JP2024040940A - Tape layup device - Google Patents

Abstract

To provide a tape layup device capable of widening an operating range of a parallel link mechanism.SOLUTION: A tape layup device 10 comprises a layup head 20 having a press unit 30 for pressing a tape 1 against a laid-up surface 2a to allow itself and the laid-up surface 2a to sandwich the tape 1 to hold the same, and a parallel link mechanism 50 for operating a pressing position and/or pressing posture of the press unit 30 so as to follow a shape of the laid-up surface 2a. The parallel link mechanism 50 has a plurality of link units 51 provided in parallel at a predetermined interval. By expanding or contracting the respective link units 51, the pressing position and/or pressing posture of the press unit 30 are varied. Equipment and wirings connected to the plurality of link units 51 are provided outside an inner region R being a region formed by the plurality of link units 51.SELECTED DRAWING: Figure 1

Description

The present invention relates to a tape applicator and a tape applicator method, and more particularly to a tape applicator and a tape applicator used in manufacturing fiber-reinforced plastic (FRP) molded products by attaching a tape to a surface to which the tape is applied. Concerning tape application method.

Fiber-reinforced plastic (FRP) in the desired shape is created by pasting a fiber bundle of carbon fiber or other resin impregnated with resin into a tape shape (also called prepreg tape, UD tape, etc.) to the surface to which it is applied. : Fiber Reinforced Plastics) A method of manufacturing a molded article is known.

These manufacturing methods have various names such as ATL (Auto Tape Layup), ATW (Auto Tape Welding), and AFP (Auto Fiber Placement), but these are not strictly distinguished. In this specification, the manufacturing method in which the tape is applied to the surface to be applied while being pressed is collectively referred to as ATL, and the device (tape application device) is referred to as the ATL device.

Patent Document 1 discloses a construction method that implements the ATL method. In this construction method, a pressure-sensitive adhesive layer is applied to one or both sides of a fiber-reinforced plastic sheet, and the pressure-sensitive adhesive layer is applied to repaired or reinforced parts of workpieces such as columns and beams of concrete structures, car bodies, ships, and aircraft. After a fiber-reinforced plastic sheet is attached using a pressure adhesive layer, the fiber-reinforced plastic sheet is cured by a curing method such as room temperature curing, heat curing, or photocuring to obtain a reinforced composite material structure.

On the other hand, the workpiece often has errors in its designed shape and dimensions. As an ATL device that automatically attaches a tape such as the above-mentioned fiber-reinforced plastic to a workpiece having such an error, the present applicants have proposed an ATL device disclosed in Patent Document 2 below. In the ATL device described in Patent Document 2, the ATL head includes a pressing portion and a parallel link mechanism.

According to the ATL device described in Patent Document 2, by controlling the operation of the parallel link mechanism, the pressing position and/or the pressing posture of the pressing section that presses the tape against the surface to be applied of the workpiece follows the shape of the surface to be applied. Even if the workpiece has some shape error, it is possible to maintain a constant pressing state of the pressing part against the surface to be applied, and the tape It has become possible to improve the adhesion performance of

Japanese Patent Application Publication No. 2002-47809 Japanese Patent Application Publication No. 2020-147035

However, when applying a tape in an ATL device equipped with a parallel link mechanism as in Patent Document 2, there is a possibility that the range of adjustment of the pressing posture of the pressing section due to the operation of the parallel link mechanism may be narrowed depending on the case. This will be explained in detail below. As shown in FIG. 5, the ATL head 120 of the ATL device 110 includes a pressing section 130 that presses the tape 1 onto the surface 2a of the workpiece 2 to be applied, a parallel link mechanism 150 that adjusts the pressing posture of the pressing section 130, and a parallel link mechanism 150 that adjusts the pressing posture of the pressing section 130. It has an end part 140 that is attached to and holds the pressing part 130, and a feeder 170 that conveys the tape 1 to the pressing part 130. Furthermore, by adjusting the angle of the feeder 170 with respect to the end part 140, it is possible to feed the tape 1 to the pressing part 130. A rotation operation section 190 for adjusting the entrance angle of the tape 1 is attached to the end section 140. The parallel link mechanism 150 is configured by providing a plurality of link parts 151 having direct-acting cylinders 154 in parallel between the end part 140 and the base part 160, and these link parts 151 shown by hatching in FIG. Let us call the area surrounded by R an internal area R.

Here, depending on the inclination of the end part 140 with respect to the base part 160 in the θx direction and the inclination of the feeder 170 with respect to the end part 140 in the θx direction, the feeder 170 (here, the reel constituting the feeder 170 173) may enter the internal region R. At this time, if equipment (encoder 155, linear guide 156, etc.), wiring, piping, etc. used for the operation of each link part 151 are provided inside the internal area R as shown in FIG. 6(b), , when the end portion 140 is also tilted in the θy direction as shown in FIG. 6(b), there is a possibility that the reel 173 may interfere with those devices. Therefore, in order to avoid interference between devices within the ATL device 110, there is a problem in that it is necessary to control the operating range of the parallel link mechanism 150, particularly in the θy direction.

SUMMARY OF THE INVENTION In view of the above problems, it is an object of the present invention to provide a tape applicator that can widen the operating range of a parallel link mechanism.

In order to solve the above problems, the tape applicator of the present invention includes a pressing part that presses a tape onto a surface to be pasted and clamps the tape between the surface to be pasted, and a pressing position and/or a pressing posture of the pressing part. A tape applying device includes a pasting head having a parallel link mechanism that operates to follow the shape of the surface to be pasted, and the parallel link mechanism has a plurality of link parts provided in parallel at predetermined intervals. The pressing position and/or pressing posture of the pressing part is changed by expanding and contracting each of the link parts, and the equipment and wiring connected to the plurality of link parts are formed by the plurality of link parts. It is characterized in that it is provided outside the internal area, which is the area where it is used.

In the tape applicator of the present invention, when the parallel link mechanism operates, it is possible to avoid interference between the equipment used to operate the plurality of link parts and the wiring with the equipment constituting the applicator head, so that the parallel link mechanism can have a wide range of motion.

Further, the device connected to the plurality of link sections may include an encoder for checking the degree of expansion/contraction of the link sections.

The tape transport unit further includes a tape transport unit that transports the tape toward the pressing unit, and equipment and wiring connected to the tape transport unit for transporting the tape in the tape transport unit are also provided outside the internal area. It's okay to be left behind.

By doing so, it is possible to suppress interference within the application head caused by the operation of the parallel link mechanism.

The tape transport unit further includes a tape transport unit that transports the tape toward the pressing unit, and among the plurality of link parts forming the parallel link mechanism, the link part located relatively near the tape transport unit includes the It is preferable that the equipment and wiring connected to the link part be provided on the side of the link part when the parallel link mechanism is viewed from the tape transport part and on the side away from the tape transport part. .

By doing this, even if the relative position between the parallel link mechanism and the tape transport section changes due to the operation of the parallel link mechanism, interference between equipment connected to the link section and the tape transport section can be prevented. be able to.

With the tape applicator of the present invention, the operating range of the parallel link mechanism can be widened.

It is a figure explaining the tape pasting device in one embodiment of the present invention. FIG. 2 is a diagram illustrating a state in which the tape pressing posture is changed in the tape applicator of the embodiment shown in FIG. 1; FIG. 2 is a diagram illustrating a state in which the tape pressing posture and the tape approach angle are changed in the tape applicator of the embodiment shown in FIG. 1. FIG. It is a figure explaining the tape pasting device in other embodiments of the present invention. It is a figure explaining the conventional tape pasting device. FIG. 2 is a diagram illustrating a problem that may occur in a conventional tape applicator.

A tape applicator according to an embodiment of the present invention will be described with reference to FIG. 1. FIG. 1(a) is a front view, and FIG. 1(b) is a right side view.

The ATL device 10 is an example of a tape applicator according to the present invention, and the ATL head 20 is an example of an applicator head. In the following description, the direction in which the tape 1 is applied is assumed to be the Y-axis direction, the direction orthogonal thereto on a horizontal plane to be the X-axis direction, and the direction orthogonal to both the X-axis and Y-axis direction to be the Z-axis direction.

The ATL device 10 is a device for manufacturing a molded product reinforced with the tape 1 by pasting the tape 1 on the surface 2a of the workpiece 2 in a predetermined pasting direction (Y-axis direction). It is configured to include a head 20, a feeder 70, and a rotation operation section 90.

The tape 1 is, for example, a tape made by pre-impregnating at least a portion of a fiber bundle with a resin, and may be one impregnated with a thermoplastic resin (also called UD tape) or one impregnated with a thermosetting resin. Impregnated tape (also called prepreg tape) can be applied. The tape 1 may contain carbon fibers, or may be a resin tape mixed with many short fibers. The type of tape 1 can be selected as appropriate depending on the material of the workpiece 2 and the like. Further, the tape 1 may be in the form of a plurality of tapes arranged in parallel.

The workpiece 2 is, for example, a molded product having a three-dimensional shape, and may be a molded product made of resin such as a thermoplastic resin or a thermosetting resin, or a molded product made of metal.

The ATL head 20 is attached to a handling robot 80, and the entire ATL head 20 is brought into and out of contact with the workpiece 2 by the handling robot 80. The handling robot 80 may be a general-purpose industrial robot that moves an object in at least one axis, for example, a gantry structure (also referred to as a Cartesian coordinate mechanism), or an articulated robot (also referred to as a serial articulated mechanism). ). The handling robot 80 is preferably equipped with a mechanism (three degrees of freedom) capable of translating the ATL head 20 in at least the X, Y, and Z axis directions. Operation control of the handling robot 80 is executed by a robot control section 80a.

The ATL head 20 includes a pressing section 30, an end section 40, a parallel link mechanism 50, and a base section 60.

The pressing section 30 serves to apply the tape 1 to the surface 2a of the workpiece 2 while holding and pressing the tape 1 conveyed by a feeder 70 (to be described later).

The end portion 40 is a flat plate that holds the pressing portion 30 and is attached to the parallel link mechanism 50, and the pressing portion 30 is attached to the surface of the end portion 40 opposite to the surface on which the parallel link mechanism 50 is attached. . Further, a rotation operation section 90, which will be described later, is provided on the surface of the end section 40 to which the parallel link mechanism 50 is attached.

The parallel link mechanism 50 operates to displace the end portion 40 and cause the pressing position and/or pressing posture of the pressing portion 30 to follow the applied surface 2a.

The base portion 60 holds the side of the parallel link mechanism 50 opposite to the end portion 40 side, and a handling robot 80 is attached to the base portion 60.

The pressing section 30 has a roller 31 that presses the tape 1, and further includes a roller support section 32 that supports the roller 31 rotatably around a rotating shaft 31a. The roller support portions 32 are disposed on both sides of the roller 31 in the longitudinal direction (rotation shaft 31a).

The roller 31 may be composed of a resin roller, an elastic roller, a metal roller, or the like, depending on the characteristics of the tape 1 or the material of the workpiece 2. The size (diameter, width) of the roller 31 can be appropriately selected depending on the type and size of the tape 1 used and the type and shape of the work 2. Note that in another configuration example, a pressing member such as a pressing shoe may be used instead of the roller 31.

The parallel link mechanism 50 includes a plurality of link parts 51 that are provided in parallel between the base part 60 and the end part 40 at predetermined intervals. As these link parts 51 expand and contract, the position of the end part 40 with respect to the base part 60 changes. As a result, the pressing position and/or pressing posture of the pressing part 30 held by the end part 40 changes.

Each of these link portions 51 includes universal joints 52 and 53 at both ends, and an air cylinder 54 as an actuator provided between these universal joints 52 and 53. The number of link parts 51 is not particularly limited. For example, the link portion 51 may be composed of four pieces, or may be composed of three to six pieces.

The air cylinder 54 includes, for example, a cylinder portion 54a, a rod portion 54b that moves forward and backward depending on the pressure within the cylinder portion 54a, a pressure sensor 54c that detects the pressure within the cylinder portion 54a, and a displacement of the rod portion 54b. The encoder 55 is also provided. Further, the cylinder portion 54a and the rod portion 54b are supported by a linear guide 56 to prevent the rod portion 54b from rotating in the axial direction (so that only linear motion is performed). The encoder 55 detects the displacement of the rod portion 54b by measuring the distance between the tip 56a of the linear guide 56 and the encoder 55. That is, the degree of expansion and contraction of the link portion 51 is confirmed.

Here, in this description, the upside-down quadrangular truncated pyramid-shaped area formed (surrounded) by the plurality of link parts 51 shown by hatching in FIGS. 1(a) and 1(b) is referred to as an internal area R. call. In the present invention, the encoder 55, linear guide 56, piping 57, and wiring (not shown), which are devices connected to the link parts 51 for the operation of each link part 51, are shown in FIGS. 1(a) and 1(b). ), it is provided outside the internal region R. In addition, the piping 57 and wiring extending from each link part 51 are collected in a cable duct (not shown) so as not to pass through the internal area R, and then routed toward the handling robot 80, such as the servo valve 54e and the ATL head described below. It is connected to the control section 54g.

The cylinder portion 54a of the air cylinder 54 is connected to a servo valve 54e by a pipe 57 via a pressure sensor 54c. The servo valve 54e adjusts the amount of air flowing into and exhausting the cylinder portion 54a, and controls the differential pressure between the two chambers of the cylinder portion 54a. The servo valve 54e is connected to an air pressure supply section 54f that outputs compressed air from a compressor or the like. The pressure signal detected by the pressure sensor 54c and the displacement signal detected by the encoder 55 are each output to the ATL head control section 54g.

The ATL head control unit 54g includes, in addition to the three-dimensional coordinate data of the surface 2a to be pasted of the workpiece 2, a program that controls the operation of each part of the ATL head 20 based on the three-dimensional coordinate data, pressure signals, displacement signals, etc. remembered. The ATL head control unit 54g may be configured with a general-purpose computer device. Further, the ATL head control section 54g and the robot control section 80a may be configured as one control section.

The parallel link mechanism 50 changes the position (translation) and/or posture (rotation) of the end portion 40 by controlling the length of each of the plurality of link portions 51 with the air cylinder 54, thereby changing the position (translation) and/or attitude (rotation) of the end portion 40. It has a function of operating the pressing position and/or pressing posture so as to follow the shape of the surface to be applied 2a.

Note that it is preferable to adopt a parallel link mechanism 50 that has a degree of freedom that allows rotation of the roller 31 at least in the roll (θy) direction and the pitch (θx) direction by displacing the end portion 40. . Further, the degree of freedom of the parallel link mechanism 50 may be set in consideration of the operating function (degree of freedom) of the handling robot 80. Further, regardless of the operating function of the handling robot 80, the parallel link mechanism 50 may be provided with a six-degree-of-freedom mechanism, that is, a mechanism for moving in six directions (three translational directions and three rotational directions).

The ATL head control unit 54g controls the operation (pressurizing operation or depressurizing operation) of the servo valve 54e of each air cylinder 54 using the detection signal taken in from the pressure sensor 54c or encoder 55 of each air cylinder 54. The ATL head control unit 54g controls the pressure in the cylinder part 54a of each air cylinder 54 and/or the displacement of the rod part 54b by controlling the operation of the servo valve 54e, and controls the pressing position of the roller 31 and/or the pressing position. A process is executed to control the displacement of the end portion 40 so that its posture follows the shape of the surface to be pasted 2a.

The ATL head control section 54g is preferably configured to perform impedance control in the displacement control of the end section 40 from the viewpoint of obtaining desirable compliance characteristics. In the impedance control, the actuator thrust is controlled so that the end portion 40 virtually realizes mechanical impedance consisting of inertia, viscosity, and rigidity. For example, in the impedance control, parameters of inertia, viscosity, and stiffness, which are target impedances, are set. Then, the displacement of the end part 40 with respect to the target value of the position and orientation of the end part 40 is measured, and the relationship between the displacement of the end part 40 and the force applied to the outside by the end part 40 satisfies a predetermined relationship (impedance control law). The operation of the parallel link mechanism 50 is controlled as follows.

Furthermore, when controlling the displacement of the end portion 40, the ATL head control portion 54g determines the length (displacement) of the rod portion 54b of each air cylinder 54 in order to realize the target position and posture of the end portion 40. calculate. These calculated values are then stored as target values for the lengths of the rod portions 54b of each air cylinder 54. The ATL head control unit 54g may compare these stored target values with the output value of the encoder 55 of each air cylinder 54 during the pasting operation, and perform feedback control to reach the target value. Note that the target value may be set to the length of the rod portion 54b of each air cylinder 54, taking into account the shape error of the workpiece 2. In addition, the target position and orientation of the end portion 40 is the end portion for pressing the surface 2a to be pasted with the roller 31 from a direction (normal direction) perpendicular to the motion locus based on the three-dimensional coordinate data of the workpiece 2. These are the position and posture of the section 40.

The feeder 70 is also referred to as a tape conveying section in this description, and has, for example, a pair of conveying rollers 71, and when the pair of conveying rollers 71 sandwich the tape 1, the pair of conveying rollers 71 is moved by the power of a motor (not shown). The tape 1 is conveyed by rotational driving.

Further, in this embodiment, the feeder 70 has a reel 73, and the tape 1 is wound and stored inside the reel 73. Then, by operating the pair of transport rollers 71, the tape 1 is unwound from the reel 73 and transported toward the pressing section 30.

The feeder 70 is fixed to a bracket 72. The bracket 72 is disposed such that the center of rotation of the pressure roller 31 and the center of rotation of the bracket 72 coincide with each other. The bracket 72 may be rotatably attached to the rotating shaft 31a of the pressure roller 31, or may be rotatably attached to the roller support section 32. The bracket 72 is rotatably attached in this way, and the angle at which the tape 1 enters the pressing portion 30 changes as the bracket 72 rotates in the pitch (θx) direction. Thereby, even if the surface to be applied 2a has an inclination, the tape 1 can be adjusted to be conveyed at a constant angle with respect to the surface to be applied 2a.

Further, the bracket 72 is provided with a rotation joint 93b for connecting to the rotation operation section 90.

The rotation operation section 90 includes an air cylinder 91 that is erected on the end section 40 toward the base section 60, a linear motion member 92 that is vertically moved by the air cylinder 91, a linear motion member 92, and a bracket. 72, there is provided a link arm 94 whose both ends are rotatably attached via rotation joints 93a, 93b. The rotational movement unit 90 is configured such that the linear movement of the translational member 92 by the air cylinder 91 is converted into a rotational movement of the bracket 72 in the pitch (θx) direction via the link arm 94. Incidentally, this rotation operation section 90 is provided within the internal region R as shown in FIG. 1(a). Further, this rotation operation unit 90 rotates the entire feeder 70, and in this description, it is not considered as a device connected to the feeder 70 for conveying the tape 1.

The air cylinder 91 includes a cylinder section to which air is supplied, a rod section that moves forward and backward according to the pressure inside the cylinder section, a pressure sensor that detects the pressure inside the cylinder section, and a displacement sensor that detects displacement of the rod section. ing. The air cylinder 91 is arranged diagonally upward from near the center of the end portion 40 on the side opposite to the side from which the tape 1 is fed.

The cylinder portion of the air cylinder 91 is connected to a servo valve (not shown) via a pressure sensor. The servo valve adjusts the amount of air flowing into and exhausting the cylinder, and controls the differential pressure between the two chambers of the cylinder. The servo valve is connected to an air pressure supply, such as a compressor, that outputs compressed air.

The displacement sensor in the air cylinder 91 may be any sensor as long as it can measure the amount of displacement of the rod portion, and may be, for example, a magnetic or optical linear encoder, a potentiometer, or the like. The pressure signal detected by the pressure sensor and the displacement signal detected by the displacement sensor are each output to the ATL head control section 54g.

As described above, since the rotary operation part 90 provided on the end part 40 suspends the feeder 70 and adjusts the angle of the feeder 70, the tape 1 can be kept constant with respect to the surface to be applied 2a as described above. To be able to adjust the conveyance at an angle of , and to reduce the bias in weight of the ATL head 20 even when the feeder 70 is jutting out in the lateral direction, and to improve the weight balance of the entire ATL head 20. I can do it. By improving the weight balance of the ATL head 20 in this way, it is possible to improve the responsiveness of the control for operating the pressing part 30 so as to follow the shape of the surface to be applied 2a by the parallel link mechanism 50. The adhesion performance of the tape 1 to the tape 2a can be further improved.

Next, FIG. 2 shows a state in which the tape pressing posture is changed in the tape applying apparatus of the embodiment shown in FIG.

In the ATL device 10, the end portion 40 is displaced by the parallel link mechanism 50 as described above, and the pressing position and/or pressing posture of the pressing portion 30 is operated so as to follow the applied surface 2a. Specifically, the parallel link mechanism 50 adjusts the inclination of the end portion 40 according to the inclination of the surface to be pasted 2a (in this embodiment, the surface to be pasted 2a and the end portion 40 are parallel to each other as shown in FIG. 2). By adjusting the position of the pressing part 30 so that a specific position of the pressing part 30 comes into contact with the tape 1 or the surface to be applied 2a, the pressing part 30 can press the tape 1 in an accurate pressing posture.

In addition, in this embodiment, this specific position is the farthest position from the end part 40 on the roller 31 of the pressing part 30, and in this description, this position is called Tool-Center-Point (TCP). In this TCP, when the roller 31 is in contact with the tape 1 or the surface to be applied 2a, the parallel link mechanism 50 displaces the end portion 40 in the thickness direction of the end portion 40 (Z-axis direction in FIG. 1(a)). By operating, the roller 31 presses the tape 1 or the surface to be applied 2a in the normal direction. Note that FIG. 2 shows an example in which the end portion 40 is inclined in the pitch (θx) direction.

In addition, by adjusting the inclination of the end part 40 in this way and changing the pressing posture of the pressing part 30, the relative position of the parallel link mechanism 50 and the feeder 70 also changes.

FIG. 3 is a diagram showing a state in which the pressing posture of the ATL head 20 has changed as shown in FIG. FIG. 3(a) is a front view, and FIG. 3(b) is a right side view.

As shown in FIG. 3A, when the end portion 40 rotates counterclockwise in the pitch (θx) direction and the feeder 70 also rotates counterclockwise in the pitch (θx) direction, the parallel link mechanism 50 and the feeder 70 may come close to each other, and a portion of the feeder 70 (reel 73) may enter between the two link portions 51. In this case, if the end portion 40 rotates in the roll (θy) direction as shown in FIG. 3(b), the reel 73 approaches one link portion 51.

Here, in the present invention, as described above, the encoder 55, linear guide 56, piping 57, and wiring (not shown), which are devices used for the operation of each link portion 51, are provided outside the internal region R. Therefore, when the reel 73 approaches the link portion 51 as the end portion 40 rotates in the roll (θy) direction, interference between the device and the reel 73 is avoided. Therefore, the rotation range of the end portion 40 in the roll (θy) direction can be set relatively wide. Furthermore, if the rotation range of the end portion 40 in the roll (θy) direction is set to such an extent that it does not interfere with each link portion 51, even if a portion of the feeder 70 enters between the two link portions 51, the ATL head 20 Since interference can be prevented from occurring, the rotation range of the end portion 40 in the pitch (θx) direction can also be set relatively wide.

Here, in this case, among the plurality of link parts 51 forming the parallel link mechanism 50, especially the right link part 51 shown in FIG. 3(a) and the two link parts 51 shown in FIG. 3(b), Regarding the link part 51 located relatively close to the feeder 70, that is, the link part 51 to which the feeder 70 can approach depending on the operation of the end part 40 and the rotation movement part 90, as shown in FIG. 3(b), each link The devices connected to the section 51 are installed in the link section 51 so as to be on the side (X-axis direction) when the parallel link mechanism 50 is viewed from the feeder 70 and on the side away from the feeder 70, that is, facing outward. It is preferable that the Even if devices are connected outside the internal area R, if devices are connected inward or in a direction facing the feeder 70, there is a possibility that the feeder 70 and the equipment will interfere with each other in the area outside the internal area R. be. On the other hand, since they are connected to the link part 51 so as to face outward as in this embodiment, the relative positions of the parallel link mechanism 50 and the feeder 70 can be changed by the operations of the parallel link mechanism 50 and the rotation operation part 90. Even if there is a change, interference between the feeder 70 and devices connected to the link portion 51 can be prevented.

In addition, in this embodiment, as shown by the wiring 74 in the figure, equipment and wiring used for conveying the tape 1 in the tape conveying section (feeder 70), such as wiring for a motor that rotates the pair of conveying rollers 71, are also provided in the internal area. It is preferable to provide it outside R. At this time, a cable duct or the like may be used. This can also prevent interference between the equipment and wiring used to transport the tape 1 and each link section 51 and equipment used for its operation due to the operation of the parallel link mechanism 50.

Next, a tape applying device according to another embodiment of the present invention will be described with reference to FIG.

In this embodiment, the tape 1 has a rectangular shape cut into a predetermined length in advance, and is conveyed toward the pressing section 30 while being held by a pair of conveying rollers 71 . This embodiment does not have a reel 73, unlike the previous embodiment. Therefore, the possibility that the feeder 70 will enter between the two link portions 51 is lower than in the previous embodiment, and interference in the ATL head 20 can be further suppressed.

Also in this embodiment, it is preferable that equipment and wiring used for transporting the tape 1 in the tape transport section (feeder 70) are also provided outside the internal region R.

With the above tape applicator, it is possible to widen the operating range of the parallel link mechanism.

Here, the tape applicator of the present invention is not limited to the form explained above, but may have other forms within the scope of the present invention. For example, the ATL head may be provided with a heater section for improving the tackiness of the tape before being conveyed to the pressing section.

Further, it is preferable that no equipment or wiring is provided within the internal region R as much as possible. For example, equipment or wiring that is used for operations other than the link portion 51, such as wiring that is used for the operation of the heater portion, is also outside the internal region R. It is preferable that the

Further, in the above description, the parallel link mechanism 50 is composed of a plurality of air cylinders 54, but it is not limited to air cylinders, and may be a cylinder using a fluid other than air, such as a hydraulic cylinder. An electric cylinder may also be used.

Further, in the above description, the feeder 70 is suspended by the rotational movement section 90, but a configuration in which the rotational movement section 90 is not provided may also be used.

1 Tape 2 Work 2a Adhering surface 10 ATL device 20 ATL head 30 Pressing part 31 Roller 31a Rotating shaft 32 Roller support part 40 End part 50 Parallel link mechanism 51 Link part 52 Universal joint 53 Universal joint 54 Air cylinder 54a Cylinder part 54b Rod Part 54c Pressure sensor 54e Servo valve 54f Pneumatic supply part 54g ATL head control part 55 Encoder 56 Linear guide 56a Tip part 57 Piping 60 Base part 70 Feeder 71 Conveying roller pair 72 Bracket 73 Reel 74 Wiring 80 Handling robot 90 Rotation part 91 Air cylinder 92 Direct motion member 93a Rotary joint 93b Rotation joint 94 Link arm 110 ATL device 120 ATL head 130 Pressing section 140 End section 150 Parallel link mechanism 151 Link section 154 Direct motion cylinder 155 Encoder 156 Linear guide 160 Base section 170 Feeder 173 Reel 190 Rotation operation part R Internal area

Claims (4)

a pressing part that presses the tape against the surface to be applied and clamps the tape between the surface to be applied;
a parallel link mechanism that operates the pressing position and/or pressing posture of the pressing part to follow the shape of the surface to be applied;
A tape application device comprising an application head having:
The parallel link mechanism has a plurality of link parts provided in parallel at predetermined intervals, and each of the link parts expands and contracts to change a pressing position and/or a pressing posture of the pressing part,
A tape applying device, wherein equipment and wiring connected to the plurality of link parts are provided outside an internal area that is an area formed by the plurality of link parts. The tape applicator according to claim 1, wherein the device connected to the plurality of link parts includes an encoder for checking the degree of expansion and contraction of the link parts. The tape further includes a tape transport section that transports the tape toward the pressing section, and equipment and wiring connected to the tape transport section for transporting the tape in the tape transport section are also provided outside the internal area. The tape application device according to claim 1, characterized in that: The link section further includes a tape transport section that transports the tape toward the pressing section, and the link section located relatively near the tape transport section among the plurality of link sections forming the parallel link mechanism, The devices and wiring connected to the link section are provided on a side of the link section when the parallel link mechanism is viewed from the front from the tape transport section and on a side away from the tape transport section. The tape application device according to claim 1.

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