JP2003081232A - Sticking method for adhesive component, sticking tool for adhesive component, its using method, and sticking apparatus for adhesive component - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sticking method for an adhesive component, a sticking tool for the adhesive component, its using method and a sticking apparatus for the adhesive component usable for items having various shapes including a deformed shape and various sizes including a small size or a long size and capable of stably holding, carrying and sticking the adhesive component on various materials including porous materials such as urethane foam, molt plane, felt and the like. SOLUTION: The adhesive component 16 to be stuck on a mount or the like and supplied by a pushing roller 4 mounted at a temporally sticking portion 3 of the sticking tool 1 is temporally stuck by use of the adhesive force of the adhesive component 16 on a belt 8 having a temporally sticking surface possessing non-adhesiveness or weak adhesiveness and rotated by the pushing roller 4 while the adhesive part is being peeled. Thus the adhesive part 16 is held on the belt even if it is of any kind. The adhesive component 16 temporally stuck and held on the belt 8 is carried to an item to be bonded and is stuck by the pushing roller 4 while the temporally stuck adhesive component 16 is peeled whereby sticking precision to the item to be bonded is enhanced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sticking method and a sticking method for an adhesive part which conveys a wide variety of parts such as double-sided tape and the like which are stuck with an adhesive, urethane foam, plastic sheet and the like and adheres them to an adherend. The present invention relates to a component attaching tool, a method of using the component attaching tool, and an adhesive component attaching device.

[0002]

2. Description of the Related Art Adhesive parts having an adhesive layer on one side do not require solvent coating or curing time like adhesives,
Since it is easy to handle and the cost of parts and assembly is low, it is often used for joining mechanical parts and electric parts. Parts joined using these adhesives are used in various materials and shapes such as labels, urethane foams, plastic sheets, and other mechanical parts.

Conventionally, the work of peeling off an adhesive component supplied by a release paper sheet or a release paper tape and adhering it to a predetermined adherend has been mostly done manually. The process of peeling off the adhesive component and attaching it to the adherend takes a lot of time to evenly and accurately attach the adhesive component without causing wrinkles on the adhesive component. Also, it may become unusable by sticking to other parts than the adherend. For this reason, a skill level is required for assembling the adhesive parts, particularly for attaching a label that is soft and easily deformed, and a worker often causes a variation in working time. Therefore, various special-purpose pasting devices have been developed according to the shape of the adhesive component.

On the other hand, in the image forming apparatus using the electrophotographic method, many porous soft members such as urethane foam, moltoprene, and felt are used for preventing the leakage of toner in the parts around the developing unit for forming an image. used. In particular, the soft member around the developing section has various shapes,
A wide variety of urethane foam adhesive parts with different thickness, width, and length are used. In order to automatically attach such a wide variety of adhesive parts with a dedicated attaching device,
It requires a large number of types of attachment devices, which increases costs and requires a considerable amount of space.

A sticking device which solves such a problem and sticks a label or the like with high quality regardless of the kind of the label or the kind of the adherend is disclosed in, for example, JP-A-5-147634 and JP-A-9-. It is disclosed in Japanese Patent Laid-Open No. 104426, Japanese Patent Laid-Open No. 2001-89019, and Japanese Patent No. 2962404. JP-A-5-14763
In the pasting device shown in Japanese Patent Publication No. 4, a pressing roller is arranged close to one end of the label holding surface whose position is controlled by an industrial robot, and communicates with a fan over almost the entire range of the label holding surface. Along with forming the long groove, a plurality of holes communicating with the vacuum generator are provided in the range near the pressing roller on the label holding surface, and the label is sucked and held on the label holding surface by the long groove and the plurality of holes. When attaching the label, the pressure roller is used to press the label. Further, in the pasting device disclosed in Japanese Patent Application Laid-Open No. 9-104426, the suction unit for holding the label is detachable, and the suction unit can be easily replaced so that the label having a different size or shape can be handled. ing.

The sheet member delivery device disclosed in Japanese Unexamined Patent Publication No. 2001-89019 sucks and holds a sheet by a sheet suction holding means having a wall that surrounds the upper surface and the outer peripheral surface of the sheet member.
Air leakage is reduced and the sponge-like sheet is also retained. The wall in contact with the upper surface of the sheet member and the wall in contact with the outer periphery are moved up and down relatively to pass the sheet member to the sheet receiving surface.

In the pasting device disclosed in Japanese Patent No. 2962404, the seal tape fed out by the tape feeding mechanism and peeled from the separator is pasted to the pasting position of the work held by the work supporting robot. At this time, the non-adhesive surface and the side surface of the seal tape are supported and guided by a pressing roller with a flange so that the seal tape is prevented from being displaced from the attaching position of the work, and the start end portion and the end portion of the annular seal tape are prevented. I try not to make a gap.

[0008]

[Patent Document 1] Japanese Unexamined Patent Publication No.
-147634 and Japanese Unexamined Patent Application Publication No. 9-104426 hold a label by adsorbing it, and thus hold various materials having a porous property such as urethane foam, maltoprene, and felt. However, there is a disadvantage that it is difficult to obtain a sufficient holding force when doing.

Further, in the image forming apparatus using the electrophotographic method, most of the parts intended for sealing such as toner leakage prevention have an elongated shape.
As shown in Japanese Patent Laid-Open No. 34-34, when a label is sucked and held by a long groove and a plurality of holes provided on the label holding surface, the longer the part length, the larger the area of the label holding surface and the large area. There is a problem in that the label holding surface that has been turned into interference with a place other than the work attaching surface. In the pasting device disclosed in Japanese Unexamined Patent Publication No. 9-104426, since the suction unit can be replaced according to the work, the problem of interfering with a place other than the pasting surface of the work can be avoided, but various types of works are available. Therefore, in a process that requires frequent replacement of the adsorption unit, there is a disadvantage that the tact loss due to the replacement increases and the work efficiency decreases.

In the sheet member delivery device disclosed in Japanese Patent Laid-Open No. 2001-89019, it is necessary to facilitate the sheet suction holding means according to the type of the sheet member. When a large number of sheet members are attached, Since it is necessary to frequently replace the sheet suction holding means, the tact loss due to the replacement increases, and the work efficiency decreases.

Further, in the pasting device shown in Japanese Patent No. 2962404, there is little problem of interfering with the work even with long parts, and since the device for supplying parts such as sealing tape is connected, the sticking device is Although it can be changed, when a variety of parts are attached, a plurality of parts are required corresponding to the difference in the width and thickness of the parts, which leads to an increase in cost and a considerable space. In addition, there is a limitation that it cannot be applied to irregularly shaped parts having a complicated outer peripheral shape.

The present invention solves the above disadvantages and can be commonly used for various shapes including irregular shapes and various sizes of parts from small objects to long ones, as well as porous materials such as urethane foam, maltoprene and felt. To provide an adhesive component attaching method, an adhesive component attaching tool, a method of using the same, and an adhesive component attaching apparatus capable of stably grasping, conveying, and attaching to various materials including a material having property of adhesiveness. It is intended.

[0013]

According to the method of attaching an adhesive component according to the present invention, an adhesive component attached to a mount or the like is peeled off and temporarily attached to a temporary attachment surface having non-adhesiveness or weak adhesiveness. Then, the adhesive component made of various materials is stably held and conveyed to the adherend, and the adhesive component temporarily attached to the temporary attachment surface is peeled off and attached to the adherend.

The adhesive component pasting tool according to the present invention is an adhesive component pasting tool for peeling off an adhesive component pasted on a mount or the like and pasting it to an adherend, and a temporary pasting portion provided on a grip. And the rotator, and the temporary attachment part has a strip-shaped temporary attachment surface, and the rotator is pressed against the temporary attachment surface of the temporary attachment part and pressed against the surface of the adhesive component opposite to the adhesive layer to rotate. The temporary bonding surface is moved by the rotational force.

It is preferable that the temporary sticking surface of the temporary sticking portion is constituted by a belt wound around a pair of pulleys.

Further, the temporary sticking surface of the sticking portion may be composed of a belt wound with two ends fixed to two winding means. It is desirable that the winding means has a tension generating means for applying a constant tension to the belt.

Further, it is desirable to make the surface of the belt non-adhesive or weakly adhesive so as to weaken the adhesive force when the adhesive component is temporarily attached.

Further, there is provided an opening / closing mechanism for separating the rotary body from the temporary sticking surface of the temporary sticking portion by a predetermined distance, or a part holding means for switching the holding and releasing of the sticky parts to the rotary body, or the temporary sticking. Part is equipped with a component guide mechanism that swings part of the temporary attachment surface to the rotating body side to guide the adhesive component to the temporary attachment surface, and reliably guides the end of the adhesive component between the rotating body and the temporary attachment surface. It is desirable to do.

Further, it is desirable that a feed transmission mechanism for transmitting the rotational force of the rotating body to the temporary attaching surface of the temporary attaching portion is provided to surely transmit the rotating force of the rotating body to the temporary attaching surface.

When the above-mentioned adhesive component sticking tool is used, the end of the adhesive component stuck to the mount and sent from the supply device is sandwiched between the rotating body and the temporary sticking surface of the temporary sticking part, and the rotating body is stuck to the adhesive part. Rotate while moving by pressing against the surface opposite to the layer and rotating the rotating body to move the temporary attachment surface to peel off the adhesive component from the mount and at the same time temporarily adhere to the temporary attachment surface to hold and hold the adhesive component When the end of the adhesive component is pressed against the adherend with a rotating body and the rotating body is rotated to the side opposite to when the adhesive component is temporarily attached to the temporary attachment surface and the adhesive component temporarily attached to the temporary attachment surface is peeled off. At the same time, it is attached to the adherend.

In the adhesive component pasting apparatus of the present invention, the adhesive component pasting tool is retired by the tool moving means, and the adhesive component pasting tool is moved by the tool moving means and the posture of the adhesive component pasting tool is changed to be pasted on the mount or the like. The adhesive components that are supplied and peeled off are temporarily attached to the temporary attachment surface, held and transported to the adherend, and the adhesive components temporarily attached to the temporary attachment surface are removed and attached to the adherend. Characterize.

A force sensor and a pressing means are provided in the adhesive component attaching tool gripping portion of the tool moving means, and when the adhesive component attaching tool detaches the adhesive component from the mount and temporarily attaches it to the temporary attaching surface, and when the temporarily attached adhesive is applied. It is desirable to change the pressing force of the rotating body against the adhesive component when the component is attached to the adherend.

Further, it is preferable that the pressing force of the rotating body against the adhesive component is made different depending on the type of the adhesive component.

Further, it is preferable that a visual sensor is provided in the adhesive component sticking tool gripping portion of the tool moving means, and the position and the posture of the adhesive component sticking tool are changed according to the information detected by the visual sensor.

[0025]

BEST MODE FOR CARRYING OUT THE INVENTION The method for sticking an adhesive component according to the present invention uses a pressure-sensitive adhesive force of an adhesive component to remove non-adhesiveness or weak adhesiveness while peeling off an adhesive component that is attached to a mount or the like and supplied. Temporarily adheres to the temporarily adhered surface, and holds a wide variety of adhesive components in common. The adhesive component temporarily attached and held on this temporary attachment surface is conveyed to the adherend, and the adhesive component provisionally attached to the temporary attachment surface is attached to the adherend while peeling off, and the attachment accuracy to the adherend is increased.

By making the temporary sticking surface on which the adhesive parts are temporarily adhered into a belt shape, various kinds of adhesive parts can be temporarily adhered in common and stably transported, and interference at the time of sticking to an adherend can be suppressed.

[0027]

[Embodiment 1] FIG. 1 shows a structure of a sticking tool according to an embodiment of the present invention, (a) is a front view and (b) is a side view. The sticking tool 1 has an adhesive layer on one surface, and holds and holds the adhesive components such as urethane foam, malt plane, felt, etc., which are stuck on the mount, etc., from the mount, etc. And a pressing roller 4 provided on the grip 2.
And a clamp mechanism 5. The temporary sticking part 3 is for temporarily sticking and holding an adhesive component, and is wound around pulleys 6 and 7 provided above and below the grip 2 to form a temporary sticking surface, and a wound belt 8. 8 has a plurality of guide rollers 9 arranged along one surface thereof. The belt 8 is made of a material that is bendable and does not easily stretch, and the surface thereof is coated with a non-adhesive or weakly-adhesive material or has fine irregularities. As shown in FIG. 2, the pulleys 6 and 7 have guide ribs 10 for preventing the belt 8 from shifting in the width direction. The pressing roller 4 is the temporary attachment part 3
The adhesive component is guided to and temporarily attached to the adherend, and the adhesive component held by the temporary attachment portion 3 is guided to and attached to the attachment surface of the adherend. It is connected to the rotating shaft of a pulley 6 provided on the side, and is biased by the biasing mechanism 11 to the belt 8 on the guide roller 9 side at the position of the pulley 6. An elastic member such as urethane rubber is wound around the outer periphery of the pressing roller 4 in order to improve the adhesion with the belt 8. The clamp mechanism 5 has an opening / closing lever 12 and a swing arm 13 connected to the rotation shaft of the pressing roller 4, and when the end of the adhesive component is taken in, the pressing roller 4 is separated from the belt 8 by a certain distance to prevent the adhesive component from moving. The end portion is sandwiched between the pressing roller 4 and the belt 8.

Before describing the operation when using the sticking tool 1, the adhesive component supply device will be described first. As shown in the configuration diagram of FIG. 3, the adhesive-attached product supply device 14 includes an adhesive component 1 wound around a supply reel 15.
The strip-shaped mount 17 to which 6 is attached is fed to the peeling edge 20 having a knife edge at the tip by the guide roller 18 and the feed roller 19, the mount 17 is bent at a sharp angle at the tip of the peeling edge 20, and the adhesive component 16 is advanced straight. Then, the end of the adhesive component 16 is peeled off from the mount 17, and the peeled adhesive component 1
6 is held by the sticking tool 1. The mount 17 from which the adhesive component 16 has been peeled off is recovered by the recovery reel 22 via the guide roller 21. Adhesive product 1 supplied from this supply device 14
The operation of peeling and holding 6 by the application tool 1 and attaching it to a predetermined attachment position of the adherend will be described with reference to the operation process chart of FIG.

As shown in FIG. 4A, when the end of the adhesive component 16 is peeled off by the peeling edge 20 of the feeding device 14,
The operator grips the grip 2 of the sticking tool 1 so that the pressing roller 4 is on the upper side and the belt 8 is on the lower side to make the sticking tool 1 horizontal, and operates the opening / closing lever 12 of the clamp mechanism 5 to move the pressing roller 4 from the belt 8. At a fixed interval, for example, larger than the thickness of the adhesive component 16, the end of the adhesive component 16 is sandwiched between the pressing roller 4 and the belt 8, and the clamp mechanism 5 is closed to close the end of the adhesive component 16 to the pressing roller 4 and the belt. Hold between eight. In this state, as shown in (b), the grip 2
Is rotated about 90 degrees to press the pressing roller 4 against the adhesive component 16 on the peeling edge 20 and make the belt 8 almost vertical. Then, as shown in (c), the application tool 1 is moved in parallel to the upstream side in the transport direction of the mount 17 while the pressing roller 4 is pressed against the adhesive component 16. By this parallel movement, the pressing roller 4 rotates counterclockwise, the rotational force of the pressing roller 4 is transmitted to the belt 8, the belt 8 rotates clockwise, and the adhesive component 16 is separated from the mount 17 while the belt 8 is being peeled off. Temporarily attach to the surface of. When the adhesive component 16 is temporarily attached to the belt 8, the surface of the belt 8 is coated with a non-adhesive or weakly adhesive material or has fine irregularities. It is possible to prevent bonding to the surface of No. 8. Further, since the adhesive component 16 temporarily attached to the surface of the belt 8 is pressed by the guide roller 9, it is possible to prevent the temporarily attached adhesive component 16 from peeling off and falling off. Mount the pressing roller 4 to the mount 17
After moving to the vicinity of the end of the adhesive component 16 pasted on, the movement of the pasting tool 1 is stopped leaving the end of the adhesive component 16 a little, and the pasting tool 1 is moved upward to move the end of the adhesive component 16. Is separated from the mount 17. At this time, the end of the adhesive component 16 is in a state of protruding from the pressing roller 4 and the belt 8 by a certain length, as shown in (d). In this state, the operator conveys the sticking tool 1 to the sticking position of the adherend 23.

As described above, since the adhesive component 16 is held by the belt 8 by utilizing the adhesive force, it is made of various materials, especially urethane foam or the like which is difficult to hold by the conventional suction method or a material which is flexible and easily deformed. The parts can be stably held and transported. Further, by using the adhesive force of the adhesive component 16 to temporarily attach and hold it to the belt-shaped belt 8, it is possible to stably hold the adhesive component 16 of various shapes and sizes including irregular shapes. Adhesive parts 16 of a size can be held and transported using the same application tool 1.

When the operator conveys the sticking tool 1 which temporarily holds the adhesive component 16 and holds it to the position of the adherend 23,
As shown in (e), the tip portion of the adhesive component 16 which is in a state of protruding by a certain length from the pressing roller 4 and the belt 8 is positioned at the attachment position of the adherend 23, and shown in (f). As described above, the tip end of the adhesive component 16 is pressed against the adherend 23 by the pressing roller 4. In this state, the application tool 1 is moved along the surface of the adherend 23. This sticking tool 1
The pressing roller 4 rotates in the clockwise direction by the movement of, and the belt 8 to which the adhesive component 16 is temporarily attached rotates in the counterclockwise direction, and the temporarily attached adhesive component 16 is sent to the surface of the adherend 23.
By pressing the delivered adhesive component 16 with the pressing roller 4, the adhesive component 16 can be attached to the surface of the adherend 23 without wrinkling. Then, as shown in (g), the entire adhesive component 16 is adhered to the adherend 23.
When the sticking operation is completed and the sticking operation is completed, the sticking tool 1 is moved to the supply device 14 and the next peeling operation of the adhesive component 16 is started.

When the application tool 1 holding the adhesive component 16 in this way is conveyed to the adherend 23 and the adhesive component 16 is adhered to the adherend 23, the portion where the adhesive component 16 is temporarily adhered and held is Since the belt 8 is in the form of a belt, only the portion of the pulley 6 provided at the lower portion of the grip 2 is close to the adherend 23, and it is possible to avoid interference with places other than the pasting surface of the adherend 23 as much as possible. it can. Therefore, it can be applied to adherends 23 of various shapes. Further, when the adhesive component 16 is attached to the adherend 23, the surface of the belt 8 that temporarily holds the adhesive component 16 and is held thereon is coated with a non-adhesive or weakly adhesive material, or has fine irregularities. Since the adhesive component 16 is provided, the adhesive component 16 can be easily separated from the surface of the belt 8 and sent out, and can be stably attached to the adherend 23.

Further, the sticking accuracy of the adhesive component 16 to the adherend 23 is the moving accuracy at the time of delivery from the supply device 14 to the sticking tool 1, that is, the straightness, and the movement when passing from the sticking tool 1 to the adherend 23. It depends on accuracy.
On the other hand, when the adhesive tool 16 is provided with the belt 8 for temporarily attaching the adhesive component 16 and the adhesive component 16 is transferred from the supply device 14 to the adhesive tool 1, the adhesive component 16 is peeled from the peeling edge 20 and at the same time the belt 8 is peeled off. When the adhesive component 16 that has been temporarily adhered to the belt 8 is adhered to the adherend 23, the adhesive component 16 is peeled off from the belt 8 and adhered to the adherend 23 at the same time. The accuracy of attaching the adhesive component 16 to the can be improved.
Further, by forming the belt 8 for temporarily adhering the adhesive component 16 with a material that does not stretch, the positional accuracy of the adhesive component 16 in the longitudinal direction can be maintained. Further, since the guide ribs 10 are provided on the pulleys 6 and 7 around which the belt 8 is wound to prevent the belt 8 from being displaced in the width direction, the position accuracy in the width direction of the adhesive component 16 attached to the adherend 23 can be improved. Can be kept.

[Embodiment 2] The pressing roller 4 is used in the above embodiment.
Although the case where the belt 8 is rotated by the rotational force of FIG.
By providing the feed transmission mechanism 25 as shown in the front view of (a) and the side view of (b), the belt 8 is pressed against the pressing roller 4.
Can be more reliably rotated according to the rotation of the. The feed transmission mechanism 25 is provided with a gear 26 attached to the rotating shaft of the pressing roller 4, a gear 28 attached to a holding portion 27 provided on the upper portion of the pulley 6, and an upper portion of the gear 28. A gear 30 connected to an expanding and contracting biasing mechanism 29, and a guide roller 3 provided to face the gear 28.
1, a timing belt 32 wound around gears 26, 28, 30, a gear 33 attached to the rotation shaft of the gear 28, and a gear 34 attached to the rotation shaft of the pulley 6 and meshing with the gear 33, As shown in FIG. 5A, when the pressing roller 4 rotates counterclockwise, the pulley 6 rotates clockwise and the belt 8 rotates clockwise. When the gear ratio of the feed transmission mechanism 25 is set appropriately and the rotational speed V2 of the belt 8 is slightly higher than the linear speed V1 when the pressing roller 4 is rotated, the peeling edge 20 of the supply device 14 is increased.
When the adhesive component 16 is peeled from and is temporarily attached to the belt 8, the adhesive component 16 can be temporarily attached without causing slack or the like.

Further, the timing belt 32 is connected via a gear 26 and a gear 28 provided on the rotation shaft of the pressing roller 4 connected to the pulley 6 by the urging mechanism 11 and a urging mechanism 29 that expands and contracts with the gear 28. Since it is wound around the rotated gear 30, when the end of the adhesive component 16 is sandwiched between the pressing roller 4 and the belt 8 as shown in FIG.
The pressing roller 4 can be easily separated from the belt 8 by the clamp mechanism 5.

[Embodiment 3] In the above embodiment, the operator grips the application tool 1 and the adhesive component 16 supplied from the supply device 14 is temporarily adhered to and held on the belt 8 and conveyed to the adherend 23. The case where the adherend 23 is pasted to a predetermined sticking position on the adherend 23 has been described, but an adhesive part sticking apparatus for automatically sticking the sticky part 16 using the sticking tool 1 will be described.

As shown in the configuration diagram of FIG. 6, the adhesive component sticking device 40 includes an articulated robot 4 provided on a base 41.
2, the supply device 14 for supplying the adhesive component 16, the adherend fixing base 43 for fixing the adherend 23, and the control device 44. As shown in the front view of FIG. 7A and the side view of FIG. 7B, the sticking hand 1a used in the adhesive component sticking device 40 has a gripping part 4 at the grip 2 portion of the sticking tool 1.
5, and has an opening / closing cylinder 46 for clamping instead of the opening / closing lever 12 of the clamp mechanism 5. The articulated robot 42 has a chuck portion 47 that holds the attaching hand 1a.
In addition, a force sensor 48, a pressing means 49, and a visual sensor 50 including a CCD are provided. The force sensor 48 detects the pressing force of the sticking hand 1a when the sticking hand 1a peels the adhesive component 16 from the supply device 14 and when the sticking component 16 is stuck to the adherend 23. The pressing means 49 is
For example, it has a spring, a cylinder, and the like, and the pressing force can be varied within a predetermined range. The pressing force of the application hand 1a is switched. The visual sensor 50 detects the end portion of the adhesive component 16 supplied by the supply device 14 and the attachment position of the adherend 23.

As shown in the block diagram of FIG. 8, the controller 44 has a central controller 51, a robot drive controller 52, a feeder drive controller 53, a pressing force controller 54 and a hand controller 55. The central control unit 51 drives the entire device by a drive signal from the operation display unit 56 and displays the operation state of the device on the operation display unit 56. The robot drive control unit 52 controls the operation of the articulated robot 42 based on a control signal from the central control unit 51, and the visual sensor 50.
The position of the pasting hand 1a is controlled according to the information detected in. The supply device drive control unit 53 controls the operation of the supply device 14 according to a control signal from the central control unit 51. The pressing force control unit 54 removes the adhesive component 16 from the supply device 14 with the application hand 1a and the adhesive component 16 on the adherend 23.
The pressing means 49 is controlled so that the pressing force of the sticking hand 1a detected by the force sensor 48 at the time of sticking becomes a predetermined pressing force. Hand drive controller 55
Controls the operation of the opening / closing cylinder 46 of the pasting hand 1a.

When the adhesive component 16 is attached to the adherend 23 fixed to the adherend fixing base 43 by the adhesive component attaching device 40, first, the robot drive controller 52 drives the articulated robot 42. The chuck part 47 holding the sticking hand 1 a is moved to the supply device 14. On the other hand, the supply device drive control unit 53 drives the supply device 14 at the timing when the chuck unit 47 moves to the supply device 14, and separates the end of the adhesive component 16 from the separation edge 20. When the visual sensor 50 detects the end of the peeled adhesive component 16 and the robot drive controller 52 positions the sticking hand 1a at a predetermined temporary sticking position, the hand drive controller 55 moves the opening / closing cylinder 46 of the sticking hand 1a. By driving, the end of the adhesive component 16 is sandwiched between the pressing roller 4 and the belt 8, and the clamp mechanism 5 is closed to sandwich the end of the adhesive component 16 between the pressing roller 4 and the belt 8. Then, the multi-joint robot 42 rotates the pasting hand 1a by approximately 90 degrees to push the pressing roller 4 against the adhesive component 16 on the peeling edge 20 to make the belt 8 substantially vertical. This pressing roller 4
When pressing the adhesive component 16 against the adhesive component 16, the pressing force control unit 54
Controls the pressing means 49 so that the pressing force of the pasting hand 1a detected by the force sensor 48 becomes a predetermined pressing force. In this state, the sticking hand 1a of the articulated robot 42 is moved in parallel to the upstream side in the transport direction of the mount 17 that transports the adhesive component 16, and the adhesive component 1 is removed from the mount 17.
While peeling off 6, 6 is temporarily attached to the surface of the attaching hand 1a. When the pressing roller 4 of the sticking hand 1a is moved to the vicinity of the end of the adhesive component 16 stuck to the mount 17, the movement of the sticking hand 1a is stopped leaving the end of the sticky component 16 slightly and the sticking hand 1a is moved upward. Move to Adhesive parts 16
The end of the paper from the mount 17. In this state, the robot drive control unit 52 moves the attaching hand 1a of the articulated robot 1a to the adherend fixing base 43.

The sticking hand 1a is moved to the adherend fixing base 43, and the visual sensor 50 detects the starting end of the sticking position of the adherend 23 fixed to the adherend fixing base 43 to position the sticking hand 1a. The pressing roller 4 presses the tip of the adhesive component 16 against the adherend 23. When the pressure-sensitive adhesive roller 16 is pressed against the adherend 23 by the pressing roller 4, the pressing force controller 54 detects the force applied by the force sensor 48.
The pressing means 49 is controlled so that the pressing force of (1) becomes a pressing force set to be larger than the pressing force at the time of temporary attachment, depending on the material of the adhesive component 16. Sticking hand 1a in this state
Is moved along the surface of the adherend 23, and the adhesive component 16 temporarily attached to the belt 8 is attached to the surface of the adherend 23. When this attaching operation is completed, the attaching hand 1a is moved to the supply device 14, and the adherend 23 to which the adhesive component 16 is attached is conveyed by a conveying device (not shown), and the next adherend 23 is fixed to the adherend. Set it on the table 43 and continue the pasting operation.

As described above, since the adhesive component 16 supplied from the supply device 14 is automatically attached and transferred and attached to the adherend 23, the adhesive component 16 is removed as compared with the case where the operator performs the attaching operation. It is possible to improve the positioning accuracy when temporarily adhering to the belt 8 and the positioning accuracy when adhering the transported adhesive component 16 to the adherend 23. Further, when the pressure roller 4 is temporarily attached to the belt 8, the pressure force for pressing the pressure roller 4 against the adhesive component 16 is set to an appropriate pressing force according to the material of the adhesive component 16, so that various adhesive components 16 can be attached to the belt 8. Stable temporary attachment is possible.
Further, even when the adhesive component 16 is adhered to the adherend 23, the pressing force for pressing the pressing roller 4 against the adhesive component 16 is set to an appropriate pressing force according to the material of the adhesive component 16 to obtain the adherend. The adhesive member 16 can be evenly attached to 23, and there is no need to press it further in the subsequent step, and the working time can be shortened.

[Fourth Embodiment] The above-mentioned adhesive component sticking device 4
When the adhesive component 16 supplied by the supply device 14 is temporarily attached to the belt 8 of the attaching hand 1a, 0 drives the opening / closing cylinder 46 of the clamp mechanism 5 to press the end portion of the adhesive member 16 with the pressing roller 4 and the belt 8. The case where the sticking hand 1a is rotated to temporarily stick the adhesive component 16 to the belt 8 has been described, but as shown in FIG. 9, a part of the outer peripheral portion of the pressing roller 4 is used instead of the clamp mechanism 5. The suction mechanism 61 having the suction pad 60 is provided on the hand drive control unit 5 of the control device 44 for controlling suction and release by the suction mechanism 61.
You may make it control by 5.

When the adhesive component 16 is temporarily attached to the belt 8 from the supply device 14 by the attaching hand 1a having the suction mechanism 41 on the pressing roller 4, the adhesive component 16 is attached to the upper end portion of the adhesive component 16 separated by the peeling edge 20. The hand 1 a is arranged, and as shown in FIG. 10A, the suction pad 60 of the suction mechanism 61 provided on the pressing roller 4 is positioned at the end of the adhesive member 16. Then, the suction of the suction mechanism 61 is started,
The end of the adhesive component 16 is attracted to the pressing roller 4. In this state, the application hand 1a is attached to the adhesive component 1 of the supply device 14.
The end portion of the adhesive component 16 that has moved to the upstream side of the conveyance direction of 6 and is attracted to the pressing roller 4 by the suction mechanism 61 is shown in FIG.
As shown in 0 (b), when it is sandwiched between the pressing roller 4 and the belt 8 and the end of the adhesive component 16 is temporarily attached to the belt 8, the suction of the suction mechanism 61 is released. Then, the pasting hand 1a is further moved, and as shown in FIG.
The adhesive component 16 is peeled from the peeling edge 20 and is temporarily attached to the belt 8.

As described above, when the end portion of the adhesive component 16 is temporarily attached to the belt by sucking the end portion of the adhesive component 16 by the suction mechanism 61 provided on the pressing roller 4, when the end portion of the adhesive component 16 is temporarily attached to the belt, It is possible to omit the step of rotating the attaching hand 1a after the end portion of the adhesive component 16 is sandwiched between the pressing roller 4 and the belt 8, and the joint of the articulated robot 42 is
The number of axes can be reduced, and the cost of the articulated robot 42 can be reduced.

In the above embodiment, the case where the pressing roller 4 is provided with one suction mechanism 61 has been described.
As shown in (a), the pressing roller 4 has a plurality of suction mechanisms 6
11 is provided, and as shown in FIGS. 11B, 11C, and 11D, the suction mechanism 61 in contact with the adhesive component 16 temporarily attached to the belt 8 is sequentially driven to press the adhesive component 14 against the pressing roller. 4 may be adsorbed. By thus providing the pressing roller 4 with the plurality of suction mechanisms 61, the suction mechanism 61 provided on the pressing roller 4 can be easily positioned at the end portion of the adhesive member 16 when the temporary attachment is started.

[Embodiment 5] In the pasting hand 1a, the case where the temporary pasting surface for temporarily pasting the adhesive component 16 is formed by the loop belt 8 wound around the pulleys 6 and 7 has been described. As shown, a temporary sticking tape 64 in the form of a tape, whose both ends are fixed and wound around two take-up rollers 62 and 63, presses the pressing roller 4 via the urging mechanism 11 The temporary sticking tape 64 is wound around 65, and a tension generating means such as a spring mechanism is provided on the take-up rollers 62 and 63 so that the temporary sticking tape 64 is not loosened by applying a certain tension.
Alternatively, the adhesive component 16 may be temporarily attached.

When the adhesive component 16 is temporarily attached to the temporary attaching tape 64 of the attaching hand 1b having the temporary attaching tape 64 and conveyed and attached to the attaching position of the adherend 23, the process diagram (a) of FIG. As shown in FIG. 4, the pressing roller 4 is placed near the end of the adhesive component 16 whose tip is peeled off at the peeling edge 20.
The suction mechanism 61 is positioned, the suction of the suction mechanism 61 is started, and the end of the adhesive component 16 is attracted to the pressing roller 4. In this state, the sticking hand 1b is moved to rotate the pressing roller 4, and as shown in (b), the end of the adhesive component 16 is sandwiched between the pressing roller 4 and the temporary sticking tape 64, and the suction mechanism 61 sucks. To cancel. Then, as shown in (c), the pasting hand 1b is moved in parallel, and the mount 17
Then, the adhesive component 16 is peeled off and temporarily attached to the temporary attaching tape 64. When this temporary attachment is performed, the take-up roller 62,
Since a constant tension is applied to the temporary sticking tape 64 by the tension generating means 63, when the temporary sticking tape 64 is moved to the take-up roller 63 side by the rotation of the pressing roller 4, the temporary sticking tape 64 is moved by the moving amount. It is wound around the winding roller 63. On the other hand, since the adhesive component 16 has a relatively small thickness, the temporarily attached adhesive component 16 is taken up by the take-up roller together with the temporarily attached tape 64. Therefore, even an adhesive component 16 having a long length of, for example, 500 mm or more can be easily temporarily attached to the temporary attachment tape 64.

When the adhesive tape 16 is temporarily attached to the vicinity of the end of the adhesive component 16, the attaching hand 1b is raised to separate the end of the adhesive component 16 from the mount 17, as shown in (d). In this state, the sticking hand 1b is moved to the adherend 23, and when the sticking hand 1b is positioned as shown in (e), the tip end portion of the adhesive component 16 is covered by the pressing roller 4 as shown in (f). Press on the body 23. In this state, the sticking hand 1b is moved along the surface of the adherend 23, and the pressing roller 4 rotated by this movement moves the temporary sticking tape 64 to the take-up roller 62 side and is taken up by the take-up roller 62. Meanwhile, as shown in (g), the temporarily attached adhesive component 16 is attached to the surface of the adherend 23.

By thus temporarily adhering the adhesive component 16 to the temporary adhesive tape 64 wound on the winding rollers 62 and 63 and carrying the adhesive hand 1b, the adhesive hand 1b can be downsized and the lengths are different. The various adhesive components 16 can be stably temporarily attached, conveyed, and attached to the adherend 23.

Example 6 Next, the adhesive component 1 is attached to the belt 8.
A case where the adhesive component 16 is sandwiched between the pressing roller 4 and the belt 8 by using the belt 8 as a guide when temporarily attaching 6 will be described. As shown in the configuration diagram of FIG. 13, this sticking hand 1c has a parts guide mechanism 70 at a portion of a pulley 6 provided so as to wind a belt 8 and face the pressing roller 4. The component guide mechanism 70 includes a component guide roller 71 provided at a position opposite to the pressing roller 4 of the pulley 6 with a certain distance, and a rotating device 7 provided on the attaching hand 1c.
2, a swing arm group 73 that connects the rotating device 72 and the component guide roller 71, and a holding roller 74 provided above the pulley 6 and the component guide roller 71.
The belt 8 wound around 7 is wound around the component guide roller 71 via the pressing roller 74 of the component guide mechanism 70 at the pulley 6. The rotating device 72 is composed of a motor, a solenoid, a cylinder, etc., and is driven by a hand drive control unit 55 provided in the control device unit 44 of the adhesive component sticking device 40 to swing the swinging arm group 73 to swing the component guide roller 7.
1 and the part of the belt 8 wound around the component guide roller 71,
As shown by the arrow in FIG. 14, it rotates to the pressing roller 4 side.

The adhesive hand 16 is used to make the adhesive component 16
15 is temporarily attached to the belt 8, the process chart of FIG.
As shown in FIG. 7, the rotation device 72 of the component guide mechanism 70 is driven to move the swing arm group 73 forward to move the component guide roller 7
While pressing 1 to the pressing roller 4 side,
The peeling edge 20 is positioned near the end of the adhesive component 16 whose tip has been peeled off. When the pasting hand 1c is moved to rotate the pressing roller 4 in this state, the end of the adhesive component 16 is guided by the belt 8 between the component guide roller 71 and the pulley 6 as shown in (b). It is sandwiched between the pressing roller 4 and the belt 8 and is temporarily attached to the belt 8. When the end of the adhesive component 16 is sandwiched between the pressing roller 4 and the pulley 6, as shown in (c), the swing arm group 8
3 is moved backward to move the component guide roller 71 to the position opposite to the pressing roller 4 of the pulley 6. Then, the sticking hand 1c is moved in parallel, and the adhesive component 16 is peeled from the mount 17 and temporarily stuck to the belt 8. When the belt 8 is temporarily attached to the vicinity of the end of the adhesive component 16, the attaching hand 1c is lifted to separate the end of the adhesive component 16 from the mount 17. In this state, the attaching hand 1c is moved to the adherend 23, and the adhesive component 16 temporarily attached to the belt 8 is attached to the surface of the adherend 23. When the adhesive component 16 is temporarily attached to the belt 8 and conveyed to the adherend 23, the swing arm group 73 is moved forward to move the component guide roller 71 to the pressing roller 4 as shown in FIG. You may make it rotate to the side and press the rear end part of the adhesive component 16.

In this way, the adhesive component 16 is sandwiched between the pressing roller 4 and the belt 8 by using the belt 8 as a guide and is temporarily attached to the belt 8, so that a long flexible component which is difficult to convey or the suction mechanism 61 sucks. The adhesive component 16 made of a material that is difficult to perform can be stably temporarily attached and transported, and the number of joints of the articulated robot 42 can be reduced by one axis, and the cost of the articulated robot 42 can be reduced.

[0053]

As described above, according to the present invention, while peeling off an adhesive component which is attached to a mount or the like and supplied, it is temporarily attached and held on a temporary attachment surface having non-adhesiveness or weak adhesiveness. By using the adhesive force of the adhesive component to hold it on the temporary attachment surface, it is possible to stabilize parts made of various materials, especially urethane foam and other materials that are difficult to hold by the conventional suction method and materials that are flexible and easily deformed. It can be held and transported. Also, by using the adhesive strength of adhesive parts to temporarily attach and hold them on a belt belt, it is possible to stably hold adhesive parts of various shapes and sizes, including irregular shapes. Parts can be stably held and transported using the same application tool.

By adhering the adhesive component to the adherend while peeling off the adhesive component that is transported to the adherend and temporarily adhered to the temporarily adhered surface, it is possible to improve the accuracy of attaching the adhesive component to the adherend.

Further, the rotating body, which is provided on the grip and pressed against the temporary attachment surface of the temporary attachment portion, is pressed against the surface of the adhesive component opposite to the adhesive layer to rotate, and the temporary attachment surface is moved by this rotational force. By temporarily attaching the adhesive component to the temporary attachment surface, even an unskilled worker can stably peel and hold the adhesive component.

Further, the temporary attachment portion is composed of a belt wound around a pair of pulleys or a belt whose both ends are fixed to two winding means, so that the adhesive component is attached to the adherend. At this time, it is possible to avoid interfering with a place other than the attaching surface of the adherend as much as possible. Therefore, it can be applied to adherends of various shapes. Further, when the adhesive component is attached to the adherend, the surface of the belt that temporarily holds the adhesive component and holds it is made non-adhesive or weakly adhesive, so that the adhesive component can be easily attached from the surface of the belt. It can be peeled off and sent out, and can be stably attached to an adherend.

Furthermore, by applying a constant tension to the belt, it is possible to prevent the temporarily adhered adhesive component from wrinkling or sagging, and it is possible to accurately adhere the adhesive component to an adherend.

Further, there is provided an opening / closing mechanism for separating the rotary body from the temporary sticking surface of the temporary sticking portion by a predetermined distance, a component holding means for switching the holding and releasing of the adhesive parts to the rotary body, or the temporary sticking. The part is equipped with a component guide mechanism that swings part of the temporary attachment surface toward the rotating body to guide the adhesive component to the temporary attachment surface, so that the adhesive component to be temporarily attached is stabilized between the rotating body and the temporary attachment surface. You can guide.

Further, by moving the adhesive component sticking tool by the tool moving means and changing the posture, the adhesive component stuck and supplied on the mount or the like is temporarily stuck and held on the temporary sticking surface while being peeled off. It can be transferred to the adherend and can be continuously attached to the adherend while peeling off the adhesive component that has been temporarily adhered to the temporary attachment surface, improving the accuracy of attaching the adhesive part and improving the attachment efficiency. Working time can be shortened.

Further, a force sensor and a pressing means are provided on the adhesive component attaching tool gripping portion of the tool moving means, and when the adhesive component is peeled off from the mount by the adhesive component attaching tool and temporarily attached to the temporary attaching surface, and when temporarily attached. By changing the pressing force of the rotating body against the adhesive component when attaching the adhesive component to the adherend, the adhesive component can be stably peeled off and the adhesive component can be stably attached to the adherend. Can be pasted.

By varying the pressing force of the rotating body against the adhesive component depending on the type of the adhesive component, it can be commonly used for the adhesive components of various materials and can be stably attached to the adherend. Therefore, it is not necessary to further press the adhesive component attached to the adherend.

Further, a visual sensor is provided in the adhesive component attaching tool gripping portion of the tool moving means, and the position and orientation of the adhesive component attaching tool can be changed according to the information detected by the visual sensor, so that the adhesive component can be temporarily attached accurately. At the same time, the adhesive component can be attached to the adherend with high accuracy.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a sticking tool according to an embodiment of the present invention.

FIG. 2 is a side view showing a guide rib of a pulley.

FIG. 3 is a configuration diagram of a supply device.

FIG. 4 is a process diagram showing temporary attachment of an adhesive component and attachment to an adherend.

FIG. 5 is a configuration diagram of a feed transmission mechanism between a pressing roller and a pulley.

FIG. 6 is a configuration diagram of an adhesive component sticking device.

FIG. 7 is a configuration diagram of a pasting hand.

FIG. 8 is a block diagram showing a configuration of a control device of the adhesive component sticking device.

FIG. 9 is a configuration diagram of a second pasting hand.

FIG. 10 is a configuration diagram showing a suction mechanism provided on a pressing roller of a third pasting hand.

FIG. 11 is a configuration and operation explanatory diagram of a pressing roller having a plurality of suction mechanisms.

FIG. 12 is a configuration diagram of a fourth sticking hand.

FIG. 13 is an operation process diagram of a fourth sticking hand.

FIG. 14 is a configuration diagram of a fifth pasting hand.

FIG. 15 is an operation process diagram of a fifth sticking hand.

[Explanation of symbols]

1; application tool, 1a, 1b, 1c; application hand,
2; grip, 3; temporary attachment part, 4; pressing roller, 5; clamp mechanism, 6, 7; pulley, 8; belt, 9; guide roller, 10; guide rib, 11; biasing mechanism, 12;
Open / close lever, 13; swing arm, 14; supply device, 1
6: Adhesive part, 20: Peeling edge, 23: Adherent, 2
5; Feed transmission mechanism, 40; Adhesive component attaching device, 41;
Base, 42; articulated robot, 43; adherend fixing base, 4
4; control device, 45; grip portion, 46; open / close cylinder, 4
7; chuck part, 48; force sensor, 49; pressing means, 5
0: Visual sensor.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) G09F 3/00 G09F 3/00 FF term (reference) 3E095 AA03 BA03 CA01 CA05 DA03 DA22 DA42 DA48 DA54 EA02 EA06 EA09 EA13 EA15 EA24 EA26 EA33 EA34 FA12 4J004 AB01 DB02 4J040 PA17 PA23

Claims (18)

[Claims] 1. A peeling-off adhesive component which is applied to a mount or the like and is temporarily attached to a temporary attachment surface having non-adhesiveness or weak adhesiveness, held and conveyed to an adherend, and temporarily attached. A method for attaching an adhesive component, characterized in that the adhesive component temporarily attached to the surface is attached to an adherend while being peeled off. 2. A sticking tool for sticking adhesive parts, which is pasted on a mount or the like and is peeled off and stuck to an adherend, comprising a temporary sticking part and a rotating body provided on a grip, The sticking portion has a band-shaped temporary sticking surface, and the rotating body is pressed by the temporary sticking surface of the temporary sticking portion and pressed against the surface of the adhesive component opposite to the adhesive layer to rotate, and the temporary force is applied by the rotating force. A tool for sticking adhesive parts, characterized by moving. 3. The adhesive component sticking tool according to claim 2, wherein the temporary sticking surface of the temporary sticking portion is constituted by a belt wound around a pair of pulleys. 4. The adhesive component sticking tool according to claim 2, wherein the temporary sticking surface of the temporary sticking portion is constituted by a belt wound at both ends by being fixed to two winding means. 5. The adhesive component sticking tool according to claim 4, wherein the winding means has a tension generating means for applying a constant tension to the belt. 6. The adhesive component sticking tool according to claim 3, wherein the surface of the belt is made non-adhesive or weakly adhesive. 7. The adhesive component sticking tool according to claim 2, further comprising an opening / closing mechanism that separates the rotating body from the temporary sticking surface of the temporary sticking portion by a predetermined distance. 8. The adhesive component sticking tool according to claim 2, wherein the rotary body has a component holding means for switching between holding and releasing the holding of the adhesive component. 9. The temporary attachment portion has a component guide mechanism for guiding the adhesive component to the temporary attachment surface by swinging a part of the temporary attachment surface toward the rotary body. Adhesive parts pasting tool. 10. The adhesive component sticking tool according to claim 2, further comprising a feed transmission mechanism for transmitting the rotational force of the rotating body to the temporary sticking surface of the temporary sticking portion. 11. A method of using the adhesive component sticking tool according to any one of claims 2 to 10, wherein the end portion of the adhesive component attached to the mount and sent from the supply device is provided between the rotating body and the temporary attachment portion. It is sandwiched by the temporary sticking surface, the rotating body is pressed against the surface of the adhesive part on the side opposite to the adhesive layer and rotated, and the rotating body rotates to move the temporary sticking surface to separate the adhesive part from the mount and temporarily stick Temporarily attach the adhesive component to the surface to hold the adhesive component, press the end of the retained adhesive component against the adherend with the rotating body, and rotate the rotating body to the side opposite to when temporarily attaching the adhesive component to the temporary attachment surface. A method for using an adhesive component sticking tool, characterized in that the adhesive component that has been temporarily attached to a temporary attachment surface is peeled off and then attached to an adherend at the same time. 12. An adhesive component attaching apparatus having the adhesive component attaching tool according to claim 2, further comprising an adherend fixing means and a tool moving means, wherein the adherend fixing means is adhesive. While holding the adherend to which the parts are attached, the tool moving means moves the adhesive part attaching tool and changes the posture of the adhesive part attaching tool to temporarily remove the adhesive parts that are attached to the mount and supplied. An adhesive component sticking device, which temporarily sticks to a sticking surface and holds it, conveys it to an adherend, and sticks to the adherend while peeling off the adhesive part that has been temporarily stuck to the sticking surface. 13. An adhesive component attaching apparatus having the adhesive component attaching tool according to claim 2, further comprising an adherend fixing means and a tool moving means, wherein the adherend fixing means is adhesive. Holding the adherend to which the component is attached, the tool moving means moves the adhesive component attaching tool to the end of the supplied adhesive component, and changes the end of the supplied adhesive component to the rotating body of the adhesive component attaching tool. Change the posture of the adhesive component attachment tool so that it is sandwiched by the temporary attachment surface of the temporary attachment part, and insert the end of the adhesive component between the rotating body and the temporary attachment surface of the temporary attachment part, change the orientation of the adhesive component attachment tool and rotate Press the body against the surface of the adhesive component opposite to the adhesive layer, rotate the rotating body while moving the adhesive component application tool, and move the temporary attachment surface by the rotation of the rotating body to separate the adhesive component from the mount and Temporarily attach the adhesive parts to the surface Hold and move to the adherend, press the end of the held adhesive component against the adherend with the rotating body, and move the adhesive component sticking tool to the side opposite to when the adhesive component is temporarily attached to the temporary attachment surface. While rotating the rotating body while peeling off the adhesive component temporarily attached to the temporary attachment surface and attaching it to the adherend. 14. An adhesive component attaching apparatus having the adhesive component attaching tool according to claim 8, comprising an adherend fixing means and a tool moving means, wherein the adherend fixing means attaches an adhesive component. Holding the body, the tool moving means is for moving the adhesive component sticking tool and changing the posture of the adhesive component sticking tool, and moving the adhesive component sticking tool to the end of the supplied adhesive component and supplied. Position the adhesive component attaching tool so that the end of the adhesive component is held by the component holding means of the rotating body of the adhesive component attaching tool, and hold the end of the adhesive component by the component holding means to move the adhesive component attaching tool. While the end of the adhesive component is sandwiched between the rotating body and the temporary attachment surface of the temporary attachment part, the holding of the adhesive component by the component holding means is released, and the adhesive component that is pasted and attached to the mount is peeled off temporarily. Temporary on the pasting surface Interest conveyed to the adherend and held, the adhesive component application device for the adhesive components were temporarily attached to the temporary attachment surface, characterized in that pasted to the release while adherend. 15. An adhesive component attaching apparatus having the adhesive component attaching tool according to claim 9, comprising an adherend fixing means and a tool moving means, wherein the adherend fixing means attaches an adhesive component. The body is held, and the tool moving means moves the adhesive component pasting tool and changes the posture of the adhesive component pasting tool.The part guiding mechanism of the adhesive component pasting tool shakes part of the temporary pasting surface toward the rotating body. In the moved state, move the adhesive component sticking tool to the end of the supplied adhesive component to position it, guide the adhesive component between the rotating body and the temporary sticking surface, and then remove a part of the temporarily sticking surface Swing to the side opposite to the rotating body, move the adhesive component attachment tool to peel off the adhesive components supplied, temporarily attach and hold on the temporary attachment surface, transport to the adherend, and temporarily attach to the temporary attachment surface. Adhere to the adherend while peeling off the adhered adhesive parts Adhesive parts joining apparatus according to claim and. 16. A pressure sensor and a pressing means are provided in a gripping portion of the adhesive component sticking tool of the tool moving means, when the adhesive component is peeled off from the mount with the adhesive component sticking tool and is temporarily stuck to the temporary sticking surface. 16. The adhesive component sticking device according to claim 12, wherein the pressing force of the rotating body against the adhesive component is changed when the attached adhesive component is stuck to the adherend. 17. The adhesive component sticking apparatus according to claim 16, wherein the pressing force of the rotating body against the adhesive component is varied depending on the type of the adhesive component. 18. The sticking part sticking tool gripping part of the tool moving means has a visual sensor, and the position and the posture of the sticking part sticking tool are varied according to the information detected by the visual sensor. Adhesive parts pasting device.