JP2021185040A - Seal sticking device - Google Patents

Abstract

To provide a technique by which a seal sticking device can stably support the seal.SOLUTION: A seal sticking device may comprise a first holding unit for holding the seal in a first direction, a guide unit for guiding the seal that is held in the first direction by the first holding unit in a second direction along a workpiece, the second direction being different from the first direction, in a state where the seal is separated from the workpiece, and a pressing unit for pressing the seal that is spaced apart from the guide unit and is guided by the guide unit to the workpiece.SELECTED DRAWING: Figure 5

Description

The technique disclosed herein relates to a sticker affixing device that affixes a long sticker to a workpiece.

For example, in a specific body part such as an automobile, a flexible and long seal such as a resin is attached along the peripheral edge of the body part in order to secure the airtightness with other parts. A sticker sticking device for automatically sticking such a sticker to a work has been proposed, and an example thereof is disclosed in Patent Document 1.

The sticker sticking device disclosed in Patent Document 1 includes a sticking head provided with a sticking roller. The seal supplied from the seal supply unit is bent along the sticking roller. This changes the stretching direction of the seal. The sticking roller sticks the seal to the work by pressing the seal after the stretching direction is changed against the work.

Japanese Unexamined Patent Publication No. 10-175764

In order to attach the seal along the work, the position of the seal with respect to the work must be stabilized. In the above-mentioned sticker sticking device, the sticker roller has a function of changing the stretching direction of the sticker and a function of pressing the sticker against the work. In this configuration, the sticking roller may not be able to properly guide the seal and the sticker may be misaligned from the sticking roller. If the seal is misaligned from the sticking roller, the sticker will not stick in place.

The present specification provides a technique in which a seal applying device can stably support a seal.

The present specification discloses a sticker sticking device for sticking a long sticker to a work. In the sticker affixing device, the first holding portion that holds the seal in the first direction and the seal held in the first direction by the first holding portion are separated from the work by the seal. A guide portion that guides in the second direction, which is a second direction along the work and is different from the first direction, and a seal that is arranged apart from the guide portion and is guided by the guide portion. May be provided with a pressing portion that presses against the work.

In the above-mentioned sticker sticking device, the sticker is held in the first direction by the first holding portion, and is guided from the first direction to the second direction by the guide portion. The guide portion changes its direction from the first direction to the second direction with the seal separated from the work. The pressing portion is arranged apart from the guide portion. According to this configuration, a first holding portion for holding the seal in the first direction, a guide portion for changing the seal from the first direction to the second direction, and a pressing portion for pressing the seal can be separately arranged. .. According to this configuration, the guide portion can adopt a shape that gives priority to changing the direction of the seal, while the pressing portion uses the seal as a work without considering changing the direction of the seal. A shape that gives priority to pressing can be adopted. Therefore, the sticker sticking device can stably support the sticker.

The guide portion may be provided with a roller that can rotate in accordance with the seal, and the roller may be provided with a guide groove that supports the seal on the outer periphery thereof. According to this configuration, in the guide portion, the seal can be sent out in the second direction by rotating the roller. Further, the guide groove can prevent the seal from being displaced from the roller. As a result, the seal sticking device can stably support the seal.

The pressing portion may include a roller that can rotate in accordance with the seal. According to this configuration, in the pressing portion, the roller can rotate on its axis, so that the seal can be sent out in the second direction. As a result, the sticker and the sticker sticking device can smoothly move relative to each other.

The guide portion is arranged in contact with the work, and the seal sticking device further supports the guide portion and allows the guide portion to move according to the shape of the work. A damper portion and a spring portion that urges the pressing portion toward the work may be provided. According to this configuration, the guide portion can be moved according to the work. Further, the pressing portion can be pressed against the work.

A second holding portion which is arranged between the guide portion and the pressing portion and holds the seal extending from the guide portion to the pressing portion in the second direction may be further provided. According to this configuration, it is possible to prevent the seal from shifting from the second direction between the guide portion and the pressing portion. Thereby, the seal sticking device can support the seal more stably.

The outline of the structure of the sticker sticking system is shown. An outline of the configuration of the jig device is shown. The outline of the sticker sticking device is shown. An enlarged perspective view of the pasting tool is shown. The figure for demonstrating the sticker sticking work is shown. The figure which shows the state which the paste tool is open is shown.

As shown in FIG. 1, the sticker sticking system 10 is a device for sticking a long sticker S (see FIG. 5) to the works 200 and 202. The sticker sticking system 10 includes a sticker sticking device 20, a jig device 100, and a base plate 12. The seal S is formed of a foamable resin, and when the workpieces 200 and 202 are attached to the final product, the seal S enhances the airtightness with other parts and allows heat, water, sound, etc. to enter. It is for prevention.

The base plate 12 is fixed to the ground and supports the seal sticking device 20 and the jig device 100. The base plate 12 has a flat plate shape and is used for horizontally arranging the seal sticking device 20 and the jig device 100.

(Structure of jig device)
The jig device 100 is fixed to the base plate 12. As shown in FIG. 2, the jig device 100 includes a pair of leg portions 102, a rotating shaft 104, a base portion 106, and two types of jigs 110 and 120.

The pair of legs 102 are fixed to the base plate 12 apart from each other. Each of the pair of legs 102 is arranged vertically from the base plate 12. The pair of legs 102 rotatably support the rotary shaft 104 at the upper ends of each. The pair of legs 102 support the rotating shaft 104 via bearings. The central axis of the rotating shaft 104 is immovably supported with respect to the base plate 12 by a pair of legs 102. The rotary shaft 104 is rotated with respect to the leg 102 by an actuator (not shown). A stop mechanism (not shown) for stopping the rotation of the rotary shaft 104 by engaging with each other is arranged between the rotary shaft 104 and the leg 102.

A base 106 is fixed to the rotating shaft 104 between a pair of legs 102. The outer shape of the base 106 has a square cylinder shape. The base 106 may be hollow or solid. Further, the base portion 106 may be configured by combining columnar members in consideration of the structure and strength for arranging the jigs 110 and 120.

A jig 110 is arranged on the first surface 106a of the base portion 106. The jig 110 positions and supports the work 200. The jig 110 includes a plurality of support blocks 112. Each support block 112 is directly attached to the first surface 106a. The support block 112 is made of, for example, a resin material. Each support block 112 has a shape that matches the shape of the work 200. That is, the plurality of support blocks 112 may have the same shape as each other or may have different shapes.

A jig 120 is arranged on the second surface 106b which is inclined in the direction perpendicular to the first surface 106a of the base portion 106. The jig 120 positions and supports the work 202. The shape of the work 202 is different from the shape of the work 200. In FIG. 1, the work 202 is drawn by a virtual line. This is because normally, only the work 200 to be worked is placed on the jig device 100, and the works 200 and 202 are not placed on the jig device 100 at the same time. However, the works 200 and 202 may be arranged in the jig device 100 at the same time.

The jig 120 includes a plurality of support blocks 122. Each support block 122 is directly attached to the second surface 106b. The support block 122 is made of, for example, a resin material. Each support block 122 has a shape that matches the shape of the work 202. That is, the plurality of support blocks 122 may have the same shape or different shapes from each other.

(Structure of sticker sticking device)
As shown in FIG. 1, the seal sticking device 20 is fixed to the base plate 12. The sticker sticking device 20 includes a sticking robot 40, a sticker holding pipe 28, a suction machine 30, a release paper recovery pipe 22, a recovery tank 24, and a suction machine 26.

As shown in FIG. 3, the sticking robot 40 includes a support base 42, a rail 44, a robot arm 48, and a sticking tool 50. The support 42 is directly fixed to the base plate 12. The support base 42 extends in the axial direction of the rotary shaft 104 of the jig device 100. The support base 42 supports the rail 44. The rail 44 is arranged linearly in parallel with the axial direction of the rotating shaft 104.

A robot arm 48 is attached to the rail 44. The robot arm 48 is movably arranged on the rail 44 along the rail 44. The robot arm 48 travels on the rail 44 by an actuator (not shown).

The robot arm 48 includes a plurality of joints 48a. Each of the plurality of joints 48a has an axis parallel to the rail 44. The robot arm 48 is rotatable about the axis of the joint 48a at each of the plurality of joints 48a. The robot arm 48 can adopt various structures. For example, the robot arm 48 may be an articulated robot having axes that are not parallel to each other.

A sticking tool 50 is attached to the tip of the robot arm 48. In FIG. 1, the structure of the pasting tool 50 is omitted.

The sticking tool 50 is arranged to face the works 200 and 202 supported by the jig device 100, and by pressing the sticker S on the works 200 and 202, the sticker S is stuck on the works 200 and 202.

(Structure of pasting tool)
As shown in FIG. 4, the sticking tool 50 includes a support plate 51, a block 53, a first holding portion 52, a guide portion 54, a second holding portion 56, a pressing portion 58, and a spring portion 60. The damper portions 62 and 64 are provided.

The support plate 51 is fixed to the tip of the robot arm 48. The support plate 51 has a rectangular flat plate shape. The support plate 51 has a circular through hole 51a. A block 53, a first holding portion 52, a guide portion 54, a second holding portion 56, a pressing portion 58, a spring portion 60, and damper portions 62 and 64 are attached to the support plate 51.

The block 53 is fixed to the support plate 51. The block 53 has a rectangular flat plate shape. The block 53 is arranged perpendicular to the support plate 51.

A damper portion 64 is further arranged on the support plate 51. The damper portions 64 are arranged side by side with the block 53. The damper portion 64 is arranged so as to be expandable and contractible in the direction perpendicular to the support plate 51.

The first holding portion 52 includes a plurality of rollers 52a (two in this embodiment) and grooves 52b. The groove 52b is arranged in a support column 68 connected to the end portion of the damper portion 64. The groove 52b extends in the vertical direction of the support plate 51. The groove 52b is arranged in a gap between a pair of flat plates arranged perpendicular to the support plate 51 and parallel to each other.

The plurality of rollers 52a are arranged in the gaps between the pair of flat plates of the grooves 52b. The plurality of rollers 52a are arranged side by side along the groove 52b. The plurality of rollers 52a are attached to the block 53 via the cylinder 66 and the support column 67. The plurality of rollers 52a are rotatably supported by the support column 67. As shown in FIG. 6, the plurality of rollers 52a are arranged so as to be movable in parallel with the support plate 51 by expanding and contracting the cylinder 66 that can be expanded and contracted in parallel with the support plate 51. As a result, the distance between the plurality of rollers 52a and the grooves 52b varies.

A guide portion 54 is arranged on the opposite side of the first holding portion 52 from the support plate 51. The guide portion 54 is arranged at the opposite end of the support plate 51 of the support column 68. The guide portion 54 has a roller that is rotatably attached to the support column 68. The roller has a groove 54a on the outer periphery thereof that guides the seal S arranged along the guide portion 54. The grooves 54a are continuously arranged over the entire circumference of the roller.

At the end of the damper portion 64, the damper portion 62 and the spring portion 60 are arranged alongside the columns 68. The damper portion 62 is arranged so as to be expandable and contractible in the direction perpendicular to the support plate 51. The damper portion 62 is arranged in the spring portion 60. The spring portion 60 is a coil spring. The spring portion 60 is arranged so as to be elastically deformable in the expansion / contraction direction of the damper portion 62.

At the end of the damper portion 62 opposite to the support plate 51, a second holding portion 56 and a pressing portion 58 are arranged via a support column 69. The second holding portion 56 is arranged in the groove 54a of the guide portion 54. The second holding portion 56 has a roller that is rotatably arranged on the support column 69. A pressing portion 58 is arranged on the side of the second holding portion 56 opposite to the guide portion 54. The pressing portion 58 has a roller that is rotatably arranged on the support column 69. The pressing portion 58 is arranged at a position slightly separated from the support plate 51 by the second holding portion 56.

A seal holding pipe 28 and a release paper collecting pipe 22 are attached to the sticking tool 50. The seal holding pipe 28 is made of a flexible material (eg, vinyl) having a tube shape. The end of the seal holding pipe 28 on the sticking tool 50 side penetrates the through hole 51a of the support plate 51 and is arranged at intervals on the support plate 51 side of the first holding portion 52. As shown in FIG. 1, the seal holding pipe 28 is connected to the suction machine 30 installed on the base plate 12. The seal S is inserted into the seal holding pipe 28. The suction machine 30 sucks the air in the seal holding pipe 28. As a result, the seal S arranged in the seal holding pipe 28 is pulled and held in the direction opposite to the sticking tool 50.

The release paper recovery pipe 22 is made of a flexible material (for example, vinyl) having a tube shape. The ends of the release paper recovery pipe 22 on the sticking tool 50 side are arranged side by side with the first holding portion 52. The release paper H peeled from the seal S is inserted into the release paper recovery pipe 22. As shown in FIG. 1, the release paper recovery pipe 22 is connected to a recovery tank 24 installed on the base plate 12. The recovery tank 24 is a hollow container. The release paper recovery pipe 22 communicates with the inside of the recovery tank 24. The recovery tank 24 is connected to the suction machine 26. The suction machine 26 sucks the air in the release paper recovery pipe 22. As a result, the release paper H arranged in the release paper recovery pipe 22 is sucked into the suction machine 26 side. As a result, the release paper H peeled off from the seal S is collected in the collection tank 24.

(About sticker sticking work)
Next, the work in which the sticker sticking system 10 sticks the sticker to the work 200 will be described. In order to attach the seal S to the work 200, the seal S is attached to the seal attaching device 20 and the work 200 is set in the jig device 100. The work 200 is placed on the support block 112 of the jig 110. Two of the support blocks 112 among the plurality of support blocks 112 are provided with a fixing member for fixing the work 200. The fixing member may have, for example, a clamp that sandwiches and fixes the work 200, and the through hole arranged in the work 200 and the through hole arranged in the support block 112 are overlapped and overlapped with each other. It may have a pin for fixing the work 200 to the jig 110 by being inserted into the through hole of the work 200, or it may have a vacuum cup for sucking the work 200 and fixing it to the jig. The jig 110 when the work 200 is set may be oriented upward or may be arranged so as to be inclined from above. The jig 110 in which the work 200 is set is arranged upward (an example of a "specific direction") facing the sticking tool 50.

When attaching the seal S to the seal affixing device 20, the seal S is inserted into the seal holding pipe 28 from the end on the affixing tool 50 side. As shown in FIG. 6, in the sticking tool 50, the roller 52a and the groove 52b of the first holding portion 52 are arranged apart from each other by the cylinder 66. In the state shown in FIG. 6, the seal S extending from the seal holding pipe 28 toward the sticking tool 50 side is arranged in the groove 52b, and the cylinder 66 is contracted to bring the roller 52a closer to the groove 52b. As a result, the seal S is sandwiched between the roller 52a and the groove 52b and held by the first holding portion 52.

As shown in FIG. 5, in the seal S extending from the first holding portion 52 toward the guide portion 54, the release paper H is peeled off and inserted into the release paper recovery pipe 22. Further, the seal S is curved along the groove 54a of the guide portion 54, and the extending direction of the seal S is guided from the lower side to the right side. The seal S guided to the right reaches the second holding portion 56 and the pressing portion 58. By bringing the work 200 and the sticking tool 50 close to each other, the seal S is pressed against the work 200 by the pressing portion 58.

When the sticker sticking device 20 is moved in the traveling direction F along the rail 44 while the sticker S is pressed against the work 200, the sticker S is stuck to the work 200. At this time, the jig device 100 is fixed. The robot arm 48 moves the sticking tool 50 according to the shape of the work 200.

When the seal sticking device 20 is moved in the traveling direction F, the seal S is pulled out from the seal holding pipe 28 toward the work 200. The seal S is supported by the sticking tool 50 in a state where a force is applied in the pulling direction. The seal S is held in the vertical direction of FIG. 5 by the first holding portion 52 and extends to the guide portion 54. This makes it possible to suppress the deviation of the seal S in the holding direction. In the first holding portion 52, the groove 52b can prevent the seal S from being displaced in the direction perpendicular to the traveling direction F. Further, by sandwiching the seal S between the roller 52a and the groove 52b, it is possible to prevent the seal S from shifting in the traveling direction F.

Further, by arranging the roller 52a that can rotate freely on the first holding portion 52, the seal S can be smoothly delivered to the work 200 side.

In the seal S extending from the first holding portion 52 to the work 200, the direction is changed by the guide portion 54. The guide portion 54 guides the seal S from the direction toward the work 200 (that is, the downward direction in FIG. 5) to the direction along the work 200 (that is, the right direction in FIG. 5). In the guide portion 54, the guide portion 54 itself is in contact with the work 200, while the seal S is not in contact with the work 200. That is, in the guide portion 54, the stretching direction of the seal S can be changed, but the seal S is not attached to the work 200. The sticker S is attached by the pressing portion 58 after the direction of the sticker S is changed. Therefore, as compared with the configuration in which the sticker S is attached to the work 200 while changing the direction of the seal S, the sticker S can be attached after the direction of the seal S is surely changed. As a result, it is possible to prevent the seal S from being displaced and attached. If a configuration is to be adopted in which the seal S is pressed against the work 200 by the guide portion 54, the seal S must be exposed from the outer periphery of the guide portion 54, and the groove 54a is made shallow or the groove 54a is formed. A configuration that is not installed must be adopted. In this configuration, the sticker S may be displaced in the vertical direction of the paper surface of FIG. 5 at the guide portion 54. In this embodiment, since the groove 54a is arranged in the guide portion 54 to separate the seal S from the work, it is possible to prevent the seal S from being displaced in the guide portion 54.

Further, the seal S extending from the guide portion 54 along the work 200 is pressed by the second holding portion 56 between the guide portion 54 and the pressing portion 58. As a result, it is possible to prevent the seal S from shifting between the guide portion 54 and the pressing portion 58 in the direction perpendicular to the traveling direction F (that is, in the direction perpendicular to the paper surface in FIG. 5). Further, by arranging the second holding portion 56 close to the guide portion 54, the deviation of the seal S can be effectively suppressed.

The pressing portion 58 and the second holding portion 56 are supported by the spring portion 60 and the damper portions 62 and 64. Therefore, the pressing portion 58 can be moved by the unevenness of the work 200. As a result, the positions of the pressing portion 58 and the second holding portion 56 can be changed according to the unevenness of the work 200. Further, the guide portion 54 is supported by the damper portion 64. As a result, the guide portion 54 can be moved in accordance with the movement of the pressing portion 58. As a result, when the second holding portion 56 and the guide portion 54 approach the work 200, it is possible to avoid a situation in which the seal S is attached to the work 200 at the second holding portion 56 and the guide portion 54.

The second holding portion 56 and the pressing portion 58 are rotatably supported by the support column 69. As a result, the sticker S can be smoothly delivered as the sticker sticking device 20 moves.

As the sticker S is attached, the release paper H is peeled off from the sticker S. The release paper H is sucked into the release paper recovery pipe 22 by the suction machine 26 and collected in the recovery tank 24. As a result, the release paper H can be appropriately recovered.

When the seal S is attached to the work 202 after the seal S is attached to the work 200, the base 106 is rotated around the rotary shaft 104 and the jig 120 is opposed to the attachment tool 50 (that is, above FIG. 1). Place towards). According to this configuration, the jig device 100 can support a plurality of types of workpieces 200 and 202. Since the jigs 110 and 120 are arranged in different directions, when one of the jigs 110 and 120 is used, the jigs 110 and 120 are supported by one of the jigs 110 and 120 without removing the other. The seal S can be attached to the work piece. As a result, it is possible to support a plurality of types of workpieces without performing the work of replacing the jig that supports the workpiece.

The outer shape of the base portion 106 has a square tubular shape, and the jigs 110 and 120 are arranged on the surfaces 106a and 106b which are arranged so as to be inclined to each other. When the seal S is attached to the work 200 supported by the jig 110, it is possible to prevent the jig 120 from being arranged at a position where it interferes with the attaching tool 50.

In the jig device 100, the rotating shafts 104 of the jigs 110 and 120 are supported with respect to the base plate 12 via a pair of legs 102. Therefore, the rotation shafts of the jigs 110 and 120 are fixed to the base plate 12. In this configuration, the jigs 110 and 120 can be easily positioned with respect to the sticking tool 50 as compared with the configuration in which the rotation axes of the jigs 110 and 120 are movably arranged with respect to the base plate 12. can.

Further, the sticker sticking device 20 is arranged so as to be linearly movable along the rail 44. According to this configuration, the robot arm 48 does not need to be lengthened according to the workpieces 200 and 202.

Although specific examples of the present invention have been described in detail above, these are merely examples and do not limit the scope of claims. The techniques described in the claims include various modifications and modifications of the specific examples exemplified above.

(1) In the above embodiment, the jig device 100 includes two jigs 110 and 120. However, the jig device 100 may include three or more jigs. For example, jigs may be arranged on each of the four sides of the base 106. In this case, the jigs other than the jigs 110 and 120 may support the works 200 and 202, or may support a work having a shape different from that of the works 200 and 202.

(2) In the above embodiment, the jig 110 is arranged on one surface 106a. However, the jig 110 may be arranged so as to straddle two surfaces that are inclined to each other.

(3) In the above embodiment, the base 106 has a square tubular outer shape. However, the outer shape of the base 106 may be a polygonal cylinder shape other than a square cylinder, may have a plurality of flat plates inclined to each other, or may have a curved surface such as a cylindrical shape. You may. Alternatively, the base 106 may have a single flat plate shape. In this case, each of the two jigs may be arranged on the front and back surfaces of the flat plate shape.

(4) The base 106 may be movable with respect to the base plate 12 other than rotation, for example, parallel to or perpendicular to the base plate 12.

(5) The jig device 100 may rotate the base 106 at the time of sticking the sticker.

(6) The sticking tool 50 does not have to include the second holding portion 56.

(7) The support mode of the guide portion 54 is not limited to the damper portion 64, and may be supported by another configuration such as a spring portion.

(8) The support mode of the second holding portion 56 and the pressing portion 58 is not limited to the damper portions 62 and 64 and the spring portion 60, and the spring portion 60 may not be provided, and the spring portion 60 is a spring other than the coil spring. May be.

(9) In the above embodiment, the sticker sticking system 10 is an example of the “work processing system”. However, the "work processing system" may include, for example, a welding system including a welding tool, a painting system including a painting tool, or the like, in place of or in combination with the seal sticking system 10. The "work processing system" may be any system that performs some processing (adhesion, deformation, coloring, etc.) on the work supported by the jig device 100.

Further, the technical elements described in the present specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the techniques exemplified in the present specification or the drawings can achieve a plurality of purposes at the same time, and achieving one of the purposes itself has technical usefulness.

10: Seal sticking system 12: Base plate 20: Seal sticking device 22: Release paper recovery pipe 24: Recovery tank 26: Suction machine 28: Seal holding pipe 30: Suction machine 40: Sticking robot 42: Support stand 44: Rail 48: Robot Arm 48a: Joint 50: Attaching tool 51: Support plate 51a: Through hole 52: First holding portion 52a: Roller 52b: Groove 53: Block 54: Guide portion 56: Second holding portion 58: Pressing portion 60: Spring portion 62 : Damper part 64: Damper part 66: Cylinder 100: Jig device 102: Leg part 104: Rotating shaft 106: Base 106a: First surface 106b: Second surface 110: Jig 112: Support block 120: Jig 122: Support block 200: Work 202: Work

Claims (5)

It is a sticker sticking device that sticks a long sticker to the work.
A first holding portion that holds the seal in the first direction,
The seal held in the first direction by the first holding portion is in the second direction along the work with the seal separated from the work, and is different from the first direction. A guide unit that guides in two directions and
A sticker sticking device including a pressing portion which is arranged apart from the guide portion and presses the seal guided by the guide portion against the work. The guide portion includes a roller that can rotate according to the seal.
The seal sticking device according to claim 1, wherein the roller is provided with a guide groove for supporting the seal on the outer periphery thereof. The seal sticking device according to claim 1 or 2, wherein the pressing portion includes a roller that can rotate in accordance with the seal. The guide portion is arranged in contact with the work.
The sticker affixing device further
A damper portion that supports the guide portion and allows the guide portion to move according to the shape of the work, and a damper portion.
The seal sticking device according to any one of claims 1 to 3, further comprising a spring portion for urging the pressing portion toward the work. Any of claims 1 to 4, further comprising a second holding portion which is arranged between the guide portion and the pressing portion and holds the seal extending from the guide portion to the pressing portion in the second direction. The sticker affixing device described in item 1.

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