JP2023069251A - Sheet application device and sheet application method - Google Patents

Abstract

To provide a sheet application device which can determine that an adhesive sheet is applied so that an adherend is placed at a proper position relative to a frame member, and to provide a sheet application method.SOLUTION: A sheet application device EA includes application means 10 which applies an adhesive sheet AS to a ring frame RF and an adherend WK disposed within an opening RF1 of the ring frame RF. The sheet application device EA further includes inspection means 20 which inspects a position of the adherend WK relative to the ring frame RF in the ring frame RF and the adherend WK to which the adhesive sheet AS is applied.SELECTED DRAWING: Figure 1

Description

The present invention relates to a sheet sticking device and a sheet sticking method.

2. Description of the Related Art A sheet applying device for applying an adhesive sheet to a frame member and an adherend placed in an opening of the frame member is known (see, for example, Patent Document 1).

JP 2017-204615 A

A tape sticking device 2 (sheet sticking device) described in Patent Document 1 sticks a tape 3a (adhesive sheet) to a frame 13 (frame member) and a workpiece 11 (adherend), and then attaches the tape 3a (adhesive sheet) to the frame member. Since it is not configured to inspect the position of the adherend, there is an inconvenience that it cannot be determined that the adhesive sheet has been attached so that the adherend is positioned appropriately with respect to the frame member.

SUMMARY OF THE INVENTION An object of the present invention is to provide a sheet sticking apparatus and a sheet sticking method that can determine whether an adhesive sheet has been stuck such that an adherend is positioned appropriately with respect to a frame member.

The present invention employs the configurations described in the claims.

According to the present invention, in order to inspect the position of the adherend with respect to the frame member, the frame member and the adherend to which the adhesive sheet is attached are adhered so that the adherend is positioned appropriately with respect to the frame member. It can be determined that the sheet has been attached.
Further, the inspection means measures a first distance, which is the distance from the edge of the frame member to the edge of the adherend along a predetermined first virtual line, and along a predetermined second virtual line different from the first virtual line. a second distance, which is the distance from the edge of the frame member to the edge of the adherend, is measured, and the position of the adherend relative to the frame member is inspected based on the measurement results of the first distance and the second distance. , the accuracy of the inspection of the adherend position can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram of a sheet sticking device according to an embodiment of the present invention and an explanatory diagram of operation of the same device;

An embodiment of the present invention will be described below with reference to FIG.
Note that the X-axis, Y-axis, and Z-axis in this embodiment are orthogonal to each other, and the X-axis and Y-axis are axes within a predetermined plane, and the Z-axis is an axis orthogonal to the predetermined plane. do. Furthermore, in the present embodiment, when viewed from the front side of FIG. In terms of direction, "left" is the arrow direction of the X axis, "right" is the opposite direction, and "front" is the front direction in FIG. 1A parallel to the Y axis, and "back" is the opposite direction.

The sheet sticking apparatus EA includes a ring frame RF as a frame member and a sticking means 10 for carrying out a sticking step of sticking an adhesive sheet AS to an adherend WK arranged in an opening RF1 of the ring frame RF; An inspection means 20 for performing an inspection step of inspecting the position of the adherend WK with respect to the ring frame RF and the adherend WK to which the AS is attached, and supports the ring frame RF and the adherend WK. It is arranged in the vicinity of the supporting means 30 which

The sticking means 10 includes a support roller 11 that supports the original sheet RS to which the adhesive sheet AS is temporarily adhered to one surface of the release sheet RL, a guide roller 12 that guides the original sheet RS, and a release edge 13A that separates the release sheet RL. The release sheet RL is sandwiched between a peeling plate 13 as peeling means for peeling the adhesive sheet AS from the peeling sheet RL and a pinch roller 14B supported by an output shaft (not shown) of a rotation motor 14A as a driving device. While the sheet sticking apparatus EA is supported by the driving roller 14 and the output shaft of a driving device (not shown), a predetermined tension is constantly applied to the peeling sheet RL between the pinch roller 14B and the pinch roller 14B. , a collecting roller 15 as collecting means for collecting the release sheet RL, and a pressing roller 16 as pressing means for pressing and attaching the adhesive sheet AS to the ring frame RF and the adherend WK.

The inspection means 20 includes a reversing means 21 for reversing the integrated object UP in which the adhesive sheet AS is attached to the ring frame RF and the adherend WK, an outer edge RF2 as the edge of the ring frame RF, and an outer edge RF2 as the edge of the adherend WK. A plurality of detection means 22 arranged side by side in the front-rear direction, which includes imaging means such as a camera and a projector for detecting the outer edge WK1, and various sensors such as an optical sensor and an ultrasonic sensor, and a ring frame RF and an adherend. A relative movement means 23 for moving the detection means 22 relative to the body WK, and a personal computer for inspecting the position of the adherend WK with respect to the ring frame RF and controlling the entire or partial operation of the sheet sticking apparatus EA. and a control means 24 such as a sequencer. In this embodiment, the inspection means 20 measures a first distance SD1, which is the distance from the outer edge RF2 of the ring frame RF to the outer edge WK1 of the adherend WK along a predetermined first virtual line SL1, A second distance SD2, which is the distance from the outer edge RF2 of the ring frame RF to the outer edge WK1 of the adherend WK, is measured along a predetermined second virtual line SL2 different from SL1, and the first distance SD1 and the second distance are measured. The position of the adherend WK with respect to the ring frame RF is inspected based on each measurement result of SD2.
The reversing means 21 is composed of a plurality of arms, and is a so-called multi-joint robot as a driving device capable of displacing an object supported by the distal end arm 21B, which is a working part, to any position and any angle within its working range. 21A, and a chuck cylinder 21C as a drive device supported by the distal end arm 21B, which is holding means for holding the integrated object UP.
The relative movement means 23 is supported by a linear motor 23A as a driving device, a rotation motor 23C as a driving device supported by a slider 23B of the linear motor 23A, and an output shaft 23D of the rotation motor 23C. and an inspection table 23F having a support surface 23E that can be held by suction by a depressurizing means (not shown) such as a vacuum ejector. Note that the first and second virtual lines SL1 and SL2 pass through positions separated by predetermined distances PD1 and PD2 in the front-rear direction from the shaft center AR of the output shaft 23D of the rotary motor 23C in plan view, and extend parallel to each other in the left-right direction. is a line.
The control means 24 determines from the result of the inspection of the position of the adherend WK with respect to the ring frame RF that the adhesive sheet AS is adhered in a state where the adherend WK is in an inappropriate position with respect to the ring frame RF. When it is determined that a failure has occurred, a failure determination signal is output to warning means (not shown) such as a display or speaker. A warning device (not shown) outputs a warning signal such as light or sound via a display or a speaker upon receiving the defect determination signal output by the control means 24 .

The support means 30 is supported by the slider 23G of the linear motor 23A, and has an adherend support surface 31A and a frame support surface 31B which can be respectively sucked and held by decompression means (holding means) (not shown) such as a decompression pump and a vacuum ejector. A table 31 is provided, and the linear motor 23A is also used as the relative movement means 23. As shown in FIG.

The operation of the above sheet sticking apparatus EA will be described.
First, a user of the sheet sticking device EA (hereinafter simply referred to as the "user") moves the sheet sticking device EA in which the respective members are arranged at the initial positions indicated by the solid lines in FIG. After the raw fabric RS is set in the machine, a signal for starting automatic operation is inputted through an operation means such as an operation panel (not shown) or a personal computer. Then, the pasting means 10 drives the rotary motor 14A to feed the original sheet RS, and when the front end of the leading adhesive sheet AS in the feeding direction is peeled off by the peeling edge 13A of the peeling plate 13 for a predetermined length, the pasting means 10 stops driving the rotation motor 14A.

Next, as shown in FIG. 1(A), a user or a conveying means (not shown) such as an articulated robot or a belt conveyor moves the adherend WK and the ring frame RF to the adherend supporting surface 31A and the frame supporting surface 31B. When placed on the upper predetermined position, the support means 30 drives the decompressing means (not shown) to start holding the adherend WK and ring frame RF on the adherend supporting surface 31A and the frame supporting surface 31B. Thereafter, the support means 30 drives the linear motor 23A to move the table 31 to the left, and when the table 31 reaches a predetermined position, the pasting means 10 drives the rotation motor 14A to increase the moving speed of the table 31. The raw fabric RS is fed out in accordance with . As a result, the leading adhesive sheet AS is peeled off from the release sheet RL by the peel edge 13A of the release plate 13, and the adhesive sheet AS peeled off from the release sheet RL is , is pressed against the ring frame RF and the adherend WK by the pressing roller 16 to be attached.

Next, the entire leading adhesive sheet AS is adhered to the ring frame RF and the adherend WK to form an integrated body UP, and the leading end of the next adhesive sheet AS following the leading adhesive sheet AS in the delivery direction is a release plate. When the peeling edge 13A of 13 is peeled for a predetermined length, the sticking means 10 stops driving the rotation motor 14A. Then, when the table 31 supporting the integrated object UP gets out from below the pressing roller 16 and reaches a predetermined position in front of the articulated robot 21A as indicated by the two-dot chain line in FIG. stops driving the linear motor 23A, stops driving the decompressing means (not shown), and releases the adherend WK and the ring frame RF from the adherend support surface 31A and the frame support surface 31B. Next, when the inspection means 20 drives the multi-joint robot 21A and the chuck cylinder 21C, and the integrated object UP is lifted and turned upside down by the chuck cylinder 21C, the support means 30 drives the linear motor 23A to move the table 31 to the initial position. return to Thereafter, the inspection means 20 drives the linear motor 23A to move the inspection table 23F to the right, and when the inspection table 23F reaches a predetermined position in front of the articulated robot 21A, the inspection means 20 drives the linear motor 23A. to stop. Next, the inspection means 20 drives the multi-joint robot 21A to place the upside-down integral object UP at a predetermined position on the support surface 23E, and then drives the decompression means (not shown) so that the integrated object UP is mounted on the support surface 23E. Start sucking and holding the object UP. Then, the inspection means 20 drives the articulated robot 21A and the linear motor 23A to return the chuck cylinder 21C and the inspection table 23F to their initial positions.

Next, the inspection means 20 drives the linear motor 23A to move the inspection table 23F rightward by a predetermined distance as indicated by the two-dot chain line in FIG. 1(A). At this time, when the step between the inspection table 23F and the ring frame RF passes below the detection means 22 while the inspection table 23F is moving rightward, the inspection means 20 detects the ring frame RF by the detection means 22. is detected, and the movement distance by which the inspection table 23F has moved from the initial position is stored in the control means 24 until then. After that, when the step between the adhesive sheet AS and the adherend WK passes below each detection means 22, the inspection means 20 detects the outer edge WK1 of the adherend WK with each detection means 22, and the inspection table 23F is detected by then. The distance moved from the initial position is stored in the control means 24 . Next, based on each movement distance stored in the control means 24 by the inspection means 20, the adherend is moved from the outer edge RF2 of the ring frame RF along the first and second virtual lines SL1 and SL2 shown in FIG. 1(B). By calculating the distance to the outer edge WK1 of WK, the first and second distances SD1 and SD2 are measured. to calculate the displacement amount of the adherend WK with respect to the ring frame RF.

Deviation amount=reference distance RD-(first distance SD1+second distance SD2)/2 Expression (1)
Note that the reference distance RD in the above formula (1) is a predetermined design value, and as shown in FIG. corresponds to the first and second distances SD1 and SD2 in the case of Then, the inspection means 20 drives the linear motor 23A to return the inspection table 23F to the initial position. Next, after the inspection means 20 stops driving the linear motor 23A, the rotation motor 23C is driven to rotate the inspection table 23F clockwise around the shaft center AR of the output shaft 23D as shown in FIG. Rotate it 90 degrees. After that, the inspection means 20 measures the first and second distances SD1 and SD2 by moving the inspection table 23F by a predetermined distance in the same manner as described above. A shift amount of the adherend WK with respect to the ring frame RF in the DY-axis direction is calculated.

Next, the control means 24 of the inspection means 20 compares the absolute values of the deviation amounts in the DX-axis direction and the DY-axis direction with a predetermined threshold value, and inspects the position of the adherend WK with respect to the ring frame RF. As a result of the inspection, if the amount of deviation in each of the DX-axis direction and the DY-axis direction is equal to or less than a predetermined threshold value, the inspection means 20 adjusts the adhesive sheet AS so that the adherend WK is positioned appropriately with respect to the ring frame RF. is attached, and a failure determination signal is not output to warning means (not shown). Then, the inspection means 20 stops driving the decompression device (not shown), and releases the support surface 23E from sucking and holding the integrated object UP. Next, when the user or a transport means (not shown) transports the integral object UP to the next process, the inspection means 20 drives the linear motor 23A and the rotation motor 23C to return the inspection table 23F to the initial position, and thereafter the same as described above is performed. The action is repeated.

Here, as a result of the inspection of the position of the adherend WK, if the deviation amount in either the DX-axis direction or the DY-axis direction exceeds a predetermined threshold value, the inspection means 20 detects the position of the adherend with respect to the ring frame RF. It is determined that a sticking failure has occurred in which the adhesive sheet AS is stuck while the body WK is in an inappropriate position. For example, as shown by the two-dot chain line in FIG. 1B, when the adherend WK is displaced in the direction opposite to the arrow direction of the DY axis with respect to the ring frame RF, the inspection means 20 moves in the direction of the DX axis. , the first distance SD1 is shorter than the reference distance RD, but the second distance SD2 is longer than the reference distance RD. The absolute value becomes equal to or less than a predetermined threshold. On the other hand, as shown in FIG. 1C, when the inspection means 20 measures the first and second distances SD1 and SD2 in the DY-axis direction, each of the first and second distances SD1 and SD2 is greater than the reference distance RD. becomes shorter, the absolute value of the amount of deviation in the DY-axis direction exceeds a predetermined threshold. Therefore, the inspection means 20 determines that a sticking failure has occurred, and outputs a failure determination signal to a warning means (not shown). When a warning device (not shown) receives the defect determination signal, the warning device issues a warning signal via a display, speaker, or the like, and informs the user that the sticking defect has occurred. Thereafter, when the user or unillustrated conveying means removes the integrated object UP from the inspection table 23F, the inspection means 20 drives the linear motor 23A and the rotation motor 23C to return the inspection table 23F to the initial position. Similar operations are repeated.

According to the above-described embodiment, in order to inspect the position of the adherend WK with respect to the ring frame RF and the adherend WK to which the adhesive sheet AS is attached, the adhesive sheet AS is adhered to the ring frame RF. It can be determined that the adhesive sheet AS has been attached so that the body WK is in an appropriate position.

As described above, the best configuration, method, etc. for carrying out the present invention are disclosed in the above description, but the present invention is not limited thereto. That is, although the present invention has been particularly illustrated and described primarily with respect to certain embodiments, it is understood that there may be modifications to the above-described embodiments without departing from the spirit and scope of the invention. Various modifications can be made by those skilled in the art in terms of materials, quantity, and other detailed configurations. In addition, the descriptions that limit the shape, material, etc. disclosed above are exemplified to facilitate understanding of the present invention, and do not limit the present invention. The description by the name of the member that removes some or all of the limitations such as is included in the present invention.

For example, the pasting means 10 is formed by forming a closed loop shape or a notch in the entire short width direction in a band-shaped adhesive sheet base material temporarily attached to the release sheet RL, and a predetermined area partitioned by the notch. may be fed out as the adhesive sheet AS, or a strip-shaped adhesive sheet base material is temporarily attached to the release sheet RL, and the adhesive sheet base material has a closed loop shape or a short width direction. A cut may be formed by a cutting means such as a cutting blade, and a predetermined region partitioned by the cut may be used as an adhesive sheet AS, or a plate member instead of each roller such as the support roller 11 and the guide roller 12 , a shaft member, or the like may support or guide the original fabric RS and the release sheet RL. A recovery means may be employed to recover the release sheet RL by fan-folding it without winding, chopping it with a shredder or the like, or accumulating it carelessly, or it is not necessary to employ a recovery means. Then, the adhesive sheet AS is held by a holding member that is supported by the output shaft of a direct-acting motor that is a driving device and serves as a pressing means, and that can be held by suction by a decompression means (not shown) such as a decompression pump or a vacuum ejector. The adhesive sheet AS held by a member may be pressed against the ring frame RF or the adherend WK to be adhered. Although the object WK was moved and the adhesive sheet AS was attached to the ring frame RF and the adherend WK, the ring frame RF and the adherend WK were not moved, or the ring frame RF and the adherend WK were not moved. At the same time, the sticking means 10 may be moved to stick the adhesive sheet AS to the ring frame RF and the adherend WK.

The inspection means 20 may not have the reversing means 21. In this case, the detection means 22 provided above the table 31 detects the outer edge WK1 of the adherend WK through the transparent adhesive sheet AS. Alternatively, the inspection table 23F may be transparent, and the outer edge RF2 of the ring frame RF and the outer edge WK1 of the adherend WK may be detected through the inspection table 23F by the detection means 22 provided below the inspection table 23F. may be detected.
The inspection means 20 may be provided with one or three or more detection means 22 , or the relative movement means 23 may be provided with drive means for moving the detection means 22 in the front-rear direction, and one detection means 22 may be used to move the first virtual sensor 22 . After detecting the outer edge RF2 of the ring frame RF and the outer edge WK1 of the adherend WK along the line SL1, the outer edge RF2 of the ring frame RF and the outer edge WK1 of the adherend WK are detected along the second imaginary line SL2. Alternatively, instead of the outer edge RF2 of the ring frame RF, the inner edge formed by the opening RF1 of the ring frame RF is detected as the edge of the ring frame RF, and the adherend WK is detected from the inner edge of the ring frame RF. The distances to the outer edge WK1 may be measured as the first and second distances SD1 and SD2. and measure the distance from the outer edge RF2 of the ring frame RF to the inner edge of the adherend WK as first and second distances SD1 and SD2, or measure the inner edge of the adherend WK from the inner edge of the ring frame RF to the inner edge of the adherend WK. may be measured as first and second distances SD1 and SD2.
The inspection means 20 does not have to include the rotation motor 23C. In the case where the rotation motor 23C is not provided, the position of the adherend WK with respect to the ring frame RF is determined based on the amount of deviation of the inspection table 23F in the DX-axis direction. Alternatively, the rotation operation of the inspection table 23F may be divided into a plurality of times, and the position of the adherend WK with respect to the ring frame RF may be determined based on the displacement amounts calculated in three or more directions of the inspection table 23F. may be inspected, the predetermined distances PD1 and PD2 between the first and second virtual lines SL1 and SL2 and the shaft center AR of the output shaft 23D of the rotary motor 23C may be equal to each other, or The distance may be different, or the distance from the outer edge RF2 of the ring frame RF to the outer edge WK1 of the adherend WK along one virtual line in each of the DX-axis direction and the DY-axis direction of the inspection table 23F. and based on these distances, the position of the adherend WK with respect to the ring frame RF may be inspected.
The inspection means 20 may output the direction and the amount of displacement of the adherend WK with respect to the ring frame RF to the warning means, and display them on a display provided in the warning means.

The support means 30 may or may not be provided in the sheet sticking apparatus EA of the present invention, and if not provided, another device may support the adherend WK and the ring frame RF. .

While the sheet sticking apparatus EA inspects the position of the adherend WK with respect to the ring frame RF of the integrated object UP supported on the inspection table 23F, the ring frame RF supported on the table 31 and the adherend WK The following adhesive sheet AS may be attached to the .
Other than the ring frame RF, the frame member may have a non-annular shape (the outer circumference is not connected), a circular shape, an elliptical shape, a polygonal shape, or other shapes.

The means and steps in the present invention are not limited in any way as long as they can perform the operations, functions or steps described for those means and steps. The process is not limited at all. For example, the sticking means may be of any type as long as it can stick the adhesive sheet to the frame member and the adherend placed in the opening of the frame member. There is no limitation as long as it is within the technical scope (other means and steps are the same).

The materials, types, shapes, etc. of the adhesive sheet AS, the adherend WK and the frame member are not particularly limited. For example, the adhesive sheet AS, the adherend WK, and the frame member may be circular, elliptical, polygonal such as triangular or square, or other shapes. In the case of adopting a thermosensitive adhesive sheet AS, a suitable heating means such as a coil heater or a heat pipe is used to heat the adhesive sheet AS. It may be adhered by an appropriate method such as providing. Further, the adhesive sheet AS is, for example, a single-layer adhesive layer only, an intermediate layer between the substrate and the adhesive layer, or three or more layers such as a cover layer on the upper surface of the substrate. Furthermore, it may be a so-called double-sided adhesive sheet from which the base material can be peeled off from the adhesive layer. It may be of a single layer or multiple layers. Examples of the adherend WK include food, resin containers, semiconductor wafers such as silicon semiconductor wafers and compound semiconductor wafers, information recording substrates such as circuit boards and optical discs, glass plates, steel plates, ceramics, wood plates, resins, and the like. It may be a single substance, or a composite formed by two or more of them, and may be a member or article of any shape. In addition, the adhesive sheet AS can be arbitrarily used, for example, a label for information recording, a label for decoration, a protective sheet, a dicing tape, a die attach film, a die bonding tape, a resin sheet for forming a recording layer, etc. sheet, film, tape, or the like.

The drive device in the above embodiment includes a rotating motor, a linear motor, a linear motor, a single-axis robot, an electric device such as a multi-joint robot having two or more joints, an air cylinder, a hydraulic cylinder, and a rodless robot. Actuators such as cylinders and rotary cylinders can be used, and combinations thereof directly or indirectly can also be used.
In the above embodiments, when a rotating member such as a roller is employed, a drive device for rotating the rotating member may be provided, or the surface of the rotating member or the rotating member itself may be made of deformable material such as rubber or resin. It may be composed of a member, the surface of the rotating member or the rotating member itself may be composed of a member that does not deform, or other members such as a shaft or a blade that rotates or does not rotate instead of the roller. Alternatively, if a pressing means such as a pressing roller or a pressing head or a pressing member that presses an object to be pressed is adopted, a roller, a round bar, a blade can be used instead of or in combination with the above examples In addition to the material and brush-like member, it may be possible to adopt the one by blowing gas such as air or gas. It may be composed of a member that does not deform such as , resin, etc., or if a peeling means such as a peeling plate or a peeling roller or a peeling member such as a peeling member is used, instead of the above examples Alternatively, a member such as a plate-shaped member, a round bar, or a roller may be adopted, and the peelable member may be made of a deformable member such as rubber or resin, or may be made of a non-deformable member. Alternatively, if a supporting (holding) means or a supporting (holding) member or the like that supports (holds) a member to be supported (member to be held) is employed, gripping means such as a mechanical chuck or a chuck cylinder may be used. , Coulomb force, adhesive (adhesive sheet, adhesive tape), adhesive (adhesive sheet, adhesive tape), magnetic force, Bernoulli adsorption, suction adsorption, drive equipment, etc. to support (hold) the supported member. Alternatively, if a cutting means or a cutting member that cuts the member to be cut or forms a cut or a cutting line in the member to be cut is adopted, it can be used in place of or in combination with the above examples. , Cutter blades, laser cutters, ion beams, thermal power, heat, water pressure, heating wires, spraying of gas or liquid, etc., or moving objects to be cut with a combination of appropriate driving equipment You may make it cut|disconnect by making it cut|disconnect.

EA... Sheet sticking device 10... Sticking means 20... Inspection means AS... Adhesive sheet RF... Ring frame (frame member)
WK: adherend

Claims (3)

a frame member and a sticking means for sticking the adhesive sheet to the adherend arranged in the opening of the frame member;
The sheet sticking apparatus further comprises inspection means for inspecting the position of the adherend with respect to the frame member and the adherend to which the adhesive sheet is pasted. The inspection means measures a first distance, which is the distance from the edge of the frame member to the edge of the adherend along a predetermined first virtual line, and a predetermined second virtual line different from the first virtual line. and a second distance, which is the distance from the edge of the frame member to the edge of the adherend, along the 2. The sheet sticking apparatus according to claim 1, wherein the position of said adherend is inspected. performing an attaching step of attaching the adhesive sheet to the frame member and the adherend disposed in the opening of the frame member;
A sheet sticking method, further comprising: inspecting the position of the adherend with respect to the frame member and the adherend to which the adhesive sheet is stuck.

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