JP6827235B2 - Sticker sticking device - Google Patents

Description

The technique disclosed herein relates to a sticker sticking device that sticks a long sticker to a workpiece.

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

The sticker sticking device disclosed in Patent Document 1 includes a sticker delivery device and an articulated robot arm. The seal delivery device is configured to deliver the seal to a fixed sticking position in the work space. The robot arm is configured to hold the work and move the work relative to the attachment position. The robot arm moves the work relative to the sticking position so that the sticker sticking area on the work to which the sticker is to be stuck appears sequentially at the sticking position. As a result, the sticker is continuously stuck on the sticker sticking area on the work.

Japanese Unexamined Patent Publication No. 6-210741

In order to properly attach the sticker to the sticker sticking area on the work, the angle formed by the sending direction of the sticker sent from the sticker sending device and the surface of the sticker sticking area on the work is adjusted to an appropriate range, and the work Must be moved relative to the sticking position. In the sticker sticking device of Patent Document 1, the sticker feeding direction of the sticker sent from the sticker sending device is fixed. Therefore, in the sticker sticking device of Patent Document 1, in order to adjust the angle formed by the sticker delivery direction and the surface of the sticker sticking area within an appropriate range, the robot arm of the work is adjusted to the surface shape of the sticker sticking area. Control the posture. However, when the surface shape of the seal sticking area is complicated, if the posture of the work is controlled only by the robot arm, the amount of movement of the robot arm increases and the work efficiency deteriorates.

An object of the present specification is to provide a sticker sticking device capable of reducing the amount of movement of a robot arm.

The sticker sticking device disclosed in the present specification is used for sticking a long sticker to a work. One embodiment of the sticker sticking device includes a sticker delivery device and an articulated robot arm. The seal delivery device is configured to deliver the seal to a fixed sticking position in the work space. The robot arm is configured to hold the work and move the work relative to the attachment position. The seal delivery device has a main body portion, a seal sticking portion, and a pendulum drive portion. The sticker sticking portion is pendulum swingably engaged with a part of the main body portion on the sticking position side, and guides the sticker to the sticking position. The pendulum drive unit controls the pendulum swing of the seal sticking portion. The sticker sticking portion is configured so that the pendulum can swing in a single plane with the sticking position as the pendulum fulcrum.

In the sticker sticking device of the above embodiment, the sticker sticking portion is configured so that the pendulum can swing, and the pendulum swing of the sticker sticking portion is controlled by the pendulum drive unit. Therefore, the sending direction of the sticker with respect to the sticking position is adjusted within the angle range of the pendulum swing of the sticker sticking portion. As a result, even when the surface shape of the sticker sticking area on the work is complicated, the angle formed by the sending direction of the sticker and the surface of the sticker sticking area on the work is appropriate while reducing the amount of movement of the robot arm. It can be adjusted to a wide range.

The outline of the configuration of the sticker sticking device is shown. The outline of the configuration of the seal delivery device is shown. The perspective view of the main part of the swivel device is shown. It is an exploded perspective view of a main body plate, a sticker sticking part and a drive part, and shows the disassembled perspective view seen from the seal sticking part side. It is an exploded perspective view of a main body plate, a seal sticking part and a drive part, and shows the exploded perspective view seen from the main body plate side. It is the front view of the main part of the seal sticking part, and shows the front view of the main part which showed the seal, the delivery roller and the guide roller through a part of a covering plate. The figure explaining the outline of the state which the sticker sticking part is in an initial position is shown. The figure explaining the outline of the state in which the seal sticking part pendulum swings is shown. The figure explaining the outline of the state in which the seal sticking part pendulum swings is shown. The block diagram which shows the system of the sticker sticking apparatus is shown. The figure explaining the outline of the pendulum swing of the seal sticking part with respect to the surface shape of a work is shown.

The features of the techniques disclosed in this specification are summarized below. It should be noted that the technical elements described below are independent technical elements and exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Absent.

The sticker sticking device disclosed in the present specification is used for sticking a long sticker to a work. Here, the type of seal is not particularly limited. In one example, the seal is formed using a foamable resin, and is a type in which a peelable release paper is attached to one surface to which an adhesive is applied. Further, the type of work is not particularly limited. One embodiment of the seal sticking device may include a seal delivery device and an articulated robot arm. The seal delivery device is configured to deliver the seal to a fixed sticking position in the work space. The work space referred to here is a space in which the sticker sticking device performs the sticker sticking work. Therefore, the sticking position is a position where the relative positional relationship with the sticker sticking device is fixed. The robot arm is configured to hold the work and move the work relative to the attachment position. The number of joints of the robot arm is not particularly limited. In one example, the number of joints of the robot arm is a plurality, and may be six. The seal delivery device may have a main body portion, a seal sticking portion, and a pendulum drive portion. The sticker sticking portion is pendulum swingably engaged with a part of the main body portion on the sticking position side, and guides the sticker to the sticking position. The pendulum drive unit controls the pendulum swing of the seal sticking portion. The sticker sticking portion is configured so that the pendulum can swing in a single plane with the sticking position as the pendulum fulcrum.

The pendulum drive unit may include an arc-shaped guide rail, a linear rail, a sliding member, a servomotor, and a pair of guide walls. The arc-shaped guide rail is fixed to the main body and extends in an arc shape in a plane parallel to the plane including the pendulum trajectory to guide the pendulum swing of the seal sticking portion. The linear rail is fixed to the main body and extends linearly between one end side and the other end side of the arcuate guide rail in a plane parallel to the surface including the pendulum track. The sliding member is configured to be slidable along a linear rail, and has a protruding portion that protrudes toward the seal sticking portion. The servo motor drives the linear movement of the sliding member. The pair of guide walls are fixed to the seal sticking portion, and the protruding portion of the sliding member is located between them. The pair of guide walls are configured to allow the protruding portion of the sliding member to slide and to be pushed in the direction of the linear movement when the sliding member linearly moves along the linear rail. There is. In the seal sticking device of this embodiment, when the sliding member linearly moves along the linear rail, the protruding portion of the sliding member slides on one side surface of the pair of guide walls while sliding on one side surface. By pushing in the direction of linear movement, the seal sticking portion is guided by the arc-shaped guide rail and the pendulum swings. Although the sticker sticking device of this embodiment has a simple structure, the sticker sticking portion can swing the pendulum with the sticker sticking position as a pendulum fulcrum.

A part of the main body with which the seal sticking portion engages may be configured to be swivel around a swivel axis passing through the sticking position. In the sticker sticking device of this embodiment, when the sticker is stuck on the portion of the work where the longitudinal direction of the sticker sticking area changes, the sticker sticking portion is swiveled to change the traveling direction of the sticker sticking area. It is possible to cope with such a change in the longitudinal direction of the seal sticking area. As a result, the amount of movement of the robot arm can be further reduced.

The main body may have a swivel device including a hollow shaft having gears formed on the outer peripheral surface and a pinion that meshes with the gears. In this case, the swivel device controls the swivel of a part of the main body. Further, the sticker sticking device of this embodiment may include a release paper collecting pipe that sucks and collects the release paper covering one surface of the seal. The release paper recovery pipe passes through the hollow of the hollow shaft portion of the swivel device. In the sticker sticking device of this embodiment, the position of the release paper recovery pipe on the downstream side of the hollow shaft portion can be stabilized even when a part of the main body portion is swiveled.

The sticker sticking device may further include a control device that controls the swing of the pendulum of the sticker sticking portion and the rotation of a part of the main body portion. The control device reciprocates the pendulum swing of the sticker sticking portion in the direction in which the sticker sticking progresses immediately before turning a part of the main body part according to the portion where the longitudinal direction of the sticker sticking area changes on the work. To control. The sticker sticking device of this embodiment can loosen the sticker when sticking the sticker to the portion of the work where the longitudinal direction of the sticker sticking area changes. As a result, the sticker can be satisfactorily stuck even on the portion where the longitudinal direction of the sticker sticking region changes.

The main body may further have a sticker holding tray for holding the sticker to be supplied to the sticker sticking part. The seal holding tray is configured to rotate following the rotation of the main body. In the sticker sticking device of this embodiment, even when a part of the main body is turned, it is possible to suppress the occurrence of problems such as entanglement of unused stickers.

As shown in FIG. 1, the sticker sticking device 10 is a device for sticking a long sticker S to the work W, and includes a sticker sending device 20 and a robot arm 30. The seal S is formed of a foamable resin to improve the airtightness between the work W and other parts when the work W is attached to the final product, and to prevent heat, water, sound, etc. from entering. belongs to.

The sticker sending device 20 is configured to send the sticker S to a fixed sticking position P in the work space. The robot arm 30 is an articulated type having six joint axes, and has a robot hand 32 for holding a work W. The robot arm 30 is configured to hold the work W and move the work W relative to the sticking position P. The robot arm 30 moves the work W relative to the sticking position P so that the sticker sticking area on the work W to which the sticker S is to be stuck appears sequentially at the sticking position P. As a result, the sticker S is continuously stuck to the sticker sticking area on the work W.

As shown in FIG. 2, the sticker delivery device 20 includes a main body 40, a sticker sticker 50, a pendulum drive 60, a release paper recovery pipe 70, a suction blower 80, and a release paper recovery tank 90. The main body 40 is configured to support the seal sticking portion 50 in the vicinity of the sticking position P, and has a swivel device 42, a support portion 44, a main body plate 46, and a seal holding tray 48. The sticker sticking portion 50 is pendulum swingably engaged with the main body plate 46 of the main body 40, and is configured to guide the sticker S and send it to the sticking position P. The pendulum drive unit 60 is configured to drive the pendulum swing of the seal sticking portion 50 with respect to the main body plate 46 of the main body unit 40. The release paper recovery pipe 70 extends so that the seal suction port opens in the vicinity of the sticking position P and the seal discharge port opens in the release paper recovery tank 90. The suction blower 80 is configured to blow air from the seal suction port of the release paper recovery pipe 70 to the seal discharge port, and seal-sucks the release paper covering one surface of the seal S sent out from the sticker sticking portion 50. It is sucked from the mouth and discharged from the sticker discharge port to the release paper collection tank 90. The release paper recovery tank 90 is configured to collect the release paper of the seal S.

The swivel device 42 of the main body 40 is configured to swivel the support 44 of the main body 40 around a swivel axis passing through the sticking position P. In this example, the swivel shaft of the swivel device 42 extends in the vertical direction. FIG. 3 shows a perspective view of a main part of the swivel device 42. The swivel device 42 includes a hollow shaft portion 142, a pinion 144, and a swivel servomotor 146. A gear 142a is formed on the outer peripheral surface of the hollow shaft portion 142. One end of a support portion 44 (not shown) is fixed to the upper surface of the hollow shaft portion 142. The pinion 144 is configured to mesh with the gear of the hollow shaft portion 142, and is driven by the turning servomotor 146. In this way, the support portion 44 of the main body portion 40 can be swiveled around the swivel shaft by driving the swivel servomotor 146. A part of the release paper recovery pipe 70 extends along the swivel shaft so as to pass through the hollow of the hollow shaft portion 142. With such a configuration, even when the support portion 44 is swiveled by the swivel device 42, the position of the release paper recovery pipe 70 on the downstream side (release paper recovery tank 90 side) of the hollow shaft portion 142 can be stabilized.

As shown in FIG. 2, the support portion 44 of the main body portion 40 has a support column 45 extending along the direction of the turning axis. The main body plate 46 is fixed to the end of the support column 45 on the P side of the attachment position. The main body plate 46 has a substantially flat plate shape, and a part of the components of the pendulum drive unit 60, which will be described later, is fixed and the seal sticking portion 50 is engaged so as to be able to swing the pendulum. ing.

The seal holding tray 48 has a substantially box-like shape with an open upper surface, and is configured to hold an unused seal S supplied to the seal sticking portion 50. The seal holding tray 48 is fixed to the support portion 44 and rotates following the rotation of the support portion 44. Therefore, even when the support portion 44 is swiveled by the swivel device 42, the occurrence of problems such as entanglement of the unused seal S can be suppressed.

As shown in FIGS. 4 and 5, the sticker sticking portion 50 swings the pendulum trajectory in a single plane with the sticking position P as the pendulum fulcrum so that the delivery direction of the sticker S with respect to the sticking position P is adjusted. It is movably configured and has a pendulum plate 51, a seal pressing cylinder 52, and a roller drive servomotor 53. Further, as shown in FIG. 6, the seal sticking portion 50 has a delivery roller 54 and a guide roller 55.

As shown in FIGS. 4 and 5, the pendulum plate 51 has a substantially flat plate shape, is arranged at a predetermined distance from the main body plate 46, and extends parallel to the main body plate 46. ing. The surface parallel to both the pendulum plate 51 and the main body plate 46 is also parallel to the surface of the seal sticking portion 50 including the pendulum trajectory, and is also referred to as a pendulum track surface.

The seal pressing cylinder 52 is provided adjacent to the outlet at which the seal S is sent out from the seal sticking portion 50 toward the sticking position P. The seal pressing cylinder 52 is configured to be able to expand and contract, and is configured so that the seal S at the attachment position P is urged toward the work W and the seal S is satisfactorily attached to the work W.

The roller drive servomotor 53 is fixed to the pendulum plate 51 and drives the delivery roller 54. As shown in FIG. 6, the delivery roller 54 faces the guide roller 55 and is adjacent to the guide path to which the seal S is guided. The seal S passing through the guide path between the delivery roller 54 and the guide roller 55 is compressed by the delivery roller 54 and the guide roller 55. The roller drive servomotor 53 is configured to rotate the delivery roller 54 to adjust the tension in the longitudinal direction of the seal S passing through the guide path.

As shown in FIGS. 4 and 5, the pendulum drive unit 60 includes an arc-shaped guide rail 62, an arc-shaped guide block 64, a linear drive mechanism 66, and a pair of guide walls 68.

The arc-shaped guide rail 62 is fixed to the surface of the main body plate 46 on the side facing the pendulum plate 51 and extends in the pendulum track plane. The arc-shaped guide rail 62 extends on a concentric circle with respect to the attachment position P, which is the pendulum fulcrum, when observed from a direction perpendicular to the pendulum track surface, and is line-symmetric with respect to the vertical line passing through the attachment position P. Has a unique shape. The arc-shaped guide block 64 is fixed to the surface of the pendulum plate 51 on the side facing the main body plate 46, engages with the arc-shaped guide rail 62, and is configured to be slidable along the arc-shaped guide rail 62. As a result, the seal sticking portion 50 can swing the pendulum track in the pendulum track plane by being guided by the arc-shaped guide rail 62.

It has a linear drive mechanism 66, a ball screw drive servomotor 102, a ball screw 104, a linear guide rail 106, and a sliding member 108. Here, the ball screw 104 and the linear guide rail 106 are examples of the linear rail.

The ball screw driving servomotor 102 is fixed to the main body plate 46 and rotationally drives the screw shaft 104a of the ball screw 104. The screw shaft 104a of the ball screw 104 is fixed to the surface of the main body plate 46 on the side facing the pendulum plate 51, and extends horizontally in the pendulum track plane. The nut 104b of the ball screw 104 moves linearly along the screw shaft 104a in accordance with the rotation of the screw shaft 104a.

The linear guide rail 106 is fixed to the surface of the main body plate 46 on the side facing the pendulum plate 51, and extends horizontally in the pendulum track plane. The screw shaft 104a of the series guide rail 106 and the ball screw 104 extends in parallel, and extends between one end side and the other end side of the arc-shaped guide rail 62. Each of the linear guide rail 106 and the screw shaft 104a of the ball screw 104 is arranged between the attachment position P, which is the pendulum fulcrum, and the arc-shaped guide rail 62 when observed from the direction perpendicular to the pendulum raceway surface. The rail has a shape that is line-symmetric with respect to the vertical line passing through the sticking position P.

The sliding member 108 is connected to the nut 104b of the ball screw 104 and is configured to be slidable along the linear guide rail 106. The sliding member 108 has a protruding portion 108a that projects toward the pendulum plate 51. The protrusion 108a has a cylindrical shape.

The pair of guide walls 68 are fixed to the pendulum plate 51 and are composed of a pair of walls extending in parallel. The protrusion 108a of the sliding member 108 is located between the pair of guide walls 68. The cylindrical protrusion 108a makes line contact with both side surfaces of the pair of guide walls 68.

7A to 7C schematically show how the seal sticking portion 50 swings the pendulum. FIG. 7A shows a state in which the sticker sticking portion 50 is in the initial position. At this time, the sliding member 108 is positioned vertically below the sticking position P. When the seal sticking portion 50 is in the initial position, the pair of guide walls 68 extend in the vertical direction, and the protruding portion 108a of the sliding member 108 is located substantially in the upper and lower centers between them. 7B and 7C show a state in which the seal sticking portion 50 swings in the pendulum track plane from the initial position. When the sliding member 108 linearly moves along the linear guide rail 106, the protruding portion 108a of the sliding member 108 moves linearly while sliding on the side surfaces of one of the guide walls 68 of the pair of guide walls 68. Push the side surface of one of the guide walls 68. The seal sticking portion 50 can swing the pendulum by being guided by the arc-shaped guide rail 62 by utilizing the force acting on one of the guide walls 68.

FIG. 8 schematically shows how the seal sticking portion 50 swings with respect to the surface shape of the work W. As described above, the sticking position where the sticker is sent out is a fixed position in the work space. Therefore, it should be noted that the work W actually moves relative to the pasting position.

In this example, the work W has a convex portion Wa. The seal sticking area on the work W extends continuously in the direction of arrow A1 and also extends to the surface of the convex portion Wa. The sticker is continuously stuck to the sticker sticking area on the work W along the direction of the arrow A1. Therefore, the robot arm (not shown) moves the work W relative to the sticking position in the direction opposite to the direction of the arrow A1. Here, the arrows A2 attached to each of the sticker sticking portions 50 indicate the sending direction of the sticker sent from the sticker sticking portion 50. In this way, since the sticker sticking portion 50 is configured so that the pendulum can swing, the angle formed by the sticker delivery direction and the surface of the sticker sticking area on the work W is adjusted to an appropriate range. As a result, the seal is satisfactorily attached to the seal attachment area on the work W. At this time, the robot arm (not shown) moves the work W in the direction opposite to the arrow A1 and moves the work upward on the paper surface according to the height of the convex portion Wa. For example, when the sticker sticking portion 50 does not swing the pendulum, the robot arm is adjusted to the surface shape of the convex portion Wa in order to adjust the angle formed by the sticker delivery direction and the surface of the sticker sticking area within an appropriate range. The work must be controlled to tilt. In this way, the seal sticking portion 50 is configured so that the pendulum can swing, so that even when the surface shape of the sticker sticking area on the work W is complicated, the sticker can be sealed while reducing the amount of movement of the robot arm. The angle formed by the delivery direction of the pendulum and the surface of the seal application area on the work can be adjusted within an appropriate range.

Further, as described above, in the sticker sticking device 10, the support portion 44 of the main body portion 40 is configured to be rotatable around a swivel axis passing through the sticking position. Therefore, the seal sticking portion 50 that is engaged with the support portion 44 of the main body portion 40 is also configured to be able to swivel around a swivel shaft that passes through the sticking position. When sticking a sticker on a portion of the work W where the longitudinal direction of the sticker sticking area changes (in the example of FIG. 8, for example, when the traveling direction of the sticker sticking area changes to the depth direction of the paper surface), the sticker sticking portion 50 By changing the traveling direction of the sticker sticking area, it is possible to respond to such a change in the longitudinal direction of the sticker sticking area. As a result, the amount of movement of the robot arm can be further reduced.

As shown in FIG. 9, the sticker sticking device 10 further includes a control device 202 and a storage device 204. The control device 202 includes a robot arm 30, a turning servomotor 146 that drives the turning of the support portion 44 of the main body 40, a ball screw driving servomotor 102 that drives the pendulum swing of the seal sticking portion 50, and the length of the seal S. It controls the operation of the roller drive servomotor 53 that adjusts the tension in the direction. The storage device 204 stores a program that describes the work to be executed by the robot arm 30 and the servomotors 146, 102, and 53 according to the type of the work W. The control device 202 controls the operations of the robot arm 30 and the servomotors 146, 102, and 53 based on the program stored in the storage device 204.

The control device 202 controls the roller drive servomotor 53 so as to rotationally drive the delivery roller 54 to loosen the seal when the seal is attached to the portion of the work W where the longitudinal direction of the seal attachment region changes. .. Alternatively, when the control device 202 attaches the sticker to the portion of the work W where the longitudinal direction of the seal sticking area changes, immediately before driving the turning servomotor 146 in response to the change in the longitudinal direction of the seal sticking area. The ball screw drive servomotor 102 is controlled so that the pendulum swing of the seal sticking portion 50 is reciprocated to loosen the sticker in the direction in which the sticker is stuck. Alternatively, the control device 202 may perform both of these controls simultaneously or selectively. The seal attached to the portion where the longitudinal direction of the seal affixing region changes tends to be peeled off due to the pulling force applied to the outer peripheral side. The control device 202 relaxes the seal when the seal is attached to the portion where the longitudinal direction of the seal is attached, thereby relaxing the pulling force applied to the outer peripheral side of the seal and suppressing such peeling of the seal. Can be done.

Although specific examples of the present invention have been described in detail above, these are merely examples and do not limit the scope of claims. The techniques described in the claims include various modifications and modifications of the specific examples illustrated above. In addition, the technical elements described in the present specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the techniques illustrated in the present specification or drawings can achieve a plurality of purposes at the same time, and achieving one of the purposes itself has technical usefulness.

10: Sticker sticking device 20: Sticker sending device 30: Robot arm 40: Main body 50: Sticker sticking part 60: Pendant drive part 70: Release paper collection pipe 80: Suction blower 90: Release paper collection tank

Claims (7)

It is a sticker sticking device that sticks a long sticker to the work.
A seal delivery device configured to deliver the seal to a fixed sticking position in the work space,
It is provided with an articulated robot arm that is configured to hold the work and move the work relative to the attachment position.
The seal delivery device is
With the main body
A sticker sticking portion that is pendulum swingably engaged with a part of the main body portion on the sticking position side and guides the seal and sends it to the sticking position.
It has a pendulum drive unit that controls the pendulum swing of the seal sticking portion.
The sticker sticking portion is a sticker sticking device configured so that the pendulum trajectory in a single surface with the sticking position as a pendulum fulcrum can be swung. The pendulum drive unit
An arc-shaped guide rail that is fixed to the main body and extends in an arc shape in a plane parallel to the single surface to guide the pendulum swing of the seal sticking portion.
A linear rail that is fixed to the main body and extends linearly between one end side and the other end side of the arc-shaped guide rail in a plane parallel to the single surface.
A sliding member that is slidable along the linear rail and has a protruding portion that protrudes toward the seal sticking portion.
A servo motor that drives the linear movement of the sliding member,
Wherein a pair of guide walls which are fixed to the seal pasting unit, the said projecting portion of the sliding member between the pair of guide walls are located, it has a pair of guide walls, and
The pair of guide walls allow the protruding portion of the sliding member to slide and is pushed in the direction of the linear movement when the sliding member linearly moves along the linear rail. The sticker sticking device according to claim 1, which is configured as described above. The sticker sticking device according to claim 1 or 2, wherein a part of the main body with which the sticker sticking portion engages is configured to be swivel around a swivel axis passing through the sticking position. The main body has a hollow shaft having gears formed on its outer peripheral surface and a swivel device including a pinion that meshes with the gears.
The sticker sticking device according to claim 3, wherein the swivel device controls the swivel of a part of the main body. A release paper recovery pipe for sucking and collecting the release paper covering one surface of the seal is further provided.
The sticker sticking device according to claim 4, wherein the release paper collecting pipe passes through the hollow of the hollow shaft portion of the swivel device. It is further equipped with a control device that controls the swing of the pendulum of the seal sticking portion and the rotation of a part of the main body portion.
The control device has a pendulum of the sticker sticking portion in the direction in which the sticker sticking progresses immediately before turning a part of the main body portion according to a portion where the longitudinal direction of the sticker sticking region on the work changes. The sticker sticking device according to any one of claims 3 to 5, which controls the swing to reciprocate. The main body further has a seal holding tray on which the seal to be supplied to the seal sticking portion is placed.
The seal sticking device according to any one of claims 3 to 6, wherein the seal holding tray is configured to rotate following the rotation of the main body.

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