Compact end effector for the application of double-sided adhesive tapes with an integrated roll

Abstract

The invention relates to an end effector (10) for the application of double-sided adhesive tapes (12) by means of an automated movement unit, comprising: a) a roll mount (14), b) a guide arrangement (16), c) an application arrangement (18), and d) a removal arrangement (20), wherein the roll mount (14) is designed to receive a roll (22) of adhesive tape, wherein the guide arrangement (16) is designed such that it guides an adhesive tape (12) provided by a roll (22) of adhesive tape arranged in the roll mount (14) from the roll mount (14) to the application arrangement (18), wherein the application arrangement (18) is designed such that it guides an adhesive tape (12) fed to the application arrangement (18) in such a manner that, in an application region, the adhesive layer of the adhesive tape (12) lies on the outer side of the end effector (10), as a result of which the end effector (10) can bring a substrate which is to be adhesively bonded into contact with the adhesive layer of the adhesive tape (12), and wherein the removal arrangement (20) is designed such that it removes a separating layer (24) of an adhesive tape (12) that has been detached from the adhesive layer in the application arrangement (18) from the end effector (10).

Description

[0001] Compact end effector for applying double-sided adhesive tapes with integrated reel

[0002] The invention relates to an end effector for applying double-sided adhesive tapes with an automated movement unit, an application system based thereon for applying double-sided adhesive tapes, and a method for applying double-sided adhesive tapes with a corresponding end effector or application system. Furthermore, the use of a corresponding end effector for applying double-sided adhesive tapes and a preferred end effector system are disclosed.

[0003] In many areas of technology, for example, the automotive industry, there is a need to join different components together. Adhesive bonding has proven particularly effective in joining components. Adhesive tapes represent an alternative to the use of formless adhesives, which are applied from a tube, for example. Pressure-sensitive adhesive tapes are particularly familiar from everyday use. These tapes consist of a pressure-sensitive adhesive that provides the adhesive effect and is permanently tacky and adhesive under normal ambient conditions. Such pressure-sensitive adhesive tapes can be applied to a substrate by pressure, where they remain adhered.

[0004] Double-sided adhesive tapes, i.e., adhesive tapes with an adhesive layer on both sides, are particularly important for use in industrial manufacturing. These double-sided adhesive tapes can, for example, enable the fast and virtually gap-free bonding of a wide variety of components, meaning they can potentially replace existing adhesive technologies in modern production lines, which, for example, require long curing times.

[0005] An example of potential optimization through the use of double-sided adhesive tapes is the assembly of vehicle headliners, where there is a need for automated solutions for bonding cables and molded parts. Liquid hot melt adhesives are currently predominantly used to bond molded parts to the headliner, while cable harnesses are often secured with single-sided adhesive tape. Bonding cables and molded parts in this way using two different adhesive technologies, or even bonding exclusively with a slow-curing liquid hot melt adhesive, makes the automation process more difficult. Double-sided adhesive tape, on the other hand, can be used for both applications, potentially achieving significant process savings for automation.

[0006] According to the inventors, double-sided adhesive tapes have not yet been used for both applications of headliner assembly with the same automation solution. According to the inventors, this is primarily due to the lack of high-performance and easily automatable application devices for double-sided adhesive tapes, which are used as so-called end effectors on industrial robots or similar motion units. Accordingly, there is a fundamental need for automated adhesive tape application devices, especially for combined applications in the bonding of a wide variety of components, for example, in the assembly of headliners.

[0007] End effectors for the application of adhesive tapes are known from the prior art. These allow the application of adhesive tapes, however, via adhesive tape reels arranged on external unwinding devices. The use of such adhesive tape reels enables the application of large quantities of adhesive tape, for example, a thousand meters of adhesive tape or more, without the need to replace the adhesive tape reel and thus interrupt production.

[0008] In many cases, however, these well-known end effectors are also perceived as disadvantageous, particularly with regard to the required installation space and their comparatively limited flexibility. For end effectors with a separate coil unwinder, the distance from the external unwinder to the end effector is often relatively long, given the size of typical production halls.

[0009] For robot movements that lead towards the reel unwinder, which is usually arranged laterally offset, such as those that occur when reapplying the adhesive tape, the feed path is shortened. The already dispensed adhesive tape must be taken back by the reel winder to ensure the necessary web tension. In many cases, this also makes it necessary to provide a complex feed arrangement that can, for example, ensure a minimum tensile stress in the adhesive tape, for example via a so-called pendulum reservoir, in order to prevent sagging or unwanted sticking of the adhesive tape, especially during strong movements of the end effector. Furthermore, long feed paths always carry the risk of contamination of the adhesive tape and thus potentially a reduction in adhesive quality.Furthermore, a corresponding feed arrangement from an external reel unwinder in an automated production line can pose a safety risk, as employees can be caught, for example, by the fed and moving adhesive tape strand, necessitating an interruption of application. Given the potential for extensive automation of existing production processes, the application of double-sided adhesive tapes is often still perceived as a disadvantage in industry.

[0010] The primary object of the present invention was to eliminate or at least reduce the above-described disadvantages of the prior art.

[0011] In particular, the object of the present invention was to provide an end effector and an application system based thereon, with which the application of double-sided adhesive tapes can be simplified, so that the application can be carried out more time- and cost-efficiently than with end effectors or application systems known from the prior art. A desirable requirement was that the end effector or application system to be specified should exhibit advantageous automation capabilities and be easily integrated into modern production lines due to its easy retooling.

[0012] Furthermore, it was an object of the present invention to provide an end effector and an application system that would allow the precise application of double-sided adhesive tapes even under demanding production conditions, such as in confined spaces, as can occur, for example, when fitting vehicle headliners. A desirable requirement was that the end effector to be specified should make a beneficial contribution to occupational and process safety, in particular by enabling reliable application of adhesive tapes even without cutting units.

[0013] It was also an object of the present invention to reduce the requirements for the feed arrangement of the specified end effector and the specified application system, in particular by reducing the need for external feed devices and reel unwinders. In this respect, it was a desirable requirement to minimize the risk of contamination and sticking of double-sided adhesive tapes in the specified end effector or application system.

[0014] It was also an object of the present invention to provide a method for applying double-sided adhesive tapes with the specified end effector or the specified application system.

[0015] It was furthermore an object of the present invention that the method to be specified should reduce the labor required for the application of double-sided adhesive tapes by means of efficient automation, wherein the method should also desirably have increased process stability and occupational safety compared to the prior art.

[0016] It was a secondary object of the present invention to provide a use of the end effector to be specified for the application of double-sided adhesive tapes, in particular for the fitting of vehicle headliners.

[0017] The inventors of the present invention have now found that the above objects can surprisingly be achieved if a reel holder with a guide arrangement for the adhesive tape is integrated in an end effector for applying double-sided adhesive tapes, if an application arrangement of the end effector is designed such that the adhesive layer of a double-sided adhesive tape received in the reel holder and guided in the guide arrangement can be applied to the outside of the end effector onto a substrate to be bonded, provided that a release layer detached from the double-sided adhesive tape in the application arrangement can be removed from the end effector by means of a removal arrangement, as defined in the claims.The compact design and the integration of multiple components, particularly the adhesive tape reel holder and the feed arrangement, enable flexible use of the corresponding end effector in a wide variety of manufacturing processes, especially in confined spaces. This not only allows for excellent automation, but also saves installation space and minimizes disruptions in the adhesive tape feed due to shorter adhesive tape feed paths. The resulting end effector is particularly advantageous for component and cable harness bonding on the headliner. In particular, coupling and decoupling the corresponding end effector to the automated movement unit is particularly easy, making things like tape changes, maintenance, and repairs easy to carry out.The above-mentioned objects are thus achieved by the subject matter of the invention as defined in the claims. Preferred embodiments of the invention emerge from the subclaims and the following statements.

[0018] Such embodiments, which are designated as preferred below, are combined in particularly preferred embodiments with features of other embodiments designated as preferred. Combinations of two or more of the embodiments designated as particularly preferred below are thus very particularly preferred. Likewise preferred are embodiments in which a feature of one embodiment designated as preferred to any extent is combined with one or more further features of other embodiments designated as preferred to any extent. Features of preferred application systems, methods, and uses emerge from the features of preferred end effectors.

[0019] The invention relates to an end effector for applying double-sided adhesive tapes with an automated movement unit, comprising: a) a spool holder, b) a guide arrangement, c) an application arrangement, and d) a removal arrangement, wherein the spool holder is configured to receive an adhesive tape spool, wherein the guide arrangement is configured to guide an adhesive tape provided by an adhesive tape spool arranged in the spool holder from the spool holder to the application arrangement, wherein the application arrangement is configured to guide an adhesive tape supplied to the application arrangement such that the adhesive layer of the adhesive tape lies in an application area on the outside of the end effector, so that the end effector can contact a substrate to be bonded with the adhesive layer of the adhesive tape, and wherein the removal arrangement is configured toto remove a separating layer of an adhesive tape that has been detached from the adhesive layer in the application arrangement from the end effector.

[0020] The end effector according to the invention is suitable for applying double-sided adhesive tapes using an automated motion unit. In accordance with the expert understanding, an end effector is the executing and / or concluding element of automated motion units, for example, robot arms. In other words, end effectors in the field of robotics are the last component of a kinematic chain. The term "executing element" here means in particular that the end effector will, in most cases, be configured to execute an externally specified execution instruction, which can be transmitted, for example, to the automated motion unit and / or the end effector via an electronic control device.

[0021] According to the invention, the end effector comprises a spool holder configured to receive an adhesive tape spool. In practice, adhesive tape spools generally have a substantially hollow-cylindrical geometric shape, wherein an adhesive tape can be laid or wound around the outer surface of the adhesive tape spool in the circumferential direction. By repeatedly winding the adhesive tape around the adhesive tape spool, both efficient storage of the adhesive tape and safe use can be achieved, for example, by unrolling the adhesive tape from the adhesive tape spool and applying it as needed. Adhesive tape spools generally have a continuous recess along their cylindrical axis, via which the adhesive tape spool can be placed onto a mostly complementary extension of a spool holder, so that rotation remains possible, but the adhesive tape spool has reduced translational degrees of freedom in the spool holder.The person skilled in the art will understand that the end effector according to the invention is designed by the reel holder to receive and process an adhesive tape reel and consequently a double-sided adhesive tape, but that neither the adhesive tape reel nor the double-sided adhesive tape itself are part of the end effector.

[0022] According to the invention, the end effector further comprises an application arrangement and a guide arrangement for guiding an adhesive tape from the reel holder to the application arrangement. The adhesive tape can expediently be guided by suitable guide elements, such as rotatably mounted guide rollers. An end effector according to the invention is expedient for essentially all embodiments, wherein the end effector comprises in the guide arrangement one or more, preferably two or more, preferably four or more, particularly 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.

[0023] To reduce the risk of sticking and to ensure reliable application of double-sided adhesive tapes, an adhesive tape guided in the end effector according to the invention is advantageously kept under tension in the guide arrangement, even if the relative changes in distance between the application arrangement and the reel holder are reduced compared to the prior art. The tension of the adhesive tape in the guide arrangement, in accordance with the expert's understanding, refers to the tensile stress on the adhesive tape within the guide arrangement. In practice, the magnitude of the set tensile stress within the guide arrangement usually lies within a predefined range, which for the expert usually results naturally from the respective application requirements. For example, the upper limit of this range can result from the tear strength of the guided adhesive tape.The lower limit of the range can, for example, result from the minimum tensile stress required for controlled guiding and / or clean cutting of the adhesive tape. The inventors have now recognized that a substantially constant tension of the adhesive tape in the guide arrangement advantageously enables particularly uniform application of the adhesive tape and also ensures secure guidance of the adhesive tape, which can reliably prevent unwanted sticking of the adhesive tape in the guide arrangement. In this respect, it has proven advantageous to provide an element in the guide arrangement that influences the tension of the adhesive tape and can be used to specifically adjust and control this tensile stress in order to build up or compensate for tensile stress.Accordingly, an end effector according to the invention is preferred, wherein the end effector in the guide arrangement comprises a position-variable web tension element, preferably a web tension roller, wherein the web tension element is designed to reversibly and non-destructively change its position relative to other parts of the guide arrangement, preferably relative to guide elements adjacent to the guided adhesive tape strand, when the adhesive tape is tensioned in the guide arrangement, preferably when a predefined tensile stress on the web tension element caused by the tension of the adhesive tape is exceeded, in order to at least partially compensate for the tensile stress.Therefore, additionally or alternatively, an end effector according to the invention is also preferred, wherein the web tensioning element is designed so that the adhesive tape can be tensioned in the guide arrangement by a reversible and non-destructive change in the position of the web tensioning element.

[0024] The inventors have recognized that active management of the adhesive tape feed and control of the web tension are of great importance if particularly high-performance end effectors are to be achieved. In this context, the inventors believe that it is initially expedient not to rely solely on passive unwinding of the adhesive tape, as would be possible in a freely rotatable arrangement of the adhesive tape reel in the reel holder as a result of external tension, but rather to provide an active drive for the adhesive tape reel that actively and under controllable conditions supplies adhesive tape from the adhesive tape reel. Therefore, initially preferred is an end effector according to the invention, wherein the end effector comprises a drive unit for driving the adhesive tape reel in the reel holder, preferably a motor, particularly preferably an electric motor.

[0025] Additionally or alternatively, the inventors consider it particularly advantageous if an active control of the drive unit and / or of the web tension element responsible for adjusting the web tension is provided or enabled, which can be enabled by an electronic control unit.

[0026] With a view to optimal guidance of the adhesive tape, an end effector according to the invention is therefore preferred, wherein the end effector comprises an electronic control unit configured to control the drive unit and / or the position of the web tension element, wherein a device of the electronic control unit for controlling both components is preferred. The electronic control unit can, for example, be part of the automated movement unit connected to the end effector according to the invention. In this embodiment, the electronic control unit preferably controls not only the protruding components of the end effector, but also the end effector itself or the automated movement unit.

[0027] An electronic control unit which controls both the drive unit and the position of the web tension element is particularly preferred with a view to ensuring the most constant tensile tension possible for an adhesive tape guided in the end effector, so that, for example, sticking of the adhesive tape can be reliably avoided. The inventors believe it to be particularly advantageous if the web tension roller even serves as an input for the unwinding control circuit. Such dependent control of the two components, i.e. motor-driven unwinding support, ensures optimal and reliable guidance of the adhesive tape and precise control of the application quantity. Accordingly, an end effector according to the invention is particularly preferred, wherein the electronic control unit is designed to control the drive unit as a function of the position of the web tension element.

[0028] According to the invention, the end effector comprises an application arrangement, which refers to the part of the end effector that is responsible for the actual application of the adhesive tape to a substrate to be bonded, wherein the partial area of ​​the application arrangement in which the adhesive tape is transferred to the substrate and detached from the liner is referred to as the application area in the context of the present invention. The application area is thus the area of ​​the application arrangement in which the adhesive tape is applied to a substrate. In practice, this usually means that the adhesive layer of the adhesive tape is pressed onto a substrate in the application area in order to apply the adhesive tape to the substrate. According to the invention, the adhesive layer of the adhesive tape for this purpose is located in the application area of ​​the application arrangement on the outside of the end effector.In this respect, the application area will in most cases be essentially freely accessible from outside the end effector. Accordingly, the application area is arranged, at least in sections, on the outside of the end effector. The outside refers in particular to the part of the application arrangement facing away from the other components of the end effector. Within the scope of the invention, the structure that contacts the adhesive tape from the underside at the moment of application is referred to as the application element.Against this background, an end effector according to the invention is relevant for essentially all embodiments, wherein the application arrangement comprises an application element, preferably an application roller, wherein the application element is designed such that the adhesive tape is guided in the application area over the surface of the application element and / or around the application element, preferably over the surface of the application element and around the application element, so that the adhesive layer points away from the application element.

[0029] Advantageously, the end effector according to the invention is further

[0030] The design of the application arrangement is not limited. An example of an end effector according to the invention is one in which the application arrangement 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 in the application arrangement over the surface of the application element and / or around the application element.

[0031] The components of the end effector according to the invention are combined in the end effector and are expediently connected to one another for this purpose, for example, in a housing. Accordingly, an end effector according to the invention is relevant for essentially all embodiments, wherein the end effector comprises a support structure, preferably a support plate, on which the further components of the end effector are arranged and / or to which the further components of the end effector are connected.

[0032] With a view to the safe and efficient application of adhesive tapes, it has proven advantageous to provide the application assembly as a whole, preferably at least the application element of the application assembly, with spring support on the end effector according to the invention. This allows the contact pressure on the substrate to be bonded to be better controlled or reduced during the application of an adhesive tape guided in the application assembly, so that, in particular, damage to the substrate can be avoided. In this respect, an end effector according to the invention is preferred, wherein the application assembly is connected to the other components of the end effector, preferably to the support structure of the end effector, via a spring support.

[0033] According to the invention, the end effector further comprises a removal assembly that removes a release layer detached from the adhesive layer of the adhesive tape in the application assembly from the end effector. This release layer, also referred to as a liner, acts as a base until the adhesive tape is applied and must then be disposed of as waste or recycled. The inventors have succeeded in identifying designs of the removal assembly that allow for particularly efficient end effectors and, in particular, ensure reliable removal of the release layer.

[0034] For this purpose, for example, driven or freely rotatable rollers can initially be provided, which either merely stabilize the removed release layer or, through the drive, also convey or cause it to be carried away from the application area. Accordingly, an end effector according to the invention is preferred, wherein the removal arrangement comprises one or more removal guide elements, preferably removal guide rollers, wherein the removal arrangement preferably comprises at least one roller arrangement with at least two counter-rotating rollers, which is designed so that the release layer detached from the adhesive layer can be guided between the counter-rotating rollers, wherein the rollers of the roller arrangement are preferably counter-rotating driven rollers and the removal arrangement is designed to carry the release layer away from the application area as a result of the movement of the counter-rotating rollers.

[0035] In principle, it is possible to subsequently discharge the removed separation layer via a winding device, for example an external mechanical winding device. Advantageously, however, the discharge of the separation layer is promoted or effected by a suction system, whereby a complex separate threading of the separation layer into the outlet hole can be avoided. In this preferred embodiment, the separation layer can therefore be discharged particularly efficiently. In this respect, an end effector according to the invention is preferred, wherein the discharge arrangement comprises an outlet hole for discharging the separation layer, wherein the outlet hole is preferably connected to a fluid line system and / or wherein the discharge of the separation layer through the outlet hole is promoted or effected, preferably by a suction system.

[0036] In practice, it has proven advantageous if the end effector according to the invention enables a largely completely automated application of adhesive tape. This particularly applies to the completion of an application process and / or the interruption of an application process by terminating the adhesive tape supply and severing 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, an adhesive tape guided in the end effector or an adhesive tape applied by means of the end effector, so that further movement of the end effector causes the adhesive tape to tear due to the interrupted supply of adhesive tape.To enable this, the adhesive layer of the adhesive tape used should have a sufficiently low elongation at break, with corresponding adhesive tapes being commercially available, for example, under the designation tesa 50400. In this embodiment, the braking unit accordingly enables the adhesive tape to be torn apart, so that after a predetermined amount of adhesive tape has been applied, no separate separating devices for separating the adhesive tape need to be provided at the end effector, or the applied adhesive tape does not have to be manually separated. In this case, the release layer, which is usually significantly more tear-resistant, is advantageously not torn apart, thus avoiding rethreading the release layer into the discharge arrangement in the end effector according to the invention.Furthermore, in this embodiment, advantageously, no separate prewinding unit is required for prewinding the adhesive tape for a subsequent application cycle, especially if the end effector is designed such that the adhesive tape tears directly in the application arrangement or in the application area, preferably at the application element. Thus, an end effector according to the invention is preferred, wherein the end effector comprises a braking unit, preferably a pneumatic brake, wherein the braking unit is configured to impede or prevent, preferably prevent, the feeding of the adhesive tape into the application arrangement and / or the guiding of the adhesive tape in the application arrangement.

[0037] The inventors have succeeded in identifying designs of the braking unit which, in practice, particularly reliably impede or prevent the guidance of the adhesive tape and which, after engagement, also advantageously promote reliable tearing of an easily tearable adhesive tape during the movement of the end effector. Preferred is an end effector according to the invention, wherein the braking unit is configured to impede or prevent the feeding of the adhesive tape into the application arrangement and / or the guidance of the adhesive tape in the application arrangement by applying contact pressure to the adhesive tape guided in the guide arrangement and / or application arrangement, preferably to the adhesive tape guided in the guide arrangement.A person skilled in the art will understand that the term "contact pressure" in this context refers to the pressure exerted by the braking unit on the adhesive tape, which is applied, for example, by the braking unit pressing the adhesive tape against a component of the application arrangement or the guide arrangement. Alternatively, an end effector according to the invention is preferred, wherein the braking unit is configured to control the feeding of the adhesive tape into the application arrangement and / or the guiding of the adhesive tape in the.

[0038] Application arrangement, by blocking guide elements of the

[0039] Guide arrangement and / or by blocking the rotation of the adhesive tape reel arranged in the reel holder, preferably by blocking guide elements of the guide arrangement, to make it more difficult or to prevent it.

[0040] As explained above, when using a braking unit, the end effector according to the invention can advantageously achieve the separation of an adhesive tape guided in the end effector without the need for separating devices. This means that, in addition to reducing the equipment required, the operational safety of the end effector according to the invention is also improved compared to known end effectors. Nevertheless, it may be expedient in certain cases to provide separating devices, for example because the adhesive tape to be applied does not have the necessary tear resistance. In this case, the end effector usually comprises at least one prewinding device for repositioning the adhesive tape in the guide arrangement and / or the application arrangement after the adhesive tape has been separated.Theoretically, an end effector according to the invention is therefore conceivable, wherein the end effector comprises one or more separating devices, preferably cutting knives, which are designed to sever the adhesive layer and / or the adhesive tape, preferably the adhesive layer, wherein the separating devices are preferably arranged in the region of the application arrangement, particularly preferably directly in front of the application region with respect to the guided adhesive tape strand.

[0041] According to the inventors, an end effector according to the invention, which is provided with a braking unit for the application of easily tearable adhesive tapes, ie adhesive tapes whose adhesive layer has a tear strength of 10 N / cm 2or less and / or an elongation at break of 50% or less is particularly advantageous. For all embodiments, an end effector according to the invention is preferred for the application of easily tearable double-sided adhesive tapes whose adhesive layer has a tear strength of 10 N / cm 2or less and / or an elongation at break of 50% or less, with an automated movement unit, comprising: a) a spool holder, b) a guide arrangement, c) an application arrangement, and d) a removal arrangement, wherein the spool holder is configured to receive an adhesive tape spool, wherein the guide arrangement is configured to guide an adhesive tape provided by an adhesive tape spool arranged in the spool holder from the spool holder to the application arrangement, wherein the application arrangement is configured to guide an adhesive tape supplied to the application arrangement such that the adhesive layer of the adhesive tape lies in an application area on the outside of the end effector, so that the end effector can contact a substrate to be bonded with the adhesive layer of the adhesive tape, and wherein the removal arrangement is configured toto remove a release layer of an adhesive tape, which has been detached from the adhesive layer in the application arrangement, from the end effector, wherein the end effector comprises a braking unit, wherein the braking unit is designed to impede or prevent the feeding of the adhesive tape into the application arrangement and / or the guiding of the adhesive tape in the application arrangement, wherein the end effector preferably does not comprise separate separating devices for separating the adhesive tape.

[0042] Based on this, an end effector system is also disclosed, comprising an end effector according to the invention with a braking unit, wherein an adhesive tape reel with an adhesive tape is arranged in the reel holder of the end effector according to the invention, the adhesive layer of which has a tear strength of 10 N / cm 2 or less, preferably 9 N / cm 2 or less, particularly preferably 8.5 N / cm 2or less, and / or an elongation at break of 50% or less, preferably 40% or less, particularly preferably 35% or less.

[0043] With a view to ensuring the most trouble-free application of adhesive tapes, the end effector according to the invention can advantageously comprise a first electronic detection unit, which detects, for example, the quality of the adhesive layer of the adhesive tape in order to register and prevent the application of a faulty adhesive tape. The quality of the adhesive layer refers, for example, to the optical appearance of the adhesive layer, in particular the detection of contamination and / or damage to the adhesive layer. The first electronic detection unit can alternatively or additionally be configured to detect the complete absence of the adhesive layer. In most cases, detection is carried out using an optical method.An end effector according to the invention is preferred, wherein the first electronic detection unit comprises an optical sensor, preferably a camera or a color sensor, particularly preferably a color sensor. For this purpose, the adhesive tapes and / or release liners are, for example, colored. For example, the adhesive layer and the release layer can have different colors, so that exposure of the release layer can be detected. Alternatively, the adhesive layer can, for example, be colored, but the release layer can be substantially transparent, so that if the release layer is exposed, only the respective detection background of the first electronic detection unit is detected.Accordingly, an end effector according to the 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 nature of the adhesive layer in the adhesive tape before the adhesive tape passes through the application area of ​​the application arrangement.

[0044] With regard to the arrangement in the end effector, the inventors have identified particularly preferred configurations for the first electronic detection unit, with which particularly reliable quality controls could be carried out in practice and which thus ensure particularly reliable and error-free application. An end effector according to the invention is preferred, wherein the first electronic detection unit is arranged in the area of ​​the application arrangement, preferably directly upstream of the application area with respect to the guided adhesive tape strand.

[0045] The quality control performed by the first electronic detection unit prior to the application of the adhesive tape can also be used to control the end effector to prevent malfunctions caused by a defective adhesive layer, for example, by terminating the application and / or interrupting the application following a corresponding output signal from the first electronic detection unit. With a view to preventing faulty adhesive tape application processes, avoiding excessive waste, and achieving a high degree of automation, the inventors accordingly propose that the information detected by the first electronic detection unit should advantageously be used to control the other components of the end effector.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 the braking unit and / or the drive unit, as a function of information detected by the first electronic detection unit. Also preferred is an end effector according to the invention, wherein the electronic control unit is configured to prevent the feeding of the adhesive tape into the application arrangement and / or the guiding of the adhesive tape in the application arrangement and / or the application of the adhesive tape if the first electronic detection unit detects the absence of the adhesive layer in the adhesive tape and / or an inadequate quality of the adhesive layer, preferably a quality of the adhesive layer lying outside a tolerance range, in the adhesive tape.

[0046] The monitoring of a successful application of adhesive tape in the end effector according to the invention can advantageously be carried out by a second electronic detection unit, which detects the absence of the adhesive layer after application. In this case, too, the detection will usually be optical. An end effector according to the invention is also preferred here, wherein the second electronic detection unit comprises an optical sensor, preferably a camera or a color sensor, particularly preferably a color sensor.

[0047] The quality control by the second electronic detection unit after application of the adhesive tape can, similarly to the first electronic detection unit, prevent malfunctions caused by faulty application, for example by terminating the application or issuing a warning signal if insufficient application is detected, which manifests itself in the adhesive tape remaining on the adhesive layer. Accordingly, 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 the adhesive layer after the adhesive tape has passed through the application area of ​​the application arrangement.

[0048] The inventors have also identified a particularly suitable positioning for the second electronic detection unit, which, in practice, allows for particularly reliable final inspections due to the immediacy of the assessment, thus ensuring particularly safe application. An end effector according to the invention is preferred, wherein the second electronic detection unit is arranged in the area of ​​the application arrangement, preferably directly behind the application area with respect to the guided adhesive tape strand.

[0049] For the second detection unit, it is also preferred if the output is used to control the end effector or its components. Consequently, 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 the braking unit and / or the drive unit, as a function of information detected by the second electronic detection unit. Also preferred is an end effector according to the invention, wherein the electronic control unit is configured to prevent the feeding of the adhesive tape into the application arrangement and / or the guiding of the adhesive tape in the application arrangement and / or the application of the adhesive tape if the second electronic detection unit detects the presence of the adhesive layer in the adhesive tape.

[0050] Given the high quality requirements of modern automated manufacturing processes, the inventors consider it particularly effective to perform optical inspection both before and after the application area. Accordingly, an end effector according to the invention is particularly preferred, wherein the end effector comprises the first electronic detection unit and the second electronic detection unit, wherein the first electronic detection unit and the second electronic detection unit preferably comprise similar sensors, particularly preferably similar optical sensors.

[0051] Finally, the inventors have also succeeded in identifying fundamental designs of the end effector with which, in practice, a particularly reliable application of adhesive tapes could be achieved, in particular even under demanding production conditions, and which, in the inventors' opinion, are advantageously suited for integration into existing production lines. An end effector according to the invention is preferred, 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 extensive automation. Those skilled in the art sometimes also speak of the excellent integration of the end effector according to the invention into Industry 4.0 projects.In most cases, a replaceable end effector according to the invention is relevant for this purpose. The end effector comprises a connecting element for connecting the end effector to an automated movement unit, wherein the connecting element is preferably arranged on the support structure of the end effector. An example of this is an end effector according to the invention, wherein the connecting element is arranged on the side of the end effector facing away from the application area.

[0052] The invention also relates to an application system for applying double-sided adhesive tapes, comprising: x) an automated movement unit, and y) an end effector according to the invention connected to the automated movement unit.

[0053] The application system according to the invention comprises an automated movement unit and an end effector according to the invention connected to the automated movement unit. Those skilled in the art will understand that the preferred application system according to the invention also has the corresponding advantages of preferred end effectors. In practice, the end effector according to the invention will usually be connected to the automated movement unit as a terminal element, so that the end effector according to the invention, as the executing element, enables the application of double-sided adhesive tapes.

[0054] With a view to precise controllability and a high degree of automation, an application system according to the invention is preferred, wherein the automated movement unit is a linear axis system or a robot arm, preferably a robot arm.

[0055] The application system according to the invention is advantageously suitable for extensive automation of application processes, for which it expediently comprises an electronic data processing device for control. In most cases, therefore, an application system according to the invention is relevant, wherein the application system comprises an electronic data processing device for controlling the end effector and the automated movement unit, preferably as a function of adhesive instructions stored in a memory unit of the electronic data processing device. Adhesive instructions are the control commands and instructions that can be read out, for example, by control software. These control commands can include, for example, specifications regarding the length of the adhesive tape to be applied and / or movement instructions for the automated movement unit.

[0056] The invention further relates to a method for applying double-sided adhesive tapes with an end effector according to the invention or an application system according to the invention, comprising the method steps: i) producing or providing an adhesive tape reel with an adhesive tape in the reel holder, wherein the adhesive tape comprises at least one adhesive layer arranged on a release layer, ii) feeding the adhesive tape from the adhesive tape reel arranged in the reel holder to the application arrangement with the guide arrangement, iii) guiding the adhesive tape in the application arrangement, wherein the adhesive layer of the adhesive tape lies on the outside of the end effector in the application area, iv) contacting a substrate to be bonded with the adhesive layer of the adhesive tape by the end effector in the application area and detaching the adhesive layer of the adhesive tape from the release layer to apply the adhesive layer to the substrate,v) removing the release liner detached from the adhesive layer of the adhesive tape using the removal device.

[0057] The method according to the invention serves for the application of double-sided adhesive tapes using 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 producing or providing an adhesive tape reel with an adhesive tape in the reel receptacle of the end effector. The inventors have identified particularly suitable configurations for the adhesive tape reel, with which particularly efficient process management could be achieved in practice. A method according to the invention is preferred, wherein the adhesive tape reel has a mass in the range of 5 to 15 kg, preferably in the range of 5 to 8 kg.

[0058] A method according to the invention is suitable for essentially all embodiments, wherein the adhesive tape reel is provided from a storage system in method step i) and inserted into the reel holder. An example of a method according to the invention is wherein the adhesive tape reel is provided in method step i) by replacing an empty adhesive tape reel.

[0059] The term "adhesive tape" is clear to those skilled in the field of adhesive technology. Within the scope of the present invention, the term "tape" refers to all thin, flat structures, i.e., structures with a predominant two-dimensional extension, in particular films, film sections, and labels, preferably tapes with an extended length and a limited width, as well as corresponding tape sections. The adhesive tape arranged on the adhesive tape reel is a double-sided adhesive tape, so that it comprises, for example, two adhesive layers arranged on different sides of a carrier layer; carrier-free adhesive tapes are also conceivable.According to the invention, the adhesive tape comprises at least one adhesive layer arranged on a release layer. Further layers may be provided between the release layer and the uppermost adhesive layer in light of the above explanation, in particular a possible carrier layer along with a second carrier layer of a carrier-based double-sided adhesive tape. In other words, a method according to the invention is also relevant for most cases, wherein the adhesive layer consists of an adhesive layer made of an adhesive composition, or wherein the adhesive layer consists of an adhesive layer made of a first adhesive composition and a carrier layer, as well as optionally further adhesive layers made of further adhesive compositions.

[0060] Industry-standard materials, usually referred to as liners, can be used as release layers. An example of a process according to the invention is the release layer comprising one or more materials selected from the group consisting of polyethylene, polypropylene, polyethylene terephthalate, paper, and combinations of these materials. 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. The silicone release layer can most preferably be produced by crosslinking a crosslinkable silicone system comprising one or more polysiloxanes. Such release layers enable, in particular, problem-free unwinding of the adhesive tape from the adhesive tape reel and protect the back of the adhesive layer from contamination.When using release-coated separating layers on both sides in conjunction with a braking unit in the end effector according to the invention, it is preferred for a good braking effect to design the braking unit in the contact area with a rubber coating and / or with a macroscopic surface structure, for example in the form of needle points, in order to reduce the risk of unwanted slipping of the adhesive tape after engagement of the braking unit.

[0061] With regard to the handling properties of the adhesive tapes, a process according to the invention is particularly preferred, wherein the adhesive layer is a pressure-sensitive adhesive layer. A pressure-sensitive adhesive layer, in accordance with the expert understanding, is an adhesive layer that has pressure-sensitive adhesive properties, i.e., the ability to form a permanent bond to a substrate even under relatively light pressure. Such pressure-sensitive adhesive tapes can usually be removed from the substrate after use essentially without leaving residue and are generally permanently tacky even at room temperature, which means that they have a certain viscosity and tackiness, so that they wet the surface of a substrate even under light pressure.

[0062] The inventors have identified particularly suitable parameters for the adhesive tape with a view to process stability and efficient process control of the process according to the invention. As already explained above with regard to the end effector according to the invention, the use of adhesive tapes with low elongation at break is explicitly preferred, since the separation of such adhesive tapes can usually be carried out without mechanical separation devices when using a braking unit. Since such adhesive tapes tear easily, they can be reliably separated by abrupt braking, even without manual or automated separation devices. In this respect, a process according to the invention is particularly preferred, wherein the adhesive layer has a tear strength of 10 N / cm 2 or less, preferably 9 N / cm 2 or less, particularly preferably 8.5 N / cm 2or less. Alternatively or additionally, a 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. Tear strength refers to the maximum mechanical tensile stress that can be applied to a body without tearing it. Elongation at break, on the other hand, refers to the percentage change in length of a body after tearing relative to its initial length.

[0063] According to the invention, the method according to the invention further comprises guiding the adhesive tape from the adhesive tape reel via the guide assembly to the application assembly. According to the invention, the adhesive layer of the adhesive tape is located in the application area on the outside of the end effector, so that a substrate to be bonded can be contacted with the adhesive layer of the adhesive tape. For most cases, a method according to the invention is expedient, wherein the contact of the substrate to be bonded with the adhesive layer of the adhesive tape is effected by a movement of the end effector, wherein the movement of the end effector is preferably effected by the automated movement unit.

[0064] According to the invention, the method according to the invention also comprises detaching the adhesive layer of the adhesive tape from the release layer, which is essentially achieved by the stronger adhesion of the adhesive layer to the substrate and possibly promoted by the shape of the application element, and subsequently removing the release layer using the removal arrangement. It can be seen as an advantage of the method according to the invention that it is not limited with regard to possible further process steps.

[0065] In practice, a method according to the invention is relevant for essentially all embodiments, additionally comprising the method step: vi) moving the end effector contacting the substrate over the surface of the substrate.

[0066] Moving the end effector preferably enables the application of a predetermined amount of adhesive tape along a predetermined distance of the substrate surface.

[0067] The method according to the invention is suitable for bonding various substrates and is therefore fundamentally not limited in this regard. In most cases, however, a method according to the invention is generally relevant, wherein the substrate is a component to which additional components are to be attached by means of the adhesive layer. An example of a method according to the invention is one in which the substrate comprises a vehicle component, preferably a headliner. In vehicles, the headliner refers to the interior lining of the vehicle roof.

[0068] Preferably, in particular when providing a braking unit in the end effector, a method according to the invention additionally comprises the method step: vii) lifting the end effector from the substrate after application of a predetermined amount of the adhesive layer and separating the adhesive layer between the end effector and the substrate.

[0069] As explained above, the separation in method step vii) is preferably carried out by the braking unit of the end effector, wherein triggering of the braking unit prevents the adhesive tape from being guided in the application arrangement, so that an adhesive tape with an adhesive layer of low elongation at break tears in the application arrangement, particularly preferably directly at the application element. The separating layer generally remains uncut. In a correspondingly preferred embodiment, a particularly high level of occupational safety can be achieved in the method according to the invention, in particular by eliminating separate separating devices for the adhesive tape. Therefore, a method according to the invention is explicitly preferred, wherein the separation of the adhesive layer is brought about or promoted by the braking unit of the end effector, which hinders or prevents the feeding of the adhesive tape into the application arrangement and / or the guiding of the adhesive tape in the application arrangement.In this respect, a method according to the invention is preferred, wherein the separation of the adhesive layer is effected 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°.

[0070] Advantageously, however, the method according to the invention is not limited with regard to the separation. At least theoretically, a method according to the invention is also conceivable, wherein the separation of the adhesive layer is carried out by the

[0071] The end effector's separating device is used to effect or convey the movement.

[0072] A method according to the invention is now also preferred, additionally comprising the method step: 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 an automated device.

[0073] For example, a method according to the invention is conceivable, wherein the substrate is a roof liner and wherein at least one vehicle molding and at least one cable harness are pressed as components onto the adhesive layer applied to the substrate.

[0074] With a view to a time- and cost-efficient process, in particular in the automotive industry, a method according to the invention is preferred, wherein in the method one or more molded parts are bonded to a roof lining by means of the applied adhesive tape and / or wherein in the method one or more cable harnesses are bonded to a roof lining by means of the applied adhesive tape.

[0075] For the purpose of increased efficiency, the simultaneous processing of several originally separate work steps into a single work step is also possible using the method according to the invention. Therefore, a method according to the invention is also preferred, wherein one or more molded parts and one or more cable harnesses are bonded together, wherein the bonding takes place at the same work station of a production line and / or by the same end effector.

[0076] Also disclosed is the use of an end effector according to the invention for applying double-sided adhesive tapes with an automated movement unit in vehicle production for fastening cable harnesses and molded parts, preferably to a roof lining, to increase production efficiency.

[0077] Preferred embodiments of the invention are explained and described in more detail below with reference to the accompanying figure. It shows:

[0078] Fig. 1 is a schematic representation of an end effector according to the invention in a preferred embodiment.

[0079] Fig. 1 shows a schematic representation of an end effector 10 according to the invention for applying double-sided adhesive tapes 1 in a preferred embodiment.

[0080] The end effector 10 comprises a reel holder 14, which can be driven by a drive unit 30 and on which, in the example shown, an adhesive tape reel 22 with a typical double-sided adhesive tape 12 is arranged. The double-sided adhesive tape 12 comprises a carrier layer and two pressure-sensitive adhesive layers. This adhesive layer is arranged on a separating layer 24, which is coated on both sides with a release layer. The adhesive layer of the illustrated adhesive tape 12 has a maximum tear strength of 10 N / cm. 2 or a maximum elongation at break of 50%, whereby the double-sided adhesive tape 12 can, for example, be the product tesa 50400.

[0081] In the end effector 10 shown, the double-sided adhesive tape 12 is guided via a guide assembly 16 from the reel holder 14 or the adhesive tape reel 22 arranged therein to an application assembly 18 of the end effector 10, which is indicated by a dashed frame. For this purpose, the guide assembly 16 in the example shown comprises six guide rollers, some of which may be electrically driven. One of these guide rollers is designed as a position-adjustable web tension element 26, with the reversible and non-destructive change in the position of the web tension element 26 relative to the other guide rollers being represented by directional arrows in Fig. 1.

[0082] When used in a method according to the invention, the tensile stress of the adhesive tape 12 in the guide arrangement 16 is adjusted via the web tension element 26 by moving the web tension element 26 along the directional arrows, so that a predefined tensile stress on the web tension element 26 caused by the tension of the adhesive tape 12 is not exceeded. The web tension element 26 is controlled by an electronic control unit 28, which also controls the drive unit 30 depending on the position of the web tension element 26.

[0083] In the end effector 10 shown, the adhesive tape 12 introduced into the application assembly 18 is guided over the surface of an application element of the application assembly 18 and around this application element via an auxiliary guide roller in such a way that the adhesive layer in an application area at the lower end of the end effector 10 shown points away from the application element, allowing the end effector 10 to contact the adhesive layer with a substrate to be bonded. The application assembly 18 is spring-loaded to the end effector 10 or its carrier plate, so that when the adhesive tape 12 is pressed against the application assembly, a compensating movement can occur along the directional arrows shown in Fig. 1.

[0084] At the application element or in the application area of ​​the application assembly 18, the release layer 24 of the adhesive tape 12 is guided via a second auxiliary guide roller to a discharge assembly 20 of the end effector 10. In the discharge assembly 20, the release layer 24 is discharged between two counter-rotating rollers to an outlet hole 38, which is connected to a suction system (not shown), so that the release layer 24 can be suctioned out of the end effector 10.

[0085] The end effector 10 shown further comprises a pneumatic brake unit 32, which can prevent the adhesive tape 12 from being guided in the application arrangement 18 by exerting contact pressure on the adhesive tape 12 guided in the guide arrangement 16. In the end effector 10 shown, the triggering of the brake unit 32 upon further movement or lifting of the end effector 10 causes the adhesive layer of the adhesive tape 12 to tear in the application area or on the application element. The release layer 24 remains undamaged in the provided guide, so that the adhesive tape 12 does not need to be rethreaded in the next application cycle, or so that no additional prewinding devices need to be provided on the end effector 10.

[0086] The end effector 10 shown further comprises a first electronic detection unit 34 with a color sensor, located directly in front of the application area, and a second electronic detection unit 36 ​​with a color sensor, located directly behind the application area. To evaluate a successful application process, the first electronic detection unit 34 can detect the presence and nature of the adhesive layer in the adhesive tape 12, and the second electronic detection unit 36 ​​can detect the desired absence of the adhesive layer, which indicates successful transfer to the substrate.

[0087] When used in a method according to the invention, a further electronic control unit, which is also part of the robot control system, controls the braking unit 32 with a separate valve control (electrical to pneumatic). This further electronic control unit is also designed to control the braking unit 32, if necessary, depending on the information detected by the first electronic detection unit 34 and second electronic detection unit 36, in such a way that application of the adhesive tape is prevented if the first electronic detection unit 34 detects the absence of the adhesive layer in the adhesive tape 12 or an inadequate quality of the adhesive layer in the adhesive tape 12 or if the second electronic detection unit 36 ​​detects the presence of the adhesive layer, i.e. a failure to apply the adhesive tape 12.

[0088] List of reference symbols

[0089] 10 End effector

[0090] 12 adhesive tape

[0091] 14 Coil holder 16 Guide arrangement

[0092] 18 Application arrangement

[0093] 20 Discharge arrangement

[0094] 22 adhesive tape reels

[0095] 24 Separating layer 26 Web tension element

[0096] 28 electronic control unit

[0097] 30 drive unit

[0098] 32 brake unit

[0099] 34 first electronic detection unit 36 ​​second electronic detection unit

[0100] 38 outlet hole

Claims

Claims End effector (10) for applying double-sided adhesive tapes (12) with an automated movement unit, comprising: a) a spool holder (14), b) a guide arrangement (16), c) an application arrangement (18), and d) a removal arrangement (20), wherein the spool holder (14) is designed to receive an adhesive tape spool (22), wherein the guide arrangement (16) is designed to guide an adhesive tape (12) provided by an adhesive tape spool (22) arranged in the spool holder (14) from the spool holder (14) to the application arrangement (18), wherein the application arrangement (18) is designed to guide an adhesive tape (12) fed to the application arrangement (18) in such a way that the adhesive layer of the adhesive tape (12) lies in an application area on the outside of the end effector (10), so that the end effector (10) can contact a substrate to be bonded with the adhesive layer of the adhesive tape (12) can contact,and wherein the removal arrangement (20) is configured to remove a release layer (24) of an adhesive tape (12) detached from the adhesive layer in the application arrangement (18) from the end effector (10). The end effector (10) according to claim 1, wherein the end effector (10) comprises a position-adjustable web tension element (26) in the guide arrangement (16), wherein the web tension element (26) is configured to reversibly and non-destructively change its position relative to other parts of the guide arrangement (16) when the adhesive tape (12) is tensioned in the guide arrangement (16) in order to at least partially compensate for the tensile stress. 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 reel holder (14) for driving the adhesive tape reel (22) and / or the position of the web tensioning element (26), wherein the electronic control unit (28) is preferably configured to control the drive unit (30) as a function of the position of the web tensioning element (26). 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 impede or prevent the feeding of the adhesive tape (12) into the application arrangement (18) and / or the guiding of the adhesive tape (12) in the application arrangement (18).End effector (10) according to 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 the adhesive layer in the adhesive tape (12) and / or the nature of the adhesive layer in the adhesive tape (12) before the adhesive tape (12) passes through the application region of the application arrangement (18). End effector (10) according to 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) passes through the application region of the application arrangement (18). End effector (10) according to one of claims 1 to 6, wherein the application arrangement. (18) is connected to the other components of the end effector (10) via a spring arrangement. End effector (10) according to one of claims 1 to 7, wherein the removal arrangement (20) comprises an outlet hole (38) for removing the separating layer (24), wherein the outlet hole (38) is connected to a fluid line system and / or wherein the removal of the separating layer (24) through the outlet hole (38) is conveyed or effected by a suction system. An application system for applying double-sided adhesive tapes (12), comprising: x) an automated movement unit, and y) an end effector (10) according to one of claims 1 to 8 connected to the automated movement unit. A method for applying double-sided adhesive tapes (12) with an end effector (10) according to one of claims 1 to 8 or an application system according to claim 9, comprising the method steps: i) producing or providing an adhesive tape reel (22) with an adhesive tape (12) in the reel 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 the adhesive tape reel (22) arranged in the reel holder (14) to the application arrangement (18) with the guide arrangement (16), iii) guiding the adhesive tape (12) in the application arrangement (18), wherein the adhesive layer of the adhesive tape (12) lies on the outside of the end effector (10) in the application area, iv) contacting a substrate to be bonded with the adhesive layer of the adhesive tape (12) by the end effector (10) in the application area and detaching the adhesive layer of the adhesive tape (12) from the release layer (24) for applying the adhesive layer to the substrate, v) removing the separating layer (24) detached from the adhesive layer of the adhesive tape (12) with the removal arrangement (20). Method according to claim 10, wherein the adhesive layer has a tear strength of 10 N / cm 2or less, and / or wherein the adhesive layer has an elongation at break of 50% or less. Method according to one of claims 10 or 11, additionally comprising the method step: vii) lifting the end effector (10) from the substrate after application of a predetermined amount of the adhesive layer and severing the adhesive layer between the end effector (10) and the substrate. Method according to claim 12, wherein the severing of the adhesive layer is brought about or promoted by the braking unit (32) of the end effector (10), which makes it difficult or impossible to feed the adhesive tape (12) into the application arrangement (18) and / or to guide the adhesive tape (1) in the application arrangement (18). Method according to one of claims 10 to 13, additionally comprising the method step: viii) pressing one or more components onto the adhesive layer applied to the substrate to obtain an adhesive bond.Method according to one of claims 10 to 14, wherein in the method one or more molded parts are glued to a roof lining by means of the applied adhesive tape (12) and / or wherein in the method one or more cable harnesses are glued to a roof lining by means of the applied adhesive tape (1).

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