JPH06210741A - Device for automatically sticking sealing tape - Google Patents

Abstract

PURPOSE:To enable the automatic sticking of a sealing tape to be easily performed even on a workpiece having a complicated shape. CONSTITUTION:The title device comprises a multi-articulated robot 3 for supporting a workpiece, which continuously changes the posture of the workpiece so that a portion of the workpiece W supported, on which a tape is to be stuck, is directed continuously toward a fixed direction at a fixed position, and the main body 1 of a sticking device, which feeds a sealing tape T led out of a bobbin, 5 to the portion of the workpiece, on which the tape is to be stuck, and continuously sticks the tape T thereon. The main body 1 of the sticking device has a tape feed mechanism for feeding the sealing tape T according to changes in the posture of the workpiece W, a separator release mechanism for releasing and collecting a separator S from the adhesive surface of the sealing tape T, a press roller for pressing the sealing tape T to the portion of the workpiece W, on which the tape is to be stuck, and a tape cutting mechanism for cutting the sealing tape after finishing the sticking of a preset amount of the tape.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a two-dimensional or three-dimensional application of a stretchable and flexible sealing tape made of urethane foam or the like to a work such as a duct for a car air conditioner. Seal tape automatic affixing device

[0002]

2. Description of the Related Art Conventionally, as a seal tape automatic sticking device for sticking a seal tape to a work two-dimensionally or three-dimensionally, for example, one disclosed in Japanese Patent Publication No. 4-11102 is proposed. This automatic sticker tape sticker is equipped with a sticking device body mounted on a robot head whose posture can be changed freely, a holding rail that guides and holds the sticker tape, a feed roller that supplies the sticker tape to the sticking part, and a sticker tape part that sticks the work piece. Equipped with a pressing roller for pressing to, and a trace roller along the tape attaching part of the work, and by moving the attaching device main body along the tape attaching part of the work through the trace roller, It is configured for automatic application.

[0003]

However, in the above-mentioned conventional apparatus, the structure of moving the attaching apparatus main body by making the trace roller follow the work is adopted. Therefore, for a work having a relatively simple shape, It can be used effectively,
It has been difficult to properly operate a work having a complicated shape in which the tape-attached portions of the work are three-dimensionally connected and a work having a shape to which the trace roller is difficult to apply.

The present invention has been made in view of such a point, and an object thereof is to provide an apparatus capable of easily automatically applying a sealing tape to a work having a complicated shape. And

[0005]

In order to achieve the above object, the present invention has the following constitution. That is, the seal tape automatic pasting device of the present invention is a position fixing sticking device main body that feeds and sticks the seal tape continuously drawn from the seal tape feeding device to the work, and the tape sticking portion of the supported work is pasted. It comprises a multi-joint type work supporting robot which continuously changes the posture of the work so as to be directed in a fixed direction at a fixed position with respect to the main body of the apparatus. A guide rail that guides and travels along the path, a tape feeding mechanism that feeds the seal tape in response to a change in the work posture, a separator peeling mechanism that peels and collects the separator from the adhesive surface of the seal tape, and a guide rail. A tape pressing machine that presses the seal tape against the tape application area of the workpiece When, it is provided with a tape cutting mechanism for cutting the sealing tape after the completion only taping setting length.

[0006]

According to the structure of the present invention, the work supporting robot moves the work by a pre-programmed operation procedure so that the tape sticking portion of the supported work is maintained in a fixed direction at a fixed position with respect to the sticking apparatus main body. The posture is continuously changed, and at this fixed position, the seal tape fed out from the attaching device body is attached to the tape attaching portion of the work through the tape pressing mechanism. And
When the work posture has completed one cycle, the sealing tape is cut and the final attachment is performed. With this, one attachment operation is completed.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, an automatic sticker tape sticking apparatus of the present invention comprises a sticking apparatus body 1, a sticker tape supplying apparatus 2 and an articulated work supporting robot 3. As shown in FIG. 2, the work supporting robot 3 is of a multi-joint type having six joint axes J1 to J6, and the work W is attached to the work chuck hand 4 attached to the arm head 3a thereof with one touch. It is configured to be attachable / detachable, and a program preset according to the work W is used so that the tape sticking portion of the work W is always maintained in a fixed posture (upward in the embodiment) at a fixed position with respect to the sticking apparatus body 1. It is connected to a control device (not shown) so as to change and control the attitude of the work W based on the control.

The seal tape supply device 2 is configured to supply the seal tape T with a separator from the bobbin 5 to the attachment device main body 1 via the guide roller 6 and the tension adjusting dancer roller 7.

The pasting device body 1 is mounted on a support arm 9 which is mounted on a column 8 so that its height can be adjusted so that the front-rear position can be adjusted and the angle can be adjusted. As shown in FIGS. The guide rail 10 that guides the drawn seal tape T to a predetermined path with the mounting surface of the separator S facing down, the seal tape T to the separator S
The separator peeling mechanism 11 for peeling the tape, the tape feeding mechanism 12 for feeding the seal tape T in response to the change of the posture of the work W, the separator tension detecting mechanism 13, and the seal tape T is pulled out from the end of the guide rail 10 to a certain position and held. Tape support mechanism 14 and tape pressing mechanism 1 for pressing the seal tape T against the tape application site of the work W
5. Tape cutting mechanism 16 for cutting the sealing tape T after the tape having the set length is attached, and tape slack detecting mechanism 1
7, a tape seam detection mechanism 18 (see FIG. 1), etc., and the structure of each part will be described in detail below.

The guide rail 10 is formed into a rectangular tube shape in which a pair of L-shaped cross-section members are combined, and is fixedly connected to a frame 20 which is connected to the support arm 9 so that the angle can be adjusted. As shown in FIGS. 7 and 8, the upper guide bar 21 and the lateral guide bar 2 are provided inside the guide rail 10.
2 is provided, and a pair of screw shafts 21a, 22 extending upward and laterally from two front and rear positions of each guide bar 21, 22.
By screwing a with the knobs 23 and 24 that are rotatably mounted on the guide rail 10, each guide bar 2 is adjusted according to the width and thickness of the inserted seal tape T.
It is configured so that the seal tape T can be guided to travel without rattling by adjusting the positions of 1 and 22.

As shown in FIG. 3, the separator peeling mechanism 11 includes a pair of front and rear preliminary peeling rollers 26 provided in an opening 25 formed in a lower portion near the end of the guide rail 10.
And a guide roller 27 arranged in the middle lower part thereof and a main peeling roller 2 arranged at the lower end of the guide rail 10.
8 and the separator S attached to the adhesive surface of the seal tape T is temporarily guided around the preliminary peeling roller 26 and the guide roller 27 to perform preliminary peeling, and the main peeling roller 28 with weak adhesion. The separator S can be smoothly peeled off from the adhesive surface of the seal tape T with little resistance.

The tape feeding mechanism 12 includes a separator S.
Is configured such that the seal tape T is sent out from the end of the guide rail 10 by forcibly winding and conveying the sheet. As shown in FIG. 3, the winding roller 30, the nipping roller 31, and the tension detecting roller are used. Movable roller 32 of
A guide roller 33 and the like are provided. As shown in FIG. 3 and FIG.
It is axially supported by a frame 34 connected to the lower part of 0, and is interlockingly connected to a motor 35 mounted on the back of the frame 34 via a belt 36. The nipping roller 31 is pivotally connected to the frame 34 and is attached to one end of an oscillating arm 37 that is urged to oscillate by a spring 38. The nipping roller 31 is interposed between the winding roller 30 and the nipping roller 31. S
It is configured so as to sandwich and feed. In addition, as shown in FIG.
Is guided by a guide pipe 39 that receives air blowing, and is drawn into the collection container 40 to be collected.

The separator tension detecting mechanism 13 includes the movable roller 32, the winding roller 30, and the guide roller 33.
And a differential transformer 41 for detecting the displacement of the movable roller 32.
It consists of and. The movable roller 32 has a slide bearing 42 between the take-up roller 30 and the guide roller 33.
It is attached to the lower ends of a pair of left and right support shafts 43 that are linearly slidably supported via a guide roller 33, a winding roller 30, and a movable roller 32 that bends and guides the separator S. The movable roller 32 is configured to bend and tension the separator S by its own weight. Further, the support shaft 43 and the core shaft 41a of the differential transformer 41 arranged in parallel with the support shaft 43 are connected at the upper end thereof, and the change in the tension of the separator S is detected by the differential transformer 41 as the displacement of the movable roller 32. It is like this.

With this construction, the speed at which the seal tape T attached to the work W is pulled out along with the movement of the work W and the feed speed of the seal tape (feed speed of the separator S) are synchronized within an error, and the work is attached. If the expansion / contraction amount of the sealing tape T to be applied is within the set allowable range, the tension of the separator S is a preset reference value (including the dead zone).
And the movable roller 32 is in the reference position range. Then, when the withdrawal speed of the seal tape T becomes higher than the feed speed of the seal tape T, and the seal tape T becomes tightly attached, the tension of the separator S decreases and the movable roller 32 is displaced downward from the reference position. . On the contrary, when the pull-out speed of the seal tape T becomes lower than the feed speed of the separator S and the seal tape T comes to be loosely attached, the tension of the separator S increases and the movable roller 32 moves upward from the reference position. Due to the displacement, the fluctuation of the tension of the separator S is detected from the displacement of the movable roller 32.

Then, as shown in FIG. 11, the speed correction amount Vt (=
The tape feeding speed V for maintaining the separator tension within the reference value is calculated by adding (accelerating) or subtracting (decelerating) the reference speed V0 (tension difference from the reference tension x acceleration / deceleration rate) to the reference speed V0. Based on this, the speed of the motor 35 is controlled. The details of the control operation of the tape feeding speed will be described later based on the flowchart shown in FIG.

The tape support mechanism 14 includes a pair of left and right swing arms 45 which are swingable around a fulcrum a and are movable toward and away from each other, and an air cylinder 46 for swinging the swing arms 45.
An air cylinder 47 for moving the swing arms 45 toward and away from each other is provided, and tape support needles 48 facing each other are attached to the free ends of the swing arms 45. Then, as indicated by the solid line in FIG. 3, the swing arm 45 is moved by the contraction operation of the air cylinder 46.
Is located away from the tip of the guide rail 10, and when the air cylinder 46 is extended, the free end of the swing arm 45 approaches the tip of the guide rail 10. Further, when both swing arms 45 are separated from each other, the tip spacing of both tape support needles 48 becomes larger than the tape width, and when both swing arms 45 approach each other, the tip spacing of both tape support needles 48 becomes tape. The width is set to be smaller than the width, and both swing arms 45 approach each other in a state where the free end of the swing arm 45 approaches the tip of the guide rail 10. Is configured to pierce. Then, as shown in FIG. 9, each tape support needle 4
8 is provided with a flange 48a, and by supporting the side surface of the seal tape T with the flange 48a, the seal tape T can be pulled out and held in a stable posture.

The tape pressing mechanism 15 comprises a rocking arm 50 that can rock around a fulcrum b, an air cylinder 51 that rocks the rocking arm 50, and a pressing roller 52 mounted on the free end of the rocking arm 50. The seal tape T pierced by the free end of the swing arm 45 and supported and pulled out is pushed forward and downward.

As shown in FIG. 5, the tape cutting mechanism 16 includes a swing bracket 55 which is swingable about a fulcrum c, an air cylinder 56 which swings and drives the swing bracket 55, and a swing bracket 5.
5 is equipped with a hot wire cutter 57, etc. The swing bracket 55 is equipped with a movable member 60 which is slidably supported by a guide shaft 58 and slidably driven by an air cylinder 59.
The hot wire cutter 57 is stretched horizontally across a pair of left and right holders 61 provided at 0 (see FIG. 10). Then, as shown by the solid line in FIG. 5, when the air cylinder 56 is extended and the swing bracket 55 is swinging backward, the heat wire cutter 57 retracts below the guide rail 10, As shown by the phantom line, when the air cylinder 56 contracts and the rocking bracket 55 advances and rocks, the heat wire cutter 57 moves below the tip of the guide rail 10.
The upper guide bar 21 faces the slit 62 formed on the lower surface of the projecting portion 21a. Then, at this position, the air cylinder 59 contracts to cause the heat wire cutter 57 to enter the slit 62, and the guide rail 1
The seal tape T pulled out from 0 is fused from the lower surface.

As shown in FIG. 5, the tape slack detecting mechanism 17 is constructed by equipping the tip of the upper guide bar 21 with a microswitch 65 having a detecting piece 65a.
When the sealing tape T is pulled out and in a tensioned state, the upper surface of the sealing tape T comes into contact with the detection piece 65a and the detection piece 65a is displaced upward. It is designed so that it can be reset and displaced.

The tape seam detection mechanism 18 shown in FIG.
Is configured by disposing a reflection type optical sensor 66 on the lower surface near the entrance of the guide rail 10, and when the adhesive tape piece attached for connecting the separator S at the tape seam is sensed, the tape seam guides. Rail 1
After the sealing tape T is fed out and controlled until it reaches a predetermined amount from 0, the tape cutting mechanism 15 is operated to remove the sealing tape portion including the tape seam.
5 drive control mechanism.

The seal tape automatic sticking device of this embodiment is constructed as described above. Below, a series of operations for sticking the seal tape to the annular seal portion of the work W will be described with reference to FIGS. Explain.

(1) In the initial set state, as shown in FIG. 13, the swing arm 45 of the tape support mechanism 14 is near the tip of the guide rail 10 and the pressing roller 52 of the tape pressing mechanism 15 is in a swinging posture. Yes, the tape cutting mechanism 16 is also in the retracted posture. When a sticking start command is issued in this initial set state, first, both swing arms 45 are operated to approach each other, and the tip end portion of the seal tape T is pierced and supported by the tape support needle 48 from the left and right.

(2) Next, as shown in FIG. 14, the swing arm 45 swings out and swings to detour the tip of the seal tape T under the pressing roller 52 and hold it forward.

(3) Next, as shown in FIG. 15, the pressing roller 52 is moved down, and while pulling out the sealing tape T slightly, the vicinity of its tip is pressed down and deformed.

(4) Next, the work supporting robot 3 raises the work W and presses the vicinity of the tip of the seal tape T against the tape sticking portion of the work W, and then both swing arms 45 are actuated to separate the tape. Release the tip support,
The swing arm 45 is returned to the set position and rocked.

(5) Next, the work W is slightly moved in the direction opposite to the sticking movement direction, and the pressing roller 52 is applied to the front end Ta of the seal tape T to stick it to the work W.
After that, as shown in FIG. 16, the work supporting robot 3 controls the movement of the work W so that the tape sticking portion of the work W is maintained in a constant upward posture at a constant position where the pressing roller 52 acts. The sealing tape T is relatively pulled out from the guide rail 10 and the motor 35 is operated to feed the sealing tape T, and the sealing tape T is continuously applied to the tape sticking portion of the work W via the pressing roller 52. It will be pasted.

The control operation of the tape feeding speed at this time will be described with reference to the flow chart shown in FIG.
That is, when the tape attaching process is started, information from the tape slack detecting mechanism 17 (microswitch 65
ON / OFF of the seal tape T is determined (# 1), and if there is slack, the motor 35 is stopped and the work W is moved to pull out the seal tape T (# 2). If there is no slack, the information (output signal of the differential transformer 41) from the tension detecting mechanism 13 is read (#
3).

It is judged whether the read separator tension is larger than a preset maximum value (# 4). If it is larger, the motor 35 is stopped and the work W is moved to pull out the seal tape T (# 2). If the read separator tension is less than or equal to the preset maximum value, it is determined in the next step # 5 whether or not it is within the reference tension range.

When the separator tension is within the reference tension range, the separator tension returns to the original value after the time set by the timer 1 (# 6), and when the separator tension is out of the reference tension range, the process proceeds to step # 7 and the reference tension is set. Determines the magnitude of the value.

When the separator tension is larger than the reference value (the sealing tape T is slack), the deceleration process is started (# 8), and the sealing tape feeding speed is corrected and calculated (# 9). When the separator tension is equal to or lower than the reference value (the seal tape T is likely to be stretched), the speed is increased (# 10), and the seal tape feeding speed is corrected and calculated (# 11).

The deceleration correction calculation in step # 9 and the speed increase correction calculation in step # 11 are as follows. [Deceleration] Reference speed- (Difference between detected tension and reference tension x deceleration rate) [Increase speed] Reference speed + (Difference between detected tension and reference tension x Acceleration rate) Seal tape feeding calculated as above The speed of the motor 35 is corrected in accordance with the speed (# 12), and the speed returns to the original value after the time set by the timer 2 (# 13). In addition,
In the speed correction process of step # 12, hunting is avoided by slowing the rising at the beginning of gear shifting.

(6) As shown in FIG. 17, when the tape attachment reaches the set amount before the attachment end, the work W is temporarily stopped. Based on the stop signal given from the robot 3, the tape drawing operation is also temporarily stopped. Subsequently, with the work W stopped, the tape withdrawing operation is restarted to feed the sealing tape T, the detection piece 65a of the tape slack detection mechanism 17 is returned and displaced downward, and the tape T drawn from the guide rail 10 is moved. The motor 35 is stopped at the time when it is detected that an appropriate slack is formed in the portion. In this state, the rocking bracket 55 of the tape cutting mechanism 16 is swung up to move the heat wire cutter 57 into the slit 6.
2 is moved to the lower position.

(7) Next, as shown in FIG. 18, the heat wire cutter 57 rushes up into the slit 62 to cut the seal tape T, and the tape rear end Tb falls onto the work W by its own weight. At this time, since the seal tape T portion drawn out from the guide rail 10 is cut without pulling, the seal tape T does not shrink after cutting,
The seal tape T is accurately cut. As a result, the tape rear end portion Tb has the seal tape T attached to the work W.
Will be properly abutted on the front end Ta of the above with almost no gap.

(8) Finally, the work W is moved a little further forward until the pressing roller 52 passes through the tape abutting portion, which completes one sticking operation.

When the optical sensor 66 of the tape joint detecting mechanism 18 senses the adhesive tape piece stuck to the tape joint during the above-mentioned joining operation, the tape joint is predetermined from the tip of the guide rail 10 after completion of the joining operation. After sending out and controlling the sealing tape T until the length comes out,
The tape cutting mechanism 16 is operated to eliminate the sealing tape T portion including the tape seam. In this case, the tape feeding amount is detected by counting the drive pulses of the motor 35 which is a stepping motor.

[0036]

As is clear from the above description, according to the seal tape automatic sticking apparatus of the present invention, even if the work has a complicated shape and the tape sticking portion is three-dimensional, it is of an articulated type. The work supporting robot maintains the position where the tape application part of the work is attached to the attachment device main body so that the seal tape can be applied continuously and efficiently by the attachment device main body in a fixed posture. Became.

[Brief description of drawings]

FIG. 1 is a side view showing an entire seal tape automatic pasting device according to the present invention.

FIG. 2 is a perspective view of a work supporting robot.

FIG. 3 is a side view in which a part of the attachment device main body is cut away.

FIG. 4 is a plan view of a pasting device body.

FIG. 5 is a side view from the opposite side of the attachment device body.

FIG. 6 is a plan view showing a drive unit of the tape feeding mechanism.

FIG. 7 is a front view from the leading end side of the guide rail.

8 is a cross-sectional view taken along the line AA in FIG.

9 is a BB arrow view in FIG. 3. FIG.

FIG. 10 is a view on arrow CC in FIG.

FIG. 11 is a block diagram showing a feeding speed control system of the tape feeding mechanism.

FIG. 12 is a flowchart showing a control operation of a tape feeding speed.

FIG. 13 is an explanatory diagram showing an initial set state of an automatic tape attaching operation.

FIG. 14 is an explanatory diagram showing a tape pull-out process of an automatic tape attaching operation.

FIG. 15 is an explanatory diagram showing a tape pressing preparation process of an automatic tape bonding operation.

FIG. 16 is an explanatory diagram showing a pasting process of a tape automatic pasting operation.

FIG. 17 is an explanatory diagram showing a cutting preparation step of an automatic tape attaching operation.

FIG. 18 is an explanatory diagram showing a cutting completion process of the tape automatic attaching operation.

[Explanation of symbols]

 1 Sticking device main body 2 Seal tape supplying device 3 Work support robot 11 Separator peeling mechanism 12 Tape feeding mechanism 15 Tape pressing mechanism 16 Tape cutting mechanism S Separator T Seal tape W Work

Claims (1)

[Claims] 1. A sticking device main body of a fixed position for supplying and sticking a seal tape continuously drawn from a seal tape supplying device to a work, and a tape sticking portion of a supported work is constant at a fixed position with respect to the sticking device main body. It comprises an articulated work supporting robot that continuously changes the posture of the work so as to move in a direction, and guides the seal tape from the seal tape supply device along a predetermined path to the pasting device body. A guide rail, a tape feeding mechanism that feeds the seal tape in response to a change in the work posture, a separator peeling mechanism that peels and collects the separator from the adhesive surface of the seal tape, and a seal tape fed from the guide rail to attach the work tape A tape pressing mechanism that presses against the site,
An automatic sticker tape sticking device comprising a tape cutting mechanism for cutting the sticker tape after the sticking of a set length of tape is completed.