JPH0986777A - Automatic seal tape sticking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To ensure the proper sticking of a seal tape to every shape of a workpiece by applying the constitution that the seal tape drawn out through a tape takeout mechanism is held with a holding mechanism having a holding member of smaller width than the seal tape, and then applied to the workpiece through a tape presser mechanism. SOLUTION: A workpiece support robot 3 elevates a workpiece W and presses the front end of a seal tape T to the tape sticking part of the workpiece W. Then, a suction holding mode with an suction tube 70 is released. The part of the tape T near the front end thereof is thereby applied to the workpiece W. In this state, the workpiece W is slightly moved in a direction opposite to an application travel direction, and a presser roller 52 is made to act on the tape T over an area up to the front end thereof, and the tape T is thereby applied to the workpiece W. Thereafter, the robot 3 is driven and controlled to move the workpiece W, and the tape T is drawn out relatively through a guide rail 10 on the motion of the workpiece W. In addition, a motor is driven to feed the tape T for the continuous application thereof via the presser roller 52.

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 attachment 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 an automatic sticker tape sticking device for sticking a sticker tape to a work two-dimensionally or three-dimensionally, for example, the applicant of the present invention has disclosed in Japanese Patent Laid-Open No. 6-21.
What is shown in the 0741 publication is proposed. This seal tape automatic pasting device is a multi-joint type work support robot that continuously changes the posture of the work so that the tape sticking site of the supported work continuously moves in a certain direction at a certain position, and a seal tape supply device. It is composed of a sticking device main body which supplies a seal tape from the device to a tape sticking portion of a work and continuously sticks it.

This sticking device main body has a guide rail for guiding and running a seal tape from a seal tape supply device along a predetermined path, and a front end portion of the seal tape led out from the end of the guide rail to the front end of the guide rail. And a tape pressing mechanism that presses the drawn seal tape against the tape attaching portion of the work.

In this conventional apparatus, first, as shown in FIG. 25, the tape support needle 48 provided on both swing arms 45 of the tape pull-out mechanism 14 is provided with left and right side surfaces of the front end of the seal tape T led out from the end of the guide rail 10. Stab and support. Then, as shown in FIG. 26, the swing arm 45 is swung out and rocked to pull out and hold the seal tape T at a predetermined position in front of the end of the guide rail 10. Then, as shown in FIG. 27, the pressing roller 52
28, the front end portion of the seal tape T is pushed down to be deformed, and then the work W is raised to attach the seal tape T to the attachment start end portion of the work W, as shown in FIG.

[0005]

However, as described above, when the work is lifted up and attached while the swing arm supports the front end left and right side surfaces of the seal tape, the following problems occur. .

That is, when a work is made to approach in a state where the side surface of the seal tape is supported like this swing arm, for example, as shown in FIG. 29, the tape adhering portion of the work W has a step or groove shape. When it is present (that is, the side wall is present), the swing arm 45 collides with the upper end of the side wall of the groove, and the seal tape cannot be attached. Therefore, the conventional device lacks versatility in the sense that the work that can be attached is limited.

The present invention has been made by paying attention to such an actual situation, and provides an automatic sticker tape sticking apparatus capable of sticking a sticker tape accurately regardless of the shape of a sticking part of a work. The purpose is to provide.

[0008]

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 includes a guide rail for guiding and running the seal tape from the seal tape supply device along a predetermined path, and a front end portion of the seal tape led out at the end of the guide rail on both sides. A tape sticking device main body equipped with a tape pulling-out mechanism that is supported by the tape pulling-out mechanism to a predetermined position in front of the end of the guide rail and a tape pressing mechanism that presses the pulled-out seal tape against the tape sticking portion of the work. In a seal tape automatic pasting device that moves the workpiece relative to the work and sticks the seal tape drawn out from the end of the guide rail to a predetermined portion of the work, the front end of the seal tape is pulled out to a predetermined position by the tape pulling mechanism. After that, the front end of this sealing tape is Until pressed against the joining starting end of the over-click, those having a tape front end portion holding mechanism for holding the front end portion of the seal tape by a narrow holding member than the width of the seal tape.

[0009]

According to the structure of the present invention, when the tape pull-out mechanism supports the front end portion of the seal tape led out at the end of the guide rail from both sides and pulls it out to a predetermined position in front of the end of the guide rail, the width of the seal tape is increased. A tape front end holding mechanism with a narrower holding member holds the front end of the sealing tape. Then, the support of the seal tape by the tape pull-out mechanism is released, and the tape pull-out mechanism is returned to the set position. The seal tape held by the tape front end holding mechanism is kept in a predetermined deformed posture by the operation of the tape pressing mechanism, and is eventually attached to the attachment start end of the attachment portion of the work due to the rise of the work. Next, the holding operation of the front end portion of the seal tape is released, and the work is moved relative to the main body of the sticking apparatus, so that the sticking operation proceeds.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1ST EXAMPLE FIG. 1: is a side view which shows the whole seal tape automatic sticking apparatus which concerns on 1st Example. As shown in FIG. 1, the seal tape automatic sticking apparatus of the present invention comprises a sticking apparatus main body 1, a seal tape feeding apparatus 2, and an articulated work supporting robot 3.

FIG. 2 is a perspective view of the work supporting robot 3. As shown in FIG. 2, the work supporting robot 3 has 6
An articulated type with individual joint axes J1 to J6 is used,
The work W is configured so that the work W can be attached / detached to / from the work chuck hand 4 attached to the arm head 3a with one touch, and the tape sticking portion of the work W is always in a fixed position with respect to the sticking device body 1 in a fixed posture (upward in the embodiment). In order to maintain the temperature of the work W, the work W is connected to a control device (not shown) so as to change and control the posture of the work W based on a preset program.

The seal tape feeding device 2 is configured to feed the seal tape T with the separator S from the bobbin 5 to the pasting device body 1 via the guide roller 6 and the tension adjusting dancer roller 7.

FIG. 3 is a side view in which a part of the sticking apparatus main body 1 is cut away. FIG. 4 is a plan view of the sticking device body 1. FIG. 5 is a side view from the opposite side of the application device body 1. The sticking device main body 1 is mounted on a support arm 9 mounted on a column 8 so as to be height-adjustable so that the front-rear position and the angle can be adjusted. As shown in FIGS. The guide rail 10 for guiding the tape T to a predetermined path with the mounting surface of the separator S facing down, the separator peeling mechanism 11 for peeling the separator S from the seal tape T, and the seal tape T for changing the posture of the work W Tape feeding mechanism 12, separator tension detecting mechanism 13, guide rail 1
The tape pull-out mechanism 14 that pulls out the seal tape T from the end of 0 to a certain position, and the tape pressing mechanism 1 that presses the seal tape T against the tape attaching portion 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 joint detection mechanism 18 (see FIG. 1), a tape front end holding mechanism 19 for holding the seal tape T pulled out by the tape pulling mechanism 14, and the like,
Hereinafter, the structure of each part will be described in detail.

FIG. 7 is a front view from the leading end side of the guide rail. FIG. 8 is a sectional view taken along the line AA in FIG. 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 that is connected to the support arm 9 so that the angle can be adjusted. As shown in FIGS. 7 and 8, an upper guide bar 21 and a lateral guide bar 22 are provided inside the guide rail 10 and extend upward and sideways from two front and rear positions of each guide bar 21, 22. The pair of screw shafts 21a and 22a that have come out are mounted on the guide rail 10 so that they can be rotated only freely.
The guide bars 21 and 22 are positionally adjusted in accordance with the width and thickness of the inserted seal tape T by screwing the seal tape T, so that the seal tape T can be guided to travel without rattling. .

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. FIG. 6 is a plan view showing a drive unit of the tape feeding mechanism. As shown in FIGS. 3 and 6, the take-up roller 30 is axially supported by a frame 34 connected to a lower portion of the guide rail 10, and is interlocked and connected via a belt 35 and a motor 35 mounted on the back of the frame 34. ing. 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. It is configured to sandwich S and send it out. As shown in FIG. 1, the sent-out separator S is guided by a guide pipe 39 that receives air blowing and is drawn into the collection container 40 to be collected.

Returning to FIG. 3, the separator tension detecting mechanism 1
Reference numeral 3 denotes a movable roller 32, a winding roller 30, a guide roller 33, and a differential transformer 41 for detecting a displacement of the movable roller 32. Movable roller 32
Is attached to the lower ends of a pair of left and right support shafts 43 supported linearly slidably via a slide bearing 42 between the winding roller 30 and the guide roller 33. The guide roller 33, the winding roller 30, In addition, the movable roller 32 is provided so as to bend and guide the separator S, and 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.

According to 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 seal tape feed speed, and the seal tape T is 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.

FIG. 11 is a block diagram showing a feeding speed control system of the tape feeding mechanism. FIG. 12 is a flowchart showing the control operation of the tape feeding speed. Then, as shown in FIG. 11, a speed correction amount Vt (= difference in tension from the reference tension × acceleration / deceleration rate) obtained based on the change in separator tension is added (accelerated) or subtracted (referenced) to the reference speed V0. After deceleration, the tape feeding speed V for maintaining the separator tension within the reference value is calculated, and the speed of the motor 35 is controlled based on the calculation. The details of the control operation of the tape feeding speed will be described later based on the flowchart shown in FIG.

As shown in FIGS. 3 and 4, the tape pull-out mechanism 14 includes a pair of left and right swing arms 45 that are swingable about a fulcrum a and are movable toward and away from each other, and an air cylinder 46 that swings 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.

As shown by the solid line in FIG. 3, the free end of the swing arm 45 is located away from the tip of the guide rail 10 by the contraction operation of the air cylinder 46.
When the air cylinder 46 extends, the swing arm 45
Of the guide rail approaches the tip of the guide rail 10.

Further, when the swing arms 45 are separated from each other, the tip interval of the tape support needles 48 becomes larger than the tape width, and the tip ends of the tape support needles 48 are approached by the swing arms 45 approaching each other. The spacing is set to be smaller than the tape width, and both swing arms 45 approach each other in the state where the free end of the swing arm 45 approaches the tip of the guide rail 10, so that the seal tape T is taped to both sides from the left and right. It is configured to pierce the support needle 48. As shown in FIG. 9, each tape support needle 48 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 in a stable posture. It is configured to be able to.

As shown in FIGS. 3 and 4, the tape pressing mechanism 15 includes a swing arm 50 capable of swinging about a fulcrum b.
The roller connecting portion 50 installed at the free end of the swing arm 50
a, an air cylinder 51 for oscillatingly driving them, and a pressing roller 52 provided at the tip of the roller connecting portion 50a, and configured to push the seal tape T pulled out by the tape pull-out mechanism 14 forward and downward. Has been done. Further, the suction pipe 70 of the tape front end holding mechanism 19 is
The swing arm 50 is arranged along the pressing roller 52 from substantially the center. This tape front end holding mechanism 1
Reference numeral 9 denotes a pipe-shaped suction pipe 70 and an air suction device (not shown). A base end 70a of the suction pipe 70 is a connection port into which the air suction device is inserted. It is fixed by protruding from. On the other hand, the tip 70 b of the suction tube 70 is a suction port for sucking and holding the front end portion of the sealing tape T pulled out by the tape pulling mechanism 14, and is located in the middle of the suction tube 70 so as to be positioned in front of the pressing roller 52. The part is fixed to the roller connecting part 50a.

The suction tube 70 of the tape front end holding mechanism 19 follows and swings as the tape pressing mechanism 15 that deforms the seal tape T pulled out by the tape pulling-out mechanism 14 into the sticking posture. The adsorption tube 7
The position of the suction pipe 70 is set in advance so that the suction port 70b of 0 comes into contact with the upper surface of the seal tape T between the swing arm 45 and the pressing roller 52.

Further, the suction pipe 70 has an outer diameter narrower than the width of the sealing tape T for suction and holding, and is attached to the work W while holding the front end portion of the seal tape T, for example, of the work W. Care is taken to eliminate the interference with the peripheral portion of the attachment such that the suction pipe 70 collides with the upper end of the side wall of the groove when the attachment portion has a groove shape.

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.

An air cylinder 59 is supported on the swing bracket 55 so as to be linearly slidable via a guide shaft 58.
It is equipped with a movable member 60 that is slid by
The hot wire cutter 57 extends horizontally across a pair of right and left holders 61 provided on the movable member 60 (FIG. 1).
0). 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 ray cutter 57 moves the guide rail 10.
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 as shown by the phantom line in FIG. The upper guide bar 21 faces the slit 62 formed on the lower surface of the protruding portion 21a. At this position, the air cylinder 59 contracts to cause the heat wire cutter 57 to enter the slit 62,
The seal tape T pulled out from the guide rail 10 is designed to be fused and cut from the lower surface.

As shown in FIG. 5, the tape slack detecting mechanism 17 comprises a micro switch 65 equipped with a detecting piece 65a at the tip of the upper guide bar 21.
When the seal tape T is pulled out and in a tensioned state, the upper surface of the seal tape T contacts the detection piece 65a and the detection piece 65a is displaced upward. It is designed to 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 apparatus of the first embodiment is configured as described above. Below, a series of operations for sticking the seal tape on the annular seal portion of the work W will be described with reference to FIGS. It will be explained based on.

FIG. 13 is an explanatory view showing the initial set state of the automatic tape attaching operation. (1) In the initial set state, as shown in FIG. 13, the swing arm 45 of the tape pull-out mechanism 14 is near the end of the guide rail 10 and the tape pressing mechanism 1
The pressing roller 52 of No. 5 is in a swinging up posture,
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 move toward each other to cause the seal tape T to move.
The tip end portion of the is pierced and supported by the tape support needle 48 from the left and right. At this time, the flange 48a provided on the tape support needle 48
Since the sealing tape T is sandwiched between the left and right surfaces, the tape posture is stable.

FIG. 14 is an explanatory view showing a tape drawing step of the automatic tape attaching operation. (2) Next, as shown in FIG.
Oscillates and swings, and the front end portion of the sealing tape T bypasses the bottom of the pressing roller 52 and is pulled out to a predetermined position in front.

FIG. 15 is an explanatory view showing the tape pressing preparation and the tape front end holding process in the automatic tape bonding operation. (3) Next, as shown in FIG. 15, the pressing roller 52 is moved down, and while pulling out the sealing tape T a little, the front end portion thereof is pressed down and deformed. Following the movement of the pressing roller 52, the suction port 70b of the suction tube 70 contacts the upper surface of the front end portion of the sealing tape T, and an air suction device (not shown) inserted in the connection port 70a of the suction tube 70 is operated to seal the seal. The front end of the tape T is suction-held.

(4) After that, both swing arms 45, which are pierced and supported by the tape support needles 48 on the left and right sides of the front end of the seal tape T, are operated to separate from each other to release the support of the front end of the seal tape. Here, the front end of the sealing tape T is
Only the suction holding of the tape front end holding mechanism 19 maintains the pasting posture. Then, as shown in FIG. 16, the swing arm 45 is returned and oscillated to the set position.

FIG. 17 is an explanatory view showing a pasting process of the automatic tape pasting operation. (5) Next, as shown in FIG. 17, the work supporting robot 3
Lifts the work W, presses the front end of the seal tape T held in the sticking position against the tape sticking portion of the work W, stops the operation of an air suction device (not shown), and releases the suction holding by the suction pipe 70. By doing so, the vicinity of the tip of the seal tape T is naturally dropped a little and is properly attached.

(6) Next, the work W is slightly moved in the direction opposite to the sticking movement direction (leftward in FIG. 17), and the pressing roller 52 is applied to the front end portion of the seal tape T to stick it to the work W. . After that, the work supporting robot 3 is maintained so that the tape attachment portion of the work W is maintained in a constant upward posture at a constant position where the pressing roller 52 acts.
Moves and controls the work W, and the seal tape T
Is relatively pulled out from the guide rail 10 and the motor 35 operates to send out the seal tape T, and the seal tape T is continuously attached to the tape attachment portion of the work W via the pressing roller 52. .

FIG. 12 is a flow chart showing the control operation of the tape feeding speed. The control operation of the tape feeding speed at this time will be described based on the flowchart shown in FIG. That is, when the tape sticking process is started, it is first judged whether or not there is slack in the seal tape T based on the information (ON / OFF of the micro switch 65) from the tape slack detection mechanism 17 (# 1), and there is slack. In this case, the motor 35 is stopped and the seal tape T is pulled out by the movement of the work W (# 2). If there is no slack, the information from the tension detecting mechanism 13 (the output signal of the differential transformer 41).
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). When the separator tension is out of the reference tension range, the procedure goes to step # 7 to set the reference tension. 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), the sealing tape feeding speed is corrected and calculated (# 9), and 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.

FIG. 18 is an explanatory view showing a cutting preparation process of the automatic tape attaching operation. (7) As shown in FIG. 18, 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 swing bracket 55 of the tape cutting mechanism 16 is swung up to move the heat wire cutter 57 to a position below the slit 62.

FIG. 19 is an explanatory view showing the cutting completion process of the tape automatic attaching operation. (8) Next, as shown in FIG. 19, the contraction operation of the air cylinder 59 causes the heat wire cutter 57 to rush into the slit 62 and rise, whereby the seal tape T is cut and the tape end portion T is cut.
b falls on the work W by its own weight. At this time, since the seal tape T drawn out from the guide rail 10 is cut without pulling, the seal tape T does not shrink after cutting and is cut accurately. As a result, the tape end portion Tb is properly butted against the front end portion of the seal tape T attached to the work W with almost no gap.

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

When the optical sensor 66 of the tape seam detection mechanism 18 senses the adhesive tape piece adhered to the tape seam during the pasting operation, the tape seam is predetermined from the tip of the guide rail 10 after the pasting operation is completed. 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.

[Second Embodiment] A seal tape automatic sticking apparatus according to a second embodiment is a tape front end portion including a suction pipe 70 and an air suction device provided in the sticking apparatus body 1 in the apparatus of the first embodiment. The holding mechanism 19 is modified. Therefore, the description of the same configuration and operation as in the first embodiment will be omitted.

FIG. 20 is a side view in which a part of the sticking apparatus main body 1 according to the second embodiment is cut away. FIG. 21 is a plan view thereof. That is, as shown in FIGS. 20 and 21, the tape front end holding mechanism 19 according to the second embodiment comprises an air cylinder 80 and a locking needle 81 mounted on the tip of the rod, and the extension operation of the air cylinder 80 is performed. The air cylinder 80 is installed and fixed to the roller connecting portion 50a of the tape pressing mechanism 15 so that the locking needle 81 pierces and holds the upper surface of the front end portion of the seal tape T.

Further, a taper-shaped protruding locking portion 81a is provided at the tip of the locking needle 81, and the locking tape 81 can be pierced into the upper surface of the sealing tape T to hold the sealing tape T. It is like this. In order to prevent the seal tape T from coming off from the work W when the locking needle 81 is pulled out from the seal tape T after the front end portion of the seal tape T has been stuck to the sticking site of the work W, the locking is performed. The size of the portion 81a is set appropriately.

As described above, according to the piercing and holding of the locking needle 81, when the sealing tape T is relatively porous, for example, the stability is improved as compared with the suction and holding by the suction tube 70 used in the first embodiment. .

Tape front end holding mechanism 19 of the second embodiment
Is configured as described above. Hereinafter, when the seal tape is attached to the annular seal portion of the work W, a related operation will be described with reference to FIGS. 22 to 24.

FIG. 22 is an explanatory view showing a tape pressing preparation process of the automatic tape bonding operation. (1) As shown in FIG. 22, the pressing roller 52 is moved down, and while pulling out the sealing tape T a little, the front end portion of the pressing roller 52 is pressed down and deformed. At this time, the rod of the air cylinder 80 of the tape front end holding mechanism 19 is contracted, and the locking needle 81 stands by above the front end of the seal tape T.

FIG. 23 is an explanatory view showing the tape front end holding process of the tape automatic attaching operation. (2) Next, as shown in FIG. 23, the air cylinder 80 is extended so that the locking needle 8 is attached to the upper surface of the front end portion of the seal tape T.
1 is pierced and held by the locking portion 81a. After that, both swing arms 45, which are pierced and supported by the tape support needles 48 on the left and right sides of the front end of the seal tape T, are separated and operated to release the support of the front end of the tape. Here, the front end of the seal tape T is the locking needle 8 of the tape front end holding mechanism 19.
The sticking posture is maintained only by the piercing and holding of No. 1. Then, the swing arm 45 is returned to the set position and oscillated.

FIG. 24 is an explanatory view showing a pasting process of the automatic tape pasting operation. (3) Next, as shown in FIG. 24, the work support robot 3
Lifts the work W and presses the front end of the seal tape T held in the sticking position against the tape sticking portion of the work W to stick the front end of the seal tape T, causing the air cylinder 80 to contract and lock. Seal the needle 81 with the sealing tape T
Pull out from. Then, the work W is slightly moved in the direction opposite to the sticking movement direction (the left direction in FIG. 24), and the pressing roller 52 is acted to the front end of the seal tape T to move the front end of the seal tape T to the work W. Pasting is completed.
After that, the pasting operation proceeds in the same manner as in the first embodiment.

[0054]

As is apparent from the above description, the seal tape pulled out by the tape pull-out mechanism is held by the tape front end holding mechanism having the holding member narrower than the width of the seal tape, and the tape pressing mechanism. Since the tape is attached to the work through the work, even if the tape attachment part of the work has a groove shape, the holding member that holds the front end of the seal tape does not collide with the upper end of the side wall of the groove, and the work of any shape is formed. Even with respect to the above, the sealing tape can be accurately applied, and the versatility of this type of automatic sealing tape application device can be improved.

[Brief description of drawings]

FIG. 1 is a side view showing an entire seal tape automatic pasting device according to a first embodiment.

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 application 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 terminal 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 and a tape front end holding process in the tape automatic bonding operation.

FIG. 16 is an explanatory diagram showing a tape front end holding process of the automatic tape attaching operation.

FIG. 17 is an explanatory diagram showing a pasting process of an automatic tape pasting operation.

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

FIG. 19 is an explanatory diagram showing a cutting completion process of the tape automatic attaching operation.

FIG. 20 is a side view in which a part of the application device body according to the second example is cut away.

FIG. 21 is a plan view of a pasting device body.

FIG. 22 is an explanatory diagram showing a tape pressing preparation and a tape front end holding preparation process of an automatic tape attaching operation.

FIG. 23 is an explanatory diagram showing a tape front end holding process of the tape automatic attaching operation.

FIG. 24 is an explanatory view showing a sticking step of the tape automatic sticking operation.

FIG. 25 is an explanatory view showing an initial set state of the automatic tape attaching operation according to the conventional apparatus.

FIG. 26 is an explanatory diagram showing a tape drawing process of a tape automatic attaching operation of a conventional device.

FIG. 27 is an explanatory diagram showing a tape pressing preparation process of the automatic tape bonding operation of the conventional device.

FIG. 28 is an explanatory diagram showing a pasting process of a tape automatic pasting operation of a conventional device.

FIG. 29 is an explanatory diagram showing a problem in the conventional device.

[Explanation of symbols]

 1 sticking device main body 2 seal tape supplying device 10 guide rail 14 tape pulling mechanism 15 tape pressing mechanism 19 tape front end holding mechanism T seal tape W work

Claims (1)

[Claims] 1. A guide rail end for supporting a guide rail for guiding and running a seal tape from a seal tape supply device along a predetermined path and a front end portion of the seal tape led out to the end of the guide rail from both sides. A tape attachment mechanism is provided that is equipped with a tape pull-out mechanism that pulls out to a predetermined front position and a tape pressing mechanism that presses the pulled-out seal tape against the tape sticking site of the work,
In the seal tape automatic sticking device, which moves the sticking device main body and the work relative to each other to stick the seal tape drawn out from the end of the guide rail to a predetermined part of the work, the front end portion of the seal tape by the tape drawing mechanism. From the time when the tape is pulled out to a predetermined position until the front end of the seal tape is pressed against the starting end of the work to be attached by the tape pressing mechanism, the front end of the seal tape is held by a holding member that is narrower than the width of the seal tape. An automatic sticker tape sticking device having a tape front end holding mechanism.