JP7635179B2 - Attachment jig and work attachment method - Google Patents

Description

An embodiment of the present invention relates to a work attachment jig and a work attachment method for attaching a work, particularly a sheet-like work, to a receiving surface.

In recent years, a system has become known that uses an AGV (Automatic Guided Vehicle) as an autonomous mobile robot to automatically transport objects. There are several methods for autonomous travel of an AGV, and the most widely used method is the guidance method, in which the vehicle moves along magnetic tape, light-reflecting tape, two-dimensional codes, or other guided markings laid on the floor of a facility.

Figure 16 is a diagram for explaining a conventional guidance method using two-dimensional codes in an automated guided vehicle. As shown in Figure 16, in this guidance method, sheet-like workpieces W, each with a unique two-dimensional code printed on it, are laid out in a grid pattern at regular intervals on the floor surface F of the facility. The automated guided vehicle 90 can move to the target workpiece W by reading these laid out workpieces W as it travels. This type of guidance method in which two-dimensional codes are attached in a grid pattern allows the entire floor surface to be used as the travel path for the automated guided vehicle 90, making it suitable for cases in which multiple automated guided vehicles 90 travel simultaneously, and is therefore adopted in large facilities such as logistics centers and production factories.

The workpiece W has an adhesive applied to its underside, which is the surface that comes into contact with the floor F, and has a reference mark for alignment on that surface. When laying the workpiece W on the floor F, the workpiece W must be attached so that the reference mark aligns with a marking line L that has been drawn on the floor F beforehand. If adjacent workpieces W are attached out of position with each other, the stopping accuracy and straight-line movement of the automated guided vehicle 90 may deteriorate, or the automated guided vehicle 90 may malfunction, which may prevent the automated guided vehicle 90 from circling the workpiece W. Therefore, the attachment of the workpieces W must be done carefully.

A patch applicator is known that is used to apply a patch to a surface to be applied, and is characterized by having a generally cylindrical main body with a lower end serving as a pressure surface for the patch, an actuator that is mounted on the lower end of the device and is movable up and down within the main body with an adsorbent that adheres to the patch and can be exposed downward from the pressure surface, and a spring that presses the actuator upward when no load is applied, thereby holding the adsorbent inside the main body from the pressure surface (see Patent Document 1 below).

JP 2003-137240 A

However, the task of aligning and attaching the reference mark and marking line L on the workpiece W, which requires precision, requires multiple workers to hold the workpiece W and accurately align the reference mark and marking line L, which results in extremely poor workability and a huge amount of time.

The present invention was made to solve the above-mentioned problems, and aims to provide a technology that allows a patch to be attached accurately and easily to a surface.

To solve the above-mentioned problems, an embodiment of the present invention is characterized by including a holding section that holds the workpiece facing the surface to be affixed and spaced apart from the surface to be affixed, and a support section that supports the holding section so that it can rotate around the vertical direction and move along the vertical direction.

Embodiments of the present invention provide a technology that allows a patch to be attached accurately and easily to a surface.

FIG. 2 is a schematic front view showing the application jig according to the embodiment. FIG. 2 is a schematic side view showing the application jig according to the embodiment. FIG. 2 is a schematic plan view showing a pasting jig according to the embodiment. 2 is a cross-sectional view taken along line AA shown in FIG. 1. FIG. 4 is a partially enlarged front view showing the suction plate and the photographing unit according to the embodiment. FIG. 4 is a schematic bottom view of the suction plate according to the embodiment. FIG. 2 is a plan view showing a workpiece according to the embodiment; FIG. 2 is a diagram for explaining a shooting area of a camera according to an embodiment. 4 is a flowchart showing a workpiece attaching method according to the embodiment. 13A and 13B are diagrams for explaining connection of the pasting jig and lowering of the suction plate according to the embodiment. 11A and 11B are diagrams for explaining a state in which a workpiece is attracted to a suction plate in an ideal position according to the embodiment; 11A and 11B are diagrams for explaining an image of a shooting area displayed on a display of an information processing device in a state in which a workpiece is adsorbed at an ideal position on the suction plate according to the embodiment. 11A and 11B are diagrams for explaining a state in which a workpiece is adsorbed to the suction plate according to the embodiment at a position displaced from an ideal position. 13A and 13B are diagrams for explaining an image of a shooting area displayed on a display of an information processing device in a state in which a workpiece is adsorbed to an adsorption plate according to an embodiment in a position displaced from an ideal position. 13A and 13B are diagrams for explaining a display on a display of an information processing device according to a modified example of an embodiment. FIG. 1 is a diagram for explaining a guidance method using a two-dimensional code in a conventional automated guided vehicle.

Embodiments of the present invention will be described below with reference to the drawings. Note that in this specification and the drawings, components having substantially the same functional configurations are designated by the same reference numerals, and duplicated explanations will be omitted.

(Device configuration)
1 to 4 are respectively a schematic front view, a schematic side view, a schematic plan view, and a cross-sectional view along line A-A shown in Fig. 1, showing the application jig according to this embodiment. Fig. 2 shows a schematic right side view of the application jig 1 according to this embodiment. For the sake of explanation, Figs. 1 and 2 do not show the front side photographing unit 40 out of the four photographing units 40, and Fig. 3 shows only the housing 10.

The pasting jig 1 according to this embodiment uses a sheet-like material with a two-dimensional code attached as an attachment (workpiece W: target value for an automated guided vehicle) and pastes it onto the floor surface F of a facility, which is the surface to be pasted. As shown in Figures 1 to 3, the pasting jig 1 includes a housing 10, a four-axis moving stage 20, a suction plate 30, and four photography units 40.

(Housing 10)
The housing 10 is configured by assembling four vertical frames 110, four upper frames 120, and four lower frames 130, each formed to be long, in a generally lattice shape. The four vertical frames 110 extend in the vertical direction and are erected apart from each other so as to be located at the vertices of a rectangle in a plan view. An L-shaped connector 111 (see FIG. 2) is connected to the lower end of each vertical frame 110. A leg 112 is connected to the connector 111 so as to be movable in the vertical direction so as to keep the floor surface F and the suction plate 30 horizontal.

As shown in FIG. 3, one pair of the four upper frames 120 extend in the front-rear direction, and the other pair extend in the left-right direction, and are arranged to be located on the sides of a rectangle in a plan view, and are connected to the upper end of the vertical frame 110 whose both ends are close to each other. A top plate 121 extending in the left-right direction is provided between the pair of upper frames 120 extending in the front-rear direction. The top plate 121 is formed by connecting four upper frames extending in the left-right direction in the front-rear direction, and a support plate 122, which is a flat plate having a roughly rectangular shape in a plan view, is connected to its underside.

The four lower frames 130 are connected to each other so that the pair of lower frames 130a extend in the left-right direction and the pair of lower frames 130b extend in the front-rear direction to form a rectangle in a plan view. The pair of lower frames 130b are formed shorter than the pair of lower frames 130a and are positioned between the pair of lower frames 130a, so that the rectangle formed by the four lower frames 130 is sized to be located on the inner side of the upper frame 120 in a plan view. An L-shaped plate 141 is connected to each of the outer side surfaces near both ends of the pair of lower frames 130a. The L-shaped plate 141 is also connected to the inner side surfaces of the vertical frame 110, so that the four lower frames 130 are fixed to the four vertical frames 110.

A groove 113 (see FIG. 4) extending in the vertical direction is formed on the surface of each vertical frame 110 that contacts the L-shaped plate 141, and a bolt 142 (see FIG. 1 and FIG. 4) is screwed into the groove 113 so as to pass through the L-shaped plate 141, thereby fastening the L-shaped plate 141 to the vertical frame 110. Therefore, when each bolt 142 is inserted into the groove 113, the vertical position of the lower frame 130 integrated to form a rectangle can be adjusted as desired by loosening the bolt 142. A photographing unit 40, which will be described in detail later, is connected to the approximate center of the extension direction on the upper surface of each lower frame 130. Therefore, the vertical position of each photographing unit 40 can be adjusted together with the integrated lower frame 130.

The above-mentioned frames are connected using fastening members such as threaded bolts, and in some places nuts, washers, L-shaped plates, etc. The above-mentioned fastening members are used not only for the frames, but also for the connection (fixing) of the various members described below unless otherwise specified.

(4-axis moving stage 20)
As shown in Figures 1 to 3, the four-axis moving stage 20 supports the suction plate 30 located at the lower end so that it can be moved in the front-back, left-right and up-down directions, and is equipped with an X-Y axis stage 210 located at the upper part, a Z axis stage 220 connected to the underside of the X-Y axis stage 210, and a rotating stage 230 connected to the underside of the Z axis stage 220.

The X-Y axis stage 210 is formed in a rectangular parallelepiped shape, and is supported by the support plate 122 by being connected to the lower ends of four pillars 123 connected to the four corners of the lower surface of the support plate 122 connected to the lower surface of the top plate 121. The X-Y axis stage 210 has an X-axis feed knob 211 extending in the X-axis direction, i.e., the front-to-back direction, provided on the right side, and a Y-axis feed knob 212 extending in the Y-axis direction, i.e., the left-to-right direction, provided on the back. The X-Y axis stage 210 can move the Z-axis stage 220 forward and backward along the X-axis direction according to the rotation direction and amount of the X-axis feed knob 211, and can move the Z-axis stage 220 forward and backward along the Y-axis direction according to the rotation direction and amount of the Y-axis feed knob 212. The X-Y axis stage 210 is preferably movable in each axial direction by a distance of about 10 mm to 20 mm, and is preferably movable in 10 μm increments.

The Z-axis stage 220 is formed in a rectangular parallelepiped shape, and a Z-axis feed knob 221 extending in the X-axis direction is provided on the front. The Z-axis stage 220 can move the rotating stage 230 forward and backward in the Z-axis direction, i.e., in the up-down direction, depending on the direction and amount of rotation of the Z-axis feed knob 221. It is preferable that the movable distance of the Z-axis stage 220 in the Z-axis direction is about 10 mm.

The rotating stage 230 is formed in a rectangular parallelepiped shape, and a disk-shaped support plate 240 is connected to its underside. A θ-axis feed knob 231 extending in the Y-axis direction is provided on the back of the rotating stage 230, and the support plate 240 can be rotated around the Z-axis depending on the direction and amount of rotation of this θ-axis feed knob 231.

Four pillars 250 are connected to the underside of the support plate 240, each extending in the vertical direction and spaced apart from one another so as to be positioned at the vertices of a rectangle in a plan view, and the suction plate 30 is connected to the lower ends of the four pillars 250. Therefore, the X-Y axis stage 210, the Z axis stage 220, and the rotation stage 230 can realize the movement of the suction plate 30 in the X, Y, and Z axes and the rotation around the Z axis. For such X-Y axis stage 210, the Z axis stage 220, and the rotation stage 230, for example, a manual stage manufactured by Sigma Koki Co., Ltd. or a manual linear stage manufactured by Machifit Co., Ltd. can be used.

In addition, flat auxiliary plates 241 are connected to both ends of the support plate 240 in the left and right direction. The outer ends of the two auxiliary plates 241 are each provided with an insertion hole (not shown) through which the hook 510 formed at the lower end of the urging member 50 is inserted. The urging member 50 is a so-called coil spring extending in the vertical direction, and the hook 520 formed at the upper end is inserted into the insertion hole 125 (see FIG. 2) formed in the support column 124 extending in the vertical direction. The upper end of the support column 124 is connected to the lower surface of the top plate 121, and supports the urging member 50 by suspending it. As a result, the urging member 50 is supported by the top plate 121 via the support column 124, and can constantly urge the support plate 240 upward via the auxiliary plate 241. By urging the support plate 240 upward by the urging member 50, the load applied to the four-axis moving stage 20, i.e., the load on the device, can be reduced.

(Adsorption plate 30)
Fig. 5 is a partially enlarged front view showing the suction plate and the photographing units according to this embodiment. Fig. 6 is a schematic bottom view of the suction plate. In Fig. 5, the suction plate 30 is shown in vertical section, and the photographing unit 40 located on the front side of the four photographing units 40 is not shown for the sake of explanation.

As shown in Figures 4 to 6, the suction plate 30 is a rectangular parallelepiped that is quadrangular in plan view, and it suctions and holds the workpiece W placed below it, and as it is lowered by the four-axis moving stage 20, it presses and attaches the workpiece W to the target position on the floor surface F. The suction plate 30 includes a lower plate 310 and an upper plate 320.

The lower plate 310 is provided with a plurality of intake holes 311 extending in the vertical direction and penetrating the plate. The lower surface of the upper plate 320 is uniformly recessed over a wider range than the range (hereinafter referred to as the intake surface AR) where the intake holes 311 are provided, as shown by the imaginary line (two-dot chain line) in FIG. 6, thereby forming an internal space S between the upper surface of the lower plate 310 and the upper surface of the upper plate 320. In addition, the upper plate 320 has a through hole 321 that communicates with the internal space S at approximately the center in a plan view, and a hollow cylindrical joint pipe 322 is provided on the upper surface to which the connection member 61 (see FIG. 10) of the vacuum pump 60, which will be described in detail later, can be airtightly connected. The intake holes 311, the internal space S, the through hole 321, and the joint pipe 322 are fluidly connected. In addition, an annular groove 323 is formed on the underside of the upper plate 320 so as to surround the internal space S, and an annular packing (not shown) is placed in the groove 323 to keep the internal space S airtight.

In this embodiment, the side length of each side of the lower surface of the suction plate 30 (the lower surface of the lower plate 310) is preferably 50% or more and less than 95% of the side length of the side of the workpiece W corresponding to each side, and more preferably 60% or more and less than 90%. Here, "the sides of the workpiece W corresponding to each side" should be understood to mean the four sides of the workpiece W that are approximately parallel to and close to each of the four sides that form the lower surface of the suction plate 30 when the workpiece W is suctioned to the suction plate 30. In addition, the intake surface AR is formed in a square shape, and the side length of each side is preferably 20% or more and less than 95% of the side length of the side of the lower surface of the suction plate 30 corresponding to each side, and more preferably 40% or more and less than 70%. Here, "the edges of the underside of the suction plate 30 corresponding to each of the sides" should be understood to mean the four sides that form the underside of the suction plate 30 and are approximately parallel to and adjacent to each of the four sides that form the intake surface AR. By forming the suction plate 30 to this size, the workpiece W can be satisfactorily suctioned without its ends bending, and the workpiece W can be suctioned in a state where its reference mark M (see FIG. 7) is visible and not hidden by the suction plate 30. Furthermore, because the workpiece W can be suctioned without its ends bending, the workpiece W can be accurately attached to the target position on the floor surface F.

In addition, in the reference state (immediately after returning to the origin) in which the four-axis moving stage 20 is not being operated, it is preferable to set the distance between the underside of the suction plate 30, i.e., the underside of the lower plate 310, and the attachment surface of the workpiece W, such as the floor surface of the facility, to be greater than 2 mm and less than 30 mm. This is because if the distance is less than 2 mm, it will be affected by dirt adhering to the attachment surface or undulations of the attachment surface, and if it is more than 30 mm, the depth of the target attachment position of the workpiece W on the floor surface F will not match with the reference mark M of the workpiece W (see Figure 7), and in either case, accurate attachment may not be possible.

The lower surface of the lower plate 310 is preferably parallel to the surface of the floor F. By making it parallel, the adsorbed workpiece W can also be maintained in a parallel state, so that when attaching it to the floor F, the workpiece W can be lowered while remaining in a parallel state, and the lower surface of the workpiece W can be pressed evenly against the surface of the floor F.

(Photography unit 40)
4 and 5, the four photographing units 40 photograph the floor surface F together with the workpiece W when the workpiece W is attached to the floor surface F. The four photographing units 40 are arranged in a generally cross shape in plan view, with one end connected to the approximate center in the extension direction of the upper surface of one of the lower frames 130, and the other end located on the inner side so as to be close to each other. The photographing units 40 are arranged in a generally cross shape in plan view, with L-shaped plates 410 and 420 connected in a crank shape, and four support columns 430 are connected to the inner lower surface of the L-shaped plate 420 so as to be located at the vertices of a rectangle in plan view, and a support plate 440 is connected to the lower end of the four support columns 430, and a camera 450 is provided on the lower surface of the support plate 440.

The camera 450 photographs the workpiece W that is being sucked by the suction plate 30 together with the opposing floor surface F, and in this embodiment, is positioned so that the suction plate 30 is captured within the viewing angle. As the camera 450, for example, a camera equipped with a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor may be used. From the viewpoint of transmitting images, it is preferable to use a USB (Universal Serial Bus) camera. It is preferable that the L-shaped plate 420 is formed with an opening 421 and a cutout portion 422 for inserting the wiring of the camera 450.

The photographing area P photographed by the camera 450 and the workpiece W will be described in detail below. FIG. 7 is a plan view showing the workpiece according to this embodiment, and FIG. 8 is a diagram for explaining the photographing area of the camera according to this embodiment. In FIG. 8, the photographing area in a state where the attachment jig 1 is placed on the floor surface F is shown as a plan view.

As shown in FIG. 7, the workpiece W is a roughly square sheet-like object with multiple two-dimensional codes C, such as QR codes (registered trademark), drawn on its surface, and a reference mark M for adjusting the bonding position is provided at the center of each of its four sides. The underside of the workpiece W is an adhesive surface coated with adhesive, and this adhesive surface is covered with release paper until bonding. The suction plate 30 suctions the workpiece W by creating negative pressure inside the intake holes 311 when in contact with the surface of the workpiece W.

As shown in FIG. 8, there is an intersection L1 on the floor surface F where the marking lines L intersect, and the workpiece W is positioned on this intersection L1. The positions where the four reference marks M of the workpiece W each coincide with the marking lines L become the target positions for attaching the workpiece W. When the workpiece W is positioned at the target position, the center of the workpiece W coincides with the intersection L1.

When the pasting jig 1 is set to align with the target position on the floor surface F with the workpiece W adsorbed, the shooting areas P of the four cameras 450 each include the part of the workpiece W with the reference mark M and the part of the floor surface F with the marking line L. In other words, the cameras 450 are positioned so that when the workpiece W is positioned at the target position, each shooting area P includes the part of the workpiece W with the reference mark M and the part of the floor surface F with the marking line L. By checking the images of the four shooting areas P, the user of the pasting jig 1 can accurately align the workpiece W to the target position, that is, all four reference marks M to the marking lines L.

(How to use)
Next, a method for attaching a workpiece using the attachment jig 1 according to the present embodiment will be described in detail. Fig. 9 is a flowchart showing the method for attaching a workpiece according to the present embodiment. Fig. 10 is a diagram for explaining the connection of the attachment jig and the lowering of the suction plate according to the present embodiment. In Fig. 10, the front of the attachment jig 1 is shown as a schematic, and for the sake of explanation, only the photographing units 40 arranged on both the left and right sides are shown.

As shown in FIG. 9, first, before using the attachment jig 1, the attachment jig 1 is connected to various devices (S101). The various devices here are, as shown in FIG. 10, a vacuum pump 60 and an information processing device 70 such as a PC (Personal Computer) or tablet terminal having a display 701.

Specifically, the vacuum pump 60 is connected to the buffer tank (accumulator) 62 using a hollow connecting member 61 such as a hose, and the buffer tank 62 is connected to the extension pipe 322 of the suction plate 30 using the connecting member 61. As a result, the vacuum pump 60 performs vacuum drawing, and negative pressure can be created in the suction hole 311 through the buffer tank 62, the extension pipe 322, the through hole 621, and the internal space S, and the workpiece W in contact with the lower surface can be adsorbed. Note that any device capable of performing vacuum drawing may be used as the vacuum pump 60, but it is preferable to use a manual vacuum pump that can manually perform vacuum drawing by repeatedly operating a built-in hand valve, for example, in terms of preventing excessive negative pressure from occurring, workability, and cost.

Each camera 450 of the photographing unit 40 is communicatively connected to the information processing device 70 using a data transmission cable 71 or the like. In this embodiment, the cameras 450 are connected by wire, but a wireless connection such as Wifi (registered trademark) or Bluetooth (registered trademark) may be used depending on the type of camera 450. This allows the images of the multiple photographing areas P photographed by each camera 450 to be enlarged and displayed on the display 701 in real time. At this time, it is preferable to simultaneously display the multiple photographing areas P on the display 701. This simultaneous display of the multiple photographing areas P on the display 701 is achieved by storing dedicated application software in advance in the storage device of the information processing device 70 and reading it out when the pasting jig 1 is used.

After connecting the suction plate 30 to the vacuum pump 60 and connecting each camera 450 of the photographing unit 40 to the information processing device 70, the user places the workpiece W with the release paper peeled off against the underside of the suction plate 30 and operates the vacuum pump 60 to suction it (S102). At this time, excessive suction may cause wrinkles to form on the workpiece W. If the workpiece W is wrinkled, i.e., the two-dimensional code C is wrinkled, the unmanned transport vehicle cannot read it correctly, which may cause a malfunction. Therefore, it is preferable to suction the workpiece W to an extent that wrinkles are not formed. When the workpiece W is suctioned to the suction plate 30, the vacuum state is maintained by the action of the buffer tank 62 without operating the vacuum pump 60. By using the buffer tank 62, it is not necessary to carry a heavy vacuum pump 60, and the time to maintain the negative pressure can be secured for a long time. As a result, the suction state of the workpiece W can be maintained during the time of alignment of the workpiece W to the target position (alignment of the reference mark M and the marking line L).

After the workpiece W is attached, the attachment jig 1 is placed at the target position on the floor surface F (S103). At this time, it is unlikely that the reference mark M on the workpiece W will coincide with the marking line L on the floor surface F, and they will often be misaligned to some degree. Therefore, after placement, the suction plate 30 is moved by the four-axis moving stage 20 to adjust the position of the workpiece W (S104).

Figure 11 is a diagram for explaining the state in which a workpiece is adsorbed in an ideal position to the suction plate according to this embodiment, and Figure 12 is a diagram for explaining an image of the shooting area displayed on the display of an information processing device in this state. Also, Figure 13 is a diagram for explaining the state in which a workpiece is adsorbed in a position that is shifted from the ideal position to the suction plate according to this embodiment, and Figure 14 is a diagram for explaining an image of the shooting area displayed on the display in this state.

As shown in FIG. 11, when the workpiece W is adsorbed in an ideal position relative to the suction plate 30, specifically, when the center of the workpiece W coincides with the center of the suction plate 30 and both sides are parallel to each other, the image of the shooting area P displayed on the display 701 will be an image that looks like the same image displayed at a different angle, as shown in FIG. 12(a). This is because the camera 450 is pre-installed according to the size of the workpiece W, that is, so that it is positioned directly above the reference mark M. In such a case, if the attachment jig 1 is installed at the target position on the floor surface F and the reference marks M and the marking lines L in the two shooting areas P are aligned, the four reference marks M and the marking lines L will accurately coincide as shown in FIG. 12(b). Therefore, it is not necessary to adjust the position of the workpiece W using the four-axis moving stage 20 in step S104.

In this embodiment, the image of the shooting area P displayed on the display 701 is an image taken by the camera 450 located on the front side of the attachment jig 1 at the bottom, an image taken by the camera 450 located on the rear side at the top, an image taken by the camera 450 located on the right side at the right side, and an image taken by the camera 450 located on the left side at the left side, allowing the user to intuitively recognize the positional relationship between the displayed image and the attachment jig 1.

On the other hand, since the user visually adheres the workpiece W to the suction plate 30, the workpiece W may be adhered at an ideal position relative to the suction plate 30, or may be adhered with a misaligned angle and front-back and left-right position relative to the suction plate 30, as shown in FIG. 13. In this case, as shown in FIG. 14(a), the images displayed on the display 701 will not be similar to each other. In this state, if the attachment tool 1 is installed so that the adhered workpiece W is positioned above the target position on the floor surface F, as shown in FIG. 14(b), some of the reference marks M and the marking lines L will match, but some of the reference marks M and the marking lines L will not match. In this case, by adjusting the position of the workpiece W using the four-axis moving stage 20 in step S104, it is possible to match each reference mark M with each marking line L, as shown in FIG. 14(c). The position adjustment here is mainly performed by operating the θ-axis feed knob 231, the X-axis feed knob 211, and the Y-axis feed knob 212.

After each reference mark M coincides with the marking line L, as shown in FIG. 10, the Z-axis feed knob 221 is rotated to lower the suction plate 30, and the adhesive surface of the workpiece W is brought into contact with the floor surface F to attach it to the target position (S105). After attachment, the vacuum pump 60 or buffer tank 62 is operated to break the vacuum in the suction plate 30, thereby separating the workpiece W from the suction plate 30 (S106). After separation, the four-axis moving stage 20 is returned to the origin, and if attachment of all the workpieces W has been completed (S107, YES), this flow ends. On the other hand, if attachment of all the workpieces W has not been completed (S107, NO), the process proceeds to step S103 again to attach the workpiece W to the suction plate 30 in order to attach the workpiece W to another target position where no workpiece W has been attached.

According to the present embodiment described above, the workpiece W can be held in an adsorbed state, and the position of the workpiece W can be adjusted using the four-axis moving stage 20, so that the alignment of the workpiece W to the target position on the floor surface F can be performed easily with extremely high precision and in a short time.

When attaching the workpiece W to the target position on the floor surface F without using the attachment jig 1 according to this embodiment, for example, if 100 workpieces W are attached to one floor, two workers hold the four corners of the workpiece W and align it to the target position while floating. After that, when the workpiece W matches the target position, another worker holds the center of the workpiece W and presses it down to the target position to attach it. Therefore, at least three workers are required. It takes an average of about 5 minutes to attach one sheet, and taking into account the time required to move to the target position and the preparation of the workpiece W, it takes about 10 hours of work time to attach 100 sheets. In addition, since the two-dimensional code drawn on the workpiece W is unique to each workpiece W, if it is attached by mistake at a position significantly different from the target position, it is difficult to reattach it considering the formation of wrinkles when peeling it off, and it is not easy to reattach it. On the other hand, if another workpiece W is attached instead, it is necessary to change the route in software, which is not practical.

However, according to this embodiment, the above-mentioned workpiece attachment method can be performed by a single user, which improves work efficiency and reduces costs by reducing the number of personnel required. Furthermore, since the workpiece W can be held in an adsorbed state, wrinkles and kinks do not occur in the workpiece W when it is attached, and since it is possible to align the workpiece W with high accuracy as described above, it is possible to avoid situations such as reattaching or remaking the workpiece W or attaching a different workpiece W.

In addition, according to this embodiment, the position of the four-axis moving stage 20 can be adjusted while watching the display 701, and since multiple shooting areas P are displayed enlarged and collectively, it is possible to more easily and reliably align each reference mark M with the marking line L. In addition, each frame of the housing 10 can be made of aluminum, which makes it lightweight and easy to carry.

As shown in FIG. 15, it is preferable that auxiliary lines 702 for aligning the marking line L and a mark 703 such as a cross for aligning the reference mark M are displayed on the display 701. In addition, a mark for positioning the pasting jig 1 at a target position on the floor surface F, for example a cross line extending from the center in the front-rear and left-right directions, may be formed in the center of the upper surface of the top plate 121 of the pasting jig 1. The line may be formed on other frames in the housing 10 or on various plates of the photographing unit 40.

In addition, in this embodiment, the camera 450 is connected to the information processing device 70, but this is not limited thereto, and the camera 450 may be connected to a tablet terminal such as a smartphone. In this case, it is preferable that the image from the camera 450 is transmitted by wireless communication. In addition, in this embodiment, four cameras 450 are provided, but this is not limited thereto, and the same effect can be achieved with three cameras. Naturally, five or more cameras may be provided.

In the present embodiment, the pasting jig 1 is used to paste the workpiece W to the target position on the floor surface F, but the present invention is not limited to this, and any object that can be adsorbed and held by the suction plate 30 can be pasted to the surface to be pasted. In the present embodiment, the alignment of the workpiece W to the target position is performed manually by operating the four-axis moving stage 20. However, the information processing device 70 may drive and control the four-axis moving stage 20 based on the image obtained from the camera 450, so that the alignment of the workpiece W to the target position can be performed automatically.

The present invention can be implemented in various other forms without departing from the spirit or main characteristics thereof. Therefore, the above-described embodiments are merely illustrative in all respects and should not be interpreted as limiting. The scope of the present invention is defined by the claims and is not limited in any way by the text of the specification. Furthermore, all modifications, improvements, substitutions and alterations within the scope of the claims are within the scope of the present invention.

1 Adhesive jig 20 4-axis moving stage (support part)
30 Adsorption plate (holding part, adsorption part)
310 Lower plate (adsorption part)
311 Intake hole 450 Camera 60 Vacuum pump (pressure reducing device)
62 Buffer tank 701 Display R1 Ring (mounting object)
F Floor surface (surface to be attached)
M Reference mark W Work

Claims (7)

A holding section that faces the workpiece to the surface to be affixed and holds the workpiece at a distance from the surface to be affixed;
a support portion that supports the holding portion so as to be rotatable around a vertical direction, so as to be movable along the vertical direction , and so as to be movable in a direction perpendicular to the vertical direction ;
a camera capable of photographing a workpiece held by the holding unit and displaying the obtained image on a display in real time;
Equipped with
The camera is provided in plurality so as to correspond individually to the marks for alignment with respect to the attachment surface provided in the plurality of the workpiece,
The plurality of cameras capture images of the surface to which the marks are to be applied, each of the images including the marks, so that the images can be displayed on the display at once.
The attachment jig is characterized by the above. The pasting jig according to claim 1 , wherein the holding portion has an adsorption portion that adsorbs the workpiece in a releasable manner. The attachment jig according to claim 2, characterized in that the suction portion has a lower surface with which the workpiece comes into contact that is formed into an approximately rectangular shape, and the side length of each side forming the lower surface is formed to be 50% or more and 95% or less of the side length of the side of the workpiece corresponding to each of the sides. A suction surface having a plurality of intake holes for suctioning a workpiece is formed in a substantially rectangular shape on the lower surface of the suction portion,
The attachment jig according to claim 3 , wherein the length of each side of the suction surface is formed to be 20% or more and less than 95% of the length of the side on the lower surface of the suction portion corresponding to each side. The holding portion is
a pressure reducing device for reducing the pressure inside a plurality of intake holes formed on a lower surface of the suction portion;
a buffer tank interposed between the plurality of intake holes and the pressure reducing device to maintain the reduced pressure caused by the pressure reducing device;
The attachment jig according to claim 2 , characterized in that the holding portion sucks and holds the workpiece in contact with the suction portion by reducing the pressure inside the plurality of air intake holes via the buffer tank by the pressure reducing device. The application jig according to claim 1 , further comprising an information processing device communicatively connected to the camera and having the display. The holding portion faces the workpiece to the surface to be affixed and holds the workpiece at a distance from the surface to be affixed;
In a state where the workpiece is held, the workpiece is attached to the attachment surface by operating a support part that supports the holding part so as to be rotatable around the vertical direction, movable along the vertical direction, and movable in a direction perpendicular to the vertical direction ;
During the pasting, the workpiece held by the holding unit is photographed by a camera, and the obtained image is displayed on a display in real time;
The camera is provided in plurality so as to correspond individually to the marks for alignment with respect to the attachment surface provided in the plurality of the workpiece,
The plurality of cameras capture images of the surface to which the marks are to be applied, each of the images including the marks, so that the images can be displayed on the display at once.
A method for attaching a workpiece comprising the steps of: