JP6237389B2 - Double-sided tape sticking device, double-sided tape sticking method, program - Google Patents

Description

  The technology disclosed in the present application relates to a double-sided tape sticking device, a double-sided tape sticking method, and a program.

  A double-sided tape may be used as one means for attaching an object to an object. In general, the double-sided tape has a release liner on one side. As a method for peeling the release liner from the double-sided tape, for example, there is a method of inserting a tool having a sharp tip between the double-sided tape and the release liner (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 64-69463 Japanese Patent Laid-Open No. 10-139270 International Publication No. 2011/108332 Pamphlet

  However, the method of inserting a tool having a sharp tip between the double-sided tape and the release liner requires skill in the operation of inserting the tool, and thus there is a possibility that the operation by an automatic machine becomes particularly difficult. Therefore, it is desirable to make the release liner easily peelable from the double-sided tape.

  Then, the technique which this application discloses aims at making it easy to peel a peeling liner from a double-sided tape as one side.

  In order to achieve the above object, according to the technology disclosed in the present application, a robot hand that supplies a double-sided tape with a release liner on one side, a drive unit that rotates and moves the robot hand, and the drive unit A double-sided tape affixing device including a control unit for controlling is provided. A control part performs the following front-end | tip part sticking processes, a liner peeling process, and a rear-end part sticking process.

  That is, in the tip part pasting process, the tip of the double-sided tape with the peeling liner supplied from the robot hand is moved to the target by controlling the drive unit and moving the robot hand in a direction approaching the target. It is pasted. In the liner peeling process, the drive unit is controlled and the robot hand is rotated. When the robot hand rotates, the rear end portion of the double-sided tape with the release liner is folded back with respect to the front end portion, and a curved portion is formed between the front end portion and the rear end portion. It is formed. Further, when the robot hand moves linearly, the rear end portion is pulled, and a portion of the front end portion on the rear end side is peeled off from the object. Then, the peeling liner is peeled from the tip portion and the curved portion by rotating and linearly moving the robot hand in this way. In the rear end portion pasting process, the drive unit is controlled and the robot hand is moved along the target, whereby the rear end is pasted on the target.

  According to the technique disclosed in the present application, the release liner can be easily peeled from the double-sided tape.

It is a figure which shows the sticking apparatus of a double-sided tape. It is 1st explanatory drawing explaining the sticking method of a double-sided tape. It is 2nd explanatory drawing explaining the sticking method of a double-sided tape. It is a 3rd explanatory drawing explaining the sticking method of a double-sided tape. It is the 4th explanatory view explaining the sticking method of a double-sided tape. It is the 5th explanatory view explaining the sticking method of a double-sided tape. It is a 6th explanatory view explaining the sticking method of a double-sided tape. It is the 7th explanatory view explaining the sticking method of a double-sided tape. It is the 8th explanatory view explaining the sticking method of a double-sided tape. It is a figure which shows the movement locus | trajectory of a robot hand. It is a figure explaining the reason a peeling liner peels from the front-end | tip part and curved part of a double-sided tape. It is a graph explaining the change of the adhesive force of a peeling liner, and the peeling force which acts on a peeling liner. It is a flowchart which shows the flow of the process which a control part performs.

  Hereinafter, an embodiment of the technology disclosed in the present application will be described.

  As shown in FIG. 1, the double-sided tape sticking device 10 (hereinafter abbreviated as the sticking device 10) according to this embodiment includes a robot hand 12, a drive unit 14, and a control unit 18.

  The robot hand 12 supplies a long double-sided tape 20, and includes a housing 22, a reel 24, a drawing roller 26, a driven roller 28, a cutter 30, and an urging member 32. The housing 22 accommodates a reel 24, a drawing roller 26, a driven roller 28, and a cutter 30. A double-sided tape 20 is wound around the reel 24, and the double-sided tape 20 drawn out from the reel 24 is guided by a pull-out roller 26 and a driven roller 28, and then is opened from an outlet portion 34 formed in the housing 22. It is sent out of the body 22. The drawing roller 26 has a one-way clutch for pulling out a predetermined amount of the double-sided tape 20. When the one-way clutch is on, the drawing roller 26 is driven to rotate, and the double-sided tape is pulled out from the robot hand 12. Further, when the double-sided tape 20 is pulled out from the robot hand 12 by an external force, the one-way clutch is turned off and the pull-out roller 26 is driven to rotate (twist).

  The reel 24 has a back tension function for applying a back tension to the double-sided tape 20. The back tension function is a function that switches the size of the back tension by, for example, a chuck mechanism so that appropriate control can be performed in each processing (front end sticking, liner peeling, bending, angle return, rear end sticking, which will be described later). It has. A release liner 36 having the same shape and size as the double-sided tape 20 is attached to one side of the double-sided tape 20 (the surface opposite to the surface to be applied to the object 50).

  The cutter 30 is provided near the outlet portion 34. The cutter 30 operates when it detects an operation signal output from the control unit 18 described later, and cuts the double-sided tape 20 delivered from the outlet unit 34. The housing 22 has a pressing portion 38 provided adjacent to the outlet portion 34. The pressing portion 38 is for pressing the double-sided tape 20 fed from the outlet portion 34 against the object 50, and protrudes in the feeding direction of the double-sided tape 20 from the adjacent portion of the outlet portion 34 in the housing 22.

  The urging member 32 is interposed between the robot hand 12 and the arm 40 that supports the robot hand 12, and urges the robot hand 12 against the arm 40. For example, even when the object 50 has a step, the urging force of the urging member 32 urges the robot hand 12 toward the object 50 and moves the robot hand 12 following the step. For this reason, the variation in relative distance due to the accuracy of the trajectory of the arm 40 and the individual difference of the object 50 is absorbed. The robot hand 12 is connected to the drive unit 14 via the arm 40.

  The drive unit 14 includes various actuators and motors. As will be described later, the driving unit 14 linearly moves the robot hand 12 in a direction along the object 50 (X direction) and in a direction in which the robot hand 12 contacts and separates from the object 50 (Y direction). 12 is moved in a circular arc (rotated). The direction of arc movement (R direction) of the robot hand 12 is centered on the X direction that is the direction along the above-described object 50 and the direction that is orthogonal to the Y direction that is in contact with and away from the object 50. This is the direction of the axis.

  The control unit 18 is for controlling the drive unit 14 and is realized by a computer 48 having a detection unit 16, a control element 42, a temporary storage unit 44, a program storage unit 46, and the like. Output signals from various sensors provided in the robot hand 12 and the arm 40 are input to the detection unit 16. The detection unit 16 outputs a detection signal corresponding to the linear movement position and the arc movement position (rotation angle) of the robot hand 12 to the control unit 18. For example, a CPU (Central Processing Unit) is used as the control element 42, and a ROM (Read Only Memory) and a RAM (Random Access Memory) are used as the temporary storage unit 44 and the program storage unit 46, respectively. The temporary storage unit 44 temporarily stores data such as a detection signal from the detection unit 16 and a control signal to the drive unit 14, and the program storage unit 46 performs processing for controlling the drive unit 14 as will be described later. A program to be executed by the computer 48 is stored in advance.

  When the program stored in the program storage unit 46 is executed by the control element 42 provided in the computer 48, each process described below is executed by the control unit 18 (computer 48). The control part 18 (computer 48) outputs a control signal to the drive part 14 based on the detection signal etc. which were output from the detection part 16 in each process. Then, the drive unit 14 drives the arm 40 based on the control signal output from the control unit 18 to move the robot hand 12 linearly and circularly.

  Next, the sticking method of the double-sided tape using the above-mentioned sticking apparatus 10 is demonstrated.

  In the following description, FIG. 13 will be referred to for the step numbers indicating the processes executed by the control unit 18 (computer 48).

  As shown in the left diagram of FIG. 2, the robot hand 12 is positioned at the initial position at the start of the work. At this time, the robot hand 12 is in a state where the leading end 20A of the double-sided tape 20 with the release liner is supplied.

<Tips pasting process>
And when the sticking operation | work of the double-sided tape 20 is started, first, in a front-end | tip part sticking process, the front-end | tip part sticking process is performed in the control part 18 (step S1). That is, as shown in the operation (1) in the right diagram of FIG. 2, the driving unit 14 is controlled by the control unit 18, and the robot hand 12 is linearly moved (lowered) in a direction approaching the object 50 from the initial position. . Then, the tip 20A1 at the tip 20A of the double-sided tape 20 supplied from the robot hand 12 is pressed by the presser 38 and attached to the object 50.

  Subsequently, as shown in the operation (2) in the left diagram of FIG. 3, the driving unit 14 is controlled by the control unit 18, and the robot hand 12 is linearly moved along the object 50 in the pasting direction. As a result, the robot hand 12 moves linearly while pressing the front end 20A of the double-sided tape 20 with the presser 38, and the front end 20A (length d) is attached to the object 50.

  Then, as shown in the operation (3) in the right diagram of FIG. 3, the drive unit 14 is controlled by the control unit 18, and the robot hand 12 is linearly moved (raised) in a direction away from the object 50.

<Liner peeling process>
Subsequently, the process proceeds to a liner peeling process, and a liner peeling process is executed in the control unit 18 (step S2). That is, as indicated by the operation (4) in the left diagram of FIG. 4, the drive unit 14 is controlled by the control unit 18 to move (rotate) the robot hand 12 in an arc. At this time, the robot hand 12 is moved in a circular arc in a direction in which the rear end 20B on the rear side of the front end 20A of the double-sided tape 20 is folded back with respect to the front end 20A. Thus, the rear end portion 20B of the double-sided tape 20 is folded back with respect to the front end portion 20A, and a curved portion 20C is formed between the front end portion 20A and the rear end portion 20B.

  At this time, more preferably, the robot hand 12 is moved in an arc so that the angle α formed by the rear end portion 20B and the object 50 is equal to or greater than a right angle. As a result, the angle β formed by the front end portion 20A and the rear end portion 20B is set to a right angle or less.

  Next, as shown in the operation (5) in the right diagram of FIG. 4, the drive unit 14 is controlled by the control unit 18 and the robot hand 12 is linearly moved. The moving direction of the robot hand 12 at this time is a combined direction of a direction along the object 50 (X direction) and a direction approaching / separating from the object 50 (Y direction), and the moving direction of the rear end 20B The rear end portion 20B is pulled along the length direction. Then, the robot hand 12 is linearly moved in the direction of pulling the rear end portion 20B along the length direction of the rear end portion 20B in this way, so that the rear end portion 20B along the length direction of the rear end portion 20B. Is pulled.

  Further, as shown in the left diagram of FIG. 5, when the robot hand 12 is linearly moved in the direction along the length direction of the rear end portion 20B by the operation (5), the rear end portion 20B is pulled by a predetermined length. A part of the front end portion 20A on the rear end portion 20B side is peeled off from the object 50. Thus, when a part on the rear end portion 20B side of the tip portion 20A is peeled off from the object 50, a curved portion 20C is formed in the portion peeled off from the object 50 (the curved portion 20C is the tip portion). 20A side).

  Then, when a part of the front end portion 20A on the rear end portion 20B side is peeled off from the object 50 in this way and the sticking length of the front end portion 20A is reduced from the length d to the length a, the release liner 36 is removed. It peels from the front-end | tip part 20A and the curved part 20C.

  Thus, in the liner peeling step, the robot hand 12 is moved in an arc in a direction in which the rear end portion 20B is folded back with respect to the front end portion 20A and pulls the rear end portion 20B along the length direction of the rear end portion 20B. It is linearly moved in the direction. Then, when the robot hand 12 is moved in a circular arc and linearly (rotated) in this manner, the peeling liner 36 is peeled off from the tip portion 20A and the curved portion 20C.

  In this liner peeling step, the arc movement of the robot hand 12 in the above-described operation (4) and the linear movement of the robot hand 12 in the operation (5) may be movements obtained by combining both vectors, or the operation (5) The linear movement may be performed first, and the arc movement of the operation (4) may be performed after the linear movement.

  The reason why the peeling liner 36 is peeled from the tip portion 20A and the curved portion 20C by moving the robot hand 12 in an arc and linearly (rotating) will be described in detail later.

  In the liner peeling step, the back tension force acting on the double-sided tape 20 by the back tension function of the reel 24 and the idling torque of the drawing roller 26 is made larger than the adhesive force between the double-sided tape 20 and the object 50. .

<Bending process>
Subsequently, after the liner peeling process described above, the process proceeds to a bending process, and the control unit 18 executes a bending process (step S3). That is, as indicated by the operation (6) in the right diagram of FIG. 5, the control unit 18 controls the drive unit 14 to further move the robot hand 12 in an arc. Thereby, the rear end 20B is further bent in the folding direction with respect to the front end 20A, and the angle formed between the rear end 20B and the object 50 becomes an angle α ′ larger than the angle α described above. When the rear end portion 20B is further bent in the folding direction with respect to the front end portion 20A in this way, the front end portion of the release liner 36 is bent and deformed (plastically deformed), and the end portion 36A ( Bend) is formed.

<Angle return process>
Subsequently, the process proceeds to an angle returning process, and an angle returning process is executed in the control unit 18 (step S4). That is, as indicated by the operation (7) in the left diagram of FIG. 6, the drive unit 14 is controlled by the control unit 18, and the robot hand 12 is moved in an arc in a direction opposite to that in the above-described bending process. As a result, the rear end portion 20B is returned to the direction opposite to the folding direction with respect to the front end portion 20A, and the angle β formed by the front end portion 20A and the rear end portion 20B is set to an angle larger than a right angle.

<Rear edge pasting process>
Then, it transfers to a rear end part sticking process, and a rear end part sticking process is performed in the control part 18 (step S5). That is, as indicated by the operation (8) in the right diagram of FIG. 6, the drive unit 14 is controlled by the control unit 18 and the robot hand 12 is linearly moved along the object 50 in the pasting direction. At this time, the robot hand 12 is moved to a position where the presser portion 38 does not interfere with the bent portion 36A (that is, until the protruding end portion of the presser portion 38 is positioned closer to the rear end portion 20B than above the bent portion 36A).

  Next, as shown by the operation (9) in the left diagram of FIG. 7, the driving unit 14 is controlled by the control unit 18, and the robot hand 12 is linearly moved (lowered) in a direction approaching the object 50. At this time, the robot hand 12 is moved to a position where the presser 38 presses the double-sided tape 20 against the object 50.

  7, the drive unit 14 is controlled by the control unit 18 so that the robot hand 12 is linearly moved along the object 50 in the pasting direction. As a result, the rear end portion 20B on the rear side of the front end portion 20A (the portion pasted first) of the double-sided tape 20 is pressed by the pressing portion 38, and the rear end portion 20B is placed on the rear side of the double-sided tape 20. Attached to the object 50 in order.

  Further, when the robot hand 12 is moved in the sticking direction while pressing the rear end portion 20B of the double-sided tape 20 with the pressing portion 38 in this way, the one-way clutch of the drawing roller 26 is turned off. When the robot hand 12 is moved in the affixing direction while pressing the rear end portion 20B of the double-sided tape 20 with the pressing portion 38, a tensile force acts on the double-sided tape 20, and the double-sided tape 20 is pulled out from the robot hand 12. . When the double-sided tape 20 is pulled out from the robot hand 12, a back tension force acts on the double-sided tape 20 by the back tension function of the reel 24 and the idling torque of the drawing roller 26. The back tension force at this time is set smaller than the pulling force of the double-sided tape 20 drawn from the robot hand 12 by the adhesive force between the double-sided tape 20 and the object 50.

  Then, as shown in the left diagram of FIG. 8, when the pull-out length of the double-sided tape 20 from the robot hand 12 reaches a predetermined length during the operation (10), the cutter 30 is operated by the control unit 18. . When the cutter 30 is actuated, the double-sided tape 20 is cut into a predetermined length by the blade 30A of the cutter 30.

  Then, as shown in the right diagram of FIG. 8, after the double-sided tape 20 is cut to a predetermined length, the operation (10) is continued and the robot hand 12 moves linearly along the object 50 in the sticking direction. Is done. Thereby, the robot hand 12 moves linearly while pressing the rear end portion 20B of the double-sided tape 20 to the rear end thereof with the pressing portion 38, and the rear end portion 20B is attached to the object 50.

  Subsequently, as shown by operation (11) in FIG. 9, the control unit 18 controls the drive unit 14 so that the robot hand 12 is temporarily retracted to a position where it does not interfere with the work so as not to interfere with the object 50. . Thereafter, the robot hand 12 is returned to the initial position shown in the left diagram of FIG. Further, as described above, after the double-sided tape 20 is cut to a predetermined length, the drawing roller 26 is driven to rotate, and the double-sided tape is pulled out from the robot hand 12.

  By the above, the sticking operation of one double-sided tape 20 having a predetermined length is completed. In the state in which the operation of applying the double-sided tape 20 is completed, as shown in FIG. 9, the rear end portion of the release liner 36 is left attached to the double-sided tape 20. The bent portion 36 </ b> A formed in the state is bent from the double-sided tape 20.

  FIG. 10 shows the movement locus of the robot hand 12 by the above-described operations (1) to (11). As described above, the bend portion 36A formed at the distal end portion of the release liner 36 is not formed using a tool or the like, but the operation (4) among the operations (1) to (11) of the robot hand 12. ) And rotational movement by action (5).

  Then, after the operation of applying the double-sided tape 20 is completed as shown in FIG. 9, the release liner 36 is pulled from the double-sided tape 20 by a robot hand different from the robot hand 12 gripping and moving the gripping part 36A. It is peeled off. The release liner 36 peeled off from the double-sided tape 20 is collected in a collection box. Further, another robot hand is transported onto the double-sided tape 20 while holding the counterpart member, and the counterpart member is pressed and adhered to the object 50 via the double-sided tape 20.

  Next, the reason why the peeling liner 36 is peeled from the distal end portion 20A and the curved portion 20C by moving the robot hand 12 in a circular arc and linearly moving (rotating) as in the above-described operations (4) and (5). explain.

  That is, as shown in FIG. 11, when the curved portion 20C is formed between the leading end portion 20A and the trailing end portion 20B by the above-described operation (4), the peeling liner 36 is peeled from the double-sided tape 20 at the leading end. A bending moment M is generated in the direction. This bending moment M is related to the curvature of the bending portion 20 </ b> C and the bending rigidity of the release liner 36. Further, due to the bending moment M, a peeling force P acts on the tip of the peeling liner 36 in the direction of peeling from the double-sided tape 20.

  Further, when the rear end 20B is pulled at the speed V along the length direction by the above-described operation (5) and a part of the front end 20A on the rear end 20B side is peeled off from the object 50, the front end The sticking length of 20A is reduced. When the sticking length of the tip portion 20A is reduced, the peeling force P acting on the tip of the peeling liner 36 is increased, and the adhesive force F2 acting between the peeling liner 36 and the double-sided tape 20 is reduced.

  In FIG. 12, the adhesive force F1 acting between the double-sided tape 20 and the object 50, the adhesive force F2 acting between the release liner 36 and the double-sided tape 20, and the release acting on the tip of the release liner 36 are shown. The change in force P is shown. In FIG. 12, the vertical axis indicates the force, and the horizontal axis indicates the sticking length of the double-sided tape 20 (tip portion 20A). As shown in FIG. 12, the adhesive force F2 acting between the release liner 36 and the double-sided tape 20 decreases as the application length decreases, and the release force P acting on the tip of the release liner 36 is applied. Increases with decreasing length. Then, when the peeling force P becomes a pasting length that is greater than the adhesive force F2 (when it is less than the length a in FIG. 12), the peeling liner 36 is peeled from the tip portion 20A and the curved portion 20C.

  Here, the deformation of the release liner 36 is approximated to the bending of an elastic beam having a rectangular cross section. Then, the peeling force P acting on the tip of the peeling liner 36, the bending moment M acting on the tip of the peeling liner 36, and the adhesive force F2 acting between the peeling liner 36 and the double-sided tape 20 are respectively expressed by the following formula (A). It is shown by (C).

P = M / d (A)
M = EI / ρ (B)
F2 = r × S (C)

  However, d is the pasting length of the front end 20A before a part of the front end 20A on the rear end 20B side is peeled off from the object 50, E is the longitudinal elastic modulus of the release liner 36, and I is the cross section of the release liner 36. The second moment, ρ, is the radius of curvature of the curved portion 20C. Further, r is the peeling resistance between the release liner 36 and the double-sided tape 20, and S is the contact area between the release liner 36 and the double-sided tape 20. The contact area S is obtained by the contact area S = b × d. b is the width of the double-sided tape 20. The peeling resistance r depends on the peeling angle α of the peeling liner 36 (the angle α formed between the rear end 20B and the object 50) and the peeling speed V.

  Note that the angle α is approximately 90 ° to approximately 180 ° (the angle β is approximately 0 ° to approximately 0 °) when the curvature radius of the curved portion 20C is small (the curvature is large) because the peeling force due to the bending rigidity of the release liner 36 is increased. About 90 °) is desirable. Further, the peeling resistance is speed-dependent, and the peeling resistance is large when the double-sided tape 20 is peeled off at a high speed, and the peeling resistance is small when the double-sided tape 20 is peeled off at a low speed. Therefore, it is desirable that the peeling speed V is slow as long as the working time is not significantly affected.

  Next, the operation and effect of this embodiment will be described.

  As described above in detail, in the present embodiment, as shown by the operation (4) in the left diagram of FIG. 4, the robot hand 12 is moved in a circular arc (rotated), whereby the rear end portion 20B is changed to the front end portion 20A. Is bent to form a curved portion 20C between the front end portion 20A and the rear end portion 20B. Further, as shown by the operation (5) in the right diagram of FIG. 4 and the left diagram of FIG. 5, the robot hand 12 is linearly moved in the direction along the length direction of the rear end portion 20B, so that the rear end portion 20B is predetermined. Thus, a part of the front end portion 20A on the rear end portion 20B side is peeled off from the object 50.

  Then, when the robot hand 12 is moved in a circular arc and linearly (rotated) in this manner, the peeling liner 36 is peeled off from the tip portion 20A and the curved portion 20C. Thereby, since the bend part 36A which is a trigger for peeling the peeling liner 36 from the double-sided tape 20 is formed, the peeling liner 36 can be easily peeled from the double-sided tape 20 thereafter.

  Further, as shown in the above-described operations (4) and (5), the bend portion 36A can be formed by controlling the trajectory of the double-sided tape 20, so that the robot hand 12, which is a general-purpose robot, was used. Automation work becomes possible. Thereby, working efficiency can be improved.

  Moreover, in this embodiment, since the peeling liner 36 can be peeled from the double-sided tape 20 by changing the movement locus of the robot hand 12 as described above, the peeling liner 36 is peeled off from the double-sided tape 20. This eliminates the need for special tools. As a result, it is possible to eliminate the need for skilled work for handling tools and to prevent the robot hand 12 from performing this skilled work.

  Further, in the present embodiment, as shown by the operation (4) in the left diagram of FIG. 4, the robot hand 12 is moved in an arc (rotated), whereby the angle β formed between the front end portion 20A and the rear end portion 20B. The rear end portion 20B is folded back with respect to the front end portion 20A so that is less than a right angle. Thereby, since the radius of curvature of the curved portion 20 </ b> C can be reduced (the curvature can be increased), the peeling force due to the bending rigidity of the peeling liner 36 can be increased. As a result, the peeling liner 36 can be peeled off more smoothly from the tip portion 20A and the curved portion 20C.

  Further, in the present embodiment, after the peeling liner 36 is peeled off from the tip portion 20A and the curved portion 20C, the robot hand 12 is further moved in an arc as shown by the operation (6) in the right diagram of FIG. Thus, the rear end portion 20B is further bent with respect to the front end portion 20A. As a result, the distal end portion of the release liner 36 is bent and deformed (plastic deformation), and a bent portion 36A (bending warp) can be formed at the distal end portion of the release liner 36. As a result, the release liner 36 can be peeled from the double-sided tape 20 by using the bent portion 36A as a trigger, so that the peeling operation of the release liner 36 from the double-sided tape 20 can be further facilitated.

  Further, in the present embodiment, as shown by the operation (7) in the left diagram of FIG. 6, the rear end 20B is moved by moving the robot hand 12 in an arc in the opposite direction to the case of the bending process described above. The tip part 20A is returned to the direction opposite to the folding direction. Further, when the rear end portion 20B is returned in the direction opposite to the folding direction with respect to the front end portion 20A, the angle formed by the front end portion 20A and the rear end portion 20B is set to an angle larger than a right angle. Therefore, in the rear end portion pasting step of the operation (8) executed after the angle returning step of the operation (7), the robot hand 12 can be in a normal posture. Thereby, in the back end part sticking process of operation (8), it is possible to prevent the double-sided tape 20 pulled out from the outlet part 34 and the outlet part 34 from being curled, and to make the double-sided tape 20 more suitable by the pressing part 38. Pressure can be applied at an angle. As a result, the double-sided tape 20 can be neatly attached to the target part.

  Next, a modification of this embodiment will be described.

  In the said embodiment, although the double-sided tape 20 is made into elongate shape, shapes other than elongate shape may be sufficient.

  Further, in the above embodiment, the robot hand 12 is linearly moved in the sticking direction along the object 50 as shown by the operation (10) in the left diagram of FIG. When the length reaches a predetermined length, the cutter 30 is activated. When the cutter 30 is operated, the double-sided tape 20 is cut into a predetermined length. However, the double-sided tape 20 may be supplied from the robot hand 12 in a state where the double-sided tape 20 is cut into a predetermined length in advance.

  In the above embodiment, the bending step is performed after the liner peeling step. If the bending portion 36A (bending bend) sufficient to hold the peeling liner is attached in the liner peeling step, the bending step is performed. The process may be omitted.

  As mentioned above, although one embodiment of the technique disclosed in the present application has been described, the technique disclosed in the present application is not limited to the above, and various modifications may be made without departing from the spirit of the present invention. Of course, it is possible.

  In addition, the following additional remark is disclosed regarding one Embodiment of the technique which the above-mentioned this application discloses.

(Appendix 1)
A robot hand for supplying double-sided tape with a release liner on one side;
A drive unit for rotating and moving the robot hand;
A control unit for controlling the driving unit;
With
The controller is
A tip part pasting process for controlling the drive unit to move the robot hand in a direction approaching the object so that the tip part of the double-sided tape supplied from the robot hand is attached to the object;
The rear end portion of the double-sided tape with respect to the rear side of the front end portion is folded back with respect to the front end portion to form a curved portion between the front end portion and the rear end portion, and the rear end portion is The drive unit is controlled so that the peeling liner is peeled off from the tip part and the curved part by pulling and peeling off a part of the tip part on the rear end part side from the object. Liner peeling treatment for rotating the robot hand;
Performing a rear end portion pasting process of controlling the drive unit to move the robot hand along the target so that the rear end is pasted on the target;
Double-sided tape application device.
(Appendix 2)
The control unit controls the driving unit to rotate the robot hand so that an angle formed between the front end and the rear end is equal to or less than a right angle in the liner peeling process.
The double-sided tape affixing device according to attachment 1.
(Appendix 3)
The control unit performs a bending process of controlling the driving unit to rotate the robot hand so that the rear end part is further bent in a folding direction with respect to the tip part after the liner peeling process. To
The double-sided tape sticking device according to Supplementary Note 1 or Supplementary Note 2.
(Appendix 4)
The control unit is configured so that the rear end portion is returned to the direction opposite to the folding direction with respect to the front end portion after the liner peeling processing and before the rear end portion pasting processing. Performing an angle return process for controlling the drive unit to rotate the robot hand so that an angle formed with the end portion is greater than a right angle;
The double-sided tape sticking device according to any one of Supplementary Notes 1 to 3.
(Appendix 5)
On the computer,
When the robot hand is moved in a direction approaching the object, the robot hand is rotated so that a peeling liner is attached to one side and the tip of the double-sided tape supplied from the robot hand is attached to the object. And controlling the moving drive unit,
When the robot hand is rotated, the rear end portion of the double-sided tape with respect to the rear side of the front end portion is folded back with respect to the front end portion, and a bent portion is formed between the front end portion and the rear end portion. And the rear end portion is pulled and a part of the front end portion on the rear end side is peeled off from the object, so that the release liner is peeled off from the front end portion and the curved portion. Controlling the drive so that
Controlling the drive unit so that the rear end is attached to the object by moving the robot hand along the object;
A program for executing processing including the above.
(Appendix 6)
When the peeling liner is peeled off from the leading end and the curved portion, the driving part is configured so that an angle formed by the leading end and the trailing end is not more than a right angle by rotating the robot hand. To control the
The program according to appendix 5.
(Appendix 7)
In the computer,
After the peeling liner is peeled off from the tip portion and the curved portion, the driving part is further bent in the folding direction with respect to the tip portion by rotating the robot hand. To execute processing including controlling
The program according to appendix 5 or appendix 6.
(Appendix 8)
In the computer,
The robot hand is rotated after the peeling liner is peeled from the tip and the curved portion and before the rear end is attached to the object, so that the rear end becomes the tip. To the direction opposite to the folding direction, and to execute a process including controlling the drive unit such that an angle formed by the front end portion and the rear end portion is larger than a right angle.
The program according to any one of appendix 5 to appendix 7.
(Appendix 9)
Affix the tip of a double-sided tape with a release liner on one side to the object,
The back end portion of the double-sided tape is folded back with respect to the front end portion to form a curved portion between the front end portion and the rear end portion, and the rear end portion is pulled. The peeling liner is peeled off from the tip portion and the curved portion by peeling a part of the tip end portion on the rear end side from the object.
Affixing the rear end to the object;
How to apply double-sided tape.
(Appendix 10)
The rear end portion is folded back with respect to the front end portion so that an angle formed by the front end portion and the rear end portion is a right angle or less;
The method for applying a double-sided tape according to appendix 9.
(Appendix 11)
After the release liner is peeled from the tip and the curved portion, the rear end is further bent with respect to the tip.
A method for applying a double-sided tape according to Supplementary Note 9 or Supplementary Note 10.
(Appendix 12)
By returning the rear end to the direction opposite to the folding direction with respect to the front end, the angle formed by the front end and the rear end is set to an angle larger than a right angle, and the rear end is set to the object. paste,
The method for applying a double-sided tape according to any one of appendix 9 to appendix 11.

DESCRIPTION OF SYMBOLS 10 Double-sided tape sticking apparatus 12 Robot hand 14 Drive part 16 Detection part 18 Control part 20 Double-sided tape 20A Front-end | tip part 20B Rear-end part 20C Bending part 36 Separation liner 36A Bending part 38 Holding part 48 Computer 50 Target object

Claims (6)

A robot hand for supplying double-sided tape with a release liner on one side;
A drive unit for rotating and moving the robot hand;
A control unit for controlling the driving unit;
With
The controller is
A tip part pasting process for controlling the drive unit to move the robot hand in a direction approaching the object so that the tip part of the double-sided tape supplied from the robot hand is attached to the object;
The rear end portion of the double-sided tape with respect to the rear side of the front end portion is folded back with respect to the front end portion to form a curved portion between the front end portion and the rear end portion, and the rear end portion is The drive unit is controlled so that the peeling liner is peeled off from the tip part and the curved part by pulling and peeling off a part of the tip part on the rear end part side from the object. Liner peeling treatment for rotating the robot hand;
Performing a rear end portion pasting process of controlling the drive unit to move the robot hand along the target so that the rear end is pasted on the target;
Double-sided tape application device. The control unit controls the driving unit to rotate the robot hand so that an angle formed between the front end and the rear end is equal to or less than a right angle in the liner peeling process.
The sticking device of the double-sided tape according to claim 1 . The control unit performs a bending process of controlling the driving unit to rotate the robot hand so that the rear end part is further bent in a folding direction with respect to the tip part after the liner peeling process. To
The double-sided tape sticking device according to claim 1 or 2 . The control unit is configured so that the rear end portion is returned to the direction opposite to the folding direction with respect to the front end portion after the liner peeling processing and before the rear end portion pasting processing. Performing an angle return process for controlling the drive unit to rotate the robot hand so that an angle formed with the end portion is greater than a right angle;
The sticking device of the double-sided tape as described in any one of Claims 1-3 . On the computer,
When the robot hand is moved in a direction approaching the object, the robot hand is rotated so that a peeling liner is attached to one side and the tip of the double-sided tape supplied from the robot hand is attached to the object. And controlling the moving drive unit,
When the robot hand is rotated, the rear end portion of the double-sided tape with respect to the rear side of the front end portion is folded back with respect to the front end portion, and a bent portion is formed between the front end portion and the rear end portion. And the rear end portion is pulled and a part of the front end portion on the rear end side is peeled off from the object, so that the release liner is peeled off from the front end portion and the curved portion. Controlling the drive so that
Controlling the drive unit so that the rear end is attached to the object by moving the robot hand along the object;
A program for executing processing including the above. Affix the tip of a double-sided tape with a release liner on one side to the object,
The back end portion of the double-sided tape is folded back with respect to the front end portion to form a curved portion between the front end portion and the rear end portion, and the rear end portion is pulled. The peeling liner is peeled off from the tip portion and the curved portion by peeling a part of the tip end portion on the rear end side from the object.
Affixing the rear end to the object;
How to apply double-sided tape.