WO2022176008A1 - 剥離貼付装置及び剥離貼付システム - Google Patents
剥離貼付装置及び剥離貼付システム Download PDFInfo
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- WO2022176008A1 WO2022176008A1 PCT/JP2021/005664 JP2021005664W WO2022176008A1 WO 2022176008 A1 WO2022176008 A1 WO 2022176008A1 JP 2021005664 W JP2021005664 W JP 2021005664W WO 2022176008 A1 WO2022176008 A1 WO 2022176008A1
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- Prior art keywords
- seal
- push
- peeling
- gripping
- sheet
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- 238000001179 sorption measurement Methods 0.000 claims description 41
- 238000012545 processing Methods 0.000 claims description 29
- 238000003825 pressing Methods 0.000 claims description 18
- 230000003028 elevating effect Effects 0.000 claims description 6
- 238000004886 process control Methods 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 30
- 238000010586 diagram Methods 0.000 description 17
- 210000000078 claw Anatomy 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 230000001965 increasing effect Effects 0.000 description 3
- 230000037303 wrinkles Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/26—Devices for applying labels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/0006—Removing backing sheets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/40—Controls; Safety devices
Definitions
- This specification discloses a peel-and-stick device and a peel-and-stick system.
- a sticker sticking device for example, a sticker is peeled off from a backing paper by a first hand and a second hand, the held sticker is moved to an imaging position, and the outer shape of the sticker in the captured image is changed to an ideal sticker shape.
- a proposal has been made to solve the deformation of the seal by matching them for example, Patent Document 1).
- a robot hand can peel off a flexible sticker from a backing paper and attach the peeled sticker to a desired attachment position.
- the present disclosure has been made in view of such problems, and has a main purpose of providing a peel-and-stick device and a peel-and-stick system that can more reliably move a sticker from a sheet to which it is attached.
- the thrusting device disclosed in this specification employs the following means in order to achieve the main purpose described above.
- the peel-and-stick device of the present disclosure is A peeling and pasting device for moving one or more stickers from a sheet to which the stickers are pasted, a base; a suction portion disposed on the base portion and suctioning a portion of the seal; a gripping portion disposed on the base portion so as to be movable in directions approaching and separating from the adsorption portion and movable in vertical directions to grip an end portion of the seal; a drive unit that drives the gripping unit in a direction to approach and separate from the suction unit; is provided.
- the suction part and the gripping part are arranged on the base part, and the positional relationship between the suction part and the gripping part can be uniquely determined, and the part of the seal is adsorbed and the end of the seal is removed.
- the seal can be peeled off, moved, and stuck while the part is gripped. Therefore, with this peeling and pasting device, the sticker can be moved more reliably from the pasted sheet.
- FIG. 1 is a schematic explanatory diagram showing an example of a peel-and-stick system 10
- FIG. 2 is a perspective view of a push-up device 20 and a peel-and-stick mechanism 41
- FIG. 3 is a side view of the push-up device 20 and the peel-and-stick mechanism 41
- FIG. 4 is an explanatory diagram of a push-up portion 26
- FIG. 4 is a perspective view of a peel-and-stick mechanism 41
- FIG. 2 is a block diagram showing the electrical connection relationship of the peel-and-stick system 10
- 4 is a flowchart showing an example of a push-up processing routine
- 4 is a flow chart showing an example of a peel-and-stick processing routine.
- FIG. 1 is a schematic explanatory diagram showing an example of a peel-and-stick system 10
- FIG. 2 is a perspective view of a push-up device 20 and a peel-and-stick mechanism 41
- FIG. 3 is a side view of the push-up device 20
- FIG. 5 is an explanatory diagram of a series of processes for pushing up and gripping the tip portion 13 of the seal 12; 4A and 4B are explanatory diagrams of a series of processes for peeling off the seal 12; FIG. FIG. 4 is an explanatory diagram of a series of processes for attaching the seal 12 to the attachment target 15; FIG. 11 is an explanatory diagram showing an example of another push-up device 20B;
- FIG. 1 is a schematic explanatory diagram showing an example of a peel-and-stick system 10.
- FIG. 2 is a perspective view of the push-up device 20 and the peel-and-stick mechanism 41.
- FIG. 3 is a side view of the push-up device 20 and the peel-and-stick mechanism 41.
- FIG. 4 is an explanatory diagram of the push-up portion 26.
- FIG. 5 is a perspective view of the peel-and-stick mechanism 41.
- FIG. 6 is a block diagram showing the electrical connections of the peel-and-stick system 10. As shown in FIG.
- the peel-and-stick system 10 is, for example, a system that performs a process of peeling and moving one or more stickers 12 attached to a sheet 11 one by one, and sticking them to a sticking target.
- This peel-and-stick system 10 includes a push-up device 20 , a peel-and-stick device 40 , and a control PC 60 .
- the left-right direction (X-axis), the front-rear direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIGS.
- the direction in which the seal 12 is pushed up is defined as the "front”
- the direction in which the seal 12 is attached to the sheet 11 at that time is defined as the "rear".
- the sticker 12 may be formed with information about the target to be attached.
- the information about the sticking target include identification information, the price of the sticking target, performance, and the like.
- the information formed on the seal 12 may be, for example, characters, symbols, figures, or the like, or may be bar codes, two-dimensional codes, or the like.
- the object 15 to be stuck is not particularly limited as long as the sticker 12 is to be stuck. goods, etc.
- FIG. 1 shows, as an example of the object 15 to be adhered, a feeder used in a mounting apparatus for mounting components on a substrate and having a tape holding the components mounted thereon.
- the push-up device 20 is a device that pushes up the seal 12 from the sheet 11 to which one or more seals 12 are attached and peels off the edge.
- the push-up device 20 includes a placement section 21, a push-up section 26, and an elevating section 28, as shown in FIGS.
- the mounting portion 21 is a plate-like member on which the sheet 11 is mounted, and has a mounting surface 22 and an opening portion 23 .
- the placement surface 22 is the upper surface of the placement portion 21 and is a rectangular surface on which the sheet 11 is placed.
- the opening 23 communicates from the mounting surface 22, which is the upper surface of the mounting portion 21, to the lower surface side, and is a space into which the push-up portion 26 is inserted.
- the opening 23 is formed by a rectangular surface into which a cuboid push-up portion 26 can be inserted. As shown in FIG. 3 , an opening edge 24 on the lower surface side of the opening 23 is formed with a guide surface 25 that guides the push-up portion 26 into the internal space of the opening 23 .
- the introduction surface 25 is a tapered surface in which the opening area decreases from the bottom surface toward the top surface. The push-up portion 26 is guided by the introduction surface 25 to move inside the opening 23 and is positioned.
- the push-up portion 26 is a member that pushes up the tip portion 13 of the seal 12 to peel off the tip portion 13 of the seal 12, as shown in FIG.
- the push-up portion 26 separates the tip portion 13 from the sheet 11 while the side of the seal 12 different from the tip portion 13 is attached to the sheet 11 .
- the push-up portions 26 are arranged on the lower surface side of each of the plurality of seals 12, as shown in FIGS.
- the push-up portion 26 has a first member 31 and a second member 32 for pushing up the seal 12 from the lower surface side.
- the first member 31 is disposed in front of the upper surface of the push-up portion 26, is formed with a predetermined height H1, and pushes up the tip portion of the seal 12 from below.
- the second member 32 is disposed behind the upper surface of the push-up portion 26, has a height H2 that is lower than the height H1 of the first member 31, is positioned more centrally than the tip of the seal, and extends the seal 12 downward. It is a member that pushes up from The first member 31 and the second member 32 penetrate the sheet 11 and push up the seal 12 from the lower surface side.
- the first members 31 are two first pins that push up the corners of the tip portion 13 of the seal 12 from below, and the second members 32 are two second pins that push up the center side of the tip portion of the seal 12 . is a pin.
- the “corner” refers to a region (for example, a square of several millimeters) including the corner of the distal end portion 13 .
- the push-up portion 26 is provided with a first member 31 and a second member 32 having a height at which the seal 12 is linearly inclined from one end side of the seal 12 as a starting point to a position where the other end side of the seal 12 is higher. . Further, the push-up portion 26 is arranged such that the first member 31 and the second member 32 are positioned at a height and position where the second member 32 pushes up the seal 12 from the lower surface side at the timing when the tip portion 13 of the seal 12 is separated from the first member 31 when the push-up portion 26 is raised. may be arranged. Since the push-up portion 26 pushes up the tip portion 13 with one end attached to the seal 12, the tip portion 13 rises in an arc.
- the tip of the first member 31 is separated from the tip portion 13 .
- excessive force is not continuously applied to the distal end portion 13 of the seal 12, so damage or the like can be further suppressed.
- the push-up portion 26 is formed with a tapered surface 33 at the upper end so that the area of the upper surface becomes smaller as it goes upward.
- the tapered surface 33 is a surface that comes into contact with the opening edge 24 of the opening 23 , and the push-up portion 26 is guided into the opening 23 by contact between the introduction surface 25 and the tapered surface 33 as it rises. is positioned by
- the elevating section 28 vertically moves the push-up section 26 between a standby position on the lower surface side of the mounting section 21 and a push-up position where the tip portion 13 of the seal 12 is pushed up.
- the lifting section 28 may be an air cylinder. Since the air cylinder has a margin in the front, rear, left, and right when it is raised, even if there is a dimensional deviation between the fixing position of the lifting part 28 and the arrangement position of the opening 23, the push-up part 26 can be moved to the opening 23. can be inserted.
- the peeling and pasting device 40 is a device that peels off the seal 12 from the sheet 11 to which one or more stickers 12 are pasted, moves the sticker 12, and then sticks it to the sticking target 15.
- This peeling and pasting device 40 has a peeling and pasting mechanism 41 and a robot arm 54 .
- the peeling and pasting mechanism 41 is a main part of the peeling and pasting device 40 that moves the sticker 12, and is configured as an end effector that is attached to the tip of the robot arm 54 in a detachable state.
- the peel-and-stick mechanism 41 has a base portion 42 , an adsorption portion 43 , a grip portion 46 , a driving portion 48 , a fixing portion 50 and a mounting portion 52 .
- the base part 42 is a base on which each component of the peeling and sticking mechanism 41 is arranged.
- a suction portion 43 is arranged on the lower surface side of the base portion 42, and a grip portion 46 is supported through a driving portion 48 in front.
- a mounting portion 52 connected to a robot arm 54 is provided.
- a pressure applying device (not shown) is connected to the base portion 42 , and negative pressure and positive pressure are supplied to the base portion 42 from this pressure applying device.
- the base portion 42 can be freely moved vertically, horizontally, and back and forth by the robot arm 54 .
- the adsorption part 43 is arranged on the lower surface side of the base part 42 and adsorbs a part of the seal 12 .
- the adsorption section 43 includes a nozzle 44 and an adsorption tube 45 .
- the nozzle 44 is a member that abuts against the seal 12 and applies a negative pressure, and is formed of rubber or resin in the shape of a circular sucker.
- the nozzle 44 also serves as a pressing member that presses the sticker 12 from above after placing the sticker 12 on the sticking target 15 .
- the suction tube 45 is enclosed in the base portion 42 and protrudes from the inside of the base portion 42 to the outside when the nozzle 44 descends.
- Negative pressure or positive pressure is supplied to the adsorption tube 45 from a pressure applying device via the base portion 42 .
- the adsorption part 43 is arranged on the base part 42 so as to be able to move up and down between a standby position and an adsorption position. .
- the gripping portion 46 grips the tip portion 13 of the seal 12 pushed up by the push-up portion 26, and has a pair of gripping claws 47 facing each other.
- the gripping portion 46 is arranged on the base portion 12 so as to be movable in the approaching/separating direction (front-rear direction) toward and away from the suction portion 43 . Further, the grip portion 46 can move in the vertical direction as the base portion 42 moves in the vertical direction. As shown in FIG. 5, the grip portion 46 is arranged obliquely downward toward the tip portion 13 of the seal 12 lifted from the seat 11 .
- the pair of gripping claws 47 has a width that can be inserted between the two first members 31 .
- the gripping claws 47 enter between the first members 31 and grip the distal end portion 13 pushed up by the first member 31 .
- the gripping portion 46 is driven by an air actuator or an electromagnetic actuator (not shown) between a gripping state in which the tips of the gripping claws 47 are closed and a grip release state in which the tips are open.
- the gripping portion 46 grips the tip portion 13 of the seal 12 in a curved state so that the shape of the seal 12 when viewed from the side is S-shaped (see FIG. 1, etc.).
- the drive unit 48 moves the support member 49 in directions that bring the gripping unit 46 closer to and away from the suction unit 43 .
- the driving portion 48 has an air cylinder driven by pressure supplied from the base portion 42 .
- the support member 49 is a member that is connected to the driving portion 48 so as to be movable in the front-rear direction by the driving portion 48 and that supports the grip portion 46 thereunder.
- the fixing portion 50 is a member that fixes the sheet 11 to the placing portion 21 on which the sheet 11 is placed.
- the fixing portion 50 is a C-shaped plate-like member having an opening in front, and the lower surface thereof is a pressing surface that contacts and presses the mounting surface 22 .
- the work space 51 is a space in which the work of peeling the seal 12 from the sheet 11 with the sheet 11 fixed to the fixing portion 50 is performed. The seal 12 moves upward together with the grip portion 46 and the suction portion 43 through the work space 51 .
- the attachment part 52 is a part that can be attached to and detached from the robot arm 54 and is arranged on the upper surface of the base part 42 .
- the mounting section 52 has a locking mechanism that locks when the peeling and pasting mechanism 41 is mounted on the robot arm 54 . When the operator removes the peeling/sticking mechanism 41 from the robot arm 54, the lock mechanism is released.
- the robot arm 54 has a peeling and pasting mechanism 41 attached to its tip, peels the seal 12 from the sheet 11 , moves, and moves the peeling and pasting mechanism 41 forward, backward, left and right, so as to stick the seal 12 to the pasting target 15 .
- the robot arm 54 includes a plurality of arms 55 that rotate around a rotation shaft, a drive motor 56 that rotates the rotation shaft to which the arms 55 are connected, a base 57 that supports and disposes the arms 55, and the like. is doing.
- the control PC 60 controls each device of the peel-and-stick system 10 .
- the control PC 60 includes a thrust control section 61 , a processing control section 62 , a storage section 63 , a communication section 64 , a display section 65 and an operation device 66 .
- the push-up control unit 61 is configured as a microprocessor centering on a CPU, and controls the push-up device 20 as a whole.
- the push-up control unit 61 outputs a control signal to the lifting unit 28 so that the push-up unit 26 on the lower surface side of the seal 12 to be peeled is pushed up and then lowered.
- the processing control unit 62 is configured as a microprocessor centering on a CPU, and controls the entire peeling/sticking device 40 .
- the processing control unit 62 outputs drive signals to the adsorption unit 43 , the gripping unit 46 , the driving unit 48 and the robot arm 54 .
- the storage unit 63 is a large-capacity storage medium such as a flash memory, and stores a program for controlling the peeling/sticking system 10, information on the sticker 12, the sticking object 15, and the like.
- the communication unit 64 is an interface for exchanging information with an external device such as the push-up device 20 or the peeling/sticking device 40 . Each device of the peel-and-stick system 10 exchanges information with the control PC 60 via the communication unit 64 .
- the display unit 65 is a display that displays information to the operator.
- the operating device 66 includes a keyboard, a mouse, and the like for the operator to make various inputs. In the peel-and-stick system 10, the control of the push-up device 20 and the peel-and-stick device 40 is described as being performed by one control PC 60. Alternatively, each control process may be assigned to three or more control devices.
- FIG. 7 is a flow chart showing an example of a push-up processing routine executed by the CPU of the push-up control section 61 and operated by the push-up device 20 .
- FIG. 8 is a flow chart showing an example of a peeling and pasting processing routine executed by the CPU of the processing control section 62 and operated by the peeling and pasting device 40 .
- 9A and 9B are illustrations of a series of processes in which the leading end 13 of the seal 12 is pushed up by the push-up device 20 and gripped by the peeling and sticking device 40.
- FIG. FIG. 9C is a view of the seal 12 being pushed up by the gripping portion 46, and FIG.
- FIG. 9D is a view of the seal 12 being gripped by the gripping portion 46.
- FIG. 10A and 10B are diagrams illustrating a series of processes for peeling the sticker 12 by the peeling and pasting device 40.
- FIG. 10A is a diagram in which the seal 12 is curved
- FIG. and FIG. 10C are views for peeling the seal 12 from the sheet 11.
- FIG. 11A and 11B are illustrations of a series of processes in which the peeling and sticking device 40 sticks the sticker 12 to the sticking target 15.
- FIG. 11A shows a part of the sticker 12 stuck on the sticking target 15, and
- FIG. 11C is a diagram of releasing the curve bending of the seal 12
- FIG. 11D is a diagram of releasing the grip of the seal 12
- FIG. 11E is an explanatory diagram of the first pressing process
- FIG. It is an explanatory diagram.
- the push-up process routine of FIG. 7 is stored in the storage unit 63 and executed after the operator inputs an instruction to execute the sticking process of the sticker 12 .
- the CPU of the push-up control section 61 first determines whether it is time to peel off the seal 12 (S100). The CPU determines that it is time to peel when, for example, preparation on the side of the peel and stick device 40 is completed and the peel and stick device 40 is ready to peel a new sticker 12 .
- S100 time to peel off the seal 12
- the CPU acquires the position of the seal 12 to be peeled based on the information stored in the storage unit 63 (S110).
- the CPU can acquire, for example, the positional information of the peel-and-stick mechanism 41 from the peel-and-stick device 40 and execute this determination.
- the fixing unit 50 does not fix the sheet 11, the CPU remains on standby.
- the fixing portion 50 fixes the sheet 11 (FIG. 9A)
- the CPU raises the corresponding push-up portion 26 to push up the tip portion 13 of the seal 12 (S130, FIG. 9B).
- the seal 12 is used in advance, and the time required for the push-up process of the seal 12 and the conditions for preventing damage to the seal 12 are empirically determined, and a suitable range is adopted. may be Similarly, the operator empirically finds a suitable range for the height, position, number, etc. of the first member 31 and the second member 32 of the push-up portion 26, and uses the push-up portion 26 with the obtained conditions. .
- the push-up portion 26 first pushes up the tip portion 13 of the seal 12 by the first member 31 formed with the height H1 (see FIG. 4).
- the tip portion 13 of the seal 12 rises while the opposite end portion is attached to the sheet 11 . Ascend while shifting.
- the push-up portion 26 rises to a predetermined height, the tip portion 13 is separated from the first member 31. After that, the center side of the seal 12 is supported by the second member 32 having a height H2 to push up the seal 12 further.
- the push-up device 20 can push up the tip portion 13 on one side of the seal 12 in a posture that is easily grasped by the grasping portion 46 while further suppressing breakage of the seal 12 . .
- the CPU determines whether or not the grip portion 46 of the peeling/sticking device 40 has gripped the edge of the sticker 12 based on a signal from the peeling/sticking device 40 or the like. (S140).
- the CPU causes the push-up portion 26 to stand by at the raised push-up position (FIG. 9C).
- the CPU lowers the push-up portion 26 and moves it to the standby position (S150, FIG. 9D).
- the CPU determines whether or not the peeling and pasting process for all the stickers 12 has been completed (S160). When there is, the process after S100 is repeatedly executed. On the other hand, when the peeling/sticking process for all the stickers 12 is completed in S160, the CPU ends this routine. In this manner, the push-up device 20 raises and lowers the push-up portion 26 to assist peeling of the seal 12 .
- the push-up process routine of FIG. 8 is stored in the storage unit 63 and executed after the operator inputs an instruction to execute the sticking process of the sticker 12 .
- the CPU of the processing control unit 62 first determines whether it is time to peel off the seal 12 (S200). The CPU determines that it is time to peel off when, for example, preparations on the push-up device 20 side are completed and the push-up device 20 can push up a new seal 12 .
- the CPU acquires the position of the sticker 12 to be peeled based on the information stored in the storage unit 63 (S210), and operates the peeling and pasting mechanism 41. It is moved by the robot arm 54 to the upper part of the stripping target (S220). Next, the CPU lowers the base portion 42 and fixes the seat 11 by the fixing portion 50 (S230, FIG. 9A). Next, the CPU determines whether or not the push-up portion 26 pushes up the tip portion 13 of the seal 12 based on the signal from the push-up device 20 (S240). When the push-up portion 26 is not pushing up the seal 12, the CPU stands by.
- the CPU moves the grip portion 46 closer to the adsorption portion 43 (FIG. 9C), and causes the grip portion 46 to grip the tip portion 13 of the seal 12 ( S250, FIG. 9D).
- the CPU causes the robot arm 54 to move the base portion 42 upward and backward so that the seal 12 curves into an S-shape when viewed from the side (S260, FIG. 10A).
- the robot arm 54 preferably moves the base portion 42 so that the adsorption portion 43 can be adsorbed and the area where the seal 12 is attached to the sheet 11 is the minimum area. If the area of the sticker 12 attached to the sheet 11 is large, it may be difficult to peel off the sticker 12 by the adsorption force of the adsorption portion 43 . The smaller the sticking area, the more reliably the seal 12 can be peeled off, which is preferable.
- the suction portion 43 is positioned above the end portion of the seal 12 attached to the sheet 11 .
- the CPU lowers the adsorption portion 43 to the adsorption position, and adsorbs the end of the sticker 12 attached to the sheet 11 (S270, FIG. 10B).
- the CPU lifts the base portion 42 by the robot arm 54 and peels off the seal 12 from the sheet 11 (S280, FIG. 10C).
- the CPU of the processing control unit 62 causes the robot arm 54 to move the peeling/sticking mechanism 41 above the sticking target 15 (S290), lowers the base portion 42, and removes the sticker 12 that the suction portion 43 is sucking. is attached to the attachment target 15 (S300, FIG. 11A).
- the CPU releases the suction of the suction portion 43 and raises the suction portion 43 to the standby position (S310, FIG. 11B). Since a portion of the sticker 12 is fixed on the application target 15 in S300, the sticker 12 is stable on the application target 15 even in this state.
- the CPU moves the base portion 42 forward and downward by the robot arm 54 so as to release the S-shaped curved bending of the seal 12 (S320, FIG. 11C).
- the CPU releases the gripping of the distal end portion 13 by the gripping portion 46, and retracts the gripping portion 46 in a direction away from the suction portion 43 (330, FIG. 11D).
- the seal 12 is released from the bent state, and the sticker 12 is gradually lowered from the pasted part toward the tip portion 13 side, and placed on the object 15 to be pasted in a wrinkle-resistant state.
- the CPU performs the pressing process of pressing the nozzle 44 as the pressing member against the seal 12 one or more times (S340).
- the CPU is assumed to perform the pressing process at two points, the center of the seal 12 and the gripped tip portion 13 side (FIGS. 11E and 11F). In this way, the peeling and sticking device 40 can peel the sticker 12 from the sheet 11 and stick it to the sticking target 15 in a clean state without wrinkles.
- the base portion 42 of the present embodiment corresponds to the base portion of the present disclosure
- the suction portion 43 corresponds to the suction portion
- the grip portion 46 corresponds to the grip portion
- the drive portion 48 corresponds to the drive portion
- 62 corresponds to the processing control section
- the robot arm 54 corresponds to the robot arm
- the mounting section 52 corresponds to the mounting section
- the nozzle 44 corresponds to the pressing member
- the fixing section 50 corresponds to the fixing section.
- the push-up portion 26 corresponds to the push-up portion
- the mounting portion 21 corresponds to the mounting portion
- the first member 31 corresponds to the first member and the first pin
- the second member 32 corresponds to the second member and the first pin. 2 pins
- the elevating section 28 corresponds to the elevating section
- the thrust control section 61 corresponds to the thrust control section.
- the adsorption section 43 and the gripping section 46 are arranged on the base section 42, and the positional relationship between the adsorption section 43 and the gripping section 46 can be determined uniquely.
- the seal 12 can be peeled off, moved, and stuck while a part of the seal 12 is sucked and the tip portion 13 of the seal is gripped. Therefore, the peeling and pasting device 40 can more reliably move the sticker 12 from the pasted sheet 11 .
- the gripping portion 46 is arranged obliquely downward toward the end of the seal 12 lifted from the seat 11, and grips the end of the seal.
- the gripping portion 46 can easily support the end portion of the seal 12 by moving along the directions of approaching and separating from the adsorption portion 43 . Further, the gripping portion 46 grips the end portion of the seal 12 so that the seal 12 has an S-shape when viewed from the side. With this peeling and pasting device 40, the sticker 12 can be easily peeled from the sheet 11, and the occurrence of wrinkles and the like can be further suppressed, so that the sticker 12 can be more neatly pasted on the object 15 to be pasted.
- the peeling and sticking device 40 includes a processing control unit 62 that controls the adsorption unit 43, the gripping unit 46, the driving unit 48, and the robot arm 54, the processing control unit 62 automatically moves the sticker 12 to be peeled. be able to.
- the base portion 42 is provided with a mounting portion 52 to be mounted on a robot arm 54 , and is moved by the robot arm 54 in the vertical direction, the front-rear direction, and the left-right direction. In this peeling and pasting device 40 , the base portion 42 can be vertically moved by the robot arm 54 .
- the robot arm 54 in addition to the movement of the gripping portion 46 by the driving portion 48 , the robot arm 54 can also move the base portion 42 in the front-rear direction. Furthermore, the processing control unit 62 causes the drive unit 48 to bring the gripping unit 46 closer to the adsorption unit 43 , causes the gripping unit 46 to grip the leading end 13 of the seal 12 lifted from the sheet 11 , and moves the gripping unit 46 . The base portion 42 is lifted to separate the seal 12 from the sheet 11 by lifting the seal 12 to bend the seal 12 in a curved state, and then part of the seal 12 is attracted to the suction portion 43 . The peeling and pasting device 40 can more reliably peel the seal 12 through such a series of operations.
- the processing control unit 62 causes the suction unit 43 to suck a part of the seal 12 , causes the gripping unit 46 to curve the seal 12 , and grips the tip portion 13 of the seal 12 , and causes the suction unit 43 to A part of the adhered seal 12 is brought into contact with the object 15 to be adhered, the grip of the grip part 46 is released, the curved curved state of the seal is released, and the seal 12 is adhered to the object 15 to be adhered.
- the peeling and pasting device 40 can more reliably peel the seal 12 through such a series of operations.
- the processing control unit 62 causes the adsorption unit 43 to release the adsorption to a part of the seal 12 before releasing the gripping of the gripping unit 46 .
- the processing control section 62 moves the gripping section 46 so as to move away from and descend from the position at the time of abutment, and the gripping of the gripping section 46 is stopped. It is released, and the drive section 48 separates the grip section 46 from the adsorption section 43 .
- the sticker 12 can be more neatly pasted on the object 15 to be pasted.
- the base portion 42 has a nozzle 44 as a pressing member that presses the upper surface of the sticker 12 stuck to the sticking target 15, and the processing control portion 62 causes the grip portion 46 to release the grip,
- the nozzle 44 presses the upper surface of the sticker attached to the attachment target 15 one or more times.
- the suction part 43 is arranged on the base part 42 so as to be movable up and down between a standby position and a suction position, and moves to the suction position when a part of the seal 12 is suctioned, and moves to the suction position when the suction is released. Move to standby position.
- the base portion 42 can be moved more freely by retracting the suction portion.
- the base portion 42 has a working space 51 including the suction portion 43 and the grip portion 46, and a fixing portion 50 for fixing the sheet 11 to the placing portion 21 on which the sheet 11 is placed.
- the processing control unit 62 separates the seal 12 from the sheet 11 while the sheet 11 is fixed to the fixing unit 50 . By fixing the sheet 11 in this peeling and pasting device 40, the sticker 12 can be peeled off more reliably.
- the peel-and-stick system 10 is a peel-and-stick system that pushes up and peels one or more stickers from a sheet to which one or more stickers are attached, moves the stickers, and affixes them to a target to be affixed.
- a push-up device 20 for peeling off the seal 12 from the sheet 11 to which the one or more seals 12 are attached which has a push-up portion 26 disposed on the lower surface side of the seal 12 and pushes up the seal 12, and a grip portion. 46 grips the end of the seal 12 pushed up by the push-up device 20 and peels off the seal 12 .
- the push-up device 20 includes a placing portion 21 on which the sheet 11 is placed, and a leading end portion 13 of the sticker 12 placed on the placing portion 21 and disposed on the lower surface side of the sticker 12. and a second member 32 having a height H2 lower than the first member 31 and positioned closer to the center than the tip 13 of the seal 12, and the tip 13 of the seal 12.
- a push-up portion 26 that pushes up the seal 12 with the different side attached to the sheet 11 and peels off the tip portion 13 from the sheet 11; an elevating portion 28 that vertically moves the push-up portion 26; A push-up control unit 61 that controls the lifting unit 28 so as to push up the push-up unit 26 on the lower surface side and then lower it.
- this push-up device 20 one end of the seal 12 is attached to the sheet 11, the posture of the seal 12 is stabilized, and the other end of the seal 12 is lifted. Easy to grip the end. Therefore, the peel-and-stick system 10 can more reliably move the sticker 12 from the sheet 11 to which it is attached.
- the push-up control unit 61 raises the push-up part 26 to push up the end of the seal 12, and after the grasping part 46 grasps the end of the seal 12, the push-up part 26 is lowered.
- the process control unit 62 moves the gripping part 46 to the end of the seal 12 and causes the gripping part 46 to grip this end.
- the end of the seal can be gripped more reliably.
- the base part 42 has a work space 51 including the adsorption part 43 and the gripping part 46, and a fixing part for fixing the sheet 11 to the placing part on which the sheet 11 is placed. After the sheet is fixed by the fixing part, the push-up control part may raise the push-up part to push up the end of the seal. With this peel-and-stick system, the end of the seal can be peeled off more reliably.
- the grip portion 46 is arranged obliquely downward toward the end portion of the seal 12 lifted from the seat 11, but is not particularly limited to this. , the direction is not particularly limited as long as the tip portion 13 of the seal 12 can be gripped. If the gripping portion 46 is arranged obliquely downward, the gripping claws 47 can face the upper surface and the lower surface of the tip portion 13 of the seal 12 only by moving in the front-rear direction, which is preferable. .
- the gripping portion 46 grips the tip portion 13 of the seal 12 so that the shape of the seal 12 becomes S-shaped when viewed from the side, together with the adsorption of the adsorption portion 43. It is not particularly limited to this, and is not particularly limited to an S shape as long as it is bent in a curved shape and gripped. In addition, if the grip portion 46 is bent in an S shape and gripped, when attaching to the attachment target 15, the suction portion 43 is brought into contact with the upper surface of the attachment target 15 in order from the partially attached portion. Since it sticks, it is better from the viewpoint of being able to stick more neatly.
- the peeling and pasting device 40 moves the base portion 42 freely by the robot arm 54, but is not particularly limited to this. It is good also as an XY robot provided with. In this peeling and pasting device, the base portion 42 can be moved by the XY robot.
- the processing control unit 62 causes the suction unit 43 to absorb a part of the seal after curving the seal 12 in the process of peeling off the seal 12 (FIG. 10B).
- a part of the seal may be sucked by the sucking portion 43 before the seal 12 is curved.
- the pasting state of a part of the seal 12 can be more ensured.
- the process control unit 62 cancels the adsorption of the adsorption unit 43 immediately after the part of the sticker 12 is attached to the attachment target 15 by the adsorption unit 43.
- the suction unit 43 is raised to the standby position, but the present invention is not limited to this, and the process of releasing the grasping of the grasping unit 46 may be performed while the suction state of the suction unit 43 is maintained. With this peeling and sticking device 40, the sticking state of the end portion of the seal 12 can be maintained.
- the processing control unit 62 moves the base part 42 downward and forward to release the curved curve of the sticker 12, and then the grip part 46 is gripped.
- the gripping of the gripping portion 46 may be released by omitting the movement of the base portion 42 . It is preferable that the processing control section 62 moves the base section 42 downward and forward from the viewpoint of making the sticking state more beautiful.
- the processing control unit 62 uses the nozzle 44 as the pressing member to execute the pressing process, but is not limited to this.
- a pressing member dedicated to the pressing process may be provided on the base portion 42 and used to perform the pressing process.
- the peeling and sticking device 40 can also stick the seal 12 to the sticking target 15 with a good finish.
- the peel-and-stick system 10 pushes up the tip 13 of the seal 12 by the push-up device 20 having the push-up portion 26 on which the first member 31 and the second member 32 are arranged.
- the push-up device 20 having the push-up portion 26 on which the first member 31 and the second member 32 are arranged.
- it is not particularly limited to this.
- the first member 31 and the second member 32 are pin-shaped, the shape is not particularly limited as long as the shape can push up the seal 12 .
- the push-up portion 26 includes the first member 31 and the second member having a height such that the seal 12 is linearly inclined from one end side of the seal 12 as a starting point to a position where the other end side of the seal 12 is higher. 32 are disposed, but there is no particular limitation as long as the tip portion 13 of the seal 12 can be pushed up, and the shape may not be straight or tilted.
- the push-up portion 26 is positioned such that the first member 31 and the second member 32 push up the seal 12 from the lower surface side at the timing when the tip portion 13 of the seal 12 is separated from the first member 31 when the push-up portion 26 rises.
- the second member 32 is provided, it is not particularly limited to this.
- the tip 13 of the seal 12 may not be detached from the first member 31 .
- the second member 32 pushes up the seal 12 from the lower surface side at the timing when the tip portion 13 of the seal 12 is separated from the first member 31 .
- the first member 31 is two first pins, but the number is not particularly limited to two, and may be one or more.
- the second member 32 is assumed to be two second pins, the number is not particularly limited to two and may be one or more.
- the opening edge 24 of the opening 23 is formed with the introduction surface 25 for guiding the push-up portion 26, but this may be omitted.
- a tapered surface 33 is formed on the push-up portion 26 .
- the upper end portion of the push-up portion 26 is formed with the tapered surface 33 that contacts the opening edge 24, but this may be omitted.
- the introduction surface 25 is formed on the opening edge 24 .
- both the introduction surface 25 of the opening 23 and the tapered surface 33 of the push-up portion 26 may be omitted.
- the push-up device 20 has the push-up portion 26 provided on the lower surface of each seal 12 (see FIG. 1), but is not limited to this.
- the push-up device 20B may be provided with a moving part 35 for moving the push-up part 26 to the lower surface side of the seal 12 to be peeled.
- FIG. 12 is an explanatory diagram showing an example of another push-up device 20B.
- the push-up device 20B includes one push-up portion 26 for each row of the seals 12, and a moving portion 35 for moving the lifting portion 28 in the row direction.
- the moving part 35 is a slider that fixes the lifting part 28 and slides in a predetermined moving direction.
- the left-right direction is set as the movement direction.
- the seal 12 to be peeled can be pushed up by moving the push-up part 26, and the number of the push-up parts 26 and the lifting parts 28 can be further reduced. You can push up the seal.
- the push-up device 20B is provided with the push-up portion 26 and the lift portion 28 for each row, a moving portion whose movement direction is also the front-rear direction is provided, and the number of the push-up portion 26 and the lift portion 28 is increased. may be reduced.
- a seal peeling test was performed using the peeling and pasting device 40 .
- the pad diameter of the nozzle 44, the peeling direction, the peeling speed, the adsorption position and the peeling height were examined.
- the size of the peeled seal was 12 mm ⁇ 52 mm.
- As for the peeling direction it was possible to peel off even in an oblique direction.
- the peeling height refers to the height of the gripping portion 46 in FIGS. 10A and 10B. It was found that the higher the peeling height, the larger the amount of preliminary peeling, and the higher the peeling success rate. It was found that the conditions of the pad diameter of the nozzle 44, the peeling direction, and the peeling height are more important for the peeling of the seal 12 (see FIG. 10C).
- the present disclosure can be used in the technical field of automatically attaching stickers to articles.
Abstract
Description
1以上のシールが貼付されたシートから該シールを移動する剥離貼付装置であって、
ベース部と、
前記ベース部に配設され前記シールの一部を吸着する吸着部と、
前記吸着部に対して近接及び離間する方向に移動可能に前記ベース部に配設され且つ昇降する上下方向に移動可能であり前記シールの端部を把持する把持部と、
前記把持部を前記吸着部に対して近接及び離間する方向に駆動する駆動部と、
を備えたものである。
Claims (16)
- 1以上のシールが貼付されたシートから該シールを移動する剥離貼付装置であって、
ベース部と、
前記ベース部に配設され前記シールの一部を吸着する吸着部と、
前記吸着部に対して近接及び離間する方向に移動可能に前記ベース部に配設され且つ昇降する上下方向に移動可能であり前記シールの端部を把持する把持部と、
前記把持部を前記吸着部に対して近接及び離間する方向に駆動する駆動部と、
を備えた剥離貼付装置。 - 前記把持部は、前記シートから持ち上げられた状態の前記シールの端部に向かうよう斜め下方に向かって配設されており、前記シールの端部を把持する、請求項1に記載の剥離貼付装置。
- 前記把持部は、側方から見た前記シールの形状がS字状になるように該シールの端部を把持する、請求項1又は2に記載の剥離貼付装置。
- 請求項1~3のいずれか1項に記載の剥離貼付装置であって、
前記吸着部と前記把持部と前記駆動部とを制御する処理制御部、を備えた剥離貼付装置。 - 前記ベース部は、ロボットアームに装着する装着部が配設されており、
前記処理制御部は、前記ロボットアームをも制御し、
前記ベース部は、前記ロボットアームによって上下方向及び前後方向へ移動する、請求項4に記載の剥離貼付装置。 - 前記処理制御部は、前記駆動部に前記把持部を前記吸着部へ近接させ前記把持部に前記シートから持ち上げられた状態の前記シールの端部を把持させ、前記把持部を上昇させて前記シールを曲線状態に屈曲させ、前記シールを曲線屈曲させる前又は前記シールを曲線屈曲させたあと前記吸着部に前記シールの一部を吸着させ、前記ベース部を上昇させて前記シールを前記シートから剥離させる、請求項4又は5に記載の剥離貼付装置。
- 前記処理制御部は、前記吸着部に前記シールの一部を吸着させ、前記把持部に前記シールを曲線屈曲させ、且つ前記シールの端部を把持させた状態で、前記吸着部に吸着された前記シールの一部を貼付対象に当接させ、前記把持部の把持を解除して前記シールの曲線屈曲状態を解除し、前記貼付対象に前記シールを貼付させる、請求項4~6のいずれか1項に記載の剥離貼付装置。
- 前記処理制御部は、前記把持部の把持を解除する前に前記シールの一部への吸着を前記吸着部に解除させる、請求項7に記載の剥離貼付装置。
- 前記処理制御部は、前記シールの一部を貼付対象に当接させたあと、当接されたときの位置から離間且つ下降するよう前記把持部を移動させ、前記把持部の把持を解除させ、前記駆動部に前記把持部を前記吸着部から離間させる、請求項7又は8に記載の剥離貼付装置。
- 前記ベース部は、貼付対象に貼付された前記シールの上面を押し付ける押付部材を有しており、
前記処理制御部は、前記把持部の把持を解除させたのち、前記貼付対象に貼付された前記シールの上面を前記押付部材により押し付ける動作を1回以上行う、請求項7~9のいずれか1項に記載の剥離貼付装置。 - 前記吸着部は、待機位置と吸着位置との間で昇降可能に前記ベース部に配設されており、前記シールの一部を吸着する際は前記吸着位置へ移動し、吸着解除する際は前記待機位置へ移動する、請求項1~10のいずれか1項に記載の剥離貼付装置。
- 前記ベース部は、前記吸着部と前記把持部とを含む作業空間を有し前記シートが載置された載置部に該シートを固定する固定部、が配設されており、
前記固定部に前記シートを固定させた状態で前記シールを前記シートから剥離させる、請求項1~11のいずれか1項に記載の剥離貼付装置。 - 1以上のシールが貼付されたシートから該シールを突き上げて剥離させ、該シールを移動して貼付対象へ貼付する剥離貼付システムであって、
請求項1~12のいずれか1項に記載の剥離貼付装置と、
前記シールの下面側に配設され該シールを押し上げる押上部、を備え、1以上のシールが貼付されたシートから該シールを剥離させる突上装置と、を備え、
前記把持部は、前記突上装置が押し上げた前記シールの端部を把持して該シールを剥離する、剥離貼付システム。 - 前記突上装置は、
前記シートを載置する載置部と、
前記載置部に載置された前記シールの下面側に配設され前記シールの先端部を下方から押し上げる第1部材と該第1部材より低い高さを有し前記シールの先端部よりも中央側に位置する第2部材とを有し前記シールの先端部とは異なる側を前記シートに貼付した状態で該シールを押し上げて該シートから端部を剥離させる押上部と、
前記押上部を上下動させる昇降部と、
剥離対象の前記シールの下面側にある前記押上部を押し上げたのち下降させるよう前記昇降部を制御する突上制御部と、
を備える請求項13に記載の剥離貼付システム。 - 前記突上制御部は、前記押上部を上昇させて前記シールの端部を押し上げ、前記把持部が該端部を把持したのち前記押上部を下降させ、
前記処理制御部は、前記押上部が前記シールの端部を押し上げたのち前記把持部を該シールの端部へ移動させ該端部を前記把持部に把持させる、請求項13又は14に記載の剥離貼付システム。 - 前記ベース部は、前記吸着部と前記把持部とを含む作業空間を有し前記シートが載置された載置部に該シートを固定する固定部、が配設されており、
前記突上制御部は、前記固定部が前記シートを固定したあと、前記押上部を上昇させて前記シールの端部を押し上げる、請求項13~15のいずれか1項に記載の剥離貼付システム。
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CN202180088472.5A CN116648411A (zh) | 2021-02-16 | 2021-02-16 | 剥离粘贴装置及剥离粘贴系统 |
PCT/JP2021/005664 WO2022176008A1 (ja) | 2021-02-16 | 2021-02-16 | 剥離貼付装置及び剥離貼付システム |
US18/546,165 US20240043158A1 (en) | 2021-02-16 | 2021-02-16 | Releasing/affixing device and releasing/affixing system |
EP21926448.8A EP4296179A4 (en) | 2021-02-16 | 2021-02-16 | RELEASE/FIXATION DEVICE AND RELEASE/FIXATION SYSTEM |
JP2023500136A JPWO2022176008A1 (ja) | 2021-02-16 | 2021-02-16 |
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04112010U (ja) * | 1991-03-14 | 1992-09-29 | 株式会社精工舎 | 粘着シールの吸着剥離装置 |
JPH1187547A (ja) * | 1997-09-02 | 1999-03-30 | Oki Electric Ind Co Ltd | ラベル剥がし・ラベル搬送・ラベル貼り付け方法及びその装置 |
JP2002274516A (ja) * | 2001-03-14 | 2002-09-25 | Ricoh Co Ltd | 粘着シール把持機構 |
JP2008290727A (ja) * | 2007-05-22 | 2008-12-04 | Sansei Seiki Kk | ラベル剥離方法、この方法を用いたラベル剥離装置及びラベル貼付装置 |
JP2018015846A (ja) | 2016-07-28 | 2018-02-01 | 富士通株式会社 | シール貼着方法及びシール貼着装置 |
-
2021
- 2021-02-16 US US18/546,165 patent/US20240043158A1/en active Pending
- 2021-02-16 CN CN202180088472.5A patent/CN116648411A/zh active Pending
- 2021-02-16 JP JP2023500136A patent/JPWO2022176008A1/ja active Pending
- 2021-02-16 WO PCT/JP2021/005664 patent/WO2022176008A1/ja active Application Filing
- 2021-02-16 EP EP21926448.8A patent/EP4296179A4/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH04112010U (ja) * | 1991-03-14 | 1992-09-29 | 株式会社精工舎 | 粘着シールの吸着剥離装置 |
JPH1187547A (ja) * | 1997-09-02 | 1999-03-30 | Oki Electric Ind Co Ltd | ラベル剥がし・ラベル搬送・ラベル貼り付け方法及びその装置 |
JP2002274516A (ja) * | 2001-03-14 | 2002-09-25 | Ricoh Co Ltd | 粘着シール把持機構 |
JP2008290727A (ja) * | 2007-05-22 | 2008-12-04 | Sansei Seiki Kk | ラベル剥離方法、この方法を用いたラベル剥離装置及びラベル貼付装置 |
JP2018015846A (ja) | 2016-07-28 | 2018-02-01 | 富士通株式会社 | シール貼着方法及びシール貼着装置 |
Non-Patent Citations (1)
Title |
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See also references of EP4296179A4 |
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CN116648411A (zh) | 2023-08-25 |
US20240043158A1 (en) | 2024-02-08 |
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