 22A is driven to rotate and the driven roller 23A also rotates.
This allows the seal 2 in the protected state to be strongly pulled in by the delivery means 13 and delivered toward the target site 3. Therefore, the seal 2 wound around the bobbin can be reliably pulled out from the bobbin and delivered toward the target site 3.

The application device 1 of the first embodiment also includes a tension applying means 17 as an effector of the robot 6. That is, the tension applying means 17 applies tension to the sticker 2 sent out by the sending means 13. Then, the cutting means 20 makes a cut in the sticker 2 in a state in which tension is applied by the tension applying means 17.
This ensures that the seal 2 is cut to the required depth.

Furthermore, according to the application device 1 of the first embodiment, the tension applying means 17 has the following drive and driven rollers 22B and 23B. That is, the drive roller 22B is assembled closer to the target area 3 than the drive roller 22A and is driven to rotate by a specified actuator, and the driven roller 23B is assembled closer to the target area 3 than the driven roller 23A and sandwiches the protected seal 2 between itself and the drive roller 22B and rotates with the rotation of the drive roller 22B.

Then, as the drive roller 22B is driven to rotate and the driven roller 23B also rotates, tension is applied to the protected seal 2 between the drive and driven rollers 22A, 23A and the drive and driven rollers 22B, 23B, and the seal 2 is sent out toward the target area 3.
The peeling means 18 also includes a driven roller 23C, which is described below. That is, the driven roller 23C is assembled separately from the driven roller 23B, and rotates with the rotation of the driving roller 22B.

The protective film 5 is sandwiched between the driving roller 22B and the driven roller 23C, and is peeled off from the adhesive layer 4 as the driving roller 22B is driven to rotate and the driven roller 23C also rotates.
This allows the driving roller 22B to be used both as the peeling means 18 and the tension applying means 17, so that the number of parts attached to the tip of the robot 6 can be reduced, thereby reducing the load on the robot 6.

Example 2
The bonding device 1 of the second embodiment will be described with reference to FIG. 4, focusing on the differences from the bonding device 1 of the first embodiment.
The bonding device 1 of the second embodiment does not include the drive roller 22B and the driven rollers 23B and 23C, and the suction unit 9 strongly suctions the protective film 5, thereby serving as both the tension applying means 17 and the peeling means 18.
This makes it possible to reduce the number of parts and lighten the load on the robot 6.

Example 3
The joining device 1 of the third embodiment will be described with reference to FIG. 5, focusing on the differences from the joining device 1 of the first embodiment.
According to the application device 1 of Example 3, the sending means 13, tensioning means 17, peeling means 18, pressing means 19 and cutting means 20 are fixed in predetermined positions rather than as effectors of the robot 6, while maintaining the same configuration as in Example 1.

Instead, the robot 6 is provided with a holder that holds the workpiece 34 having the target area 3 as an effector. The robot 6 then presses the target area 3 against the exposed seal 2 set in the pressing means 19, and the robot 6 then moves the workpiece 34 to attach the seal 2 to the target area 3.

[Modifications]
It goes without saying that the first to third embodiments are merely specific examples, and the present invention is not limited to the first to third embodiments.
For example, according to the application device 1 of Example 1, the peeling means 18 was mainly composed of the drive and driven rollers 22B and 23C, but for example, by omitting the driven roller 23C and increasing the suction force of the suction unit 9, the peeling means 18 may be mainly composed of the roller 24 and the suction unit 9.

Although the application device 1 of Example 1 is provided with a sending means 13 mainly composed of the drive and driven rollers 22A and 23A, for example, the drive and driven rollers 22A and 23A may be omitted, and the inside of the first pipe 11 may be subjected to negative pressure suction, with the drive and driven rollers 22B and 23B serving both as the sending means 13 and the tension applying means 17. In other words, the inside of the first pipe 11 may be subjected to negative pressure suction to pull the protected seal 2 into the inside of the first pipe 11, while the drive and driven rollers 22B and 23B may apply tension to the protected seal 2 as it is sent out towards the target site 3.

Further, according to the joining device 1 of the first embodiment, the drive roller 22B is used both for the tension applying means 17 and the peeling means 18, but a drive roller dedicated to the peeling means 18 may be provided.
Furthermore, according to the application device 1 of Example 3, the sending means 13, the tensioning means 17, the peeling means 18, the pressing means 19 and the cutting means 20 are the same as those of Example 1, but as in Example 2, the suction section 9 may serve as both the tensioning means 17 and the peeling means 18.

REFERENCE SIGNS LIST 1 Attachment device (seal attachment device) 2 Seal 3 Target area 4 Adhesive layer 5 Protective film 6 Robot (relative movement means) 7 Control unit (cutting control means) 18 Peeling means 19 Pressing means 20 Cutting means 30 Blade portion 34 Workpiece

Claims (5)

This is a machine that applies linearly shaped stickers to the target areas set on a given workpiece .
The seal has a linear adhesive layer, and the adhesive layer is covered with a linear protective film.
A sticker application device which peels off the protective film while feeding out the sticker, exposes the adhesive layer, and applies the sticker linearly to the target area,
a peeling means for peeling the protective film from the seal to expose the adhesive layer;
A pressing means for pressing the exposed adhesive layer against a target site;
A cutting means for cutting the seal;
A cutting control means for controlling the cutting means;
A relative movement means is provided for changing the relative positions of the peeling means, the pressing means, and the cutting means and the workpiece, thereby pressing the adhesive layer against the target portion and attaching the sticker ,
The cutting control means is
Before the protective film is peeled off by the peeling means, a blade portion of the cutting means is brought closer to the seal from the side opposite to the side where the protective film is present, and a cut is made in the seal, and before the blade portion reaches the protective film, the blade portion is separated from the seal ;
Furthermore, the cutting control means
A seal application device characterized in that cutting into the seal is started when the seal reaches a predetermined position just before the end of the target area so that the cutting point by the cutting means approximately coincides with the end of the target area . The seal application device according to claim 1,
A delivery means for delivering the seal toward the target site,
The sending means is
A drive roller that is rotationally driven by a predetermined drive source;
a driven roller that sandwiches the seal in a protected state in which the adhesive layer is covered with the protective film between the driving roller and the driven roller, and rotates in accordance with the rotation of the driving roller;
A seal application device, characterized in that the drive roller is rotationally driven and the driven roller also rotates, thereby sending out the seal in the protected state toward the target portion. The seal application device according to claim 2,
a tension applying means for applying tension to the seal fed by the drive roller and the driven roller,
The seal application device, wherein the cutting means makes a cut in the seal while tension is applied by the tension applying means. The seal application device according to claim 3,
The tension applying means is
Another drive roller is assembled closer to the target site than the drive roller and is driven to rotate by a predetermined drive source;
a second driven roller that is assembled closer to the target site than the second driven roller, that sandwiches the seal in the protected state between the second driven roller and the second driven roller, and that rotates in accordance with the rotation of the second driven roller;
When the separate drive roller is rotationally driven and the separate driven roller also rotates, tension is applied to the seal in the protected state between the drive and driven rollers and the separate drive and driven rollers, and the seal is sent toward the target site;
the peeling means has a further driven roller that is assembled separately from the further driven roller and rotates with the rotation of the further driving roller,
The protective film is sandwiched between the further driven roller and the further drive roller, and is peeled off from the adhesive layer as the further drive roller is driven to rotate and the further driven roller also rotates. This is a device that applies linearly shaped stickers to the target area.
The seal has a linear adhesive layer, and the adhesive layer is covered with a linear protective film.
A sticker application device which peels off the protective film while feeding out the sticker, exposes the adhesive layer, and applies the sticker linearly to the target area,
a peeling means for peeling the protective film from the seal to expose the adhesive layer;
A pressing means for pressing and attaching the exposed adhesive layer to a target site;
A cutting means for cutting the seal;
A cutting control means for controlling the cutting means;
a relative movement means for moving the pressing means relative to the target site,
The cutting control means is
Before the protective film is peeled off by the peeling means, a blade portion of the cutting means is brought closer to the seal from the side opposite to the side where the protective film is present, and a cut is made in the seal, and before the blade portion reaches the protective film, the blade portion is separated from the seal;
The seal application device further comprises:
A delivery means for delivering the seal toward the target site,
The sending means is
A drive roller that is rotationally driven by a predetermined drive source;
a driven roller that sandwiches the seal in a protected state in which the adhesive layer is covered with the protective film between the driving roller and the driven roller, and rotates in accordance with the rotation of the driving roller;
The drive roller is rotated and the driven roller also rotates, thereby sending the seal in the protected state toward the target area,
Furthermore, the seal application device
a tension applying means for applying tension to the seal fed by the drive roller and the driven roller,
The cutting means cuts the seal while tension is applied by the tension applying means,
The tension applying means is
Another drive roller is assembled closer to the target site than the drive roller and is driven to rotate by a predetermined drive source;
a second driven roller that is assembled closer to the target site than the second driven roller, that sandwiches the seal in the protected state between the second driven roller and the second driven roller, and that rotates in accordance with the rotation of the second driven roller;
When the separate drive roller is rotationally driven and the separate driven roller also rotates, tension is applied to the seal in the protected state between the drive and driven rollers and the separate drive and driven rollers, and the seal is sent toward the target site;
the peeling means has a further driven roller that is assembled separately from the further driven roller and rotates with the rotation of the further driving roller,
The protective film is sandwiched between the further driven roller and the further drive roller, and is peeled off from the adhesive layer as the further drive roller is driven to rotate and the further driven roller also rotates.

Images