CN104487214A - Hand, robot, and processing system - Google Patents

Hand, robot, and processing system Download PDF

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Publication number
CN104487214A
CN104487214A CN201280074854.3A CN201280074854A CN104487214A CN 104487214 A CN104487214 A CN 104487214A CN 201280074854 A CN201280074854 A CN 201280074854A CN 104487214 A CN104487214 A CN 104487214A
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CN
China
Prior art keywords
band
thin slice
strap
robot
hand
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201280074854.3A
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Chinese (zh)
Inventor
古泽文明
工藤辰之
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Priority to PCT/JP2012/073701 priority Critical patent/WO2014041693A1/en
Publication of CN104487214A publication Critical patent/CN104487214A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H35/00Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. of the kinds specified below
    • B65H35/0006Article or web delivery apparatus incorporating cutting or line-perforating devices
    • B65H35/0013Article or web delivery apparatus incorporating cutting or line-perforating devices and applying the article or the web by adhesive to a surface
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00Actuating means
    • B65H2555/30Multi-axis
    • B65H2555/31Robots

Abstract

A hand (404), robots (40a, 40b) and a processing system (10) for adhering a tape piece (TP) to a subject (S) are provided. This processing system (10) is provided with a table unit (30) on which a subject (S) is placed, and a first and second robot (40a, 40b) each having a hand (404) and each moving in the longitudinal direction of the subject (S). The hand (404) includes a tape holder (440) for rotatably holding tape (442) wound in a roll, a drawing device (450) for drawing out the end of the tape (442) held by the tape holder (440), a holding unit (460) which holds down the base end of the tape (442) drawn out by the drawing device (450), a cutter unit (470) which cuts the tape (442) held down by the holding unit (460), and a suction device (490) which attaches by suction the surface opposite of the adhesive surface of the tape piece (TP) cut by the cutter unit (470) and adheres the tape piece (TP) onto the subject (S).

Description

Hand, robot and system of processing
Technical field
The present invention relates to hand, robot and system of processing.
Background technology
The manufacture method of polyester fancy plywood is recorded in Japan Patent No. 4017131 publication.The manufacture method of this polyester fancy plywood is based on following steps: the step of i) pasting facing paper on the base material of tabular; Ii) on the surface of this facing paper, apply with unsaturated polyester resin the step of the resin liquid being main component; Iii) pet film being used in the combination with decorative surfaces fine finishining that metal frame that surface covered by PVC sheets is laid by heat bonding mechanism covers applicator surface and carries out the step of deaeration; And iv) after unsaturated polyester resin sclerosis, the step of this pet film is peeled from hardened face.
Prior art document
Patent document
Patent document 1: Japan Patent No. 4017131 publication
Summary of the invention
The problem to be solved in the present invention
The object of this invention is to provide the hand for pasting strap on object, robot and system of processing.
For the method for dealing with problems
In order to solve the problem, according to a viewpoint of the present invention, be suitable for following system of processing, described system of processing possesses: workbench portion, and it loads object; And first and second robot, it has hand respectively, and moves along the length direction of described object respectively, and described hand has: band retainer, and it can keep the band being rolled into reel rotatably; Extracting device, it draws the end of the described band kept by described band retainer; Maintaining part, it presses the base end side of the described band of being drawn by described extracting device; Cutter part, it cuts off the described band pressed by described maintaining part; And absorber, it adsorbs the face of the side contrary with bonding plane of the strap cut off by described cutter part, and pastes this strap on described object.
In addition, according to other viewpoint, be suitable for the hand of following robot, the hand of described robot possesses: guide part, and it leads to thin slice; First band labelling machine, it pastes strap on the face of the side of described thin slice; And second is with labelling machine, it is located at across described guide part and is with described first the side that labelling machine is contrary, and strap is pasted on the face of the opposite side of described thin slice, first and second band labelling machine described has respectively: band retainer, and it can keep the band being rolled into reel rotatably; Extracting device, it draws the end of the described band kept by described band retainer; Maintaining part, it presses the base end side of the described band of being drawn by described extracting device; Cutter part, it cuts off the described band pressed by described maintaining part; And absorber, it adsorbs the face of the side contrary with bonding plane of the described strap cut off by described cutter part, and pastes this strap on described thin slice.
In addition, according to other viewpoint, be suitable for the hand of following robot, the hand of described robot possesses: band retainer, and it can keep the band being rolled into reel rotatably; Extracting device, it draws the end of the described band kept by described band retainer; Maintaining part, it presses the base end side of the described band of being drawn by described extracting device; Cutter part, it cuts off the described band pressed by described maintaining part; And absorber, it adsorbs the face of the side contrary with bonding plane of the strap cut off by described cutter part, and on object, paste this strap.
In addition, according to other viewpoint, be suitable for following robot, described robot hand, described hand has: guide part, and it leads to thin slice; First band labelling machine, it pastes strap on the face of the side of described thin slice; And second is with labelling machine, it is located at across described guide part and is with described first the side that labelling machine is contrary, and strap is pasted on the face of the opposite side of described thin slice, first and second band labelling machine described has respectively: band retainer, and it can keep the band being rolled into reel rotatably; Extracting device, it draws the end of the described band kept by described band retainer; Maintaining part, it presses the base end side of the described band of being drawn by described extracting device; Cutter part, it cuts off the described band pressed by described maintaining part; And absorber, it adsorbs the face of the side contrary with bonding plane of the described strap cut off by described cutter part, and pastes this strap on described thin slice.
In addition, according to other viewpoint, be suitable for following robot, described robot hand, described hand has: band retainer, and it can keep the band being rolled into reel rotatably; Extracting device, it draws the end of the described band kept by described band retainer; Maintaining part, it presses the base end side of the described band of being drawn by described extracting device; Cutter part, it cuts off the described band pressed by described maintaining part; And absorber, it adsorbs the face of the side contrary with bonding plane of the strap cut off by described cutter part, and on object, paste this strap.
Invention effect
According to the present invention, strap can be pasted on object.
Accompanying drawing explanation
Figure 1A is the top view of the system of processing that one embodiment of the present of invention relate to.
Figure 1B is the side view of described system of processing.
Fig. 1 C is the front view of described system of processing.
Fig. 2 is the key diagram using the thin slice processed by described system of processing and the in-built decorative panel manufactured.
Fig. 3 A is the key diagram representing the state that the thin slice processed by described system of processing is formed as pattern.
Fig. 3 B is the X portion enlarged drawing of Fig. 3 A.
Fig. 4 is the schematic diagram of the hand observing the robot that described system of processing has from front.
Fig. 5 is the key diagram of the guide part being on hand located at the robot that described system of processing has.
Fig. 6 is the key diagram of the band retainer being on hand located at the robot that described system of processing has.
Fig. 7 is the key diagram of the extracting device being on hand located at the robot that described system of processing has.
Fig. 8 is the key diagram of the maintaining part being on hand located at the robot that described system of processing has.
Fig. 9 A observes the key diagram being located at the cutter part on hand of the robot that described system of processing has from front.
Fig. 9 B be Fig. 9 A to looking Y.
Figure 10 A is the key diagram of the absorber being on hand located at the robot that described system of processing has.
Figure 10 B is the key diagram of the adsorption plane of the absorber being on hand located at the robot that described system of processing has.
Figure 11 A is the key diagram of the step SA1 of the processing method of the thin slice represented according to described system of processing.
Figure 11 B is the key diagram of the step SA2 of the processing method of the thin slice represented according to described system of processing.
Figure 11 C is the key diagram of the step SA3 of the processing method of the thin slice represented according to described system of processing.
Figure 11 D is the key diagram of the step SA4 of the processing method of the thin slice represented according to described system of processing.
Figure 11 E is the key diagram of the step SA5 of the processing method of the thin slice represented according to described system of processing.
Figure 11 F is the key diagram representing the state of advancing at the step SA7 king-rod of the processing method of the thin slice according to described system of processing.
Figure 11 G is the key diagram representing the state retreated at the step SA7 king-rod of the processing method of the thin slice according to described system of processing.
Figure 12 is the flow chart of the processing method of thin slice according to described system of processing.
Detailed description of the invention
Then, embodiments of the invention are realized, for understanding the present invention with reference to accompanying drawing explanation.In addition, in the various figures, sometimes diagram is omitted with the incoherent part of explanation.
The thin slice S (with reference to Fig. 3 A and Fig. 3 B) of system of processing (with reference to Figure 1A, Figure 1B and Fig. 1 C) 10 couples of in-built decorative panel P for the manufacture of object for building shown in Fig. 2 that one embodiment of the present of invention relate to, the processing of the binding needle STP etc. that carries out pasting strap TP, offers hole H, follows closely.
In-built decorative panel P shown in Fig. 2 is following sheet material, on the base material 20 of facing paper and glued board etc. of having fitted, apply mylar, after cover sheet S, uses roller to stretch the mylar that applied make it harden as polyester resin layer 22.
In order to improve the texture as in-built decorative panel P, the surface of polyester resin layer 22 is formed concavo-convex.Thin slice S is used as the part for the formation of this concavo-convex pattern 28 (with reference to Fig. 3 A and Fig. 3 B), therefore, is formed from the teeth outwards small concavo-convex (not shown).
Thin slice S is such as rectangle.Thin slice S is formed by PET (Polyethylene terephthalate: PETG) material.The size of the width of thin slice S is such as 1000 ~ 1500mm.The size of the length direction of thin slice S is such as 1900 ~ 2700mm.The thickness of thin slice S is such as 70 ~ 400 μm.
Thin slice S (example of object) is arranged on via rubber bodies 29 on the hook 34 of the inner side of the metal frame 32 being located at rectangle, forms as pattern 28.Therefore, thin slice S pastes the strap TP strengthened.Specifically, by system of processing 10, each limit along thin slice S is spaced apart at its double faced adhesive strap TP.Such as paste strap TP at 50 ~ 92 positions.In addition, the coexist central portion of strap TP of thin slice S and strap TP mono-offers hole H.Further, follow closely binding needle STP across hole H in the side contrary with the end of thin slice S from the top of having pasted strap TP, strengthen thin slice S thus.
As shown in Figure 1A, Figure 1B and Fig. 1 C, system of processing 10 possesses workbench portion 30, first robot 40a and the second robot 40b.
Workbench portion 30 has the upper working table 30a and lower floor workbench 30b that load thin slice S respectively.Each workbench 30a, 30b are equipped with detent mechanism (not shown), and described detent mechanism is positioned by the thin slice S loaded via auxiliary equipment 302.Be fixed on each workbench 30a, 30b by magnet (not shown) by the thin slice S located.
Upper working table 30a is located on stand 306 (with reference to Fig. 1 C), and can move along the direction of arrow shown in Figure 1A and Figure 1B, and wherein said stand 306 is positioned on the track 304a that the length direction along thin slice S extends.
Lower floor workbench 30b moves with can taking track 304b in the inner side being located at track 304a.As shown in Figure 1 C, the width of lower floor workbench 30b and the size of short transverse are less than the width of stand 306 and the size of short transverse respectively, and can creep into the downside of upper working table 30a.
Thus, at first and second robot 40a, 40b during Working position P1 (with reference to Figure 1A) processes the thin slice S be positioned on the workbench of a side, operator WM can load the next thin slice S that will process on the workbench of the opposing party being positioned at ready position P2, therefore shortens the productive temp time.
First robot 40a and the second robot 40b is such as the industrial robot of the vertical joint type of six axles.
First robot 40a and the second robot 40b can move independently respectively on track 402a and track 402b, and described track 402a and track 402b is configured along track 304a in the outside of track 304a.
First robot 40a on track 402a while movement, processes side when with the center line of width thin slice S being divided into two parts.Second robot 40b on track 402b while movement, processes opposite side when with the center line of width thin slice S being divided into two parts.
In addition, also can process as follows, first robot 40a is on track 402a while movement, the short side part of the side of thin slice S and the long leg of side are divided and processes, second robot 40b while movement, divides the short side part of the opposite side of thin slice S and the long leg of opposite side and processes on track 402b.
First robot 40a and the second robot 40b can be set as having identical structure respectively, therefore, omits the explanation to the second robot 40b below.
First robot 40a has the hand 404 shown in Fig. 4 in the leading section of arm.In addition, in Figure 1A ~ Fig. 1 C, the hand of diagram first robot 40a is not had.
The leading section of the arm of the first robot 40a is located at, therefore, it is possible to be positioned at arbitrary position and arbitrary attitude can be got due to hand 404.Below, based on the attitude (with reference to Fig. 4) of the hand 404 during processing thin slice S, opponent 404 is described.
The framework 406 of hand 404 is provided with: guide part 410; First and second band labelling machine 430a, 430b, it for pasting strap TP on thin slice S; Perforate drift 510, it offers hole H simultaneously on the strap TP be pasted onto on thin slice S and thin slice S; And attachment means 520, it uses binding needle STP to be fastened on further on thin slice S by the strap TP be pasted onto on thin slice S.
As shown in Figure 5, guide part 410 can lead to inserted thin slice S (arrow with reference to recording in Fig. 4 and Fig. 5), and limits the position of the above-below direction of thin slice S.In addition, by each robot 40a, 40b cursor, hand 404 is moved, or self moved on track 402a, track 402b respectively by the first robot 40a self and the second robot 40b, when observing from hand 404, the thin slice S processed by the first robot 40a and the second robot 40b is respectively transferred along guide part 420.
Guide part 410 has upside guiding parts 410U and the downside guiding parts 410L of upper surface side and the lower face side laying respectively at thin slice S.Upside guiding parts 410U and downside guiding parts 410L is spaced apart is configured opposedly.
Downside guiding parts 410L is longer than upside guiding parts 410U.The end of upside guiding parts 410U and downside guiding parts 410L is to mutually opposite side warpage.The hole (not shown) passed through for strap TP is formed at the central portion of upside guiding parts 410U and downside guiding parts 410L.
The blowing unit 412a, the 412b that spray air towards downside guiding parts 410 is provided with at the both ends of guide part 410.Spray air by blowing unit 412a, 412b towards the thin slice S be positioned on the guiding parts 410L of downside, suppress the warpage (distortion of above-below direction) of being carried out the thin slice S led by guide part 410.
As shown in Figure 4, the first band labelling machine 430a face of the side of thin slice S being pasted strap TP and the second band labelling machine 430b pasting strap TP on the face of the opposite side of thin slice S is located at opposition side mutually across guide part 410.Each band labelling machine 430a, 430b have band retainer 440, extracting device 450, maintaining part 460, cutter part 470 and absorber 490.
As shown in Figure 6, retainer 440 is with to keep the band 442 being rolled into reel in the mode that can rotate around central shaft J1.Band 442 is such as adhesive tape.
As shown in Figure 4, when master looks hand 404, extracting device 450 is configured along the lead direction of band 442.Extracting device 450 possesses leading section can the chuck 452 of opening and closing and working cylinder 454 that this chuck 452 is retreated.As shown in Figure 7, extracting device 450, after the end having been held the band 442 remained on band retainer 440 by chuck 452, makes chuck 452 retreat, thus can draw band 442.
Maintaining part 460 can press the base end side of the band 442 of being drawn by extracting device 450.As shown in Figure 4, maintaining part 460 is configured between band retainer 440 and extracting device 450.
As shown in Figure 8, maintaining part 460 has bar 462 and roller 464, and can sandwich band 442.
Bar 462 extends along above-below direction.Bar 462 can be retreated along the vertical direction.The contact component 466 contacted with roller 464 is provided with in the leading section of bar 462.
Roller 464 is configured in the downside of the contact component 466 of bar 462.Roller 464 can be rotatable around rotating shaft J2.
Cutter part 470 (with reference to Fig. 4) can cut off the band 442 kept after keeping band 442.
As shown in Figure 9 A, cutter part 470 has: a pair holding member 472a, 472b, and it keeps the front of the band 442 pressed by maintaining part 460; And blade 474, it advances towards the band 442 kept by holding member 472a, 472b.
As shown in Figure 9 B, each holding member 472a, 472b are rotated thus opening and closing leading section around axle J3a, J3b of extending towards the derivative direction of band 442 (with reference to Fig. 9 A) by base end part.That is, each holding member 472a, 472b are in the open state, extend from base portion 476 upward direction and lower direction.In a closed condition, the direction intersected to the direction extended with band 442 extends for each holding member 472a, 472b.
As shown in Figure 9 A, blade 474 is located on holding member 472b, can be in rotary moving together with holding member 472b.If the leading section of each holding member 472a, 472b is closed and retainer belt 442 (arrow A with reference to shown in Fig. 9 B), then blade 474 moves to the off-position of the below of the bonding plane of band 442.Move to blade 474 in off-position by before upward direction and then band 442 (arrow B with reference to shown in Fig. 9 B) can be cut off.
To be located at depending on blade during hand 404 474 than holding member 472b closer on the position of extracting device 450 side and to be located at distance holding member 472b be such as on the position near 1 ~ 5mm main.Blade 474 can cut off on the band position on the side of the part kept by each holding member 472a, 472b, and therefore, band 442 is stably cut off.
Absorber 490 (with reference to Fig. 4) can adsorb the band 442 kept by holding member 472a, 472b of cutter part 470 (with reference to Fig. 9 A and Fig. 9 B).In addition, air adsorption is carried out in the face of the side contrary with bonding plane of the strap TP that absorber 490 can cut off the blade 474 by cutter part 470, and is pasted onto on thin slice S by the strap TP adsorbed.
As shown in Figure 10 A and Figure 10 B, absorber 490 possesses: bar 494, and it is provided with such as four suckers 492 in leading section 493; And cylinder 496, it makes bar 494 retreat along above-below direction.On the face of the side contrary with the face being provided with sucker 492 of the leading section 493 of absorber 490, be connected with the tracheae 495 producing negative pressure.
Absorber 490 can press strap TP on the opposed parts (with reference to Fig. 9 B) 478 of holding member 472a, 472b being located at cutter part 470, and adsorbs strap TP by air.
As shown in Figure 10 B, when observing from the front of bar 494, the shape of sucker 492 is circular.
In addition, as variation, absorber also can be following structure.
As the first variation, on the smooth bottom surface of leading section 493, the suction inlet of the circle be communicated with tracheae 495 can be set.Absorber in this first variation does not arrange sucker 492.
As the second variation, on the suction inlet represented in the structure as the first variation, the pad with the tabular of the bottom surface same shape of leading section 493 can be set regularly.On the position corresponding with suction inlet of the pad of this tabular, be formed with the hole be communicated with tracheae 495.
Perforate drift 510 shown in Fig. 4 can offer hole H from the top of the strap TP be pasted onto thin slice S to thin slice S.When perforate drift 510 is configured in overlooking on the direct of travel of the hand 404 of the first robot 40a than the absorber 490 strap TP is pasted onto on thin slice S more rearward side, be configured in band retainer 440 side.
Attachment means 520 shown in Fig. 4 uses the binding needle STP loaded the strap TP be pasted onto on thin slice S can be fastened on thin slice S.Attachment means 520 be configured on the direct of travel of the hand 404 of the first robot 40a than perforate drift 510 more rearward side, be namely with retainer 440 side.
Below, the processing method of the thin slice S undertaken by system of processing 10 is described.In addition, the first band labelling machine 430a and second band labelling machine 430b similarly carries out action respectively, therefore, omits the explanation to the second band labelling machine 430b.
(step SA1)
By the first robot 40a, the hand 404 shown in Fig. 4 is moved, the short leg of thin slice S is inserted in guide part 410.By the air supplied from blowing unit 412a, 412b, suppress the warpage of thin slice S.
As shown in Figure 11 A, the bar 462 of maintaining part 460 advances, and between roller 464 retainer belt 442.
The chuck 452 of extracting device 450 advances, and holds the end of band 442.
(step SA2)
As shown in Figure 11 B, the bar 462 of maintaining part 460 retreats.The chuck 452 of extracting device 450 retreats, and draws the band 442 held.
(step SA3)
As shown in Figure 11 C, the bar 462 of maintaining part 460 advances, and pressing belt 442.
(step SA4)
As shown in Figure 11 D, each holding member 472a, 472b of cutter part 470 close, and retainer belt 442.While holding member 472b closes, opposed parts 478 also move to the off-position of the below of band 442.
The bar 494 of absorber 490 in downward direction advances, and on opposed parts 478 after pressing belt 442, carries out air adsorption to band 442.
(step SA5)
Blade 474 upward direction of cutter part 470 is advanced, and cuts off band 442.As depicted in fig. 1 ie, after cut-out band 442, the chuck 452 of extracting device 450 is opened, the end of release strap TP.Strap TP is only kept by absorber 490.
The bar 494 of absorber 490 is drawn back temporarily to top, and strap TP is kept out of the way upward.
(step SA6)
Each holding member 472a, 472b of cutter part 470 open.
(step SA7)
As shown in fig. 11f, the bar 494 of absorber 490 advances downwards, and on paste position Pp, pastes strap TP through the hole be formed on the guiding parts 410U of upside to thin slice S.
After having pasted strap TP, as shown in fig. 11g, the bar 494 of absorber 490 retreats.
(step SB1)
After performing step SA7, the first robot 40a shown in Figure 1A, Figure 1B and Fig. 1 C makes hand 404 move.That is, when observing from hand 404, the thin slice S be inserted in guide part 410 is transferred.The strap TP be pasted onto on thin slice S is transported on position of opening.Perforate drift 510 (with reference to Fig. 4) is bored a hole from the top of strap TP to thin slice S.
(step SB2)
The first robot 40a shown in Figure 1A, Figure 1B and Fig. 1 C makes hand 404 move.That is, when observing from hand 404, the thin slice S be inserted in guide part 410 is transferred.The strap TP offering hole in step SB1 is above transported on restraint location.Attachment means 520 (with reference to Fig. 4) follows closely binding needle STP on strap TP.Strap TP is fastened on thin slice S by binding needle STP.That is, strap TP is except the adhesion strength of self, is also fixed on thin slice S by binding needle STP.
In addition, from the viewpoint of shortening the productive temp time, as shown in figure 12, during to first strap TP execution step SB1 and step SB2, the step SA1 ~ SA6 for preparing second follow-up strap TP can be performed concurrently.
First robot 40a makes hand 404 move to Working position P1 successively, thus repeatedly performs described step SA1 ~ SA6 and step SB1, SB2, is pasted onto by strap TP on thin slice S, thin slice S bores a hole, and tightens solid binding needle STP at thin slice S and strap TP.Its result, strap TP is successively on the minor face being pasted onto thin slice S spaced apart.
After the processing of short side part completing thin slice S, the first robot 40a replaces hand 404 is moved, and himself moves on track 402a, thus the long leg of processing thin slice S divides.Its result, also stickup strap TP spaced apart on long limit.
In addition, the invention is not restricted to described embodiment, can change in the scope not changing aim of the present invention.Such as, the situation part or all combination of described embodiment, variation being formed invention is also included within technical scope of the present invention.
Object is not limited to the thin slice of PET material.As other example of object, corrugated paper board box paper, plate can enumerated and assemble.
Robot is not limited to the industrial robot of vertical joint type.
Also can be that the hand of robot only possesses the first band labelling machine or the second band labelling machine, strap be only pasted on the face of the side of object by robot.
Strap TP also can paste successively from the long leg of thin slice S divides, then pastes in short side part.
Description of reference numerals
10: system of processing, 20: base material, 22: polyester resin layer, 28: pattern, 29: rubber bodies, 30: workbench portion, 30a: upper working table, 30b: lower floor's workbench, 32: metal frame, 34: hook, 302: auxiliary equipment, 304a, 304b: track, 306: stand, 40a: the first robot, 40b: the second robot, 402a, 402b: track, 404: hand, 406: framework, 410: guide part, 410L: downside guiding parts, 410U: upside guiding parts, 412a, 412b: blowing unit, 430a: the first band labelling machine, 430b: the second band labelling machine, 440: band retainer, 442: band, 450: extracting device, 452: chuck, 454: working cylinder, 460: maintaining part, 462: bar, 464: roller, 466: contact component, 470: cutter part, 472a, 472b: holding member, 474: blade, 476: base portion, 478: opposed parts, 490: absorber, 492: sucker, 493: leading section, 494: bar, 495: tracheae, 496: cylinder, 510: perforate drift, 520: attachment means, H: hole, P: in-built decorative panel, S: thin slice, STP: binding needle, TP: strap, WM: operator.

Claims (9)

1. a system of processing, is characterized in that, possesses:
Workbench portion, it loads object; And
First and second robot, it has hand respectively, and moves along the length direction of described object respectively,
Described hand has:
Band retainer, it can keep the band being rolled into reel rotatably;
Extracting device, it draws the end of the described band kept by described band retainer;
Maintaining part, it presses the base end side of the described band of being drawn by described extracting device;
Cutter part, it cuts off the described band pressed by described maintaining part; And
Absorber, it adsorbs the face of the side contrary with bonding plane of the strap cut off by described cutter part, and pastes this strap on described object.
2. system of processing according to claim 1, is characterized in that,
Described cutter part has:
A pair holding member, it keeps the front of the described band pressed by described maintaining part; And
Blade, it cuts off the described band kept by described holding member.
3. system of processing according to claim 2, is characterized in that,
Described object is thin slice,
Described hand also has blowing unit, and described blowing unit sprays the air of the distortion for suppressing described thin slice to this thin slice.
4. system of processing according to claim 3, is characterized in that,
Described system of processing also possesses:
Perforate drift, it offers hole to the described strap be pasted onto on described thin slice; And
Attachment means, it uses the binding needle loaded, and is fastened on described thin slice by the described strap be pasted onto on described thin slice.
5. system of processing according to any one of claim 1 to 4, is characterized in that,
Described workbench portion has:
Upper working table, it can move; And
Lower floor's workbench, it can creep into the downside of described upper working table.
6. a hand for robot, is characterized in that, possesses:
Guide part, it leads to thin slice;
First band labelling machine, it pastes strap on the face of the side of described thin slice; And
Second band labelling machine, it is located at across described guide part and is with described first the side that labelling machine is contrary, and pastes strap on the face of the opposite side of described thin slice,
First and second band labelling machine described has respectively:
Band retainer, it can keep the band being rolled into reel rotatably;
Extracting device, it draws the end of the described band kept by described band retainer;
Maintaining part, it presses the base end side of the described band of being drawn by described extracting device;
Cutter part, it cuts off the described band pressed by described maintaining part; And
Absorber, it adsorbs the face of the side contrary with bonding plane of the described strap cut off by described cutter part, and pastes this strap on described thin slice.
7. a hand for robot, is characterized in that, possesses:
Band retainer, it can keep the band being rolled into reel rotatably;
Extracting device, it draws the end of the described band kept by described band retainer;
Maintaining part, it presses the base end side of the described band of being drawn by described extracting device;
Cutter part, it cuts off the described band pressed by described maintaining part; And
Absorber, it adsorbs the face of the side contrary with bonding plane of the strap cut off by described cutter part, and on object, paste this strap.
8. a robot, is characterized in that,
Described robot hand, described hand has: guide part, and it leads to thin slice; First band labelling machine, it pastes strap on the face of the side of described thin slice; And second is with labelling machine, it is located at across described guide part and is with described first the side that labelling machine is contrary, and pastes strap on the face of the opposite side of described thin slice,
First and second band labelling machine described has respectively:
Band retainer, it can keep the band being rolled into reel rotatably;
Extracting device, it draws the end of the described band kept by described band retainer;
Maintaining part, it presses the base end side of the described band of being drawn by described extracting device;
Cutter part, it cuts off the described band pressed by described maintaining part; And
Absorber, it adsorbs the face of the side contrary with bonding plane of the described strap cut off by described cutter part, and pastes this strap on described thin slice.
9. a robot, is characterized in that,
Described robot hand, described hand has:
Band retainer, it can keep the band being rolled into reel rotatably;
Extracting device, it draws the end of the described band kept by described band retainer;
Maintaining part, it presses the base end side of the described band of being drawn by described extracting device;
Cutter part, it cuts off the described band pressed by described maintaining part; And
Absorber, it adsorbs the face of the side contrary with bonding plane of the strap cut off by described cutter part, and on object, paste this strap.
CN201280074854.3A 2012-09-14 2012-09-14 Hand, robot, and processing system Pending CN104487214A (en)

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PCT/JP2012/073701 WO2014041693A1 (en) 2012-09-14 2012-09-14 Hand, robot, and processing system

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CN104487214A true CN104487214A (en) 2015-04-01

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CN201280074854.3A Pending CN104487214A (en) 2012-09-14 2012-09-14 Hand, robot, and processing system

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JP (1) JP6016140B2 (en)
CN (1) CN104487214A (en)
WO (1) WO2014041693A1 (en)

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JP2000015609A (en) * 1998-07-02 2000-01-18 Aica Kogyo Co Ltd Manufacture of decorative laminated board
JP2001001454A (en) * 1999-04-23 2001-01-09 Matsushita Electric Works Ltd Decorative material and production thereof
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JP6016140B2 (en) 2016-10-26
WO2014041693A1 (en) 2014-03-20

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