CN113211803B - Adhesive tape attaching mechanism and using method thereof - Google Patents

Abstract

The application is suitable for the technical field of intelligent manufacturing equipment, and provides an adhesive tape attaching mechanism and a using method thereof, which are used for continuously attaching an adhesive tape to the surface of a material, wherein the adhesive tape attaching mechanism comprises an edge picking device, an adhesive tape attaching device, a flattening device and a cutting device, the edge picking device is used for providing a supporting point at the inner side of an included angle between two surfaces to be attached, and the supporting point is used for supporting the adhesive tape; the adhesive tape sticking device is used for guiding and pre-sticking the adhesive tape to two surfaces to be stuck in the sticking path direction of the material surface; the flattening device comprises two flattening components, the two flattening components are used for pressing and butting the adhesive tape lifted by the supporting point at the included angle bisector and forming a jointed adhesive tape fold at the included angle bisector; the cutting device is used for cutting off the adhesive tape folds. The application provides an attached mechanism of sticky tape can realize that the sticky tape pastes along the continuous of a plurality of directions of pasting, solves the technical problem that can't paste in succession when the sticky tape direction changes, improves tape-stripping efficiency, guarantees that the sticky tape is attached levelly and smoothly.

Description

Adhesive tape attaching mechanism and using method thereof

Technical Field

The application belongs to the technical field of intelligent manufacturing equipment, and particularly relates to an adhesive tape attaching mechanism and a using method thereof.

Background

Currently, adhesive tapes are used in many industries to adhere, fix or cover objects, such as the automotive industry or the painting industry. The existing tape-sticking device is generally suitable for the continuous sticking operation of the tape in a single direction, such as a straight path direction; when the direction of the pasting path is greatly changed, the tape pasting device often cuts the tape to paste the tape in sections, so that continuous pasting cannot be realized. This is because if the tape is continuously adhered, the tape is prone to have a folding wrinkle at the inflection point position where the direction changes, especially at the corner position, which results in uneven adhesion of the tape and affects the adhesion fixation or covering effect of the tape; particularly, the double-sided adhesive tape with a certain thickness, such as a foam adhesive tape, has a particularly obvious wrinkle bulge phenomenon at the corner. However, the efficiency of the adhesive tape application is affected by the sectional application, and a gap that lacks an adhesive tape may occur at a position of the tape section where the tape is cut off, which may result in a missing discontinuous place, particularly a corner position, of the object to be fixed or covered, which is likely to cause a poor adhesion, which may affect the fixing or covering effect of the tape, and the application range of the tape application device is limited.

Disclosure of Invention

An object of the embodiment of the application is to provide an adhesive tape attaching mechanism and a using method thereof, which can realize continuous attaching of an adhesive tape along a plurality of attaching path directions so as to solve the technical problem that the adhesive tape cannot be continuously attached when the attaching path direction of the adhesive tape is changed in the prior art.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: providing an adhesive tape attaching mechanism for continuously attaching an adhesive tape to the surface of a material, wherein the surface of the material at least comprises two surfaces to be attached, the directions of the attaching paths of the two surfaces to be attached form an included angle, the two surfaces to be attached are adjacent, and the adhesive tape attaching mechanism is used for continuously attaching the adhesive tape to the two surfaces to be attached; the tape attaching mechanism includes:

the edge picking device is used for providing a supporting point at the inner side of an included angle between the two surfaces to be adhered, and the supporting point is used for supporting and lifting the adhesive tape;

the adhesive tape sticking device comprises a feeding assembly and a sticking assembly, wherein the feeding assembly is used for supplying the adhesive tape, the sticking assembly is used for guiding and pre-sticking the adhesive tape to the two surfaces to be stuck in the sticking path direction of the material surface, and the sticking assembly can pass through the supporting point and be transferred from one surface to be stuck to the other surface to be stuck;

the flattening device comprises two flattening components, the two flattening components are arranged in parallel and at intervals, the length direction of the flattening components is parallel to an included angle bisector of the two surfaces to be pasted, the two flattening components are used for respectively pasting the two surfaces to be pasted on the two sides of the included angle bisector and moving towards the included angle bisector, so that the adhesive tape lifted by the supporting point is pressed and butted at the included angle bisector, and a pasted adhesive tape fold is formed at the included angle bisector; and

and the cutting device is used for cutting off the adhesive tape folds.

In one embodiment, the edge-picking device comprises an edge-picking part, one end of the edge-picking part in the length direction is used for being positioned at the included angle between the two surfaces to be adhered, and the other end of the edge-picking part in the length direction is used for being obliquely suspended above the material surface towards the inner side of the included angle so as to provide the supporting point.

In one embodiment, the edge-picking member is capable of rotating around a first axis perpendicular to the length direction of the edge-picking member, the first axis is arranged at the end of the edge-picking member opposite to the free end, and the first axis is parallel to the material surface so as to adjust the inclination angle of the edge-picking member relative to the material surface.

In one embodiment, the edge picking component can rotate around a second axis perpendicular to the first axis, and the second axis is perpendicular to the surface of the material, so as to adjust an included angle between a projection of the edge picking component on the surface of the material and the pasting path direction of the surface to be pasted.

In one embodiment, the edge picking part can move in a translational way relative to the material to be stuck so as to be close to or far away from the included angle between the two surfaces to be stuck.

In one embodiment, the two flattening components are symmetrically arranged at two sides of the edge picking component, wherein a symmetrical plane is a plane passing through a length direction axis of the edge picking component and perpendicular to the surface of the material; and the two flattening components and the edge picking component can synchronously rotate around the second axis and synchronously move in a translational manner relative to the material.

In one embodiment, the two flattening components can perform reciprocating translational motion in a direction perpendicular to the included angle bisector so as to attach the adhesive tape at the included angle bisector.

In one embodiment, the tape attaching mechanism further comprises a control device, the control device is connected with the edge picking device, the tape attaching device, the flattening device and the cutting device, and the control device is used for controlling the edge picking device, the tape attaching device, the flattening device and the cutting device to act.

In one embodiment, the tape attaching mechanism further comprises a connecting device, the tape attaching device, the edge picking device, the flattening device and the cutting device are respectively connected with the connecting device, the connecting device comprises a detachable connecting structure, and the detachable connecting structure is suitable for being detachably connected with the tail end of the manipulator.

The application also provides a use method of the adhesive tape attaching mechanism, which is suitable for the adhesive tape attaching mechanism of any one of the above items, and the method comprises the following steps:

the edge picking device moves to a corner between two adjacent surfaces to be pasted, which is close to the pasting path direction of the material surface and forms an included angle, and a supporting point is provided at the inner side of the included angle between the two surfaces to be pasted;

the gluing device moves in the direction of a gluing path of the material surface, the feeding assembly supplies adhesive tapes, the gluing assembly guides and pre-glues the adhesive tapes to the two surfaces to be glued in the direction of the gluing path of the material surface, the gluing assembly is transferred from one surface to be glued to the other surface to be glued from a supporting point at the corner of the corner, and the supporting point supports and lifts the adhesive tapes;

two flattening components of the flattening device move to two sides of an included angle bisector of the two surfaces to be pasted, the length directions of the two flattening components are parallel to the included angle bisector, then the two flattening components move towards the included angle bisector in a mode of being respectively attached to the two surfaces to be pasted, the adhesive tapes lifted by the supporting points are in press fit and butt joint at the included angle bisector, and attached adhesive tape folds are formed at the included angle bisector;

the cutting device cuts off the adhesive tape folds.

The application provides an attached mechanism of sticky tape and application method's beneficial effect lies in:

compared with the prior art, the adhesive tape attaching mechanism has the advantages that by arranging the edge picking device, the flattening device and the cutting device, when the attaching path direction of the surface to be attached of a material forms an included angle, the supporting point enables the adhesive tape to be lifted towards the side edge on the inner side of the included angle, the adhesive tape is convenient to change the attaching path direction towards the inner side at the included angle, the supporting point plays a role in guiding the attaching direction of the adhesive tape, before the flattening device works at the included angle, the adhesive tape is prevented from generating uncontrollable wrinkles at the included angle between the two surfaces to be attached, namely the direction of the wrinkles is controllable, the direction of the wrinkles of the adhesive tape is controllable, the adhesive tape is continuously attached along a plurality of attaching path directions, the technical problem that the adhesive tape cannot be continuously attached when the attaching path direction is changed is effectively solved, the adhesive tape attaching efficiency is improved, the adhesive tape is ensured to be attached to the surface of the material smoothly, and the attaching fixation and the covering effect of the adhesive tape are improved, the adhesive tape attaching mechanism is wide in application range and high in practicability.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a material provided in an embodiment of the present application;

FIG. 2 is a schematic view showing the forcible and continuous attachment of the adhesive tape to cause an undesirable tape wrinkle;

FIG. 3 is a schematic structural view of a tape application mechanism according to an embodiment of the present disclosure;

fig. 4 is a schematic view illustrating a tape attaching process of the tape attaching mechanism according to the embodiment of the present disclosure;

FIG. 5 is a diagram illustrating a state of use of the tape application mechanism according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of an edge-picking device according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a platen according to an embodiment of the present disclosure;

fig. 8 is a schematic perspective view of a tape dispenser according to an embodiment of the present disclosure;

fig. 9 is a schematic perspective view of another perspective view of the adhesive applying device according to the embodiment of the present application;

fig. 10 is a schematic structural diagram of a cutting device according to an embodiment of the present application.

Wherein, in the figures, the respective reference numerals:

1-a rubberizing device;

11-a feed assembly; 111-unwinding wheel; 112-a feed tensioner;

12-a pasting component; 121-sticking wheel; 122-a first float; 123-a stop member; 124-tape channel; 125-a third mount;

13-a material receiving assembly; 131-a winding wheel; 132-a material receiving tension wheel;

14-a rolling assembly; 141-rolling wheels; 142-a second float; 143-a pendulum mount;

15-cutting off the assembly; 151-cutting scissors; 152-a seventh translational motion assembly;

2-edge picking device;

21-edging component; 22-a first mount; 23-a first rotary drive; 24-a second mount; 25-a second rotary drive; 26-a first translational motion assembly; 27-a second translational motion assembly;

3-a flattening device;

31-a flattening member; 32-a third translational motion assembly; 33-a fourth translational motion assembly;

4-a cutting device;

41-cutting knife; 42-a fifth translational motion assembly;

5-a connecting device;

100-a tape attachment mechanism;

200-adhesive tape; 201-tape creasing; 202-an adhesive layer; 203-release paper;

300-material;

400-a manipulator;

500-quick change frame.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The tape attaching mechanism provided in the embodiment of the present application will now be described.

Referring to fig. 3, 4 and 5, the tape attaching mechanism 100 is used for continuously attaching the tape 200 to the surface of the material 300. The tape attaching mechanism 100 provided in the present application can continuously attach the tape 200 to the surface of the material 300, especially for different areas of the surface of the material 300 including the direction of the attaching path forming an angle, it is necessary to continuously or uninterruptedly attach the different areas forming the angle of the attaching path during attaching.

Here, it should be noted that: the adhesive tape 200 is applied along the extension direction of the surface, and the direction of the adhesion formed when the adhesive tape 200 is applied is the direction of the adhesion path, for example, see fig. 1, taking the material 300 of the present invention as an example, at least a surface a extending in the length direction and a surface b extending in the width direction need to be pasted, and when the pasting surface a is switched to the pasting surface b, the common practice is to adopt a sectional pasting mode, after the application of the surface a is completed, the tape 200 is cut off and then the surface b is applied, because if continuous application is forced, see fig. 2, a bad tape wrinkle 201' is generated at a turn between the surface a and the surface b, a protrusion is generated at the turn, the tape 200 is adhered unevenly, furthermore, the direction of the poor adhesive tape fold 201' is uncontrollable, which results in uncontrollable turning angle of the adhesive tape 200, and continuous connection between the surface a and the surface b cannot be realized at the turning position. In the present invention, such a problem is solved by the tape application mechanism 100, which is described in detail below.

Referring to fig. 3, 4 and 5, the tape applying mechanism 100 includes an applying device 1, an edge-picking device 2, a pressing device 3 and a cutting device 4. Wherein, the rubberizing device 1 comprises a feeding component 11 and an adhering component 12, the feeding component 11 is used for supplying the adhesive tape 200, and the adhering component 12 is used for guiding and pre-adhering the adhesive tape 200 to the surface to be adhered of the material 300 in the adhering path direction of the surface to be adhered; the edge picking device 2 is used for providing a supporting point in advance at the inner side of the included angle of two surfaces to be pasted, which need to be pasted continuously and the pasting path direction forms an included angle, the supporting point is used for supporting the adhesive tape 200 so as to prevent the adhesive tape 200 from being adhered to the surfaces to be pasted, at the moment, the pasting component 12 can cross the supporting point provided by the edge picking device 2 when being switched from one surface to be pasted to the other surface to be pasted, and the pasting component 12 can smoothly roll over the supporting point provided by the edge picking device 2 without influencing the subsequent pasting operation of the other surface to be pasted. The flattening device 3 comprises two flattening components 31, the two flattening components 31 are arranged in parallel and at intervals, the length direction of the flattening components 31 is parallel to two included angle bisectors O of the sticking path directions of the surfaces to be stuck, after the sticking assembly 13 crosses the supporting point provided by the edge-picking device 2, the two flattening components 31 move towards the included angle bisectors on two sides of the included angle bisectors O in a mode of sticking the surfaces to be stuck, the adhesive tape 200 lifted by the supporting point provided by the edge-picking device 2 is in press fit and butt joint at the included angle bisector O, then the two flattening components 31 synchronously move in a reciprocating translational motion in the direction perpendicular to the included angle bisector O, so that the adhesive tape 200 forms seamless sticking at the included angle bisector O, and after the flattening device 3 is in press fit, the glued adhesive tape folds 201 are formed at the included angle bisector O. The cutting device 4 is used to cut off the attached tape fold 201.

The two flattening components 31 synchronously move in a reciprocating translation manner in the direction perpendicular to the bisector O of the included angle, and the main purposes are as follows: the flattening components 31 are solid bodies and have a certain diameter size, when the two flattening components 31 move towards the included angle bisector on two sides of the included angle bisector O in a mode of jointing the surfaces to be jointed, when the two flattening components 31 are close together, a gap with the diameter size exists between the two flattening components 31 due to the existence of respective solid diameters of the two flattening components 31, so that the adhesive tape with the gap with the diameter size can be not jointed between the two flattening components 31, particularly at the root of a wrinkle of the adhesive tape, therefore, the two flattening components 31 synchronously move in a reciprocating translation mode in the direction perpendicular to the included angle bisector O, the adhesive tape with the gap with the diameter size can be jointed completely, and the adhesive tape 200 forms a seamless joint at the included angle bisector O.

In the tape attaching mechanism 100 in the above embodiment, by providing the edge-picking device 2, the pressing device 3 and the cutting device 4, when the adhering path direction of the surface to be adhered of the material 300 forms an included angle, the supporting point enables the tape 200 to be lifted towards the side edge inside the included angle, so that the adhering path direction of the tape 200 can be changed towards the inside at the included angle, the supporting point plays a role in guiding the adhering direction of the tape 200, and before the pressing device 3 works at the included angle, the tape 200 can be prevented from generating an uncontrollable wrinkle at the included angle between the two surfaces to be adhered, that is, the wrinkle can move in a controllable direction. The trend of sticky tape fold 201 is controllable, realizes sticky tape 200 along a plurality of continuous attached of pasting the route direction, effectively solves sticky tape 200 and pastes the technical problem that can't paste in succession when pasting the route direction and changing, improves sticky tape 200 and pastes efficiency, guarantees that sticky tape 200 attaches in material 300 surfacing, improves sticky tape 200's the fixed and cover effect of pasting, and sticky tape attachment mechanism 100's application scope is wider, and the practicality is strong.

In one embodiment, the flattening component 31 is a rolling rod or a rolling needle, and the rolling rod and the rolling needle can rotate around their axes to perform rolling and pressing on the adhesive tape, so that the flattening effect is better.

In one embodiment of the present application, referring to fig. 3, 4 and 6, the edge-picking device 2 includes an edge-picking member 21, one end of the edge-picking member 21 in the length direction is used for being positioned at the included angle between the two surfaces to be adhered, and the other end of the edge-picking member 21 in the length direction is used for being suspended above the surface of the material 300 in an inclined manner toward the inside of the included angle between the two surfaces to be adhered, so as to provide a supporting point. Through setting up the part 21 of choosing the limit, can treat at two on material 300 surfaces that the contained angle inboard of pasting the surface provides the strong point of slope in advance, the strong point of slope can lead sticky tape 200's direction of pasting better, make things convenient for sticky tape 200 to change the direction of pasting at strong point, it pastes all along pasting route direction to guarantee sticky tape 200 to treat pasting the surface at two, guarantee to paste the effect, be favorable to realizing sticky tape 200 along the continuous pasting of different route directions of pasting, moreover, simple structure easily realizes, and the strong point of slope accords with the shape of contained angle department sticky tape fold 201, avoid sticky tape 200 to form the fold once more in contained angle bisector O's both sides, it gets rid of sticky tape fold 201 to make things convenient for once to cut, guarantee sticky tape 200 attaches in material 300 surfacing, therefore, the clothes hanger is strong in practicability.

In one embodiment, the edging section 21 is a rod-like member, such as a cylindrical long rod or a bar-shaped long rod.

In one embodiment of the present application, the edge picking member 21 is capable of rotating around a first axis perpendicular to the length direction of the edge picking member 21, the first axis is disposed at the end of the edge picking member 21 opposite to the hanging end and the first axis is parallel to the surface of the material 300, so as to adjust the inclination angle of the edge picking member 21 relative to the surface of the material 300. Through adjusting the inclination angle of choosing limit part 21 for material 300 surface, can adjust and be chosen the height and the side length that limit part 21 lifts up in material 300 surperficial sticky tape 200, be favorable to treating the contained angle correspondence formation sticky tape fold 201 of sticking surface according to two, guarantee sticky tape 200 around choosing limit part 21 pivoted angle and two to treat the contained angle unanimity of sticking surface, guarantee sticky tape 200 and paste in material 300 surfacing, sticky tape attaching mechanism 100 can be applicable to the adjacent continuous attached of waiting between the sticking surface that has different contained angles, application scope is wider, therefore, the clothes hanger is strong in practicability.

Optionally, the edge picking device 2 further includes a first mounting member 22 and a first rotary driving member 23, the first rotary driving member 23 is disposed on the first mounting member 22, one end of the edge picking member 21 in the length direction away from the surface of the material 200 is connected to the first rotary driving member 23, and the first rotary driving member 23 drives the edge picking member 21 to rotate around the first axis relative to the first mounting member 22.

In one embodiment, the first rotary driving member 23 is a rotary motor, and one axial end of the edge picking member 21 is vertically connected to an output shaft of the rotary motor.

In one embodiment of the present application, the edge picking member 21 can further rotate around a second axis perpendicular to the first axis, and the second axis is perpendicular to the surface of the material 300, so as to adjust an included angle between a projection of the edge picking member 21 on the surface of the material 300 and the direction of the pasting path of the surface to be pasted. Because the tapes 200 adhered to the two sides of the edge picking component 21 are actually symmetrical relative to the edge picking component 21, namely, the projection of the edge picking component 21 on the surface of the material 300 coincides with the bisector of the included angle of the tapes 200 on the two sides of the edge picking component 21, the included angle between the projection of the edge picking component 21 on the surface of the material 300 and the adhering path direction of the surface to be adhered can be adjusted to be consistent with the included angle between the two surfaces to be adhered, so that the tapes 200 are ensured to be adhered on the two surfaces to be adhered along the adhering path direction, the adhering effect is ensured, the edge picking component 21 can adjust the adhering path direction of the tapes 200, the tape adhering mechanism 100 can be suitable for continuous adhesion between adjacent surfaces to be adhered with different included angles, the application range is wider, and the practicability is strong.

Optionally, the edge-picking device 2 further comprises a second mounting member 24 and a second rotary driving member 25, for example, the second rotary driving member 25 may be a rotary motor, the first mounting member 22 is connected to the second mounting member 24, the second mounting member 24 is in transmission connection with the second rotary driving member 25, the second rotary driving member 25 drives the second mounting member 24 to rotate, and the second mounting member 24 drives the first mounting member 22 and the edge-picking member 21 to rotate.

In one embodiment of the present application, the edge-picking member 21 can move in translation relative to the material 300 to move closer to or away from the angle between the two surfaces to be bonded. Translational motion control is simple, and the motion location precision is high to can be with the length direction one end accurate mobile positioning who chooses limit part 21 to the contained angle department between two adjacent pasting surfaces that the pasting route direction on material 300 surface becomes the contained angle, be favorable to the pasting route direction change position of accurate positioning sticky tape 200, guarantee sticky tape 200 and can continue to paste along the pasting route direction of waiting to paste the surface after walking around choosing limit part 21, guarantee sticky tape 200's the effect of pasting, the practicality is strong.

Optionally, the edge-picking device 2 further comprises a first translational motion assembly 26 and a second translational motion assembly 27, the first mounting member 22 is connected with the first translational motion assembly 26 or the second translational motion assembly 27, the first translational motion assembly 26 is connected with the second translational motion assembly 27, the first translational motion assembly 26 is used for driving the first mounting member 22 to perform translational motion along a first direction, the second translational motion assembly 27 is used for driving the first mounting member 22 to perform translational motion along a second direction, the first direction is perpendicular to the second direction, and the first axis is perpendicular to the first direction and the second direction; so that the first mounting part 22 brings the edging part 21 into translational movement in a plane perpendicular to the first axis.

In one embodiment, the first translational movement assembly 26 and/or the second translational movement assembly 27 is a cylinder, a ball screw, or a worm gear.

In one embodiment of the present application, referring to fig. 3, 4 and 7, the two pressing members 31 are symmetrically disposed on two sides of the edge picking member 21, wherein the symmetry plane is a plane passing through the longitudinal axis of the edge picking member 21 and perpendicular to the surface of the material 300; and the two flattening components 31 can synchronously rotate around the second axis with the edge picking component 21 and synchronously move in a translation way relative to the material 300. Through setting up two parts 31 that flatten in the both sides of choosing limit part 21 symmetrically to make two parts 31 that flatten and choose limit part 21 synchronous motion, can be with two parts 31 that flatten quick location to two both sides of waiting to paste the contained angle bisector O on surface, and conveniently make the length direction of flattening part 31 be on a parallel with two contained angle bisectors O of waiting to paste the surface, control is simple swift convenient, and work efficiency is high, and the motion location precision is high, and the practicality is strong.

Optionally, the flattening device 3 is connected to a first mounting member 22, and the first mounting member 22 can drive the two flattening components 31 and the edge-picking component 21 to synchronously rotate around a second axis and synchronously move in a translational manner in a plane perpendicular to the first axis.

Optionally, the flattening device 3 further includes a third translational movement assembly 32, the flattening component 31 is connected to the third translational movement assembly 32, the third translational movement assembly 32 is connected to the first mounting component 22, and the third translational movement assembly 32 is configured to drive the flattening component 31 to perform translational movement along a direction parallel to the second axis, so that the flattening component 31 can move to be attached to the surface to be attached.

Optionally, the flattening device 3 further includes a fourth translational motion assembly 33, the third translational motion assembly 32 is connected to the fourth translational motion assembly 33, and the fourth translational motion assembly 33 is configured to drive the flattening component 31 to perform translational motion along a direction parallel to the first axis, that is, the fourth translational motion assembly 33 can drive the flattening component 31 to perform reciprocating translational motion in a direction perpendicular to a bisector O of an included angle between the two surfaces to be pasted.

Alternatively, referring to fig. 3 and 10, the cutting device 4 includes a cutting blade 41 and a fifth translational motion assembly 42, the cutting blade 41 is connected to the fifth translational motion assembly 42 and is located on the inclined suspended side of the edge-picking part 21, the cutting end of the cutting blade 41 faces the edge-picking part 21, the fifth translational motion assembly 42 is configured to drive the cutting blade 41 to move translationally in a fifth direction to approach or depart from the edge-picking part 21, and the fifth direction is perpendicular to the first axis and the second axis. Through setting up the motion of fifth translational motion subassembly 42 drive cutting sword 41, cutting sword 41 can accurately move to the bracing point position on material 300 surface, conveniently cuts sword 41 and cuts and get rid of sticky tape fold 201, guarantees that sticky tape 200 attaches in material 300 surfacing, improves sticky tape 200's the effect of pasting and covers the effect, need not artifical excision, improves work efficiency.

In one embodiment, the cutting blades 41 are scissors, such as pneumatic scissors. The fifth translational movement assembly 42 may be a pneumatic cylinder.

Optionally, the cutting device 4 further comprises a sixth translational movement assembly, for example a cylinder, connected to the fifth translational movement assembly 42 and/or the cutting blade 41, for driving the cutting blade 41 in a translational movement along a direction parallel to the first axis.

Optionally, the cutting plane of the cutting knife 41 is perpendicular to the first axis, so that when the cutting device 4 is used, the cutting plane of the cutting knife 41 is parallel to the surface of the material 300, so as to facilitate complete cutting and removing of the adhesive tape wrinkles 201, and effectively ensure that the adhesive tape 200 is attached to the material 300 with a smooth surface.

Optionally, referring to fig. 3, 8 and 9, the pasting assembly 12 includes a pasting wheel 121 and a first floating member 122, the pasting wheel 121 is rotatably disposed on the first floating member 122 and can rotate around its axis, the pasting wheel 121 is adapted to draw the adhesive tape 200 and press the adhesive tape 200 against the surface of the material 300, and the second floating member 122 can drive the pasting wheel 121 to perform reciprocating translational motion in a direction perpendicular to the surface of the material 300, so that the pasting wheel 121 can float and press the adhesive tape 200. Through setting up first floating piece 122, make pasting wheel 121 can press tape 200 to paste in material 300 surface all the time, guarantee that tape 200 pastes in advance in the firm stability of material 300 surface and levels, improve tape 200's the quality of pasting, pasting wheel 121 can be applicable to pressing tape 200 to the curved surface moreover, guarantee tape 200's the quality of pasting on the curved surface, strengthen service function, it is convenient and flexible, first floating piece 122 guarantees that pasting wheel 121 can roll smoothly from the strong point that edging part 21 provided simultaneously, do not influence the follow-up operation of pasting on the surface of another treating.

Optionally, the pasting assembly 12 further includes a limiting part 123, the limiting part 123 has a first limiting surface and a second limiting surface which are adjacent to each other, the limiting part 123 is disposed next to the pasting wheel 121, and the first limiting surface is located at the circumferential outer side of the pasting wheel 121, and the first limiting surface is spaced apart from the circumferential outer side of the pasting wheel 121 in parallel, so as to form a tape channel 124 between the pasting wheel 121 and the limiting part 123; the second limiting surface is parallel to the tangent plane of the periphery of the pasting wheel 121. When the pasting component 12 is used, the second limiting surface is parallel to the surface of the material 300, the adhesive tape 200 is pressed and pasted on the surface of the material 300 by the pasting wheel 121 after passing through the adhesive tape channel 124, the guiding limiting pressing and pasting of the adhesive tape 200 are realized, and the pasting quality of the adhesive tape 200 is ensured.

Optionally, the pasting assembly 12 further includes a third mounting part 125, the pasting wheel 121 and the limiting part 123 are adjacently disposed on the third mounting part 125, and the pasting wheel 121 can move relative to the limiting part 123 along the radial direction of the pasting wheel 121 to adjust the distance between the pasting wheel 121 and the limiting part 123, that is, adjust the width of the tape channel 124, so that the pasting assembly 12 can be applied to pasting tapes 200 with different thicknesses, such as foam tapes, and the like, and the application range is wider and the practicability is strong.

Optionally, the adhesive tape 200 is a double-sided adhesive tape, and includes an adhesive layer 202 and a release paper 203, the adhesive tape 200 passes through the tape channel 124, the adhesive wheel 121 peels the adhesive layer 202 from the release paper 203 at the outlet of the tape channel 124, and presses the adhesive layer 202 against the surface of the material 300. The rubberizing device 1 further comprises a receiving unit 13, the receiving unit 13 comprises a winding wheel 131 and a plurality of receiving tension wheels 132, the winding wheel 131 is arranged on the third mounting part 125, the winding wheel 131 is parallel to the pasting wheel 121 and is axially aligned with the pasting wheel 121, the peeled release paper 203 is drawn to the winding wheel 131 after passing through a second limiting surface, and the winding wheel 131 is used for drawing the wound release paper 203; the plurality of material collecting tension wheels 132 are parallel to and axially flush with the winding wheel 131, and the material collecting tension wheels 132 are used for tensioning the release paper 203 between the limiting component 123 and the winding wheel 131.

Optionally, the supply assembly 11 includes an unwinding wheel 111 and at least one supply tension wheel 112, the unwinding wheel 111 is parallel and axially flush with the pasting wheel 121, the unwinding wheel 111 is used for placing and unwinding the adhesive tape roll, and the unwound adhesive tape 200 is drawn to the pasting wheel 121; the supply tension wheel 112 is parallel and axially flush with the unwinding wheel 111, and the supply tension wheel 112 is used for tensioning the adhesive tape 200 between the unwinding wheel 111 and the pasting wheel 121.

Optionally, the applying device 1 further comprises a rolling assembly 14, the rolling assembly 14 is used for rolling the adhesive tape 200 pre-adhered to the surface to be adhered of the material 300, the rolling assembly 14 can cross the supporting point provided by the edge picking device 2 when the surface to be adhered of the surface to be adhered is switched to the other surface to be adhered, and the rolling assembly 14 can smoothly roll over the supporting point provided by the edge picking device 2 without influencing the subsequent rolling operation of the other surface to be adhered.

The rolling assembly 14 includes a rolling wheel 141 and a second floating member 142, the rolling wheel 141 is rotatably disposed on the second floating member 142 and can rotate around its axis, the rolling wheel 141 is disposed adjacent to the pasting wheel 121 and is located at the rear side of the pasting wheel 121 along the pasting path of the adhesive tape 200, and the rolling wheel 141 is parallel to the pasting wheel 121 and is axially aligned, so that the rolling wheel 141 rolls the adhesive tape 200 along the pasting path of the adhesive tape 200. The second floating member 142 can drive the rolling wheel 141 to perform reciprocating translational motion in a direction perpendicular to the surface of the material 300, so that the rolling wheel 141 can float and roll the adhesive tape 200 attached to the surface of the material 300. Through setting up second floating piece 142, make rolling wheel 141 can hug closely sticky tape 200 extrusion in material 300 surface all the time, guarantee that sticky tape 200 attaches in material 300 surfacing, improve sticky tape 200's paste quality, and rolling wheel 141 can be applicable to the pressfitting of pasting sticky tape 200 to the curved surface, guarantee sticky tape 200 and paste the quality on the curved surface, reinforcing service function, second floating piece 132 guarantees that rolling wheel 141 can roll smoothly from the strong point that edging part 21 provided, do not influence the follow-up roll extrusion operation of the surface of waiting to paste of another one, high durability and convenient use is nimble, therefore, the clothes hanger is strong in practicability.

In one embodiment, the second floating member 142 includes an air cylinder, and the rolling wheel 141 is rotatably connected to the end of the piston rod of the air cylinder, and the air pressure of the air cylinder drives the piston rod of the air cylinder to move telescopically, thereby driving the rolling wheel 141 to float.

Optionally, the rolling assembly 14 further includes a swinging mounting member 143 and a third rotary driving member, the second floating member 142 is connected to the swinging mounting member 143, the swinging mounting member 143 is connected to the third rotary driving member, and the third rotary driving member is configured to drive the swinging mounting member 143 to rotate, so as to drive the rolling wheel 141 to swing around a swinging axis, which is parallel to the own axis of the rolling wheel 141, so as to drive the rolling wheel 141 to swing and reciprocally roll the adhesive tape 200 adhered to the surface of the material 300. Paste in the sticky tape 200 on material 300 surface through making reciprocal roll extrusion of rolling wheel 141 swing, can extrude the laminating repeatedly with sticky tape 200 and material 300 surface, effectively promote the quality of pasting on sticky tape 200 and material 300 surface, effectively guarantee that sticky tape 200 pastes in material 300 surfacing, guarantee sticky tape 200's continuous sticking effect, the practicality is strong.

In a particular embodiment, the third rotary drive is a rotary electric machine.

Optionally, the taping device 1 further includes a cutting assembly 15, and the cutting assembly 15 is configured to cut the adhesive tape 200 between the applying wheel 121 and the stitching wheel 141. The cutting assembly 15 comprises cutting scissors 151 and a seventh translational motion assembly 152, the cutting scissors 151 are arranged on one axial side of the pasting wheel 121 and are positioned between the rolling wheel 141 and the pasting wheel 121 along the pasting path direction of the adhesive tape 200, and the cutting end of the cutting scissors 151 is close to the pasting wheel 121; the cutting scissors 151 are connected to a seventh translational motion assembly 152, and the seventh translational motion assembly 152 is used for driving the cutting scissors 151 to move in a translational motion to be close to or far away from the pasting wheel 121, so that the cutting scissors 151 cut the adhesive tape 200 at the outlet of the adhesive tape channel 124. Need not artifical and decide, improve work efficiency.

In one embodiment, the seventh translational movement assembly 152 comprises an air cylinder, by which the cutting scissors 151 are driven in a translational movement along the axial direction of the applicator wheel 121.

In one embodiment of the present application, the tape applying mechanism 100 further includes a control device, the control device is connected to the tape applying device 1, the edge picking device 2, the pressing device 3, and the cutting device 4, and the control device is configured to control the operations of the tape applying device 1, the edge picking device 2, the pressing device 3, and the cutting device 4. The control device controls the edge picking device 2 to provide a supporting point in advance on the inner side of an included angle between two surfaces to be pasted, which need to be continuously pasted and have an included angle in the pasting path direction, of the surface of the material 300; controlling the feeding assembly 11 of the taping device 1 to feed the tape 200 and the applying assembly 12 to guide and pre-apply the tape 200 to the two surfaces to be applied in the direction of the application path of the surface of the material 300, and controlling the applying assembly 12 to pass over the supporting point to be transferred from one of the surfaces to be applied to the other surface to be applied; controlling two flattening components 31 of the flattening device 3 to respectively attach to the two surfaces to be adhered on two sides of the included angle bisector O of the two surfaces to be adhered, and controlling the two flattening components 31 to move towards the included angle bisector O of the two surfaces to be adhered in a mode of respectively attaching to the two surfaces to be adhered; the cutting device is controlled to cut off the adhesive tape fold 201. Through setting up controlling means, realize the automatic control to the attached mechanism 100 of sticky tape, the attached mechanism 100 of sticky tape is convenient simple to use, realizes the operation of automatic tape 200, saves the manual work, improves the operating efficiency that sticky tape 200 pasted, and degree of automation is high, and the practicality is strong.

The sticking path may be input to a control device in advance, and the control device controls the tape sticking mechanism 100 to automatically perform the sticking operation of the tape 200 according to the sticking path.

Optionally, the tape attaching mechanism 100 further includes a visual recognition device for recognizing a surface to be attached on the surface of the material 300, and the control device is connected to the visual recognition device to obtain the surface to be attached. Through setting up visual identification device, can obtain the surface of waiting to paste on corresponding material 300 surface in real time through image visual identification, be favorable to pinpointing sticky tape 200's pasting route direction relocation, sticky tape 200 pastes more neatly accurately, guarantees to paste the quality, can be applicable to sticky tape 200 on different material 300 surfaces moreover and paste, reinforcing service function, it is more convenient nimble to use, and the practicality is strong.

Optionally, a pasting path identifier is arranged on the surface of the material 300, and the pasting path identifier is visually identified by collecting an image, so that the pasting path of the surface to be pasted on the surface of the material 300 is identified.

In one embodiment of the present application, referring to fig. 3 and 5, the tape application mechanism 100 further includes a connecting device 5, the tape application device 1, the edge-picking device 2, the flattening device 3 and the cutting device 4 are respectively connected to the connecting device 5, the connecting device 5 includes a detachable connecting structure 51, and the detachable connecting structure 51 is adapted to be detachably connected to an end of the robot 400, so that the tape application mechanism 100 can be detachably mounted on the robot 400.

The adhesive tape sticking mechanism 100 is compact and small in structure, occupies a small space, is suitable for being matched with a manipulator 400 to realize automatic adhesive tape sticking 200 operation, saves labor, does not need to stick the adhesive tape 200 at a fixed position, enhances the use function, is convenient to use, has high flexibility and wide application range; simultaneously, the attached mechanism 100 of sticky tape can demountable installation in manipulator 400 through connecting device 5, makes things convenient for the maintenance of the attached mechanism 100 of sticky tape to change, increase of service life can change the attached mechanism 100 of rubberizing in a flexible way according to pasting needs moreover, and need not to change sticky tape 200, and it is swift convenient to use, improves and pastes efficiency, further improves the use flexibility of the attached mechanism 100 of sticky tape, and application scope is wider, and the practicality is strong.

In one embodiment, the robot taping system includes a robot 400, a quick-change rack 500, and a plurality of tape application mechanisms 100, the quick-change rack 500 being disposed adjacent to the robot 400, the quick-change rack 500 being used for placing the plurality of tape application mechanisms 100.

Alternatively, the second mounting member 24 is pivotally connected to the connecting device 5 to enable relative movement between the edging device 2 and the taping device 1. When the tape attaching mechanism 100 is used, the manipulator 400 drives the tape attaching mechanism 100 to move along the attaching path, and the tape 200 is attached to the surface of the material 300 along the attaching path by the tape attaching device 1; when the tape attaching mechanism 100 moves to the included angle between the two surfaces to be adhered, the edge picking part 21 of the edge picking device 2 is moved to the included angle between the two surfaces to be adhered and is positioned and fixed, then the tape attaching device 1 moves along the adhering path of the surface to be adhered and rotates relative to the edge picking part 21 to cross the supporting point provided by the edge picking part 21 and convert the surface to be adhered to the other surface to be adhered from the surface to be adhered, so that the continuous adhesion of the tape 200 between the two surfaces to be adhered is realized; the tape fold 201 is then cut and the tape application mechanism 100 continues to move along the application path of the other surface to be applied.

In another embodiment of the present application, the rubberizing device 1, the edge-picking device 2, the flattening device 3 and the cutting device 4 are separate structures and are adapted to be detachably mounted to the plurality of robots 400, respectively. The split structure is more convenient and flexible to use and simple and convenient to control.

The embodiment of the present application also provides a method for using the tape attaching mechanism, which is suitable for the tape attaching mechanism 100 of any of the above embodiments, and the method includes:

the edge picking device 2 moves to a corner between two adjacent surfaces to be pasted, which is close to the pasting path direction of the surface of the material 300 and forms an included angle, and provides a supporting point at the inner side of the included angle of the two surfaces to be pasted.

The adhesive tape sticking device 1 moves in the direction of the sticking path of the surface of the material 300, the feeding unit 11 supplies the adhesive tape 200, the sticking unit 12 guides and pre-sticks the adhesive tape 200 to the two surfaces to be stuck in the direction of the sticking path of the surface of the material 300, and the sticking unit 12 transfers the adhesive tape 200 from one surface to be stuck to the other surface to be stuck across a supporting point at a corner between the two surfaces to be stuck so that the supporting point supports and lifts the adhesive tape 200 at the corner between the two surfaces to be stuck.

Two flattening components 31 of the flattening device 3 move to two sides of an included angle bisector O of the two surfaces to be pasted, and the length directions of the two flattening components 31 are parallel to the included angle bisector O of the two surfaces to be pasted; then, the two pressing members 31 are moved toward the bisector O of the included angle between the two surfaces to be bonded in a manner of being respectively bonded to the two surfaces to be bonded, so that the adhesive tape 200 lifted up from the supporting point is pressed and butted at the bisector O of the included angle between the two surfaces to be bonded, and a bonded adhesive tape fold 201 is formed at the bisector O of the included angle between the two surfaces to be bonded.

The cutting device 4 cuts the tape fold 201.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (8)

1. The adhesive tape attaching mechanism is used for continuously attaching an adhesive tape to the surface of a material, the surface of the material at least comprises two surfaces to be attached, the directions of the attaching paths form an included angle, and the two surfaces to be attached are adjacent to each other; the tape attaching mechanism includes:

the edge picking device is used for providing a supporting point at the inner side of an included angle between the two surfaces to be adhered, and the supporting point is used for supporting and lifting the adhesive tape; the edge picking device comprises an edge picking part, one end of the length direction of the edge picking part is used for being positioned to two corners of the surface to be pasted, the other end of the length direction of the edge picking part is used for facing the included angle, the inner side of the included angle is inclined and suspended above the surface of the material, and therefore the supporting point is provided

The adhesive tape sticking device comprises a feeding assembly and a sticking assembly, wherein the feeding assembly is used for supplying the adhesive tape, the sticking assembly is used for guiding and pre-sticking the adhesive tape to the two surfaces to be stuck in the sticking path direction of the material surface, and the sticking assembly can pass through the supporting point and be transferred from one surface to be stuck to the other surface to be stuck;

the flattening device comprises two flattening components, the two flattening components are arranged in parallel and at intervals, the length direction of the flattening components is parallel to an included angle bisector of the two surfaces to be pasted, the two flattening components are used for respectively pasting the two surfaces to be pasted on the two sides of the included angle bisector and moving towards the included angle bisector, so that the adhesive tape lifted by the supporting point is pressed and butted at the included angle bisector, and a pasted adhesive tape fold is formed at the included angle bisector; the two flattening components can do reciprocating translational motion in the direction perpendicular to the included angle bisector so as to attach the adhesive tape at the included angle bisector; and

and the cutting device is used for cutting off the adhesive tape folds.

2. A tape application mechanism according to claim 1, wherein the edge-picking member is rotatable about a first axis perpendicular to a length direction of the edge-picking member, the first axis being disposed at an end of the edge-picking member opposite to the free end, and the first axis being parallel to the material surface to adjust an inclination angle of the edge-picking member with respect to the material surface.

3. A tape application mechanism according to claim 2, wherein the edge-picking member is further rotatable about a second axis perpendicular to the first axis, and the second axis is perpendicular to the surface of the material, so as to adjust an angle between a projection of the edge-picking member on the surface of the material and the direction of the application path of the surface to be applied.

4. A tape application mechanism according to claim 1, wherein said edge-picking member is capable of translational movement relative to said material to move toward and away from said included angle between said surfaces to be applied.

5. The tape application mechanism according to claim 3, wherein the two flattening members are symmetrically disposed on both sides of the edge-picking member, and a symmetrical plane is a plane passing through a longitudinal axis of the edge-picking member and perpendicular to the surface of the material; and the two flattening components and the edge picking component can synchronously rotate around the second axis and synchronously move in a translational manner relative to the material.

6. A tape application mechanism according to any one of claims 1 to 5, further comprising a control device, wherein said control device is connected to said edge picking device, said gluing device, said flattening device and said cutting device, and is configured to control the actions of said edge picking device, said gluing device, said flattening device and said cutting device.

7. A tape application mechanism according to any one of claims 1 to 5, wherein said tape application mechanism further comprises a connecting device, said taping device, said edge-picking device, said flattening device and said cutting device are respectively connected to said connecting device, said connecting device comprises a detachable connecting structure, said detachable connecting structure is adapted to be detachably connected to a distal end of a robot arm.

8. A method of using a tape application mechanism adapted for use with the tape application mechanism of any one of claims 1 to 7, comprising:

the edge picking device moves to a corner between two adjacent surfaces to be pasted, which is close to the pasting path direction of the material surface and forms an included angle, and a supporting point is provided at the inner side of the included angle between the two surfaces to be pasted;

the gluing device moves in the direction of a gluing path of the material surface, the feeding assembly supplies adhesive tapes, the gluing assembly guides and pre-glues the adhesive tapes to the two surfaces to be glued in the direction of the gluing path of the material surface, the gluing assembly is transferred from one surface to be glued to the other surface to be glued from a supporting point at the corner of the corner, and the supporting point supports and lifts the adhesive tapes;

two flattening components of the flattening device move to two sides of an included angle bisector of the two surfaces to be pasted, the length directions of the two flattening components are parallel to the included angle bisector, then the two flattening components move towards the included angle bisector in a mode of being respectively attached to the two surfaces to be pasted, the adhesive tapes lifted by the supporting points are in press fit and butt joint at the included angle bisector, and attached adhesive tape folds are formed at the included angle bisector;

the cutting device cuts off the adhesive tape folds.

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