End effector and peel and stick device

Abstract

An end effector is attached to an attachment portion of a peeling and sticking device that peels and moves a sticker from a sheet to which one or more stickers are attached. The end effector includes a picking portion that comes into contact with a surface of the sticker and picks up the sticker, a support portion that supports the picking portion and can tilt the picking portion with respect to the vertical direction of the sticker, a following portion that causes the picking portion to follow the surface of the sticker when the support portion is tilted, and a peeling portion that is inserted between the sheet and the sticker and peels an end portion of the sticker.

Description

Technical Field

[0001] This specification discloses an end effector and a peeling / adhesive device. Background Technology

[0002] Conventionally, as a sticker application device, a structure has been proposed, for example, in which a first hand and a second hand peel the sticker off the backing paper, move the held sticker toward the shooting position, and make the shape of the sticker in the captured image conform to the ideal sticker shape, thereby eliminating sticker deformation (e.g., Patent Document 1). In this device, a robotic hand can peel a flexible sticker off the backing paper and apply the peeled sticker to the desired application position.

[0003] Prior art literature

[0004] Patent documents

[0005] Patent document 1: Japanese Patent Application Publication No. 2018-15846. Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, in the aforementioned sticker application device, the first and second hand parts need to be controlled separately, and position control or adjustment is laborious for the sticker peeling, moving, and pasting processes. Therefore, there is a need for a device that simplifies the process and reliably peels, moves, and pastes stickers onto sheets.

[0008] This disclosure was made in view of this problem, and its main purpose is to provide an end effector and a sticker peeling device that can more reliably peel stickers from sheets through a simpler process.

[0009] Methods for solving problems

[0010] The end effector and peeling / adhesive device disclosed in this specification employ the following means to achieve the aforementioned main objectives.

[0011] The end effector disclosed herein is an end effector mounted on the assembly of a peeling and pasting device that peels off and moves stickers from a sheet of material to which one or more stickers have been pasted.

[0012] The end effector includes:

[0013] The pickup unit abuts against the surface of the sticker and picks it up.

[0014] A support portion supports the pickup portion and allows the pickup portion to tilt relative to the vertical direction of the sticker;

[0015] The following part, when the support part is tilted, causes the pickup part to follow the sticker surface; and

[0016] A peeling section is inserted between the sheet and the sticker to peel off the end of the sticker.

[0017] In this end effector, with the pickup unit abutting against the surface of the sticker, the support unit tilted, and a force in the peeling direction applied to the sticker, the peeling part can be inserted between the sheet and the end of the sticker. At this time, because the following unit follows, the pickup unit does not detach from the sticker when the support unit is tilted, and a force in the peeling direction can be applied to the sticker. Thus, in this end effector, by tilting the support unit and inserting the peeling part, the sticker can be peeled and moved from the sheet more reliably through a relatively simple process. This end effector can also be mounted, for example, at the front end of an arm robot. Attached Figure Description

[0018] Figure 1 This is a schematic diagram illustrating an example of the peeling and pasting device 10.

[0019] Figure 2 These are a side view and a perspective view of the end effector 20 viewed from below.

[0020] Figure 3 This is a 3D view of the end effector 20.

[0021] Figure 4 This is a 3D view of the end effector 20.

[0022] Figure 5 This is a perspective view of the sheet holding section 40.

[0023] Figure 6 This is an explanatory diagram of sheet 11 and sticker (sea l) 12.

[0024] Figure 7 This is an explanatory diagram relating to the positional relationship between the sticker 12 and the peeling part 30.

[0025] Figure 8 This is a block diagram showing the electrical connections of the peel-off adhesive device 10.

[0026] Figure 9 This is a flowchart illustrating an example of a peel-and-paste processing routine.

[0027] Figure 10 This is a flowchart illustrating an example of a cleaning process routine.

[0028] Figure 11 This is an illustrative diagram illustrating an example of detecting the orientation of sticker 12.

[0029] Figure 12 This is an explanatory diagram showing the position of the end effector 20 during the peeling process of sticker 12.

[0030] Figure 13 This is an illustration of a series of processes involved in peeling off sticker 12.

[0031] Figure 14 This is a concept image depicting a series of processes involving peeling off sticker 12.

[0032] Figure 15 This is an illustration of a series of processes involved in pasting the sticker 12 onto the object 13.

[0033] Figure 16 This is another illustration of the process of picking up sticker 12 using multiple pickup units 25.

[0034] Figure 17 This is an instructional diagram for applying sticker 12.

[0035] Figure 18 This is an illustration of how the sticker 12 is held in place by guide block 28.

[0036] Figure 19 This is an explanatory diagram showing an example of another end effector 20B.

[0037] Figure 20 This is an illustrative diagram of an example of holding the sticker 12 by the end effector 20B. Detailed Implementation

[0038] The following description refers to the accompanying drawings and illustrates this embodiment. Figure 1 This is a schematic diagram illustrating an example of the peeling and pasting device 10. Figure 2 These are a side view and a perspective view of the end effector 20 viewed from below. Figure 3 This is a 3D view of the end effector 20. Figure 4 This is a 3D view of the end effector 20. Figure 5 This is a perspective view of the sheet holding section 40. Figure 5 A represents a state without sheet 11. Figure 5 B is a diagram that retains sheet 11. Figure 6 This is an explanatory diagram of sheet 11 and sticker 12.

[0039] Figure 7 This is an explanatory diagram relating to the positional relationship between the sticker 12 and the peeling part 30. Figure 8This is a block diagram illustrating the electrical connections of the peeling and pasting device 10. The peeling and pasting device 10 is, for example, a system that performs a process of peeling off one or more stickers 12 attached to a sheet 11 one by one, moving them, and pasting them onto a pasting object 13. The peeling and pasting device 10 includes a peeling and pasting device 15, an end effector 20, a sheet holding part 40, an arm robot 50, an assembly part 51, and a control PC 60. It should be noted that, in this embodiment, the left-right direction (X-axis), the front-back direction (Y-axis), and the up-down direction (Z-axis) are as follows... Figure 1 As shown. And, in Figure 2 In the future, for the convenience of observing the structure, the drawings may sometimes be formed in which a part of the structure such as guide block 28, pressing part 44 or cleaning part 46 is omitted.

[0040] Sticker 12 can also form information related to the pasted object 13 (see reference). Figure 6 Information related to the object to be pasted 13 may include, for example, identification information, price, and performance of the object. Furthermore, the information formed on the sticker 12 may be text, symbols, graphics, barcodes, or QR codes. The object to be pasted 13 is not particularly limited; it can include, for example, machines or devices, industrial products including units and components of the device, everyday consumer goods, food, or fresh produce. Figure 1 In this example, a mounting device for mounting components to a substrate, equipped with a feeder holding a strip of components, is shown as an example of the object to be pasted, 13. The sticker 12 is as follows... Figure 1 As shown, the stickers are pasted onto the sheet 11 in multiple arrangements. For example, the stickers 12... Figure 6 As shown, the longer side is the length X and the shorter side is the width Y, and they are pasted onto the sheet 11 at intervals L. Furthermore, the sticker 12 can also be applied as shown... Figure 6 As shown, it consists of a code display bar that displays the code and a text display bar that displays text related to the code.

[0041] The end effector 20 is a device mounted on the mounting part 51 of a peeling and pasting device 10 that peels off and moves stickers 12 from a sheet 11 with one or more stickers 12 attached. The end effector 20 is the main part of the peeling and pasting device 10 that moves the stickers 12, and is mounted to a connector 52 located at the front end of the arm robot 50 in a disassembled state. The end effector 20 includes a connecting part 21, a base 22, a support part 23, a swinging part 24, a picking part 25, a following part 27, a guide block 28, a peeling part 30, a peeling drive part 32, a posture maintaining part 35, a fixing part 34, and a shooting part 38. Furthermore, the end effector 20 includes a pressing part 44 and a cleaning part 46.

[0042] The connecting part 21 is an accessory that connects to the assembly part 51 and fixes the end effector 20 to the arm robot 50. The connecting part 21 may also have a locking mechanism such as a needle and a slot for needle insertion, or a fixing mechanism that fixes the connecting part 21 to the assembly part 51 by magnetic force or negative pressure.

[0043] The base 22 is the main component of the structure equipped with the function of the peeling and pasting device 10. On the base 22, as... Figure 2 As shown, a connecting part 21 for mounting to the arm-type robot 50 is disposed on its upper part, and a picking part 25 for picking up the sticker 12 is disposed on its lower surface via a support part 23. A peeling part 30, a shooting part 38, and a cleaning part 46 are disposed on one side, and a pressing part 44 is disposed on the opposite side. The base 22 is as follows. Figure 3 As shown, it has an inverted U-shape, with the support 23 pivotally supported in the central space, allowing it to swing. The base 22 can move freely up and down, left and right, and forward and backward via the arm robot 50.

[0044] The support portion 23 is a component that supports the pickup portion 25 and allows the pickup portion 25 to tilt relative to the vertical direction of the sticker 12. The support portion 23 has a T-shaped inverted form and is connected to a pressure application device (not shown) via a supply pipe 39, from which negative or positive pressure is supplied to the support portion 23. It should be noted that, as a pressure application device, a vacuum pump or an air compressor can be listed. The swing portion 24 is fixed to the base 22 and provides axial support to the support portion 23, causing the support portion 23 to swing relative to the base 22. The support portion 23 rotates (swings) within a predetermined range about the lower end of the pickup portion 25, which is located as the free end of the swing portion 24 supported by the axial support. By tilting, the support portion 23 causes the pickup member 26 that picks up the sticker 12 to abut against the surface of the sticker 12, and applies force to the sticker in an inclined direction D that is tilted relative to the vertical direction of the surface. The tilt direction D of the support portion 23 can be set, for example, along the direction orthogonal to the long side direction of the sticker 12, i.e., the short side direction. The tilt angle θ1 of the support portion 23 is set within a range, for example, where the pickup member 26 does not detach from the abutting sticker 12, preferably within a range of 10° or more and 45° or less relative to the vertical direction. The tilt angle θ1 of the support portion 23 is preferably 12.5° or more, more preferably 15° or more, and can be set to 17.5° or more or 20° or more. A larger tilt angle θ1 allows for an increase in the force applied to the peeling direction of the sticker 12, which is preferable from the perspective of ease of peeling. Furthermore, the tilt angle θ1 is more preferably 40° or less, further preferably 35° or less, and can be set to 30° or less or 25° or less. A smaller tilt angle θ1 makes it difficult for the pickup member 26 to detach from the sticker 12, which is preferable from the perspective of improving reliability.

[0045] The pickup part 25 abuts against the surface of the sticker 12 and picks up the sticker 12, and is disposed on the lower surface side of the support part 23. The pickup part 25 includes a pickup member 26 for picking up the sticker 12, a following part 27 that causes the pickup member 26 to follow the sticker 12 according to the swing of the support part 23, and a guide block 28 for supporting the picked-up sticker 12 (see reference). Figure 2 Negative or positive pressure is supplied to the pickup member 26 via the interior of the support portion 23 and the supply tube 39 (not shown) through a pressure application device. The pickup member 26 is not particularly limited; it is a member that abuts against the sticker 12 and applies negative and / or positive pressure, and may also be a circular suction cup-shaped adsorption pad formed from a soft material such as rubber or resin. For example, the pickup portion 25 may have multiple adsorption pads serving as pickup members 26 arranged along the long side of the sticker 12. The following portion 27 functions as a joint that allows the pickup portion 25 to follow the surface of the sticker 12 when the support portion 23 is tilted. The pickup member 26, with its soft adsorption pad between the connection portion to the support portion 23 and the end abutting against the sticker 12, also serves as the following portion 27. It should be noted that the pickup member 26 may also function as a pressing member that presses the sticker 12 from above after it has been placed on the object to be pasted 13. The guide block 28 is a component that covers the outer periphery of the pickup member 26, and a support surface 29 is formed on its front end side around the outer side of the pickup member 26. When the peeling and pasting device 10 picks up the sticker 12, the entire outer edge of the sticker 12 is supported on the support surface 29.

[0046] The peeling part 30 is inserted between the sheet 11 and the sticker 12 to peel off the end of the sticker 12. The peeling part 30 is fixed to the base 22 in a manner that allows it to move up and down relative to the pickup part 25. The peeling part 30 includes a peeling member 31, a peeling drive part 32, and a cylinder part 33. The peeling part 30 is disposed in an inclined direction D (refer to) that tilts the support part 23. Figure 2 The side of the base 22 opposite to the sheet 11. The peeling member 31 is one or more insert pins inserted between the sheet 11 and the sticker 12. In this peeling section 30, there are four insert pins as peeling members 31, but the number of insert pins is arbitrary. In the peeling section 30, as Figure 7As shown, the peeling member 31 is fixed to the cylinder portion 33 by being inserted sequentially between the sheet 11 and the sticker 12, starting from the end side of the sticker 12 and moving towards the center side. That is, the peeling member 31 is fixed to the cylinder portion 33 such that its length decreases as it moves towards the center side of the sticker 12 along its long side. Furthermore, the peeling member 31 is inclined downwards and fixed to the cylinder portion 33 with its front end facing the sticker 12 side. The inclination angle θ2 of the peeling member 31 is set, for example, according to the inclination angle θ1 of the support portion 23 and the size of the sticker 12, within a suitable range so that the peeling member 31 can easily penetrate under the sticker 12 when in contact with its end. This inclination angle θ2 is preferably set to a range of 10° or more and 45° or less relative to the horizontal direction. The inclination angle θ2 of the peeling member 31 is preferably 12.5° or more, more preferably 15° or more, and can be set to 17.5° or more or 20° or more. Furthermore, the tilt angle θ2 is more preferably 40° or less, more preferably 35° or less, and can be set to 30° or less or 25° or less. The tilt angle θ2 is preferably set in conjunction with the tilt angle θ1 of the support portion 23. If the tilt angle θ2 is within this range, the peeling member 31 can be inserted under the sticker 12 at an angle closer to parallel when the support portion 23 is tilted. The peeling member 31 is inserted between the sheet 11 and the sticker 12 while the pickup portion 25 is in contact with the sticker 12 and the support portion 23 is tilted. In the peeling portion 30, the peeling member 31, whose front end R shape, length, thickness, and tilt angle are selected according to the material and size of the sticker 12 and the sheet 11, is assembled into the cylinder portion 33. The peeling drive portion 32 moves the peeling member 31 up and down in the vertical direction relative to the sticker 12, for example, it can be an air cylinder or a linear motor. The peeling drive portion 32 can move the peeling member 31 up and down as a whole, or it can move the peeling member 31 up and down independently and separately. The cylinder section 33 is a cylindrical component that moves vertically along the end effector 20 via the peeling drive section 32. The peeling member 31 is fixed to the lower end of the cylinder section 33 in a removable manner. The peeling section 30 is as follows: Figure 7 As shown, a cylinder portion 33 is provided at the position where the peeling member 31 is inserted into the spacing formed by the arrangement of the holding holes 42 of the fixed sticker 12. In this peeling portion 30, it is easier to insert the peeling member 31 between the sheet 11 and the sticker 12 than to insert the peeling member 31 from the side of the holding hole 42.

[0047] The fixing part 34 is fixed at an inclined position that tilts the support part 23 and / or at a vertical position that positions the support part 23 along the vertical direction of the end effector 20. The fixing part 34 includes a posture maintaining part 35, a force applying part 36, and a stop member 37. The posture maintaining part 35 is a device that fixes the support part 23 at the inclined position. This posture maintaining part 35 can be, for example, a solenoid valve that fixes a position member disposed on the support part 23 and whose position changes when the support part 23 is tilted, or a solenoid valve. The force applying part 36 is a member that applies force to the support part 23 toward the vertical direction of the end effector 20. This force applying part 36 can be, for example, a rotary spring that is supported on the support shaft of the swing part 24 and applies a force to the support part 23 in a predetermined rotational direction. The stop member 37 is a member that holds the support part 23 in a position along the vertical direction of the end effector 20. The stop 37 is a component that restricts the movement of the support 23 to prevent it from rotating beyond its vertical position. The stop 37 is as follows: Figure 2 , 3 As shown, it has a fixing plate 37a fixed to the base 22 and a fixing screw 37b disposed on the front end side of the fixing plate 37a. In the stop member 37, the fixing angle of the support part 23 can be finely adjusted according to the screw-in position of the fixing screw 37b.

[0048] The imaging unit 38 is a device that acquires photographic images of the sticker 12 and the object to be pasted on the sheet 11. The photographic images acquired by the imaging unit 38 are output to the control PC 60 for detecting the peeling position and the pasting position of the sticker 12.

[0049] The pressing part 44 is a component that presses down on the sticker 12 after it has been applied to the object 13 to prevent it from peeling off. The pressing part 44 is as follows: Figure 2 As shown, the support 23 is fixed to the base 22 at the inclined direction D side. The pressing part 44 includes a pressing member 45 that contacts and presses the sticker 12, and a pressing drive (not shown) that moves the pressing member 45 up and down. The pressing member 45 is a cuboid-shaped component with a pressing surface having the same or larger area as the sticker 12. The pressing drive moves the pressing member 45 up and down between a pressing position and a retracted position, and is composed of an air cylinder, a linear motor, or a ball screw, etc. The pressing member 45 is disposed on the base 22 in a manner that allows it to move up and down between the retracted and pressing positions via the pressing drive; it descends to the pressing position when pressing the sticker 12 and rises to the retracted position when not pressing.

[0050] The cleaning unit 46 is a unit for cleaning the pickup unit 25 and / or the peeling unit 30. The cleaning unit 46 blows compressed air into the pickup unit 25 and the peeling unit 30 to remove foreign matter adhering to them. The cleaning unit 46 has a cleaning hole 47 for ejecting compressed air and a supply pipe (not shown) for supplying compressed air to the cleaning hole 47. It should be noted that the cleaning unit 46 is a blower-type unit; however, it could also be a unit that removes foreign matter from the pickup unit 25 and / or the peeling unit 30 by, for example, applying and / or impregnating a cleaning solution, or a unit that removes foreign matter from the pickup unit 25 and / or the peeling unit 30 using a brush or similar component.

[0051] The sheet holding section 40 is a unit that fixes the sheet 11. The sheet holding section 40 is as follows: Figure 5 As shown, the sheet holder 40 has a mounting portion 41 and a retaining hole 42. The mounting portion 41 has a mounting surface for mounting the sheet 11, and the retaining hole 42 applies negative pressure to the sheet 11 mounted on the mounting portion 41 for fixation. It should be noted that in the sheet retaining portion 40, the sheet 11 can be fixed by methods other than applying negative pressure, such as using electrostatic force or magnetic force, or by holding the end of the sheet 11 for fixation.

[0052] The arm-type robot 50 is configured at least as a moving part that allows the end effector 20 to move on the sheet 11 fixed to the sheet holding part 40. The arm-type robot 50 can also be configured as, for example, a vertical multi-joint type 5-axis robot, or a 6-axis robot. The arm-type robot 50 has an assembly part 51, a connector 52, an arm 55, a drive motor 56, and a base part 57. The assembly part 51 is a part capable of assembling and unassembling the end effector 20, and is disposed on the lower surface side of the connector 52. The assembly part 51 has a locking mechanism that locks the end effector 20 when it is assembled to the arm-type robot 50. The locking mechanism is released when the operator removes the end effector 20 from the arm-type robot 50. The connector 52 is a base for detachably assembling the end effector 20, and is disposed at the front end of the arm 55. Arm 55 is a series of components supported by joint axes, which rotate freely around the joint axes, allowing the end effector 20 to move in three-dimensional space in the front-back, left-right, and up-down directions. Drive motors 56 are mounted on each joint axis to drive its rotation. A base 57 is provided and supports the arm 55. A sheet holding part 40 and the object to be pasted 13 are positioned within the range of motion of the end effector 20. It should be noted that while an arm-type robot 50 is used as the moving part here, any robot capable of freely moving the end effector 20 can be used; an XY robot capable of moving the end effector 20 in the up-down direction could also be employed.

[0053] The control PC 60 controls each component of the peel-off adhesive device 10. The control PC 60 includes a control unit 61, a storage unit 62, a communication unit 64, a display unit 65, and an operation unit 66. The control unit 61 is configured as a CPU-centric microprocessor, controlling the entire peel-off adhesive device 10. The control unit 61 outputs drive signals to the posture maintenance unit 35, the imaging unit 38, the drive motor 56, etc. After the pickup unit 25 comes into contact with the sticker 12, the control unit 61 moves the end effector 20 in an inclined direction D towards the support unit 23. While applying a peeling force to the sticker 12 via the following unit 27, the peeling unit 30 is inserted between the sticker 12 and the sheet 11, peeling the sticker 12 from the sheet 11 and moving the peeled sticker 12. Then, the control unit 61 releases the inclination of the support unit 23, and with the peeling unit 30 retracting from under the sticker 12, the sticker 12 held by the pickup unit 25 is placed in the adhesive position. Storage unit 62 is a high-capacity storage medium such as flash memory, storing programs that control the peel-and-stick device 10, as well as list information including the shape and placement of the sticker 12, the shape and placement of the object to be pasted 13, the peeling order and position of the sticker 12, and the pasting position. Communication unit 64 is an interface for exchanging information with external devices such as management devices (not shown). Display unit 65 is a display for showing information to the operator. Operation unit 66 includes a keyboard or mouse for the operator to perform various inputs. It should be noted that in the peel-and-stick device 10, a control PC 60 is used to control the end effector 20, the sheet holding unit 40, and the arm robot 50. However, control units can be provided in each device, or four or more control units can handle different control processes.

[0054] Next, the sticker 12 peeling and pasting process performed based on the peeling and pasting device 10 configured in this way will be described. Figure 9 This is a flowchart illustrating an example of a peeling and pasting process routine executed by the control unit 61 and performed by the arm robot 50. Figure 10 This is a flowchart illustrating an example of a cleaning process performed by the control unit 61. Figure 11 This is an illustrative diagram illustrating an example of detecting the orientation of sticker 12. Figure 12 This is an illustrative diagram showing an example of the position of the end effector 20 during the peeling process of the sticker 12. Figure 13 This is an illustration of a series of steps involved in peeling off sticker 12. Figure 13 A is a diagram showing the contact between component 26 and sticker 12. Figure 13 B is a diagram showing the support 23 tilted. Figure 13 Figure C shows the part 31 being peeled off and the sticker 12 coming into contact. Figure 13 D is a picture of sticker 12 being peeled off. Figure 14This is a concept image depicting a series of processes involving peeling off sticker 12. Figure 14 A is a diagram showing the contact between component 26 and sticker 12. Figure 14 B is a diagram showing the force applied in the peeling direction to the pickup component 26. Figure 14 C is a diagram that creates the starting point of the peeling by peeling off component 31. Figure 15 This is an illustration of a series of processes involved in pasting sticker 12 onto the object 13. Figure 15 A is a diagram showing the movement of the pasted object 13 directly above it. Figure 15 B is a diagram showing the removal of the tilt of support 23. Figure 15 C is the image of pasting sticker 12 onto object 13. Figure 15 D is a picture of pressing sticker 12. Figure 16 This is another illustration of the process of picking up sticker 12 using multiple pickup units 25. Figure 17 This is an illustrative diagram illustrating an example of applying sticker 12. Figure 18 This is an illustration of how the sticker 12 is held in place by guide block 28.

[0055] First, the process of peeling off the sticker 12 from the sheet 11 by the peeling and pasting device 10 will be explained. Figure 9 The peeling and pasting process routine is stored in the storage unit 62 and is executed after the operator inputs the execution command for pasting the sticker 12. Upon starting the routine, the CPU of the control unit 61 first executes the process of fixing the sheet 11 via the sheet holding unit 40 (S100). The operator places the sheet 11 with the sticker 12 pasted onto the mounting unit 41. The control unit 61 supplies negative pressure to the holding hole 42 of the sheet holding unit 40, thereby fixing the sheet 11 onto the mounting unit 41. Next, the control unit 61 obtains information related to the position of the sticker 12 to be peeled off and the pasting position of the object to be pasted (S110). The control unit 61 obtains this information, for example, by reading a list of information pre-stored in the storage unit 62.

[0056] Next, based on the acquired information, the control unit 61 moves the end effector 20 towards the upper part of the sticker 12, which is the object to be peeled off (S120), and the imaging unit 38 captures an image of the object to be peeled off, obtaining its detailed position and angle (S130, imaging step). The control unit 61 can also detect the sticker 12 contained in the captured image using a known matching process to obtain its position and angle. When obtaining the position and angle of the sticker 12, the control unit 61 sets the angular vector direction of the end effector 20 corresponding to that position and angle, and sets the movement amount (S140, setting step). The control unit 61, in such a way... Figure 11As shown, when the sticker 12 has various angles, the angle vector of the end effector 20 is set in a manner that, for example, the peeling part 30 contacts the long side of the code display bar (refer to the white arrow). At this time, the control unit 61 sets the amount of movement of the end effector 20 in the up-down and left-right directions based on the angle vector (refer to...). Figure 12 The setting value determines the posture of the end effector 20 during the peeling process. That is, the control unit 61 takes a picture of the sticker 12 on the sheet 11, sets the position and orientation of the pickup member 26 based on the obtained picture, and sets the tilt direction D relative to the vertical direction and the insertion direction of the peeling member 31.

[0057] Next, the control unit 61, based on a set angle vector and movement amount, causes the pickup component 26 to come into contact with the surface of the sticker 12 to be peeled off, applying negative pressure (S150). Figure 13 A). Control unit 61, for example, sets Figure 12 The coordinates and movement of the end effector 20 shown in S1 cause the end effector 20 to descend in the Z-axis direction. Next, the control unit 61 moves the end effector 20 in the short side direction, which is orthogonal to the long side direction, causing the support unit 23 to tilt (S160, application step, ...). Figure 13 B). Control unit 61, for example, sets Figure 12 The coordinates and movement of the end effector 20 shown in S2 cause the end effector 20 to move horizontally in the X-axis direction. In this step, the pickup member 26 that picks up the sticker 12 is brought into contact with the surface of the sticker 12, and a force is applied to the sticker in an inclined direction D that is inclined relative to the vertical direction of the surface. That is, in this step, a peeling force (upward) is applied to the end of the sticker 12 opposite to the inclined direction D.

[0058] Next, the control unit 61 lowers the peeling part 30, causing the peeling member 31 to abut against the end of the sticker 12, and inserts the peeling member 31 into the lower part of the sticker 12 (S170, insertion step). Figure 13 C). Control unit 61, for example, sets Figure 12 The coordinates and movement of the end effector 20 shown in S3 cause the end effector 20 to move slightly in the X-axis and Z-axis directions. The peeling member 31 enters the inner side of the sticker 12 while being pressed against the sheet 11. In this step, the peeling member 31 is inserted between the sticker 12 and the sheet 11 at the end of the sticker 12 on the side opposite to the tilt direction D, peeling the sticker 12 off. That is, in this step, the peeling member 31 is inserted at the end of the sticker 12 to which a peeling direction (upward) force is applied, releasing the adhesive force of the sticker 12 on the sheet 11. In this step, the peeling member 31 is inserted sequentially between the sheet 11 and the sticker 12 from the short side end side of the sticker 12 toward the center side (see reference). Figure 7 After the peeling member 31 is pressed under the sticker 12, a starting point for peeling the sticker 12 is provided, further improving the peelability of the sticker 12. In particular, in the end effector 20, the peeling member 31 is inserted sequentially from the outside of the sticker 12, i.e., the short side end, toward the central side, thus enabling more reliable peeling of the sticker 12.

[0059] Next, the control unit 61, with the support unit 23 tilted, fixes its posture via the posture holding unit 35, causing the end effector 20 to rise and peel the sticker 12 off the sheet 11 (S180). Figure 13 D). Control unit 61, for example, sets Figure 12 The coordinates and movement of the end effector 20, as shown in S4, cause the end effector 20 to rise in the X-axis and Z-axis directions. The peeled sticker 12 is stably supported with its entire outer edge in contact with the support surface 29 of the guide block 28. Furthermore, the control unit 61 moves the sticker 12 towards the coordinates of the pasting position of the object 13 while holding the peeling part 30 under the sticker 12 (S190, moving step). In this step, after peeling off the sticker 12, the sticker 12 is moved while the peeling part 31 is positioned under the sticker 12. The control unit 61 prevents the sticker 12 from falling by positioning the peeling part 31 under the sticker 12. In this way, the control unit 61 can more reliably peel off stickers 12 that are difficult to peel off by an automated robot.

[0060] Here, use Figure 14 To explain the peeling mechanism of the end effector 20 on the sticker 12. The end effector 20 includes a swinging part 24, a pickup part 26, and a following part 27. Starting from the state where the pickup part 26 is in contact with the sticker 12 ( Figure 14 A) A force in the tilt direction D is applied to the pickup member 26 using the two axes of the swinging part 24 and the following part 27. Figure 14 B). That is, after the control unit 61 brings the pickup unit 25 into contact with the sticker 12, it moves the swing unit 24 (base 22) in an inclined direction D toward the support unit 23. The support unit 23 is tilted by the swing unit 24 and the following unit 27, and a peeling force is applied to the sticker 12 via the pickup member 26. Thus, the peeling force is applied to the end of the sticker 12. Furthermore, the peeling member 31 pries the end of the sticker 12, thereby providing the starting point for peeling. Figure 14C). That is, while applying a force in the tilting direction D to the sticker 12, the control unit 61 inserts the peeling member 31 between the sticker 12 and the sheet 11 and peels the sticker 12 off from the sheet 11. Although the sticker 12 only causes the pickup member 26 to rise, it is stably adhered to the sheet 11, and the pickup member 26 is more difficult to detach or peel off compared to peeling the sticker 12. In this peeling method, in addition to applying a force in the tilting direction D to the sticker 12, the sticker 12 can also be peeled off by inserting the peeling member 31 into the end. It should be noted that, based on this mechanism, the swinging part 24 has an arbitrary structure. Furthermore, the following part 27 does not exert force on the sticker 12 when it can swing without resistance, so it is set to have resistance to the extent that a force in the peeling direction can be applied to the sticker 12 when swinging.

[0061] Next, the process of the peeling and pasting device 10 pasting the sticker 12 onto the object to be pasted 13 will be described. In S190, after the sticker 12 is moved upwards towards the object to be pasted 13 ( Figure 15 A) The control unit 61 takes a picture of the object to be pasted 13 using the imaging unit 38, and obtains the pasting position of the object to be pasted 13 and the angle of the sticker 12 (S200). The control unit 61 extracts the object to be pasted 13 contained in the captured image through image analysis, and obtains the pasting position and its angle. Next, the control unit 61 releases the posture holding unit 35 from the tilted state of the support unit 23, and raises the peeling member 31 to the retracted position (S210). Figure 15 B). Next, the control unit 61 lowers the pickup unit 25, causing the sticker 12 to come into contact with the pasting position for pasting (S220). Thus, the control unit 61 holds the sticker 12, held on the pickup unit 26, in the pasting position while the peeling member 31 retracts from below the peeled sticker 12. Next, the control unit 61 supplies positive pressure to the pickup unit 26, releasing the sticker 12 pickup state, and raises the end effector 20 (S230). Figure 15 C). Thus, the control unit 61 can attach the sticker 12 to the designated location.

[0062] Here are the instructions for applying sticker 12. Figure 16 As shown, for example, in the case of a pickup section 25 without guide block 28, a circular pad with multiple pickup members 26 is arranged, so the sticker 12 is not picked up in a planar manner, and sometimes the surface is uneven and / or deflected. In this case, as Figure 17 As shown, there may be a situation where a portion of the end of the sticker 12 comes into contact with the object to be pasted 13 first, thus sometimes causing wrinkles or other issues with the sticker 12 pasted on the object to be pasted 13. On the other hand, in the case of the end effector 20, such as Figure 18As shown, due to the guide block 28, the outer edge of the sticker 12, which is picked up by the pickup unit 25, is supported by the support surface 29 all around its circumference, and the sticker 12 can be held relatively flat. Thus, in the peeling and pasting device 10 that holds the outer edge of the sticker 12 by the guide block 28, bending and wrinkling can be prevented when the sticker 12 is pasted onto the object 13.

[0063] Next, after S230, the control unit 61 performs one or more pressing operations on the sticker 12 by the pressing unit 44 (S240, Figure 15 D). In the pressing process, the control unit 61 controls the arm robot 50, for example, by causing the pressing member 45 to descend below the picking member 25 and press the sticker 12 placed at the pasting position from above. It should be noted that the control unit 61 may also take an image of the sticker 12 pasted onto the pasting object 13 by the imaging unit 38 before performing the pressing process of the pressing member 44, and check whether the pasting position of the sticker 12 is appropriate, whether the sticker 12 is kinked or wrinkled, etc., based on the captured image. Furthermore, the control unit 61 determines whether the peeling and pasting process of all stickers 12 has been completed (S250). If the peeling and pasting process has not been completed, the process after S110 is executed. That is, the control unit 61 obtains the next sticker position and pasting position from the top of the list, and repeats the peeling process, moving process, and pasting process described above. On the other hand, when the peeling and pasting process is completed in S250, the routine ends. Thus, the peeling and pasting device 10 can peel the sticker 12 from the sheet 11 and paste the sticker 12 onto the object 13 in a neat, wrinkle-free state.

[0064] Next, the cleaning process of the pickup unit 25 and / or the stripping unit 30 will be described. The control unit 61 performs the cleaning process... Figure 10The flowchart is shown. This routine is executed in parallel by the control unit 61 during the peel-off and sticking process. After the routine starts, the control unit 61 determines whether the cleaning time has arrived (S300). The control unit 61 can make this determination based on one or more conditions, such as whether the working time of the end effector 20 has reached a specified time (e.g., 100 hours or 500 hours), whether a specified number (e.g., 100 or 500) of stickers 12 have been peeled off and stuck, or whether any abnormalities have occurred with the stuck stickers 12. When the cleaning time has arrived, the control unit 61 performs the cleaning process of the pickup unit 25 and / or the peeling unit 30 (S310). During the cleaning process, the control unit 61 blows compressed air from the cleaning hole 47 into the pickup unit 25 and / or the peeling unit 30 to remove foreign objects. After S310 or when the cleaning time has not arrived in S300, the control unit 61 determines whether the peel-off and sticking process of all stickers 12 has been completed (S320). If the peeling and pasting process of all stickers 12 is not completed, the control unit 61 repeats the process after S300. On the other hand, when the peeling and pasting process of all stickers 12 is completed in S320, the routine ends. In this way, in the peeling and pasting device 10, since foreign objects are removed from the pickup unit 25 and the peeling unit 30, the peeling and pasting process can continue more reliably.

[0065] Here, the correspondence between the constituent elements of this embodiment and the constituent elements of this disclosure is clarified. In this embodiment, the pickup unit 25 corresponds to the pickup unit of this disclosure, the pickup component 26 corresponds to the pickup component, the following unit 27 corresponds to the following unit, the guide block 28 corresponds to the guide block, the peeling unit 30 corresponds to the peeling unit, the peeling component 31 corresponds to the peeling component, the fixing unit 34 corresponds to the fixing unit, the posture maintaining unit 35 corresponds to the posture maintaining unit, the force applying unit 36 ​​corresponds to the force applying unit, the stop member 37 corresponds to the stop member, and the shooting unit 38 corresponds to the shooting unit. Furthermore, the sheet holding unit 40 corresponds to the sheet holding unit, the mounting unit 41 corresponds to the mounting unit, the holding hole 42 corresponds to the holding hole, the pressing unit 44 corresponds to the pressing unit, the pressing component 45 corresponds to the pressing component, the cleaning unit 46 corresponds to the cleaning unit, and the cleaning hole 47 corresponds to the cleaning hole. Furthermore, the arm robot 50 corresponds to the moving unit, and the assembly unit 51 corresponds to the assembly unit.

[0066] In the peeling and pasting device 10 of this embodiment described above, an end effector 20 is mounted on the mounting part 51. This end effector 20 includes a pickup part 25 that abuts against the surface of the sticker 12 and picks up the sticker 12; a support part 23 that supports the pickup part 25 and allows the pickup part 25 to be tilted relative to the vertical direction of the sticker 12 pasted on the sheet 11; a following part 27 that causes the pickup part 25 to follow the sticker surface when the support part 23 is tilted; and a peeling part 30 that is inserted between the sheet 11 and the sticker 12 and peels off the end of the sticker 12. In this end effector 20, the peeling part 30 can be inserted between the end of the sheet 11 and the sticker 12 while the pickup part 25 abuts against the surface of the sticker 12, the support part 23 is tilted, and a force in the peeling direction is applied to the sticker 12. At this time, because the following part 27 follows, the picking part 25 does not detach from the sticker 12 when the support part 23 is tilted, and a force in the peeling direction can be applied to the sticker 12. Furthermore, in the end effector 20, by applying a lifting force from the lower surface side by the peeling part 30 and by applying a force to pull the sticker 12 up by suction by the picking part 25, the sticker 12 can be peeled off from the sheet 11 and moved. Thus, in this end effector 20, by tilting the support part 23 and inserting the peeling part 30, the sticker 12 can be peeled off from the sheet 11 and moved more reliably.

[0067] Furthermore, the end effector 20 includes a fixing part 34 that fixes the support part 23 in an inclined position and / or in a vertical position along the vertical direction of the end effector 20. In this end effector 20, the support part 23 can be fixed in either an inclined or vertical position, thus easily maintaining the same posture before and after peeling off the sticker 12, facilitating peeling and movement. Moreover, the fixing part 34 includes a force-applying part 36 that applies force to the support part 23 towards the vertical direction of the end effector 20 and a stop member 37 that holds the support part 23 in a position along the vertical direction of the end effector 20. In this end effector 20, the support part 23 is held vertically, and when the support part 23 is tilted, the force can be released, thus facilitating processing. Furthermore, the pickup part 25 has an absorbent pad as a pickup member 26, which is soft and also serves as a follower part 27. In this end effector 20, the pickup section 25 and the following section 27 can be realized by using an adsorption pad.

[0068] Furthermore, the pickup unit 25 is provided with multiple adsorption pads along the long side of the sticker 12, and a guide block 28 is provided on the outer side of the adsorption pad. The guide block 28 forms a support surface 29 that supports the outer edge of the sticker 12. In the end effector 20, when the pickup unit 25 peels the sticker 12 from the sheet 11, the sticker 12 may sometimes rise due to negative pressure. However, the outer edge of the sticker 12 is pressed against the support surface 29 of the guide block 28 just before the rising end, so the sticker 12 can be peeled and moved without bending or other defects. In this end effector 20, the multiple adsorption pads enable more reliable peeling and movement of the sticker 12. Furthermore, in this end effector 20, the outer edge of the sticker 12 is supported by the guide block 28 when the sticker 12 is picked up, thus further suppressing positional misalignment during application. Furthermore, in the peel-off adhesive device 10, when using captured images to identify the shape and position of the sticker 12, if the sticker 12 is flexed or warped, the control unit 61 cannot accurately capture the size and center position of the sticker 12. In the end effector 20, the flexing and warping of the sticker 12 can be further suppressed by the guide block 28, thus improving the accuracy of image recognition of the sticker 12.

[0069] Furthermore, the peeling part 30 is disposed on the opposite side of the tilting direction D in which the support part 23 is tilted. In this end effector 20, the peeling part 30 is disposed on the end side of the sticker 12 where the support part 23 is tilted and a force is applied in the peeling direction, so the sticker can be easily peeled off by the peeling part 30. Moreover, the peeling part 30 is inserted between the sheet 11 and the sticker 12 when the pickup part 25 abuts against the sticker 12 and the support part 23 is tilted. In this end effector 20, the peeling part 30 is inserted on the end side of the sticker 12 where the support part 23 is tilted and a force is applied in the peeling direction, so the sticker can be easily peeled off by the peeling part 30. Moreover, the peeling part 30, as a peeling member 31, has one or more insertion pins that are inserted between the sheet 11 and the sticker 12. In this end effector 20, the sticker 12 can be easily peeled off by using the insertion pins. Furthermore, the peeling part 30 is disposed to be inserted sequentially between the sheet 11 and the sticker 12 from the end side of the sticker 12 toward the center side. In this end effector 20, the sticker 12 is peeled off sequentially starting from the end side, making it easier to peel off the sticker 12 compared to peeling it off starting from the center.

[0070] Furthermore, the end effector 20 includes a pressing part 44 that presses the sticker 12 after it has been applied to the object 13. In this end effector 20, the pressing part 44 allows for more reliable application of the sticker 12. The end effector 20 also includes a base 22 and a swinging part 24. The base 22 is fitted to the mounting part 51, and the swinging part 24 is fixed to the base 22, providing axial support for the support part 23, allowing the support part 23 to swing relative to the base 22. In this end effector 20, the support part 23 can be axially supported by the base 22, and the support part 23 can be easily tilted by the swinging part 24. Furthermore, the peeling part 30 is fixed to the base 22 in a manner that allows it to move up and down relative to the pickup part 25. In this end effector 20, when the peeling part 30 is inserted between the sheet 11 and the sticker 12, small adjustments in the up and down direction can be made, making it easy to peel off the sticker 12. Furthermore, in this end effector 20, the peeling part 30 can be moved up and down and retracted, making it difficult to become an obstacle to the pasting process.

[0071] Furthermore, the peeling and pasting device 10 includes the aforementioned end effector 20, a mounting portion 51 for assembling the end effector 20, and an arm robot 50 serving as a moving part that moves the end effector 20 at least on the sheet 11. Because the peeling and pasting device 10 includes the end effector 20, it can more reliably peel and move the sticker 12 from the sheet 11 by simply tilting the support portion 23 and inserting the peeling portion 30. The peeling and pasting device 10 also includes a control portion 61 for controlling the arm robot 50, which serves as the moving part. The peeling and pasting device 10 can control any of the structures of the end effector 20 via the control portion 61. Furthermore, after the pick-up unit 25 comes into contact with the sticker 12, the control unit 61 moves the end effector 20 in an inclined direction toward the support unit 23. While applying a peeling force to the sticker 12 via the following unit 27, the peeling unit 30 is inserted between the sticker 12 and the sheet 11, causing the sticker 12 to peel off from the sheet 11 and move the peeled sticker 12. In this peeling and sticking device 10, the sticker 12 can be peeled and moved more reliably.

[0072] Furthermore, the control unit 61, while releasing the tilt of the support unit 23 and retracting the peeling part 30 from under the sticker 12, positions the sticker 12 held on the pickup unit 25 at the adhesive position. In this adhesive peeling device 10, the sticker 12 can be more reliably adhered to the adhesive object 13. Moreover, the adhesive peeling device 10 includes a sheet holding part 40 that fixes the sheet 11 to the mounting part 41. Because the sheet holding part 40 fixes the sheet 11, it is easy to peel the sticker 12 from its end. Furthermore, the adhesive peeling device 10 includes a cleaning part 46 that cleans the pickup unit 25 and / or the peeling part 30. This adhesive peeling device 10 can clean the structure of the end effector 20 via the cleaning part 46, enabling more reliable peeling and movement of the sticker 12 from the sheet 11.

[0073] Furthermore, the peeling and pasting method described in the embodiment is performed by the peeling and pasting device 10, including an application step, an insertion step, and a moving step. The peeling and pasting device 10 includes a pickup member 26 for picking up stickers 12 and a peeling member 31 for peeling off stickers 12, peeling stickers 12 from a sheet 11 on which one or more stickers 12 are pasted. In the application step, the pickup member 26 for picking up stickers 12 is brought into contact with the surface of the sticker 12, and a force is applied to the sticker 12 in an inclined direction D relative to the vertical direction of the surface. In the insertion step, the peeling member 31 is inserted between the sticker 12 and the sheet 11 at the end of the sticker 12 on the side opposite to the inclined direction D, thus peeling off the sticker 12. In the moving step, the peeled sticker is moved. In this peeling and pasting method, the peeling member 31 can be inserted between the end of the sheet 11 and the sticker 12 while the pickup member 26 is brought into contact with the surface of the sticker 12 and tilted, and a force is applied to the sticker in the inclined direction D, thereby peeling off the sticker 12. Thus, in this peeling and pasting method, by using the picking member 26 to apply force to the sticker 12 in the inclined direction D and inserting the peeling member 31 toward the end, the sticker 12 can be peeled and moved from the sheet 11 more reliably.

[0074] Furthermore, in this peel-off adhesive method, during the application step, the direction orthogonal to the long side direction of the sticker 12 is set as the tilt direction D. In this peel-off adhesive method, the sticker 12 is peeled off more easily than when tilted in a direction orthogonal to the short side direction of the sticker 12. Moreover, in this peel-off adhesive method, during the application step, the tilt is maintained within a range where the pickup member 26 does not detach from the abutting sticker 12. In this peel-off adhesive method, the sticker 12 is held more reliably by the pickup member 26, thus enabling more reliable peeling and movement of the sticker 12. Furthermore, in this peel-off adhesive method, during the application step, the tilt is maintained within a range of 10° to 45° relative to the vertical direction. When the tilt angle is 10° or more, the force applied in the peeling direction can be further increased; when the tilt angle is 45° or less, the detachment of the pickup member from the sticker can be further suppressed. Furthermore, in this peel-off adhesive method, during the insertion step, the peeling member 31 is inserted sequentially between the sheet 11 and the sticker 12, from the end side of the sticker 12 toward the center side. In this peeling and pasting method, the sticker 12 is peeled off sequentially starting from the end side, making it easier to peel off the sticker 12 compared to peeling off starting from the center.

[0075] Furthermore, in this peel-and-stick method, during the moving step, after the sticker 12 is peeled off, the sticker 12 is moved while the peeling member 31 is positioned below the sticker 12. In this peel-and-stick method, the peeling member 31 is located below the peeled sticker 12, thus protecting the peeled sticker 12. In this peel-and-stick method, during the moving step, the sticker 12 held on the pickup member 26 is adhered to the adhesive position while the peeling member 31 is retracted from below the peeled sticker 12. In this peel-and-stick method, the sticker 12 can be more reliably adhered to the adhesive position. Moreover, during the moving step, after the peeled sticker 12 is adhered to the adhesive position, a pressing process is performed by the pressing member 45. In this peel-and-stick method, the pressing process allows for more reliable adhesion of the sticker 12 to the adhesive object 13. Furthermore, this peeling and pasting method includes a photographing step, which photographs the sticker 12 on the sheet 11; and a setting step, which sets the position and orientation of the pickup member 26 and the tilt direction relative to the vertical direction and the insertion direction of the peeling member 31 based on the photographed image obtained in the photographing step, and performs the application step and the insertion step based on the settings. In this peeling and pasting method, the position and orientation of the sticker 12 on the sheet 11 can be identified, and a more appropriate peeling action can be performed.

[0076] Furthermore, in this peeling and pasting method, the peeling and pasting device 10 includes a support portion 23 that supports the pickup member 26 and allows the pickup portion 25 to tilt relative to the vertical direction of the sticker 12; a following portion 27 that causes the pickup portion 25 to follow the surface of the sticker 12 when the support portion 23 is tilted; and a swing portion 24 that provides axial support to the support portion 23 and causes the support portion 23 to swing. In the application step, after the pickup member 26 comes into contact with the sticker 12, the swing portion 24 is moved in the tilting direction D of the support portion 23. The support portion 23 is tilted by the swing portion 24 and the following portion 27, and a peeling force is applied to the sticker 12 via the pickup member 26. In the insertion step, while a peeling force is applied to the sticker 12, the peeling member 31 is inserted between the sticker 12 and the sheet 11, so that the sticker 12 is peeled off from the sheet 11. In this peel-off method, the support 23 is tilted by the swinging part 24. At this time, the following part 27 causes the picking part 26 to follow the surface of the sticker 12. Therefore, when the support 23 is tilted, the picking part 25 does not detach from the sticker 12, and a force in the peeling direction can be applied to the sticker 12. In this peel-off method, the sticker 12 can be peeled off and moved more reliably from the sheet 11 by using the swinging part 24, the support 23, and the following part 27.

[0077] It should be noted that the end effector, peeling and pasting device, peeling and pasting method and its procedure disclosed herein are not limited to the above-described embodiments. Of course, as long as they fall within the technical scope of this disclosure, they can be implemented in various ways.

[0078] For example, in the above embodiment, a fixing part 34 is provided, which includes a posture maintaining part 35 for fixing the support part 23 in an inclined position, a force applying part 36 for fixing the support part 23 in a vertical position, and a stop member 37. However, either the fixing at the inclined position or the fixing at the vertical position can be omitted, and the fixing part 34 can also be omitted. In this end effector 20, the sticker 12 can also be peeled off from the sheet 11 more reliably by applying a peeling force to the sticker 12 through a simpler process such as tilting the pick-up member 26 and inserting the peeling member 31.

[0079] In the above embodiment, the pickup member 26 is described as an absorbent pad with the function of the following part 27, but it is not particularly limited to this, and the pickup member 26 and the following part 27 may also be separate components. Furthermore, the pickup member 26 is an absorbent pad, but it is not particularly limited to this, as long as it can pick up the sticker 12, it is not limited to an absorbent pad. Furthermore, the end effector 20 has a guide block 28 with a support surface 29 extending over the outer periphery of the pickup member 26, but it is not particularly limited to this, and the guide block 28 may be omitted. Figure 19 This is an explanatory diagram showing an example of another end effector 20B. Figure 20This is an illustrative diagram illustrating an example of holding the sticker 12 using an end effector 20B. The end effector 20B is as follows... Figure 19 As shown, the device has a pickup section 25B and an elastic member 27B as a following section. The pickup section 25B has a flat pad 26B as the pickup member 26. The flat pad 26B is flexible. The elastic member 27B is disposed on the support section 23 and supports the flat pad 26B so that it can follow the surface of the sticker 12. The flat pad 26B has a pressure supply hole 28B for supplying negative and / or positive pressure and a support surface 29B for supporting the surface of the sticker 12. Furthermore, when the support section 23 is tilted while the sticker 12 is attached to the sheet 11, the elastic member 27B absorbs the stress of the tilt and applies a force in the peeling direction to the sticker 12. For example, it can be a sponge, rubber, or spring. In this end effector 20B, such as... Figure 20 As shown, the support surface 29 supports the entire sticker 12, thus further suppressing the bending and wrinkling of the sticker 12 during pasting, and enabling the sticker 12 to be pasted precisely.

[0080] In the above embodiment, the peeling part 30 includes an insertion needle as a peeling member 31. However, it is not particularly limited as long as it is a member that can be inserted between the sheet 11 and the sticker 12 and create a peeling starting point. For example, the peeling member 31 may also be one or more insertion blades inserted between the sheet 11 and the sticker 12. The insertion blade may be a member formed on the entire long side of the sticker 12, or it may be a member disposed on a portion of the plurality of cylinder parts 33. It should be noted that, considering the adhesion of foreign matter, the peeling member 31 is preferably an insertion needle.

[0081] In the above embodiment, the peeling part 30 is inserted sequentially from the end side of the sticker 12 toward the center side between the sheet 11 and the sticker 12 (see reference). Figure 7 However, this is not specifically limited. For example, multiple peeling components 31 can be inserted into the end of the sticker 12 simultaneously, or they can be inserted sequentially from the center side of the sticker 12 towards the end side. In this end effector 20, the sticker 12 can also be peeled more reliably from the sheet 11 by applying a peeling force to the sticker 12 through a simpler process such as tilting the pickup component 26 and inserting the peeling component 31. It should be noted that, from the perspective of ease of peeling the sticker 12, the peeling component 31 is preferably inserted sequentially between the sheet 11 and the sticker 12 from the end side of the sticker 12 towards the center side.

[0082] In the above embodiment, the peeling section 30 is described as having four cylinder sections 33 and a peeling component 31 (see reference). Figure 7However, this is not a limitation, and the number of peeling parts 31 can be appropriately increased or decreased depending on the size of the sticker 12. Furthermore, in the above embodiment, the sheet holding portion 40 is provided with three holding holes 42 on the lower surface side of one sticker 12 (see reference). Figure 7 However, it is not specifically limited to this, and the number and position of the retaining holes 42 can be appropriately changed according to the size of the sticker 12, etc.

[0083] In the above embodiment, the peeling part 30 is fixed to the base 22 in a way that allows it to move up and down via the peeling drive part 32. However, this is not a limitation, and the peeling drive part 32 may be omitted, and the peeling part 30 may be fixed. In this case, for example, the pickup part 25 may be moved up and down. In this end effector 20, the sticker 12 can also be peeled more reliably from the sheet 11 by applying a force in the peeling direction to the sticker 12 through a simpler process such as tilting the pickup part 26 and inserting the peeling part 31.

[0084] In the above-described embodiment, the end effector 20 is described as having a swinging part 24 that swings the support part 23; however, it is not particularly limited to this, and the swinging part 24 may not be provided in the end effector 20. In this case, for example, the peeling and pasting device 10 may also provide the function of swinging the support part 23 to the arm robot 50 side, which is a moving part. For example, the peeling and pasting device may also have a swinging part that provides axial support to the mounting part where the mounting part 51 is provided and swings the mounting part. Specifically, Figure 1 The connector 52 shown can be used as a mounting part and to make the end effector 20 swing. In this peeling and pasting device, the sticker 12 can also be peeled off from the sheet 11 more reliably by applying a force in the peeling direction to the sticker 12 through a simpler process such as tilting the pickup member 26 and inserting the peeling member 31.

[0085] In the above embodiment, the end effector 20 includes a pressing part 44, but it is not particularly limited to this, and the end effector 20 may also omit the pressing part 44. In this case, the peeling and pasting device 10 may also be an arm robot 50 equipped with the pressing part 44, or the pressing part 44 may be omitted from the peeling and pasting device 10. Furthermore, the pressing process may also be performed using the picking part 25. In this peeling and pasting device, the sticker 12 can also be peeled more reliably from the sheet 11 by applying a force in the peeling direction to the sticker 12 through a simpler process such as tilting the picking part 26 and inserting the peeling part 31.

[0086] In the above-described embodiment, the end effector 20 includes a cleaning section 46, but it is not particularly limited to this; the end effector 20 may also omit the cleaning section 46. In this case, the peeling and pasting device 10 may also include an arm robot 50 equipped with the cleaning section 46, or the cleaning section 46 may be a separate device, or the cleaning section 46 may be omitted from the peeling and pasting device 10. In this peeling and pasting device, by tilting the picking member 26 and inserting the peeling member 31, a force in the peeling direction can be applied to the sticker 12, thereby more reliably peeling the sticker 12 from the sheet 11.

[0087] In the above embodiment, the peeling and bonding device 10 includes a sheet holding part 40 and a control PC 60, but these can also be separate devices. In this case, a peeling and bonding system comprising a peeling and bonding device, a sheet holding part, and a control device can be formed.

[0088] In the above embodiment, the direction orthogonal to the long side of the sticker is the tilting direction D. However, it is not particularly limited to this. The direction offset from the direction orthogonal to the long side of the sticker can also be the tilting direction D.

[0089] In the above embodiment, after the sticker 12 is peeled off, the sticker 12 is moved while the peeling member 31 is positioned below the sticker 12. However, this is not particularly limited to this, and the sticker 12 can also be moved by retracting the peeling member 31 to a retracted position.

[0090] In the above embodiment, the sticker 12 on the sheet 11 is photographed, and the position and orientation of the pickup member 26 are set based on the photographed image, as well as the tilt direction D and the insertion direction of the peeling member 31. However, this is not particularly limited, and the photographing and setting processes can be omitted. It should be noted that in order to improve the accuracy of peeling, moving, and pasting the sticker 12, it is preferable to perform photographing and setting processes.

[0091] In the above embodiments, this disclosure has been described as a peel-off adhesive device 10 and a peel-off adhesive method; however, it can also be a program for implementing the peel-off adhesive method. This program enables one or more computers to perform the steps of the peel-off adhesive method. The program can be recorded on a computer-readable recording medium (e.g., hard disk, ROM, FD, CD, DVD, etc.), or sent from one computer to another via a transmission medium (communication network such as the Internet or LAN), or received in any other form.

[0092] Industrial applicability

[0093] This disclosure can be used in the field of automatically applying stickers to articles.

[0094] Label Explanation

[0095] 10 Peeling and pasting device, 11 Sheet, 12 Sticker, 13 Pasting object, 20, 20B End effector, 21 Connecting part, 22 Base, 23 Support part, 24 Swinging part, 25, 25B Pick-up part, 26 Pick-up component, 26B Flat pad, 27 Following part, 27B Elastic component, 28 Guide block, 28B Pressure supply hole, 29, 29B Support surface, 30 Peeling part, 31 Peeling component, 32 Peeling drive part, 33 Cylinder part, 34 Fixing part, 35 Posture holding part, 36 Force applying part, 37 Stop, 37a Fixing plate, 37b Fixing screw, 38 Imaging part, 39 Supply tube, 40 Sheet holding part, 41 Mounting part, 42 Holding hole, 44 Pressing part, 45 Pressing component, 46 Cleaning part, 47 Cleaning hole, 50 Arm robot (moving part), 51 Assembly part, 52 Connector, 55 Arm, 56 Drive motor, 57 Base part, 60 Control PC, 61 Control part, 62 Storage part, 64 Communication part, 65 Display part, 66 Operation part, D Tilt direction, L Interval, x Length, y Width.

Claims

1. An end effector, assembled in the assembly of a peeling and adhesive device for peeling off and moving stickers from a sheet with one or more stickers attached. The end effector includes: The pickup unit abuts against the surface of the sticker and picks it up. A support portion supports the pickup portion and allows the pickup portion to tilt relative to the vertical direction of the sticker; The following part causes the picking part to follow the sticker surface when the support part is tilted; as well as A peeling section is inserted between the sheet and the sticker to peel off the end of the sticker.

2. The end effector according to claim 1, wherein, The end effector includes: The fixing part secures the support part in an inclined position and / or secures the support part in a vertical position along the vertical direction of the end effector.

3. The end effector according to claim 2, wherein, The fixing part includes: a force-applying part that applies force to the support part toward the vertical direction of the end effector and a stop member that holds the support part in a position along the vertical direction of the end effector.

4. The end effector according to any one of claims 1 to 3, wherein, The pickup section has an adsorption pad that is soft and also serves as the following section.

5. The end effector according to claim 4, wherein, The pickup section is provided with a plurality of adsorption pads along the long side of the sticker, and a guide block supporting the outer edge of the sticker is provided on the outside of the adsorption pad.

6. The end effector according to any one of claims 1 to 3, wherein, The pickup section has a flat, flexible pad. The following portion has an elastic member disposed on the support portion to support the flat pad in a state in which the flat pad can follow the surface of the sticker.

7. The end effector according to any one of claims 1 to 3, wherein, The peeling portion is disposed on the opposite side of the tilting direction that tilts the support portion.

8. The end effector according to any one of claims 1 to 3, wherein, The peeling part is inserted between the sheet and the sticker while the picking part is in contact with the sticker and the support part is tilted.

9. The end effector according to any one of claims 1 to 3, wherein, The peeling section has one or more insertion pins inserted between the sheet and the sticker.

10. The end effector according to any one of claims 1 to 3, wherein, The peeling portion is inserted sequentially between the sheet and the sticker, starting from the end side of the sticker and moving towards the center side.

11. The end effector according to any one of claims 1 to 3, wherein, The end effector has a pressing part that presses the sticker after it has been pasted onto the object to which it is pasted.

12. The end effector according to any one of claims 1 to 3, wherein, The end effector includes: Base, assembled to the assembly part; and The swinging part is fixed to the base and provides axial support to the support part, so that the support part swings relative to the base.

13. The end effector according to claim 12, wherein, The peeling portion is fixed to the base in a manner that allows it to move up and down relative to the picking portion.

14. A peeling adhesive device for removing stickers from a sheet on which one or more stickers are adhered, said peeling adhesive device comprising: The end effector according to any one of claims 1 to 11; Assembly section, for assembling the end effector; A swinging part provides axial support to the mounting part on which the assembly part is mounted, causing the mounting part to swing; and The moving part causes the end effector to move at least on the sheet.

15. A peeling adhesive device for removing stickers from a sheet on which one or more stickers are adhered, said peeling adhesive device comprising: The end effector according to any one of claims 1 to 13; Assembly unit, for assembling the end effector; and The moving part causes the end effector to move at least on the sheet.

16. The peeling and pasting device according to claim 14 or 15, wherein, The peeling and pasting device includes a control unit for controlling the moving part.

17. The peeling and pasting device according to claim 16, wherein, After the control unit brings the pickup unit into contact with the sticker, it moves the end effector in a direction that is inclined toward the support unit. Under the condition that a peeling force is applied to the sticker via the following unit in the peeling direction, the peeling unit is inserted between the sticker and the sheet and the sticker is peeled off from the sheet, thereby moving the peeled sticker.

18. The peeling and pasting device according to claim 16, wherein, The control unit, while releasing the tilt of the support unit and retracting the peeling part from under the sticker, causes the sticker held by the pickup part to be pasted at the pasting position.

19. The peeling and pasting device according to claim 14 or 15, wherein, The peeling and pasting device includes a sheet holding portion for fixing the sheet to the mounting portion.

20. The peeling and pasting device according to claim 14 or 15, wherein, The peeling and pasting device includes a cleaning section for cleaning the picking section and / or the peeling section.

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