JP6918499B2 - Tape sticking cassette and tape sticking device - Google Patents

Description

The present invention relates to a tape sticking cassette and a tape sticking device for accurately sticking an adhesive tape such as double-sided tape to a member to be stuck.

In vehicles such as automobiles, a wire harness used for power supply and signal transmission may be installed behind the ceiling portion of the body. In this case, by fixing the wire harness to the roof material made of a flexible material such as urethane or felt, the wire harness is installed between the ceiling portion of the body and the roof material. In recent years, for the purpose of further reducing the weight of the vehicle, a method of fixing the wire harness by attaching double-sided tape to the roof material instead of the conventional fixing method of installing a fixture such as a clamp or a clip on the roof material to fix the wire harness. Is being tried.

Conventionally, as a jig for attaching double-sided tape to a member to be attached such as a roof material, a hand-type attachment jig in which the double-sided tape is attached by pressing an adhesive double-sided tape with a release paper against the member to be attached. Is used (see, for example, Patent Document 1).

FIG. 20A is a front view showing an example of the configuration of the conventional hand-type sticking jig 100. FIG. 20B shows the configuration of a general double-sided tape 200. As shown in FIG. 20B, the double-sided tape 200 has a structure in which the non-adhesive release paper 201 and the adhesive material 203 are laminated.

As shown in FIG. 20A, the sticking jig 100 includes a jig main body 101, a tape supply section 103, guide rollers 105a to 105c, a sticking roller 107, a tape collecting section 109, a handle 111, and a brake. It is equipped with a trigger 113. The tape supply unit 103 is provided on one surface of the jig main body 101, and includes a rotation shaft unit 103a. The roll-wound double-sided tape 200 is loaded on the rotating shaft portion 103a. The guide rollers 105a and 105b wind and guide the double-sided tape 200 loaded in the tape supply unit 103 to the sticking roller 107.

The sticking roller 107 is provided at a position protruding outward from the jig body 101, and the adhesive material 203 is pressed against the work (sticking member) from the side of the release paper 201 by the guided double-sided tape 200. Paste on. The release paper 201 after the adhesive material 203 is attached is guided to the tape collecting unit 109 by the guide roller 105c. The tape collecting unit 109 includes a rotating shaft unit 109a. The rotating shaft portion 109a winds up and collects the release paper 201 guided by the guide roller 105c.

FIG. 20C is a rear view of the sticking jig 100. Gears 115a to 115c are provided on the other surface of the jig body 101. The gear 115a rotates synchronously with the rotation shaft portion 103a. The gear 115b rotates synchronously with the rotation shaft portion 109a. The gear 115c is configured to occlude with each of the gear 115a and the gear 115b. That is, since the rotating shaft portion 103a and the rotating shaft portion 109a rotate synchronously due to the rotation of the gears 115a to 115c, the double-sided tape 200 loaded in the tape supply unit 103 is fed and the release paper 201 in the tape collecting unit 109 is fed. The collection is done synchronously.

When using the sticking jig 100, it is first necessary to load the double-sided tape 200 into the sticking jig 100. That is, the user loads the double-sided tape 200 so that the anti-reduction roll is fitted into the rotating shaft portion 103a of the tape supply portion 103. Then, a part of the loaded double-sided tape 200 is pulled out from the anti-reduction roll, and the pulled out double-sided tape 200 is manually wound and guided in the order of the guide roller 105a, the guide roller 105b, the sticking roller 107, the guide roller 105c, and the rotating shaft portion 109a. .. The loading of the double-sided tape 200 is completed by winding and guiding the double-sided tape 200 to each roller.

After loading the double-sided tape 200, the sticking is started. That is, the user grasps the handle 111 and presses the sticking roller 107 against the sticking start position Wa on the work W as shown in FIG. 22 (a). By pressing the sticking roller 107, the adhesive material 203 of the double-sided tape 200 is peeled from the release paper 201 and stuck to the work W.

Then, as shown in FIG. 22B, the sticking roller 107 is rolled from the sticking start position Wa to the sticking stop position Wb while maintaining the state in which the sticking roller 107 is pressed against the work W. By rolling the sticking roller 107, the adhesive material 203 is stuck from the sticking start position Wa to the sticking stop position Wb.

When stopping the sticking of the adhesive material 203, the user slides the sticking roller 107 away from the work W while pulling the brake trigger 113. By pulling the brake trigger 113, the rotation of the gears 115a to 115c is stopped. When the gears 115a to 115c are stopped, the sticking roller 107 rolls while the feeding of the double-sided tape 200 is stopped. Therefore, as shown in FIG. 22C, the adhesive material 203 is broken at the sticking stop position Wb. .. By operating the brake trigger 113 at an arbitrary timing in this way, it is possible to attach only the adhesive material 203 to a predetermined position on the work W while collecting the release paper 201.
Japanese Unexamined Patent Publication No. 2005-42522

However, the above-mentioned conventional device has the following problems.

That is, in the conventional sticking jig, before sticking the double-sided tape to the work, the original roll of the double-sided tape is manually loaded into the tape supply unit, and a part of the loaded double-sided tape is pulled out to pull out the double-sided tape. It is necessary to manually perform the operation of winding and guiding a part of the above to each of the sticking roller and the guide roller. Such an operation is troublesome, and there is a problem that a part of the double-sided tape is wasted.

Then, when the loaded double-sided tape runs out, or when another double-sided tape with a different tape width or tape material is newly used, it is necessary to replace the double-sided tape loaded in the sticking jig. be. When replacing the double-sided tape, remove the original roll of the double-sided tape that has already been loaded and the double-sided tape that is wound around each roller, and then manually load and wind the new double-sided tape. I need to let you. Each time such replacement is performed, the sticking process is delayed and the double-sided tape is wasted.

Further, in the conventional sticking jig 100, the sticking of the double-sided tape 200 is completed by breaking the release paper 203 so as to tear it off while the feeding of the double-sided tape 200 is stopped. Therefore, as shown in FIG. 23, the fracture surface of the release paper 203 at the sticking stop position Wb has a non-uniform shape in the y direction (width direction of the double-sided tape 200). When the double-sided tape is attached again in this state, the fracture surface of the release paper 203 becomes non-uniform even at the attachment start position Wa. Therefore, it is difficult to improve the accuracy of the range in which the release paper 203 is attached with the conventional apparatus.

In the vehicle manufacturing process, it is preferable that the process of fixing the wire harness with double-sided tape is also automated. Therefore, attempts have been made to automate the process of applying double-sided tape to a workpiece made of a particularly flexible material. However, when automating the manual sticking device, higher accuracy is required for controlling the sticking range. With a conventional sticking device that breaks the release paper 203 so as to tear it off, it is difficult to improve the accuracy of the sticking range and realize automation.

Further, when the manual sticking device is automated, it is difficult to automate the process of replacing the loaded double-sided tape when the remaining amount of the double-sided tape in the tape supply unit becomes low. There is concern about the problem. That is, the original roll of the double-sided tape is loaded into the tape supply unit as is performed in the conventional sticking jig, a part of the loaded double-sided tape is pulled out, and a part of the double-sided tape is stuck to the roller and the sticker. It is difficult to reproduce the complicated operation of winding and guiding each of the guide rollers as an automatic operation by a robot or the like.

Further, when the double-sided tape is loaded and the winding guide is performed each time the replacement is performed, there arises a problem that the position of the double-sided tape wound and guided by the sticking roller is easily displaced between before and after the replacement. As an example, as shown in FIGS. 21 (c) and 21 (d), it is assumed that the position of the double-sided tape 200 in the width direction F of the sticking roller 107 is displaced.

When automating the double-sided tape application device, high accuracy is required for the tape application position. In the conventional configuration in which the relative positions of the sticking roller and the double-sided tape shift each time the double-sided tape is replaced, it is difficult to satisfy the required accuracy of the sticking position.

The present invention has been made in view of such circumstances, and provides a tape sticking cassette and a tape sticking device that can be automated and can improve the accuracy of the range for sticking various tapes such as double-sided tape. The main purpose.

The present invention has the following configuration in order to achieve such an object.
That is, in the tape sticking cassette according to the present invention, the adhesive tape is pressed against the work by the tape supply unit that loads and feeds the roll-shaped adhesive tape and the adhesive tape that is fed and supplied from the tape supply unit. A sticking roller for sticking to the work is provided, the adhesive tape is loaded in advance in the tape supply section, and the adhesive tape is configured to be wound and guided from the tape supply section to the sticking roller in advance. It is a feature.

(Action / Effect) According to this configuration, it is possible to realize a tape sticking cassette in which a tape supply unit and a sticking roller are unitized. Then, in the tape sticking cassette, the adhesive tape is loaded in advance in the tape supply section, and the adhesive tape is configured to be wound and guided from the tape supply section to the sticking roller in advance. In this case, the adhesive tape can be easily and quickly replaced by replacing the entire tape-attached cassette. Further, it is possible to preferably avoid the occurrence of relative positional deviation between the adhesive tape and the sticking roller due to the operation of manually replacing the adhesive tape.

Further, in the above-described invention, the adhesive tape is a double-sided tape having a release paper and a sheet-like adhesive material laminated on the release paper, and the release paper peeled from the adhesive tape is wound and collected. It is preferable that the adhesive tape is configured to be wound and guided from the tape supply unit to the tape collection unit via the sticking roller in advance.

(Action / Effect) According to this configuration, the adhesive tape, which is a double-sided tape, can be attached with high accuracy. Further, regarding the double-sided tape unwound from the tape supply unit, the adhesive material is attached to the work, while the release paper peeled from the adhesive tape is collected by the tape collection unit. Therefore, it is possible to realize a tape sticking device for sticking double-sided tape continuously with high accuracy. Further, the adhesive tape is configured in advance so as to be wound and guided from the tape supply unit to the tape collection unit via the application roller. Therefore, it is possible to realize a double-sided tape sticking cassette that can quickly load and replace the tape.

In addition, the present invention has the following configuration in order to achieve such an object.
That tape applying apparatus according to the present invention includes a cassette holder for accommodating a tape joining cassette, and conveying section by mounting the tape joining cassette accommodated in the cassette holder is transported to the workpiece, the tape sticking device Ru provided with In the tape sticking cassette, a tape supply unit that loads and feeds a roll-shaped adhesive tape and the adhesive tape that is fed and supplied from the tape supply unit are pressed against a work to press the adhesive tape against the work. The adhesive tape is preloaded into the tape supply unit, and the adhesive tape is previously wound and guided from the tape supply unit to the application roller. The transport unit includes an engaging portion that engages with the tape sticking cassette, a tape cutting unit having a cutter for cutting the adhesive tape, and a driving means for rolling the sticking roller in an arbitrary direction on the work. It includes a control unit that controls the rolling of the sticking roller by the driving means and the mounting of the tape sticking cassette.

(Action / Effect) According to this configuration, the tape affixing device includes a cassette holder for accommodating a tape affixing cassette and a transport unit for attaching the tape affixing cassette and transporting the tape affixing cassette to a work. The transport section is provided with an engaging section that engages with the tape sticking cassette, a tape cutting unit having a cutter for cutting the adhesive tape, and a driving means for rolling the sticking roller in an arbitrary direction on the work. ..

Since the tape-attached cassette can be attached to the transport portion by engaging the engaging portion with the tape-attached cassette, the tape-attached cassette can be attached by a simple operation. Further, since a device having a relatively large weight such as a tape cutting unit and a driving means can be arranged as a configuration different from the tape sticking cassette, the weight of the tape sticking cassette can be easily reduced. As a result, a configuration that enables precise movement, such as an arm-type robot, can be used as the transport unit, so that the accuracy of the position where the tape is attached to the work can be greatly improved.

In addition, the transport unit is provided with a cutter for cutting the adhesive tape. Therefore, as compared with the conventional configuration in which the sheet-shaped adhesive material is broken so as to be torn off, the boundary line of the range to which the adhesive tape is attached can be made into a uniform straight line. Therefore, the accuracy of the range in which the adhesive tape can be attached to the work can be further improved.

Further, the transport unit is provided with a driving means for rolling the sticking roller in an arbitrary direction on the work. In this case, since the tape can be attached not only in a straight line but also in a curved shape such as an S shape, the versatility of the tape attaching device can be greatly improved.

Further, it is provided with a control unit that controls the rolling of the sticking roller in an arbitrary direction by the driving means and the mounting of the tape sticking cassette. Therefore, the range of sticking the adhesive tape to the work and the mounting of the tape sticking cassette are automatically performed. Therefore, since the sticking process by the tape sticking device can be automated and unmanned, the tape sticking device can be applied to the steps where the demand for automation is high, such as the step of sticking the double-sided tape to the roof material of the vehicle. As a result, the versatility of the tape application device can be improved.

Further, in the above-described invention, a plurality of the cassette holders are arranged, and the transport unit determines the tape-attached cassette to be mounted among each of the tape-attached cassettes housed in the plurality of cassette holders. It is preferable to include a cassette determination unit.

(Action / Effect) According to this configuration, a plurality of cassette holders are arranged, and a tape-attached cassette is stored in each cassette holder. The transport unit selects and mounts the tape sticking cassette to be mounted from each of the tape sticking cassettes according to the determination content of the cassette determination unit.

In this case, the tape attachment cassette for loading the optimum tape for the work conditions is configured so that the tape width and the tape material are different for each of the tapes loaded in the tape supply section of each tape attachment cassette. Can be selected and attached as appropriate. Furthermore, when the adhesive tape to be attached is a different adhesive tape, the attached tape attachment cassette is detached and stored in the cassette holder, and then another tape attachment cassette is attached to the transport section to attach it to the work. The composition of the adhesive tape to be attached can be changed quickly.

Further, in the above-described invention, the transport unit can move between a cutting position where the cutter contacts the adhesive tape and cuts the adhesive tape and a non-cutting position where the cutter separates from the adhesive tape. It is preferable to provide a cutter driving means for driving the tape cutting unit so as to be.

(Action / Effect) According to this configuration, the cutter driving means drives the tape cutting unit so that the cutter can move between the cutting position and the non-cutting position. In this case, the cutter is separated from the adhesive tape when it is not necessary to cut the adhesive tape. Therefore, it is possible to avoid a situation in which the adhesive tape is unnecessarily cut by the cutter and a situation in which the adhesive material of the adhesive tape adheres to the cutter.

Further, in the above-described invention, it is preferable that the cutter driving means further slides the cutter moved to the cutting position in the direction of cutting the adhesive tape.

(Action / Effect) According to this configuration, the cutter driving means further slides the cutter moved to the cutting position in the direction of cutting the adhesive tape. By the slide movement, a cutting error of the adhesive tape can be reliably avoided as compared with a configuration in which the cutter is simply brought into contact with the adhesive tape to cut the adhesive tape. Further, the adhesive material of the adhesive tape attached to the cutting edge of the cutter flows in the direction opposite to the moving direction of the cutter by the sliding movement. Therefore, the deterioration of the cutter due to the adhesion of the adhesive material can be further reduced.

Further, in the above-described invention, the tape cutting unit includes a roller fixing member that comes into contact with the outer peripheral surface of the sticking roller when the cutter moves to the cutting position.
It is preferable that the roller fixing member comes into contact with the outer peripheral surface of the sticking roller to stop the rotation of the sticking roller and maintain the cutter and the adhesive tape in a predetermined positional relationship.

(Action / Effect) According to this configuration, when the cutter cuts the adhesive tape, the roller fixing member comes into contact with the outer peripheral surface of the sticking roller, and the sticking roller stops rotating. Therefore, it is possible to prevent the cutting position from being displaced due to the rotation of the sticking roller when the adhesive tape is cut, so that the accuracy of the sticking range of the adhesive tape can be further improved. Then, the distance between the cutter and the adhesive tape is maintained at a predetermined distance by the roller fixing member. Therefore, it is possible to preferably avoid the problem that the adhesive tape is poorly cut because the distance between the cutter and the adhesive tape is excessively large, and the problem that the cutter is excessively close to the adhesive tape.

Further, in the above-described invention, the transport unit includes a tape remaining amount detecting unit that detects the remaining amount of the adhesive tape loaded in the tape supply unit, and the remaining amount of the adhesive tape is equal to or less than a predetermined value. It is preferable to provide an instruction means for instructing the tape sticking cassette mounted on the transport unit to be replaced when the tape remaining amount detecting unit detects the above.

(Action / Effect) According to this configuration, the tape remaining amount detecting unit detects the remaining amount of the adhesive tape loaded in the tape supply unit. Therefore, it is possible to more reliably avoid the occurrence of sticking failure due to insufficient remaining amount of the adhesive tape, so that the adhesive tape can be suitably stuck to the work. Then, when the remaining amount of the adhesive tape becomes equal to or less than a predetermined value, the instructing means instructs to replace the tape sticking cassette mounted on the transport unit. That is, the tape remaining amount detection unit and the control unit can automate all the processes from the detection of the remaining amount of the adhesive tape to the replacement with a new tape sticking cassette. As a result, the device for sticking the adhesive tape to the work can be more highly automated, and the sticking efficiency of the adhesive tape can be greatly improved.

According to the tape sticking cassette and the tape sticking device of the present invention, the tape sticking cassette and the tape sticking device that can greatly improve the accuracy of the sticking range of the adhesive tape to the work while realizing the automation of the process of sticking various adhesive tapes such as double-sided tape. A tape application device can be realized.

It is a figure which shows the basic structure of the tape sticking apparatus which concerns on Example. It is a figure which shows the basic structure of the cassette mounting part which concerns on Example. (A) is a front view of the cassette mounting portion, and (b) is a plan view of the cassette mounting portion. It is a figure which shows the basic structure of the sticking cassette which concerns on Example. (A) is a front view of the sticking cassette, (b) is a rear view of the sticking cassette, and (c) is a right side view of the sticking cassette. It is a figure which shows the structure which stores the sticking cassette which concerns on Example. (A) is a right side view of the cassette holder, (b) is a right side view showing a state in which the pasted cassette is stored in the cassette holder, and (c) is a right side view showing a state in which the pasted cassette is stored in the cassette holder. It is a right side view. It is a front view which shows the basic structure of the tape cutting unit which concerns on Example. (A) is a front view explaining a state in which the tape cutting unit is in the standby position, and (b) is a front view explaining a state in which the tape cutting unit is moving to the cutting position. It is a figure explaining the structure of the tape cutting unit which concerns on Example. (A) is a perspective view showing the positional relationship of the configuration of the tape cutting unit, and (b) is a cross-sectional view taken along the line BB of FIG. 5 (b) for explaining the position of the cutter blade before cutting the adhesive material. , (C) is a cross-sectional view taken along the line BB of FIG. 5 (b) for explaining the position of the cutter blade after cutting the adhesive material. It is a figure explaining the structure of the tape remaining amount detection part which concerns on Example. (A) is a front view showing a state in which the remaining amount of the double-sided tape is large, and (b) is a front view showing a state in which the remaining amount of the double-sided tape is low. It is a flowchart explaining the operation of the tape sticking apparatus which concerns on Example. It is a figure explaining the structure of the tape sticking apparatus in step S1. It is a figure explaining the step of attaching a sticking cassette to a cassette mounting part in step S1. (A) is a diagram showing a state in which the cassette mounting portion is moved so that the tape fixing portion is below the mounting fixing claw, and (b) is a diagram in which the cassette mounting portion is moved upward to move the mounting fixing claw. It is a figure which shows the state which engaged with the cassette fixing part, (c) is the figure which shows the state which moves the cassette mounting part further upward and takes out the sticking cassette from a cassette holder. It is a figure which shows the state which carries the sticking cassette to a work with the sticking robot attached in step S2. It is a figure explaining the operation of the tape sticking apparatus in step S2. (A) is a diagram for explaining the operation of the entire tape application device, and (b) is a front view for explaining the operation of the application roller on the work. It is a figure explaining the operation of the tape sticking apparatus in step S3. (A) is a front view explaining the operation of the sticking roller on the work, and (b) is a plan view explaining the operation of the sticking roller on the work. It is a figure explaining the operation of the tape sticking apparatus before cutting the adhesive material about step S4. (A) is a plan view explaining the operation of the sticking roller and the tape cutting unit on the work, and (b) is a front view explaining the operation of the sticking roller and the tape cutting unit on the work. It is a figure explaining the structure of the tape sticking apparatus in step S4. (A) is a plan view explaining the operation of the sticking roller and the tape cutting unit on the work at the time of cutting an adhesive material, and (b) is a plan view explaining the operation of a sticking roller and a tape cutting unit on a work after cutting an adhesive material, and (b) is a sticking roller and a tape cutting unit on a work. It is a top view explaining the operation of. It is a front view explaining the state of the double-sided tape after cutting the adhesive material about step S4. It is a figure explaining the structure of the tape sticking apparatus in step S5 and step S6. (A) is a plan view explaining the operation of the sticking roller on the work in step S5, (b) is a front view explaining the operation of the sticking roller on the work in step S6, and (c) is a front view. It is a top view which shows the sticking range of the adhesive material sticking using the tape sticking apparatus which concerns on Example. It is a figure explaining the operation of the tape sticking apparatus in step S7. It is a figure explaining the operation of the tape sticking apparatus in step S7. It is a figure explaining the structure of the double-sided tape sticking jig which concerns on the prior art. (A) is a front view of the sticking jig, (b) is a cross-sectional view showing the structure of the double-sided tape, and (c) is a rear view of the sticking jig. It is a figure explaining the problem of the double-sided tape sticking jig which concerns on the prior art. (A) is a diagram showing a state in which the original roll of the double-sided tape is loaded into the sticking jig, and (b) is a drawing of a part of the double-sided tape from the original roll of the loaded double-sided tape to guide the winding manually. It is a figure which shows the state to make, (c) is the figure which shows an example of the relative positional relationship between a double-sided tape and a sticking roll before the exchange of a double-sided tape, and (d) is a figure which shows the double-sided tape after the exchange of a double-sided tape. It is a figure which shows an example of the relative positional relationship between a sticking roll and a sticking roll. It is a figure explaining the operation of the double-sided tape sticking jig which concerns on a prior art example. (A) is a diagram showing a state in which the affixing roller is pressed against the work, and (b) is a diagram showing a state in which the affixing roller is rolled on the work to attach the adhesive material to the work. Is a diagram showing a state in which the sticking roller is slid to break the adhesive material. It is a top view which shows the sticking range of the adhesive material sticking using the sticking jig which concerns on the prior art. It is a figure explaining the range in which a tape is cut in the modified example in which a single-sided tape is attached. (A) is a cross-sectional view for explaining the configuration of the single-sided tape according to the modified example and the range where the notch is formed, and (b) is a cross-sectional view for explaining the range where the notch is formed in the double-sided tape according to the embodiment. (C) is a plan view for explaining the range in which a notch is formed in the single-sided tape according to the modified example, and (d) is a plan view for explaining the range in which the notch is formed in the double-sided tape according to the embodiment. Is. It is a figure explaining the operation of the tape sticking apparatus in the modification which sticks a single-sided tape. (A) is a diagram for explaining the operation in step S4, (b) is a diagram for explaining the operation in step S5, and (c) is a diagram for explaining the operation in step S6. It is a figure explaining the structure of the tape sticking apparatus in the modification. (A) is a front view showing the positional relationship between the guide roller and the double-sided tape in the embodiment, (b) is a front view showing the positional relationship between the guide roller and the double-sided tape in the modified example, and (c) is a front view showing the positional relationship between the guide roller and the double-sided tape. It is a front view which shows the guide roller which concerns on the modification which further includes a collar part, and (d) is the side view which shows the guide roller which concerns on the modification which further includes a collar part. It is a figure explaining the structure of the tape sticking apparatus in the modification. (A) is a diagram showing the configuration of a work having a curved surface or the like, (b) is a diagram showing the configuration of a robot arm further provided with an elastic member, and (c) is a diagram showing the configuration of a robot arm having a relatively low height. It is a figure which shows the structure in the case of moving, and (d) is the figure which shows the structure in the case of rolling on a work having a relatively high height. It is a figure explaining the structure of the tape sticking apparatus in the modification. (A) is a diagram showing the configuration of the device in the state where the tape cutting unit is moved to the standby position, and (b) is a diagram showing the configuration of the device in the state where the tape cutting unit is moved to the cutting position. be.

Hereinafter, examples of the present invention will be described with reference to the drawings. The configuration of the double-sided tape to be attached using the tape attaching device according to the embodiment is the same as that of the conventional double-sided tape 200 shown in FIG. 20 (b).

<Explanation of the overall configuration>
FIG. 1 is a front view showing a basic configuration of the tape application device 1 according to the embodiment. As shown in FIG. 1, the tape affixing device 1 is composed of a cassette storage unit 5 in which a cassette holder 3 for accommodating a sticking cassette 31 is loaded, a sticking robot 6 for mounting and transporting the sticking cassette 31, and a sticking cassette 31. Has been done.

In this embodiment, it is assumed that three cassette holders 3 are provided in the cassette storage unit 5. The three cassette holders 3 are designated by reference numerals 3a to 3c to distinguish them from each other, and the attached cassettes 31 housed in each of the cassette holders 3a to 3c are designated by reference numerals 31a to 31c to distinguish them from each other. do.

The sticking robot 6 includes a robot arm 7 for mounting and transporting the sticking cassette 31 and a base 8. The robot arm 7 is connected to the base 8, and the base 8 is configured to be rotatable around a vertical axis by a first drive mechanism (not shown). The robot arm 7 includes joint portions 7a to 7c, and the joint portions 7a to 7c are rotationally driven around a horizontal axis by a second drive mechanism (not shown). A cassette mounting portion 9 is provided at the tip portion 7d of the robot arm 7.

FIG. 2A is a front view illustrating the configuration of the cassette mounting portion 9. The cassette mounting unit 9 includes a main body base 11, a cassette fixing unit 13, a tape cutting unit 15, and a tape remaining amount detecting unit 17. The main body base 11 is connected to the tip portion 7d of the robot arm 7.

In this embodiment, the tip portion 7d can be rotationally driven around the horizontal axis along the trajectory indicated by the reference numeral RA in FIG. 1 by driving the joint portion 7a, and around the vertical axis along the trajectory indicated by the reference numeral RB. It shall be configured so that it can be driven to rotate. Therefore, the main body base 11 is configured to be freely displaceable by driving the base end portion 8 and the joint portions 7a to 7c.

The cassette fixing portion 13 is provided substantially in the center of the main body base 11, and includes a mounting plate 19 and a guide claw 21. The mounting plate 19 has a tapered shape that tapers downward, and is mounted on one surface of the main body base 11 using screws or the like. The guide claw 21 is configured to project forward from the mounting plate 19, and as shown in FIG. 2B, a gap 23 is formed between the mounting plate 19 and the guide claw 21.

The sticking cassette 31 is mounted on the cassette mounting portion 9 by inserting the mounting fixing claw 45 of the sticking cassette 31, which will be described later, into the gap portion 23 and engaging the sticking cassette 31 with the cassette fixing portion 13. The mounted sticking cassette 31 is fixed at a predetermined position on the cassette mounting portion 9 by the cassette fixing portion 13.

The tape remaining amount detecting unit 17 is provided on the side portion of the main body base 11, and detects the remaining amount of the double-sided tape 200 loaded in the tape supply unit 35, which will be described later. The specific configuration of the tape remaining amount detection unit 17 will be described later.

Further, the tape sticking device 1 includes a control unit 50 as shown in FIG. 2 and the like. The control unit 50 includes a central processing unit (CPU) as an example, and controls each configuration of a first drive mechanism, a second drive mechanism, a tape cutting unit 15, a tape remaining amount detection unit 17, and the like. Further, the signal detected by the storage sensor is transmitted to the control unit 50, and the control unit 50 provides information on whether or not the sticking cassettes 31a to 31c are stored in each of the cassette holders 3a to 3c based on the transmitted signal, and the robot arm. Acquire information about the sticking cassette 31 mounted on the 7.

An input unit (not shown) is connected to the control unit 50, and the operator can input conditions such as a pasting start position and a pasting end position to the input unit. An example of the configuration of the input unit is a mouse input type console or a keyboard input type console. By automatically controlling each configuration according to various input conditions, the control unit 50 can automatically perform various operations related to the double-sided tape pasting process, such as mounting / replacement of the sticking cassette and rolling of the sticking roller. .. Therefore, the tape sticking device 1 is automated and unmanned by various automatic controls by the control unit 50.

<Structure of pasting cassette>
Here, the configuration of the sticking cassette 31 will be described. FIG. 3A is a front view illustrating the configuration of the sticking cassette 31. The sticking cassette 31 includes a cassette main body 33, a tape supply section 35, guide rollers 37a to 37c, a sticking roller 39, and a tape collecting section 41.

The tape supply unit 35 is provided on one surface of the cassette main body 33, and includes a rotation shaft unit 35a. The roll-wound double-sided tape 200 is loaded on the rotating shaft portion 35a and fed out to the sticking roller 39. The guide rollers 37a and 37b wind and guide the double-sided tape 200 loaded in the tape supply unit 35 to the sticking roller 39. Further, the tension of the double-sided tape 200 is maintained by the guide rollers 37a and 37b.

The sticking roller 39 is provided at the lower part of the sticking cassette 31, and is configured to project downward from the cassette main body 33. The sticking roller 39 presses the double-sided tape 200 guided by the guide roller against the work W from the side of the release paper 201, so that the adhesive material 203 is peeled from the release paper 201 and stuck to the work W. The guide roller 37c guides the release paper 201 (or the double-sided tape 200 on which the adhesive material 203 remains) from which the adhesive material 203 has been peeled off to the tape collecting unit 41.

The tape collecting unit 41 includes a rotating shaft unit 41a. The rotating shaft portion 41a winds up and collects the release paper 201 (or double-sided tape 200) guided by the guide roller 105c. It is preferable to provide a rotation stop mechanism (not shown) for stopping the rotation of each of the rotation shaft portion 35a and the rotation shaft portion 41a. The rotation stop mechanism can appropriately control the rotation shaft portion 35a and the rotation shaft portion 41a in a rotation stop state in which the rotation of the rotation shaft is impossible, according to the signal of the control unit 50.

As shown in FIGS. 3 (b) and 3 (c), a mounting fixing claw 45 and a storage fixing claw 46 are provided on the other surface (back surface) of the cassette body 33. FIG. 3B is a rear view of the sticking cassette, and FIG. 3C is a right side view of the sticking cassette 31. For convenience of explanation, in FIGS. 3 (b) and 3 (c), the configurations other than the cassette main body 33, the mounting fixing claw 45, and the storage fixing claw 46 are not shown.

The mounting fixing claw 45 and the storing fixing claw 46 are fixed to the cassette body 33 by screws or the like. Further, the mounting fixing claw 45 has a tapered shape that tapers downward, corresponding to the shape of the mounting plate 19 of the cassette fixing portion 13.

The sticking cassette 31 is mounted on the cassette mounting portion 9 by inserting the mounting fixing claw 45 into the gap portion 23 shown in FIG. 2 (b). Since the mounting fixing claw 45 has substantially the same shape and size as the mounting plate 19, the mounting fixing claw 45 inserted into the gap 23 of the cassette fixing portion 13 can be prevented from being displaced. Therefore, the position of the sticking cassette 31 mounted on the cassette mounting portion 9 via the cassette fixing portion 13 is fixed relative to the cassette mounting portion 9. Therefore, it is possible to prevent the positions of the tape supply section 35 and the tape recovery section 41 from shifting when the sticking cassette 31 is newly replaced.

Here, a configuration for storing the sticking cassette 31 in the cassette holder 3 will be described. As shown in FIG. 4A, each of the cassette holders 3 includes a front wall 4a and a storage sensor 4b.

The front wall 4a is engaged with the storage fixing claw 46 of the sticking cassette 31 to fix the sticking cassette 31. That is, as shown in FIGS. 4 (b) and 4 (c), the sticking cassette 31 is displaced downward and the storage fixing claw 46 is engaged with the front wall 4a, so that the sticking cassette 31 is attached to the cassette holder 3. It is stored. The position of the sticking cassette 31 stored in the cassette holder 3 is fixed by the engagement between the storage fixing claw 46 and the front wall 4a.

When the sticking cassette 31 is housed in the cassette holder 3, the storage sensor 4b detects the sticking cassette 31. As an example, the storage sensor detects the presence of the sticking cassette 31 by an infrared sensor. By detecting the sticking cassette 31, the storage sensor 4b transmits a signal to the control unit 50 that the sticking cassette 31 is stored in the cassette holder 3.

In each of the sticking cassettes 31, the roll-wound double-sided tape 200 is preloaded in the rotating shaft portion 35a, and the double-sided tape 200 is further loaded from the rotating shaft portion 35a to the outer peripheral surface of the sticking roller 39 by the guide rollers 37a to 37c. It is configured in advance so that it is wound and guided to the rotating shaft portion 41a via the rotating shaft portion 41a.

By using the sticking cassette 31 in which the double-sided tape 200 is loaded and wound in advance in this way, the preparation for sticking the double-sided tape 200 is completed by a simple operation of inserting the sticking cassette 31 into the cassette holder 3. do. That is, when affixing the double-sided tape, an operation of loading the original roll of the double-sided tape into the rotating shaft portion or an operation of pulling out a part of the double-sided tape and manually guiding the double-sided tape to the affixing roller and the tape collecting portion. You can save the trouble of doing it.

Further, each of the unitized sticking cassettes 31 is configured so that the position of the double-sided tape 200 is uniformly set to a predetermined position at the time of manufacture. Therefore, by sticking the double-sided tape 200 using the sticking cassette 31, it is possible to prevent the double-sided tape 200 from being misaligned due to the manual loading and winding guidance operations.

Further, the sticking cassette 31 is provided with a lightweight and minimum necessary configuration such as a double-sided tape 200, a sticking roller 39, and a rotating shaft portion. On the other hand, a heavy device such as a control unit 50, a tape cutting unit 15, and various drive mechanisms is arranged in the tape sticking device 1 as a configuration different from that of the sticking cassette 31. Therefore, the weight of the sticking cassette 31 can be further reduced, so that the sticking cassette 31 can be mounted and handled by an arm-type robot. By handling the sticking cassette 31 using an arm-type robot, the accuracy of the position where the double-sided tape 200 is stuck can be greatly improved.

<Structure of tape cutting unit>
Next, the configuration of the tape cutting unit 15 will be described with reference to each of FIGS. 5 and 6. The tape cutting unit 15 includes a support shaft 47, a unit main body 49, a roller fixing member 51, and a cutter unit 53. The support shaft 47 is rotatable around an axis in the y direction.
The tape cutting unit 15 is moved to a standby position (FIG. 5 (a)) separated from the attachment roller 39 by rotation of the support shaft 47 and a cutting position (FIG. 5 (b)) in contact with the attachment roller 39. Displace. Further, the rotation of the support shaft 47 is controlled by the control unit 50.

The roller fixing member 51 is provided at the lower part of the unit main body 49, and comes into contact with the sticking roller 39 at the cutting position shown in FIG. 5 (b). The shape of the inner surface of the roller fixing member 51 is configured to be substantially the same as the shape of the outer peripheral surface of the sticking roller 39. Therefore, the area of the roller fixing member 51 that abuts on the sticking roller 39 can be made wider, so that when the tape cutting unit 15 moves to the cutting position, the distance between the cutter unit 53 and the sticking roller 39 is surely set to a predetermined distance H. can do.

Further, when the tape cutting unit 15 moves to the cutting position, the roller fixing member 51 connected and fixed to the unit main body 49 is pressed against the sticking roller 39, so that the position of the tape cutting unit 15 moved to the cutting position shifts. Can be avoided. Therefore, the posture of the tape cutting unit 15 at the cutting position can be maintained more stably. Further, the rotation of the sticking roller 39 can be stopped by bringing the roller fixing member 51 into contact with the sticking roller 39. That is, it is possible to prevent the cutting position of the adhesive material 203 from being displaced due to the rotation of the application roller 39 when the adhesive material 203 is cut, so that the accuracy of the application range of the adhesive material 203 can be further improved.

6 (b) and 6 (c) are cross-sectional views taken along the line BB in FIG. 5 (b). As shown in FIG. 6A, the cutter unit 53 includes a cutter holder 53a and a cutter 53b. A leather blade is used as an example of the cutter 53b. When the tape cutting unit 15 is moved to the cutting position, the cutter 53b is configured to be perpendicular to the surface of the double-sided tape 200 (see FIG. 14A and the like).

That is, since the surface of the cutter 53b and the extending direction of the cutting edge 53c of the cutter 53b are perpendicular to the direction in which the double-sided tape 200 is fed out to the sticking roller 39, the double-sided tape 200 is in the width direction by the cutter 53b, that is, the feeding direction. It is cut in the direction perpendicular to (y direction). In the embodiment, the width of the cutter 53b is configured to be wider than the width of the double-sided tape 200, and the extending direction of the cutting edge 53c is parallel to the surface of the double-sided tape 200.

The cutter holder 53a is configured to slide and move in the y direction along the unit main body 49 according to the signal transmitted by the control unit 50. As the cutter holder 53a slides, the cutter 53b and its cutting edge 53c also move in the y direction. As the cutter 53b and the cutting edge 53c slide in the y direction, the double-sided tape 200 guided by the sticking roller 39 is half-cut. That is, the cutter 53b cuts at least the entire layer of the adhesive material 203 in the double-sided tape 200.

When the tape cutting unit 15 is moved to the cutting position, the cutting edge 53c of the cutter 53b comes into contact with the adhesive layer 203 so as to be pressed from the surface in a direction perpendicular to the surface of the adhesive layer 203, and penetrates the adhesive layer 203 (FIG. 6B). .. Then, by sliding the cutter 53b penetrating the adhesive layer 203 in the y direction, a cutting error of the adhesive layer 203 can be reliably avoided.

Further, in the embodiment, by sliding the cutter 53b in the y direction, the adhesive 203 adhering to the cutting edge 53c of the cutter 53b flows in the direction opposite to the moving direction of the cutter 53b. Therefore, it is possible to prevent the adhesive material 203 from remaining in the portion of the cutting edge 53c that comes into contact with the adhesive material 203 and deteriorating the cutting edge 53c, so that the frequency of cleaning and replacing the cutting edge 53c can be reduced.

Next, the configuration of the tape remaining amount detecting unit 17 will be described with reference to FIGS. 7 (a) and 7 (b). The tape remaining amount detection unit 17 includes a support shaft 55, a detection plate 57, and a detection mechanism 59. The support shaft 55 is configured to be rotatable around an axis in the y direction, and is connected to the detection plate 57. The detection plate 57 rotates about an axis in the z direction according to the rotation of the support shaft 55, and comes into contact with the outer peripheral surface of the roll-shaped double-sided tape 200 loaded in the tape supply unit 35. The rotation of the support shaft 55 is controlled by the control unit 50.

The detection mechanism 59 is composed of a potentiometer and an encoder as an example, and is based on an angle F between the detection plate 57 in contact with the outer peripheral surface of the double-sided tape 200 and the horizontal direction (here, the x direction), and the tape supply unit 35. The remaining amount of the double-sided tape 200 loaded in the is detected. That is, the angle F becomes smaller when the remaining amount of the double-sided tape 200 is smaller than when the remaining amount of the double-sided tape 200 is large (FIG. 7 (a)).

Then, when the angle F becomes smaller than a predetermined value, it can be detected that the sticking cassette 31 needs to be replaced. In this case, the detection mechanism 59 transmits a signal to the control unit 50. The control unit 50 controls the sticking robot 6 based on the signal of the detection mechanism 59 to replace the sticking cassette 31.

That is, according to the signal transmitted by the control unit 50, the robot detaches the sticking cassette 31 from which the remaining amount of the double-sided tape 200 is low from the cassette fixing unit 13 and stores it in the cassette holder 3. Then, a new sticking cassette 31 in which a sufficient amount of double-sided tape 200 is loaded and wound in advance is attached to the cassette fixing portion 13. The details of the process of replacing the sticking cassette 31 will be described later.

<Explanation of operation>
Next, the operation of the tape sticking device 1 according to the embodiment will be described. FIG. 8 is a flowchart illustrating the operation of the tape application device. It is assumed that the work W to which the double-sided tape 200 is attached is placed on the holding table R in a horizontal posture. However, the work W and the holding table R may be appropriately tilted according to the configuration of the tape affixing device 1.

Step S1 (Installation of pasting cassette)
First, the sticking cassette 31 loaded with the double-sided tape 200 is attached to the robot arm 7. The control unit 50 appropriately controls the first drive mechanism and the second drive mechanism to move the cassette mounting unit 9 connected to the tip portion 7d of the robot arm 7 to the cassette supply unit 5 as shown in FIG. .. Further, as shown in FIG. 10A, the control unit 50 brings the cassette fixing unit 13 provided in the cassette mounting unit 9 closer to the back surface of the sticking cassette 31 housed in the cassette holder 3.

Then, with respect to the sticking cassette 31, the mounting fixing claw 45 provided on the back surface of the cassette main body 33 is inserted into the gap 23 of the cassette fixing portion 13 shown in FIG. 2 (b), whereby the mounting fixing claw 45 is inserted. Is engaged with the cassette fixing portion 13. By engaging the mounting fixing claw 45 with the cassette fixing portion 13, the sticking cassette 31 is mounted on the robot arm 7 via the cassette fixing portion 13 and the main body base 11 (FIG. 10 (b)). In the embodiment, it is assumed that the sticking cassette 31a is selected and mounted on the robot arm 7.

Then, as shown in FIG. 10 (c), the robot arm 7 pulls up the sticking cassette 31 upward with the sticking cassette 31 attached. By pulling up the sticking cassette 31, the engagement between the storage fixing claw 46 and the front wall 4a is released, and the sticking cassette 31 is taken out from the cassette holder 3. When the sticking cassette 31 is attached to the robot arm 7, the tape cutting unit 15 has moved to the standby position (FIG. 5A). Further, both the rotary shaft portion 35a and the rotary shaft portion 41a are in the rotation stop state by the rotation stop mechanism.

Step S2 (Move to the pasting start position)
After the sticking cassette 31 is mounted on the robot arm 7, the sticking cassette 31 is moved to the sticking start position. That is, the operator inputs the information of the position (pasting start position Wa and pasting end position Wb) of the range in which the double-sided tape 200 is to be attached to the work W into the input unit. In addition, the operator also inputs information on the position (tape cutting position Wc) at which the double-sided tape is cut into the input unit in advance. The control unit 50 controls the drive of the first drive mechanism and the second drive mechanism based on the information input to the input unit.

As the base portion 8 rotates around the vertical axis according to the drive of the first drive mechanism, the sticking cassette 31 mounted on the robot arm 7 is conveyed from the cassette supply portion 5 to the upper side of the work W by the sticking robot 6. .. Further, by appropriately driving the joints 7a to 7c, the tip of the robot arm 7 moves appropriately in the horizontal direction and the vertical direction. As a result, the sticking roller 39 provided on the sticking cassette 31 moves above the sticking start position Wa. That is, the sticking roller 39 moves from the position shown by the dotted line to the position shown by the solid line in FIG. 12 (a).

Then, as shown in FIG. 12B, the double-sided tape 200 wound around the sticking roller 39 is pressed against the sticking start position Wa of the work W, and the adhesive material 203 comes into contact with the sticking start position Wa. The process of step S2 is completed by bringing the adhesive material 203 into contact with the sticking start position Wa.

Step S3 (Attach double-sided tape)
After the adhesive material 203 is brought into contact with the sticking start position Wa, the double-sided tape 200 is stuck. First, the control unit 50 releases the rotation stop state of the rotation shaft portion 35a and the rotation shaft portion 41a by controlling the rotation stop mechanism to the off state. When the rotation stop state is released, both the rotation shaft portion 35a and the rotation shaft portion 41a can rotate. As a result, the double-sided tape 200 can be fed out by the tape supply unit 35.

After the double-sided tape 200 can be unwound, the control unit 50 controls the first drive mechanism and the second drive mechanism to move the main body base 11 in the x direction. By moving the main body base 5, the sticking roller 39 rolls from the sticking start position Wa to the sticking end position Wb while maintaining the state where the double-sided tape 200 wound around the sticking roller 39 is pressed against the work W. (FIG. 13 (a)).

As the sticking roller 39 rolls on the work W in the direction indicated by the reference numeral S, the double-sided tape 200 is indicated by the reference numeral P from the tape supply unit 35 as shown in FIGS. 13 (a) and 13 (b). It is delivered in the direction. The adhesive material 203 is peeled off from the release paper 201 and pressure-bonded to the work W according to the feeding of the double-sided tape 200 and the rolling of the sticking roller 39.

After the adhesive material 203 is peeled off, the release paper 201 is guided by the guide roller 37c and wound around the rotating shaft portion 41a of the tape collecting portion 41 to be collected. In this way, while sticking the adhesive material 203 to the work W, the sticking roller 39 is rolled from the sticking start position Wa to the tape cutting position Wc.

Step S4 (cutting double-sided tape)
When the sticking roller 39 rolls to the tape cutting position Wc, cutting of the double-sided tape 200 is started. When the cutting of the double-sided tape 200 is started, the control unit 50 rotates the support shaft 47 of the tape cutting unit 15 around the axis in the y direction. Due to the rotation of the support shaft 47, the tape cutting unit 15 moves from the standby position (FIG. 5 (a)) separated from the attachment roller 39 to the cutting position (FIG. 5 (b)) in contact with the attachment roller 39. Displace.

When the tape cutting unit 15 is displaced to the cutting position, the roller fixing member 51 comes into contact with the outer circumference of the sticking roller 39 (FIGS. 5 (b) and 6 (b)). When the roller fixing member 51 comes into contact with the cutter holder 53a, the distance between the cutter holder 53a and the sticking roller 39 is surely set to a predetermined distance H. Further, when the roller fixing member 51 presses, the rotation of the sticking roller 39 is stopped.

The distance N between the tape cutting position Wc and the sticking end position Wb is until the cutting position of the double-sided tape 200 on the surface of the sticking roller 39 and the end portion of the tape formed by cutting the double-sided tape 200 are stuck to the work. It is calculated based on the rolling distance of the sticking roller 39. In the embodiment, the control unit 50 calculates the distance N. The distance N may be calculated by a calculation means different from that of the control unit 50.

In the embodiment, the cutter 53b is configured to cut the double-sided tape 200 on the right side surface of the sticking roller 39. That is, the cut J is formed on the right side surface of the roller 39 by the cutting (FIG. 14 (a)). Then, when the notch J moves to the lower side of the sticking roller 39, the end portion of the double-sided tape 200 corresponding to the notch J is stuck to the work W. That is, it can be calculated in advance that the sticking roller 39 rolls a distance corresponding to 1/4 of the outer peripheral length after the notch J is formed and before the portion of the notch J is stuck to the work W.

Therefore, the tape cutting position Wc is set in advance so that the distance N between the tape cutting position Wc and the sticking end position Wb is 1/4 of the length of the outer circumference of the sticking roller 39. Note that FIG. 14A shows the configuration of the tape cutting unit 15 at the cutting position as in FIG. 5B, but for convenience of explanation, FIG. 14A omits the roller fixing member 51. Shown.

In this way, the tape cutting position Wc is attached based on the position where the double-sided tape 200 is cut on the surface of the attachment roller 39 and the position where the cut end of the double-sided tape is pressed against the work on the surface of the attachment roller 39. The positional relationship with the end position Wb can be calculated. By calculating the tape cutting position Wc in this way, the double-sided tape can be cut at an appropriate timing so that the cut end of the double-sided tape can be accurately attached to the work at the attachment end position.

Further, the cutter 53b comes into contact with the double-sided tape 200 in contact with the outer peripheral surface of the sticking roller 39 to cut the double-sided tape 200. Since the double-sided tape 200 is supported by the sticking roller 39 at the contact position with the cutter 53b, it is possible to prevent the double-sided tape 200 from being displaced when the cutter 53b and the double-sided tape 200 come into contact with each other. As a result, it is possible to preferably avoid a situation in which the accuracy of the sticking position of the double-sided tape 200 is lowered due to the cutting position of the double-sided tape 200 being deviated from the assumed position.

14 (b) is a plan view of FIG. 14 (a). The roller fixing member 51 is in contact with the outer peripheral surface of the sticking roller 39 so that the distance between the cutter unit 53 and the sticking roller 39 becomes a predetermined value H. Therefore, the distance between the cutter 53b and the double-sided tape 200 at the cutting position is determined according to the predetermined distance H. In the embodiment, the distance between the cutter 53b and the double-sided tape 200 is configured so that the cutter 53b can cut the double-sided tape 200 in half. That is, the cutter 53b is configured so that the adhesive material 203 of the double-sided tape 200 is completely cut, while the release paper 201 is not completely cut.

By moving the tape cutting unit 15 from the standby position to the cutting position shown in FIGS. 5 (b) and 14 (b), the cutter portion 53b is pressed against the double-sided tape 200 wound around the sticking roller 39. , The cutting edge 53c cuts the adhesive material 203 on the surface of the sticking roller 39.

After the tape cutting unit 15 moves from the standby position to the cutting position shown in FIGS. 5 (b) and 14 (b), the cutter 53b is slid in the width direction of the double-sided tape 200. That is, the control unit 50 moves the cutter holder 53a to the back side in the width direction (y direction) of the double-sided tape 200 by controlling the drive of the third drive mechanism (not shown).

The cutter 53b fixed to the cutter holder 53a slides in the y direction, which is the cutting direction of the double-sided tape 200, as the cutter holder 53a moves. The third drive mechanism corresponds to the cutter moving means in the present invention. By sliding the cutter 53b to the back side of the tape application device 1, the cutting edge 53c cuts the adhesive material 203 more reliably (FIG. 15 (a)).

Then, by sliding the cutter holder 53a in the y direction from the cutting start position shown in FIG. 14 (b) to the cutting end position shown in FIG. 15 (b), the adhesive material 203 is completely formed along the y direction. Will be disconnected. By cutting the adhesive material 203, a notch J is formed in the double-sided tape 200 on the right side surface of the sticking roller 39 (FIG. 16). Since the adhesive material 203 is cut by sliding the cutter 53b perpendicular to the surface of the double-sided tape 200 in the y direction, the notch J is formed so as to extend in the y direction.

After the notch J is formed, the control unit 50 moves the cutter holder 53a toward you in the y direction, rotates the support shaft 47 about the axis in the y direction, and moves the tape cutting unit 15 to the standby position. When the notch J is formed, the step of step S4 is completed.

Step S5 (Move to the pasting end position)
After the cutting of the double-sided tape is completed, the control unit 50 further controls the drive of the first drive mechanism to roll the sticking roller 39 from the tape cutting position Wc to the sticking end position Wb (FIG. 17A). At this time, the notch J is guided along the outer peripheral surface of the sticking roller 39 and moves from the right side to the lower side of the sticking roller 39. That is, when the sticking roller 39 rolls to the sticking end position Wb, the notch J comes into contact with the work W.

Step S6 (Separate the sticking roller from the work)
After rolling the sticking roller 39 to the sticking end position, the sticking roller is separated from the work. That is, the control unit 50 controls the rotation stop mechanism from the off state to the on state. As a result, the rotating shaft portion 35b and the rotating shaft portion 41a are in the rotation stopped state, so that the supply and collection of the double-sided tape 200 and the rolling of the sticking roller 39 are stopped.

After controlling the rotary shaft portion 35b and the rotary shaft portion 41a in the rotation stop state, the control unit 50 controls the second drive mechanism to move the tip portion of the robot arm 7 upward. As the robot arm 7 moves, the sticking roller 39 moves away from the work W and moves upward (FIG. 17 (b)). Since the adhesive material 203 is completely cut by the notch J, the front portion (adhesive material 203A) of the adhesive material 203 in the feeding direction P from the notch J is peeled off from the release paper 201 and attached to the work W. ..

On the other hand, the portion (adhesive material 203B) rearward from the notch J in the feeding direction P is separated from the work W together with the sticking roller 39 without being stuck to the work W. As a result, the adhesive material 203 of the double-sided tape 200 is evenly attached from the predetermined attachment start position Wa to the attachment end position Wb (FIG. 17 (c)).

By the steps from step S1 to step S6, the double-sided tape 200 is accurately attached to a predetermined range of the work W, that is, a range from the attachment start position Wa to the attachment end position Wb. When the double-sided tape 200 loaded in the sticking cassette 31a is stuck at another sticking position, the process returns to step S2 again and the steps from step S2 to step S6 are appropriately repeated.

By executing the steps from step S1 to step S6 in this way, the double-sided tape 200 can be attached to a predetermined range in the work W. At the end of step S6, the position of the notch J has moved to the lower side of the sticking roller 39. That is, the position of the end 203J of the adhesive material 203 is below the sticking roller 39, as at the start of step S1.

Therefore, by bringing the sticking roller 39 separated from the work W at the end of step S6 into contact with an appropriate position on the work W again, the contacted position is set as the sticking start position Wa, and the adhesive material is used. The pasting of 203 is started. Therefore, after the process of step S6 is completed, it is not necessary to feed out the double-sided tape 200 or rotate the sticking roller 39. That is, by bringing the sticking roller 39 separated from the work W into contact with the work W as it is, the sticking of the adhesive material 203 can be started again with the contacted position as the end. As a result, a sticking device for continuously sticking the double-sided tape to the work W can be realized with a simpler control mechanism.

Step S7 (Replacement of pasted cassette)
When the double-sided tape 200 to be attached to the work W is changed to the double-sided tape 200 having a different configuration, the attachment cassette 31 is replaced. As an example of the case where replacement is required, a double-sided tape 200 having a different tape width or tape material is newly attached to the work W, or the remaining amount of the double-sided tape 200 loaded in the tape supply unit 35 is below a certain level. In some cases, In this embodiment, a case where the load amount of the double-sided tape 200 is reduced in the sticking cassette 31a attached to the robot arm 7 and the sticking cassette 31a is replaced with the sticking cassette 31b will be described as an example.

As a result of repeating the sticking operation of the double-sided tape 200, when the amount of the double-sided tape 200 loaded on the rotating shaft portion 35a of the tape supply portion 35 becomes less than a predetermined amount, the detection mechanism 59 has an angle F between the horizontal axis and the detection plate 57. Is less than or equal to the predetermined value. By detecting the angle F that is equal to or less than a predetermined value, the detection mechanism 59 transmits a signal to the control unit 50 that the amount of the loaded double-sided tape 200 is insufficient. In this case, the control unit 50 starts the replacement of the sticking cassette 31 based on the signal of the detection mechanism 59.

In step S7, the control unit 50 controls the first drive mechanism and the second drive mechanism, so that the sticking cassette 31 (sticking cassette 31a) mounted on the robot arm 7 is provided in the cassette supply unit 5. It is moved upward of the holder 3a (FIG. 18). Then, by moving the cassette mounting portion 9 downward, the sticking cassette 31a is stored in the cassette holder 3a.

Further, by moving the robot arm 7 downward, the mounting fixing claw 45 provided on the back surface of the sticking cassette 31a is pulled out from the gap 23 of the cassette fixing portion 13. The sticking cassette 31a is detached from the robot arm 7 by pulling out the mounting fixing claw 45 from the gap 23.

After attaching and detaching the sticking cassette 31a, the control unit 50 brings the cassette mounting portion 9 of the robot arm 7 closer to the back surface of the sticking cassette 31b housed in the cassette holder 3b (FIG. 19). Then, the cassette fixing portion 13 is moved below the mounting fixing claw 45 provided on the sticking cassette 31b. By moving the cassette mounting portion 9 upward in this state, the mounting fixing claw 45 is housed in the gap portion 23 of the cassette fixing portion 13 (see FIGS. 10A to 10C).

By storing the mounting fixing claw 45 in the gap 23, the sticking cassette 31b is mounted on the robot arm 7. By changing the sticking cassette to be mounted on the robot arm 7 from the sticking cassette 31a to the sticking cassette 31b, the replacement of the sticking cassette according to the step S7 is completed. After the step of step S7 is completed, the process returns to step S2, and the double-sided tape 200 is appropriately attached using the attachment cassette 31b.

As described above, in the tape sticking apparatus according to the embodiment, the double-sided tape 200 can be easily and quickly replaced by replacing the sticking cassette 31 together. A sufficient amount of double-sided tape 200 is preloaded in the tape supply unit 35 in the replaced attachment cassette 31b. As described above, by detecting the remaining amount of the double-sided tape 200 and automatically and promptly replacing the sticking cassette 31, it is possible to preferably avoid a decrease in yield due to insufficient loading amount of the double-sided tape 200.

Further, even when it becomes necessary to newly attach the double-sided tape 200 having a different tape width to the work W, the requirement can be promptly satisfied by replacing the attachment cassette again. As an example, a sticking cassette 31c in which double-sided tapes 200 having different tape widths are loaded and wound in advance is stored in a cassette holder 3c. Then, when the double-sided tapes 200 having different tape widths are attached to the work W, the attachment cassette 31 attached to the robot arm 7 is replaced with the attachment cassette 31c.

In this way, in the embodiment, it is possible to realize an automated tape application device that can handle a wider variety of conditions. It should be noted that the case is not limited to the case where the double-sided tapes 200 having different tape widths are continuously used, and by using the sticking cassette 31 in which the double-sided tapes 200 having different constituent materials are loaded and wound, the characteristics such as adhesive strength can be obtained. It is possible to continuously attach different double-sided tapes 200 to the same work W.

<Effect of the configuration of the example>
In the conventional sticking jig 100, the sticking roller is rolled to the sticking end position without using a cutter blade, and then the adhesive material 203 is broken so as to be torn off. Therefore, the boundary line of the region where the adhesive material 203 is attached at the attachment end position Wb is a non-uniform line (meandering line) (FIG. 23). As a result, it has been difficult to improve the accuracy of the position of the sticking range of the double-sided tape 200. Further, when the adhesive material 203 is broken so as to be torn off to finish the attachment of the double-sided tape 200, and then the double-sided tape 200 is attached to another work W again.

Further, when a relatively hard material such as polyethylene phthalate (PET) is used as the adhesive material 203 of the double-sided tape 200, the adhesive material 203 is broken by pulling the sticking jig 100 so as to separate it from the work W. That is difficult. Therefore, in the conventional sticking jig 100, there is a concern that the material that can be used as the adhesive material 203 of the double-sided tape 200 is very limited.

On the other hand, the tape sticking device 1 according to the embodiment includes a tape cutting unit 15, and uses a cutter 53b to cut the adhesive material 203 of the double-sided tape 200. Therefore, the adhesive material 203 is attached in a uniform linear shape along the width direction of the double-sided tape 200 (the direction perpendicular to the feeding direction of the double-sided tape 200) (FIG. 17B).

That is, the boundary line of the region where the adhesive material 203 is attached at the attachment start position Wa and the application end position Wb is a straight line parallel to the width direction (y direction) of the double-sided tape 200. Therefore, since the double-sided tape 200 can be accurately attached to the range assumed in advance, the accuracy of the position of the attachment range of the double-sided tape 200 by the tape attachment device 1 can be further improved. Further, even when a hard material such as PET is used as the adhesive material 203, the adhesive material 203 can be suitably cut by the sharp cutter 53b. Therefore, a wider variety of materials can be used as the adhesive material 203 of the double-sided tape 200.

Further, the tape sticking device 1 according to the embodiment includes a roller fixing member 51. When the tape cutting unit 15 is displaced to the cutting position, the roller fixing member 51 abuts on the outer circumference of the sticking roller 39 so that the distance between the cutter holder 53a and the sticking roller 39 is set to a constant value H (FIG. FIG. 5 (b) and FIG. 6 (b)). When the roller fixing member 51 comes into contact with the outer peripheral surface of the sticking roller 39, the distance between the cutter 53b and the sticking roller 39 is surely set to a predetermined distance.

Therefore, the cutter 53b at the cutting position does not excessively approach or separate from the double-sided tape 200 that is wound and guided by the sticking roller 39. As a result, it is possible to prevent the cutter 53b from completely cutting the layer of the release paper 201 of the double-sided tape 200, and the cutter 53b from incompletely cutting the layer of the adhesive material 203 to cause a sticking failure. In this way, the cutter 53b can reliably half-cut the double-sided tape 200 made of the release paper 201 and the adhesive material 203, so that the layer of the adhesive material 203 is completely cut and firmly attached to the work W. In addition, it is possible to reliably prevent the layer of the release paper 201 from being cut and a recovery failure in the tape recovery unit 41 from occurring.

Then, even when the support shaft 47 is rotationally driven more than necessary, the roller fixing member 51 comes into contact with the outer periphery of the sticking roller 39, so that it is possible to prevent the cutter 53b from excessively approaching the sticking roller 39. Therefore, it is not necessary to unnecessarily improve the control accuracy of the rotation angle of the support shaft 47 by the control unit 50, so that the position control mechanism of the tape cutting unit 15 can have a simpler structure.

In the embodiment, the double-sided tape 200 wound around the sticking roller 39 is half-cut to form a notch J in the double-sided tape 200 wound around the sticking roller 39. Then, the double-sided tape 200 having the notch J formed is fed out along the sticking roller 39, so that the adhesive material 203 having the notch J formed is attached to the work W.

That is, in the configuration of the embodiment, since the adhesive material 203 of the double-sided tape 200 is not attached to the work W and then cut, the problem that the cutter blade 53 damages the work W can be reliably avoided. Further, since one surface of the adhesive material 203 is surely protected by the release paper 201 when the cutter 53b cuts the adhesive material 203, dust or the like adheres to the adhesive material 203 at the time of cutting, so that the adhesive material 203 is formed. It is possible to surely avoid a decrease in the adhesive strength of 203. Further, since the cutter 53b is applied to the double-sided tape 200 supported by the sticking roller 39 having a certain hardness for cutting, the sticking range of the double-sided tape 200 is caused by the cutting position being deviated from the planned position. It is possible to avoid a decrease in accuracy.

The tape sticking device 1 according to the embodiment has a structure in which a sticking cassette 31 in which the double-sided tape 200 is preloaded is mounted on the robot arm 7. Therefore, when the remaining amount of the double-sided tape 200 is low, the sticking cassette 31 with the low remaining amount is detached, and another sticking cassette 31 loaded with a sufficient amount of the double-sided tape 200 is attached to the robot arm 7. By doing so, the process of attaching the double-sided tape 200 can be continued.

The sticking cassette 31 includes a tape supply section 35 for loading the double-sided tape 200, a sticking roller 39 for sticking the double-sided tape 200 to the work W, and a tape collecting section 41. That is, the cassette-shaped sticking cassette 31 has the minimum necessary configuration for winding and guiding the double-sided tape 200. All of these configurations included in the sticking cassette 31 are easy to reduce in weight, and various drive devices and various control devices, which are difficult to reduce in weight, are arranged in the tape sticking device as a configuration different from the sticking cassette 31.

Therefore, since the sticking cassette 31 can be made lighter and simpler, the sticking cassette 31 can be precisely handled by using an arm-type robot or the like. Therefore, the automation and unmanned operation of the tape affixing device 1 can be more easily realized, and the accuracy of the affixing position of the double-sided tape 200 can be improved even when the tape affixing device 1 is automated.

In the tape sticking apparatus according to the embodiment, a sticking cassette 31 is realized in which a tape supply section 35 for loading the double-sided tape 200, a sticking roller 39, and a tape collecting section 41 are unitized. Therefore, the double-sided tape 200 can be easily and quickly replaced by replacing the entire sticking cassette 31.

As a result of repeating the sticking operation of the double-sided tape 200, when the amount of the double-sided tape 200 loaded in the tape supply unit 35 becomes less than a predetermined amount, the control unit 50 controls the drive of the robot arm 7 based on the signal of the detection mechanism 59. Then, the sticking cassette 31a in which the load amount of the double-sided tape 200 is reduced is automatically replaced with a new sticking cassette 31b. A sufficient amount of double-sided tape 200 is preloaded in the tape supply unit 35 in the replaced attachment cassette 31b.

In this way, the double-sided tape 200 can be continuously used by detecting the remaining amount of the double-sided tape 200 and automatically replacing the sticking cassette 31. Therefore, it is possible to preferably avoid a decrease in yield due to an insufficient loading amount of the double-sided tape 200. Further, in each of the unitized sticking cassettes 31, the double-sided tape 200 is uniformly loaded and wound in advance. That is, the relative positional relationship between the double-sided tape 200 and the sticking roller 39 in the sticking cassette 31a and the sticking cassette 31b is the same. Therefore, it is possible to preferably avoid the problem that the sticking position of the double-sided tape 200 shifts due to the relative position of the double-sided tape 200 and the sticking roller 39 changing due to the replacement of the double-sided tape 200.

The tape sticking device 1 according to the embodiment includes a control unit 50 including a CPU or the like, and controls the feeding of the double-sided tape 200 via the on / off of the brake drive unit 15 and the double-sided tape 200 by the tape cutting unit 15. It has a configuration that automatically controls cutting. Further, as described above, the tape remaining amount detecting unit 17 for detecting the remaining amount of the loaded double-sided tape 200 is provided, and when the remaining amount of the double-sided tape 200 becomes equal to or less than a predetermined value, the sticking cassette 31 is automatically attached. It is configured to be replaceable.

Therefore, since the double-sided tape affixing process by the tape affixing device 1 can be easily automated, the automated tape is used for the process of affixing the double-sided tape for fixing the wire harness of the vehicle, which is highly required for automation and unmanned operation. The sticking device 1 can be applied. As a result, the tape sticking efficiency of the tape sticking device 1 can be improved, and the versatility of the tape sticking device 1 can be further improved.

The present invention is not limited to the above embodiment, and can be modified as follows.

(1) In the above-described embodiment, the configuration in which the sticking roller 39 rotates about the axis in the y direction and rolls on the work W in the x direction has been described as an example, but the sticking roller 39 is on the work W. The rolling direction may be changed as appropriate. As an example of the modification, there is a configuration in which the tip portion 7d of the robot arm 7 to which the sticking cassette 31 is mounted can be appropriately rotated around the axis in the z direction.

In such a modification, the rotation axis of the sticking roller 39 is not fixed in the y direction but is appropriately rotated around the axis in the z direction according to the control of the control unit 50. In this way, by appropriately changing the rolling direction of the sticking roller 39 in step S3, the sticking range of the double-sided tape 200 in the work W can be made into a more diverse shape including a curved line such as an S shape. .. Therefore, not only when the wire harness is extended in a straight line and fixed to the roof material, but also when the wire harness is extended in a curved shape such as an S shape and fixed, the wire harness is fixed with the double-sided tape 200. Applicable.

(2) In the above-described embodiment and each modification, the configuration in which the cutter 53b is slid in the width direction of the double-sided tape 200 when cutting the double-sided tape 200 may be omitted. That is, the adhesive material 203 may be cut only by the operation of pressing the cutting edge 53c of the cutter 53b against the double-sided tape 200.

(3) In the above-described embodiment and each modification, the tape remaining amount detecting unit 17 brings the detection plate 57 into contact with the outer peripheral surface of the loaded roll-shaped double-sided tape 200, and adjusts the angle of the detection plate 57. Based on this, the tape supply unit 35 detects the remaining amount of the double-sided tape 200, but the present invention is not limited to this. As another example of the configuration for detecting the remaining amount of the double-sided tape 200, there is a configuration in which a marker is attached in the middle of the roll-shaped double-sided tape 200. In such a modification, the detection mechanism 59 or the like detects that the double-sided tape 200 at the portion to which the marker is attached is unwound, thereby detecting that the remaining amount of the double-sided tape 200 is low. Further, the configuration for detecting the remaining amount of the double-sided tape 200 may be appropriately changed to another configuration.

(4) In the above-described embodiment and each modification, the tape sticking device 1 is not limited to the configuration of the tape sticking device for sticking the double-sided tape 200 to the work, and may be configured to stick the single-sided tape to the work. .. As shown in each figure of FIG. 24A, the single-sided tape 300 has a structure in which a layer of a non-adhesive base material 301 and a layer of an adhesive adhesive material 303 are laminated.

The range for cutting each tape is different between the configuration of the embodiment in which the double-sided tape 200 is attached and the configuration of the modified example (5) in which the single-sided tape 300 is attached. Hereinafter, the range for cutting the tape will be described with reference to each figure of FIG. 24.

When the double-sided tape 200 is attached to the work, the cutter blade 53b cuts the double-sided tape 200 by cutting at least the layer of the adhesive material 203 (FIGS. 14 (a) and 24 (b) above). That is, the notch J made by the cutter blade 53b completely cuts the layer of the adhesive material 203, while leaving at least a part of the layer of the release paper 201 uncut to cut the double-sided tape 200 in half. Cut (FIG. 16, FIG. 24 (b) below).

In contrast to the configuration of the embodiment, when the single-sided tape 300 is attached to the work as in the modified example (5), the cutter blade 53b cuts not only the layer of the adhesive material 301 but also the layer of the base material 303 to form the single-sided tape. Cut 300 (FIG. 24 (c)). As described above, regarding the cross section of the tape, the range in which the double-sided tape 200 is cut and the range in which the single-sided tape 300 is cut are different.

Further, regarding the surface of the tape, the range in which the double-sided tape 200 is cut and the range in which the single-sided tape 300 is cut are also different. 24 (c) and 24 (d) show the range in which the cutter blade 53b cuts (the range in which the notch J is formed) on the surface of each tape.

In the embodiment, as shown in FIG. 24C, the double-sided tape 200 is cut from one end to the other end in the width direction to form a notch J. On the other hand, when the single-sided tape 300 is attached to the work, the single-sided tape 300 is cut leaving a small amount of both ends E in the width direction. That is, since notches J are not formed at both end portions E in the width direction, the front portion (base material 301A and the adhesive material 303A) in the feeding direction P from the notch J and the rear portion (base) in the feeding direction P from the notch J. The material 301B and the adhesive material 303B) are connected to each other via both end portions E.

Each step of the operation according to the modification (5) in which the single-sided tape 300 is attached to the work W is the same as each step of the operation according to the embodiment. That is, the single-sided tape 300 is attached to the attachment start position Wa in steps S1 to S3. Then, in step S4, the single-sided tape 300 supported by the sticking roller 39 is cut in the width direction (y direction) by the tape cutting unit 15 moved to the cutting position, leaving both ends E (FIG. 25). (A)). At this time, since the single-sided tape 300 is connected at both ends E, the single-sided tape 300 is not completely torn by the notch J.

Next, by rolling the sticking roller 39 from the tape cutting position Wc to the sticking end position Wb in step S5, the notch J moves to the lower side of the sticking roller 39 (FIG. 25 (b)). Finally, in step S6, the sticking roller 39 that has rolled to the sticking end position Wb is separated from the work W, so that the slightly remaining both ends E are torn.

The base material 301B and the pressure-sensitive adhesive 303B are completely separated from the base material 301A and the pressure-sensitive adhesive 303A by the tearing of both ends E, and separate from the work W together with the sticking roller 39 (FIG. 25 (c)). As a result, the single-sided tape 300 is evenly attached from the predetermined attachment start position Wa to the attachment end position Wb. As described above, the tape affixing device according to the present invention can accurately affix various tapes such as double-sided tape and single-sided tape to a predetermined range in the work W.

It is preferable to perform dissociation prevention treatment on the sticking roller 39 in order to prevent the ends X of the base material 301B and the adhesive material 303B formed by the tearing of both ends E from hanging away from the sticking roller 39. .. Examples of the dissociation prevention treatment include adhesive treatment and static electricity treatment. When the sticking roller 39 is subjected to the adhesive treatment, the terminal X is adhered to the sticking roller 39, so that it can be prevented from dissociating and hanging down. When the sticking roller 39 is subjected to the electrostatic treatment, the terminal X is attracted to the sticking roller 39 by the static electricity, so that the sticking roller 39 can be prevented from hanging down.

Further, in the static electricity treatment or the like, the base material 301A and the adhesive material 303A are suitably dissociated from the sticking roller 39 and stuck to the work W by appropriately adjusting the timing at which static electricity is generated and the strength of the static electricity. The end X of the material 301B and the adhesive material 303B can be suitably separated from the work W together with the sticking roller 39.

(5) In the above-described examples and the like, it is preferable that the guide roller 37b shown in FIG. 3 is subjected to a non-adhesive treatment such as coating with Teflon (registered trademark). FIG. 26A is an enlarged view of the guide roller 37b shown in FIG. As shown in FIG. 26A, the guide roller 37b appropriately maintains the tension of the double-sided tape 200 being wound and guided by coming into contact with the adhesive material 203 of the double-sided tape 200 on its outer peripheral surface Pa. .. Therefore, by performing the non-adhesive treatment on the outer peripheral surface Pa in advance, it is possible to more reliably prevent the occurrence of a sticking error of the double-sided tape 200 due to the adhesion of the adhesive material 203 to the guide roller 37b.

The configuration in which the double-sided tape 200 is wound around the guide roller 37b is not limited to the configuration shown in FIG. 26 (a), and as shown in FIG. 26 (b), the release paper is provided with respect to the outer peripheral surface Pa. The double-sided tape 200 may be wound and guided so that the 201 is in contact with the tape. In this case, since the non-adhesive release paper 201 comes into contact with the guide roller 37b, it is possible to more reliably prevent an error in attaching the double-sided tape 200 to the work W without performing the non-adhesive treatment.

Further, in a configuration in which the release paper 201 and the guide roller 37b are in contact with each other, it is preferable that the guide roller 37 further includes a collar portion Pc as shown in FIG. 26 (c). As shown in the right figure of FIG. 26 (d), the flange portions Wc are provided at both ends of the guide roller 37 in the width direction, and share the axial center Pb with the cylindrical portion having the outer peripheral surface Pa. By providing the flange portion Pc, it is more certain that the double-sided tape 200 in contact with the guide roller 37b via the non-adhesive release paper 201 is displaced in the width direction (y direction) of the guide roller 37b. To prevent.

(6) In the above-described embodiment and each modification, the sticking robot 6 may be provided with an elastic mechanism in order to cope with a more complicated shape of the work. When the tape is attached to a work such as a roof material, the work W is not limited to a flat structure and may have a complicated shape such as a curved surface as shown in FIG. 27 (a). When the work W has a curved surface, it is necessary to quickly and accurately attach the tape to both the region Wf having a relatively low height in the work W and the region Wh having a relatively high height in the work W.

Therefore, in the modified example according to (6), as shown in FIG. 27 (b), the sticking robot 6 is provided with an elastic mechanism 56 at the tip portion 7d. The elastic mechanism 52 is connected to each of the main body base 11 of the cassette mounting portion 9 and the tip portion 7d of the robot arm 7. The elastic mechanism 56 absorbs the displacement of the sticking roller 39, particularly the displacement in the height direction. Examples of the configuration used as the elastic mechanism 56 include an elastic body such as a spring and an air cylinder.

FIG. 27 (c) shows a state in which the area Wf is attached and the roller 39 is rolling on the work W, and FIG. 27 (d) shows the area Wh having a relatively high height as compared with the area Wf. Indicates that is rolling. When the sticking roller 39 rolls on the region Wf, the height of the sticking roller 39 is relatively low, so that the elastic mechanism 56 is in a relatively contracted state. On the other hand, when the sticking roller 39 rolls on the region Wh, the height of the sticking roller 39 is relatively high. At this time, the elastic mechanism 56 is quickly extended according to the height difference Hs of the sticking roller 39.

In this way, the elastic mechanism 56 expands and contracts according to the height difference Hs, so that the sticking roller 39 can be moved to the work W without changing the position of the robot arm 7 according to the height difference Hs on the surface of the work W. It can be rolled in a state of being in close contact with each other. Therefore, even if the work W has a complicated shape such as a curved surface, the double-sided tape 200 can be uniformly stuck to the sticking robot 6 so as to accurately follow the shape of the work W without the need for complicated teaching.

Although the elastic mechanism 56 is connected to the upper side of the tip portion 7d in FIG. 26B, it may be connected to the lower side of the tip portion 7d. In this case, by using a compression spring or the like as the elastic mechanism 56, it is possible to realize a tape affixing device 1 capable of accurately following a work having a complicated shape and affixing the tape.

(7) In the above-described embodiment and each modification, as shown in FIGS. 28 (a) and 28 (b), the elastic member 52 is attached to the tape cutting unit 15 for the purpose of cutting the tape more reliably. It may be configured to be connected. One end of the elastic member 52 is connected to the support shaft 47 via a plate-shaped member 54, and the other end of the elastic member 52 is connected to the main body base 11. As an example of the configuration of the elastic member 52, a spring or the like can be mentioned.

When the tape cutting unit 15 is in the standby position, the elastic member 52 is in a relatively stretched state, and the tip of the plate-shaped member 54 connected to the elastic member 52 is located relatively downward (FIG. 28 (FIG. 28). a)). When the tape cutting unit 15 is moved from the standby position to the cutting position, the tip of the plate-shaped member 54 moves upward due to the contraction of the elastic member 52, and the support shaft 47 rotates (FIG. 28 (b)). By adjusting the elastic force of the elastic member 52, the magnitude of the pressing force K generated in the direction indicated by the reference numeral K can be adjusted when the tape cutting unit 15 is displaced to the cutting position.

When a configuration is adopted in which the distance between the cutter unit 53 and the sticking roller 39 is set to a constant value H by the roller fixing member 51, the adhesive material 203 is made uniform in the width direction due to the variation in the thickness of the adhesive material 203 of the double-sided tape 200. It is possible that you will not be able to disconnect. It has been found that the release paper 201 has a higher resistance to cutting than the adhesive material 203 due to the difference in the generally used constituent materials.

Therefore, by adjusting the pressing force K of the cutter 53b in consideration of the difference in cutting resistance between the adhesive material 203 and the release paper 201, a relatively strong pressing force K can be applied to the adhesive material 203. .. Therefore, the cutting edge 53c of the cutter 53b can be stopped by the layer of the release paper 201 having a high cutting resistance while surely cutting the layer of the adhesive material 203 having a low cutting resistance with the cutter 53b. By providing the elastic member 52, even if the structure includes the roller fixing member 51, half-cutting of the double-sided tape 200 can be realized more reliably.

1 ... Tape sticking device 3 ... Cassette holder 6 ... Sticking robot 7 ... Robot arm 9 ... Cassette mounting part 13 ... Cassette fixing part 15 ... Tape cutting unit 17 ... Tape remaining amount detection unit 31 ... Sticking cassette 35 ... Tape supply part 35a ... Rotating shaft part 39 ... Sticking roller 41 ... Tape collecting part 41a ... Rotating shaft part 50 ... Control unit 53 ... Cutter unit 53a ... Cutter holder 53b ... Cutter blade 200 ... Double-sided tape 201 ... Release paper 203 ... Adhesive material 300 ... Single-sided tape

Claims (8)

A cassette holder for storing tape-attached cassettes and
A transport unit that mounts the tape-attached cassette stored in the cassette holder and conveys it to the work.
A tape applying apparatus Ru provided with,
The tape sticking cassette is
A tape supply unit that loads and feeds roll-shaped adhesive tape,
The work is provided with a sticking roller that presses the adhesive tape that is fed and supplied from the tape supply unit against the work to attach the adhesive tape to the work.
The adhesive tape is pre-loaded in the tape supply section and
The adhesive tape is configured to be wound and guided from the tape supply unit to the sticking roller in advance.
The transport unit
An engaging portion that engages with the tape attachment cassette,
A tape cutting unit provided with a cutter for cutting the adhesive tape, and
A driving means for rolling the sticking roller in an arbitrary direction on the work, and
A control unit that controls the rolling of the sticking roller and the mounting of the tape sticking cassette by the driving means.
A tape affixing device equipped with. In the tape sticking apparatus according to claim 1,
A plurality of the cassette holders are arranged.
The transport unit is a tape sticking device including a cassette determination unit for determining the tape sticking cassette to be mounted among each of the tape sticking cassettes housed in the plurality of cassette holders. In the tape sticking apparatus according to claim 1 or 2.
The transport unit
A cutter that drives the tape cutting unit so that a cutting position where the cutter comes into contact with the adhesive tape to cut the adhesive tape and a non-cutting position where the cutter separates from the adhesive tape can be moved to each other. A tape sticking device provided with a driving means. In the tape sticking apparatus according to claim 3,
The cutter driving means is a tape sticking device that further slides the cutter moved to the cutting position in the direction of cutting the adhesive tape. In the tape sticking apparatus according to claim 3 or 4.
The tape cutting unit includes a roller fixing member that comes into contact with the outer peripheral surface of the sticking roller when the cutter moves to the cutting position.
A tape sticking device that stops the rotation of the sticking roller and maintains the cutter and the adhesive tape in a predetermined positional relationship when the roller fixing member comes into contact with the outer peripheral surface of the sticking roller. In the tape affixing apparatus according to any one of claims 1 to 5.
The transport unit includes a tape remaining amount detecting unit that detects the remaining amount of the adhesive tape loaded in the tape supply unit, and a tape remaining amount detecting unit.
When the tape remaining amount detecting unit detects that the remaining amount of the adhesive tape is equal to or less than a predetermined value, the instruction means for instructing to replace the tape sticking cassette mounted on the conveying unit, and
A tape affixing device equipped with. A tape sticking cassette used in the tape sticking device according to any one of claims 1 to 6.
A tape supply unit that loads and feeds roll-shaped adhesive tape,
The work is provided with a sticking roller that presses the adhesive tape that is fed and supplied from the tape supply unit against the work to attach the adhesive tape to the work.
The adhesive tape is pre-loaded in the tape supply section and
The adhesive tape is a tape sticking cassette configured to be wound and guided from the tape supply unit to the sticking roller in advance. In the tape-attached cassette according to claim 7.
The adhesive tape is a double-sided tape having a release paper and a sheet-like adhesive material laminated on the release paper.
A tape collecting unit for winding and collecting the release paper to be peeled off from the adhesive tape is provided.
The adhesive tape is a tape sticking cassette configured to be wound and guided from the tape supply section to the tape recovery section via the sticking roller in advance.

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