JP6848468B2 - Adhesive application method and adhesive application device - Google Patents

Description

The techniques disclosed in the present application relate to an adhesive coating method and an adhesive coating device for applying an adhesive to a part.

There are the following techniques as an adhesive application method for applying an adhesive to a part. That is, for example, in the technique of Patent Document 1, the part is gripped by the hand portion, the hand portion is moved to separate the bottom surface of the part and the upper surface of the adhesive coating table by a predetermined distance, and in this state, the adhesive coating table is used. The adhesive is discharged from the discharge port on the upper surface, and the adhesive is filled between the component and the adhesive application table. Then, the hand portion is moved to separate the part from the adhesive application table, and a part of the adhesive is transferred to the bottom surface of the part and applied. In this technique, by adjusting the distance between the upper surface of the adhesive coating table and the bottom surface of the component, the filling amount of the adhesive and, by extension, the transfer amount of the adhesive to the bottom surface of the component are adjusted.

By the way, in the adhesive coating method as described above, the gripping position of the component in the hand portion, the size of the component, and the like may vary. Therefore, in the technique of Patent Document 1, the bottom surface of the component is once brought into contact with the upper surface of the adhesive coating table, and the component is separated from the adhesive coating table by a predetermined distance based on this contact position, and the adhesive coating table is separated. Adjust the distance between the top surface of the adhesive and the bottom surface of the component to a specified distance according to the transfer amount of the adhesive. According to this technology, even if there are variations in the gripping position of the parts in the hand part, the dimensions of the parts, etc., the distance between the upper surface of the adhesive coating table and the bottom surface of the parts is specified according to the transfer amount of the adhesive. Since the distance can be adjusted accurately, the amount of adhesive transferred to the bottom surface of the part can be adjusted appropriately.

Japanese Unexamined Patent Publication No. 2016-107186 Japanese Unexamined Patent Publication No. 2000-15161 Japanese Unexamined Patent Publication No. 8-299879

However, the adhesive used for adhering the previous parts (hereinafter referred to as residual adhesive) may remain on the upper surface of the adhesive coating table. Therefore, when the bottom surface of the next component is brought into contact with the upper surface of the adhesive coating table while the residual adhesive remains on the upper surface of the adhesive coating table, the residual adhesive is applied to the gripping portion of the component in the hand portion. Crawl up and there is a risk that the parts will be glued to the hand part. Therefore, it is desired that the amount of adhesive transferred to the bottom surface of the part can be made appropriate while suppressing the residual adhesive from creeping up to the gripped portion of the part in the hand part.

Therefore, one aspect of the technique disclosed in the present application is to make the amount of adhesive transferred to the bottom surface of the part appropriate while suppressing the residual adhesive from creeping up on the gripping portion of the part in the hand portion. And.

In order to achieve the above object, according to one aspect of the technique disclosed in the present application, the following adhesive coating method is provided. That is, in this adhesive coating method, the residual adhesive remaining on the upper surface of the adhesive coating table and having a convex curved surface is photographed. Further, based on the photographed image of the residual adhesive, the inclination angle formed by the virtual tangent line that passes through the edge of the upper surface of the adhesive coating table in a horizontal direction and is in contact with the surface of the residual adhesive and the upper surface of the adhesive coating table. Is calculated. Then, the hand portion that grips the component is rotated to tilt the bottom surface of the component to an inclination angle equal to or higher than the above-mentioned inclination angle. In addition, the hand portion is moved so that the bottom surface of the component is brought into contact with the edge portion of the upper surface of the adhesive coating table, and the distance between the gripping position of the component in the hand portion and the edge portion of the upper surface of the adhesive coating table is set. calculate. Further, in a state where the bottom surface of the component is tilted by an inclination angle or more, the hand portion is moved to separate the bottom surface of the component from the edge portion of the upper surface of the adhesive application table, and then the hand portion is rotated and moved. Then, the bottom surface of the component is made to face the upper surface of the adhesive coating table, and the distance between the gripping position of the component in the hand portion and the upper surface of the adhesive coating table is added to the separation distance plus the specified distance. To do. Then, the adhesive is supplied to the upper surface of the adhesive coating table, and the adhesive is filled between the component and the adhesive coating table.

According to the technique disclosed in the present application, the amount of adhesive transferred to the bottom surface of the part can be adjusted to an appropriate amount while suppressing the residual adhesive from creeping up on the grip portion of the part in the hand part.

It is explanatory drawing which shows the structure of the adhesive coating apparatus which concerns on one Embodiment of the technique disclosed in this application. It is a block diagram which shows the functional structure of the main controller in the adhesive coating apparatus of this embodiment. It is explanatory drawing which compares and shows the parts of different kinds in this Embodiment. It is a flowchart which shows the flow of operation of the main controller in the adhesive coating apparatus of this embodiment. It is explanatory drawing which shows from the photographing process to the inclination angle calculation process in the adhesive coating method of this embodiment. It is explanatory drawing which shows the inclination process in the adhesive coating method of this embodiment. It is explanatory drawing which shows the contact process in the adhesive coating method of this embodiment. It is explanatory drawing which shows the separation distance calculation process in the adhesive coating method of this embodiment. It is explanatory drawing which shows the first half part of the addition distance adjustment process in the adhesive coating method of this embodiment. It is explanatory drawing which shows the latter half part of the addition distance adjustment process in the adhesive coating method of this embodiment. It is explanatory drawing which shows from the adhesive supply process to the adhesive transfer process in the adhesive application method of this embodiment. It is explanatory drawing which shows the adhesive suction process in the adhesive application method of this embodiment.

First, the configuration of the adhesive coating device according to the embodiment of the technique disclosed in the present application will be described.

The adhesive application device 1 of the present embodiment shown in FIG. 1 is for transferring and applying the adhesive 110 to the component 100. In the present embodiment, as an example, a lens mounted on an end portion of an optical fiber is applied to the component 100. The part 100 is formed in a columnar shape and is minute. The bottom surface 101 of the component 100 is an adhesive-coated surface on which the adhesive 110 is applied, and is formed in a flat shape. For example, a gel-like ultraviolet curable resin is applied to the adhesive 110.

The adhesive coating device 1 of the present embodiment includes a hand unit 10, a driving unit 20, a contact detecting unit 30, an adhesive coating table 40, an adhesive supply unit 50, and an adhesive, as described in order below. It includes a suction unit 60, a photographing unit 70, and a main controller 80 (control unit).

The hand unit 10 has a structure capable of gripping the component 100, and is connected to the drive unit 20 via a connecting member 33 of the contact detection mechanism 31, which will be described later. The drive unit 20 is configured to rotate and move the hand unit 10. More specifically, the drive unit 20 includes an X-axis direction drive unit 21, a Y-axis direction drive unit 22, a Z-axis direction drive unit 23, an X-axis rotation unit 24, and a Y-axis rotation unit 25. And have. For example, a motor actuator or the like is applied to each of the drive unit and the rotating unit.

The X-axis direction drive unit 21 operates to move the hand unit 10 in the X-axis direction, and the Y-axis direction drive unit 22 operates to move the hand unit 10 in the Y-axis direction to drive in the Z-axis direction. The portion 23 operates so as to move the hand portion 10 in the Z-axis direction. Further, the X-axis rotating portion 24 operates so as to rotate the hand portion 10 around the X-axis, and the Y-axis rotating portion 25 operates so as to rotate the hand portion 10 around the Y-axis. In the present embodiment, for convenience, the front-rear direction of the adhesive coating table 40, which will be described later, is the X-axis direction, the left-right direction of the adhesive coating table 40 is the Y-axis direction, and the height direction of the adhesive coating table 40 is the Z-axis direction. ..

Further, the drive unit 20 has a motor controller 26 and a position sensor 27. The motor controller 26 is electrically connected to the X-axis direction drive unit 21, the Y-axis direction drive unit 22, the Z-axis direction drive unit 23, the X-axis rotation unit 24, and the Y-axis rotation unit 25. These drive parts and rotating parts are operated. The position sensor 27 detects the position of the hand unit 10, and the motor controller 26 transmits a signal corresponding to the position detected by the position sensor 27 to the main controller 80.

The center of rotation when the hand portion 10 rotates about the X-axis is set at the gripping center 10A of the component 100 in the hand portion 10. The gripping center 10A of the component 100 in the hand portion 10 is an example of the “holding position of the component in the hand portion”. The coordinates of the gripping center 10A are set, for example, at a position half the thickness of the hand portion 10. The relative coordinates of the gripping center 10A with respect to the absolute coordinates of the hand unit 10 detected by the position sensor 27 are stored in advance in the storage unit 82 of the main controller 80 described later by the initial teaching. The drive unit 20 moves and rotates the hand unit 10 with reference to the relative coordinates of the grip center 10A.

The contact detection unit 30 is for detecting that the bottom surface 101 has come into contact with the edge portion 41A (corner portion) of the top surface 41, as will be described later, and has a contact detection mechanism 31 and a load controller 32. As an example, the contact detection mechanism 31 has a connecting member 33 that connects the hand unit 10 and the driving unit 20, and a strain gauge 34 provided on the connecting member 33. The strain gauge 34 is electrically connected to the load controller 32, and outputs an electric signal according to the magnitude of the strain generated in the connecting member 33. The load controller 32 amplifies the electric signal output from the strain gauge 34 and outputs it to the main controller 80.

The adhesive coating table 40 is for transferring and applying the adhesive 110 to the bottom surface 101, and has an upper surface 41, an adhesive supply path 42, and an adhesive suction path 43. The upper surface 41 is a flat surface and is formed horizontally. The adhesive supply path 42 extends in the height direction of the adhesive coating table 40. The upper end of the adhesive supply path 42 opens to the upper surface 41 as a discharge port 44 for discharging the adhesive 110. The adhesive suction path 43 extends in the height direction of the adhesive application table 40 and is formed around the adhesive supply path 42. The adhesive coating table 40 is a non-movable portion, and the absolute coordinates of the upper surface 41 of the adhesive coating table 40 and the edge portion 41A thereof are stored in advance in the storage unit 82 of the main controller 80, which will be described later, by initial teaching. In the figure, the edge portion 41A is exaggerated by a black circle for ease of understanding.

The adhesive supply unit 50 is for supplying the adhesive 110 to the upper surface 41, and has a dispenser 51, a coating actuator 52, and a coating controller 53. The inside of the dispenser 51 is filled with the adhesive 110. The dispenser 51 is connected to the adhesive supply path 42 via a connecting pipe 54. The coating actuator 52 operates to drive the dispenser 51, and the coating controller 53 controls the coating actuator 52.

The adhesive suction unit 60 is for sucking the excess adhesive 110 remaining on the upper surface 41 of the adhesive application table 40, and has a suction actuator 61 and a suction controller 62. The suction actuator 61 is connected to the adhesive suction path 43. The suction actuator 61 operates so as to suck the air in the adhesive suction path 43, and the suction controller 62 controls the suction actuator 61.

The photographing unit 70 is for photographing the adhesive 111 (hereinafter, referred to as the residual adhesive 111) remaining on the upper surface 41 of the adhesive coating table 40 as described later, and has a camera 71 and an image controller 72. .. The optical axis of the camera 71 extends in the horizontal direction and is set to a height corresponding to the residual adhesive 111. The image controller 72 is electrically connected to the camera 71. The image controller 72 operates the camera 71 and transmits the image information output from the camera 71 to the main controller 80.

The main controller 80 is electrically connected to the motor controller 26, the load controller 32, the coating controller 53, the suction controller 62, and the image controller 72 described above. The main controller 80 is realized by, for example, a computer having a calculation unit 81 and a storage unit 82.

As shown in FIG. 2, the main controller 80 adds the photographing control unit 91, the tilt angle calculation unit 92, the tilt control unit 93, the contact control unit 94, and the separation distance calculation unit 95 according to the functions. It has a distance control unit 96, a supply control unit 97, and a transfer control unit 98.

The storage unit 82 stores an adhesive application program for executing the adhesive application method described later. This adhesive application program includes an imaging control process, an inclination angle calculation process, an inclination control process, a contact control process, a separation distance D1 calculation process, an addition distance D3 control process, a supply control process, and a transfer control process. And have.

The calculation unit 81 reads the above-mentioned adhesive application program from the storage unit 82 and sequentially executes the above-mentioned plurality of processes. By executing each of the plurality of processes described above, the calculation unit 81 executes the imaging control unit 91, the tilt angle calculation unit 92, the tilt control unit 93, the contact control unit 94, the separation distance calculation unit 95, and the addition distance control unit 96. , It operates as a supply control unit 97 and a transfer control unit 98. The operation of each functional unit such as the imaging control unit 91 will be described together with the adhesive coating method described later.

Next, the adhesive coating method of the present embodiment will be described.

As shown in FIG. 1, the adhesive application method of the present embodiment is executed every time the hand portion 10 grips the component 100. Here, when the hand portion 10 grips the component 100, the gripping position of the component 100 in the hand portion 10 may vary in the axial direction of the component 100. In addition, the axial dimensions of the component 100 itself may vary.

Further, as shown in FIG. 3, when the product type of the component 100 is different, the axial dimension of the component 100 may be different for each product type. For example, in the example shown in FIG. 3, the component 100 of the product A has a longer shaft length than the component 100 of the product B. If the shaft length is different, the length L from the gripping center 10A of the component 100 in the hand portion 10 to the bottom surface 101 is also different. As described above, the adhesive coating method of the present embodiment is executed on the premise that the gripping position of the component 100 in the hand portion 10 and the dimensions of the component 100 vary.

Further, as shown in FIG. 1, the adhesive application method of the present embodiment starts a state in which the residual adhesive 111 used for adhering the previous component 100 remains on the upper surface 41 of the adhesive application table 40. Executed as a state.

Here, in order to eliminate the influence of variations in the gripping position of the component 100 and the dimensions of the component 100 in the hand portion 10, the following method can be considered. That is, the bottom surface 101 is once brought into contact with the top surface 41, the component 100 is separated from the adhesive coating table 40 by a predetermined distance based on this contact position, and the distance between the top surface 41 and the bottom surface 101 is set to the adhesive 110. It is a method of adjusting to a specified distance according to the transfer amount of.

According to this method, even if the gripping position of the component 100 in the hand portion 10 and the dimensions of the component 100 vary, the distance between the upper surface 41 and the bottom surface 101 is defined as a specified distance according to the transfer amount of the adhesive 110. Can be adjusted accurately. Therefore, the transfer amount of the adhesive 110 to the bottom surface 101 can be adjusted to an appropriate amount.

However, the residual adhesive 111 used for adhering the previous component 100 may remain on the upper surface 41 of the adhesive coating table 40. Therefore, for example, when a small-diameter bottom surface 101 such as the product B shown in FIG. 3 is brought into contact with the top surface 41, the residual adhesive 111 crawls up to the gripped portion of the component 100 in the hand portion 10, and the component 100 hands. There is a risk of being adhered to the portion 10. Therefore, it is desired to prevent the residual adhesive 111 from creeping up on the gripped portion of the component 100 in the hand portion 10.

Therefore, in the present embodiment, as one aspect, the transfer amount of the adhesive 110 to the bottom surface 101 is adjusted to an appropriate amount while suppressing the residual adhesive 111 from creeping up on the gripped portion of the part 100 in the hand portion 10. The purpose. In order to achieve this object, the adhesive application method of the present embodiment is described in order of photography step, tilt angle calculation step, tilt step, contact step, separation distance calculation step, addition distance adjustment step, and adhesion. It includes an agent supply process and an adhesive transfer process. In the following description, FIG. 4 will be referred to for the contents of the steps executed by each functional unit such as the photographing control unit 91.

(Shooting process)
In step S1, as shown on the left side of FIG. 5, an operation command is transmitted from the main controller 80 to the image controller 72 by the photographing control unit 91, and the camera 71 is controlled by the image controller 72. Then, the camera 71 is activated, and the residual adhesive 111 remaining on the upper surface 41 of the adhesive coating table 40 is photographed. The surface of the residual adhesive 111 has a convex curved surface due to the action of surface tension. The image information output from the camera 71 is transmitted from the image controller 72 to the main controller 80 and stored in the storage unit 82 of the main controller 80.

(Inclination angle calculation process)
In step S2, as shown on the right side of FIG. 5, the tilt angle calculation unit 92 calculates the tilt angle θ based on the captured image of the residual adhesive 111. The inclination angle θ is the angle formed by the virtual tangent line L1 that passes through the edge 41A of the upper surface 41 and is in contact with the surface of the residual adhesive 111 and the upper surface 41 in a horizontal view (for example, a front view of the adhesive coating table 40). is there. As an example, the inclination angle θ is about 30 ° to 60 °. Point 111A shown in FIG. 5 is the contact point of the virtual tangent L1 with respect to the surface of the residual adhesive 111. The virtual tangent L1 is set based on the absolute coordinates of the edge 41A pre-stored in the storage 82 of the main controller 80 by the initial teaching and the contour of the surface of the residual adhesive 111 photographed by the camera 71. Further, the reference line L2 extending along the upper surface 41 of the adhesive coating table 40, which is a reference when calculating the inclination angle θ, is the absolute coordinates of the upper surface 41 stored in advance in the storage unit 82 of the main controller 80 by the initial teaching. It is set based on.

(Inclination process)
In step S3, as shown in FIG. 6, the tilt control unit 93 transmits an operation command from the main controller 80 to the motor controller 26, and the motor controller 26 controls the rotation unit 24 around the X axis. Then, the rotating portion 24 around the X-axis operates, and the hand portion 10 rotates around the X-axis around the gripping center 10A so that the inclination angle of the hand portion 10 becomes θ + α. The inclination angle of the hand portion 10 is set by the angle formed by the center line L3 of the hand portion 10 with respect to the horizontal direction. The center line L3 of the hand portion 10 extends along the bottom surface 101 of the component 100. If the inclination angle of the hand portion 10 is θ, the bottom surface 101 may come into contact with the residual adhesive 111. Therefore, in order to avoid contact between the bottom surface 101 and the residual adhesive 111, the inclination angle of the hand portion 10 is set to an angle obtained by adding α (α> 0) to θ. However, θ + α is set to less than 90 ° so that the bottom surface 101 does not come into contact with the side surface of the adhesive coating table 40.

(Contact process)
In step S4, as shown on the left side of FIG. 7, the contact control unit 94 transmits an operation command from the main controller 80 to the motor controller 26. Further, the motor controller 26 controls the X-axis direction drive unit 21, the Y-axis direction drive unit 22, and the Z-axis direction drive unit 23. Then, the hand unit 10 operates so that the X-axis direction drive unit 21, the Y-axis direction drive unit 22, and the Z-axis direction drive unit 23 operate, and the edge portion 41A is located on the vertical line L4 of the hand unit 10. Move and wait. The vertical line L4 passes through the gripping center 10A and is perpendicular to the center line L3.

In step S5, as shown on the right side of FIG. 7, the contact control unit 94 transmits an operation command from the main controller 80 to the motor controller 26. Further, the motor controller 26 controls the X-axis direction drive unit 21, the Y-axis direction drive unit 22, and the Z-axis direction drive unit 23. Then, the X-axis direction drive unit 21, the Y-axis direction drive unit 22, and the Z-axis direction drive unit 23 operate, and the hand unit 10 moves so that the bottom surface 101 comes into contact with the edge portion 41A.

When the hand portion 10 moves and the bottom surface 101 comes into contact with the edge portion 41A, the connecting member 33 (see FIG. 1) is distorted, and an electric signal corresponding to the magnitude of the distortion is output from the strain gauge 34. The load controller 32 amplifies the electric signal output from the strain gauge 34 and outputs it to the main controller 80. When the contact control unit 94 of the main controller 80 detects the signal output from the load controller 32, the contact control unit 94 stops the X-axis direction drive unit 21, the Y-axis direction drive unit 22, and the Z-axis direction drive unit 23.

(Separation distance calculation process)
In step S6, as shown in FIG. 8, the separation distance calculation unit 95 calculates the separation distance D1 between the gripping center 10A and the edge portion 41A. The separation distance D1 includes the absolute coordinates of the hand portion 10 detected by the position sensor 27, the relative coordinates of the gripping center 10A with respect to the absolute coordinates of the hand portion 10 stored in advance by the initial teaching, and the edge portion also stored in advance. It is calculated based on the absolute coordinates of 41A. This separation distance D1 corresponds to the length from the gripping center 10A of the component 100 to the bottom surface 101.

(Additional distance adjustment process)
In step S7, as shown in FIG. 9, the addition distance control unit 96 transmits an operation command from the main controller 80 to the motor controller 26. Further, the motor controller 26 controls the X-axis direction drive unit 21, the Y-axis direction drive unit 22, and the Z-axis direction drive unit 23. Then, the X-axis direction drive unit 21, the Y-axis direction drive unit 22, and the Z-axis direction drive unit 23 are operated, and the hand unit 10 is on the vertical line L4 while the inclination angle of the hand unit 10 is maintained at θ + α. It moves along and the bottom surface 101 is separated from the edge 41A.

In step S8, as shown on the left side of FIG. 10, the addition distance control unit 96 transmits an operation command from the main controller 80 to the motor controller 26. Further, the motor controller 26 controls the X-axis direction drive unit 21, the Y-axis direction drive unit 22, the Z-axis direction drive unit 23, and the X-axis rotation unit 24. Then, the X-axis direction drive unit 21, the Y-axis direction drive unit 22, the Z-axis direction drive unit 23, and the X-axis rotation rotation unit 24 operate, and the vertical line L4 and the adhesive coating table 40 (adhesive supply path 42) operate. ), The hand portion 10 rotates and moves so as to coincide with the center line L5. In this state where the vertical line L4 and the center line L5 coincide with each other, the bottom surface 101 faces the top surface 41.

In step S9, as shown on the right side of FIG. 10, the addition distance control unit 96 transmits an operation command from the main controller 80 to the motor controller 26, and the motor controller 26 controls the Z-axis direction drive unit 23. Then, the Z-axis direction drive unit 23 operates, and the hand unit 10 descends. At this time, the distance between the gripping center 10A and the upper surface 41 is adjusted to be an additional distance D3 obtained by adding the specified distance D2 to the above-mentioned separation distance D1. The specified distance D2 is set according to the filling amount of the adhesive 110 and, by extension, the transfer amount of the adhesive 110 to the bottom surface 101.

(Adhesive supply process)
In step S10, as shown on the left side of FIG. 11, the supply control unit 97 transmits an operation command from the main controller 80 to the coating controller 53, and the coating controller 53 controls the coating actuator 52. Then, when the coating actuator 52 is activated, the dispenser 51 is driven, the adhesive 110 supplied from the dispenser 51 is discharged from the discharge port 44 through the connection pipe 54 and the adhesive supply path 42, and the adhesive 110 is supplied to the upper surface 41. Will be done. At this time, a sufficient amount of the adhesive 110 is supplied so that the adhesive 110 is filled between the component 100 and the adhesive coating table 40.

(Adhesive transfer process)
In step S11, as shown on the right side of FIG. 11, the transfer control unit 98 transmits an operation command from the main controller 80 to the motor controller 26, and the motor controller 26 controls the Z-axis direction drive unit 23. Then, the Z-axis direction drive unit 23 operates, and the hand unit 10 rises. When the hand portion 10 is raised and the component 100 is separated from the adhesive coating table 40, a part of the adhesive 110 is transferred to the bottom surface 101. In the present embodiment, a part of the adhesive 110 is transferred and applied to the bottom surface 101 in the above manner.

When the adhesive transfer step is completed, as shown in FIG. 12, an operation command is transmitted from the main controller 80 to the suction controller 62, and the suction actuator 61 is controlled by the suction controller 62. Then, the suction actuator 61 operates, the air in the adhesive suction path 43 is sucked, and the excess adhesive 110 remaining on the upper surface 41 of the adhesive coating table 40 is sucked.

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

As described in detail above, in the present embodiment, first, as shown in FIG. 5, the residual adhesive 111 remaining on the upper surface 41 of the adhesive coating table 40 is photographed. Subsequently, based on the image of the residual adhesive 111, the inclination angle θ formed by the virtual tangent line L1 passing through the edge portion 41A of the upper surface 41 and in contact with the surface of the residual adhesive 111 and the upper surface 41 is calculated. Further, as shown in FIG. 6, the hand portion 10 is rotated so that the inclination angle of the hand portion 10 is θ + α (α> 0) to incline the bottom surface 101 of the component 100, and then it is shown in FIG. As described above, the hand portion 10 is moved so that the bottom surface 101 is brought into contact with the edge portion 41A of the top surface 41. Then, as shown in FIG. 8, the separation distance D1 between the gripping center 10A of the component 100 and the edge 41A of the upper surface 41 of the adhesive coating table 40 is calculated, and this separation distance D1 is used as the gripping center of the component 100. The length is from 10A to the bottom surface 101. Therefore, even if the residual adhesive 111 remains on the upper surface 41, the length from the gripping center 10A of the component 100 to the bottom surface 101 (hereinafter referred to as the gripping length) while avoiding contact between the bottom surface 101 and the residual adhesive 111. ) Can be obtained. As a result, for example, even in the case of a small-diameter component 100 such as the product B shown in FIG. 3, the residual adhesive 111 is applied to the grip portion of the component 100 in the hand portion 10 when calculating the grip length (length L). Can be suppressed from crawling up.

Further, in the present embodiment, after calculating the gripping length, as shown in FIGS. 9 and 10, the hand portion 10 is rotated and moved so that the bottom surface 101 faces the top surface 41. At this time, as shown in FIG. 10, the distance between the gripping center 10A and the upper surface 41 is set to the added distance D3 by adding the specified distance D2 to the above-mentioned separation distance D1 (grip length). The specified distance D2 is set according to the filling amount of the adhesive 110 and, by extension, the transfer amount of the adhesive 110 to the bottom surface 101. Therefore, even if the gripping position of the component 100 in the hand portion 10 and the dimensions of the component 100 vary, the distance between the upper surface 41 and the bottom surface 101 is accurately set to the specified distance D2 according to the transfer amount of the adhesive 110. Be adjusted. As a result, as shown in FIG. 11, when the adhesive 110 is subsequently transferred to the bottom surface 101, the transfer amount of the adhesive 110 can be adjusted to an appropriate amount.

Further, in the present embodiment, after the gripping length is calculated, as shown in FIG. 9, the hand portion 10 is moved while the inclination angle of the hand portion 10 is maintained at θ + α (α> 0). The bottom surface 101 is separated from the edge portion 41A. After that, as shown in FIG. 10, the hand portion 10 is rotated and moved so that the bottom surface 101 faces the top surface 41. Therefore, as shown in FIG. 9, even when the hand portion 10 is retracted after the calculation of the gripping length, it is possible to prevent the hand portion 10 from coming into contact with the residual adhesive 111.

Next, a modified example of this embodiment will be described.

In the above embodiment, the separation distance D1 (grip length) is preferably calculated based on the grip center 10A, which is the center of rotation of the hand portion 10 around the X axis, but is based on a grip position other than the grip center 10A. It may be calculated in.

Further, in the above embodiment, in the tilting step, the tilt angle of the hand portion 10 is preferably set to θ + α (α> 0), but the tilt angle of the hand portion 10 is set to θ with α = 0. Is also good. That is, in the tilting step, the bottom surface 101 of the component 100 may be tilted at an tilt angle θ or more.

Further, in the above embodiment, a lens mounted on the end of the optical fiber is applied to the component 100 as an example, but a lens other than the lens may be applied.

Although one embodiment of the technique disclosed in the present application has been described above, the technique disclosed in the present application is not intended to be limited to the above, and is variously modified in addition to the above within a range not deviating from the gist thereof. Of course, it is feasible.

The following additional notes will be further disclosed with respect to one embodiment of the above-mentioned technique disclosed in the present application.

(Appendix 1)
Photograph the residual adhesive that remains on the upper surface of the adhesive application table and has a convex curved surface.
Based on the photographed image of the residual adhesive, a virtual tangent line that passes through the edge of the upper surface of the adhesive coating table and is in contact with the surface of the residual adhesive in a horizontal direction and the upper surface of the adhesive coating table are formed. Calculate the tilt angle and
By rotating the hand portion that grips the part, the bottom surface of the part is tilted by the tilt angle or more.
The hand portion is moved so that the bottom surface of the component is brought into contact with the edge portion of the upper surface of the adhesive coating table.
The separation distance between the gripping position of the component in the hand portion and the edge portion of the upper surface of the adhesive coating table is calculated.
The hand portion is rotated and moved so that the bottom surface of the component faces the upper surface of the adhesive coating table, and the distance between the gripping position of the component in the hand portion and the upper surface of the adhesive coating table. Is the added distance obtained by adding the specified distance to the separated distance.
An adhesive is supplied to the upper surface of the adhesive coating table, and the adhesive is filled between the component and the adhesive coating table.
Adhesive application method including that.
(Appendix 2)
In a state where the bottom surface of the component is tilted by the inclination angle or more, the hand portion is moved to separate the bottom surface of the component from the edge portion of the upper surface of the adhesive coating table, and then the hand portion. Is rotated and moved so that the bottom surface of the component faces the upper surface of the adhesive coating table.
The adhesive application method according to Appendix 1.
(Appendix 3)
By moving the hand portion and separating the component from the adhesive coating table, a part of the adhesive is transferred to the bottom surface of the component.
The adhesive application method according to Appendix 1 or Appendix 2.
(Appendix 4)
A component whose bottom surface is smaller than the upper surface of the adhesive coating table is defined as the component.
The adhesive application method according to any one of Supplementary Note 1 to Supplementary Note 3.
(Appendix 5)
The hand part that holds the parts and
A drive unit that rotates and moves the hand unit,
An adhesive coating table with an upper surface and
An adhesive supply unit that supplies adhesive to the upper surface of the adhesive coating table,
An imaging unit that photographs the residual adhesive that remains on the upper surface of the adhesive coating table and has a convex curved surface.
Based on the image of the residual adhesive taken by the photographing portion, a virtual tangent line that passes through the edge of the upper surface of the adhesive coating table in a horizontal direction and is in contact with the surface of the adhesive, and the adhesive coating table. An inclination angle calculation unit that calculates the inclination angle formed with the upper surface,
An inclination control unit that controls the drive unit to rotate the hand unit and inclines the bottom surface of the component to an inclination angle equal to or higher than the inclination angle.
A contact control unit that controls the drive unit to move the hand unit and brings the bottom surface of the component into contact with the edge portion of the upper surface of the adhesive coating table.
A separation distance calculation unit that calculates the separation distance between the gripping position of the component in the hand unit and the edge portion of the upper surface of the adhesive coating table, and the separation distance calculation unit.
The drive unit is controlled to rotate and move the hand unit so that the bottom surface of the component faces the upper surface of the adhesive coating table, and the gripping position of the component in the hand unit and the adhesive coating table. An addition distance control unit that sets the distance to the upper surface to the addition distance by adding the specified distance to the separation distance,
A supply control unit that controls the adhesive supply unit to supply the adhesive to the upper surface of the adhesive coating table and fill the adhesive between the component and the adhesive coating table.
Adhesive coating device.
(Appendix 6)
The addition distance control unit controls the drive unit to move the hand unit in a state where the bottom surface of the component is tilted by the inclination angle or more, and the bottom surface of the component is the upper surface of the adhesive coating table. After being separated from the edge portion of the above, the driving portion is controlled to rotate and move the hand portion so that the bottom surface of the component faces the upper surface of the adhesive coating table.
The adhesive coating device according to Appendix 5.
(Appendix 7)
A transfer control unit that transfers a part of the adhesive to the bottom surface of the component is further provided by controlling the drive unit to move the hand unit and separating the component from the adhesive coating table. Prepare, prepare
The adhesive coating device according to Appendix 5 or Appendix 6.

1 Adhesive application device 10 Hand unit 10A Grip center 20 Drive unit 40 Adhesive application table 41 Top surface 41A Edge 50 Adhesive supply unit 60 Adhesive suction unit 70 Imaging unit 80 Main controller 91 Imaging control unit 92 Tilt angle calculation unit 93 Tilt control unit 94 Contact control unit 95 Separation distance calculation unit 96 Addition distance control unit 97 Supply control unit 98 Transfer control unit 100 Parts 101 Bottom surface 110 Adhesive 111 Residual adhesive

Claims (2)

Photograph the residual adhesive that remains on the upper surface of the adhesive application table and has a convex curved surface.
Based on the photographed image of the residual adhesive, a virtual tangent line that passes through the edge of the upper surface of the adhesive coating table and is in contact with the surface of the residual adhesive in a horizontal direction and the upper surface of the adhesive coating table are formed. Calculate the tilt angle and
By rotating the hand portion that grips the part, the bottom surface of the part is tilted by the tilt angle or more.
The hand portion is moved so that the bottom surface of the component is brought into contact with the edge portion of the upper surface of the adhesive coating table.
The separation distance between the gripping position of the component in the hand portion and the edge portion of the upper surface of the adhesive coating table is calculated.
In a state where the bottom surface of the component is tilted by the inclination angle or more, the hand portion is moved to separate the bottom surface of the component from the edge portion of the upper surface of the adhesive coating table, and then the hand portion. the rotate and move, the bottom surface of the part directly facing the upper surface of the adhesive applying stage, the separation distance between the gripping position and the adhesive application stage of the upper surface of the components in the hand unit Add the specified distance to the distance to make the added distance
An adhesive is supplied to the upper surface of the adhesive coating table, and the adhesive is filled between the component and the adhesive coating table.
Adhesive application method including that. The hand part that holds the parts and
A drive unit that rotates and moves the hand unit,
An adhesive coating table with an upper surface and
An adhesive supply unit that supplies adhesive to the upper surface of the adhesive coating table,
An imaging unit that photographs the residual adhesive that remains on the upper surface of the adhesive coating table and has a convex curved surface.
Based on the image of the residual adhesive taken by the photographing portion, a virtual tangent line that passes through the edge of the upper surface of the adhesive coating table in a horizontal direction and is in contact with the surface of the adhesive, and the adhesive coating table. An inclination angle calculation unit that calculates the inclination angle formed with the upper surface,
An inclination control unit that controls the drive unit to rotate the hand unit and inclines the bottom surface of the component to an inclination angle equal to or higher than the inclination angle.
A contact control unit that controls the drive unit to move the hand unit and brings the bottom surface of the component into contact with the edge portion of the upper surface of the adhesive coating table.
A separation distance calculation unit that calculates the separation distance between the gripping position of the component in the hand unit and the edge portion of the upper surface of the adhesive coating table, and the separation distance calculation unit.
In a state where the bottom surface of the component is tilted by the inclination angle or more, the drive unit is controlled to move the hand unit, and the bottom surface of the component is separated from the edge portion of the upper surface of the adhesive coating table. After that, the drive unit is controlled to rotate and move the hand unit so that the bottom surface of the component faces the upper surface of the adhesive coating table, and the gripping position of the component in the hand unit and the adhesion thereof. An addition distance control unit that sets the distance between the upper surface of the agent coating table to the addition distance by adding the specified distance to the separation distance.
A supply control unit that controls the adhesive supply unit to supply the adhesive to the upper surface of the adhesive coating table and fill the adhesive between the component and the adhesive coating table.
Adhesive coating device .

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