Tape material control device, control method for tape material control device, manufacturing device of article, program, and recording medium

Abstract

To improve versatility without increasing a size of an entire device.SOLUTION: A tape material control device includes: a supply unit (301) that supplies a tape material (201); a first roller (302) that delivers the tape material; a first rotation drive unit that rotates the first roller; a second roller (307) that transports a peeling member; a second rotation drive unit that rotates the second roller; a third roller (105) that can wind a sealing member; a third rotation drive unit that rotates the third roller; and a control unit. The control unit individually controls a feed speed of the tape material by the first rotation drive unit, a transport speed of the peeling member by the second rotation drive unit, and a winding speed of the sealing member by the third rotation drive unit.SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present invention relates to a tape material control device, a control method for a tape material control device, a manufacturing method for an article, a program, and a recording medium. [Background technology]

[0002] Conventionally, the work of attaching a sealing member to a workpiece is generally performed by a skilled worker, but automation is desired in order to attach the sealing member with high accuracy and high speed. Therefore, an apparatus for attaching a sealing member to a workpiece is being developed. Furthermore, such an attaching apparatus needs to peel the sealing member from a tape material composed of a peeling member and a sealing member, and supply the sealing member to an apparatus that attaches the sealing member, and automation of this operation is also desired.

[0003] For this reason, it has been proposed to set the tape material in a jig, move and rotate a reel attached to the tip of the robot along the jig, and supply the tape material body to the reel by peeling the tape material body from the release paper and winding it onto the reel (see Patent Document 1).

[0004] It has also been proposed to supply adhesive tape material from a supply reel to a peeling unit, attach the adhesive tape material to a protective sheet temporarily attached to the surface of the substrate by the peeling unit, and peel the protective sheet from the surface of the substrate while moving the peeling unit (see Patent Document 2). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2022-65833 A [Patent Document 2] JP 2020-47767 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, the above-mentioned Patent Document 1 has a problem that a tape body longer than the movable range of the robot cannot be wound around a reel, and the length that the tape body can be attached to a workpiece is limited, resulting in low versatility. Also, the above-mentioned Patent Document 2 has a problem that the adhesive tape material can be semi-automatically supplied to reduce the workload, but has a problem that the versatility is low because it is similarly configured to move the peeling unit.

[0007] Therefore, an object of the present invention is to provide a tape material control device, a control method for a tape material control device, a method for manufacturing an article, a program, and a recording medium that can improve versatility. [Means for solving the problem]

[0008] One aspect of the present invention is a tape material control device comprising: a supply unit that supplies a tape material having a peeling member and a sealing member that can be peeled off from the peeling member; a first roller that feeds out the tape material supplied from the supply unit to a peeling position where the sealing member is peeled off from the peeling member; a first rotation drive unit that rotates the first roller; a second roller that transports the peeling member from which the sealing member has been peeled off at the peeling position; a second rotation drive unit that rotates the second roller; a third roller around which the sealing member that has been peeled off at the peeling position can be wrapped; a third rotation drive unit that rotates the third roller; and a control unit, wherein the control unit individually controls the feed speed of the tape material by the first rotation drive unit, the transport speed of the peeling member by the second rotation drive unit, and the wrapping speed of the sealing member by the third rotation drive unit.

[0009] One aspect of the present invention is a control method for a tape material control device that includes a supply unit that supplies a tape material having a peeling member and a sealing member that can be peeled off from the peeling member, a first roller that feeds out the tape material supplied from the supply unit to a peeling position where the sealing member is peeled off from the peeling member, a first rotation drive unit that rotates the first roller, a second roller that transports the peeling member from which the sealing member has been peeled off at the peeling position, a second rotation drive unit that rotates the second roller, a third roller around which the sealing member that has been peeled off at the peeling position can be wrapped, a third rotation drive unit that rotates the third roller, and a control unit, wherein the control unit individually controls the feed speed of the tape material by the first rotation drive unit, the transport speed of the peeling member by the second rotation drive unit, and the wrapping speed of the sealing member by the third rotation drive unit.

[0010] One aspect of the present invention is a tape material control device comprising: a supply section that supplies a tape material having a peeling member and a sealing member that can be peeled off from the peeling member; a cutting unit that has a cutting blade that cuts the sealing member and an adsorption section that adsorbs and grips the cut sealing member; a first roller that feeds the tape material supplied from the supply section to a peeling position where the seal member cut from the peeling member is peeled off; a first rotation drive section that rotates the first roller; a second roller that transports the peeling member from which the cut seal member has been peeled off at the peeling position; a second rotation drive section that rotates the second roller; a robot that moves the cutting unit to the peeling position and an attachment position where the cut sealing member is attached; and a control section, wherein the control section individually controls the feed speed of the tape material by the first rotation drive section and the transport speed of the peeling member by the second rotation drive section.

[0011] One aspect of the present invention is a control method for a tape material control device including a supply unit that supplies a tape material having a peeling member and a sealing member that can be peeled off from the peeling member, a cutting unit including a cutting blade that cuts the sealing member and an adsorption block that adsorbs and holds the cut sealing member, a first roller that feeds the tape material supplied from the supply unit to a peeling position where the seal member cut from the peeling member is peeled off, a first rotation drive unit that rotates the first roller, a second roller that transports the peeling member from which the cut seal member has been peeled off at the peeling position, a second rotation drive unit that rotates the second roller, a robot that moves the cutting unit to the peeling position and an attachment position where the cut seal member is attached, and a control unit, wherein the control unit individually controls the feed speed of the tape material by the first rotation drive unit and the transport speed of the peeling member by the second rotation drive unit. Effect of the Invention

[0012] According to the present invention, versatility can be improved. [Brief description of the drawings]

[0013] [Figure 1] 1 is a perspective view showing a tape control device according to a first embodiment. FIG. [Diagram 2] FIG. 2 is a side view showing the sealing part according to the first embodiment. [Diagram 3] FIG. 2 is a schematic front view showing the sealing material supplying device according to the first embodiment. [Figure 4] FIG. 2 is a perspective view showing a peeling and pasting head according to the first embodiment. [Diagram 5] FIG. 2 is a schematic front view showing the peeling and pasting head according to the first embodiment. [Figure 6] FIG. 2 is a schematic side view showing the peeling and pasting head according to the first embodiment. [Figure 7] FIG. 2 is a schematic diagram showing a winding roller according to the first embodiment. [Figure 8] FIG. 2 is a block diagram showing a control system of the tape material control device according to the first embodiment. [Figure 9] 5 is a flowchart showing a supply process of the sealing part according to the first embodiment. [Figure 10] 13A and 13B are diagrams showing an operation of gripping the leading end of a sealing part by a peeling and pasting head. [Figure 11] 13A and 13B are diagrams showing the operation of peeling the tip of the sealing part from the release paper. [Figure 12] 13A and 13B are diagrams illustrating an operation of wrapping the sealing component by a wrapping roller while peeling the sealing component from the release paper. [Figure 13] 11A and 11B are diagrams illustrating an operation of cutting the sealing part. [Figure 14] 13A and 13B are diagrams illustrating a feeding operation of the sealing part after the sealing part is cut. [Figure 15] FIG. 13 is a diagram showing the operation of pivoting the peeling and pasting head. [Figure 16] 13A and 13B are diagrams illustrating an operation of gripping the rear end of a sealing part by a peeling and pasting head. [Figure 17] 13A and 13B are diagrams showing an operation of peeling and separating a seal part by a peeling and pasting head. [Figure 18] FIG. 13 is a diagram showing an initial state in which the sealing part has been sent to a peeling start position. [Figure 19] FIG. 11 is a schematic front view showing a sealing material supplying device according to a second embodiment. [Figure 20] FIG. 11 is a block diagram showing a control system of a tape material control device according to a second embodiment. [Figure 21] 1A is a schematic side view showing a cutting, peeling, and pasting head according to a second embodiment, and FIG.1B is a schematic front view showing a cutting blade block of the cutting, peeling, and pasting head according to the second embodiment. [Figure 22] 1A is a perspective view showing a cutting blade and a tape material of a cutting, peeling, and pasting head according to a second embodiment, and FIG. 1B is a perspective view showing a cutting blade and a pressure-receiving unit of the cutting, peeling, and pasting head according to a second embodiment. [Figure 23] 10 is a flowchart showing a supply process of a sealing part according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] First Embodiment A first embodiment of the present invention will be described below with reference to FIGS. 1 to 18. FIG.

[0015] [Outline of tape material control device] First, a schematic configuration of a tape material control device according to a first embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a perspective view showing the tape material control device according to the first embodiment. Fig. 2 is a side view showing a sealing part according to the first embodiment.

[0016] 1, a tape material control device 1000 including a robot device 10, a sealing material supply device 300 as a supply device, and a workpiece 400 is disposed on the upper surface of a base 1 installed in a factory or the like. The robot device 10 includes a base 2 and a robot arm 10A as a robot body that is a manipulator of a six-axis articulated robot supported by the base 2. A flange-shaped flange portion 11 is provided at the tip of the robot arm 10A to which a peeling and pasting head 100 as an end effector is attached. Note that the six-axis articulated robot itself can be controlled by well-known means, and therefore a detailed description thereof will be omitted.

[0017] Also, disposed near the robot device 10 is a sealing material supplying device 300 which peels off and cuts a string-like or band-like tape material 201 to supply a flexible sealing part (hereinafter referred to as "sealing part") 202 to the robot device 10. Furthermore, disposed near the robot device 10 in a different direction from the sealing material supplying device 300 as viewed from the robot device 10 is a workpiece 400 which is an object to which the sealing part 202 is to be affixed.

[0018] As shown in FIG. 2, the tape material 201 is configured by laminating a soft material layer 201c on a release paper 201a as a release member via an adhesive layer (adhesive layer) 201b such as a double-sided tape. The soft material layer 201c is configured of a soft material formed in a sponge-like shape using urethane foam or the like. The state in which the adhesive layer 201b and the soft material layer 201c are peeled off from the release paper 201a can be defined as a seal part 202 as a seal member, that is, the seal part 202 is peelably laminated on the release paper 201a. In the first embodiment, the tape material 201 is configured as a bobbin-wound supply roll that can be manually set in the supply section 301 of the sealing material supply device 300. Then, in the sealing material supply device 300 described later, the soft material layer and the adhesive layer of the tape material 201 are cut and peeled off from the release paper 201a. As a result, the sealing part 202 consisting of the adhesive layer 201b and the soft material layer 201c is supplied to the peeling and pasting head 100 of the robot device 10. In the following description of the first embodiment, for the sake of convenience, the end of the sealing part 202 that is first wrapped around the peeling and pasting head 100 is referred to as the leading end, and the end that is last wrapped around the peeling and pasting head 100 is referred to as the trailing end.

[0019] Meanwhile, the workpiece 400 is manually set at the mounting position by positioning (not shown). The robot device 10 moves the peeling and pasting head 100 to above the peeling table 306 which is the peeling position of the sealing material supplying device 300, and performs a winding operation of wrapping (rolling up) the sealing part 202 while peeling it off each time. Then, a pasting operation is performed in which the wrapped sealing part 202 is transported to the workpiece 400 each time and pasted. In other words, the robot device 10 repeatedly executes the winding operation and the pasting operation to paste the sealing part 202 on the workpiece 400. Through the above operations, the workpiece 400 to which the sealing part 202 is pasted is manufactured as an article.

[0020] The sealing material supplying device 300 and the workpiece 400 are both disposed on straight lines L1 and L2 that form an angle θ with each other and are centered on the first axis, which is the rotation axis of the base 2, within the operable range of the robot device 10. The arrangement of these may be appropriately determined depending on the setting conditions of the sealing material supplying device 300 and the workpiece 400, the installation space thereof, and the surrounding environment, but it is preferable that the operating range of the robot device 10 is not made larger than necessary, taking into account the takt time.

[0021] [Configuration of sealing material supply device] Next, the configuration of the sealing material supplying device 300 will be described with reference to Figs. 1 and 3. Fig. 3 is a schematic front view showing the sealing material supplying device according to the first embodiment. As shown in Fig. 1, the sealing material supplying device 300 includes a side plate 309 erected on a base 1. That is, as shown in Figs. 1 and 3, the sealing material supplying device 300 includes a supplying section 301, a dancer roller control roller 302 as a first roller, a pressure roller 303, and a dancer roller 304, all of which are supported by the side plate 309. Furthermore, the sealing material supplying device 300 includes a tension roller 305, a seal cutting section 310 as a cutting section, a peeling table 306 as a peeling position, a release paper feed roller 307 as a second roller, and a pressure roller 308, all of which are supported by the side plate 309. The sealing material supplying device 300 is configured so that the tape material 201 is drawn around via each of these rollers.

[0022] As shown in Fig. 3, the supply unit 301 is configured by setting a supply roll around which the tape material 201 is wound, and the rotation speed thereof is controlled by a motor 301A (see Fig. 8) whose rotation is controlled by a supply unit rotation control unit 521. That is, the supply unit 301 is driven to rotate by the system controller 500 to control the supply speed at which the tape material 201 is unwound and supplied. The supply unit 301 also supplies the tape material 201 so as to generate slack in the tape material 201 between the dancer roller control roller 302 and the supply unit 301. That is, a slack detection sensor Sn1 serving as a third detection unit constituted by an optical sensor or the like arranged under the supply unit 301 detects the amount of slack in the tape material 201, and the system controller 500 controls the rotation of the supply unit 301 so as to always maintain a constant amount of slack.

[0023] The rotation speed of the dancer roller control roller 302 is controlled by a motor 302A (see FIG. 8) whose rotation is controlled by a dancer roller control roller controller 522. That is, the dancer roller control roller 302 is rotated so as to send the tape material 201 to the dancer roller 304 or a peeling table 306 serving as a peeling position (a supply position of a sealing part) described later. Also, the pressure roller 303 is configured so as to be able to press against the dancer roller control roller 302 by an air cylinder 321 in a manner that it opens and closes. The pressure roller 303 is rotated in a manner that it is driven via the tape material 201 by rotating the dancer roller control roller 302 with the tape material 201 clamped between the dancer roller control roller 302 and the pressure roller 303.

[0024] The dancer roller 304 is supported by a support mechanism (not shown) so as to be slidable in the vertical direction, and is biased downward by a biasing member such as a spring (not shown) or its own weight. The dancer roller 304 is arranged so as to press from above the tape material 201 stretched between the dancer roller control roller 302 and the tension roller 305. The tension roller 305 is configured to rotate following the tape material 201. The dancer roller 304 configured in this way is configured to apply a certain tension to the tape material 201 drawn around the sealing material supply device 300. That is, the system controller 500 lowers the dancer roller 304 by feeding the tape material 201 by the rotation of the dancer roller control roller 302, and raises the dancer roller 304 by conveying the release paper 201a by the rotation of the release paper feed roller 307. By raising or lowering the dancer roller 304 in this way, the distance of the path through which the tape material passes between the release paper feed roller 307 and the dancer roller control roller 302 is expanded or contracted. Therefore, basically, by controlling the release paper feed roller 307 and the dancer roller control roller 302 to move at the same timing and at the same transport speed, tension is applied to the tape material 201 while the position of the dancer roller 304 remains unchanged.

[0025] However, even if the release paper feed roller 307 and the dancer roller control roller 302 are controlled to have the same conveying speed, the dancer roller 304 actually rises or falls. For this reason, the sealant supplying device 300 is provided with a dancer roller position detection sensor Sn2 (see FIG. 8) as a first detection unit. For example, as shown in FIG. 3, the dancer roller position detection sensor Sn2 is configured to have an upper position detection sensor Sn2a and a lower position detection sensor Sn2b. Assume that the upper position detection sensor Sn2a detects that the position of the dancer roller 304 has moved upward by a predetermined amount from the origin position. In this case, the delivery speed of the dancer roller control roller 302 is increased to create a speed difference with respect to the conveying speed of the release paper feed roller 307, thereby lowering the dancer roller 304 and bringing it closer to the origin. Conversely, assume that the lower position detection sensor Sn2b detects that the position of the dancer roller 304 has moved downward by a predetermined amount from the origin position. In this case, the sending speed of the dancer roller control roller 302 is slowed down to create a speed difference with the conveying speed of the release paper feed roller 307, thereby raising the dancer roller 304 and bringing it closer to the origin.

[0026] Also, for example, an abnormality may occur such that the tape material 201 slips or gets caught on any of the rollers and stops. For this reason, the sealant supplying device 300 is provided with a dancer roller abnormality detection sensor Sn3 (see FIG. 8) as a second detection unit. For example, as shown in FIG. 3, the dancer roller abnormality detection sensor Sn3 is configured to have an upper abnormality detection sensor Sn3a and a lower abnormality detection sensor Sn3b. These upper abnormality detection sensor Sn3a and lower abnormality detection sensor Sn3b are disposed at positions farther up and down from the origin position than the above-mentioned upper position detection sensor Sn2a and lower position detection sensor Sn2b. Then, it is assumed that either of these upper abnormality detection sensor Sn3a and lower abnormality detection sensor Sn3b detects that the dancer roller 304 has been moved. That is, in this case, it is configured to detect an abnormality and stop the sealant supplying device 300 as the position of the dancer roller 304 rises or falls to an abnormal position beyond the normal movement range (predetermined range) including the origin position.

[0027] In the first embodiment, the dancer roller position detection sensor Sn2 and the dancer roller abnormality detection sensor Sn3 are configured as separate sensors as described above, but this is not limiting and they may be configured as the same sensor. For example, any type of sensor may be used, such as an encoder or laser distance meter that detects the position of a member that moves together with the dancer roller 304 in a support mechanism (not shown) that supports the dancer roller 304.

[0028] The seal cutting section 310 is configured to have an air cylinder 311 controlled by an air control unit 531 for vertical movement of the cutting blade (see FIG. 8), and a cutting blade 312 driven to move vertically by the air cylinder 311. The cutting blade 312 waits in an elevated state, but descends when cutting, and does not cut the release paper 201a of the tape material 201, but cuts the seal part 202 (soft material layer 201c and adhesive layer 201b) that becomes a part of the product. The cutting blade 312 used in the seal cutting section 310 can be, for example, a Thomson blade or an ultrasonic cutter. In the first embodiment, the cutting blade 312 is mechanically configured so that when it descends, a minute gap between the cutting edge and the peeling table 306 is constant, and the gap is set to about half the thickness of the release paper 201a.

[0029] The peeling table 306 has a role as a receiving table for receiving the tape material 201, and a role of promoting peeling of the sealing part 202 by drawing the release paper 201a of the tape material 201 at an acute angle with the tip end 306a of the peeling table 306. As will be described later in detail, the peeling table 306 includes a peeling position where the sealing part 202 is peeled from the release paper 201a and supplied to the peeling and pasting head 100. When peeling the sealing part 202, in the first embodiment, the posture of the peeling and pasting head 100 is changed but basically no movement is performed. However, since there is a distance between the tip end chuck 105 and the rear end chuck 103 described later, the peeling position (supply position) in the first embodiment has a range of a predetermined length in the conveying direction in which the tape material 201 is conveyed, corresponding to the distance. In addition, above the peeling table 306, a sealing material leading end detection sensor Sn4 is disposed as a fourth detection unit that detects that the leading end 202s of the cut sealing part 202 on the tape material 201 has reached the starting position where peeling begins.

[0030] The rotation speed of the release paper feed roller 307 is controlled by a motor 307A (see FIG. 8) whose rotation is controlled by the release paper feed roller control unit 523. That is, the release paper feed roller 307 is rotated to feed the tape material 201 downstream of the dancer roller 304 in the conveying direction. The pressure roller 308 is configured to be able to press the release paper feed roller 307 by opening and closing it with the air cylinder 322. The pressure roller 308 is rotated in a manner that is driven by the release paper 201a by rotating the release paper feed roller 307 while being clamped between the release paper feed roller 307 and the pressure roller 308. The release paper 201a fed by the rotation of the release paper feed roller 307 may be collected in a collection box or the like as it is, or may be wound up on a roller (not shown) and collected as a roll wound up to a certain amount.

[0031] [Structure of peeling and pasting head] Next, the configuration of the peeling and pasting head according to the first embodiment will be described with reference to Fig. 4 to Fig. 7. Fig. 4 is a perspective view showing the peeling and pasting head according to the first embodiment. Fig. 5 is a schematic front view showing the peeling and pasting head according to the first embodiment. Fig. 6 is a schematic side view showing the peeling and pasting head according to the first embodiment. Fig. 7 is a schematic view showing the winding roller according to the first embodiment.

[0032] 4, 5, and 6, the peeling and pasting head 100 has an attachment 101, and a connection portion 101A of the attachment 101 is fixed to a flange portion 11 (see FIG. 1) installed on a sixth axis of a robot arm 10A of the robot device 10. A winding roller 104 as a third roller to which a leading end chuck 105 as a first gripping portion capable of gripping a leading end of a sealing part 202 is integrally fixed is rotatably supported by the attachment 101. The winding roller 104 has an outer circumferential surface 104a around which the sealing part 202 is wound.

[0033] The attachment 101 is also equipped with a rotation drive mechanism 112 that rotates and drives the winding roller 104, and a ball spline shaft 114 as an axial movement section. The rotation drive mechanism 112 is equipped with a motor 112A that outputs a drive force that rotates the winding roller 104, and a transmission mechanism 112B formed of a belt-and-pulley mechanism that transmits the rotation of the motor 112A to the ball spline shaft 114. The ball spline shaft 114 slides and moves the winding roller 104 in the axial direction by the rotation of the motor 112A.

[0034] In this way, in the configuration of the peeling and pasting head 100 according to the first embodiment, the ball spline shaft 114 is used for the axial sliding movement of the winding roller 104. This allows the rotation of the winding roller 104 and the axial sliding movement to be operated in synchronization (i.e., linked). Also, the number of motors can be reduced, leading to cost reduction. Note that a motor for driving the rotation of the winding roller 104 and a motor for sliding the winding roller 104 in the axial direction may be provided separately and configured to be driven independently.

[0035] Meanwhile, the leading edge chuck 105 is fixed to the winding roller 104 so as to rotate integrally therewith. In detail, the leading edge chuck 105 has a fixed chuck 105a fixed to the winding roller 104, and a movable chuck 105b which moves relative to the fixed chuck 105a to open and close. The movable chuck 105b is biased toward the fixed chuck 105a by a tension spring 108 (see FIG. 4), that is, the leading edge chuck 105 is constantly biased in a closing direction by the tension spring 108. An air cylinder 111 which presses the movable chuck 105b via a cam follower 109 is attached to the attachment 101.

[0036] 6, a ball spline shaft 114 is fixed to the end of the winding roller 104, and a tip chuck 105 is fixed to the ball spline shaft 114 with a bolt or the like. A cam follower 109 is attached to the opposite side of the tip chuck 105. The tip 110 presses the cam follower 109 by the axial extension and contraction of the air cylinder 111, thereby opening the movable chuck 105b, which is normally closed, from the fixed chuck 105a against the biasing force of the tension spring 108.

[0037] If the leading edge chuck 105 is opened and closed simply by the operation of an air cylinder, there is a risk that the air piping may become twisted due to the rotation of the air piping together with the rotation of the winding roller 104. For this reason, the air cylinder 111 and the leading edge chuck 105 are configured to be separated from each other as described above, but this configuration is not necessarily required.

[0038] On the other hand, as shown in Fig. 4 and Fig. 5, the peeling and pasting head 100 has a pressing roller 102 as a fourth roller and a rear end chuck 103 as a second gripping part capable of gripping the rear end of the sealing part 202, which are attached to an attachment 101. The pressing roller 102 and the rear end chuck 103 are arranged so as to be parallel to the axial direction of the winding roller 104. The pressing roller 102 is arranged between the winding roller 104 and the rear end chuck 103 and adjacent to the rear end chuck 103, and is supported rotatably relative to the attachment 101. The pressing roller 102 is configured to come into contact with the sealing part 202 stretched between the winding roller 104 and the rear end chuck 103 from the inside, and is configured to be able to press the sealing part 202 against the peeling table 306, particularly during the winding operation.

[0039] 5, a position regulating guide 116 may be provided as a guide for regulating the position of the sealing part 202. Although not shown in FIG. 4, the position regulating guide 116 is provided near the member on which the pressing roller 102 is provided so as not to interfere with the rotation of the pressing roller 102 and not to interfere with the winding and pasting of the sealing part 202. The position regulating guide 116 shown in FIG. 5 is disposed between the winding roller 104 and the pressing roller 102 and adjacent to the pressing roller 102 (near the pressing roller 102). The position regulating guide 116 is configured to come into contact with the sealing part 202 stretched between the winding roller 104 and the rear end chuck 103 from the inside, and is configured to be able to regulate the position of the sealing part 202 in the short side direction, particularly during the winding operation.

[0040] 5, the position regulation guide 116 is located on a common tangent between the pressure roller 102 and the winding roller 104, and is capable of regulating the position of the tape material in the short side direction by contacting the side of the tensioned sealing part 202. Furthermore, by arranging the position regulation guide 116 as close as possible to the pressure roller 102, the effect of regulating the position of the tape material in the short side direction is improved, and twisting of the tape material can be suppressed especially when it is applied to a curved line.

[0041] In the first embodiment, as shown in Fig. 7, a holding groove 104b that holds the wrapped seal part 202 so as not to shift position, particularly in the axial direction, is formed in a spiral shape on the outer circumferential surface 104a of the winding roller 104. Note that the winding roller 104 in Fig. 7 is shown in a simplified form for the sake of convenience. This makes it possible to prevent the seal part from being double-stacked or spaced apart when wrapping the seal part, and improves the accuracy of the winding amount and the feed amount relative to the amount of rotation in the winding and pasting operations.

[0042] [Control system configuration of tape material control device] Next, the configuration of a control system of the tape material controlling device 1000 will be described with reference to Fig. 8. Fig. 8 is a block diagram showing the control system of the tape material controlling device according to the first embodiment.

[0043] The system controller 500 as a control section is a so-called CPU, and executes a program stored in a memory 502 consisting of a RAM, a ROM, etc., in response to an operation of an operation section 501, and controls each section of the tape material control device 1000. That is, the system controller 500 integrally controls the robot arm 10A, the peeling and pasting head 100, and the sealing material supplying device 300. The robot arm 10A is provided with a six-axis joint drive system 509 consisting of motors, etc., which drive each joint of the robot arm 10A, and a robot controller 508 which controls the six-axis joint drive system 509 in response to a movement target position and a movement path.

[0044] The program stored in the memory 502 may be stored in a computer-readable recording medium such as a hard disk, a CD, a DVD, a flash memory, etc. This program can be said to be a program to be executed by the system controller 500 as a computer including other computers.

[0045] On the other hand, the peeling and pasting head 100 is provided with a winding roller rotation control unit 510 as a third rotation drive unit that drives the motor 112A to control the forward or reverse rotation of the winding roller 104 and the axial position of the winding roller 104. Furthermore, the peeling and pasting head 100 is provided with a leading end chuck opening and closing air control unit 512 that controls the air cylinder 111 that opens and closes the leading end chuck 105 that is normally kept closed by the tension spring 108. Furthermore, the peeling and pasting head 100 is provided with a trailing end chuck opening and closing air control unit 513 that controls the air cylinder 106 that opens and closes the trailing end chuck 103. Furthermore, the peeling and pasting head 100 is provided with a trailing end chuck up and down air control unit 514 that controls the trailing end chuck up and down air cylinder 107 that drives the trailing end chuck 103 up and down. The peeling and pasting head 100 may be provided with an image processing controller 401 that controls an on-hand camera 115 for acquiring the pasting position of the workpiece 400 and the peeling position of the sealing material supplying device 300 (the position of the peeling table 306).

[0046] The sealing material supplying device 300 is also provided with a supplying unit rotation control unit 521 that drives the motor 301A to control the rotation speed of the supplying unit 301 (the supplying speed of the tape material 201). The sealing material supplying device 300 is also provided with a dancer roller control roller control unit 522 as a first rotation driving unit that drives the motor 302A to control the rotation speed of the dancer roller control roller 302 (the sending speed of the tape material 201). The sealing material supplying device 300 is also provided with a release paper feed roller control unit 523 as a second rotation driving unit that drives the motor 307A to control the rotation speed of the release paper feed roller 307 (the conveying speed of the release paper 201a). The sealing material supplying device 300 is also provided with a cutting blade up / down air control unit 531 that drives the air cylinder 311 to control the up / down movement of the cutting blade 312. These motors and air cylinders can be independently controlled at the same time to freely drive and control the respective rollers and cutting blades. The sealing material supplying device 300 is further provided with the above-mentioned slack detection sensor Sn1, dancer roller position detection sensor Sn2, dancer roller abnormality detection sensor Sn3, and sealing material leading edge detection sensor Sn4, which are connected to the system controller 500.

[0047] In the first embodiment, the controllers and control units are provided in the robot arm 10A and the peeling and pasting head 100, but the present invention is not limited to this, and these controllers and control units may be arranged externally. In this case, command signals are transmitted via wires or wirelessly.

[0048] [Sealing parts supply operation] Next, the supply operation of the sealing part 202 from the sealing material supply device 300 to the robot device 10 in the tape material control device 1000 will be described with reference to Figs. 9 to 18. Fig. 9 is a flow chart showing the supply process of the sealing part according to the first embodiment. Fig. 10 is a diagram showing the operation of gripping the leading end of the sealing part by the peeling and pasting head. Fig. 11 is a diagram showing the operation of peeling the leading end of the sealing part from the release paper. Fig. 12 is a diagram showing the operation of wrapping the sealing part while peeling it from the release paper by the winding roller. Fig. 13 is a diagram showing the operation of cutting the sealing part. Fig. 14 is a diagram showing the operation of feeding the sealing part after cutting the sealing part. Fig. 15 is a diagram showing the operation of rotating the peeling and pasting head. Fig. 16 is a diagram showing the operation of gripping the rear end of the sealing part by the peeling and pasting head. Fig. 17 is a diagram showing the operation of peeling and removing the sealing part by the peeling and pasting head. Fig. 18 is a diagram showing the initial state in which the sealing part is sent to the peeling start position.

[0049] (preparation process) Before starting the supply operation of the sealing parts 202 from the sealing material supplying device 300 to the robot device 10, the sealing material supplying device 300 is prepared as a preparation process. First, it is necessary to manually pull the tape material 201 around the supply path of the sealing material supplying device 300. After completing the pulling, the cutting blade 312 is lowered by the air cylinder 311 to cut the sealing parts 202 (and the adhesive layer 201b attached thereto) to be the products without cutting the release paper 201a of the tape material 201. The sealing parts 202 downstream of the cut cutting blade 312 in the supply path are peeled off manually and removed from the supply path. Thereafter, the release paper feed roller 307 is rotated to feed the release paper 201a, thereby moving the tape material 201 along the supply path.

[0050] At this time, simply rotating the release paper feed roller 307 will cause the dancer roller 304 to rise as the tape material 201 advances. For this reason, the dancer roller control roller 302 is rotated at the same timing as the rotation of the release paper feed roller 307 to control the dancer roller 304 so that it does not rise excessively. For example, by rotating the dancer roller control roller 302 at a speed equal to or slightly slower than the rotation speed of the release paper feed roller 307, the amount of rise of the dancer roller 304 can be suppressed.

[0051] The tape material 201 must be fed until the leading end 202s of the cut sealing part 202 reaches the position on the peeling table 306 where peeling begins, that is, the position where it is gripped by the leading end chuck 105 of the peeling and pasting head 100. Therefore, the sealing material leading end detection sensor Sn4 detects the arrival of the leading end 202s of the sealing part 202, and based on the detection result, the rotation of the release paper feed roller 307 and the dancer roller control roller 302 is stopped. After that, in order to return the position of the dancer roller 304, which has risen slightly, to a predetermined position (within a predetermined range from the origin position), the dancer roller control roller 302 is rotated to a position where the position of the dancer roller 304 is detected by the dancer roller position detection sensor Sn2. Then, based on the detection result, the dancer roller control roller 302 is stopped.

[0052] Furthermore, the rotation of the dancer roller control roller 302 pulls the tape material 201 unwound from the supply unit 301. Therefore, the supply unit 301 rotates until the slack detection sensor Sn1 detects that the amount of slack in the tape material 201 unwound from the supply unit 301 is a predetermined amount. Then, based on the detection result, the rotation of the supply unit 301 is stopped. Note that thereafter, the system controller 500 controls the rotation of the supply unit 301 so that the tape material 201 between the supply unit 301 and the dancer roller control roller 302 is always maintained at a constant amount of slack.

[0053] When the preparation of the sealing material supplying device 300 is completed through the above preparation steps, the sealing material supplying device 300 goes into the initial state shown in Fig. 18. Then, the system controller 500 starts control of the supplying operation (supplying step) by the tape material control device 1000 according to the flowchart shown in Fig. 9. Note that the following controls are basically all controls (processing) performed by the system controller 500, and therefore operations by the system controller 500 will not be described.

[0054] (Supply operation) <Robot movement process> When the system controller 500 starts controlling the main supply operation, it operates the robot device 10 and moves the peeling and pasting head 100 provided at the tip of the robot device 10 above the position where peeling of the seal part 202 starts (a position above the seal part peeling) (S1). That is, the tip chuck 105 of the peeling and pasting head 100 is moved above the tip 202s (see FIG. 18) of the seal part 202. Thereafter, the peeling and pasting head 100 is lowered to the position where peeling of the seal part 202 starts (seal part peeling position) (S2).

[0055] <Seal tip gripping process> 10, the leading end chuck 105 is inserted into the leading end 202s of the sealing part 202, and the leading end chuck 105 is closed to grip the leading end 202s of the sealing part 202 (S3). Note that since the sealing part 202 is made of a flexible, elastically deformable material, the leading end chuck 105 can easily penetrate and grip the sealing part 202s by closing.

[0056] <Sealing part peeling start process> 11, in order to peel off the leading end 202s of the sealing part 202, the peeling and pasting head 100 and the sealing part 202 are moved horizontally by the operation of the robot device 10 (change in the posture of the robot arm 10A). At the same time, the release paper 201a is advanced by the rotation of the release paper feed roller 307 (S4). As a result, the leading end 202s of the sealing part 202 is peeled off from the release paper 201a by the sharpened leading end 306a (see FIG. 3) of the peeling table 306. At this time, it is desirable that the horizontal movement amount of the peeling and pasting head 100 and the movement amount of the release paper by the rotation of the release paper feed roller 307 are equal.

[0057] <Dancer roller position adjustment process> On the other hand, it becomes necessary to return the position of the dancer roller 304, which has risen with the transport of the sealing part 202 and the release paper 201a (tape material 201), to a predetermined position. For this reason, the dancer roller control roller 302 is rotated to a position where the position of the dancer roller 304 is recognized by the dancer roller position detection sensor Sn2. At this time, the rise of the dancer roller 304 may be suppressed by simultaneously controlling the rotation of the release paper feed roller 307 and the rotation of the dancer roller control roller 302.

[0058] <Slackness adjustment process> Furthermore, the tape material 201 unwound from the supply unit 301 is pulled by the rotation of the dancer roller control roller 302. For this reason, as described above, the slack detection sensor Sn1 detects the amount of slack in the tape material 201 unwound from the supply unit 301, and the supply unit 301 is rotated so that a constant amount of slack is always maintained.

[0059] <Winding process> 12, the release paper feed roller 307, the winding roller 104 of the peeling and pasting head 100, and the dancer roller control roller 302 are controlled individually and independently while being synchronized, and their rotations are controlled separately (S5). That is, the release paper feed roller 307 rotates to transport the release paper 201a, and the winding roller 104 rotates to wind the seal part 202, simultaneously, at the same timing. At this time, the winding roller 104 winds the seal part 202 in a spiral shape by rotating and moving in the axial direction. In addition, the dancer roller control roller 302 rotates simultaneously, so that the amount of lift of the dancer roller 304 is also suppressed. By controlling each roller individually in this way, the peeling and pasting head 100 is not moved, that is, the robot arm 10A winds the seal part 202 around the winding roller 104 without any movement or change in posture.

[0060] <Calculation of conditions for controlling the rotation of each roller> At this time, it is desirable that the amount of movement of the release paper 201a caused by the rotation of the release paper feed roller 307 is equal to the amount of movement of the adhesive layer 201b (double-sided tape or the like) of the sealing part 202 wound around the winding roller 104. However, since the sealing part 202 is wound around the winding roller 104 with a certain tension applied, it is necessary to take into consideration the compression of the soft material of the sealing part 202.

[0061] Here, an example of calculating the rotation control conditions for the release paper feed roller 307 and the winding roller 104 will be described for the case where winding is performed by the winding roller 104 while applying a tension of, for example, 1N. For example, the seal part 202 has a soft layer whose compression rate when a tension of 1N is applied is 50%, a thickness of 5 mm, and a length of 1500 mm. In addition, for example, the release paper feed roller 307 and the winding roller 104 both have a diameter of 80 mm.

[0062] First, the thickness of the release paper 201a fed by the release paper feed roller 307 is minute and therefore can be almost ignored. Therefore, the transport distance of the release paper 201a with one rotation of the release paper feed roller 307 is calculated as "80 x 3.14 ≈ 251.3 mm" based on the diameter of 80 mm and the value of pi. Therefore, in order to transport the total length of the sealing part 202, which is 1500 mm, the release paper feed roller 307 needs to rotate approximately six times, since "1500 / 251.3 ≈ 6". Furthermore, if the transport speed of the release paper 201a is set to 200 mm / s, the rotational angular velocity of the release paper feed roller 307 is "200 / 251.3 x 360 ≈ 286.5 (deg / s)".

[0063] Next, the seal part 202 is wound by the winding roller 104 with a tension of 1N, and the soft layer is compressed, so that the thickness becomes "5 x 0.5 = 2.5 mm". In addition, the adhesive layer 201b is made of, for example, double-sided tape, and is not easily stretched, and is located on the outer periphery of the soft layer when wound around the winding roller 104. Therefore, the amount of the seal part 202 wound by one rotation of the winding roller 104 is "(80 + 2.5 x 2) x 3.14 ≒ 267 mm", taking into account the diameter of the winding roller 104, 80 mm, and the thickness of the seal part 202 to be wound, 2.5 mm. In other words, "(diameter of the winding roller + compression rate x thickness of the seal member x 2 sheets) x pi = length of one rotation of the adhesive layer of the wound seal part". Therefore, in order to wind the entire length of the sealing part 202, which is 1500 mm, the winding roller 104 needs to rotate approximately 5.6 times, since "1500 / 267 ≈ 5.6". If the winding speed of the sealing part 202 is set to 200 mm / s, which is the same as the conveying speed of the release paper 201a, the rotational angular velocity of the winding roller 104 (i.e., the rotational speed of the winding roller 104) is "200 / 267 × 360 ≈ 269.6 (deg / s)". Strictly speaking, it is preferable to subtract the distance between the leading end chuck 105 and the trailing end chuck 103 from the entire length of the sealing part 202, which is 1500 mm.

[0064] In the above description, the conveying speed of the release paper 201a by the rotation of the release paper feed roller 307 and the winding speed of the seal part 202 by the rotation of the winding roller 104 are both set to 200 mm / s. However, this is not limiting, and the user may intentionally set a speed difference in consideration of the difference in the amount of elongation between the release paper 201a and the seal part 202, etc.

[0065] <Winding completion process> Next, when the winding of the sealing part 202 of a predetermined length is completed, the rotation of the release paper feed roller 307, the winding roller 104, and the dancer roller control roller 302 is stopped (S6). Specifically, the conveyance of the tape material 201 is advanced by rotating each roller until the length from the tip 202s of the wound sealing part 202 to the lowered position (cutting position) of the cutting blade 312 becomes equal to the length of the sealing part 202 alone. Then, in the same manner as described above, in order to return the position of the raised dancer roller 304 to a predetermined position, the dancer roller control roller 302 is rotated to a position where the position of the dancer roller 304 is detected by the dancer roller position detection sensor Sn2. Note that the length of the sealing part 202 wound around the winding roller 104 can be set arbitrarily, so that even if the length of the sealing part 202 to be handled is different, it is easily possible to deal with it by controlling the rotation amount of each roller.

[0066] <Sealing part cutting process> Next, as shown in FIG. 13, the cutting blade 312 is lowered by the air cylinder 311 for lowering the cutting blade, so that the blade tip penetrates beyond the thickness of the sealing part 202 and the adhesive layer 201b (double-sided tape) to about half the thickness of the release paper 201a. This cuts the sealing part 202 (soft material layer and adhesive layer) of the tape material 201 (S7). For example, when the thickness of the release paper 201a is 0.15 mm, it is desirable to set the gap between the peeling table 306 that receives the tape material 201 and the cutting blade 312 tip to 0.075 mm, and the lowering end of the air cylinder 311 for lowering the cutting blade may be mechanically adjusted by a stopper or the like. Also, instead of a normal cutting blade, an ultrasonic cutter may be used, and in this case, the cutting blade may be lowered while applying a predetermined ultrasonic vibration, or ultrasonic vibration may be applied after the cutting blade reaches the lowering end. Also, in this case, it is necessary to adjust the lowering end of the cutting blade taking into account the amplitude of the ultrasonic vibration so that the release paper 201a is not cut.

[0067] <Sealing part cutting process> Then, when cutting of the seal part 202 (and the adhesive layer 201b) is completed, the cutting blade 312 is raised by the air cylinder 311 for raising and lowering the cutting blade (S8).

[0068] <Post-cutting winding process> Next, as shown in FIG. 14, the release paper feed roller 307, the winding roller 104 of the peeling and pasting head 100, and the dancer roller control roller 302 are controlled individually and independently while being synchronized, and their rotations are controlled separately (S9). As in step S5, the release paper feed roller 307 rotates to transport the release paper 201a, and the winding roller 104 rotates to wind the seal part 202, simultaneously at the same timing. At this time, the winding roller 104 winds the seal part 202 in a spiral shape by rotating and moving in the axial direction. The dancer roller control roller 302 also rotates simultaneously to suppress the amount of lift of the dancer roller 304. In step S9, the tape material 201 is transported until the cutting part 201x of the seal part 202 reaches a position where the rear end chuck 103 is lowered to grip the tape material 201, so the amount of rotation of each roller is very small. Also at this time, the robot arm 10A winds the sealing part 202 around the winding roller 104 without any movement or change in posture.

[0069] Then, when the rear end 202e of the sealing part 202 is transported to a rear end gripping position where it can be gripped by the rear end chuck 103 as described below, the rotation of the dancer roller control roller 302, the release paper feed roller 307, and the winding roller 104 is stopped.

[0070] <Peeling and pasting head rotation process> 15, the robot device 10 is operated (the posture of the robot arm 10A is changed) so that the opening and closing direction of the rear end chuck 103 of the peeling and pasting head 100 becomes horizontal, and the peeling and pasting head 100 is rotated in the clockwise direction in the figure (S10). At this time, it is desirable to rotate the peeling and pasting head 100 about the pressure roller 102 of the peeling and pasting head 100 as the center of rotation so that the seal part 202 does not expand or contract. In addition, by rotating the peeling and pasting head 100, the rear end chuck 103 is positioned directly above and facing the rear end 202e of the seal part 202.

[0071] <Rear end chuck insertion process> Next, as shown in FIG. 16, the rear end chuck 103 is driven to move up and down by the rear end chuck up and down air cylinder 107 provided on the peeling and pasting head 100, so that the chuck enters the rear end 202e of the seal part 202 (S11).

[0072] <Rear end chuck gripping process> Next, the rear end chuck 103 is closed by the air cylinder 106 for opening and closing the rear end chuck, which is provided on the peeling and bonding head 100, to grip the rear end 202e of the seal part 202 (S12).

[0073] <Seal component peeling completion process> Next, the robot device 10 is operated (the posture of the robot arm 10A is changed) to raise the peeling and pasting head 100, thereby peeling the seal part 202 from the release paper 201a as shown in Fig. 17 (S13). As a result, a predetermined length of the seal part 202 is supplied from the seal material supply device 300 to the peeling and pasting head 100 of the robot device 10. If peeling of the seal part 202 is not completed for some reason (NO in S14), the process returns to step S1 and repeats the above control until peeling of the seal part 202 is completed. Then, when it is determined that peeling of the seal part 202 is completed (YES in S14), the process proceeds to the next process (for example, a seal part pasting process described later).

[0074] <Initial state transition process> 18, the leading end 202s of the cut sealing part 202 is fed until it reaches the position where peeling starts on the peeling table 306, that is, the position where it is gripped by the leading end chuck 105 of the peeling and pasting head 100. At this time, similar to the preparation process, the sealing material leading end detection sensor Sn4 detects the arrival of the leading end 202s of the sealing part 202, and based on the detection, the rotation of the release paper feed roller 307 and the dancer roller control roller 302 is stopped. After that, in order to return the position of the dancer roller 304, which has risen slightly, to a predetermined position (within a predetermined range from the origin position), the dancer roller control roller 302 is rotated to a position where the position of the dancer roller 304 is detected by the dancer roller position detection sensor Sn2. Then, based on the detection result, the dancer roller control roller 302 is stopped.

[0075] In the first embodiment, the sealing material leading edge detection sensor Sn4 detects the arrival of the leading edge 202s of the sealing part 202 and stops the rotation of the release paper feed roller 307 and the dancer roller control roller 302. However, the present invention is not limited to this, and the leading edge 202s of the sealing part 202 may be moved from the gripping position of the rear end chuck 103 to the gripping position of the leading edge chuck 105 by controlling the rotation amount of the release paper feed roller 307 and the dancer roller control roller 302.

[0076] Furthermore, during the series of operations, the amount of slack in the tape material 201 unwound from the supply unit 301 is always maintained at a predetermined amount or more. That is, the amount of slack is constantly detected by the slack detection sensor Sn1, and when the amount of slack falls below the predetermined amount, the supply unit 301 is rotated to generate slack of the predetermined amount or more, thereby constantly maintaining a state in which there is slack in the tape material 201. That is, the control of rotation or stop of the supply unit 301 is independent of the rotational operations of the various rollers, and is controlled only by the amount of slack in the tape material 201.

[0077] <Sealing part attachment process> When the supply of the sealing part 202 to the winding roller 104 of the peeling and pasting head 100 is completed as described above, the robot device 10 is operated to change the posture of the robot arm 10A, thereby moving the peeling and pasting head 100 above the workpiece 400. Next, for example, the on-hand camera 115 detects the feature points of the workpiece 400 to determine the pasting position of the sealing part 202, and the rear end chuck 103 is moved to the pasting start position of the workpiece 400. Next, the pressure roller 102 presses the sealing part 202 to the pasting position of the workpiece 400. Then, the movement of the robot arm 10A is controlled to move the peeling and pasting head 100 at the pasting position of the workpiece 400, while the rotation speed of the winding roller 104 is controlled by the winding roller rotation control unit 510. At this time, the winding roller 104 is also moved in the axial direction and rotated in the opposite direction to the rotation direction when it was wound, to control the pasting speed. As a result, the sealing part 202 is attached to the workpiece 400 from the winding roller 104, and finally, the grip of the leading end chuck 105 is released to complete the attachment of the sealing part 202 to the workpiece 400. As a result, the workpiece 400 to which the sealing part 202 is attached can be manufactured as an article. After this, the process returns to the robot movement process (see S1) described above and returns to the operation of supplying the next sealing part 202, or if it is determined that all manufacturing processes have been completed, all work processes by the tape material control device 1000 are completed.

[0078] [Summary of the first embodiment] As described above, in the tape material control device 1000 according to the first embodiment, the system controller 500 individually controls the rotation of the dancer roller control roller 302, the release paper feed roller 307, and the winding roller 104. That is, the system controller 500 individually controls the feed speed of the tape material 201 by the dancer roller control roller 302, the conveyance speed of the release paper 201a by the release paper feed roller 307, and the winding speed of the sealing part 202 by the winding roller 104. This control makes the movement distance of the peeling and pasting head 100 shorter than the length of the sealing part 202 to be wound around the winding roller 104, while supplying the sealing part 202 from the sealing material supply device 300 to the robot device 10. This makes it possible to minimize the movement of the peeling and pasting head 100 and wind the sealing part 202 of any length around the winding roller 104.

[0079] That is, when peeling of the sealing part 202 starts (see FIG. 11), when the peeling head turns (see FIG. 15), and when peeling of the sealing part is completed (see FIG. 17), the posture of the robot arm 10A is changed to rotate or move the peeling and pasting head 100. However, in other supply operations of the sealing part 202, the peeling and pasting head 100 is not moved, and the sealing part 202 is wound, thereby achieving supply of the sealing part 202 from the seal material supply device 300 to the robot device 10. In particular, when the sealing part 202 is wound by the winding roller 104 (see FIG. 12 and FIG. 14), the sealing part 202 is wound while the posture of the robot arm 10A is maintained without being changed. Therefore, the movement distance of the peeling and pasting head 100 is shorter than the length of the sealing part 202 wound around the winding roller 104. Therefore, regardless of the length of the sealing part 202 wound around the winding roller 104, the movement distance of the peeling and pasting head 100 can always be minimized. This makes it possible to prevent the tape material control device 1000 from becoming large in overall size. In addition, even if the length of the sealing part 202 is longer than the size of the sealing material supplying device 300, it is possible to supply the sealing part 202 to the robot device 10, which means that versatility can be improved.

[0080] Furthermore, if the type of the seal part 202 differs, the thickness and compression rate of the seal part 202 will differ, and the diameter of the seal part 202 will change when it is wound around the winding roller 104. For this reason, if the winding speed of the winding roller 104 with respect to the conveying speed of the release paper feed roller 307 is not changed relatively depending on the thickness and compression rate, there is a risk that the winding speed will not match, causing loosening or tightening, and the seal part 202 will not be properly wound. However, in the first embodiment, the winding speed of the seal part 202 by the winding roller 104 with respect to the conveying speed of the release paper 201a by the release paper feed roller 307 is controlled and adjusted as in the above example of condition calculation depending on the type of the seal part 202, particularly its thickness and compression rate. This makes it possible to properly wind the seal part 202.

[0081] Furthermore, the peeling and pasting head 100 has a ball spline shaft 114 that moves the winding roller 104 in the axial direction, and the winding roller 104 is moved axially in synchronization with the rotation of the winding roller 104 to spirally wind the sealing part 202. This makes it possible to wind a sealing part 202 that is longer than the outer circumferential length of the winding roller 104 without increasing the diameter of the winding roller 104.

[0082] <Second embodiment> A second embodiment, which is a partial modification of the first embodiment, will be described with reference to Figures 19 to 23. In the following description, the same reference numerals will be used for configurations that are the same as or equivalent to those in the first embodiment, and descriptions thereof will be omitted or simplified, and differences from the first embodiment will be mainly described.

[0083] As described above, in the method of Patent Document 1, a tape material is set on a jig and wound around a reel provided at the tip of a robot. However, for example, when a sealing part is cut from the tape material and held by the robot's application device (head), the cutting location of the sealing part is limited due to the movable range of the robot, resulting in a problem of low versatility as a production facility.

[0084] As described above, in the technique of Patent Document 2, the protective sheet is peeled off while the peeling unit is moved. However, for example, when cutting a sealing part from a tape material and holding it on a joining device (head) of a robot, it is not practical to move the cutting blade in accordance with the movement of the tape material, and this causes a problem of low versatility.

[0085] In the method disclosed in JP 2010-23131 A, the protective film and the adhesive layer are cut by a cutting blade of a half-cutting device, and then the protective film and the adhesive layer are conveyed to a peeling roller to be peeled off from the separator. However, since the cutting blade of the half-cutting device is once separated from the adhesive layer and then conveyed to the peeling roller, there is a risk that the adhesive layer where the cutting blade has come off may reattach, and there is a risk that peeling errors may occur that cannot be peeled off. In addition, in the method disclosed in JP 2010-23131 A, the dimensions of the cutting blade protruding from the embossing table are matched to the thicknesses of the protective film and the adhesive layer to realize half-cutting without cutting the separator. However, since the thickness of the part to be cut varies depending on the material, it becomes necessary to adjust the position of the apex of the cutting blade depending on the material to be cut, which causes a problem of low versatility.

[0086] In the second embodiment, an example of a structure (method) for solving these problems will be described below.

[0087] [Outline of tape material control device] First, a sealant supplying device 600 as a supplying device according to the second embodiment will be described with reference to Fig. 19. Fig. 19 is a schematic front view showing the sealant supplying device 600 according to the second embodiment.

[0088] The sealing material supplying device 600 is disposed near a robot device having a similar configuration to the robot device 10 described in the first embodiment, and constitutes a tape material control device 2000 (see FIG. 20). The robot device 10 in the second embodiment is equipped with a cutting, peeling, and pasting head 800 as an end effector, which will be described in detail later, but otherwise has the same configuration as the first embodiment. The tape material control device 2000 according to the second embodiment causes the cutting, peeling, and pasting head 800 of the robot device 10 to peel and hold a sealing part 203, which will be described in detail later, as a sealing member, from the tape material 201 of the sealing material supplying device 600 and hold the sealing part 203. The tape material control device 2000 moves the cutting, peeling, and pasting head 800 of the robot device 10 holding the sealing part 203 to the vicinity of a workpiece (not shown), and performs an operation of pasting the sealing part 203 held on the workpiece (not shown) to the workpiece.

[0089] As shown in Fig. 19, the sealing material supplying device 600 includes a supplying section 601, a dancer roller control roller 602 as a first roller, a pressure roller 603, and a dancer roller 604, which are supported by a side plate (not shown in Fig. 1). Furthermore, the sealing material supplying device 600 includes a pressure receiving unit 630 as a cutting unit supported movably in the V1-V2 direction (horizontal direction in the second embodiment) which is the conveying direction of the tape material 201 with respect to the side plate (not shown). The pressure receiving unit 630 includes a receiving table 631, a cutting roller 632, a peeling table 633, and a feed roller 634, which can be moved integrally in the V1-V2 direction. Furthermore, the sealing material supplying device 600 includes a pressure roller 609, a waste material feed roller 607 as a second roller, and a pressure roller 608, which are supported by a side plate (not shown in Fig. 1). The sealing material supplying device 600 is configured so that the tape material 201 is routed via these rollers.

[0090] In the second embodiment, a part of the adhesive layer 201b and the soft material layer 201c laminated on the release paper 201a of the tape material 201 is cut (see FIG. 22(a)), and the cut part is adsorbed by a cutting, peeling, and pasting head 800 described later. In the following description, the cut seal part, which is a part of the adhesive layer 201b and the soft material layer 201c, is referred to as a seal part 203. In the second embodiment, not only the release paper 201a is discarded, but the seal part 203 is cut and the soft material layer 201c with a hole is discarded while still attached to the release paper 201a. For this reason, the tape material with a hole is referred to as a waste material 204.

[0091] As shown in Fig. 19, the supply unit 601 is configured by setting a supply roll around which the tape material 201 is wound, and the rotation speed thereof is controlled by a motor 601A (see Fig. 20) whose rotation is controlled by a supply unit rotation control unit 721. That is, the supply unit 601 is driven to rotate by the system controller 500 to control the supply speed at which the tape material 201 is unwound and supplied. The supply unit 601 also supplies the tape material 201 so as to generate slack in the tape material 201 between the dancer roller control roller 602 and the tape material 201. That is, a slack detection sensor Sn1 serving as a third detection unit constituted by an optical sensor or the like arranged under the supply unit 601 detects the amount of slack in the tape material 201, and the system controller 500 controls the rotation of the supply unit 601 so as to always maintain a constant amount of slack.

[0092] The rotation speed of the dancer roller control roller 602 is controlled by a motor 602A (see FIG. 20) whose rotation is controlled by a dancer roller control roller controller 722 serving as a first rotation drive unit. That is, the dancer roller control roller 602 is rotated so as to send out the tape material 201 to the dancer roller 604 or a peeling position (a supply position of the sealing part 203) described below. The pressure roller 603 is configured to be able to press against the dancer roller control roller 602 by an air cylinder 621 in a manner that opens and closes. The pressure roller 603 is rotated in a manner that is driven via the tape material 201 by rotating the dancer roller control roller 602 with the tape material 201 clamped between the dancer roller control roller 602 and the pressure roller 603.

[0093] The dancer roller 604 is supported by a support mechanism (not shown) so as to be slidable in the vertical direction, and is biased downward by a biasing member such as a spring (not shown) or its own weight. The dancer roller 604 is arranged so as to press from above against the tape material 201 stretched between the dancer roller control roller 602 and the tension roller 605. The tension roller 605 is configured to rotate following the movement of the tape material 201. The dancer roller 604 configured in this way is configured to apply a certain tension to the tape material 201 drawn around the sealing material supplying device 600.

[0094] That is, the system controller 500 lowers the dancer roller 604 by rotating the dancer roller control roller 602 to feed the tape material 201, and raises the dancer roller 604 by rotating the waste material feed roller 607 to transport the waste material 204. By raising or lowering the dancer roller 604 in this manner, the distance of the path through which the tape material passes between the waste material feed roller 607 and the dancer roller control roller 602 is expanded or contracted. Therefore, basically, tension is applied to the tape material 201 while the position of the dancer roller 604 remains unchanged by controlling the waste material feed roller 607 and the dancer roller control roller 602 to be at the same timing and at the same transport speed.

[0095] However, even if the waste material feed roller 607 and the dancer roller control roller 602 are controlled to have the same conveying speed, the dancer roller 604 actually rises or falls. For this reason, the seal material supplying device 600 is provided with a dancer roller position detection sensor Sn2 (see FIG. 20) as a first detection unit. For example, as shown in FIG. 19, the dancer roller position detection sensor Sn2 is configured to have an upper position detection sensor Sn2a and a lower position detection sensor Sn2b. Assume that the upper position detection sensor Sn2a detects that the position of the dancer roller 604 has moved upward by a predetermined amount from the origin position. In this case, the delivery speed of the dancer roller control roller 602 is increased to create a speed difference with respect to the conveying speed of the waste material feed roller 607, thereby lowering the dancer roller 604 and bringing it closer to the origin. Conversely, assume that the lower position detection sensor Sn2b detects that the position of the dancer roller 604 has moved downward by a predetermined amount from the origin position. In this case, the sending speed of the dancer roller control roller 602 is slowed down to create a speed difference with the conveying speed of the waste material sending roller 607, thereby raising the dancer roller 604 and bringing it closer to the origin.

[0096] Also, for example, an abnormality may occur such that the tape material 201 slips or gets caught on any of the rollers and stops. Therefore, the sealant supplying device 600 is provided with a dancer roller abnormality detection sensor Sn3 (see FIG. 20) as a second detection unit. For example, as shown in FIG. 19, the dancer roller abnormality detection sensor Sn3 is configured to have an upper abnormality detection sensor Sn3a and a lower abnormality detection sensor Sn3b. These upper abnormality detection sensor Sn3a and lower abnormality detection sensor Sn3b are arranged at positions farther up and down from the origin position than the above-mentioned upper position detection sensor Sn2a and lower position detection sensor Sn2b. Then, it is assumed that either of these upper abnormality detection sensor Sn3a and lower abnormality detection sensor Sn3b detects that the dancer roller 604 has been moved. That is, in this case, it is configured to detect an abnormality and stop the sealant supplying device 600 as the position of the dancer roller 604 rises or falls to an abnormal position beyond the normal movement range (predetermined range) including the origin position.

[0097] In this embodiment, the dancer roller position detection sensor Sn2 and the dancer roller abnormality detection sensor Sn3 are configured as separate sensors as described above, but this is not limiting and they may be configured as the same sensor. For example, any type of sensor may be used, such as an encoder or laser distance meter that detects the position of a member that moves together with the dancer roller 604 in a support mechanism (not shown) that supports the dancer roller 604.

[0098] On the other hand, the rotation speed of the waste material feed roller 607 is controlled by a motor 612A (see FIG. 20) whose rotation is controlled by a waste material feed roller control unit 723 as a second rotation drive unit. That is, the waste material feed roller 607 is rotated to feed the tape material 201 downstream of the dancer roller 604 in the conveying direction. The pressure roller 608 is configured to be able to press the waste material feed roller 607 in an opening and closing manner by an air cylinder 622. The pressure roller 608 is rotated in a manner to be driven via the waste material 204 by rotating the waste material feed roller 607 in a state in which the waste material 204 is clamped between the waste material feed roller 607 and the pressure roller 608. The waste material 204 sent out by the rotation of the waste material feed roller 607 may be collected in a collection box or the like as it is, or may be wound up on a roller (not shown) and collected as a roll wound up by a certain amount.

[0099] [Cutting, peeling and pasting head configuration] Next, the configuration of the cutting, peeling, and pasting head 800 according to the second embodiment will be described with reference to Figures 21 and 22. Figure 21(a) is a schematic side view showing the cutting, peeling, and pasting head according to the second embodiment. Figure 21(b) is a schematic front view showing the cutting blade block of the cutting, peeling, and pasting head according to the second embodiment. Figure 22(a) is a perspective view showing the cutting blade and tape material of the cutting, peeling, and pasting head according to the second embodiment. Figure 22(b) is a perspective view showing the cutting blade and pressure-receiving unit of the cutting, peeling, and pasting head according to the second embodiment.

[0100] 21(a) and 21(b), a cutting, peeling, and adhering head 800 has an attachment 801. A connection portion 801a of the attachment 801 is fixed to a flange portion 11 (see FIG. 1) installed on the sixth axis of the robot arm 10A of the robot device 10. A cutting head 804 is attached to the attachment 801 by mounting plates 802 and 803 that are integrated with bolts 802a or the like.

[0101] The cutting head 804 is fixed to a support plate 806, and the support plate 806 is supported so as to be movable in the up and down directions indicated by the arrows Z1-Z2 by inserting guide pins 807a and 808a into elongated holes (not shown) formed in the mounting plate 803. The cutting head 804 can move relatively to the mounting plate 803 by the amount that the length of the elongated holes is longer than the distance between the guide pins 807a and 808a.

[0102] A bent portion 806a formed at the upper end of the support plate 806 is inserted into a guide hole (not shown) formed in the mounting plate 803, protrudes toward the rear side of the mounting plate 803, and faces an operator 811a that is moved up and down by an air cylinder 811 fixed to the rear side of the mounting plate 803. When the air cylinder 811 is turned on, air is sent through a tube 812, and the operator 811a protrudes upward as indicated by an arrow Z1. When the air is stopped and the air is turned off, the operator 811a moves downward as indicated by an arrow Z2 and is retracted into the air cylinder 811. That is, by turning on the air cylinder 811 controlled by the cutting, peeling, and attaching head compliance control section 712 (see FIG. 20), the operator 811a presses the bent portion 806a of the support plate 806 upward, and the cutting head 804 moves upward. The upper position is determined by the contact between the mounting plate 803 and the bent portion 806a of the support plate 806. This operation brings the cutting head 804 into a connected state in which it is integrated as a rigid body with the attachment 801 and the flange portion 11 of the robot device 10 via the support plate 806 and the mounting plates 803 and 802.

[0103] Also, when the air to the air cylinder 811 is OFF, that is, when the operator 811a is retracted, the support plate 806 moves downward relative to the mounting plate 803. Then, in the elongated hole (not shown) of the mounting plate 803, the lower guide pin 808a is in a free release state within the clearance range, and the cutting head 804 is in a compliance function ON state that allows it to move vertically. This allows the cutting head 804 to be positioned and fixed by a fixing mechanism (not shown) (for example, a mechanism such as the head lock arm in JP 2022-94451 A) without applying a load to the robot device 10. The fixing mechanism (not shown) is driven and controlled by an air cylinder 850 that is driven and controlled by the cutting head lock air control unit 731. That is, the fixing mechanism (not shown) can fix the cutting head pressing plate 809 provided on the cutting head 804 while pressing it toward the pressure receiving unit 630, which will be described in detail later, by the air cylinder 850.

[0104] 21(b), the cutting blade 805 and a pair of bearer parts 810, which are metal blocks arranged on both sides of the cutting blade 805 in the width direction, are arranged on the lower surface 809a of the cutting head pressing plate 809 (i.e., the cutting blade mounting surface). The bearer part 810 is attached to the lower surface 809a, which is the same surface as the cutting blade 805, and is configured to be slightly taller (projecting downward) than the height of the cutting edge 805a of the cutting blade 805. That is, when cutting the sealing part 203, which will be described in detail later, the bearer part 810 comes into contact with the cutting roller 632, and the cutting blade 805 half-cuts the release paper 201a. In this embodiment, the bearer parts 810 are arranged on both sides of the cutting blade 805, but may be arranged on only one side.

[0105] As shown in FIG. 22(a), the cutting blade 805 is formed in an overall shape based on the overall shape of the sealing part 203 so as to cut the sealing part 203 consisting of the adhesive layer 201b and the soft material layer 201c from the tape material 201 over the entire circumference, leaving the release paper 201a. Inside the cutting blade 805 of the overall shape, a suction block 815 as a suction part is arranged so as to be driven through a small gap between the inner wall of the cutting blade 805, and the suction block 815 is configured to be able to suction and hold the sealing part 203. That is, the cutting blade 805 is hollow, and the suction block 815 is driven inside by a driving source such as an air cylinder (not shown). When the shape of the sealing part 203 is a simple rectangle, a single straight cutting blade such as a Thomson blade may be used, and in this case, the suction block 815 may be configured to be driven with a small gap between the cutting blade and the suction block 815.

[0106] The position of the forward end (lower end) or backward end (upper end) of the suction block 815 can be adjusted with high precision using an adjustment screw or the like. In general, the distance between the blade tip 805a and the suction surface 815a of the suction block 815 at the backward end (upper end) is a dimension for cutting the seal part 203, and is desirably a dimension smaller than the thickness of the seal part 203. The distance between the blade tip 805a and the suction surface 815a at the forward end (lower end) is a dimension for attaching the seal part 203 to a workpiece, and is desirably an extremely small dimension that can sufficiently compress the seal part 203.

[0107] If it is not necessary to drive the suction block 815 when attaching the seal part 203, a part in which the cutting blade 805 and the suction block 815 are integrated may be used. In this case, a more sealed state may be created and the suction state may be stabilized by configuring so that there is no gap between the inner wall of the cutting blade 805 and the suction block 815.

[0108] [Pressure receiving unit configuration] Next, the pressure receiving unit 630 that receives the pressing force when the sealing part 203 is cut by the cutting blade 805 and further shortens the distance from the cutting blade 805 to cut the sealing part 203 will be described with reference to Figs. 19 and 22(b). As shown in Fig. 19, the pressure receiving unit 630 is disposed on the side of the release paper 201a of the sealing part 203, and is configured to have a receiving table 631, a cutting roller 632, a peeling table 633, and a feed roller 634. The pressure receiving unit 630 is disposed so as to be freely movable in the V1-V2 direction, which is the horizontal direction and the conveying direction of the tape material 201, by an air cylinder 650 (see Fig. 20) whose drive is controlled by the pressure receiving unit drive control section 732. That is, the pressure receiving unit 630 is configured to be slidably movable by sliding on the surface of the release paper 201a opposite to the sealing part 203. The mechanism for driving and moving the pressure-receiving unit 630 is not limited to the air cylinder 650, but may be a mechanism such as a single-axis NC mechanism including a servo motor and a ball screw.

[0109] As shown in Figure 22 (b), the cutting roller 632 of the pressure-receiving unit 630 is configured to be freely rotatable by having its axis 632a rotatably supported by a support arm 641 fixedly supported to a frame 640 of the pressure-receiving unit 630.

[0110] In this embodiment, as described in detail later, the cutting, peeling and pasting head 800 as an end effector is moved by the robot device 10 to a peeling position where the seal part 203 is cut and peeled off. In this state, the cutting blade 805 is mechanically configured to have a constant minute gap between the cutting edge 805a of the cutting blade 805 and the cutting roller 632. This gap is set to about half the thickness of the release paper 201a, that is, the release paper 201a is not fully cut, and the seal part 203 is cut. The bearer part 810 (see FIG. 21(b)) provided on the cutting, peeling and pasting head 800 described above is used to manage the minute gap between the cutting edge 805a and the cutting roller 632. That is, when the pressure receiving unit 630 is moved in the V2 direction, which is the horizontal direction, with the cutting blade 805 biting into the seal part 203 at the position of the receiving table 631, the cutting roller 632 is brought into contact with and pressed against the bearer part 810. At this time, due to the difference in height between the bearer part 810 and the cutting blade 805, it is possible to easily create a minute gap between the cutting blade 805 and the cutting roller 632 with high precision.

[0111] Specifically, when the height of cutting blade 805 is t and the thickness of release paper 201a is 0.1 mm, the height of bearer part 810 is set to t+0.05 mm. As a result, when bearer part 810 is pressed against cutting roller 632, the gap between cutting edge 805a and cutting roller 632 is 0.05 mm.

[0112] 19, the pressure-receiving unit 630 has a receiving table 631 and a peeling table 633 arranged adjacent to the cutting roller 632. The receiving table 631 receives the pressing force when the cutting edge 805a of the cutting blade 805 is pressed. The step between the apex of the cutting roller 632 and the receiving table 631 is set to, for example, 0.20 mm. In this case, when the cutting, peeling, and pasting head 800 is moved to the peeling position, the upper surface 631a of the receiving table 631 is used as the pressure-receiving surface, and the gap between the cutting edge 805a and the upper surface 631a of the receiving table 631 is 0.25 mm. In other words, the sealing part 203 is compressed by the cutting blade 805 with the dimension of the gap. This dimension of 0.25 mm is set so that the position of the cutting edge 805a does not reach the release paper 201a by a little, and the entire sponge of the part that becomes the sealing part 203 is compressed together with the suction block 815. In other words, this state is for compressing the sealing part 203 while minimizing deformation of the sealing part 203 without receiving a reaction force of the cutting load, and for cutting while maintaining the compressed state. At this time, since the movement of the tape material 201 is stopped as described later, the cutting blade 805 and the tape material 201 do not move relative to each other in the conveyance direction (V1-V2 direction), and the cutting blade 805 moves only in the compression direction. This prevents the sealing part 203 from deforming in the conveyance direction.

[0113] Then, while maintaining the sealing part 203 in this compressed state, the pressure-receiving unit 630 is slid in the horizontal direction, which is the conveying direction, so that the cutting roller 632 and the cutting blade 805 are pressed against each other to cut the sealing part 203. At this time, the position of the cutting head 804 is maintained by the above-mentioned fixing mechanism (not shown) so that the cutting roller 632 rolls while remaining in contact with the bearer part 810, in other words, so that the cutting head 804 does not move away due to the reaction force of the cutting.

[0114] In addition, if the step between the apex of the cutting roller 632 and the upper surface 631a of the receiving table 631 is large, there is a risk that the sealing part 203 will escape when the cutting blade 805 presses and compresses the sealing part 203. This may cause the shape of the cut surface of the sealing part 203 to become uneven, or the position at which the sealing part 203 is held by the suction block 815 after cutting to vary. Furthermore, if the cutting roller 632 moves in a state in which the sealing part 230 has escaped, this will cause a large deformation of the sealing part 203, and the sealing part 203 will be cut in a deformed state, resulting in variation in the shape of the sealing part 203 after cutting. Therefore, by setting the step between the apex of the cutting roller 632 and the receiving table 631 to an appropriate size, for example, 0.20 mm, as described above, variation in the shape of the sealing part 203 can be reduced.

[0115] On the other hand, the peeling table 633 has an upper surface 633a that receives the tape material 201 after the sealing parts 203 are cut in the same state as when they were cut, and an acute-angled tip portion 633b that has a function of promoting peeling of the cut sealing parts 203. The peeling table 633 draws the release paper 201a of the tape material 201 in a Z-shape in a side view by the feed roller 634 and the pressure roller 609, and bends it along the acute-angled tip portion 633b. That is, the peeling table 633 is moved in the horizontal direction (V1-V2 direction) by the movement of the pressure receiving unit 630, thereby moving the position where the release paper 201a is bent, and promoting peeling of the cut sealing parts 203 from the release paper 201a.

[0116] Incidentally, when the sealing part 203 is cut by the cutting roller 632 and the cutting blade 805, the cutting blade 805 is in a state in which it has penetrated nearly halfway into the release paper 201a of the tape material 201. In other words, the adhesive layer 201b made of double-sided tape or the like is in a state in which its edges have been cut by the cutting blade 805, and this state is maintained until the pressure-receiving unit 630 moves in the V2 direction and the sealing part 203 moves to the tip 633b of the peeling table 633. This makes it possible to prevent the adhesive layer 201b of the double-sided tape or the like from re-adhering at the position where its edges have been cut.

[0117] Also, it is desirable to make the step between the apex of the cutting roller 632 and the upper surface 633a of the peeling table 633 as small as possible in order to maintain the state in which the cutting edge 805a of the cutting blade 805 is inserted into the tape material 201 when cutting. Note that in this embodiment, the pressure-receiving unit 630 is integrally provided with the receiving table 631, the cutting roller 632, and the peeling table 633. However, depending on the material of the tape material 201, it is possible to pull the tape material 201 around the outer periphery of the cutting roller 632 without using the peeling table 633, and peel it off almost simultaneously with cutting of the sealing part 203, and the peeling table 633 is not necessarily required.

[0118] [Control system configuration of tape material control device] Here, the configuration of the control system of the tape material control device 2000 will be described with reference to FIG. 20. FIG. 20 is a block diagram showing the control system of the tape material control device 2000 in the second embodiment. As shown in FIG. 20, the sealing material supplying device 600 is provided with a supplying section rotation control section 721 that drives the motor 601A to control the rotation speed of the supplying section 601 (the supplying speed of the tape material 201). Furthermore, the sealing material supplying device 600 is provided with a dancer roller control roller control section 722 as a first rotation driving section that drives the motor 602A to control the rotation speed of the dancer roller control roller 602 (the sending speed of the tape material 201). Furthermore, the sealing material supplying device 600 is provided with a waste material sending roller control section 723 as a second rotation driving section that drives the motor 612A to control the rotation speed of the waste material sending roller 607 (the conveying speed of the waste material 204). The sealing material supplying device 600 is also provided with a cutting head lock air control unit 731 that drives the air cylinder 850 to position and fix the cutting head 804 of the cutting peeling and pasting head 800 relative to the pressure receiving unit 630. The sealing material supplying device 600 is also provided with a pressure receiving unit drive control unit 732 that drives the air cylinder 650 to control the horizontal movement of the pressure receiving unit 630. These motors, air cylinders, etc. can be simultaneously and independently controlled to freely drive and control the rollers, pressure receiving unit 630, etc. The sealing material supplying device 600 is also provided with the above-mentioned slack detection sensor Sn1, dancer roller position detection sensor Sn2, dancer roller abnormality detection sensor Sn3, and sealing material leading edge detection sensor Sn4, which are connected to the system controller 500.

[0119] On the other hand, the cutting, peeling and pasting head 800 is provided with an adsorption control unit 710 that turns on / off the adsorption mechanism 713 of the adsorption block 815. In addition, the cutting, peeling and pasting head 800 is provided with an adsorption block driving air control unit 711 that controls the air cylinder 714 that drives the adsorption block 815 up and down. In addition, the cutting, peeling and pasting head 800 is provided with a cutting, peeling and pasting head compliance control unit 712 that controls the air cylinder 811 for controlling the compliance function of the cutting, peeling and pasting head 800. The cutting, peeling and pasting head compliance control unit 712 is configured to enable or disable the movement of the cutting head 804 in the cutting, peeling and pasting head 800 under certain conditions by controlling the ON / OFF of the air cylinder 811. Note that the detailed configuration, control, compliance function, etc. of the cutting, peeling and pasting head 800 are similar to those described in JP 2022-094451 A, so for simplicity of explanation, the details thereof will be omitted in this specification.

[0120] [Sealing parts supply operation] Next, the supply operation of the sealing part 203 from the sealing material supplying device 600 to the robot device 10 in the tape material control device 2000 will be described with reference to Fig. 23. Fig. 23 is a flow chart showing a supply process of the sealing part according to the second embodiment.

[0121] (preparation process) Before starting the supply operation of the sealing parts 203 from the sealing material supplying device 600 to the robot device 10, the sealing material supplying device 600 is prepared as a preparation process. First, it is necessary to manually draw the tape material 201 around the supply path of the sealing material supplying device 600. That is, in the initial stage, the tape material 201 without the sealing parts 203 cut to the product shape is set in the sealing material supplying device 600.

[0122] At this time, it may be possible that the position of the dancer roller 604 is not appropriate when the tape material 201 is simply set. In that case, the waste material sending roller 607 or the dancer roller control roller 602 is rotated to move the dancer roller 604 to a predetermined position. For example, when the position of the dancer roller 604 is below the predetermined position (within a predetermined range from the origin position), the waste material sending roller 607 is rotated to a position where the position of the dancer roller 604 is detected by the dancer roller position detection sensor Sn2. In this way, the dancer roller 604 is raised. Conversely, when the position of the dancer roller 604 is above the predetermined position (within a predetermined range from the origin position), the dancer roller control roller 602 is rotated to a position where the position of the dancer roller 604 is detected by the dancer roller position detection sensor Sn2. In this way, the dancer roller 604 is lowered.

[0123] Furthermore, the tape material 201 unwound from the supply unit 601 is pulled by the rotation of the dancer roller control roller 602. Therefore, the supply unit 601 is rotated until the slack detection sensor Sn1 detects a predetermined amount of slack in the tape material 201 unwound from the supply unit 601. Then, based on the detection result, the rotation of the supply unit 601 is stopped. Note that thereafter, the system controller 500 controls the rotation of the supply unit 601 so that the tape material 201 between the supply unit 601 and the dancer roller control roller 602 is always maintained at a constant amount of slack.

[0124] When the preparation of the sealing material supplying device 600 is completed by the above preparation steps, the sealing material supplying device 600 is in an initial state. Then, the system controller 500 starts control of the supplying operation (supplying step) by the tape material control device 2000 according to the flowchart shown in Fig. 23. Note that the following controls are basically all controls (processing) performed by the system controller 500, so that the operations by the system controller 500 will be omitted in the description.

[0125] (Supply operation) <Robot movement process> When the system controller 500 starts controlling the main supply operation, first, it controls the robot device 10 to move to an initial position. Then, in the sealing material supply device 600, the uncut portion of the sealing part 203 on the tape material 201 is transported to a peeling position where cutting and peeling are performed, and set. Then, the work is supplied to and installed in a mounting unit (not shown) (S21).

[0126] Next, the air cylinder 811 in the cutting head 804 of the cutting, peeling and attaching head 800 is turned ON, and the flange portion 11 of the robot arm 10A and the cutting head 804 are integrated together (S22).

[0127] Next, the robot device 10 is operated to move the cutting, peeling, and pasting head 800 provided at the tip of the robot device 10 to above the peeling position of the seal part 203. The robot device 10 is further operated to start descending the cutting, peeling, and pasting head 800 toward the cutting start position where the cutting blade 805 starts cutting the seal part 203, that is, the position where the cutting blade 805 comes into contact with the seal part 203 (S23).

[0128] Then, immediately before the cutting head 804 reaches the cutting start position, the air cylinder 811 is turned off and the compliance state of the cutting head 804 is turned on, that is, the cutting head 804 is made free in the vertical direction. Also, the air cylinder 714 is turned on and the suction of the suction block 815 of the cutting head 804 is turned on (S24). Also, the air cylinder 850 is driven to drive a fixing mechanism (lock arm, etc.) not shown in the figure, and the cutting head 804 is locked so as not to be able to move in the vertical direction relative to the pressure receiving unit 630 (S25). As a result, the cutting blade 805 is pressed against the receiving base 631 and is in a state in which it bites into the portion of the tape material 201 that will become the sealing part 203. Also, at this time, the dancer roller control roller 602 and the waste material sending roller 607 are stopped, and the tape material 201 is maintained in a state in which it does not move while a predetermined tension is applied to the tape material 201 by the dancer roller 604. At this time, the tension of the tape material 201 is kept constant by the dancer roller 604, so that the expansion and contraction of the tape material 201 is stabilized, and the shape of the seal part 203 when cut is consistently the desired shape.

[0129] <Seal cutting and peeling process> Next, the pressure receiving unit 630 is driven to move in the V2 direction in the horizontal direction, and the seal part 203 is cut and peeled off from the tape material 201 (S26). Specifically, as the cutting, peeling and pasting head 800 moves to the cutting and peeling position, the entire outer periphery of the seal part 203 is compressed by the receiving table 631 and the cutting blade 805, and the entire inside of the seal part 203 is compressed by the receiving table 631 and the suction block 815. Thereafter, the cutting, peeling and pasting head 800 moves in the horizontal direction (V2 direction) while remaining stationary. As a result, the apex of the cutting roller 632 moves in the horizontal direction while generating a pressing force at a point on the blade tip 805a of the cutting blade 805, and the seal part 203 is cut. At the same time, the suction block 815 sucks air inside the cutting blade 805, so that the seal part 203 is adsorbed and held by the suction block 815. At this time, in the sealing part 203, the soft material layer 201c is made of sponge or the like, so that air can easily pass through, but the adhesive layer 201b made of double-sided tape or the like does not allow air to pass easily, so that the adhesion of the sealing part 203 is strengthened. Therefore, the cut sealing part 203 is adsorbed and held by the adsorption block 815 while maintaining the compressed state before cutting. Then, the tip 633b of the peeling table 633 bends the tape material 201 while moving the bent position in the horizontal direction, thereby facilitating the peeling of the sealing part 203 from the tape material 201.

[0130] When the movement drive of the pressure-receiving unit 630 in the horizontal V2 direction is completed, the air cylinder 850 is turned OFF to release a fixing mechanism (lock arm, etc.) not shown, and the locked state of the cutting head 804 is released (S27). In addition, the air cylinder 811 is turned ON to turn OFF the compliance state of the cutting head 804, that is, the cutting head 804 is integrated with the flange portion 11 of the robot arm 10A (S28).

[0131] If peeling of the seal part 203 is not completed for some reason (NO in S29), the process returns to step S21 and repeats the above control until peeling of the seal part 203 is completed. Then, when it is determined that peeling of the seal part 203 is completed (YES in S29), the process proceeds to the next step (for example, a seal part attachment step described below).

[0132] <Initial state transition process> As described above, when the peeling of the sealing part 203 is completed (YES in S29), the process proceeds to the attaching process (S30 to S33) of the sealing part 203 described later. During this process, the sealing material supplying device 600 simultaneously transitions to the initial state (initial state transition process). Specifically, the pressure receiving unit 630 is moved in the V1 direction to return to the origin position (initial position), and then the waste material feed roller 607 is rotated a predetermined amount to feed the tape material 201 at a fixed pitch. At this time, similar to the preparation process, the waste material feed roller 607 or the dancer roller control roller 602 is rotated to move the dancer roller 604 to a predetermined position. By feeding the tape material 201 at a fixed pitch, the position of the dancer roller 604 should be above the predetermined position (within a predetermined range from the origin position). Therefore, the dancer roller 604 is lowered by rotating the dancer roller control roller 602 to a position where the position of the dancer roller 604 is detected by the dancer roller position detection sensor Sn2.

[0133] <Slackness adjustment process> Furthermore, after feeding the tape material 201 at a constant pitch as described above, the sealing material supplying device 600 adjusts the amount of slack in the tape material 201 (slack adjusting process). That is, the tape material 201 unwound from the supplying unit 601 is pulled by the rotation of the dancer roller control roller 602. Then, as described above, the slack detection sensor Sn1 detects the amount of slack in the tape material 201 unwound from the supplying unit 601, and rotates the supplying unit 601 so that a constant amount of slack is always maintained.

[0134] Furthermore, during the series of operations, the amount of slack in the tape material 201 unwound from the supply unit 601 is maintained at a predetermined amount or more. That is, the amount of slack is constantly detected by the slack detection sensor Sn1, and when the amount of slack falls below the predetermined amount, the supply unit 601 is rotated to generate slack of the predetermined amount or more, thereby constantly maintaining a state in which there is slack in the tape material 201. That is, the control of rotation or stop of the supply unit 601 is independent of the rotational operations of the various rollers, and is controlled only by the amount of slack in the tape material 201.

[0135] <Sealing part attachment process> When the sealing part 203 is adsorbed to the suction block 815 of the cutting, peeling and pasting head 800 as described above, the robot device 10 is operated to change the posture of the robot arm 10A, thereby moving the cutting, peeling and pasting head 800 above the work (S30). Next, for example, the on-hand camera 115 detects the feature points of the work, determines the pasting position of the sealing part 203, and moves the cutting, peeling and pasting head 800 to the pasting position of the work. Next, the suction block 815 is advanced to compress the sealing part 203 between the suction block 815 and the work (S31). In this state, the suction of the suction block 815 is turned off or air is reversely ejected to release the holding of the sealing part 203, and the sealing part 203 is pasted on the work (S32). As a result, the work to which the sealing part 203 is pasted can be manufactured as an article. Then, the robot device 10 is operated to change the posture of the robot arm 10A, thereby returning the cutting, peeling and pasting head 800 to the initial position (S33). After that, the process returns to the robot movement process (see S21) described above, and returns to the cutting and peeling operation of the next sealing part 203 (NO in S34). Alternatively, if it is determined that all manufacturing processes have been completed (YES in S34), all work processes by the tape material control device 2000 are completed.

[0136] [Summary of the second embodiment] As described above, according to the tape material control device 2000 of the second embodiment, the system controller 500 controls the rotation of the dancer roller control roller 602 and the waste material feed roller 607 individually. That is, the feed speed of the tape material 201 by the dancer roller control roller 602 and the conveying speed of the waste material 204 by the waste material feed roller 607 are individually controlled. Then, this control shortens the moving distance of the cutting, peeling, and pasting head 800 while supplying the sealing parts 203 from the sealing material supply device 600 to the robot device 10. Therefore, the movement of the cutting, peeling, and pasting head 800 is kept to a minimum, and the sealing parts 203 can be held by the cutting, peeling, and pasting head 800. Therefore, there is no restriction on the cutting location compared to the case where the cutting, peeling, and pasting head 800 (i.e., the cutting blade 805) is moved while cutting and peeling the sealing parts 203 from the tape material 201, and the versatility of the production equipment can be improved.

[0137] Moreover, according to the tape material control device 2000 of the second embodiment, the sealing part 203 is cut by the cutting blade 805, while the suction block 815 suctions and holds the sealing part 203. This makes it unnecessary to separate the cutting blade 805 after cutting the sealing part 203, and the cutting edge of the cutting blade 805 exists at the interface of the cut adhesive layer 201b from the time of cutting to the time of peeling. This makes it possible to prevent re-adhesion of the adhesive layer 201b from which the cutting blade 805 has come off, reduces the occurrence of peeling errors of the sealing part 203, and improves the reliability of peeling.

[0138] Furthermore, the tape material control device 2000 according to the second embodiment is configured such that a difference is set between the heights of the cutting blade 805 and the bearer part 810, and the bearer part 810 directly presses against the cutting roller 632. This makes it possible to control the gap between the cutting blade 805 and the cutting roller 632 with high precision. Also, with this configuration, any thickness of the sealing part 203 can be accommodated simply by setting the height of the bearer part 810, improving versatility.

[0139] In particular, when the type of the seal part 203 is different, it is assumed that the thickness of the release paper 201a will be different, and the thickness and compression rate of the sponge will be different. However, in the second embodiment, it is possible to keep the gap between the cutting blade 805 and the cutting roller 632 constant regardless of the physical properties of the seal part 203 being handled. This allows for stable cutting regardless of the seal physical properties. In addition, when the type of the seal part 203 is different, the thickness and compression rate will be different, but by adjusting the position of the retreating end of the suction block 815 according to the physical properties of the seal part 203 being handled, the compression rate of the seal part 203 during cutting and peeling can be adjusted. This makes it possible to achieve optimal peeling of the seal part 203 according to the seal physical properties.

[0140] Furthermore, when cutting and peeling the seal part 203, the three components of the receiving table 631 of the pressure receiving unit 630, the cutting roller 632, and the peeling table 633 are driven as one unit, and the cutting blade 805 is fixed without moving. This makes it possible to maintain the shape of the seal part 203 when cutting and peeling the seal part 203, and improves the accuracy of the seal part 203 as a component. Also, when attaching the seal part 203 to a workpiece, the shape of the seal part 203 is maintained, so that attachment accuracy can be improved.

[0141] [Possible alternative embodiments] In the first embodiment described above, the peeling and pasting head 100 is not moved, i.e., the robot arm 10A is not moved, while the sealing part 202 is being wound. However, the peeling and pasting head 100 may be moved while the sealing part 202 is being wound, and particularly if the moving distance is shorter than the length of the sealing part 202, the tape material control device 1000 can be made smaller in size.

[0142] In the first embodiment, the rotation speed of the winding roller 104 is adjusted according to the type of the sealing part 202, particularly the thickness and compression rate of the sealing part 202. However, the present invention is not limited to this, and the rotation speed of the winding roller 104 may be fixed, and the transport speed of the tape material 201 by the release paper feed roller 307 and the dancer roller control roller 302 may be adjusted. In other words, if the winding speed of the winding roller 104 and the transport speed of the tape material 201 match, it is possible to prevent loosening and tightening.

[0143] In the first embodiment, the winding roller 104 rotates while moving in the axial direction to wind the seal part 202 in a spiral shape. However, the present invention is not limited to this, and a winding roller with a large outer diameter may be used to wind the seal part 202 in one rotation without moving in the axial direction. Furthermore, when winding the seal part 202 in a spiral shape around the winding roller 104, the seal part 202 may be wound in multiple layers, such as two or three layers.

[0144] In the first and second embodiments, the dancer roller 304, 604 is described as applying tension to the tape material 201. However, the present invention is not limited to this, and any configuration may be used as long as it can apply tension to the tape material 201. For example, the movement of one or both of the dancer roller control roller 302, 602 and the release paper feed roller 307 or the waste material feed roller 607 may be controlled to extend or shorten their paths to apply tension. Furthermore, tension may be applied using the speed difference between the dancer roller control roller 302, 602 and the release paper feed roller 307 or the waste material feed roller 607.

[0145] In the first and second embodiments, one type of tape material (sealing part) is supplied from one supply unit 301, 601. However, the present invention is not limited to this, and may be configured to be able to supply multiple types of tape materials differing in width, thickness, material, etc., in parallel to the robot device 10, thereby improving versatility for manufactured products. Furthermore, when tape materials are able to be supplied in parallel to the robot device 10, the supplied sealing parts may be different in length.

[0146] In addition, in the first and second embodiments, a reel around which tape material is wound is set in the supply section 301, 601, but this is not limited to the above, and a configuration in which a supply device is provided further upstream and the tape material is supplied from there may also be used.

[0147] The present disclosure is not limited to the above-described embodiments, and the embodiments can be modified in many ways within the technical concept of the present disclosure. For example, at least two of the above-described embodiments and modifications may be combined. In addition, the effects described in the present embodiment are merely a list of the most favorable effects resulting from the embodiments of the present disclosure, and the effects of the embodiments of the present disclosure are not limited to those described in the present embodiment.

[0148] In the above embodiment, the robot body is a vertically articulated robot, but the present invention is not limited to this. The robot body may be, for example, a horizontally articulated robot, a parallel link robot, or an orthogonal robot. The above embodiment is also applicable to a machine that can automatically perform movements such as expansion and contraction, bending and stretching, vertical movement, horizontal movement, or rotation, or a combination of these movements, based on information stored in a storage device provided in a control device.

[0149] The present disclosure can also be realized by a process in which a program for implementing one or more functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. It can also be realized by a circuit (e.g., ASIC) that implements one or more functions.

[0150] [Disclosure of the Present Embodiment] [Configuration 1] a supply unit that supplies a tape material having a peeling member and a sealing member that can be peeled off from the peeling member; a first roller that delivers the tape material supplied from the supply unit to a peeling position where the seal member is peeled off from the peeling member; A first rotation drive unit that rotates the first roller; a second roller that conveys the peeling member from which the seal member has been peeled off at the peeling position; A second rotation drive unit that rotates the second roller; a third roller around which the seal member peeled off at the peeling position can be wound; A third rotation drive unit that rotates the third roller; A control unit, The control unit individually controls a feed speed of the tape material by the first rotation drive unit, a conveying speed of the peeling member by the second rotation drive unit, and a wrapping speed of the sealing member by the third rotation drive unit. A tape material control device comprising: [Configuration 2] a supply device including the supply unit, the first roller, the first rotation drive unit, the second roller, and the second rotation drive unit; a robot device including the third roller, an end effector having the third rotation drive unit, and a robot body to which the end effector is attached, the control unit individually controls the feed speed, the conveying speed, and the winding speed, thereby supplying the seal material from the supply device to the robot device while making a moving distance of the end effector shorter than a length of the seal material to be wound around the third roller. 2. The tape material control device according to configuration 1, [Configuration 3] The control unit wraps the seal member around the third roller while maintaining the attitude of the robot body. 3. The tape material control device according to configuration 2. [Configuration 4] the control unit adjusts the rotation speed of the third roller controlled by the third rotation drive unit according to a type of the seal member. 4. The tape material control device according to configuration 2 or 3. [Configuration 5] the control unit adjusts the rotation speed of the third roller controlled by the third rotation drive unit in accordance with a thickness of the seal member. 5. The tape material control device according to configuration 3 or 4. [Configuration 6] the control unit adjusts the rotation speed of the third roller controlled by the third rotation drive unit in accordance with the compressibility of the seal member. 6. A tape material control device according to any one of configurations 3 to 5. [Configuration 7] the end effector has an axial movement unit that moves the third roller in an axial direction of the third roller, the control unit causes the axial movement unit to move the third roller in the axial direction in synchronization with the rotation of the third roller by the third rotation drive unit, and winds the seal member spirally around the third roller. 7. The tape material control device according to any one of configurations 2 to 6, [Configuration 8] The supply device includes a dancer roller that applies tension to the tape material at the peeling position. 8. The tape material control device according to any one of configurations 2 to 7, [Configuration 9] the dancer roller is supported movably so as to expand and contract a distance of a passage path of the tape material between the first roller and the second roller; The supply device has a first detection unit that detects a position of the dancer roller, the control unit adjusts a feed speed of the tape material controlled by the first rotation drive unit relative to a conveyance speed of the peeling member controlled by the second rotation drive unit in response to a detection result of the first detection unit. 9. The tape material control device according to configuration 8, [Configuration 10] the supply device has a second detection unit that detects that the position of the dancer roller is an abnormal position that exceeds a normal movement range, the control unit stops the supply device and the robot device when the second detection unit detects that the dancer roller is in an abnormal position. 10. The tape material control device according to configuration 9, [Configuration 11] The supply device comprises: a third detection unit that detects a slack amount of the tape material between the supply unit and the first roller, the control unit adjusts a supply speed of the tape material from the supply unit relative to a feed speed of the tape material controlled by the first rotation drive unit in accordance with an amount of slack in the tape material detected by the third detection unit. 11. The tape material control device according to any one of configurations 2 to 10. [Configuration 12] the supply device has a cutting section that cuts the seal member to a length for supplying to the robot device without cutting the peeling member. 12. The tape material control device according to any one of configurations 2 to 11, [Configuration 13] the end effector has a first gripping portion capable of gripping the seal member and positioning it relative to the third roller; the supply device has a fourth detection unit that detects that a leading end of the unpeeled seal material on the tape material has reached a start position at which peeling of the seal material at the peeling position begins, when the fourth detection unit detects that the leading end of the sealing member has reached the start position, the control unit stops the transport of the tape material by the first rotation drive unit and the second rotation drive unit, grips the leading end of the sealing member by the first gripping unit, and starts supplying the sealing member from the supply device to the robot device. 13. The tape material control device according to claim 12, [Configuration 14] The end effector has a second gripping portion capable of gripping a seal member, when the leading end of the sealing member, which has been gripped by the first gripping portion and cut by the cutting portion, is transported to a rear end gripping position where it can be gripped by the second gripping portion, the control portion stops the transport of the tape material by the first rotation drive portion and the second rotation drive portion, grips the rear end of the sealing member by the second gripping portion, and terminates the supply of the sealing member from the supply device to the robot device. 14. The tape material control device according to claim 13, [Configuration 15] the end effector has a fourth roller in contact with a seal member stretched between the third roller and the second gripping portion, the control unit stops winding the sealing material around the third roller by using the third rotation drive unit, drives the robot body around the fourth roller to rotate the end effector, thereby peeling the sealing material from the third roller to the fourth roller from the peeling member, and separates the end effector from the supply device while holding the rear end of the sealing material with the second gripping unit, thereby peeling the sealing material from the fourth roller to the second gripping unit from the peeling member, and ends the supply of the sealing material from the supply device to the robot device. 15. The tape material control device according to configuration 14, [Method 16] a supply unit that supplies a tape material having a peeling member and a sealing member that can be peeled off from the peeling member; a first roller that delivers the tape material supplied from the supply unit to a peeling position where the seal member is peeled off from the peeling member; A first rotation drive unit that rotates the first roller; a second roller that conveys the peeling member from which the seal member has been peeled off at the peeling position; A second rotation drive unit that rotates the second roller; a third roller around which the seal member peeled off at the peeling position can be wound; A third rotation drive unit that rotates the third roller; A control method for a tape material control device including a control unit, The control unit individually controls a feed speed of the tape material by the first rotation drive unit, a conveying speed of the peeling member by the second rotation drive unit, and a winding speed of the sealing member by the third rotation drive unit. A method for controlling a tape material control device comprising: [Configuration 17] a supply unit that supplies a tape material having a peeling member and a sealing member that can be peeled off from the peeling member; a cutting unit having a cutting blade for cutting the seal member and a suction portion for suction-holding the cut seal member; a first roller that delivers the tape material supplied from the supply unit to a peeling position where the seal member cut from the peeling member is peeled off; A first rotation drive unit that rotates the first roller; a second roller that conveys the peeled member from which the seal member is peeled off after being cut at the peeling position; A second rotation drive unit that rotates the second roller; a robot that moves the cutting unit to the peeling position and to a joining position where the cut seal member is joined; A control unit, The control unit individually controls a feed speed of the tape material by the first rotation drive unit and a conveyance speed of the peeling member by the second rotation drive unit. A tape material control device comprising: [Configuration 18] When the cutting blade is pressed against the peeling member to cut the seal member, the cutting unit adsorbs and grips the cut seal member with the adsorption portion before separating the cutting blade from the peeling member. 18. The tape material control device according to configuration 17, [Configuration 19] The cutting blade has a full shape that surrounds the entire shape of the seal member, The suction portion is disposed within the overall shape of the cutting blade. 19. The tape material control device according to configuration 18, [Configuration 20] a dancer roller that applies tension to the tape material at the peeling position; A first detection unit that detects the position of the dancer roller, the dancer roller is supported movably so as to expand and contract a distance of a passage path of the tape material between the first roller and the second roller; the control unit controls a feed speed of the tape material controlled by the first rotation drive unit relative to a conveyance speed of the peeling member controlled by the second rotation drive unit in response to a detection result of the first detection unit. 20. A tape material control device according to any one of configurations 17 to 19. [Configuration 21] a second detection unit that detects that the position of the dancer roller is an abnormal position that exceeds a normal movement range, When the second detection unit detects that the dancer roller is in an abnormal position, the control unit stops control of the tape material and the robot. 21. The tape material control device according to configuration 20, [Configuration 22] a third detection unit that detects a slack amount of the tape material between the supply unit and the first roller; the control unit controls a supply speed of the tape material from the supply unit relative to a feed speed of the tape material controlled by the first rotation drive unit in accordance with an amount of slack in the tape material detected by the third detection unit. 22. The tape material control device according to claim 21, [Configuration 23] a pressure receiving unit that receives a pressing force of the cutting blade through a peeling member when the sealing material is pressed and cut by the cutting blade of the cutting unit, the control unit stops rotation of at least the second roller to stop the tape material, and in a state in which the cutting blade is pressed against the sealing material, moves the pressure-receiving unit in a transport direction of the tape material while reducing a distance between the pressure-receiving unit and the cutting blade, thereby cutting the sealing material. 23. A tape material control device according to any one of configurations 19 to 22. [Configuration 24] the control unit stops the pressure-receiving unit when pressing the cutting blade against the sealing material, and moves the pressure-receiving unit in the transport direction of the tape material after completing pressing of the sealing material by the cutting blade. 24. The tape material control device according to configuration 23, [Configuration 25] The pressure-receiving unit includes a receiving table that receives a pressing force of the cutting blade when the cutting blade is pressed against the seal member, and a cutting roller that rolls the peeling member when the pressure-receiving unit is moved in the conveying direction and has a distance to the cutting blade that is smaller than a distance between the receiving table and the cutting blade. 25. The tape material control device according to claim 24, [Configuration 26] a setting member provided on at least one of the cutting unit and the cutting roller, the setting member setting a distance between the cutting blade and the cutting roller in a state where the cutting blade and the cutting roller are pressed against each other; 26. A tape material control device according to configuration 25, [Configuration 27] the pressure-receiving unit has a peeling table that, when moved in the conveying direction, bends the peeling member to which the cut seal member is affixed, and moves a bending position on the peeling member to facilitate peeling of the cut seal member from the peeling member. 27. A tape material control device according to any one of configurations 23 to 26. [Method 28] a supply unit that supplies a tape material having a peeling member and a sealing member that can be peeled off from the peeling member; a cutting unit including a cutting blade for cutting the seal member and a suction block for suction-holding the cut seal member; a first roller that delivers the tape material supplied from the supply unit to a peeling position where the seal member cut from the peeling member is peeled off; A first rotation drive unit that rotates the first roller; a second roller that conveys the peeled member from which the seal member cut at the peeling position has been peeled off; A second rotation drive unit that rotates the second roller; A method for controlling a tape material control device including a robot that moves the cutting unit to the peeling position and a joining position where the cut seal material is joined, and a control unit, The control unit individually controls a feed speed of the tape material by the first rotation drive unit and a conveyance speed of the peeling member by the second rotation drive unit. A method for controlling a tape material control device comprising: [Method 29] A method for manufacturing an article, comprising the steps of: manufacturing an article by using a tape material control device according to any one of configurations 1 to 15 or 17 to 27. [Configuration 30] A program for causing a computer to execute the control method according to Method 16 or 28. [Configuration 31] A computer-readable recording medium storing the program according to configuration 30. [Explanation of symbols]

[0151] 10...Robot device / 10A...Robot arm (robot body) / 100...Peeling and pasting head (end effector) / 102...Press roller (fourth roller) / 103...Rear end chuck (second gripping part) / 104...Winding roller (third roller) / 105...Front end chuck (first gripping part) / 114...Ball spline shaft (axial moving part) / 201...Tape material / 201a...Release paper (removal member) / 202...Sealing part (sealing member) / 202e...Rear end of sealing part (seal 202s...Tip of sealing part (Tip of sealing part) / 203...Sealing part (Sealing part) / 300...Sealing material supply device (Supply device) / 301...Supply section / 302...Dancer roller control roller (First roller) / 304...Dancer roller / 306...Peeling table (Peeling position) / 307...Peeling paper feed roller (Second roller) / 310...Seal cutting section (Cutting section) / 500...System controller (Control section) / 510...Wrapping roller rotation control section (Third rotation drive section) / 522...Dancer roller control roller control section (first rotation drive section) / 523...Release paper feed roller control section (second rotation drive section) / 600...Sealing material supply device (supply device) / 601...Supply section / 602...Dancer roller control roller (first roller) / 604...Dancer roller / 630...Pressure receiving unit (cutting unit) / 631...Receiving table / 632...Cutting roller / 633...Release table / 607...Waste material feed roller (second roller) / 500...System controller (control section) / 722...Dancer -Roller control roller control unit (first rotation drive unit) / 723 ... waste material feed roller control unit (second rotation drive unit) / 805 ... cutting blade / 810 ... bearer part (setting member) / 815 ... suction block (suction unit) / 1000 ... tape material control device / 2000 ... tape material control device / Sn1 ... slack detection sensor (third detection unit) / Sn2 ... dancer roller position detection sensor (first detection unit) / Sn3 ... dancer roller abnormality detection sensor (second detection unit) / Sn4 ... sealing material tip detection sensor (fourth detection unit)

Claims

1. a supply unit that supplies a tape material having a peeling member and a sealing member that can be peeled from the peeling member; a first roller that delivers the tape material supplied from the supply unit; a first driving unit that rotates the first roller; a second roller for conveying the peeling member from which the seal member has been peeled; a second driving unit that rotates the second roller; a third roller around which the peeled seal member can be wound; a third driving unit that rotates the third roller; a control unit, the control unit individually controls a feeding speed of the tape material by the first drive unit, a conveying speed of the peeling member by the second drive unit, and a wrapping speed of the sealing member by the third drive unit. A tape material control device characterized by:

2. a supply device including the supply unit, the first roller, the first driving unit, the second roller, and the second driving unit; a robot system including the third roller, an end effector having the third drive unit, and a robot to which the end effector is attached; the control unit individually controls the feeding speed, the conveying speed, and the winding speed, thereby supplying the seal material from the supply device to the robot system while making the movement distance of the end effector shorter than the length of the seal material to be wound around the third roller.

2. The tape control device according to claim 1, wherein the tape control device is a tape control device.

3. the control unit wraps the seal member around the third roller while maintaining the posture of the robot.

3. The tape control device according to claim 2, wherein the tape control device is a tape control device.

4. the control unit adjusts the rotation speed of the third roller controlled by the third driving unit in accordance with the type of the sealing member.

3. The tape control device according to claim 2, wherein the tape control device is a tape control device.

5. the control unit adjusts the rotation speed of the third roller controlled by the third driving unit in accordance with the thickness of the sealing member.

4. The tape control device according to claim 3,

6. the control unit adjusts the rotation speed of the third roller controlled by the third driving unit in accordance with the compressibility of the sealing member.

4. The tape control device according to claim 3,

7. the end effector has an axial movement unit that moves the third roller in an axial direction of the third roller, the control unit causes the axial movement unit to move the third roller in the axial direction in synchronization with the rotation of the third roller by the third drive unit, and winds the seal member spirally around the third roller.

3. The tape control device according to claim 2, wherein the tape control device is a tape control device.

8. the supply device includes a dancer roller that applies tension to the tape material at a peeling position where the sealing material is peeled off from the peeling member.

3. The tape control device according to claim 2, wherein the tape control device is a tape control device.

9. the dancer roller is supported movably so as to expand and contract the distance of a passage path of the tape material between the first roller and the second roller; the supply device has a first detection unit that detects the position of the dancer roller, the control unit adjusts the tape feed speed controlled by the first drive unit relative to the conveyance speed of the peeling member controlled by the second drive unit in accordance with the detection result of the first detection unit.

9. The tape control device according to claim 8, wherein the tape control device is a tape control device.

10. the supply device has a second detection unit that detects that the position of the dancer roller is an abnormal position that exceeds a normal movement range, the control unit stops the supply device and the robot system when the second detection unit detects that the dancer roller is in an abnormal position. The tape control device according to claim 9 .

11. The supply device comprises: a third detection unit that detects a slack amount of the tape material between the supply unit and the first roller, the control unit adjusts the supply speed of the tape material from the supply unit relative to the delivery speed of the tape material controlled by the first drive unit, in accordance with the amount of slack in the tape material detected by the third detection unit.

3. The tape control device according to claim 2, wherein the tape control device is a tape control device.

12. the supply device has a cutting section that cuts the sealing member to a length that is to be supplied to the robot system without cutting the peeling member.

3. The tape control device according to claim 2, wherein the tape control device is a tape control device.

13. the end effector has a first gripping portion that can grip the seal member and position it relative to the third roller; the supply device has a fourth detection unit that detects that a leading end of the unpeeled seal member on the tape has reached a start position at which peeling of the seal member starts at a peeling position where the seal member is peeled from the peeling member, When the fourth detection unit detects that the leading end of the sealing member has reached the start position, the control unit stops the transport of the tape material by the first drive unit and the second drive unit, grips the leading end of the sealing member by the first gripping unit, and starts supplying the sealing member from the supply device to the robot system. The tape control device according to claim 12 .

14. the end effector has a second gripping portion capable of gripping the seal member, When the leading end of the sealing member, which has been gripped by the first gripping unit and cut by the cutting unit, is transported to a rear end gripping position where it can be gripped by the second gripping unit, the control unit stops the transport of the tape material by the first driving unit and the second driving unit, grips the rear end of the sealing member by the second gripping unit, and terminates the supply of the sealing member from the supply device to the robot system. The tape control device according to claim 13 .

15. the end effector has a fourth roller that contacts a seal member stretched between the third roller and the second gripping portion, the control unit causes the third drive unit to stop winding the sealing material around the third roller, drives the robot main body around the fourth roller to rotate the end effector, thereby peeling the sealing material from the third roller to the fourth roller from the peeling member, and separates the end effector from the supply device while holding the rear end of the sealing material with the second gripping unit, thereby peeling the sealing material from the fourth roller to the second gripping unit from the peeling member, and completes supplying the sealing material from the supply device to the robot system. The tape control device according to claim 14 .

16. a supply unit that supplies a tape material having a peeling member and a sealing member that can be peeled from the peeling member; a first roller that delivers the tape material supplied from the supply unit; a first driving unit that rotates the first roller; a second roller for conveying the peeling member from which the seal member has been peeled; a second driving unit that rotates the second roller; a third roller around which the peeled seal member can be wound; a third driving unit that rotates the third roller; A control method for a tape material control device including a control unit, the control unit individually controls a feeding speed of the tape material by the first drive unit, a conveying speed of the peeling member by the second drive unit, and a wrapping speed of the sealing member by the third drive unit. A control method for a tape material control device comprising:

17. a supply unit that supplies a tape material having a peeling member and a sealing member that can be peeled from the peeling member; a cutting unit having a cutting blade for cutting the seal member and a suction portion for suction-holding the cut seal member; a first roller that delivers the tape material supplied from the supply unit; a first driving unit that rotates the first roller; a second roller for conveying the peeling member from which the seal member has been peeled; a second driving unit that rotates the second roller; a robot that moves the cutting unit; a control unit, the control unit controls the feeding speed of the tape material by the first drive unit and the conveying speed of the peeling member by the second drive unit individually; A tape material control device characterized by:

18. When the cutting unit presses the cutting blade against the peeling member to cut the seal member, the cutting unit sucks and grips the cut seal member with the suction portion before separating the cutting blade from the peeling member.

18. The tape control device according to claim 17.

19. The cutting blade has a full shape that surrounds the entire shape of the seal member, The suction portion is disposed inside the overall shape of the cutting blade.

19. The tape control device according to claim 18.

20. A dancer roller that applies tension to the tape material; a first detection unit that detects the position of the dancer roller, the dancer roller is supported movably so as to expand and contract the distance of a passage path of the tape material between the first roller and the second roller; the control unit controls a feeding speed of the tape material controlled by the first driving unit relative to a conveying speed of the peeling member controlled by the second driving unit in accordance with a detection result of the first detection unit.

18. The tape control device according to claim 17.

21. a second detection unit that detects that the position of the dancer roller is an abnormal position that exceeds a normal movement range, the control unit stops control of the tape material and the robot when the second detection unit detects that the dancer roller is in an abnormal position.

21. The tape control device according to claim 20.

22. a third detection unit that detects a slack amount of the tape material between the supply unit and the first roller; the control unit controls a supply speed of the tape material from the supply unit relative to a feed speed of the tape material controlled by the first drive unit, in accordance with the amount of slack in the tape material detected by the third detection unit.

22. The tape control device according to claim 21.

23. a pressure receiving unit that receives the pressing force of the cutting blade via a peeling member when the cutting blade of the cutting unit presses against and cuts the sealing member, the control unit stops rotation of at least the second roller to stop the tape material, and, in a state in which the cutting blade is pressed against the sealing material, moves the pressure-receiving unit in a feeding direction of the tape material while reducing the distance between the pressure-receiving unit and the cutting blade, thereby cutting the sealing material.

20. The tape control device according to claim 19.

24. the control unit stops the pressure-receiving unit when pressing the cutting blade against the sealing material, and moves the pressure-receiving unit in the tape feed direction after completing pressing of the sealing material by the cutting blade.

24. The tape control device according to claim 23.

25. The pressure-receiving unit includes a receiving table that receives the pressing force of the cutting blade when the cutting blade is pressed against the sealing member, and a cutting roller that rolls the peeling member when the pressure-receiving unit is moved in the conveyance direction and has a distance from the cutting blade that is smaller than the distance between the receiving table and the cutting blade.

25. The tape control device according to claim 24.

26. a setting member provided on at least one of the cutting unit and the cutting roller, the setting member setting the distance between the cutting blade and the cutting roller in a state where the cutting blade and the cutting roller are pressed against each other; 26. The tape control device according to claim 25.

27. the pressure-receiving unit has a peeling table that, when moved in the conveying direction, bends the peeling member to which the cut seal material is affixed, moves the bending position on the peeling member, and promotes peeling of the cut seal material from the peeling member.

24. The tape control device according to claim 23.

28. a supply unit that supplies a tape material having a peeling member and a sealing member that can be peeled from the peeling member; a cutting unit including a cutting blade for cutting the seal member and a suction block for suction-holding the cut seal member; a first roller that delivers the tape material supplied from the supply unit; a first driving unit that rotates the first roller; a second roller for conveying the peeling member from which the seal member has been peeled; a second driving unit that rotates the second roller; A control method for a tape material control device including a robot that moves the cutting unit and a control unit, the control unit controls the feeding speed of the tape material by the first drive unit and the conveying speed of the peeling member by the second drive unit individually; A control method for a tape material control device comprising:

29. 20. A method for manufacturing an article, comprising the steps of: manufacturing an article using the tape material control device according to claim 1;

30. A program for causing a computer to execute the control method according to claim 16 or 28.

31. A computer-readable recording medium storing the program according to claim 30.

Images