WO2014041693A1

WO2014041693A1 - Hand, robot, and processing system

Info

Publication number: WO2014041693A1
Application number: PCT/JP2012/073701
Authority: WO
Inventors: 文明古澤; 辰之工藤
Original assignee: 株式会社安川電機
Priority date: 2012-09-14
Filing date: 2012-09-14
Publication date: 2014-03-20
Also published as: JP6016140B2; JPWO2014041693A1; CN104487214A

Abstract

A hand (404), robots (40a, 40b) and a processing system (10) for adhering a tape piece (TP) to a subject (S) are provided. This processing system (10) is provided with a table unit (30) on which a subject (S) is placed, and a first and second robot (40a, 40b) each having a hand (404) and each moving in the longitudinal direction of the subject (S). The hand (404) includes a tape holder (440) for rotatably holding tape (442) wound in a roll, a drawing device (450) for drawing out the end of the tape (442) held by the tape holder (440), a holding unit (460) which holds down the base end of the tape (442) drawn out by the drawing device (450), a cutter unit (470) which cuts the tape (442) held down by the holding unit (460), and a suction device (490) which attaches by suction the surface opposite of the adhesive surface of the tape piece (TP) cut by the cutter unit (470) and adheres the tape piece (TP) onto the subject (S).

Description

Hand, robot, and processing system

The present invention relates to a hand, a robot, and a processing system.

Japanese Patent No. 4017131 describes a method for producing a polyester decorative plywood. The polyester decorative plywood is produced by the following steps: i) a step of attaching decorative paper to a plate-like substrate, ii) a step of applying a resin liquid mainly composed of an unsaturated polyester resin to the surface of the decorative paper, iii) Coating the coated surface with a polyethylene terephthalate film for decorative surface finishing stretched by a fusing means on a metal frame coated with a polyvinyl chloride sheet, and defoaming; iv) an unsaturated polyester resin After curing, it is based on the step of peeling the polyethylene terephthalate film from the cured surface.

Japanese Patent No. 4017131

The present invention aims to provide a hand, a robot, and a processing system for attaching a tape piece to an object.

In order to solve the above problems, according to one aspect of the present invention, a table unit on which an object is placed;
First and second robots each having a hand and moving in the longitudinal direction of the object,
The hand includes a tape holder that rotatably holds a tape wound in a roll, and
A drawer for pulling out an end of the tape held by the tape holder;
A holding part for pressing the proximal end side of the tape drawn out to the drawer;
A cutter unit for cutting the tape pressed by the holding unit;
A processing system having an adsorber that adsorbs the surface opposite to the adhesive surface of the tape piece cut by the cutter unit and attaches the tape piece to the object is applied.

According to another aspect, a guide unit for guiding the sheet;
A first tape sticking mechanism for sticking a tape piece to the surface on one side of the sheet;
A second tape application mechanism that is provided on the opposite side of the first tape application mechanism across the guide portion, and that applies a tape piece to the other surface of the sheet;
Each of the first and second tape applying mechanisms includes a tape holder that rotatably holds a tape wound in a roll shape, and
A drawer for pulling out an end of the tape held by the tape holder;
A holding part for pressing the proximal end side of the tape drawn out to the drawer;
A cutter unit for cutting the tape pressed by the holding unit;
A robot hand having an adsorber that adsorbs the surface opposite to the adhesive surface of the tape piece cut by the cutter unit and attaches the tape piece to the sheet is applied.

According to another aspect, a tape holder that rotatably holds a tape wound in a roll, and
A drawer for pulling out an end of the tape held by the tape holder;
A holding part for pressing the proximal end side of the tape drawn out to the drawer;
A cutter unit for cutting the tape pressed by the holding unit;
A robot hand provided with an adsorber that adsorbs the surface opposite to the adhesive surface of the tape piece cut by the cutter unit and attaches the tape piece to an object is applied.

According to another aspect, a guide part for guiding a sheet, a first tape application mechanism for attaching a tape piece to a surface on one side of the sheet, and the first tape application across the guide part A hand provided with a second tape application mechanism that is provided on the opposite side of the mechanism and attaches a tape piece to the surface of the other side of the sheet;
Each of the first and second tape applying mechanisms includes a tape holder that rotatably holds a tape wound in a roll shape, and
A drawer for pulling out an end of the tape held by the tape holder;
A holding part for pressing the proximal end side of the tape drawn out to the drawer;
A cutter unit for cutting the tape pressed by the holding unit;
A robot having an adsorber that adsorbs a surface opposite to the adhesive surface of the tape piece cut by the cutter unit and attaches the tape piece to the sheet is applied.

According to another aspect, a tape holder that rotatably holds a tape wound in a roll, and
A drawer for pulling out an end of the tape held by the tape holder;
A holding part for pressing the proximal end side of the tape drawn out to the drawer;
A cutter unit for cutting the tape pressed by the holding unit;
A robot including a hand having an adsorber that adsorbs the surface opposite to the adhesive surface of the tape piece cut by the cutter unit and attaches the tape piece to an object is applied.

According to the present invention, a tape piece can be attached to an object.

It is a top view of the processing system concerning one example of the present invention. It is a side view of the processing system. It is a front view of the processing system. It is explanatory drawing of the decorative board for interiors manufactured using the sheet | seat processed by the processing system. It is explanatory drawing which shows the state by which the sheet | seat processed by the same processing system was comprised as a type | mold. It is the X section enlarged view of Drawing 3A. It is the schematic diagram which looked at the hand of the robot which the processing system has from the front. It is explanatory drawing of the guide part provided in the hand of the robot which the same processing system has. It is explanatory drawing of the tape holder provided in the hand of the robot which the same processing system has. It is explanatory drawing of the drawer provided in the hand of the robot which the same processing system has. It is explanatory drawing of the holding | maintenance part provided in the hand of the robot which the same processing system has. It is explanatory drawing which looked at the cutter part provided in the hand of the robot which the same processing system had from the front. It is arrow Y of FIG. 9A. It is explanatory drawing of the suction device provided in the hand of the robot which the same processing system has. It is explanatory drawing of the suction surface of the suction device provided in the hand of the robot which the same processing system has. It is explanatory drawing which shows step SA1 of the processing method of the sheet | seat by the same processing system. It is explanatory drawing which shows step SA2 of the processing method of the sheet | seat by the same processing system. It is explanatory drawing which shows step SA3 of the processing method of the sheet | seat by the same processing system. It is explanatory drawing which shows step SA4 of the processing method of the sheet | seat by the same processing system. It is explanatory drawing which shows step SA5 of the processing method of the sheet | seat by the same processing system. It is explanatory drawing which shows the state which the rod advanced in step SA7 of the sheet processing method by the same processing system. It is explanatory drawing which shows the state which the rod retracted | retreated in step SA7 of the sheet processing method by the same processing system. It is a flowchart of the processing method of the sheet | seat by the same processing system.

Next, embodiments of the present invention will be described with reference to the accompanying drawings to help understand the present invention. In each drawing, portions not related to the description may be omitted.

A processing system (see FIGS. 1A, 1B, and 1C) 10 according to an embodiment of the present invention is a sheet S (see FIG. 3A) used to manufacture a decorative board P for interior of a building shown in FIG. And a tape piece TP, a hole H is formed, and a spelling needle STP is hit.
The interior decorative board P shown in FIG. 2 applies a polyester resin on the base material 20 on which decorative paper and plywood are bonded, and after applying the sheet S, extends the applied polyester resin using a roll. This is a plate material cured as the polyester resin layer 22.
On the surface of the polyester resin layer 22, irregularities are formed in order to enhance the texture as the interior decorative board P. Since the sheet S is used as a part of the mold 28 (see FIGS. 3A and 3B) for forming the unevenness, minute unevenness (not shown) is formed on the surface.

The sheet S has a rectangular shape, for example. The sheet S is formed of a PET (Polyethylene terephthalate) material. The dimension in the width direction of the sheet S is, for example, 1000 to 1500 mm. The dimension in the length direction of the sheet S is, for example, 1900 to 2700 mm. The thickness of the sheet S is, for example, 70 to 400 μm.

The sheet S (an example of an object) is attached to a hook 34 provided inside a rectangular metal frame 32 via a rubber body 29 and configured as a mold 28. Therefore, a reinforcing tape piece TP is affixed to the sheet S. In detail, the tape S is stuck to both surfaces of the sheet S by the processing system 10 at intervals along each side. The tape piece TP is attached to, for example, 50 to 92 locations. In addition, the sheet S is provided with a hole H at the center of the tape piece TP together with the tape piece TP. Further, the sheet S is reinforced by hitting a spell STP on the side opposite to the end of the sheet S across the hole H from above the stuck tape piece TP.

As illustrated in FIGS. 1A, 1B, and 1C, the processing system 10 includes a table unit 30, a first robot 40a, and a second robot 40b.
The table unit 30 includes an upper table 30a and a lower table 30b on which the sheet S is placed. A positioning mechanism (not shown) for positioning the sheet S placed via the attachment 302 is mounted on each table 30a, 30b. The positioned sheet S is fixed to each table 30a, 30b by a magnet (not shown).

The upper table 30a is provided on a mount 306 (see FIG. 1C) placed on a rail 304a extending along the longitudinal direction of the sheet S, and can move in the direction of the arrow shown in FIGS. 1A and 1B.
The lower table 30b can move on a rail 304b installed inside the rail 304a. As shown in FIG. 1C, the lower table 30b has dimensions in the width direction and height direction that are smaller than the dimensions in the width direction and height direction of the gantry 306, respectively, and can enter the lower side of the upper table 30a. It has become.

Therefore, while the first and

second robots

40a and 40b are processing the sheet S placed on one table at the processing position P1 (see FIG. 1A), the worker WM is at the preparation position P2. Since the sheet S to be processed next can be placed on this table, the tact time is shortened.

The first robot 40a and the second robot 40b are, for example, 6-axis vertical articulated industrial robots.
The first robot 40a and the second robot 40b can move independently on the rail 402a and the rail 402b arranged along the rail 304a outside the rail 304a, respectively.

The first robot 40a performs processing on one side when the sheet S is divided into two at the center line in the width direction while moving on the rail 402a. The second robot 40b performs processing on the other side when the sheet S is divided into two at the center line in the width direction while moving on the rail 402b.

The first robot 40a performs processing on the short side portion on one side and the long side portion on one side of the sheet S while moving on the rail 402a, and the second robot 40b moves on the rail While moving on 402b, the short side portion on the other side and the long side portion on the other side of the sheet S may be processed.

Since the first robot 40a and the second robot 40b can have the same configuration, the description of the second robot 40b will be omitted below.
The first robot 40a has a hand 404 shown in FIG. 4 at the tip of the arm. In FIGS. 1A to 1C, the hand of the first robot 40a is not shown.
Since the hand 404 is provided at the tip of the arm of the first robot 40a, the hand 404 can take any position and posture. Hereinafter, the hand 404 will be described based on the posture of the hand 404 when the sheet S is processed (see FIG. 4).

On the frame 406 of the hand 404, the guide portion 410, the first and second

tape application mechanisms

430a and 430b for applying the tape piece TP to the sheet S, and the tape piece TP attached to the sheet S are attached to the sheet S. A punching punch 510 for opening the hole H, and a stapler 520 for further fastening the tape piece TP attached to the sheet S to the sheet S with a spelling needle STP are provided.

As shown in FIG. 5, the guide unit 410 can guide the inserted sheet S (see arrows shown in FIGS. 4 and 5) and regulate the position of the sheet S in the vertical direction. The sheets S processed by the first robot 40a and the second robot 40b are moved by the

robots

40a and 40b moving the arms 404 by moving the arms, or by the first robot 40a itself and the second robot 40b. When the robot 40b itself moves on the rail 402a and the rail 402b, respectively, the robot 40b is sent along the guide unit 420 when viewed from the hand 404.

The guide portion 410 includes an upper guide member 410U and a lower guide member 410L that are positioned on the upper surface side and the lower surface side of the sheet S, respectively. The upper guide member 410U and the lower guide member 410L are disposed to face each other with a space therebetween.
The lower guide member 410L is longer than the upper guide member 410U. The end portions of the upper guide member 410U and the lower guide member 410L are warped on opposite sides. A hole (not shown) through which the tape piece TP passes is formed at the center of the upper guide member 410U and the lower guide member 410L.

At both ends of the guide portion 410,

ejection portions

412a and 412b for ejecting air toward the lower guide member 410L are provided. When the

ejection portions

412a and 412b eject air toward the sheet S placed on the lower guide member 410L, warpage (vertical distortion) of the sheet S guided by the guide portion 410 is suppressed.

FIG. 4 shows a first tape application mechanism 430a for applying the tape piece TP to the surface on one side of the sheet S and a second tape application mechanism 430b for applying the tape piece TP to the other surface of the sheet S. As shown, the guide portions 410 are provided on opposite sides of each other. Each

tape sticking mechanism

430a, 430b has a tape holder 440, a drawer 450, a holding part 460, a cutter part 470, and an adsorber 490.
As shown in FIG. 6, the tape holder 440 can hold the tape 442 wound in a roll shape so as to be rotatable around the central axis J1. The tape 442 is, for example, a gum tape.

As shown in FIG. 4, the drawer 450 is arranged in the drawing direction of the tape 442 when the hand 404 is viewed from the front. The drawer 450 has a chuck 452 whose tip can be opened and closed, and a cylinder 454 for moving the chuck 452 back and forth. As shown in FIG. 7, the drawer 450 can pull out the tape 442 by retracting the chuck 452 after gripping the end of the tape 442 held by the tape holder 440 by the chuck 452.

The holding part 460 can press the proximal end side of the tape 442 drawn out by the drawer 450. As shown in FIG. 4, the holding unit 460 is disposed between the tape holder 440 and the drawer 450.
As shown in FIG. 8, the holding unit 460 includes a rod 462 and a roller 464, and can sandwich the tape 442.
The rod 462 extends in the vertical direction. The rod 462 can advance and retract in the vertical direction. A contact member 466 that contacts the roller 464 is provided at the tip of the rod 462.
The roller 464 is disposed below the contact member 466 of the rod 462. The roller 464 can freely rotate around the rotation axis J2.

The cutter unit 470 (see FIG. 4) can cut the held tape 442 after holding the tape 442.
As shown in FIG. 9A, the cutter unit 470 is directed toward the tape 442 held by the pair of holding

members

472a and 472b holding the tip side of the tape 442 pressed by the holding unit 460 and the holding

members

472a and 472b. And an advanced blade 474.
As shown in FIG. 9B, the holding

members

472a and 472b open and close at the distal end portions as the base end portions rotate about axes J3a and J3b (see FIG. 9A) extending in the direction in which the tape 442 is pulled out. That is, each holding

member

472a, 472b extends upward and downward from the base 476 in the open state. Each holding

member

472a, 472b extends in a direction crossing the direction in which the tape 442 extends in the closed state.

As shown in FIG. 9A, the blade 474 is provided on the holding member 472b, and can rotate together with the holding member 472b. The blade 474 moves to a cutting position below the adhesive surface of the tape 442 when the tips of the holding

members

472a and 472b are closed to hold the tape 442 (see arrow A shown in FIG. 9B). The blade 474 moved to the cutting position can cut the tape 442 by advancing upward (see arrow B shown in FIG. 9B).
The blade 474 is provided at a position closer to the drawer 450 than the holding member 472b when the hand 404 is viewed from the front, and in the vicinity of, for example, 1 to 5 mm away from the holding member 472b. Since the blade 474 can be cut at the tape position near the portions held by the holding

members

472a and 472b, the tape 442 is stably cut.

The adsorber 490 (see FIG. 4) can adsorb the tape 442 held by the holding

members

472a and 472b (see FIGS. 9A and 9B) of the cutter unit 470. Further, the adsorber 490 can adsorb the air on the surface opposite to the adhesive surface of the tape piece TP cut by the blade 474 of the cutter unit 470 and attach the adsorbed tape piece TP to the sheet S.

As shown in FIGS. 10A and 10B, the suction device 490 includes a rod 494 having four suction pads 492 provided at the distal end portion 493 and an air cylinder 496 for moving the rod 494 forward and backward. An air tube 495 that generates a negative pressure is connected to the surface of the tip portion 493 of the suction device 490 opposite to the surface on which the suction pad 492 is provided.
The suction unit 490 can press the tape piece TP against the opposing member (see FIG. 9B) 478 provided on the holding

members

472a and 472b of the cutter unit 470, and can suck the tape piece TP with air.
The shape of the suction pad 492 is circular as seen from the distal end side of the rod 494, as shown in FIG. 10B.

The adsorber may have the following configuration as a modification.
As a first modification, a round suction port leading to the air tube 495 can be provided on the flat bottom surface of the tip portion 493. The suction pad in this first modification is not provided with a suction pad 492.
As a second modified example, a plate-like pad having the same shape as the bottom surface of the distal end portion 493 can be fixed to the suction port shown as the configuration of the first modified example. In the plate-like pad, a hole communicating with the air tube 495 is formed at a position corresponding to the suction port.

The hole punch 510 shown in FIG. 4 can open holes H in the sheet S from above the tape piece TP affixed to the sheet S. The perforating punch 510 is arranged behind the suction unit 490 that attaches the tape piece TP to the sheet S in a plan view in the traveling direction of the hand 404 of the first robot 40a, that is, on the tape holder 440 side. ing.

The stapler 520 shown in FIG. 4 can fasten the tape piece TP affixed to the sheet S to the sheet S with the loaded spelling needle STP. The stapler 520 is arranged on the rear side of the punching punch 510, that is, on the tape holder 440 side in the traveling direction of the hand 404 of the first robot 40a.

Next, a method for processing the sheet S by the processing system 10 will be described. In addition, since the 1st tape sticking mechanism 430a and the 2nd tape sticking mechanism 430b operate | move similarly, the description about the 2nd tape sticking mechanism 430b is abbreviate | omitted.

(Step SA1)
When the first robot 40 a moves the hand 404 shown in FIG. 4, the short side portion of the sheet S is inserted into the guide portion 410. The warp of the sheet S is suppressed by the air supplied from the

ejection parts

412a and 412b.
As shown in FIG. 11A, the rod 462 of the holding portion 460 advances to hold the tape 442 with the roller 464.
The chuck 452 of the drawer 450 advances and grips the end of the tape 442.

(Step SA2)
As shown in FIG. 11B, the rod 462 of the holding part 460 moves backward. The chuck 452 of the drawer 450 is retracted, and the gripped tape 442 is pulled out.

(Step SA3)
As shown in FIG. 11C, the rod 462 of the holding part 460 advances and presses the tape 442.

(Step SA4)
As shown in FIG. 11D, the holding

members

472a and 472b of the cutter unit 470 are closed, and the tape 442 is held. As the holding member 472b closes, the opposing member 478 also moves to a cutting position below the tape 442.
After the rod 494 of the adsorber 490 advances downward and presses the tape 442 against the opposing member 478, the tape 442 is adsorbed by air.

(Step SA5)
The blade 474 of the cutter unit 470 advances upward and cuts the tape 442. As shown in FIG. 11E, after the tape 442 is cut, the chuck 452 of the drawer 450 is opened to release the end of the tape piece TP. The tape piece TP is held only by the adsorber 490.
The rod 494 of the suction device 490 is temporarily retracted upward, and the tape piece TP is retracted upward.

(Step SA6)
The holding

members

472a and 472b of the cutter unit 470 are opened.

(Step SA7)
As shown in FIG. 11F, the rod 494 of the adsorber 490 advances downward, and the tape piece TP is stuck to the sheet S at the sticking position Pp through the hole formed in the upper guide member 410U.
After the tape piece TP is affixed, the rod 494 of the adsorber 490 moves backward as shown in FIG. 11G.

(Step SB1)
After step SA7 is executed, the first robot 40a shown in FIGS. 1A, 1B, and 1C moves the hand 404. That is, when viewed from the hand 404, the sheet S inserted into the guide unit 410 is sent. The tape piece TP affixed to the sheet S is sent to the punching position. The punching punch 510 (see FIG. 4) punches the sheet S from above the tape piece TP.

(Step SB2)
The first robot 40a shown in FIGS. 1A, 1B, and 1C moves the hand 404. That is, when viewed from the hand 404, the sheet S inserted into the guide unit 410 is sent. The tape piece TP in which the hole is opened in the previous step SB1 is sent to the fastening position. The stapler 520 (see FIG. 4) hits the spelling needle STP on the tape piece TP. The tape piece TP is fastened to the sheet S by the spelling needle STP. That is, the tape piece TP is fixed to the sheet S by the spelling needle STP in addition to its own adhesive force.

From the viewpoint of reducing the tact time, as shown in FIG. 12, the subsequent second tape piece TP is prepared while Step SB1 and Step SB2 are being executed for the first tape piece TP. Steps SA1 to SA6 are executed in parallel.

The first robot 40a sequentially moves the hand 404 to the processing position P1, repeatedly executes the above-described steps SA1 to SA6 and steps SB1 and SB2, sticks the tape piece TP to the sheet S, and punches the sheet S. Then, the spelling needle STP is fastened to the sheet S and the tape piece TP. As a result, the tape pieces TP are sequentially pasted on the short side of the sheet S with an interval.
After the short side portion of the sheet S is processed, the first robot 40a moves the long side portion of the sheet S by moving on the rail 402a instead of moving the hand 404. . As a result, the tape pieces TP are also affixed on the long side at intervals.

In addition, this invention is not limited to the above-mentioned Example, The change in the range which does not change the summary of this invention is possible. For example, a case where the invention is configured by combining some or all of the above-described embodiments and modifications is also included in the technical scope of the present invention.

The object is not limited to a sheet of PET material. Other examples of objects include paper and board, and assembled cardboard boxes.
The robot is not limited to a vertical articulated industrial robot.
The robot hand may include only the first tape applying mechanism or the second tape applying mechanism, and the robot may apply the tape piece only to the surface on one side of the object.
The tape pieces TP may be sequentially attached from the long side portion of the sheet S, and subsequently attached to the short side portion.

10: Processing system, 20: Base material, 22: Polyester resin layer, 28: Mold, 29: Rubber body, 30: Table part, 30a: Upper table, 30b: Lower table, 32: Metal frame, 34: Hook, 302 : Attachment, 304a, 304b: Rail, 306: Mount, 40a: First robot, 40b: Second robot, 402a, 402b: Rail, 404: Hand, 406: Frame, 410: Guide part, 410L: Lower side Guide member, 410U: upper guide member, 412a, 412b: ejection portion, 430a: first tape application mechanism, 430b: second tape application mechanism, 440: tape holder, 442: tape, 450: drawer, 452 : Chuck, 454: Cylinder, 460: Holding part, 462: Rod, 464: Roller, 466: Contact part 470: Cutter part, 472a, 472b: Holding member, 474: Blade, 476: Base part, 478: Opposing member, 490: Suction device, 492: Suction pad, 493: Tip part, 494: Rod, 495: Air tube, 496: Air cylinder, 510: Hole punch, 520: Stapler, H: Hole, P: Interior decorative board, S: Sheet, STP: Spelling needle, TP: Tape piece, WM: Worker

Claims

A table portion on which an object is placed;
First and second robots each having a hand and moving in the longitudinal direction of the object,
The hand includes a tape holder that rotatably holds a tape wound in a roll, and
A drawer for pulling out an end of the tape held by the tape holder;
A holding part for pressing the proximal end side of the tape drawn out to the drawer;
A cutter unit for cutting the tape pressed by the holding unit;
A processing system comprising: an adsorber that adsorbs a surface opposite to an adhesive surface of a tape piece cut by the cutter unit and attaches the tape piece to the object.
The processing system according to claim 1,
The cutter unit is a pair of holding members that hold the tip side of the tape pressed by the holding unit;
And a blade for cutting the tape held by the holding member.
The processing system according to claim 2,
The object is a sheet;
The processing system in which the hand further has an ejection portion that ejects air for suppressing distortion of the sheet to the sheet.
The processing system according to claim 3, wherein
A perforating punch for perforating the tape piece affixed to the sheet;
A processing system further comprising a stapler that holds the tape piece attached to the sheet to the sheet with a loaded spelling needle.
The processing system according to any one of claims 1 to 4,
The table section includes a movable upper table,
And a lower table that can sink into the lower side of the upper table.
A guide for guiding the seat
A first tape sticking mechanism for sticking a tape piece to the surface on one side of the sheet;
A second tape application mechanism that is provided on the opposite side of the first tape application mechanism across the guide portion, and that applies a tape piece to the other surface of the sheet;
Each of the first and second tape applying mechanisms includes a tape holder that rotatably holds a tape wound in a roll shape, and
A drawer for pulling out an end of the tape held by the tape holder;
A holding part for pressing the proximal end side of the tape drawn out to the drawer;
A cutter unit for cutting the tape pressed by the holding unit;
A robot hand comprising: an adsorber that adsorbs a surface opposite to an adhesive surface of the tape piece cut by the cutter unit and attaches the tape piece to the sheet.
A tape holder that rotatably holds the tape wound in a roll, and
A drawer for pulling out an end of the tape held by the tape holder;
A holding part for pressing the proximal end side of the tape drawn out to the drawer;
A cutter unit for cutting the tape pressed by the holding unit;
A robot hand comprising: an adsorber that adsorbs a surface opposite to an adhesive surface of a tape piece cut by the cutter unit and attaches the tape piece to an object.
A guide part for guiding a sheet, a first tape application mechanism for attaching a tape piece to a surface on one side of the sheet, and a side opposite to the first tape application mechanism across the guide part; A hand having a second tape applying mechanism for attaching a tape piece to the other surface of the sheet;
Each of the first and second tape applying mechanisms includes a tape holder that rotatably holds a tape wound in a roll shape, and
A drawer for pulling out an end of the tape held by the tape holder;
A holding part for pressing the proximal end side of the tape drawn out to the drawer;
A cutter unit for cutting the tape pressed by the holding unit;
A robot having an adsorber that adsorbs a surface opposite to an adhesive surface of the tape piece cut by the cutter unit and attaches the tape piece to the sheet.
A tape holder that rotatably holds the tape wound in a roll, and
A drawer for pulling out an end of the tape held by the tape holder;
A holding part for pressing the proximal end side of the tape drawn out to the drawer;
A cutter unit for cutting the tape pressed by the holding unit;
A robot comprising a hand having an adsorber that adsorbs a surface opposite to an adhesive surface of a tape piece cut by the cutter unit and affixes the tape piece to an object.