APPLICATION DEVICE WITH A HELIX FEED, ROBOT DEVICE AND MANUFACTURING SYSTEM

Description

[0001] The present invention relates to an application device, a robot device and a manufacturing system.

[0002] Application devices are known from the prior art. The application devices comprise an application unit designed to apply a tape to a workpiece. The application unit often has an input guide element through which the tape can be fed to the application unit.

[0003] In general, it is desirable to provide as much tape material as possible with these application devices, which can be used in one piece and without manual intervention during application of the tape. In principle, it is possible to provide the entire tape material directly on the application device. However, in the event that the application device is moved using a robot arm of a robotic device, the amount of tape material provided directly on the application device is limited by its weight. As the weight that has to be transported by the robot arm increases, the precision when applying the tape to the workpiece decreases and the space required for a robot device with a robot arm that has to transport a high weight increases.Furthermore, it is generally possible to supply the tape material using a tape dispenser located on the floor of a production hall and not moved over the workpiece together with the application device. In this case, the geometry of the paths along which the tape can be applied to the workpiece is severely limited, especially if the entire tape material is to be applied to the workpiece in one piece and without manual intervention.

[0004] EP 2 928 802 A1 discloses a system for feeding material to a lay-up machine, which can be loaded onto multiple material drives, each with a material reel. From these drives, material can then be transported from the respective material reel via a respective belt path to a feeder of the lay-up machine. A disadvantage of this type of feed, in addition to the complexity and size of the feed system, is the division into an active zone and a maintenance zone into which the multiple material drives can be moved to allow access for employees for reloading work.

[0005] DE102018200439A1 discloses an applicator for stamped parts with a stamped part conveyor in which stamped parts are arranged along a retaining belt. The stamped part conveyor is guided over a stamping head, and the stamped parts are pressed onto a surface by the stamping head. A disadvantage of this is that the stamped part roll and one or more take-up rolls are attached to the stamping head and are moved along with the stamping head's movement. This increases the weight that must be moved by the robot arm and thus also the moments of inertia, and also necessitates changing the stamped part roll and the take-up roll.

[0006] From WO 2021 / 087622 A1, a system is known which comprises a roll of an adhesive tape provided with a liner, an application head, a cutting mechanism and at least one drive feed mechanism configured to switch the adhesive tape from the roll to the application head at a controlled speed, wherein the application head can be controlled to apply the adhesive tape to a surface or substrate, and wherein the application head comprises a cutting mechanism configured to sever the material while leaving the liner intact.

[0007] The object of the present invention is to apply the entire strip material of a strip in one piece and without manual intervention to a workpiece precisely and in a space-saving manner along paths with free geometry.

[0008] According to a first aspect of the invention, the stated object is achieved by an application device having the features of patent claim 1. The application device has a base unit. The base unit has a connection device for a manufacturing system at a first end. The base unit extends along an axis from the first end to a second end remote from the connection device. The application device has an application unit. The application unit is designed to apply a tape, preferably adhesive tape, to a workpiece. The application unit is fixedly coupled to the base unit at the second end of the base unit. The application device has a deflection unit. The deflection unit is coupled to the base unit so as to be pivotable about the axis. The application unit has a first input guide element.The tape can be fed via the first input guide element of the application unit. The deflection unit is designed such that the tape can wrap around the deflection unit in such a way that when it is guided from an axial receiving position, where it rests against the deflection unit, to an axial release position, where it is released from the deflection unit, the axial receiving position is spaced apart from the axial release position in the axial direction of the axis. The first input guide element of the application unit is spaced apart from the axial receiving position in the axial direction of the axis.

[0009] The application device comprises the base unit. The base unit forms a portion of the application device. The base unit has the connection device for the manufacturing system at its first end. The connection device can be configured to be connected to a robot arm of a robot device. The application device can be moved over the workpiece using the robot arm. The base unit extends along the axis from the first end to the second end remote from the connection device.

[0010] The application device has an application unit. The application unit forms a section of the application device. The application unit is designed to apply a tape, preferably an adhesive tape, to a workpiece. The tape can be an adhesive tape. Preferably, the tape is a double-sided adhesive tape, wherein the tape has a pressure-sensitive adhesive surface on each of two opposite sides. More preferably, the tape is a single-sided adhesive tape, wherein the tape has a pressure-sensitive adhesive surface on one side and a non-pressure-sensitive adhesive surface on the side opposite this side. The tape can be a section of a tape assembly. The tape assembly can comprise the tape and a carrier that are connected to one another. In order to apply the tape to the workpiece, the tape can be detached from the carrier. The side of the tape that has a pressure-sensitive adhesive surface can be connected to the carrier.When the tape and carrier are separated from each other, the pressure-sensitive adhesive surface can be exposed, allowing the tape to be applied to the workpiece. In particular, the tape and carrier are connected to each other up to the section of the tape assembly at which the tape is detached from the carrier in order to apply the tape to the workpiece. The tape assembly can be guided through the application device in one direction, and viewed along this direction, from the point at which the tape is detached from the carrier, the carrier alone, without the tape, can be guided through the application device.

[0011] The application unit is firmly coupled to the base unit at the second end of the base unit. The firm coupling between the base unit and the application unit ensures that the application unit follows any movement of the base unit. In particular, when the base unit is moved using the robot arm of the robot device, the application unit follows this movement so that the tape can be applied to the workpiece along a path defined by the movement of the base unit. In particular, the firm coupling between the base unit and the application unit ensures that when the base unit is pivoted about the axis, the application unit is pivoted about the axis together with the base unit. The firm coupling of the base unit and the application unit is provided at the second end of the base unit.For the fixed coupling between the base unit and the application unit, a coupling element can be provided at the second end of the base unit, which extends away from the axis to a free end to which the application unit is attached. In particular, for the fixed coupling between the base unit and the application unit, two or more coupling elements can be provided at the second end of the base unit, each extending away from the axis to a free end to which the application unit is attached.

[0012] The application device has a deflection unit. The deflection unit forms a section of the application device. The deflection unit is pivotally coupled to the base unit about the axis. This pivotal coupling between the base unit and the deflection unit ensures that when the base unit and thus also the application unit are pivoted about the axis, the deflection unit is not pivoted about the axis relative to the area surrounding the application device, or at least can be pivoted about the axis independently of the pivoting movement of the base unit and the application unit.In particular, when the application device is moved using the robot arm of the robot device, the deflection unit follows this movement in the sense that the position of the deflection unit is changed together with the position of the base unit and the position of the application unit, but the orientation of the deflection unit can change independently of the orientation of the base unit and the orientation of the application unit. In particular, if the orientation of the base unit changes and the orientation of the application unit changes, the orientation of the deflection unit does not necessarily have to change. When the tape is applied to the workpiece, it may be necessary for the application unit to change its orientation, for example if the path along which the tape is applied to the workpiece forms a closed path, such as a rectangular path or a circular path.Because the deflection unit is pivotably coupled to the base unit about the axis, the deflection unit can keep its orientation constant or only change minimally during the movement of the application unit to form the closed web, particularly with respect to a tape dispenser placed on the floor of a production hall. Because the deflection unit can keep its orientation constant or only change minimally with respect to the tape dispenser, it is ensured that the tape can be guided in such a way that it can always be picked up by the deflection unit in the same section of the deflection unit throughout the entire movement of the application unit to form the closed web. In particular, the tape can be picked up in the same section of the deflection unit regardless of the position and orientation of the application unit. This applies to every conceivable shape of the path along which the tape is applied to the workpiece.The pivoting coupling between the base unit and the deflection unit ensures that the strip can be applied to the workpiece along paths with free geometry.

[0013] The application unit has a first input guide element. The tape can be fed via the first input guide element of the application unit. The first input guide element can have one or more first deflection rollers that are rotatably mounted about their axis of rotation. In particular, the first input guide element can have four first deflection rollers. The four first deflection rollers can be arranged such that a projection of the axes of rotation onto a plane perpendicular to the path of the tape forms a quadrilateral. Alternatively, the first input guide element can have three first deflection rollers. The three first deflection rollers can be arranged such that a projection of the axes of rotation onto a plane perpendicular to the path of the tape forms a triangle.Preferably, the belt is guided by the first deflection rollers in such a way that movement of the belt in any direction perpendicular to the belt's guide direction is limited by a first deflection roller. The first deflection rollers arranged in this way thus ensure safe and reliable guidance of the belt. The use of first deflection rollers is particularly advantageous because they allow the first deflection rollers to roll on the belt upon contact, thus minimizing friction losses due to friction between the belt and the application unit.

[0014] The deflection unit is designed such that the belt can wrap around the deflection unit such that when it is guided over it from the axial receiving position, at which it comes into contact with the deflection unit, to the axial release position, at which it is released from the deflection unit, the axial receiving position is spaced from the axial release position in the axial direction of the axis. The belt can therefore wrap around the deflection unit such that the belt comes into contact with the deflection unit at the axial receiving position. Preferably, the belt comes into contact with a third deflection roller of the deflection unit. The contact of the belt with the deflection unit defines the axial receiving position. Furthermore, the belt can wrap around the deflection unit such that the belt is released from the deflection unit at the axial release position. The point at which the belt is released from the deflection unit defines the axial release position.Preferably, the tape is released from a third deflection roller of the deflection unit. The tape is guided via the deflection unit from the axial receiving position to the axial dispensing position. Viewed in the guide direction in which the tape is guided around the deflection unit, sections of the tape first pass the axial receiving position and then the axial dispensing position. The axial receiving position is spaced apart from the axial dispensing position in the axial direction of the axis. The spacing of the axial receiving position from the axial dispensing position in the axial direction of the axis ensures that, during movement of the application unit, the section of the tape between the tape dispenser and the axial receiving position does not touch the section of the tape between the axial dispensing position and the application unit. Preferably, the tape can wrap partially or at least completely around the deflection unit once.The belt can wrap completely around the deflection unit when a straight line running parallel to the axis intersects the axial pick-up position and the axial release position, and in doing so only intersects the belt at the axial pick-up position and the axial release position. Likewise, the belt can wrap completely around the deflection unit twice when the straight line running parallel to the axis intersects the axial pick-up position and the axial release position, and in doing so intersects the belt at both the axial pick-up position and the axial release position, and additionally intersects the belt between the axial pick-up position and the axial release position. Similarly, the belt can wrap around the deflection unit three times, four times, five times, etc.

[0015] The first input guide element of the application unit is spaced apart from the axial receiving position in the axial direction of the axis. The spacing of the first input guide element from the axial receiving position in the axial direction of the axis ensures that when the application unit is pivoted relative to the deflection unit, the axial dispensing position can change in the axial direction, but the axial dispensing position maintains an axial spacing from the axial receiving position.

[0016] In summary, it can be said that the application device according to the invention makes it possible to provide as much tape material as possible, which can be used in one piece and without manual intervention when applying the tape. It is not necessary to provide the entire tape material directly on the application device, and the entire tape material does not have to be moved together with the application device using a robot arm of a robot device, so that high precision is ensured when applying the tape to the workpiece and the space requirement of the robot device with the robot arm can be kept to a minimum. Instead, it can be provided that the tape material is provided using a tape dispenser that is placed on the floor of a production hall.However, the geometry of the paths along which the strip can be applied to the workpiece is not limited, especially when the entire strip material is to be applied to the workpiece in one piece and without manual intervention. This allows the entire strip material of a strip to be applied to a workpiece in one piece and without manual intervention, precisely and space-savingly, along paths with free geometry.

[0017] In one embodiment, the deflection unit has a ring-shaped element and at least two deflection rollers, wherein each deflection roller of the at least two deflection rollers is rotatably mounted on the ring-shaped element and has a circumferential outer surface with which the deflection roller can roll on a section of the belt when guiding the belt. The ring-shaped element is ring-shaped and, due to its ring-like shape, can surround the base unit at least in sections. The ring-shaped element can also be referred to as the first ring-shaped element. The deflection unit can have a second ring-shaped element. The second ring-shaped element is ring-shaped and, due to its ring-like shape, can surround the base unit at least in sections. The deflection unit has the at least two deflection rollers. In particular, the deflection unit can have two, three, or four deflection rollers.Each deflection pulley of the deflection unit can also be referred to as a third deflection pulley. Each third deflection pulley can be rotatably mounted either on the first annular element or on both the first annular element and the second circular element. If the first annular element is provided, the first annular element, due to its annular shape, can ensure that the third deflection pulleys can be arranged around the base unit at equal distances from one another. If the second annular element is provided, the second annular element, due to its annular shape, can ensure that the third deflection pulleys can be arranged around the base unit at equal distances from one another.Particularly when both the first annular element and the second annular element are provided, the third deflection rollers can be connected at both their ends to the first annular element and to the second annular element, such that the third deflection rollers are fastened within the deflection unit in a particularly mechanically robust manner. Each third deflection roller has a circumferential outer surface with which the third deflection roller can roll on a section of the belt when guiding the belt. The use of third deflection rollers is particularly advantageous because this allows the third deflection rollers to roll on the belt when in contact with it, thus minimizing friction losses due to friction between the belt and the deflection unit.

[0018] In one embodiment, the rotational axis of each deflection roller runs diagonally to the axis. Running the rotational axes diagonally to the axis provides a particularly simple way for the belt to wrap around the deflection unit and avoid contact with itself even when the belt has completely wrapped around the deflection unit. Furthermore, running the rotational axes diagonally to the axis ensures that the belt does not slip off the deflection unit when it wraps around it.

[0019] In one embodiment, the rotational axis of each deflection pulley forms an angle of 1° to 20° with a straight line running parallel to the axis. It has proven advantageous, particularly in conjunction with four third deflection pulleys, that commercially available belts do not come into contact with themselves at an angle of 1° to 20° when these belts completely wrap around the deflection unit at least once.

[0020] In one embodiment, the position of the rotational axis of each deflection roller relative to the axis is adjustable. The adjustable rotational axes of the deflection rollers ensure that belts with different geometries can be used. In particular, depending on the width of a belt, the rotational axes of the deflection rollers can be adjusted so that the belt does not touch itself when the belt completely wraps around the deflection unit at least once.

[0021] In one embodiment, the deflection unit has a second input guide element and a pivot arm which extends from its first end to its second end away from the axis, wherein the second input guide element is attached to the second end, via which second input guide element the strip can be fed to the deflection unit. The second input guide element can have at least one fourth deflection roller. Preferably, each fourth deflection roller is rotatably mounted about its axis of rotation. In particular, it is provided that the second input guide element has four fourth deflection rollers. The four fourth deflection rollers can be arranged such that a projection of the axes of rotation onto a plane arranged perpendicular to the path of the strip forms a quadrilateral. Alternatively, the second input guide element can have three fourth deflection rollers.The three fourth deflection pulleys can be arranged such that a projection of the rotation axes onto a plane perpendicular to the belt path forms a triangle. The belt can be guided using the fourth deflection pulleys such that movement of the belt in any direction perpendicular to the belt guide direction is limited by a fourth deflection pulley. The fourth deflection pulleys arranged in this way ensure safe and reliable guidance of the belt. The use of fourth deflection pulleys is particularly advantageous because this allows the fourth deflection pulleys to roll on the belt when they come into contact with it, thus minimizing friction losses due to friction between the belt and the deflection unit.

[0022] In one embodiment, the base unit has a recess extending from the first end of the base unit along the axis to the second end of the base unit. The recess ensures that, for example, cables or hoses that can connect the second end of the robot arm to the application unit can be arranged within the base unit and are thus protected by the base unit from influences from the environment of the base unit, for example from influences from the deflection unit or the belt or other objects arranged in the production hall, such as the belt dispenser, a frame of the robot device, the workpiece or the workpiece storage area. The recess thus ensures in particular that the cables or hoses are mechanically protected by the base unit.

[0023] According to a second aspect of the invention, the object mentioned at the outset is achieved by a robot device having the features of the patent claim Error! Reference source could not be found. solved. The robot device has a frame and a robot arm. The robot arm is attached with its first end to the frame and with its second end to the connecting device at the first end of the base unit of the application device according to the first aspect of the invention. An actuator is provided at the second end of the robot arm, with which actuator the base unit can be pivoted about the axis relative to the second end of the robot arm. The features, technical effects and / or advantages described in connection with the application device according to the first aspect of the invention also apply at least analogously to the robot device according to the second aspect of the invention, so that a corresponding repetition is omitted here.

[0024] According to a third aspect of the invention, the object mentioned at the outset is achieved by a manufacturing system having the features of the patent claim Error! Reference source could not be found. solved. The manufacturing system comprises a robot device according to the second aspect of the invention. Furthermore, the manufacturing system comprises a tape dispenser with a pretensioning device. When the tape is fed to the application device, a section of the tape is pretensioned by the pretensioning device such that a pretensioning force acts along the tape that is greater than a predetermined pretensioning force threshold. The features, technical effects and / or advantages described in connection with the robot device according to the second aspect of the invention also apply at least analogously to the manufacturing system according to the third aspect of the invention, so that a corresponding repetition is omitted here.

[0025] Further features, advantages, and possible applications of the present invention will become apparent from the following description of the exemplary embodiments and the figures. All described and / or illustrated features, individually and in any combination, constitute the subject matter of the invention, regardless of their composition in the individual claims or their references. In the figures, the same reference numerals continue to represent the same or similar objects. Figure 1 shows a schematic view of an embodiment of a manufacturing system according to the invention, Figures 2 to 8 show schematic views of a first embodiment of an application device according to the invention of the manufacturing system in Figure 1 , and Figure 9 shows a schematic view of a guide of a belt around a deflection unit of a second embodiment of the application device according to the invention of the production system in Figure 1 .

[0026] Figure 1 shows a schematic view of an embodiment of a manufacturing system 1 according to the invention. The manufacturing system 1 comprises a robot device 3 and a tape dispenser 5. The tape dispenser 5 has a pretensioning device 7. The tape dispenser 5 can be placed on a floor of a production hall. The robot device 3 comprises a frame 9 and a robot arm 11. The frame 9 can be placed on the floor of the production hall. The robot arm 11 has a first end 13 and a second end 15. The robot arm 11 is attached with its first end 13 to the frame 9. With its second end 15, the robot arm 11 is attached to an application device 17 of the robot device 3. In Figure 1 a workpiece 19 is shown. The workpiece 19 is arranged on a workpiece support 21, which can be arranged on the floor of the production hall. Figure 1a tape 23 is shown. For example, the tape 23 can be an adhesive tape. The tape 23 is fed from the tape dispenser 5 to the application device 17. A section of the tape 23 is pretensioned by the pretensioning device 7 such that a pretensioning force acts along the tape 23 that is greater than a predetermined pretensioning force threshold. The pretensioning force threshold is preferably selected such that the pretensioning force acting along the tape 23 ensures that the tape 23 runs along a straight line between the pretensioning device 7 and the application device 17. The robot arm 11 has several sections that are movable relative to one another. With the help of the sections of the robot arm 11 that are movable relative to one another, the application device 17 can be moved relative to the workpiece 19. This ensures that the application device 17 can be moved into different positions.In particular, the distances between the application device 17 and the pretensioning device 7 of the tape dispenser 9 can vary in the different positions of the application device 17. The pretensioning device 7 ensures that, in every position of the application device 17, the section of the tape 23 between the pretensioning device 7 and the application device 17 runs along a straight line. In particular, a plurality of straight lines are provided along which the section of the tape 23 between the pretensioning device 7 and the application device 17 can extend, with each position of the application device 17 being assigned one of the plurality of straight lines.

[0027] The Figures 2 to 8 show schematic views of an embodiment of an application device 17 according to the invention of the production system 1 in Figure 1The application device 17 comprises a base unit 25, an application unit 27 and a deflection unit 29.

[0028] The base unit 25 extends from a first end 31 to a second end 33. At the first end 31, the base unit 25 has a connecting device 35 for the manufacturing system 1. The connecting device 35 is in Figure 1 at which Figure 1 shown second end 15 of the robot arm 11. At the second end 15 of the robot arm 11, an actuator is provided, with which the base unit 25 can be pivoted relative to the second end 15 of the robot arm 11 about an axis 37, along which the base unit 25 extends from the first end 31 to the second end 33 remote from the connecting device 35. The base unit 25 has a recess 39 extending from the first end 31 of the base unit 25 along the axis 37 to the second end 33 of the base unit 25 (see Figures 7 and8 ). The recess 39 ensures that, for example, cables or hoses which connect the second end 15 of the robot arm 11 to the application unit 27 can be arranged within the base unit 25 and are thus protected by the base unit 25 from influences from the environment of the base unit 25, for example from influences from the deflection unit 29 or the belt 23 or other objects arranged in the production hall, such as the belt dispenser 5, the frame 9, the workpiece 19 or the workpiece storage area 21. The recess 39 thus ensures in particular that the cables or hoses are mechanically protected by the base unit 25.

[0029] The application unit 27 has a first input guide element 41. The belt 23 can be fed to the application unit 27 via the first input guide element 41. The first input guide element 41 has four first deflection rollers 43, which are mounted so as to be rotatable about their axes of rotation. The four first deflection rollers 43 are arranged such that a projection of the axes of rotation onto a plane arranged perpendicular to the path of the belt 23 forms a quadrilateral. The belt 23 can thus be guided by means of the first deflection rollers 43 such that a movement of the belt 23 in any direction perpendicular to the guide direction of the belt 23 is limited by a first deflection roller 43. The first deflection rollers 43 arranged in this way thus ensure safe and reliable guidance of the belt 23.The use of first deflection rollers 43 is particularly advantageous since this allows the first deflection rollers 43 to roll on the belt 23 when in contact with it and thus friction losses due to friction between the belt 23 and the application unit 27 can be minimized.

[0030] Furthermore, the application unit 27 is configured to apply the tape 23 to the workpiece 19. The application unit 27 has second deflection rollers 45, which are mounted for rotation about their axis of rotation. The second deflection rollers 45 and the first input guide element 41 are attached to a plate element 47 of the application unit 27. With the aid of the second deflection rollers 45, the tape 23 can be guided from the input guide element 41 to a surface of the workpiece 19 and applied thereto.

[0031] The deflection unit 29 has a ring-shaped element 49. The deflection unit 29 also has another ring-shaped element 51. The deflection unit 29 also has four deflection rollers 53. Each deflection roller 53 of the deflection unit 29 can also be referred to as a third deflection roller 53. Each deflection roller 53 of the four deflection rollers 53 is rotatably mounted on both the ring-shaped element 49 and the further circular element 51. Each deflection roller 53 of the four deflection rollers 53 has a circumferential outer surface with which the deflection roller 53 can roll on a section of the belt 23 when guiding the belt 23. The four deflection rollers 53 are arranged such that the axis of rotation of each deflection roller 53 of the deflection rollers 53 runs obliquely to the axis 37.Running the axes of rotation obliquely to the axis 37 represents a particularly simple way for the belt 23 to wrap around the deflection unit 29 and not come into contact with itself even when the belt 23 has completely wrapped around the deflection unit 29 once. Furthermore, the four deflection rollers 53 are arranged such that the axis of rotation of each deflection roller 53 of the deflection rollers 53 forms an angle of 1° to 20° with a straight line running parallel to the axis 37. It has proven advantageous, particularly in connection with four deflection rollers 53, that commercially available belts 23 do not come into contact with themselves at an angle of 1° to 20° when these belts 23 have completely wrapped around the deflection unit 29 at least once. Furthermore, the position of the axis of rotation of each deflection roller 53 of the four deflection rollers 53 relative to the axis 37 is adjustable.The adjustable rotation axes of the deflection rollers 53 ensure that belts 23 with different geometries can be used. In particular, depending on the width of a belt 23, the rotation axes of the deflection rollers 53 can be adjusted so that the belt 23 does not touch itself when the belt 23 completely wraps around the deflection unit 29 at least once.

[0032] The deflection unit 29 further has a second input guide element 55 and a pivot arm 57. The pivot arm 57 extends from its first end 59 to its second end 61 away from the axis 37. The second input guide element 55 is attached to the second end 61. The belt 23 can be fed to the deflection unit 29 via the second input guide element 55. The second input guide element 55 has four fourth deflection rollers 63 which are rotatably mounted about their axes of rotation. The four fourth deflection rollers 63 are arranged such that a projection of the axes of rotation onto a plane arranged perpendicular to the path of the belt 23 forms a quadrilateral. The belt 23 can thus be guided with the aid of the fourth deflection rollers 63 such that a movement of the belt 23 in any direction perpendicular to the guide direction of the belt 23 is limited by a fourth deflection roller 63.The fourth deflection rollers 63 arranged in this way thus ensure safe and reliable guidance of the belt 23. The use of fourth deflection rollers 63 is particularly advantageous since the fourth deflection rollers 63 can roll on the belt 23 when in contact with it and thus friction losses due to friction between the belt 23 and the deflection unit 29 can be minimized.

[0033] The deflection unit 29 also has a cylindrical element 65. The cylindrical element 65 extends from the annular element 49 to the further annular element 51. The cylindrical element 65 is screwed to the annular element 49 at its first end and screwed to the further annular element 51 at its second end. The cylindrical element 65 has a continuously closed wall extending from its first end to its second end, so that between the annular element 49 and the further annular element 51, the base unit 25 is continuously protected from the surroundings of the cylindrical element 65 by the cylindrical element 65. The cylindrical element 65 forms a recess in which a section of the base unit 25 is arranged.The cylindrical element 65 ensures that a relative movement between the base unit 25 and the deflection unit 29, at least between the annular element 49 and the further annular element 51, is not accessible from the surroundings of the cylindrical element 65, so that no objects, such as the belt 23, can get caught between the base unit 25 and the deflection unit 29.

[0034] The base unit 25 is firmly coupled to the application unit 27. The firm coupling between the base unit 25 and the application unit 27 ensures that the application unit 27 follows a movement of the base unit 25. In particular, when the base unit 25 is moved by means of the robot arm 11 of the robot device 3, the application unit 27 follows this movement, so that the tape 23 is applied to the workpiece 19 along a path defined by the movement of the base unit 25. In particular, the firm coupling between the base unit 25 and the application unit 27 ensures that when the base unit 25 is pivoted about the axis 37, the application unit 27 is pivoted together with the base unit 25 about the axis 37. The firm coupling of the base unit 25 and the application unit 27 is provided at the second end 33 of the base unit 25.The application unit 27 is thus firmly coupled to the base unit 25 at the second end 33 of the base unit 25. For the firm coupling between the base unit 25 and the application unit 27, two coupling elements 67 are provided at the second end 33 of the base unit 25, each extending away from the axis 37 to a free end 69 to which the application unit 27 is attached.

[0035] The base unit 25 is coupled to the deflection unit 29 such that the base unit 25 and the deflection unit 29 can be pivoted relative to each other about the axis 37. The deflection unit 29 is thus pivotably coupled to the base unit 25 about the axis 37.

[0036] This pivotable coupling between the base unit 25 and the deflection unit 29 ensures that when the base unit 25 and thus also the application unit 27 are pivoted about the axis 37, the deflection unit 29 is not pivoted about the axis 37 relative to the surroundings of the application device 17, or at least can be pivoted about the axis 37 independently of the pivoting movement of the base unit 25 and the application unit 27. In particular, when the application device 17 is moved using the robot arm 11 of the robot device 3, the deflection unit 29 follows this movement in the sense that the position of the deflection unit 29 is changed together with the position of the base unit 25 and the position of the application unit 27, but the orientation of the deflection unit 29 can change independently of the orientation of the base unit 25 and the orientation of the application unit 27.In particular, if the orientation of the base unit 25 and the orientation of the application unit 27 change, the orientation of the deflection unit 29 does not necessarily have to change. When the tape 23 is applied to the workpiece 19, it may be necessary for the application unit 27 to change its orientation, for example if the path along which the tape 23 is applied to the workpiece 19 forms a closed path, such as a rectangular path or a circular path. Because the deflection unit 29 is pivotally coupled to the base unit 25 about the axis 37, the deflection unit 29 can keep its orientation constant, particularly relative to the tape dispenser 5, or change it only minimally during the movement of the application unit 27 to form the closed path.The fact that the deflection unit 29 can keep its orientation relative to the tape dispenser 5 constant or change it only minimally ensures that the tape 23 can be guided such that it can always be received by the deflection unit 29 in the same section of the deflection unit 29 throughout the entire movement of the application unit 27 for forming the closed path. In particular, the tape 23 can be received in the same section of the deflection unit 29 regardless of the position and orientation of the application unit 27. This applies to every conceivable shape of the path along which the tape 23 is applied to the workpiece 19.

[0037] Figure 9 shows a schematic view of a guide of the belt 23 around the deflection unit 29 of a second embodiment of the application device 17 according to the invention of the production system 1 in Figure 1 . The schematic view in Figure 9 serves to illustrate and in connection with Figure 9 The features, technical effects and / or advantages described in the Figures 2 to 8 illustrated first embodiment of the application device 17 according to the invention. Likewise, the provisions in connection with the Figures 2 to 8 The features, technical effects and / or advantages shown in the first embodiment of the application device 17 according to the invention also apply at least in an analogous manner to the Figure 9 illustrated second embodiment of the application device 17 according to the invention.

[0038] Figure 9shows schematically that the belt 23 wraps around the deflection unit 29. The belt 23 is guided in the production system 1 from the belt dispenser 5 and in particular the pretensioning device 7 to the application device 17 and from there to the workpiece 19. Within the application device 17, the belt is first guided to the deflection unit 29 and then to the application unit 27. The deflection unit 29 has the second input guide element 55 to guide the belt 23, which first passes the belt 23 such that it is guided between the fourth deflection rollers 63. The belt 23 then runs along the deflection rollers 53 of the deflection unit 29. The belt 23 rests against the deflection rollers 53 and wraps around them. The belt is then guided such that it passes the first input guide element 41 such that it is guided between the first deflection rollers 43 of the first input guide element 41.The belt 23 then runs along the second deflection rollers 45 of the application unit 27 and is applied to the workpiece 19. In . Figure 9 The part of the belt guide is shown schematically, which describes the guidance of the belt 23 around the deflection unit 29. In Figure 9The arrow shown at reference numerals 5 and 7 symbolically shows that the belt 23 has passed the belt dispenser 5 and in particular the pretensioning device 7 before the belt 23 reaches the deflection unit 29 in the area of reference numerals 5 and 7. The arrow shown at reference numeral 27 symbolizes that the belt 23, after passing the deflection unit 29, reaches the application unit 27. Each section of the belt 23 covers the path described here before the corresponding section is applied to the workpiece 19. The belt preferably extends from the belt dispenser 5 to the workpiece 19 and when the path of the belt 23 or the movement of the belt 23 through the production system 1 is described, this means that the belt has sections that cover this path through the production system 1.

[0039] As in Figure 9As shown, the axis of rotation of every third deflection roller 53 runs obliquely to the axis 37. The position of the axis of rotation of every third deflection roller 53 is adjustable relative to the axis 37. The deflection unit 29 is designed as follows. The belt 23 wraps around the deflection unit 29 such that the belt 23 comes into contact with the deflection unit 29 at an axial receiving position 71. In the example shown here, the belt 23 comes into contact with the third deflection roller 53 shown at the front right. This contact defines the axial receiving position 71. The belt 23 further wraps around the deflection unit 29 such that the belt 23 is released from the deflection unit 29 at an axial release position 73. The point at which the band 23 is released from the deflection unit 29 defines the axial dispensing position 73. The band 23 is guided via the deflection unit 29 from the axial receiving position 71 to the axial dispensing position 73.The axial receiving position 71 is spaced apart from the axial dispensing position 73 in the axial direction of the axis 37. The spacing of the axial receiving position 71 from the axial dispensing position 73 in the axial direction of the axis 37 ensures that, during a movement of the application unit 27, the section of the tape 23 between the tape dispenser 5 and the axial receiving position 71 does not touch the section of the tape 23 between the axial dispensing position 23 and the application unit 27. Furthermore, the first input guide element 41 of the application unit 27 is spaced apart from the axial receiving position 71 in the axial direction of the axis 37.The spacing of the first input guide element 41 from the axial receiving position 71 in the axial direction of the axis 37 ensures that when the application unit 27 is pivoted relative to the deflection unit 29, the axial dispensing position 73 can change in the axial direction, the axial dispensing position 73 maintaining an axial spacing from the axial receiving position 71.

[0040] Finally, it should be noted that in the Figures 2-4 and in Figure 6a belt is shown extending over the second deflection roller 45, which is shown at the bottom edge of the image in these figures. In the examples shown here, the belt 23 is a section of a belt assembly 75 comprising the belt 23 and a carrier 77. The belt 23 and the carrier 77 are connected to one another until the belt 23 is applied to the workpiece 19. The path of the belt 23 described above is traversed by the belt 23 while the belt 23 is connected to the carrier 77. In the region in which the belt 23 is applied to the workpiece 19, the belt 23 is detached from the carrier 77.Viewed in the direction of the belt guide, the belt 23 and the carrier 77 are connected to one another before the second deflection roller 45 shown at the lower edge of the image, and after the second deflection roller 45 shown at the lower edge of the image, the belt 23 and the carrier 77 are detached from one another, wherein the belt 23 is applied to the workpiece 19 after the second deflection roller 45 shown at the lower edge of the image and the carrier 77 is guided by the application unit 27 with the aid of a subset of the second deflection rollers 45. The example shown here with the belt assembly 75 is merely an example. It is also conceivable that no carrier 77 is provided and the belt 23 travels the path described above through the production system 1 without the carrier 77.

[0041] Additionally, it should be noted that "comprising" does not exclude other elements or steps, and "a" or "an" does not exclude a plurality. Furthermore, it should be noted that features described with reference to one of the above embodiments can also be used in combination with other features of other embodiments described above. Reference signs in the claims are not to be considered as limitations. Reference symbol

[0042] 1 Manufacturing system 3 Robot device 5 Tape dispenser 7 Pre-tensioning device 9 Frame 11 Robot arm 13 First end of the robot arm 15 Second end of the robot arm 17 Application device 19 Workpiece 21 Workpiece storage 23 Belt 25 Base unit 27 Application unit 29 Deflection unit 31 First end of the base unit 33 Second end of the base unit 35 Connecting device 37 Axis 39 Recess 41 First input guide element 43 First deflection roller of the first input guide element 45 Second deflection roller of the application unit 47 Plate element 49 Crown-shaped element 51 Further crown-shaped element 53 Deflection roller of the deflection unit, third deflection roller 55 Second input guide element 57 Swivel arm 59 First end of the swivel arm 61 Second end of the swing arm 63 Fourth deflection roller of the second input guide element 65cylindrical element 67coupling element 69free end of the coupling element 71axial receiving position 73axial discharge position 75belt assembly 77carrier

Claims

1. Application apparatus (17) having a base unit (25) which has at a first end (31) a connection device (35) for a production system (1) and which extends along an axis (37) from the first end (31) to a second end (33) remote from the connection device (35), an application unit (27) which is configured to apply a strip (23), preferably an adhesive strip, to a workpiece (19), characterized in that the application unit (27) is securely coupled to the base unit (25) at the second end (33) of the base unit (25), and a redirection unit (29) which is coupled to the base unit (25) so as to be able to be pivoted about the axis (37), wherein the application unit (27) has a first input guiding element (41), via which the strip (23) can be supplied to the application unit (27), wherein the redirection unit (29) is configured in such a manner that the strip (23) can wrap around the redirection unit (29) in such a manner that, when it is guided thereby from an axial receiving position (71), at which it moves into abutment with the redirection unit (29), to an axial discharge position (73), in which it is released from the redirection unit (29), the axial receiving position (71) is spaced apart from the axial discharge position (73) in an axial direction of the axis (37), and wherein the first input guiding element (41) of the application unit (27) is spaced apart from the axial receiving position (71) in an axial direction of the axis (37).

2. Application apparatus (17) according to the preceding claim, wherein the redirection unit (29) has a crown-like element (49) and at least two redirection rollers (53), wherein each redirection roller (53) of the at least two redirection rollers (53) is rotatably supported on the crown-like element (49) and has a circumferential outer face, by means of which the redirection roller (53) can roll when the strip (23) is guided on a portion of the strip (23).

3. Application apparatus (17) according to the preceding claim, wherein the rotation axis of each redirection roller (53) of the redirection rollers (53) extends obliquely relative to the axis (37).

4. Application apparatus (17) according to either of Claims 2 and 3, wherein the rotation axis of each redirection roller (53) of the redirection rollers (53) in each case forms an angle of from 1° to 20° with a straight line which extends parallel with the axis (37).

5. Application apparatus (17) according to any one of Claims 2 to 4, wherein the position of the rotation axis of each redirection roller (53) of the redirection rollers (53) can be adjusted with respect to the axis (37).

6. Application apparatus (17) according to any one of the preceding claims, wherein the redirection unit (29) has a second input guiding element (55) and a pivot arm (57) which extends from the first end thereof to the second end thereof away from the axis (37), wherein at the second end the second input guiding element (55), via which the strip (23) can be supplied to the redirection unit (29), is fitted.

7. Application apparatus (17) according to any one of the preceding claims, wherein the base unit (25) has a recess (39) which extends from the first end (31) of the base unit (25) along the axis (37) to the second end (33) of the base unit (25).

8. Robot apparatus (3) having a frame (9) and a robot arm (11), wherein the robot arm (11) is fitted with the first end (13) thereof to the frame (9) and with the second end (15) thereof to the connection device (35) at the first end (31) of the base unit (25) of the application apparatus (17) according to any one of the preceding claims, wherein at the second end (15) of the robot arm (11) there is provided an actuator, by means of which the base unit (25) can be pivoted about the axis (37) relative to the second end (15) of the robot arm (11).

9. Production system (1) having a robot apparatus (3) according to Claim 8 and a strip dispenser (5) having a pretensioning device (7), wherein, when the strip (23) is supplied to the application apparatus (17), a portion of the strip (23) is pretensioned by the pretensioning device (7) in such a manner that a pretensioning force which is greater than a predetermined pretensioning force threshold acts along the strip (23).