Compact end effector for applying double-sided tape through integrated roll

Abstract

The invention relates to an end effector (10) for applying a double-sided tape (12) by means of an automated movement unit, comprising: a) a roll holder (14) arranged to accommodate a tape roll (22), b) a guide device (16), c) an application device (18), and d) a discharge device (20), wherein the guiding device (16) is arranged in such a way that it guides the adhesive tape (12) provided by an adhesive tape roll (22) arranged in the roll holder (14) from the roll holder (14) to the application device (18), and wherein the application device (18) is arranged in such a way that it guides the adhesive tape (12) fed to the application device (18) in such a way that, in an application region, an adhesive layer of the adhesive tape (12) is located outside the end effector (10), therefore, the end effector (10) can bring the substrate to be adhesively bonded into contact with the adhesive layer of the adhesive tape (12), and wherein the discharge device (20) is arranged such that it discharges the release layer (24) of the adhesive tape (12) separated from the adhesive layer in the application device (18) from the end effector (10).

Description

Technical Field

[0001] The present invention relates to an end effector for applying a double-sided adhesive tape by an automated mobile unit, an application system for applying a double-sided adhesive tape based thereon, and a method for applying a double-sided adhesive tape by a corresponding end effector or application system. Also disclosed are the use of a corresponding end effector for applying a double-sided adhesive tape, and a preferred end effector system. Background Art

[0002] In many areas of engineering, for example in the automotive industry, it is necessary to connect different components to one another, where adhesive bonding in particular has proven to be particularly effective in the industry when joining components. So-called adhesive tapes here represent an alternative to the use of amorphous adhesives, which are applied, for example, from tubes. In particular, pressure-sensitive adhesive tapes are known from everyday life, where a pressure-sensitive adhesive substance that is permanently tacky and adhesive under normal ambient conditions ensures the adhesive action. The corresponding pressure-sensitive adhesive tapes can be applied by pressing onto a substrate and remain adhered there.

[0003] Double-sided adhesive tapes, i.e. adhesive tapes having an adhesive layer on both sides, are of great importance in particular for use in industrial manufacturing technology. These double-sided adhesive tapes can, for example, allow a wide range of components to be glued together quickly and almost without gaps, so that they can potentially replace the adhesive bonding techniques that are present in many cases in modern production lines and require, for example, long curing times.

[0004] An example that may be mentioned which has the potential for optimization by using double-sided adhesive tapes is, for example, the assembly of components to the roof lining of a vehicle, where an automated solution for the gluing of cables and molded parts is required. Today, liquid hot-melt adhesives are used in most cases for gluing molded parts to the roof lining, while the cable harness is usually fixed with single-sided adhesive tapes. Such gluing of cables and molded parts by two different gluing techniques, or even only by gluing with liquid hot-melt adhesives which require a long curing time, places more complex demands on the automated process. In contrast, double-sided adhesive tapes can be used for both applications and therefore potentially offer significant potential for process savings for automation.

[0005] In the opinion of the inventors, double-sided adhesive tapes have not been used to date for both applications of assembling components to vehicle headlinings by means of the same automation solution. In the opinion of the inventors, this is especially due to the lack of efficient and easily automatable application devices for double-sided adhesive tapes, which are used as so-called end effectors on industrial robots or similar mobile units. Accordingly, there is a fundamental need for automated adhesive tape application devices, in particular for combined use when gluing a wide range of components, such as when assembling components to vehicle headlinings.

[0006] End effectors for applying adhesive tape are known from the prior art, which allow applying adhesive tape, but which are supplied via an adhesive tape roll arranged on an external unwinding device. The use of such an adhesive tape roll here allows applying large amounts of adhesive tape, for example one kilometer of adhesive tape or more, without having to change the adhesive tape roll and thus interrupt production.

[0007] However, in many cases, these known end effectors are also found to be disadvantageous, especially with regard to the required installation space and the relatively limited flexibility. In the case of corresponding end effectors with a separate roll unwinder, the distance between the external unwinding device and the end effector corresponds to the dimensions of a typical production plant, i.e., is usually relatively long.

[0008] In the case of a movement of the robot in the direction of a reel unwinder, which is usually arranged laterally offset, as occurs, for example, for resetting the adhesive tape, the feed distance is shortened. For this purpose, the already dispensed adhesive tape must be taken back again by the reel rewinder in order to ensure the necessary web stretching. Therefore, in many cases, it is also necessary to provide a complex feed device which can ensure, for example, a minimum stretch in the adhesive tape, for example via a so-called compensator, in order to avoid sagging or undesired sticking of the adhesive tape, in particular in the case of forceful movements of the end effector.

[0009] Furthermore, in principle, with long feed distances there is the risk that the adhesive tape becomes dirty and the bonding quality can therefore be reduced. In addition, in automated production lines, corresponding feed devices from external roll unwinders can constitute a safety problem, since employees can be caught, for example, by the supplied and moved length of adhesive tape, so that the application has to be interrupted. Therefore, the application of double-sided adhesive tapes in industry has hitherto generally been considered disadvantageous with regard to the possibility of large-scale automation of existing manufacturing processes. Summary of the invention

[0010] The main object of the present invention is to overcome or at least reduce the above-mentioned disadvantages of the prior art.

[0011] In particular, the object of the invention is to specify an end effector and an application system based thereon, by means of which the application of double-sided adhesive tapes can be simplified so that it should be possible to apply more efficiently in terms of time and cost compared to the end effectors or application systems known from the prior art. Here, a desired requirement is that the end effector to be specified or the application system to be specified should have advantageous automation capabilities and good integration into modern production lines by simple retrofitting.

[0012] Furthermore, the object of the present invention is to specify an end effector and an application system which should allow precise application of double-sided adhesive tape even under challenging manufacturing conditions such as, for example, under limited space conditions (as can occur, for example, when assembling a component to a roof lining). A desirable requirement here is that the end effector to be specified should make a favorable contribution to work and process safety, in particular since the end effector should allow reliable application of the adhesive tape even without a cutting unit.

[0013] The invention also aims to reduce the requirements for supply devices for the end effector to be specified and the application system to be specified, wherein in particular the need for external supply devices and reel unwinders should be reduced. In this respect, a desired requirement is that the risk that the double-sided adhesive tape becomes dirty and sticks to the end effector to be specified or the application system should be minimized.

[0014] It is also an object of the present invention to provide a method for applying a double-sided adhesive tape by means of a to-be-designated end effector or a to-be-designated application system.

[0015] The object of the present invention is also to reduce the effort for applying double-sided adhesive tape by efficient automation with a method to be specified, wherein the method should also ideally have increased process stability and operating safety compared to the prior art.

[0016] A secondary object of the invention is to provide an end effector to be designated for use in applying double-sided adhesive tape, in particular when fitting components to a vehicle headliner.

[0017] The inventors of the present invention have now found that the above-mentioned object can surprisingly be achieved if a roll holder with a guide device for the adhesive tape is integrated into an end effector for applying a double-sided adhesive tape, if the application device of the end effector is designed so that the adhesive layer of the double-sided adhesive tape held in the roll holder and guided in the guide device can be attached to the substrate to be bonded outside the end effector, provided that the release layer separated from the double-sided adhesive tape in the application device can be discharged from the end effector by means of a discharge device as defined in the claims. The compact structure and the integration of a plurality of components, in particular the adhesive tape roll holder and the supply device, here allow the corresponding end effector to be used flexibly in a wide range of manufacturing processes, in particular even under limited space conditions, wherein not only excellent automation can be achieved, but also construction space can be saved and errors in the supply of the adhesive tape can be minimized due to the shorter adhesive tape supply distance. The resulting end effector can be used particularly advantageously for gluing components and cable harnesses to a roof lining, wherein in particular the corresponding end effector can also be coupled to and decoupled from the automated mobile unit in a particularly simple manner, so that, for example, adhesive tape replacement, maintenance and repairs can be carried out simply.

[0018] The above objects are therefore achieved by the subject matter of the invention as defined in the claims. Preferred embodiments according to the invention can be found in the dependent claims and the following explanation.

[0019] The embodiments referred to below as preferred are combined in particularly preferred embodiments with features of other embodiments referred to as preferred. Therefore, very particularly preferred are combinations of two or more embodiments referred to below as particularly preferred. Also preferred are embodiments in which features of embodiments referred to as preferred to any extent are combined with one or more further features of other embodiments referred to as preferred to any extent. Features of preferred application systems, methods and uses can be found in the features of preferred end effectors.

[0020] The present invention relates to an end effector for applying a double-sided adhesive tape by an automated mobile unit, comprising:

[0021] a) Roll support,

[0022] b) guidance devices,

[0023] c) application means, and

[0024] d) discharge device,

[0025] wherein the roll holder is configured to hold the tape roll,

[0026] wherein the guide device is configured to guide the adhesive tape supplied from the adhesive tape roll arranged in the roll support from the roll support to the application device,

[0027] wherein the application device is configured to guide the tape supplied to the application device so that the adhesive layer of the tape is located in an application region outside the end effector so that the end effector can bring the substrate to be bonded into contact with the adhesive layer of the tape, and

[0028] The discharging device is configured to discharge a release layer of the tape from the end effector, and the release layer is separated from the adhesive layer in the applying device.

[0029] The end effector according to the invention is suitable for applying double-sided adhesive tapes by means of an automated mobile unit. According to the knowledge of a person skilled in the art, an end effector is an actuator and / or terminal element of an automated mobile unit, such as a robot arm. In other words, in the field of robotics, an end effector is the last component of a mobile chain. The term "actuator" here particularly means that the end effector is in most cases configured to execute externally specified execution instructions, which can be communicated to the automated mobile unit and / or the end effector, for example, via an electronic control device.

[0030] According to the invention, the end effector comprises a roll holder configured to hold a roll of adhesive tape. In practice, the roll of adhesive tape usually has a substantially hollow cylindrical geometry, wherein the adhesive tape can be placed or wound circumferentially around the outer surface of the roll of adhesive tape. By repeatedly winding the adhesive tape around the roll of adhesive tape, an efficient storage and a safe use of the adhesive tape can thus be achieved at the same time, for example by unwinding the adhesive tape from the roll of adhesive tape and applying it when necessary. The roll of adhesive tape usually has a through recess along its cylindrical axis, via which the roll of adhesive tape can be placed on a mostly complementary protrusion of the roll holder, so that rotation is still possible, but the roll of adhesive tape has a reduced degree of freedom of translation in the roll holder. It is known to the person skilled in the art that the end effector according to the invention is configured to hold and process the roll of adhesive tape and thus the double-sided adhesive tape by means of the roll holder, but neither the roll of adhesive tape nor the double-sided adhesive tape itself is part of the end effector.

[0031] According to the invention, the end effector further comprises an application device and a guide device for guiding the adhesive tape from the roll holder to the application device. The guiding of the adhesive tape can be advantageously achieved by suitable guide elements, such as, for example, rotatably mounted guide rollers. The end effector according to the invention is advantageous for substantially all embodiments in which the end effector comprises in the guide device one or more, preferably two or more, preferably four or more, preferably six or more guide elements, preferably guide rollers, for guiding the adhesive tape, wherein preferably one or more of the guide elements are driven guide elements, preferably electrically driven guide elements.

[0032] In order to reduce the risk of adhesion and ensure reliable application of the double-sided adhesive tape, the adhesive tape guided in the end effector according to the invention is advantageously kept stretched in the guide device, even when the relative change of the distance between the application device and the roll support is reduced compared to the prior art. According to the knowledge of the skilled person, the tensile stress of the adhesive tape in the guide device refers to the tensile stress on the adhesive tape inside the guide device. In practice, the value of the tensile stress set here inside the guide device is usually within a predetermined range, which is usually quickly clear to the skilled person from the corresponding requirements of the use case. For example, the upper limit of the range can be generated by the tensile strength of the guided adhesive tape. The lower limit of the range can be generated by the minimum tensile stress required for controlled guidance and / or clean cutting of the adhesive tape, for example. The inventor has now recognized that the substantially uniform stretching of the adhesive tape in the guide device advantageously allows a particularly uniform application of the adhesive tape and additionally ensures safe guidance of the adhesive tape, as a result of which undesired adhesion of the adhesive tape in the guide device can be reliably prevented. In this respect, it has proven to be advantageous to provide an element in the guide device that influences the stretching of the adhesive tape, based on which the stretching stress can be set and controlled in a targeted manner to establish or equalize the stretching stress. Therefore, an end effector according to the invention is preferred, wherein the end effector comprises a repositionable web stretching element, preferably a web stretching roller, in the guide device, wherein the web stretching element is configured to reversibly and non-destructively change its position relative to other components of the guide device, preferably relative to guide elements adjacent to the guided tape segment, when the adhesive tape is stretched in the guide device, preferably when a predetermined stretching stress on the web stretching element caused by the stretching of the adhesive tape is exceeded, in order to at least partially equalize the stretching stress. Therefore, additionally or alternatively, an end effector according to the invention is also preferred, wherein the web stretching element is configured such that the adhesive tape can be stretched in the guide device by a reversible and non-destructive change of the position of the web stretching element.

[0033] The inventors have recognized that it is very important to actively manage the supply of adhesive tape and to control the web stretching if a particularly efficient end effector is to be obtained. In this context, in the inventors' view, it is firstly advantageous not only to rely on passive unwinding of the adhesive tape, which is possible in a freely rotatable arrangement of the adhesive tape roll in the roll holder after an external stretching force has been applied, but also to provide an active drive for the adhesive tape roll, which actively and under controllable conditions supplies the adhesive tape from the adhesive tape roll. Therefore, firstly an end effector according to the invention is preferred, wherein the end effector comprises a drive unit, preferably a motor, particularly preferably an electric motor, for driving the adhesive tape roll in the roll holder.

[0034] Additionally or alternatively, the inventors consider it particularly advantageous if an active control of the drive unit and / or the web stretching element responsible for setting the web stretch is provided or realized, which can be realized by an electronic control unit.

[0035] Therefore, with regard to optimal guidance of the adhesive tape, an end effector according to the invention is preferred, wherein the end effector comprises an electronic control unit configured to control the position of the drive unit and / or the web stretching element, wherein preferably the electronic control unit controls the configuration of both components. The electronic control unit can be arranged, for example, so as to be part of an automated mobile unit, which is connected to the end effector according to the invention. In this embodiment, the electronic control unit preferably controls not only the above-mentioned components of the end effector, but also the end effector itself or the automated mobile unit.

[0036] With regard to a tensile stress that is as constant as possible on the adhesive tape guided in the end effector, an electronic control unit which controls both the drive unit and the position of the web-stretching element is particularly preferred here, so that, for example, sticking of the adhesive tape can be reliably avoided. In the opinion of the inventors, it has proven to be very particularly advantageous if the web-stretching roller is even used as an input to the control loop of the unwinding. By means of such a dependent control of the two components, i.e. the motorized unwinding aid, an optimal and safe guidance of the adhesive tape and a precise control of the applied amount are ensured. Therefore, an end effector according to the invention is particularly preferred, in which the electronic control unit is configured to control the drive unit as a function of the position of the web-stretching element.

[0037] According to the invention, the end effector comprises an application device, which is a term for a part of the end effector that is responsible for the actual application of the adhesive tape to the substrate to be bonded, wherein, within the scope of the invention, the sub-region of the application device in which the transfer of the adhesive tape to the substrate and the separation of the pad takes place is referred to as the application region. The application region is thus the region of the application device in which the adhesive tape is applied to the substrate. In practice, this usually means that the adhesive layer of the adhesive tape is pressed onto the substrate in the application region in order to apply the adhesive tape to the substrate. According to the invention, for this purpose, the adhesive layer of the adhesive tape is located in the application region of the application device outside the end effector. In this regard, in most cases, the application region is essentially freely accessible from the outside of the end effector. Accordingly, the application region is at least partially arranged outside the end effector. Here, outside refers in particular to the part of the application device that is away from the other components of the end effector. Within the scope of the invention, the structure that contacts the adhesive tape from below during application is referred to as the application element. In this context, the end effector according to the invention is relevant to substantially all embodiments in which the application device comprises an application element, preferably an application roller, wherein the application element is configured such that in an application area the adhesive tape is guided onto the surface of the application element and / or around the application element, preferably onto the surface of the application element and around the application element, such that the adhesive layer faces away from the application element.

[0038] With regard to the further configuration of the application device, the end effector according to the invention is advantageously not limited. An example is an end effector according to the invention, wherein the application device comprises one or more, preferably two or more, particularly preferably exactly two auxiliary guide elements, preferably auxiliary guide rollers, which are configured to guide the adhesive tape onto the surface of the application element and / or around the application element in the application device.

[0039] The components of the end effector according to the invention are combined in the end effector and for this purpose are suitably connected to one another, for example in a housing. The end effector according to the invention is therefore relevant to substantially all embodiments in which the end effector comprises a support structure, preferably a support plate, on which the other components of the end effector are arranged and / or to which the other components of the end effector are connected.

[0040] With regard to the safe and effective application of the adhesive tape, it has proven to be advantageous to provide the application device as a whole, preferably at least the application element of the application device, to be spring-mounted on the end effector according to the invention. Thus, during the application of the adhesive tape guided in the application device, the contact pressure on the substrate to be bonded can be better controlled or reduced, so that in particular damage to the substrate can be avoided. In this respect, preference is given to an end effector according to the invention in which the application device is connected via a spring device to other components of the end effector, preferably to a support structure of the end effector.

[0041] According to the invention, the end effector further comprises a discharge device which diverts a release layer, which is separated from the adhesive layer of the adhesive tape in the application device, away from the end effector. This release layer, also referred to as a liner, serves as a backing until the adhesive tape is applied and then has to be disposed of as waste or fed to a recycling system. In this respect, the inventors have successfully identified an embodiment of the discharge device by means of which a particularly efficient end effector can be obtained and which in particular ensures a reliable diversion of the release layer.

[0042] For this purpose, firstly, for example, driven or freely rotatable rollers can be provided, which either only stabilize the discharged release layer or also simultaneously facilitate or enable the withdrawal from the application area by means of a drive. Therefore, an end effector according to the invention is preferred, wherein the discharge device comprises one or more discharge elements, preferably discharge rollers, wherein the discharge device preferably comprises at least one roller device, which has at least two rollers rotating in opposite directions, and the roller device is configured such that the release layer separated from the adhesive layer can be guided between the rollers rotating in opposite directions, wherein the rollers of the roller device are preferably rollers driven in opposite directions, and the discharge device is configured to discharge the release layer from the application area due to the movement of the rollers driven in opposite directions.

[0043] In principle, the discharged release layer can then be deflected via a rewinding device, for example an external mechanical rewinding device. However, the deflection of the release layer is advantageously facilitated or achieved by the suction unit, so that a complicated individual insertion of the release layer into the outlet opening can be avoided. In this preferred embodiment, the release layer can thus be deflected particularly effectively. In this respect, preference is given to an end effector according to the invention, wherein the discharge device comprises an outlet opening for discharging the release layer, wherein the outlet opening is preferably connected to a fluid line system and / or wherein the discharge of the release layer is facilitated or achieved via the outlet opening, preferably by the suction unit.

[0044] In practice, it has proven to be advantageous to achieve a largely fully automated application of the adhesive tape by means of the end effector according to the invention. This also relates in particular to the completion of the application process and / or the interruption of the application process by ending the supply of the adhesive tape and cutting the adhesive tape. In this respect, the inventors have recognized that it is advantageous to provide a braking device in the end effector in order to automatically slow down, preferably brake, the adhesive tape guided in the end effector or the adhesive tape applied by means of the end effector, so that after preventing additional conveying of the adhesive tape, a further displacement of the end effector leads to tearing of the adhesive tape. In order to make this possible, the adhesive layer of the adhesive tape used should have a sufficiently low elongation at break, wherein corresponding adhesive tapes are commercially available, for example under the name tesa 50400. In this embodiment, the braking unit accordingly enables tearing of the adhesive tape, so that after a predetermined amount of adhesive tape has been output, it is advantageously not necessary to provide a separate separation device for cutting the adhesive tape at the end effector and to cut the applied adhesive tape manually. Advantageously, the release layer, which generally has a significantly higher tensile strength, is not cut off, so that in the end effector according to the invention a re-penetration of the release layer into the discharge device can be avoided. In addition, in this embodiment, advantageously no separate pre-winding unit is required for pre-winding the adhesive tape for a subsequent application cycle, in particular if the end effector is designed such that the adhesive tape is torn off directly in the application device or in the application area, preferably at the application element. Therefore, preference is given to an end effector according to the invention, wherein the end effector comprises a braking unit, preferably a pneumatic brake, wherein the braking unit is configured to make the feeding of the adhesive tape into the application device and / or the guiding of the adhesive tape in the application device more difficult or to prevent it, preferably to prevent it.

[0045] In this regard, the inventors have successfully identified an embodiment of a braking unit that in practice particularly reliably makes the guiding of the adhesive tape more difficult or prevents it and, after engaging with the adhesive tape, also advantageously promotes the reliable tearing of the easily tearable adhesive tape when the end effector is displaced. That is, an end effector according to the invention is preferred, wherein the braking unit is configured to make the feeding of the adhesive tape into the application device and / or the guiding of the adhesive tape in the application device more difficult or prevent it by applying a contact pressure to the adhesive tape in the guide device and / or the application device, preferably the adhesive tape guided in the guide device. As known to the person skilled in the art, in this context, the term contact pressure refers to the pressure applied by the braking unit on the adhesive tape, which pressure is applied by the braking unit, for example, by pressing the adhesive tape against a component of the application device or the guide device. Alternatively, an end effector according to the invention is preferred, wherein the braking unit is configured to make the feeding of the adhesive tape into the application device and / or the guiding of the adhesive tape in the application device more difficult or prevent it by locking the guide element of the guide device and / or by locking the rotation of the adhesive tape roll arranged in the roll holder, preferably by locking the guide element of the guide device.

[0046] As described above, when a braking unit is used, the end effector according to the invention can advantageously achieve the severing of the adhesive tape guided in the end effector without any separating device, so that in addition to reducing the complexity of the device, the working safety of the end effector according to the invention is also improved, especially compared to known end effectors. However, in certain cases, it may be advantageous to provide a separating device, for example because the adhesive tape to be applied does not have the necessary tensile strength, wherein in this case, the end effector may generally include at least one pre-winding device for repositioning the adhesive tape in the guiding device and / or the application device after the adhesive tape has been cut. It is therefore theoretically conceivable that an end effector according to the invention is provided, wherein the end effector includes one or more separating devices, preferably cutting blades, which are configured to sever the adhesive layer and / or the adhesive tape, preferably the adhesive layer, wherein the separating device is preferably arranged in the region of the application device, particularly preferably immediately upstream of the application region relative to the guided adhesive tape section.

[0047] In the opinion of the inventors, an end effector according to the invention which is optimized by means of a braking unit for applying easily tearable adhesive tapes, ie adhesive tapes having an adhesive layer with a tensile strength of 10 N / cm 2 or less tensile strength and / or 50% or less elongation at break. Therefore, for all embodiments, the end effector for applying easily tearable double-sided adhesive tape by an automated mobile unit according to the present invention is preferably a device having an adhesive layer with an adhesive strength of 10 N / cm 2or less tensile strength and / or 50% or less elongation at break, the end effector comprising:

[0048] a) Roll support,

[0049] b) guidance devices,

[0050] c) application means, and

[0051] d) discharge device,

[0052] wherein the roll holder is configured to hold the tape roll,

[0053] wherein the guide device is configured to guide the adhesive tape supplied from the adhesive tape roll arranged in the roll support from the roll support to the application device,

[0054] wherein the application device is configured to guide the adhesive tape supplied to the application device so that the adhesive layer of the adhesive tape is located in the application area outside the end effector so that the end effector can bring the substrate to be bonded into contact with the adhesive layer of the adhesive tape, and

[0055] The discharge device is configured to discharge the release layer of the tape from the end effector, and the release layer is separated from the adhesive layer in the application device.

[0056] Therein, the end effector comprises a braking unit, wherein the braking unit is configured to make feeding and / or guiding the adhesive tape into the application device more difficult or to prevent it, wherein the end effector preferably does not comprise a separate separating device for cutting the adhesive tape.

[0057] In this context, an end effector system is also disclosed, which comprises an end effector according to the invention with a brake unit, wherein a tape roll with a tape having an adhesive layer with a braking force of 10 N / cm is arranged in a roll holder of the end effector according to the invention. 2 or less, preferably 9 N / cm 2 or less, particularly preferably 8.5 N / cm 2 or less, and / or a tensile strength of 50% or less, preferably 40% or less, particularly preferably 35% or less.

[0058] With regard to the most error-free application of the adhesive tape, the end effector according to the invention can advantageously comprise a first electronic detection unit which detects, for example, the condition of the adhesive layer of the adhesive tape in order to register and prevent, for example, the application of an erroneous adhesive tape. The condition of the adhesive layer here refers to, for example, the visual appearance of the adhesive layer, in particular the detection of dirt and / or damage on the adhesive layer. Here, the first electronic detection unit can alternatively or additionally be configured to detect the complete absence of the adhesive layer. In most cases, optical methods are used for the detection. Preference is given here to an end effector according to the invention in which the first electronic detection unit comprises an optical sensor, preferably a camera or a color sensor, particularly preferably a color sensor.

[0059] For this purpose, the adhesive tape and / or the release liner are designed to be colored, for example. For example, the adhesive layer and the release layer may have different colors, so that if the release layer is exposed, it can be noticed. Alternatively, the adhesive layer may, for example, be designed to be colored, but the release layer is designed to be essentially transparent, so that in case the release layer is exposed, only the corresponding detection background of the first electronic detection unit is detected. Therefore, an end effector according to the present invention is preferred, wherein the end effector comprises a first electronic detection unit, wherein the first electronic detection unit is configured to detect the presence of the adhesive layer in the adhesive tape and / or the condition of the adhesive layer in the adhesive tape before the adhesive tape has passed the application area of ​​the application device.

[0060] The inventors have identified embodiments for the first electronic detection unit which are particularly preferred with regard to the arrangement in the end effector and by means of which in practice a particularly reliable quality check can be carried out and thus a particularly reliable and error-free application can be ensured. That is, preference is given to an end effector according to the invention in which the first electronic detection unit is arranged in the region of the application device, preferably immediately upstream with respect to the application region of the guided adhesive tape section.

[0061] The quality check upstream of the application of the adhesive tape by the first electronic detection unit can be used to control the end effector in addition, so that interruptions due to erroneous adhesive layers can be avoided, for example by ending the application and / or interrupting the application after a corresponding output signal of the first electronic detection unit. With regard to avoiding erroneous adhesive tape application procedures, avoiding excessive scrap and achieving a high degree of automation, the inventors accordingly propose that the information detected by the first electronic detection unit should be advantageously used to control other components of the end effector. Therefore, an end effector according to the present invention is preferred, wherein the end effector comprises an electronic control unit, which is configured to control the end effector, preferably a brake unit and / or a drive unit, according to the information detected by the first electronic detection unit. An end effector according to the present invention is also preferred, wherein the electronic control unit is configured to prevent the supply of adhesive tape to the application device and / or the guidance of adhesive tape in the application device and / or the application of adhesive tape when the first electronic detection unit detects the absence of an adhesive layer in the adhesive tape and / or an inappropriate condition of an adhesive layer in the adhesive tape, preferably a condition in which the adhesive layer is outside the tolerance range.

[0062] In the end effector according to the invention, the check whether the adhesive tape has been successfully applied can advantageously be performed by a second electronic detection unit which detects the absence of the adhesive layer after the application has taken place. In this case, the detection here also takes place optically in most cases. Here too, preference is given to an end effector according to the invention in which the second electronic detection unit comprises an optical sensor, preferably a camera or a color sensor, particularly preferably a color sensor.

[0063] Thus, after the adhesive tape has been applied, a quality check by the second electronic detection unit can prevent interruptions due to incorrect application in a similar manner to the first electronic detection unit, for example by ending the application or outputting a warning signal when an improper application is detected on the adhesive layer in the remaining part of the adhesive tape. Therefore, an end effector according to the invention is preferred, wherein the end effector comprises a second electronic detection unit, wherein the second electronic detection unit is configured to detect the absence of an adhesive layer after the adhesive tape has passed the application area of ​​the application device.

[0064] The inventors have also identified a particularly suitable positioning for the second electronic detection unit, by means of which a particularly reliable final check can be carried out in practice by means of the immediacy of the evaluation and thus ensures a particularly safe application. That is, preference is given to an end effector according to the invention in which the second electronic detection unit is arranged in the region of the application device, preferably immediately downstream relative to the application region of the guided adhesive tape section.

[0065] It is also preferred for the second detection unit that the output is used to control the end effector or a part thereof. Therefore, an end effector according to the invention is preferred, wherein the end effector comprises an electronic control unit configured to control the end effector, preferably a brake unit and / or a drive unit, depending on the information detected by the second electronic detection unit. It is also preferred for an end effector according to the invention, wherein the electronic control unit is configured to prevent the supply of tape to the application device and / or guide the tape in the application device and / or apply the tape if the second electronic detection unit detects the presence of an adhesive layer in the tape.

[0066] The inventors have found that, with regard to the high quality requirements of modern automated manufacturing processes, it is particularly advantageous to perform an optical inspection both upstream and downstream of the application area. Therefore, an end effector according to the invention is very particularly preferred, wherein the end effector comprises a first electronic detection unit and a second electronic detection unit, wherein the first electronic detection unit and the second electronic detection unit preferably comprise the same sensor, particularly preferably the same optical sensor.

[0067] The inventors have finally also succeeded in identifying basic embodiments of the end effector, with the aid of which a particularly reliable application of the adhesive tape can be achieved in practice, in particular even under challenging manufacturing conditions, and which, in the inventor's opinion, are advantageously suitable for integration into existing production lines. That is, preference is given to end effectors according to the invention, wherein the end effector has a mass in the range of 10 to 50 kg, preferably in the range of 12 to 40 kg, particularly preferably in the range of 14 to 30 kg. The end effector according to the invention is particularly well suited for large-scale automation. The person skilled in the art sometimes also speaks of the end effector according to the invention being very well integrated into Industry 4.0 projects. In most cases, a replaceable end effector according to the invention is associated with this, wherein the end effector comprises a connecting element for connecting the end effector to an automated mobile unit, wherein the connecting element is preferably arranged on a supporting structure of the end effector. An example here is an end effector according to the invention, wherein the connecting element is arranged on a side of the end effector facing away from the application area.

[0068] The invention also relates to an application system for applying a double-sided adhesive tape, comprising:

[0069] x) automated mobile units, and

[0070] y) An end effector according to the invention, which end effector is connected to an automated mobile unit.

[0071] The application system according to the present invention comprises an automated mobile unit and an end effector according to the present invention, which is connected to the automated mobile unit. A person skilled in the art knows that the preferred application system according to the present invention also has the advantages of the preferred end effector accordingly. In practice, the end effector according to the present invention is usually connected to the automated mobile unit as a terminal element, so that the end effector according to the present invention can apply the double-sided tape as an actuator.

[0072] With regard to precise controllability and a high degree of automation, preference is given to application systems according to the invention in which the automated moving unit is a linear axis system or a robot arm, preferably a robot arm.

[0073] The application system according to the invention is advantageously suitable for large-scale automation of the application method, for which purpose it expediently comprises an electronic data processing device for control purposes. Therefore, the application system according to the invention is relevant in most cases, wherein the application system comprises an electronic data processing device for controlling the end effector and the automated mobile unit, preferably according to bonding instructions stored in a memory of the electronic data processing device. Bonding instructions are control commands and instructions that can be read, for example, by control software. These control commands can include, for example, the specifications of the tape section to be applied and / or movement rules for the automated mobile unit.

[0074] The invention further relates to a method for applying a double-sided adhesive tape by means of an end effector according to the invention or an application system according to the invention, comprising the following method steps:

[0075] i) producing or supplying an adhesive tape roll with an adhesive tape in a roll holder, wherein the adhesive tape comprises at least one adhesive layer arranged on a release layer,

[0076] ii) feeding the adhesive tape from an adhesive tape roll arranged in a roll holder to the application device via a guiding device,

[0077] iii) guiding the adhesive tape in an application device, wherein the adhesive layer of the adhesive tape is located in an application region outside the end effector,

[0078] iv) contacting the substrate to be bonded with the adhesive layer of the tape in the application area by means of an end effector, and separating the adhesive layer of the tape from the release layer to apply the adhesive layer to the substrate,

[0079] v) The release layer separated from the adhesive layer of the tape is discharged by a discharge device.

[0080] The method according to the invention is used for applying a double-sided adhesive tape by means of an end effector according to the invention or an application system according to the invention. For this purpose, the method according to the invention comprises a tape roll with adhesive tape produced or supplied in a roll holder of the end effector. With regard to the tape roll, the inventors have identified particularly suitable embodiments with the aid of which a particularly efficient procedure can be implemented in practice. That is, the method according to the invention is preferred, wherein the tape roll has a mass in the range of 5 kg to 15 kg, preferably in the range of 5 kg to 8 kg.

[0081] The method according to the invention is advantageous for essentially all embodiments in which the adhesive tape roll is supplied from a storage system and inserted into the roll holder in method step i). An example is the method according to the invention in which the adhesive tape roll is supplied in method step i) by replacing an empty adhesive tape roll.

[0082] The term adhesive tape is clear to the person skilled in the art in the field of adhesive bonding technology. Within the scope of the present invention, the term tape refers to all thin, flat objects, i.e. objects extending primarily in two dimensions, in particular films, parts of films, and labels, preferably tapes with an extended length and a limited width and corresponding parts of tapes. The adhesive tape arranged on the tape roll is here a double-sided tape, so that it comprises, for example, two adhesive layers arranged on different sides of a backing, wherein backing-free tapes are also conceivable.

[0083] According to the invention, the adhesive tape comprises at least one adhesive layer arranged on a release layer, wherein, according to the above explanations, further plies may be provided between the release layer and the top adhesive ply, in particular possible backings in addition to the second backing of a backing-based double-sided adhesive tape. In other words, the method according to the invention is also relevant in most cases, wherein the adhesive layer consists of an adhesive ply made from an adhesive substance, or wherein the adhesive layer consists of an adhesive ply made from a first adhesive substance and a backing ply, and optionally of further adhesive plies made from further adhesive substances.

[0084] Conventional materials can be used as release layers, which are often referred to as liners. An example is the method according to the invention, wherein the release layer comprises one or more materials selected from the group consisting of polyethylene, polypropylene, polyethylene terephthalate, paper, and combinations of these materials, wherein the release material is preferably coated on one or both sides, particularly preferably on both sides, with a release layer, preferably a silicone release layer, wherein the silicone release layer can very particularly preferably be prepared by crosslinking a crosslinkable silicone system comprising one or more polysiloxanes. The corresponding release layer thus allows in particular the adhesive tape to be unwound from the tape roll without problems and protects the rear part of the tape layer from dirt. When a release layer coated with a release on both sides is used in conjunction with a brake unit in the end effector according to the invention, it is preferred in this regard for a good braking effect to design the brake unit in a contact area with a rubber coating and / or with a macroscopic surface structure, for example in the form of a needle tip, in order to reduce the risk of undesired slippage of the tape after engaging the brake unit.

[0085] With regard to the handling properties of the adhesive tape, the method according to the invention is particularly preferred in which the adhesive layer is a pressure-sensitive adhesive layer. According to the understanding of the person skilled in the art, a pressure-sensitive adhesive layer is an adhesive layer having pressure-sensitive adhesive properties, i.e., the property of assuming a permanent connection with the primer under relatively weak contact pressure. The corresponding pressure-sensitive adhesive tapes can usually be separated from the primer again after use, leaving essentially no residue, and are usually permanently adhesive at room temperature, which means that they have a certain viscosity and tack such that they wet the surface of the substrate with only a small amount of contact pressure.

[0086] With regard to process stability and an efficient procedure for the method according to the invention, the inventors have identified particularly suitable parameters for adhesive tapes. As already explained above with reference to the end effector according to the invention, it is clearly preferred to use adhesive tapes with a low elongation at break, since when a braking unit is used, the severing of such adhesive tapes can generally be achieved without any mechanical separation device. Since such adhesive tapes tear easily, they can be safely severed substantially by sudden braking even without manual or automatic separation devices. In this respect, a method according to the invention is particularly preferred in which the adhesive layer has a strength of 10 N / cm 2 or less, preferably 9 N / cm 2 or less, particularly preferably 8.5 N / cm 2 or less. Alternatively or additionally, the method according to the invention is preferred, wherein the adhesive layer has an elongation at break of 50% or less, preferably 40% or less, particularly preferably 35% or less. Tensile strength refers to the maximum mechanical tensile stress that can be applied to the body without tearing the latter. In contrast, elongation at break refers to the percentage change in the length of the body after tearing relative to its initial length.

[0087] According to the invention, the method according to the invention also comprises guiding the adhesive tape from the adhesive tape roll to the application device via a guiding device. According to the invention, the adhesive layer of the adhesive tape is therefore located in the application area outside the end effector so that the substrate to be bonded can come into contact with the adhesive layer of the adhesive tape. In most cases, the method according to the invention is suitable here, wherein the contact of the substrate to be bonded with the adhesive layer of the adhesive tape is carried out by means of a movement of the end effector, wherein the movement of the end effector is preferably realized by an automated movement unit.

[0088] According to the invention, the method according to the invention further comprises separating the adhesive layer of the adhesive tape from the release layer, which is achieved essentially by a stronger adhesion of the adhesive layer to the substrate and can be facilitated by the shape of the application element, and then discharging the release layer by means of a discharge device. Here, it can be considered an advantage of the method according to the invention that there are no restrictions with regard to possible further method steps.

[0089] In practice, in this respect, the method according to the invention may be relevant to substantially all embodiments and additionally comprises the following method steps:

[0090] vi) moving an end effector in contact with the substrate over the surface of the substrate.

[0091] Moving the end effector preferably enables application of a predetermined amount of tape along a predetermined stretch of the substrate surface.

[0092] The method according to the invention is suitable for bonding a wide variety of substrates and is therefore essentially not restricted in this respect. However, in most cases, the method according to the invention is in principle relevant where the substrate is a component to which other components are to be fastened by means of an adhesive layer. An example is the method according to the invention where the substrate comprises a vehicle component, where the substrate preferably comprises a roof lining. In the case of a vehicle, the roof lining refers to the inner covering of the roof.

[0093] It is also preferred that the method according to the invention, in particular when a braking unit is provided in the end effector, additionally comprises the following method steps:

[0094] vii) After a predetermined amount of adhesive layer has been applied and the adhesive layer has been severed between the end effector and the substrate, the end effector is lifted from the substrate.

[0095] As described above, the severance is preferably achieved in method step vii) by a braking unit of the end effector, wherein the braking unit is activated to prevent the guidance of the adhesive tape in the application device, so that the adhesive tape with the adhesive layer with a low elongation at break is torn in the application device, particularly preferably directly at the application element. The release layer usually remains uncut here. In a corresponding preferred embodiment, a particularly high degree of work safety can be achieved in the method according to the invention, in particular by omitting a separate separation device for the adhesive tape. Therefore, a method according to the invention is clearly preferred, in which the severance of the adhesive layer is achieved or promoted by a braking unit of the end effector, which makes the feeding of the adhesive tape into the application device and / or the guidance of the adhesive tape in the application device more difficult or prevents it. In this regard, a method according to the invention is preferred, in which the severance of the adhesive layer is achieved or promoted by lifting the end effector from the substrate at an angle in the range of 15 to 50°, preferably in the range of 20 to 40°, particularly preferably in the range of 25 to 35°.

[0096] However, the method according to the invention is advantageously not restricted in terms of severing. Thus, it is also conceivable, at least in theory, to provide a method according to the invention in which severing of the adhesive layer is achieved or facilitated by a separating device of the end effector.

[0097] Preference is now also given to a method according to the invention which additionally comprises the following method steps:

[0098] viii) pressing one or more components onto the adhesive layer applied to the substrate to obtain an adhesive bond, wherein the pressing is preferably carried out in an automated process by automated means.

[0099] Here, for example, a method according to the invention is conceivable in which the substrate is a roof lining and in which at least one molded vehicle part and at least one cable harness can be pressed as an assembly onto an adhesive layer applied to the substrate.

[0100] With regard to a time- and cost-effective procedure, preference is given, in particular in the automotive industry, to a method according to the invention in which, in the method, one or more molded parts are adhesively bonded to a roof lining by means of an applied adhesive tape and / or in which, in the method, one or more cable harnesses are adhesively bonded to a roof lining by means of an applied adhesive tape.

[0101] For the purpose of increasing efficiency, it is also possible here in particular to process a plurality of originally separate work steps simultaneously in a single work step by means of the method according to the invention. Thus, also preferred is a method according to the invention in which one or more molded parts and one or more cable harnesses are glued together in the method, wherein the gluing takes place at the same workstation of the production line and / or by means of the same end effector.

[0102] Furthermore, the use of the end effector according to the invention is disclosed for applying double-sided adhesive tapes by automated mobile units in automobile manufacturing for fastening cable harnesses and molded parts, preferably to a roof lining, in order to increase manufacturing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0103] Preferred embodiments of the present invention are explained and described in detail below with reference to the accompanying drawings, in which:

[0104] Figure 1 A schematic illustration of an end effector according to the invention is shown in a preferred embodiment. DETAILED DESCRIPTION

[0105] Figure 1 A schematic diagram is shown of an end effector 10 for applying a double-sided tape 12 in a preferred embodiment according to the present invention.

[0106] The end effector 10 comprises a roll support 14 which can be driven via a drive unit 30 and on which, in the example shown, a tape roll 22 having a typical double-sided tape 12 is arranged, wherein the double-sided tape 12 comprises a backing layer and two cohesive adhesive layers. The adhesive layer is arranged on a release layer 24 which is coated with a peeling layer on both sides. The adhesive layer of the illustrated tape 12 has an adhesive strength of not more than 10 N / cm 2 or a tensile strength of not more than 50% elongation at break, wherein the double-sided adhesive tape 12 may be, for example, the product tesa 50400.

[0107] In the end effector 10 shown, the double-sided adhesive tape 12 is guided from the roll holder 14 or the tape roll 22 arranged therein via a guide device 16 to an application device 18 of the end effector 10, which is indicated by a dashed box. For this purpose, in the example shown, the guide device 16 comprises six guide rollers, some of which can be electrically driven. One of these guide rollers is designed as a repositionable web stretching element 26, wherein the reversible and non-destructive position change of the web stretching element 26 relative to the other guide rollers is performed in Figure 1 Indicated by directional arrows.

[0108] In use, in the method according to the invention, by moving the web stretching element 26 in the direction of the directional arrow, a tensile stress of the adhesive tape 12 in the guide device 16 is set via the web stretching element 26, so that a predetermined tensile stress on the web stretching element 26 caused by the stretching of the adhesive tape 12 is not exceeded. The control of the web stretching element 26 is performed here by means of an electronic control unit 28, which also controls a drive unit 30 depending on the position of the web stretching element 26.

[0109] In the end effector 10 shown, the adhesive tape 12 introduced into the application device 18 is guided via auxiliary guide rollers onto the surface of the application element of the application device 18 and around the application element, so that the adhesive layer in the application area at the lower end of the end effector 10 shown faces away from the application element, so that the end effector 10 can bring the substrate to be bonded into contact with the adhesive layer. The application device 18 is here connected to the end effector 10 or its support plate via a spring mount, so that when the adhesive tape 12 is pressed downwards, it can be Figure 1 Make compensating movements in the direction of the directional arrow shown in .

[0110] At the application element or in the application area of ​​the application device 18, the release layer 24 of the adhesive tape 12 is guided via a second auxiliary guide roller to the discharge device 20 of the end effector 10. In the discharge device 20, the release layer 24 is discharged between two rollers rotating in opposite directions to an outlet opening 38, which is connected to a suction unit (not shown) so that the release layer 24 can be sucked out of the end effector 10.

[0111] The end effector 10 shown also includes a pneumatic brake unit 32, which can prevent the guidance of the adhesive tape 12 in the application device 18 by exerting downward pressure on the adhesive tape 12 guided in the guide device 16. In the end effector 10 shown, the activation of the brake unit 32 when the end effector 10 is displaced or lifted further causes the adhesive layer of the adhesive tape 12 to tear in the application area or at the application element. The release layer 24 remains intact in the provided guidance, so that it is not necessary to re-thread the adhesive tape 12 in the next application cycle, or so that it is not necessary to provide an additional pre-winding device at the end effector 10.

[0112] The end effector 10 shown also includes a first electronic detection unit 34, which is arranged immediately upstream of the application area and has a color sensor, and a second electronic detection unit 36, which is arranged immediately downstream of the application area and has a color sensor. In order to evaluate the success of the application process, the first electronic detection unit 34 can detect the presence and state of the adhesive layer in the tape 12, and the second electronic detection unit 36 ​​can detect the expected absence of the adhesive layer, which indicates that the adhesive layer has been successfully transferred to the substrate.

[0113] In use, in the method according to the invention, the other electronic control unit, which is also part of the robot control system, controls the brake unit 32 (electrically to pneumatically) by means of a separate valve drive. Here, the other electronic control unit is also configured to control the brake unit 32 in an emergency according to the information detected by the first electronic detection unit 34 and the second electronic detection unit 36, so that if the first electronic detection unit 34 detects that there is no adhesive layer in the tape 12 or the condition of the adhesive layer in the tape 12 is not appropriate, or if the second electronic detection unit 36 ​​detects that there is a tape layer, that is, the application of the tape 12 is unsuccessful, the application of the tape is prevented.

[0114] Reference numerals list

[0115] 10 End effector

[0116] 12. Tape

[0117] 14 roll stand

[0118] 16 Guidance Device

[0119] 18 Application device

[0120] 20 Discharge device

[0121] 22 tape rolls

[0122] 24 Release layer

[0123] 26 Web stretching element

[0124] 28 Electronic Control Unit

[0125] 30 Drivers

[0126] 32 Braking unit

[0127] 34. First electronic detection unit

[0128] 36 Second electronic detection unit

[0129] 38 Exit hole

Claims

1. An end effector (10) for applying a double-sided adhesive tape (12) by means of an automated mobile unit, comprising: a) roll support (14), b) a guiding device (16), c) application means (18), and d) a discharge device (20), The roll holder (14) is configured to hold the tape roll (22). wherein the guide device (16) is configured to guide the adhesive tape (12) supplied from the adhesive tape roll (22) arranged in the roll support (14) from the roll support (14) to the application device (18), wherein the application device (18) is configured to guide the adhesive tape (12) supplied to the application device (18) so that the adhesive layer of the adhesive tape (12) is located in the application area outside the end effector (10), so that the end effector (10) can bring the substrate to be bonded into contact with the adhesive layer of the adhesive tape (12), and The discharging device (20) is configured to discharge a release layer (24) of the tape (12) from the end effector (10), and the release layer (24) is separated from the adhesive layer in the applying device (18).

2. The end effector (10) according to claim 1, wherein: The end effector (10) includes a repositionable web stretching element (26) in the guide device (16), wherein the web stretching element (26) is configured to reversibly and non-destructively change its position relative to other components of the guide device (16) when the tape (12) is stretched in the guide device (16) to at least partially equalize stretching stresses.

3. The end effector (10) according to claim 2, wherein: The end effector (10) comprises an electronic control unit (28) configured to control a drive unit (30) arranged in the roll support (14) for driving the position of the tape roll (22) and / or the web stretching element (26), wherein the electronic control unit (28) is preferably configured to control the drive unit (30) according to the position of the web stretching element (26).

4. The end effector (10) according to any one of claims 1 to 3, wherein: The end effector (10) comprises a braking unit (32), wherein the braking unit (32) is configured to make feeding the adhesive tape (12) into the application device (18) and / or guiding the adhesive tape (12) in the application device (18) more difficult or to prevent it.

5. The end effector (10) according to any one of claims 1 to 4, wherein: The end effector (10) comprises a first electronic detection unit (34), wherein the first electronic detection unit (34) is configured to detect the presence of an adhesive layer in the tape (12) and / or the condition of the adhesive layer in the tape (12) before the tape (12) has passed through an application area of ​​an application device (18).

6. The end effector (10) according to any one of claims 1 to 5, wherein: The end effector (10) comprises a second electronic detection unit (36), wherein the second electronic detection unit (36) is configured to detect the absence of the adhesive layer after the adhesive tape (12) has passed through an application area of ​​the application device (18).

7. The end effector (10) according to any one of claims 1 to 6, wherein: The application device (18) is connected to the other components of the end effector (10) via a spring device.

8. The end effector (10) according to any one of claims 1 to 7, wherein the discharge device (20) comprises an outlet hole (38) for discharging the release layer (24), wherein the outlet hole (38) is connected to a fluid pipeline system, and / or wherein the discharge of the release layer (24) is facilitated or achieved through the outlet hole (38) or by a suction unit.

9. An application system for applying a double-sided adhesive tape (12), comprising: x) automated mobile units, and y) The end effector (10) according to any one of claims 1 to 8, connected to an automated mobile unit.

10. A method for applying a double-sided adhesive tape (12) by means of an end effector (10) according to any one of claims 1 to 8 or an application system according to claim 9, comprising the following method steps: i) producing or supplying an adhesive tape roll (22) with an adhesive tape (12) in a roll holder (14), wherein: The adhesive tape (12) comprises at least one adhesive layer arranged on a release layer (24), ii) feeding the adhesive tape (12) from an adhesive tape roll (22) arranged in a roll holder (14) to the application device (18) via a guide device (16), iii) guiding the adhesive tape (12) in an application device (18), wherein the adhesive layer of the adhesive tape (12) is located in an application region outside the end effector (10), iv) contacting the substrate to be bonded with the adhesive layer of the adhesive tape (12) in the application area by means of the end effector (10), and separating the adhesive layer of the adhesive tape (12) from the release layer (24) to apply the adhesive layer to the substrate, v) The release layer (24) separated from the adhesive layer of the adhesive tape (12) is discharged through the discharge device (20).

11. The method according to claim 10, wherein the adhesive layer has a strength of 10 N / cm 2 or less and / or the adhesive layer has a tensile strength of 50% or less and / or the adhesive layer has an elongation at break of 50% or less.

12. The method according to one of claims 10 or 11, further comprising the following method steps: vii) After a predetermined amount of adhesive layer has been applied and the adhesive layer has been severed between the end effector (10) and the substrate, the end effector (10) is lifted from the substrate.

13. The method according to claim 12, wherein: The severing of the adhesive layer is achieved or facilitated by a braking unit (32) of the end effector (10), which makes feeding the adhesive tape (12) into the application device (18) and / or guiding the adhesive tape (12) in the application device (18) more difficult or prevents it.

14. The method according to any one of claims 10 to 13, further comprising the following method steps: viii) pressing one or more components onto the adhesive layer applied to the substrate to obtain an adhesive bond.

15. The method according to any one of claims 10 to 14, wherein: In the method, one or more molded parts are adhesively bonded to the roof lining by means of an applied adhesive tape (12), and / or in the method, one or more cable harnesses are adhesively bonded to the roof lining by means of an applied adhesive tape (12).

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