Tape material sticking system and computer program

Abstract

To provide a tape material sticking system and a computer program capable of accurately sticking a tape material to a workpiece with high working efficiency.SOLUTION: A tape material T is guided forward by a guide part 30, a work-piece held by a robot presses the tape material T to a third guide roller 35, and the tape material T is stuck to the work-piece. At the cutting timing of the tape material T, a work-piece W is displaced forward to pull out the tape material T forward, each second holding body 14d moved forward holds a second part T2, a first holding body 14b holds a first part T1, and a scissors cut the tape material T at a scheduled cutting part C between the first part T1 and the second part T2. After cutting, the tape material T is maintained in a stretched state between each second holding body 14d holding the second part T2 of the tape material T and the work-piece W, and the remaining part of the tape material T is stuck along a sticking path R by pressing the work-piece W against the tape material T.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a tape application system and a computer program for applying a tape to a workpiece using a robot. [Background technology]

[0002] A conventional technique is known in which a circular vacuum chuck is attached to a hand attached to an articulated robot, tape material is adsorbed onto the outer surface of the vacuum chuck and wound up, and the tape material is attached to a workpiece by rotating the vacuum chuck while pressing the outer surface of the vacuum chuck against the workpiece (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 1-271222 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned conventional technology, the length of the tape that can be attached to the workpiece is limited to the circumferential length of the vacuum chuck or less. Therefore, if the length of tape required to attach it to a workpiece is longer than the circumference of the vacuum chuck, the robot must repeatedly suck up and attach the tape to each workpiece, which results in poor work efficiency. Furthermore, in the conventional technology described above, the vacuum chuck is configured with vacuum holes that suck up the tape material, arranged at predetermined intervals in the circumferential direction. Therefore, if a tape material is used whose rear end does not reach the vacuum holes, the rear end of the tape material will float, and there is a risk that the rear end of the tape material will not be able to be attached to the workpiece with precision. In other words, the above-mentioned conventional techniques are inefficient in operation and may not be able to adhere the tape material to the workpiece with high precision.

[0005] Therefore, the present invention was created to solve the above-mentioned problems, and aims to provide a tape application system and computer program that is efficient and can apply tape to a workpiece with high accuracy. [Means for solving the problem]

[0006] (Invention according to claim 1) In order to achieve the above-mentioned object, the invention according to claim 1 of the present application comprises: A tape application system (100: Fig. 10) comprising a robot (300: Fig. 10) that holds a workpiece (W: Fig. 9) and a tape application machine (1: Fig. 1) that applies a tape (T: Fig. 1) having an adhesive surface to the workpiece (W), wherein the system controls the robot (300) and the tape application machine (1) to displace the workpiece (W) held by the robot (300) relative to the tape application machine (1) and apply the tape (T) along an application path (R: Fig. 9) set for the workpiece (W), The tape application machine (1) includes a control unit (200: FIG. 10) for controlling the tape application machine (1), The tape application machine (1) A supply unit (20: FIG. 1) that supplies a tape material (T); a guide unit (30: FIG. 2) that guides the tape material (T) supplied from the supply unit (20) toward the workpiece (W) held by the robot (300); a clamping section (10: FIG. 2) that can be changed between a state in which the tape material (T) guided by the guide section (30) is clamped and a state in which it is not clamped, and that is configured to be able to change the clamping position of the tape material (T); a pressing section (35: FIG. 4) for pressing a workpiece (W) onto the adhesive surface of the tape material (T) guided by the guide section (30); a cutting section (40: FIG. 2) that cuts the tape material (T) guided by the guide section (30), The direction in which the tape material (T) is supplied to the workpiece (W) is called the front, and the opposite direction is called the rear. The end of the tape material supplied when starting to apply the tape material (T) to the workpiece (W) is called the front end (FE: Figure 5(A)). The cut end of the tape material (T) on the workpiece (W) side when the tape material (T) is cut while applying it to the workpiece (W) is called the rear end (TE: Figure 6(B)). The control unit (200) a first control (S3: FIG. 11) for controlling the clamping unit (10) to clamp a first portion (T1: FIG. 5) in the vicinity of the front end (FE) of the tape material (T) guided by the guide unit (30) when the front end (FE) of the tape material (T) is joined to a workpiece (W) held by the robot (300); a second control (S6: FIG. 11) for controlling the clamping unit (10) so that the first portion (T1) is not clamped after the front end (FE) is attached to the workpiece (W); a third control (S8: FIG. 11) for controlling the clamping unit (10) to clamp a second portion (T2: FIG. 8) near the workpiece (W) side in the vicinity of the intended cutting portion (C) when cutting the tape material (T) at the intended cutting portion (C: FIG. 8); a fourth control (S9: FIG. 11) for controlling the cutting unit (40) to cut the intended cutting portion (C) when the clamping unit (10) is clamping the second portion (T2); a fifth control (S12: FIG. 11) in which the clamping unit (10) is controlled to clamp the second portion (T2) until the rear end (TE) of the tape material (T) cut by the cutting unit (40) is attached to the workpiece (W), and after the rear end (TE) is attached to the workpiece (W), the clamping unit (10) is controlled to no longer clamp the second portion (T2); Robot (300) The method has a technical means of displacing the workpiece (W) while pressing it against the adhesive surface via the pressing section (35), and adhering the tape material (T) along the adhering path (R) set on the workpiece (W).

[0007] (Effect of the invention according to claim 1) According to the invention of claim 1, the workpiece is displaced relative to the tape application machine, the tape material supplied from the supply unit is applied to the workpiece, and the tape material is cut at the intended cutting location, so there is no limit to the length of the tape material that can be applied to the workpiece. Therefore, according to the invention of claim 1, there is no need to repeat the process of attaching short tape materials to the workpiece, which improves work efficiency. Furthermore, according to the invention of claim 1, when cutting the tape material at the intended cutting portion, a third control is executed in which the clamping unit is controlled to clamp a second portion that is near the intended cutting portion and that is near the work side, and a fifth control is executed in which the clamping unit is controlled to clamp the second portion until the rear end of the tape material cut by the cutting unit is attached to the work, and after the rear end is attached to the work, the clamping unit is controlled to not clamp the second portion. Therefore, according to the invention of claim 1, there is no risk of the rear end of the tape material floating up, so the tape material can be attached to the workpiece with high precision. Furthermore, according to the invention of claim 1, the clamping portion holds the second portion until the rear end of the tape material is attached to the workpiece. Therefore, even if the end of the attachment path is curved, the tape material can be attached with high precision along the curved attachment path by displacing the workpiece while the clamping portion is holding the second portion.

[0008] (Invention according to claim 2) In the invention according to claim 2, in the tape application system (100) according to claim 1, The second region (T2) is set in front of the pressing portion (35), Robot (300) When the control unit 200 executes the fifth control S12, if the joining path R for joining the cut tape is a specific joining path (SE, CP: FIG. 9) that is linear or convex, the control unit 200 has a technical means of tensioning the tape T between the clamping unit 10 that clamps the second portion T2 and the workpiece W, and pressing and displacing the workpiece W against the tape T, thereby joining the tape T along the specific joining path (SE, CP) without using the pressing unit 35. Note that the above-mentioned "convex" means that the tape T protrudes outward from the outer surface of the workpiece, and includes a shape that bulges outward like an arc, a shape with protruding corners, etc.

[0009] (Effect of the invention according to claim 2) When the attachment path for attaching the remaining portion of the cut tape material is a specific attachment path that is linear or convex, the tape material can be tensioned between the clamping portion that holds the second portion and the workpiece, and the workpiece can be displaced while being pressed against the tape material, thereby attaching the tape material to the specific attachment path without using a pressing portion. Therefore, according to the invention of claim 2, the length of tape material that can be applied to the workpiece per unit time can be made longer than when the tape material is applied using a pressing part, thereby improving work efficiency.

[0010] (Invention according to claim 3) In the invention according to claim 3, in the tape application system (100) according to claim 1 or claim 2, Robot (300) When the tape material (T) is being applied to the application path (R), if it is determined that the length of the tape material (T) not applied to the application path (R) has reached a predetermined length, the tape material (T) is pulled out from the guide section (30) by displacing the work (W) so that the length from the boundary between the area where the tape material (T) is applied and the area where it is not applied to the application path (R) to the area to be cut (C) becomes the predetermined length, and then the control section (200) executes the third control (S8) to the fifth control (S12).

[0011] (Effect of the invention according to claim 3) According to the invention of claim 3, the tape material is cut after being pulled out from the guide portion, so that the workpiece does not interfere with the cutting portion when cutting the tape material.

[0012] (Invention according to claim 4) In the invention according to claim 4, in the tape application system (100) according to any one of claims 1 to 3, The clamping portion (10) is a first clamping body (14b: FIG. 3) for clamping both sides of the tape material (T); and a second clamping body (14d: FIG. 3) for clamping a portion of both side surfaces of the tape material (T) that is forward of the portion clamped by the first clamping body (14b), The control unit (200) In the first control (S3), the second clamping body (14d) clamps the first portion (T1: Figures 3(A) and 5(A)), while the first clamping body (14b) clamps the third portion (T3: Figures 3(A) and 5(A)) behind the first portion, and in the third control (S8), the clamping unit (10) is controlled so that the first clamping body (14b) clamps the first portion (T1), while the second clamping body (14d) clamps the second portion (T2).

[0013] (Effect of the invention according to claim 4) According to the invention of claim 4, when the front end of the tape material guided by the guide section is attached to a workpiece held by the robot, the second clamping body clamps the first portion near the front end, and the first clamping body clamps the third portion behind the first portion, so the posture of the tape material is stable and there is no risk of the front end floating up, allowing the front end to be attached to the workpiece with high precision. Furthermore, according to the invention of claim 4, when cutting the tape material at the intended cutting portion, the first clamping body clamps the first portion, and the second clamping body clamps the second portion near the intended cutting portion, which is near the work side. Therefore, according to the invention of claim 4, by clamping the front and back of the area to be cut by the second clamping body and the first clamping body, the front and back of the area to be cut can be kept in a stable position, thereby allowing the area to be cut with high precision.

[0014] (Invention according to claim 5) In the invention according to claim 5, in the tape application system (100) according to claim 4, The guide portion (30) a first side plate (37: FIG. 3) disposed opposite one side surface (left side surface) of the tape material (T); and a second side plate (38: FIG. 3) disposed opposite the other side surface (right side surface) of the tape material (T), The first clamping body (14b) and the second clamping body (14d) are arranged to sandwich the first side plate (37) and the second side plate (38) from the outside, respectively. A first window (31: FIGS. 3 and 5) through which the first clamping body (14b) can protrude is formed in a portion of the first side plate (37) and the second side plate (38) corresponding to the third portion (T3), A second window (32: FIGS. 3 and 5) through which the first clamping body (14b) or the second clamping body (14d) can protrude is formed in a portion of the first side plate (37) and the second side plate (38) corresponding to the first portion (T1), In the first control (S3), The first clamping body (14b) clamps the third portion (T3) through the first window (31), and the second clamping body (14d) clamps the first portion (T1) through the second window (32). In the third control (S8), The first clamping body (14b) clamps the first portion (T1) through the second window (32), and the second clamping body (14d) clamps the second portion (T2).

[0015] (Effect of the invention according to claim 5) According to the invention of claim 5, the guide portion includes a first side plate arranged opposite one side of the tape material and a second side plate arranged opposite the other side of the tape material, so that the tape material can be guided in a stable position. Furthermore, according to the invention of claim 5, in the first control, the first clamping body protrudes from the first window of each of the first and second side plates to clamp the third portion of the tape material, and the second clamping body protrudes from the second window of each of the first and second side plates to clamp the first portion. Therefore, according to the invention of claim 5, the tape material being guided by the guide portion can be clamped at two points, front and back, on both sides from outside the guide portion, so that the front end of the tape material can be prevented from floating, and the front end of the tape material can be attached to the workpiece with high precision.

[0016] (Invention according to claim 6) In the invention according to claim 6, in the tape application system (100) according to claim 5, The clamping portion (10) is a displacement device (11: FIG. 2) for displacing the first clamping body (14b) and the second clamping body (14d) back and forth in conjunction with each other in accordance with the first control (S3) to the fifth control (S12); The control system has a technical means in which the first clamping body (14b) and the second clamping body (14d) are provided with a linkage device (13: Figure 2) for linking the first clamping body (14b) and the second clamping body (14d) to perform the operations of changing from a state in which they do not clamp the tape material (T) to a state in which they do clamp the tape material (T) and the first clamping body (14b) and the second clamping body (14d) to a state in which they do not clamp the tape material (T) in accordance with the first control (S3) to the fifth control (S12).

[0017] (Effect of the invention according to claim 6) According to the invention of claim 6, the first clamping body and the second clamping body can be displaced forward and backward in conjunction with each other in accordance with the first control to the fifth control, thereby preventing deviation in the timing of the forward and backward displacement of the first clamping body and the second clamping body. Furthermore, according to the invention of claim 6, the first clamping body and the second clamping body can perform the operations of changing from a state in which they are not clamping the tape material to a state in which they are clamping the tape material, and the operations of changing from a state in which they are clamping the tape material to a state in which they are not clamping the tape material, in cooperation with each other, depending on the first control to the fifth control. Therefore, according to the invention of claim 6, when the front end of the tape material is attached to the workpiece, the tape material can be clamped at two points, front and back, simultaneously, so that the front end of the tape material can be attached to the workpiece in a stable posture, thereby improving the attachment accuracy.

[0018] Furthermore, according to the invention of claim 6, when cutting the tape material at the intended cutting location, the tape material can be clamped at the front and back of the intended cutting location at the same time, so that the tape material can be placed in a stable position at the intended cutting location, and the tape material can be cut accurately at the intended cutting location. Furthermore, according to the invention of claim 6, when the tape material is cut at the intended cutting portion, the second clamping body can clamp the second portion near the rear end of the cut tape material, while the first clamping body can clamp the first portion near the front end of the tape material. Therefore, according to the invention of claim 6, the rear end of the cut tape material can be attached to the workpiece with high precision, and the front end of the tape material to be attached next can be aligned to its initial position, thereby preventing the attachment position of the front end of the tape material to be attached next from shifting.

[0019] (Invention according to claim 7) In the invention according to claim 7, in the tape application system (100) according to any one of claims 1 to 3, When the tape material (T) is being applied to the application path (R) using the pressing part (35), the clamping part (10), the guide part (30) and the pressing part (35) have a technical means that they do not come into contact with the work (W).

[0020] (Effect of the invention according to claim 7) According to the invention of claim 7, when the tape material is being applied to the application path using the pressing part, the clamping part, the guide part and the pressing part do not come into contact with the workpiece, so that the tape material can be applied to the application path with high precision and the workpiece can be prevented from being damaged.

[0021] (Invention according to claim 8) In the invention according to claim 8, in the tape application system (100) according to any one of claims 1 to 3, The pressing portion (35) is formed in a cylindrical shape and is rotatably supported on the front end of the guide portion (30), and has a technical means in which the back surface opposite the adhesive surface of the tape material (T) is pressed against the circumferential surface of the pressing portion (35), while the pressing portion (35) rolls on the bonding path (R) in response to the displacement of the workpiece (W).

[0022] (Effect of the invention according to claim 8) According to the invention of claim 8, the back surface of the tape material opposite the adhesive surface is pressed against the circumferential surface of the cylindrical pressing portion, and the pressing portion rolls on the attachment path in accordance with the displacement of the workpiece, so that the tape material can be pressed against the attachment path with uniform force and can be attached with high precision.

[0023] (Invention according to claim 9) In the invention according to claim 9, in the tape application system (100) according to any one of claims 1 to 3, The tape application machine (1) It is equipped with a sensor (90: Figure 1) that detects the joints of the tape material (T), The control unit (200) When the sensor (90) detects a joint, the sensor (90) has a technical means for controlling the joint so that it is not attached to the workpiece (W).

[0024] (Effect of the invention according to claim 9) According to the invention of claim 9, it is possible to control the tape material so that the seams are not attached to the workpiece, thereby making it possible to ensure that there are no seams in the tape material attached to the workpiece. Therefore, according to the invention of claim 9, it is possible to ensure waterproofness, dustproofness, termite resistance, airtightness, etc. of the part where the workpiece is attached.

[0025] (Invention according to claim 10) In the invention according to claim 10, in the tape application system (100) according to any one of claims 1 to 3, The apparatus is provided with a plurality of tape application machines (1), The plurality of tape application machines (1) each supply a different tape material (T), The control unit (200) controls the plurality of tape application machines (1), The robot (300) has a technical means for displacing the work (W) it holds relative to each of the plurality of tape material application machines (1) and applying the tape material (T) supplied from the plurality of tape material application machines (1) along an application path (R) set on the work (W).

[0026] (Effect of the invention according to claim 10) When tape materials of different materials, widths, heights, etc. must be applied to a single workpiece, multiple supply units must be prepared for each type of tape material, and the supply units must be replaced every time the type of tape material changes, which results in poor work efficiency. However, according to the invention of claim 10, the robot can displace the workpiece it holds relative to each of the multiple tape application machines and apply the tape material supplied from the multiple tape application machines along the application path set on the workpiece, thereby improving work efficiency.

[0027] (Invention according to claim 11) In the invention according to claim 11, A tape application system (100) includes a robot (300) that holds a workpiece (W) and a tape application machine (1) that applies a tape material (T) having an adhesive surface to the workpiece (W), and controls the robot (300) and the tape application machine (1) to displace the workpiece (W) held by the robot (300) relative to the tape application machine (1) and apply the tape material (T) along an application path (R) set on the workpiece (W), The tape application machine (1) includes a control unit (200) for controlling the tape application machine (1), The tape application machine (1) a supply unit (20) that supplies a tape material (T); a guide section (30) that guides the tape material (T) supplied from the supply section (20) toward a workpiece (W) held by the robot (300); a clamping section (10) that can be changed between a state in which the tape material (T) guided by the guide section (30) is clamped and a state in which the tape material (T) is not clamped, and that is configured to be able to change the clamping position of the tape material (T); a pressing section (35) for pressing a work (W) against an adhesive surface of the tape material (T) guided by the guide section (30); a cutting unit (40) that cuts the tape (T) guided by the guide unit (30), The direction in which the tape material (T) is supplied to the workpiece (W) is the front, and the opposite direction is the rear. The end of the tape material supplied when starting to apply the tape material (T) to the workpiece (W) is the front end (FE), and the cut end on the workpiece (W) side when the tape material (T) is cut while applying it to the workpiece (W) is the rear end (TE). A control unit (200) a first control (S3) for controlling the clamping unit (10) to clamp a first portion (T1) in the vicinity of the front end (FE) of the tape material (T) guided by the guide unit (30) when the front end (FE) of the tape material (T) is joined to a workpiece (W) held by the robot (300); a second control (S6) for controlling the clamping unit (10) so that the first portion (T1) is not clamped after the front end (FE) is attached to the workpiece (W); a third control (S8) for controlling the clamping unit (10) to clamp a second portion (T2) near the workpiece (W) side in the vicinity of the intended cutting portion (C) when cutting the tape material (T) at the intended cutting portion (C); a fourth control (S9) for controlling the cutting unit (40) to cut the intended cutting portion (C) when the clamping unit (10) is clamping the second portion (T2); a fifth control (S12) for controlling the clamping unit (10) to clamp the second portion (T2) until the rear end (TE) of the tape material (T) cut by the cutting unit (40) is attached to the workpiece (W), and to not clamp the second portion (T2) after the rear end (TE) has been attached to the workpiece (W); Robot (300) The apparatus has a technical means in the form of a computer program for executing a process of displacing the workpiece (W) while pressing the workpiece (W) against the adhesive surface via the pressing section (35) and attaching the tape material (T) along the attachment path (R) set on the workpiece (W).

[0028] (Effect of the invention according to claim 11) According to the invention of claim 11, the workpiece is displaced relative to the tape application machine, the tape material supplied from the supply unit is applied to the workpiece, and the tape material is cut at the intended cutting location, so the length of the tape material that can be applied to the workpiece is not limited. Therefore, according to the invention of claim 11, there is no need to repeat the process of attaching short tape materials to the workpiece, which improves work efficiency. Furthermore, according to the invention of claim 11, when cutting the tape material at the intended cutting portion, a third control is executed in which the clamping unit is controlled to clamp a second portion that is near the intended cutting portion and that is near the work side, and a fifth control is executed in which the clamping unit is controlled to clamp the second portion until the rear end of the tape material cut by the cutting unit is attached to the work, and after the rear end is attached to the work, the clamping unit is controlled to not clamp the second portion. Therefore, according to the invention of claim 11, there is no risk of the rear end of the tape material floating up, so the tape material can be attached to the workpiece with high precision. Furthermore, according to the invention of claim 11, the clamping portion holds the second portion until the rear end of the tape material is attached to the workpiece. Therefore, even if the end of the attachment path is curved, the tape material can be attached with high precision along the curved attachment path by displacing the workpiece while the clamping portion is holding the second portion.

[0029] The reference numerals and figure numbers in parentheses above indicate the correspondence with the specific means described in the embodiments to be described later. [Effects of the Invention]

[0030] According to the present invention, it is possible to provide a tape application system and a computer program that are efficient in operation and can apply tape to a workpiece with high precision. [Brief explanation of the drawings]

[0031] [Figure 1] 1 is a left side view of a tape application machine according to an embodiment of the present invention. [Figure 2]2A and 2B are enlarged left side views showing the clamping section, guide section, and cutting section provided in the tape application machine shown in FIG. 1, where (A) shows the clamping body in a retreated state, and (B) shows the clamping body in an advanced state. [Figure 3] (A) is a plan view of FIG. 2(A), and (B) is a plan view of FIG. 2(B). [Figure 4] 10A is an explanatory diagram of the tape guided by the guide portion as seen from the left side, and FIG. 10B is a plan view of the third guide roller. [Figure 5] (A) is an explanatory diagram viewed from the left side showing the front end of the tape material being attached to the workpiece, and (B) is an explanatory diagram viewed from the left side showing the front end of the tape material having been attached to the workpiece. [Figure 6] 1A is an explanatory diagram from the left side showing the tape being applied to the workpiece, and FIG. 1B is an explanatory diagram from the left side showing the tape being cut. [Figure 7] FIG. 10 is an explanatory diagram showing the tape being attached to the recess of the workpiece, as viewed from the left side. [Figure 8] (A) is an explanatory diagram from the left side showing the state in which the workpiece is displaced forward and the tape material is pulled forward, and (B) is an explanatory diagram from the left side showing the tape material pulled forward being attached to the workpiece. [Figure 9] FIG. 10 is an explanatory side view showing a state in which a workpiece is held by a workpiece holding device attached to a sixth axis of the robot. [Figure 10] 1 is an explanatory block diagram showing a main electrical configuration of a tape application system according to an embodiment of the present invention; [Figure 11] 1 is a flowchart showing a flow of main processes executed by the tape application system. DETAILED DESCRIPTION OF THE INVENTION

[0032] A tape application system according to an embodiment of the present invention will be described with reference to the drawings. As shown in Figure 10, the tape application system 100 of this embodiment includes a robot 300 (Figure 10), a tape application machine 1, a control unit 200 that controls the tape application machine 1, and a work holding device 101 for holding a work.

[0033] [Major components of the robot] The robot 300 is a known six-axis robot, and may be, for example, the robot 10 disclosed in a previous application (JP 2022-65833) by the applicant of the present application. As shown in Fig. 9, a workpiece holding device 101 for holding (chucking) a workpiece W in place of a robot hand is attached to the sixth axis 301 of the robot 300.

[0034] As shown in FIG. 10, the robot 300 includes a control unit 500 for controlling itself. The control unit 500 includes a CPU 501, a storage unit 502, and a teaching pendant 503. The teaching pendant 503 is a device for teaching the robot 300, and includes a display unit that displays the state of the robot 300 using an LCD or the like, operation axis keys for operating the first to sixth axes 301 (FIG. 9), numeric keys for setting teaching programs and various work conditions, and keys for storing the teaching content in the storage unit 502. An operator who teaches the robot 300 using the teaching pendant 503 teaches the robot 300 so that the tape T (FIG. 1) is applied to the workpiece W along a set application path R (FIG. 9), and stores the teaching content in the storage unit 502 as teaching data.

[0035] The teaching data includes data such as the trajectory, speed, and stopping timing of the workpiece W when the workpiece W is displaced. The memory unit 502 also stores a control program for controlling the robot 300 based on the teaching data. The worker uses the teaching pendant 503 to teach the robot 300 to displace the workpiece W held by the robot 300 and apply the tape material T supplied from the tape application machine 1 along the application path R, and stores the obtained data as teaching data in the memory unit 502. The CPU 501 controls the robot 300 in accordance with the control program reflecting the teaching data, and applies the tape material T along the application path R of the workpiece W.

[0036] [Major components of tape application machine] 1, tape application machine 1 includes a supply unit 20 that supplies tape material T, a guide unit 30 that guides tape material T supplied from supply unit 20 toward a workpiece W (FIG. 5) held by a robot 300, a clamping unit 10 that clamps both sides of the tape material T guided by guide unit 30, a third guide roller 35 (FIG. 4) that presses the workpiece W against the adhesive surface of the tape material T guided by guide unit 30, and a cutting unit 40 that cuts the tape material T attached to the workpiece W at a predetermined cutting portion C (FIG. 8). The clamping unit 10 is capable of changing between a state in which it clamps tape material T and a state in which it does not clamp tape material T, and is configured so that the clamping position of the tape material T can be changed forward and backward.

[0037] The tape application machine 1 also includes a tape tension adjustment device 50 that adjusts the tension of the tape material T supplied from the supply section 20 to the guide section 30, a sensor 90 that detects the seams of the tape material T, a release paper winding section 60 that winds up the release paper P peeled from the tape material T, and a release paper tension adjustment device 70 that adjusts the tension of the release paper wound up by the release paper winding section 60. The tape application machine 1 comprises a frame-shaped structure 80, which is provided with a supply unit 20, a guide unit 30, a clamping unit 10, a cutting unit 40, a sensor 90, a tape tension adjuster 50, and a release paper tension adjuster 70. The guide unit 30, the clamping unit 10, and the cutting unit 40 are provided on a protruding portion 81 that protrudes forward from the structure 80, and are designed not to come into contact with the workpiece W.

[0038] (Supply Department) The supply unit 20 includes a tape supply reel 21 around which the tape T is wound, and a motor 22 that controls the rotation of the tape supply reel 21. The motor 22 controls the rotation of the tape supply reel 21 so that the tension of the supplied tape T does not fall below a predetermined tension. A long tape T is wound around the tape supply reel 21. For example, the tape T is EPT SEALER (registered trademark). EPT SEALER is a high-performance foam obtained by closed-cell foaming of an EPDM (ethylene propylene diene rubber) mixture, and is used as a sealing material for parts that require airtightness, waterproofing, dustproofing, termite resistance, etc. in automobiles, homes, home appliances, etc. For example, the tape T has a thickness of 2 to 25 mm, a width of 10 to 50 mm, and a total length of 30 to 300 m. A release paper P is removably attached to the back surface of the tape T via, for example, an acrylic resin adhesive layer. The desired length of the tape T is ensured by joining together tape materials T of a predetermined length. A colored tape, such as blue, is wrapped around the joint of the tape T, and the sensor 90 detects the color of the tape wrapped around the joint, and the detection signal is output to the control unit 200 (FIG. 10), which determines that there is a joint. Note that a tape T without a joint can also be used.

[0039] (Information Department) 2 and 3, the guide unit 30 includes a first side plate 37 disposed opposite the left side surface of the tape T, and a second side plate 38 disposed opposite the right side surface of the tape T. A first window 31 is formed in each of the first side plate 37 and the second side plate 38, and a second window 32 is formed in front of the first window 31. In this embodiment, the first window 31 and the second window 32 are formed by cutting out the upper ends of the first side plate 37 and the second side plate 38 downward. Note that the first window 31 and the second window 32 may be through-holes formed through the first side plate 37 and the second side plate 38, respectively. 4, the guide unit 30 is provided with a first guide roller 33, a second guide roller 34, and a third guide roller 35 that are each rotatable to guide the tape material T forward (in the direction of arrow F1). In the following description, when the first guide roller 33, the second guide roller 34, and the third guide roller 35 are described as being common to all, they may be simply referred to as guide rollers. The guide rollers 33 to 35 are rotatably supported by a first side plate 37 and a second side plate 38, respectively. The tape material T rests on the guide rollers 33 to 35 with the adhesive side facing up, and as the tape material T moves forward, the guide rollers 33 to 35 rotate accordingly, smoothly guiding the tape material T forward.

[0040] (Pressing part) The third guide roller 35, which is provided at the forefront, has the role of guiding the tape material T forward and the role of pressing the adhesive surface of the tape material T against the workpiece W by pressing the workpiece W against the circumferential surface of the third guide roller 35 with the tape material T interposed between the circumferential surface of the third guide roller 35 and the workpiece W. In other words, the third guide roller 35 serves as a pressing unit for pressing the workpiece W against the adhesive surface of the tape material T guided by the guide unit 30. The third guide roller 35 rolls along the joining path R with the tape material T pressed against it, thereby joining the tape material T along the joining path R with a constant pressing force.

[0041] (Holding part) As shown in FIGS. 2 and 3, the clamping unit 10 includes a pair of clamping members 14 for clamping both sides of the tape T. Each clamping member 14 is disposed outside the guide unit 30. The left clamping member 14 is disposed outside the first side plate 37, and the right clamping member 14 is disposed outside the second side plate 38. Each clamping member 14 is formed with a concave shape in side view and includes a base portion 14e extending in the front-to-rear direction. A first support member 14a is formed to protrude upward from the rear end of each base portion 14e, and a second support member 14c is formed to protrude upward from the front end of each base portion 14e. First clamping bodies 14b are formed to protrude from the inner surface of each first support member 14a toward both side surfaces of the tape material T, and second clamping bodies 14d are formed to protrude from the inner surface of each second support member 14c toward both side surfaces of the tape material T. The shapes of each of the first clamping bodies 14b and each of the second clamping bodies 14d are not limited, but in this embodiment, the vertical cross section is formed to be rectangular.

[0042] Each of the first clamping bodies 14b and each of the second clamping bodies 14d is disposed so as to sandwich the first side plate 37 and the second side plate 38 from the outside. Each of the first clamping bodies 14b protrudes inward through each of the first windows 31 of the first side plate 37 and the second side plate 38 to clamp both side surfaces of the tape T. Each of the second clamping bodies 14d protrudes inward through each of the second windows 32 of the first side plate 37 and the second side plate 38 to clamp both side surfaces of the tape T. In other words, each of the second clamping bodies 14d clamps a first region T1 that is forward of a third region T3 where each of the first clamping bodies 14b clamps both side surfaces of the tape T. The first clamping bodies 14b and the second clamping bodies 14d are linked together, and clamp and release the tape material T in a linked manner.

[0043] The clamping unit 10 also includes an air cylinder 11 and a chuck cylinder 13. The air cylinder 11 is disposed rearward and below the guide unit 30 and includes a piston rod 11a that moves back and forth. A mounting member 12 is attached to the tip of the piston rod 11a. The front portion of the mounting member 12 is inclined obliquely upward, and the chuck cylinder 13 is attached to this inclined portion. The chuck cylinder 13 is disposed in an obliquely upward position and includes a pair of fingers 13a on the left and right that move forward and backward obliquely upward and downward. A base 14e is attached to each finger 13a. The chuck cylinder 13 is air-driven, and by controlling the air, each finger 13a performs an opening operation in which it opens outward and a closing operation in which it closes inward. When each finger 13a performs a closing operation, each base 14e is displaced inward, and each first clamping body 14b and each second clamping body 14d clamps both sides of the tape T. When each finger 13a performs an opening operation, each base 14e is displaced outward, and each first clamping body 14b and each second clamping body 14d no longer clamps both sides of the tape T. The air cylinder 11 is an example of a displacement device of the present invention, and the chuck cylinder 13 is an example of an interlocking device of the present invention.

[0044] (cutting part) As shown in FIGS. 1 and 2, the cutting unit 40 includes scissors 41 for cutting the tape material T and a drive unit 42 for operating the scissors 41. The scissors 41 have a structure similar to Western scissors, in which a pair of blades are opened and closed using a single screw as a fulcrum. In this embodiment, the drive unit 42 includes an air cylinder (not shown) for moving the scissors 41 back and forth, and a chuck cylinder (not shown) for opening and closing the pair of blades of the scissors 41. As shown in FIG. 8, when it is time to cut the tape material T, the scissors 41 open the pair of blades and advance toward the tape material T, then close the pair of blades to cut the tape material T at the intended cutting position C. The scissors 41 then return to the original position before advancing.

[0045] (Tape clamping position) 5 and 6, a first region T1, a second region T2, and a third region T3 are set as regions for clamping the tape material T. As shown in Fig. 5, the first region T1 is a region for clamping the vicinity of the front end FE of the tape material T guided by the guide section 30, and is a region that is clamped by the second clamping bodies 14d that protrude inward from the second windows 32 until the front end FE is attached to the workpiece W. As shown in Figure 6 (B), the second portion T2 is a portion for clamping the vicinity of the rear end TE of the tape material T attached to the workpiece W when the tape material T is cut at the intended cutting portion C, and is a portion that is clamped by each second clamping body 14d displaced forward of the guide portion 30 until the rear end TE is attached to the workpiece W. As shown in Figure 5, the third portion T3 is a portion for clamping the tape material T behind the first portion T1, and is a portion that is clamped by each first clamping body 14b that protrudes inward from each first window 31.

[0046] (Tape tension adjustment device) As shown in FIG. 1 , tape tension adjusting device 50 includes lift roller 51, which moves up and down depending on the tension of tape T, sensors 52 and 53 for detecting lift roller 51, roller 54 for guiding tape T supplied from supply unit 20 to lift roller 51, and roller 55 for guiding tape T that has passed lift roller 51 to guide unit 30. When the tension of tape T decreases, lift roller 51 descends, and sensors 52 and 53 detect the lowered lift roller 51. This rotates motor 22 of supply unit 20, increases the rotation speed of tape supply reel 21, and increases the tension of tape T to a predetermined level. Lift roller 51 also ascends to a position where it is not detected by sensors 52 and 53. In this way, the tape tension adjusting device 50 adjusts the tension of the tape material T so that it does not fall below a predetermined tension, so that the tape material T is not supplied to the guide section 30 in a slack state, thereby enabling the tape material T to be applied stably.

[0047] (Release paper tension adjustment device) As shown in Figure 4(A), the release paper P adhered to the adhesive surface of the tape material T is peeled off before the tape material T is guided into the guide section 30, and is guided by the guide roller 36 toward the release paper tension adjustment device 70 (Figure 1) (in the direction indicated by arrow F2). As shown in Figure 1, the release paper tension adjusting device 70 is equipped with a lifting roller 71 that rises and falls according to the tension of the release paper P peeled from the tape material T, and sensors 72 and 73 that detect the lifting position of the lifting roller 71. When the tension of the release paper P decreases, the lifting roller 71 descends, and the lowered lifting roller 71 is detected by the sensors 72 and 73. This causes the motor 62 to rotate, increasing the rotation speed of the release paper take-up reel 61 and raising the tension of the release paper P to a predetermined tension. In this way, the release paper tension adjusting device 70 adjusts the tension of the release paper P so that it does not fall below the predetermined tension, preventing the release paper P from being taken up by the release paper take-up reel 61 in a slack state, and allowing the release paper P to be taken up by the release paper take-up reel 61 with high precision.

[0048] (Main structure of the workpiece) As shown in FIG. 9 , a bonding path R, which is a path along which the tape material T is bonded, is set on the workpiece W. The bonding path R includes straight sections SE, recessed sections SP1 and SP2, convex sections CP, and corners AP. The workpiece W is a structural part of an automobile, a house, a home appliance, or the like that requires airtightness, waterproofness, dustproofness, and termite resistance, such as an automobile instrument panel, door trim, an air conditioner outdoor unit panel (lid), or a water heater panel (lid). As described above, the bonding path of the workpiece W includes various shapes, such as straight sections, uneven sections, and corners. However, in order to ensure the waterproofness, dustproofness, termite resistance, and airtightness of the part to which the workpiece W is attached, it is necessary to bond the tape material with precision to any shape.

[0049] [Major electrical configuration for controlling the tape application machine] As shown in FIG. 10 , the tape application system 100 includes a control unit 200 for controlling the tape application machine 1. The control unit 200 includes a calculation unit 201 and a memory unit 202. The memory unit 202 stores a control program for controlling the tape application machine 1, and the calculation unit 201 controls the clamping unit 10, the cutting unit 40, the motors 22 and 62, and the workpiece holding device 101 in accordance with the control program stored in the memory unit 202. The tape application machine 1 also includes an operation panel 203 provided with switches for starting and stopping the tape application machine 1. The control unit 200 is also electrically connected to the workpiece holding device 101. The control unit 200 is electrically connected to a robot 300, and the robot 300 and the tape application machine 1 work together to apply the tape T to a workpiece W held by the robot 300. In this embodiment, the control unit 200 is a PLC (sequencer). An example of a computer program of the present invention is a computer program executed by the CPU 501 of the robot 300 and the calculation unit 201 of the control unit 200 to apply tape material T to a workpiece W held by the robot 300 through cooperation between the robot 300 and the tape material application machine 1, and the computer program stored in the memory unit 502 of the robot 300 and the memory unit 202 of the control unit 200.

[0050] [How to apply the tape] Next, a method for applying the tape material T will be described with reference to the drawings. As shown in Figures 3(A) and 4(A), when joining of tape material T begins, tape material T supplied from supply unit 20 (Figure 1) is guided by guide unit 30, and leading end FE of tape material T protrudes slightly from the leading end of guide unit 30. In other words, by pressing workpiece W against third guide roller 35, leading end FE is ready to be joined to workpiece W. In addition, release paper P adhered to the upper surface of tape material T is peeled off before entering guide unit 30, and is ready to be taken up by release paper take-up reel 61 (Figure 1). In addition, the surface of tape material T opposite the adhesive surface (the lower surface in the figure) is in contact with the circumferential surfaces of first guide roller 33, second guide roller 34, and third guide roller 35. 2(A) and 3(A), the piston rod 11a of the air cylinder 11 is in a retracted state, and the chuck cylinder 13 is in a closed operating state. That is, each second clamping body 14d of each clamping member 14 protrudes inward from each second window 32 of the guide portion 30 and clamps a first portion T1 of both sides of the tape T, which is near the front end FE. Each first clamping body 14b protrudes inward from each first window 31 of the guide portion 30 and clamps a third portion T3 of both sides of the tape T, which is rearward of the first portion T1.

[0051] The robot 300 operates the workpiece holding device 101 (FIG. 9) at the location where the workpiece W is placed to hold the workpiece W and transport the workpiece W toward the tape application machine 1. Then, as shown in FIG. 5(A), the robot 300 displaces the workpiece W so that the joining path R of the workpiece W contacts an upper corner of the front end FE of the tape material T, and with the tape material T interposed between the workpiece W and the circumferential surface of the third guide roller 35, the robot 300 presses the workpiece W against the third guide roller 35 to join the front end FE of the tape material T to the joining path R. Once the front end FE of the tape material T has been joined to the workpiece W, the chuck cylinder 13 (FIG. 2) opens, and the first clamping bodies 14b and the second clamping bodies 14d enter a state in which they are not clamping the tape material T (non-clamping state). Next, the robot 300 displaces the workpiece W so that the tape material T is joined along the joining path R. In the example shown in Figures 5(A) and (B), after the front end FE of the tape material T is attached to the attachment path R, the robot 300 displaces the workpiece W downward while changing its posture vertically, as shown by arrows F5 and F6.

[0052] Next, as shown in FIG. 6A, the robot 300 displaces the workpiece W downward while pressing it against the third guide roller 35, thereby joining the tape T to the straight section SE of the joining path R. Furthermore, as shown in FIG. 7, if a recessed portion SP1 exists on the joining path R, the robot 300 displaces the workpiece W along the recessed portion SP1 while pressing the tape T against the third guide roller 35, joining the tape T to the recessed portion SP1. At this time, the clamping unit 10, the guide unit 30, and the third guide roller 35 are configured to have the minimum necessary size, so they do not come into contact with the recessed portion SP1. In other words, the clamping unit 10, the guide unit 30, and the third guide roller 35 are configured not to come into contact with the workpiece W when joining the tape T.

[0053] Then, when the robot 300 determines that the length of the tape material T that is not applied to the application path R has reached a predetermined length, it displaces the workpiece W, thereby drawing out the tape material T from the guide unit 30, so that the length from the boundary between the portion of the application path R where the tape material T is applied and the portion where it is not applied to the tape material T to the portion to be cut C becomes the predetermined length. In the example shown in FIG. 8(A), the length of the tape material T that is not applied to the application path R is the length from the boundary W1 to the end W2 (predetermined length), so the workpiece W is displaced forward, and the tape material T is drawn out forward from the guide unit 30, so that the length from the boundary W1 to the portion to be cut C becomes the predetermined length. In other words, the tape material T is drawn out by the length that is not applied to the workpiece W, and is cut off by the amount necessary for application.

[0054] At this time, the intended cutting area C is positioned in front of the guide unit 30. Next, as shown in FIG. 2(B), the control unit 200 (FIG. 10) of the tape application machine 1 activates the air cylinder 11 (FIG. 2) to advance the piston rod 11a (in the direction of arrow F3) and close the chuck cylinder 13. As a result, as shown in FIG. 3(B), each of the first clamping bodies 14b protrudes inward from the second window 32 and clamps a first area T1 on both sides of the tape T. At the same time, each of the second clamping bodies 14d protrudes inward and clamps a second area T2 on both sides of the tape T that is near the intended cutting area C on the workpiece W side. As a result, the rear of the intended cutting area C is clamped by each of the first clamping bodies 14b, and the front of the intended cutting area C is clamped by each of the second clamping bodies 14d. That is, the front and rear of the intended cutting portion C are held by the first and second holding bodies 14b, 14d. Also, since a space is formed between the workpiece W and the front end of the guide part 30, the cutting part 40 does not interfere with the workpiece W or the guide part 30.

[0055] Next, the control unit 200 controls the cutting unit 40 to cut the tape T at the intended cutting portion C with scissors 41 (FIG. 2), as shown in FIG. 6(B). This intended cutting portion C is the position of the front end FE of the tape T when performing the joining process on the next joining path R, and is a position that protrudes slightly forward from the front end of the guide unit 30. At this time, the chuck cylinder 13 remains in a closed state, and the portion of the tape T near the rear end (the cut end on the workpiece W side) TE (i.e., the second portion T2) cut by the scissors 41 is maintained in a state where it is clamped by each of the second clamping bodies 14d.

[0056] Here, a case will be described in which the joining path for joining the cut tape material T is linear as shown in Fig. 6 or convex as shown in Fig. 8. As shown in Fig. 6(B) and Fig. 8(A), the robot 300 displaces the workpiece W while keeping the tape material T taut between the workpiece W and each second clamping body 14d that is clamping the second portion T2, and presses the workpiece W against the cut tape material T, joining the cut tape material T along the joining path R. In other words, the tension of the cut tape material T is used to join the tape material T along the joining path R without using the third guide roller 35. In the example shown in Fig. 6(B), the robot 300 displaces the workpiece W diagonally downward and rearward (in the direction indicated by arrow F7) so that the straight section SE and the front end of the guide section 30 remain parallel to each other, and then bonds the cut tape material T to the straight section SE. In the example shown in Fig. 8(A), the robot 300 displaces the workpiece W along the convex section CP, and bonds the cut tape material T to the convex section CP.

[0057] Furthermore, even when the joining path along which the cut tape T is joined is a corner AP (FIG. 9), the tape T can be joined to the corner AP by displacing the workpiece W relative to the stretched tape T as described above. The tape T can also be joined to the corner AP by rolling the third guide roller 35 along the corner AP. Even when a curved path that bends left and right exists along the joining path along which the cut tape T is joined, the rear end TE of the tape T is clamped by each of the second clamping bodies 14d. By displacing the workpiece W so that the curved path faces the tape T and pressing the workpiece W against the tape T, the tape T can be joined to the curved path with high precision. For example, even when the joining path R includes a joining path with a sudden change in angle, the tape T can be joined to the joining path with high precision.

[0058] Next, the control unit 200 opens the chuck cylinder 13 so that each second clamping body 14d does not clamp the rear end TE of the tape T. Next, the control unit 200 retracts the piston rod 11a of the air cylinder 11 (in the direction of arrow F4 in FIG. 2) and closes the chuck cylinder 13. As a result, each first clamping body 14b clamps the third portion T3 of the tape T, and each second clamping body 14d clamps the first portion T1 of the tape T. In other words, the state transitions to the initial state when starting to apply the tape T. Thereafter, if there is more tape T to be applied, the robot 300 and the tape application machine 1 apply the remaining tape T to the workpiece W by performing the control described above.

[0059] As described above, according to the tape applying method of this embodiment, depending on the shape of the applying path R set on the workpiece W, the tape T can be applied using the third guide roller 35, or the tape T can be applied efficiently to the applying path R by utilizing the tension of the tape T without using the third guide roller 35. Whether or not to use the third guide roller 35 is determined so that the adhesive strength of the tape T is not reduced and the applying process time is shortened when teaching is performed.

[0060] [Tape application process] Next, the flow of the tape joining process performed by the robot 300 and the control unit 200 will be described with reference to Fig. 11. In the following description, the robot 300 and the control unit 200 will be referred to as a system control unit, and the processing steps performed by the system control unit will be abbreviated as S.

[0061] The system control unit executes initialization processing such as setting each arm of the robot 300 to an initial position (S1). Next, the system control unit activates the workpiece holding device 101 (FIG. 9) attached to the sixth axis 301 of the robot 300 to hold the workpiece W and transport it toward the tape application machine 1 (S2). Next, the system control unit closes the chuck cylinder 13 (FIG. 2), causing each second clamping body 14d to clamp a first portion T1 of the tape T and each first clamping body 14b to clamp a third portion T3 of the tape T (S3: first control). Next, the system control unit controls the robot 300 to displace the workpiece W and apply the front end FE of the tape T to the application path R of the workpiece W (S4). Next, the system control unit determines whether the front end FE of the tape material T has been attached to the attachment path R of the workpiece W (S5), and if it determines that it has been attached (S5: Yes), it opens the chuck cylinder 13 and puts the tape material T in a state where it is not clamped (non-clamped state) (S6: second control).

[0062] Next, the system control unit determines whether it is time to cut the tape material T at the intended cutting portion C (S7), and if it determines that it is time to cut (S7: Yes), as shown in Fig. 8(A), the workpiece W is displaced forward, thereby pulling out the length of tape material T necessary for joining the remaining joining path forward from the guide unit 30. Next, as shown in Figs. 2(B) and 3(B), the air cylinder 11 is operated to move the piston rod 11a forward, and then the chuck cylinder 13 is closed, so that the second clamping bodies 14d clamp the second portion T2 of the tape material T, and the first clamping bodies 14b clamp the first portion T1 of the tape material T (S8: third control). Next, the system control unit operates the cutting unit 40, and cuts the tape material T at the intended cutting portion C with scissors 41 (FIG. 2), as shown in FIG. 6(B) and FIG. 8(B) (S9: fourth control).

[0063] In addition, if the system control unit determines that the front end FE of the tape material T has not been attached (S5: No), or if it determines that it is not time to cut the tape material T (S7: No), it continues to displace the workpiece W by the robot 300 (S4). Next, the system control unit determines whether the rear end TE of the cut tape T has been joined to the joining path R (S10), and if it determines that it has not been joined (S10: No), it continues to displace the workpiece W and continues joining the tape T (S11). Then, if the system control unit determines that the rear end TE of the cut tape T has been joined to the joining path R (S10: Yes), it opens the chuck cylinder 13 and puts the tape T in a state where it is not clamped (non-clamped state) (S12: fifth control). Next, the system control unit determines whether there is any tape T that has not yet been joined (S13), and if it determines that there is any tape T that has not been joined (S13: Yes), it executes S3 and subsequent steps.

[0064] Furthermore, when the system control unit determines that there is no unattached tape material T (S13: No), it determines whether or not the termination conditions for this joining process have been met (S14). The termination conditions include when the number of works W to which tape material T has been attached reaches a target number, when the tape material T wound around the tape material supply reel 21 is equal to or shorter than a predetermined length, when the release paper P wound around the release paper take-up reel 61 reaches a predetermined length, etc. 11, when sensors 52 and 53 (FIG. 1) are turned on, the system control unit rotates motor 22 to control the tension of tape material T to a predetermined tension. When sensors 72 and 73 (FIG. 1) are turned on, the system control unit rotates motor 62 to control the tension of release paper P to a predetermined tension.

[0065] Furthermore, when the sensor 90 detects a seam in the tape material T, the system control unit interrupts the joining process and controls the system so that the seam is not joined to the workpiece W. For example, if a seam is detected while the tape material T is being joined to the workpiece W, the system control unit advances the piston rod 11a of the air cylinder 11 to displace the first clamping bodies 14b and the second clamping bodies 14d forward, and displaces the workpiece W forward until the seam passes the intended cutting portion C. Next, the chuck cylinder 13 is closed to clamp the tape material T with the first clamping bodies 14b and the second clamping bodies 14d. Next, the cutting unit 40 is operated to cut the tape material T at the intended cutting portion C with scissors 41. Next, the workpiece W is displaced until the tape T attached to the workpiece W is peeled off, and the chuck cylinder 13 is opened, whereby the first clamping bodies 14b and the second clamping bodies 14d are released and the tape T, i.e., the tape T with the joints, falls, preventing the tape T with the joints from being attached to the workpiece W. Next, the piston rod 11a of the air cylinder 11 is retracted and the chuck cylinder 13 is closed, whereby the first clamping bodies 14b clamp a third portion of the tape T and the second clamping bodies 14d clamp a first portion T1 of the tape T. In other words, the state is reached when joining of the tape T to the workpiece W is to begin, so the workpiece W, which was displaced in order to peel off the tape T, is displaced to the joining start position, and the tape T is joined.

[0066] [Effects of the embodiment] (1) According to the tape material application system 100 of the above-described embodiment, the workpiece W is displaced relative to the tape material application machine 1, the tape material T supplied from the supply unit 20 is applied to the workpiece W, and the tape material T is cut at the intended cutting location C. Therefore, the length of the tape material T that can be applied to the workpiece W is not limited. Therefore, according to the tape application system 100 of the above-described embodiment, it is not necessary to repeat the process of applying a short tape to the workpiece W, and therefore work efficiency can be improved.

[0067] (2) Furthermore, according to the tape material application system 100 of the above-described embodiment, when cutting the tape material T at the intended cutting portion C, a third control (S8) is executed to control the clamping unit 10 to clamp the second portion T2, which is near the intended cutting portion C and is near the workpiece W side, and a fifth control (S12) is executed to control the clamping unit 10 to clamp the second portion T2 until the rear end TE of the tape material T cut by the cutting unit 40 is attached to the workpiece W, and not clamp the second portion T2 after the rear end TE is attached to the workpiece W. Therefore, according to the tape application system 100 of the above-described embodiment, there is no risk of the rear end TE of the tape T floating up, and the tape T can be applied to the workpiece W with high precision.

[0068] (3) Furthermore, according to the tape material application system 100 of the above-described embodiment, the clamping unit 10 holds the second portion T2 until the rear end TE of the tape material T is applied to the workpiece W. Therefore, even if the end of the application path R is curved, the clamping unit 10 can displace the workpiece W while holding the second portion T2, thereby enabling the tape material T to be applied accurately along the curved application path.

[0069] (4) According to the tape application system 100 of the above-described embodiment, when the application path R for applying the remaining portion of the cut tape material T is a specific application path such as the straight section SE or the convex section CP, the tape material T is tensioned between each second clamping body 14d that clamps the second portion T2 and the workpiece W, and the workpiece W is displaced while being pressed against the tape material T, thereby enabling the tape material T to be applied to the specific application path without using the third guide roller 35 (pressing section). Therefore, according to the tape material application system 100 of the above-described embodiment, the length of tape material T that can be applied to the workpiece W per unit time can be made longer than when the tape material T is applied by rolling the third guide roller 35, thereby improving work efficiency.

[0070] (5) According to the tape application system 100 of the above-described embodiment, the tape material T is pulled forward from the guide section 30 and then cut, so that the workpiece W does not interfere with the cutting section 40 when cutting the tape material T.

[0071] (7) According to the tape application system 100 of the above-described embodiment, when the front end FE of the tape material T guided by the guide unit 30 is applied to the workpiece W held by the robot 300, each second clamping body 14d can clamp the first portion T1 near the front end FE, and each first clamping body 14b can clamp the third portion T3 behind the first portion T1. As a result, the posture of the tape material T is stable and there is no risk of the front end FE floating up, so the front end FE can be applied to the workpiece W with high precision.

[0072] (8) According to the tape application system 100 of the above-described embodiment, when cutting the tape material T at the intended cutting portion C, each first clamping body 14b can clamp the first portion T1, and each second clamping body 14d can clamp the second portion T2, which is near the intended cutting portion C and is near the workpiece W side. Therefore, according to the tape application system 100 of the above-described embodiment, by clamping the front and back of the area C to be cut by each second clamping body 14d and each first clamping body 14b, the front and back of the area C to be cut can be placed in a stable position, and the area C to be cut can be cut with high precision.

[0073] (9) According to the tape application system 100 of the above-described embodiment, the guide section 30 is provided with a first side plate 37 arranged opposite the left side of the tape material T and a second side plate 38 arranged opposite the right side of the tape material T, so that the tape material T can be supplied in a stable posture.

[0074] (10) According to the tape material application system 100 of the above-described embodiment, in the control (first control) for applying the front end FE of the tape material T to the workpiece W, each first clamping body 14b protrudes from the first window 31 of the first side plate 37 and the second side plate 38 to clamp the third portion T3 of the tape material T, and each second clamping body 14d protrudes from the second window 32 of the first side plate 37 and the second side plate 38 to clamp the first portion T1. Therefore, according to the tape application system 100 of the above-described embodiment, the tape material T being guided by the guide section 30 can be clamped from the outside of the guide section 30 at two points, front and rear, on both sides, so that the front end FE of the tape material T can be prevented from floating, and the front end FE of the tape material T can be applied to the workpiece W with high precision.

[0075] (11) According to the tape application system 100 of the above-described embodiment, the first clamping bodies 14b and the second clamping bodies 14d can be displaced forward and backward in conjunction with each other in accordance with the first control (S3) to the fifth control (S12), so that the timing of the forward and backward displacement of the first clamping bodies 14b and the second clamping bodies 14d can be prevented from being out of sync.

[0076] (12) According to the tape application system 100 of the above-described embodiment, in accordance with the first control (S3) to the fifth control (S12), each of the first clamping bodies 14b and each of the second clamping bodies 14d can perform the following operations in conjunction with each other: changing from a state in which they do not clamp the tape material T to a state in which they clamp the tape material T; and changing from a state in which they clamp the tape material T to a state in which they do not clamp the tape material T. Therefore, according to the tape material application system 100, when the front end FE of the tape material T is applied to the workpiece W, the tape material T can be clamped at two locations, the front and the back, simultaneously, so that the front end FE of the tape material T can be applied to the workpiece W in a stable posture, thereby improving application accuracy.

[0077] (13) According to the tape material application system 100, when cutting the tape material T at the intended cutting portion C, the tape material T can be clamped at the front and rear of the intended cutting portion C at the same time, so that the tape material T can be placed in a stable position at the intended cutting portion C, and the tape material T can be cut accurately at the intended cutting portion C.

[0078] (14) According to the tape application system 100, when the tape material T is cut at the intended cutting portion C, each second clamping body 14d can clamp the second portion T2, which is near the rear end TE of the cut tape material T, and at the same time, each first clamping body 14b can clamp the first portion T1, which is near the front end FE of the tape material T. Therefore, according to the tape material application system 100, the rear end TE of the cut tape material T can be applied to the workpiece W with high precision, and the front end FE of the tape material T to be applied next can be aligned to the initial position, so that the application position of the front end FE of the tape material T to be applied next can be prevented from shifting.

[0079] (15) According to the tape material application system 100, when the tape material T is applied to the application path R using the third guide roller 35 (pressing portion), the clamping portion 10, the guide portion 30, and the third guide roller 35 (pressing portion) do not come into contact with the workpiece W, so that the tape material T can be applied to the application path R with high precision and the workpiece W can be prevented from being damaged.

[0080] (16) According to the tape material application system 100, the back surface of the tape material T opposite the adhesive surface is pressed against the circumferential surface of the cylindrical third guide roller 35 (pressing portion), and the third guide roller 35 rolls on the application path R in accordance with the displacement of the workpiece W. Therefore, the tape material T can be pressed against the application path R with a uniform force and can be applied with high precision.

[0081] (17) According to the tape application system 100, it is possible to control the seams of the tape material T so that they do not adhere to the workpiece W, thereby ensuring that the area where the workpiece W is attached is waterproof, dustproof, termite-proof, airtight, etc.

[0082] [Other embodiments] (1) When multiple types of tape material T with different widths, heights, materials, etc. are to be applied to one workpiece W, multiple tape material application machines 1 are installed, each supplying a different tape material T, and one robot 300 displaces the workpiece W relative to each tape material application machine 1, and each tape material application machine 1 applies the tape material T along an application path R set on the workpiece W. This configuration improves work efficiency because it is not necessary to prepare multiple tape material supply reels 21 (FIG. 1) for each type of tape material T and to change the tape material supply reels 21 every time the type of tape material T changes.

[0083] (2) To stabilize the tape T, it is desirable to clamp the tape T at two locations, front and rear, as in the embodiment described above. However, it is also possible to provide only second clamping bodies 14d without providing first clamping bodies 14b, and to configure each second clamping body 14d to selectively clamp a first portion T1 or a second portion T2 of the tape T depending on the control state. Furthermore, each second clamping body 14d can be configured to extend in the front-to-rear direction, thereby increasing the area for clamping both sides of the tape T in the front-to-rear direction and stabilizing the position of the tape T when clamped. In these configurations, each second clamping body 14d is an example of a clamping portion of the present invention.

[0084] (3) The tape material T attached to the workpiece W after the joining process can be further pressed to increase the adhesive strength of the tape material T. For example, a press mold having a shape corresponding to the joining path R is prepared, and the robot 300 transports the workpiece W after the joining process and presses the workpiece W against the press mold. Also, a device for pressing the press mold against the workpiece W can be provided. These configurations can increase the adhesive strength of the tape material T, making it even more difficult for the tape material T attached to the workpiece W to peel off. In addition, the above-mentioned press mold can be used to further press the tape material T only along a specific attachment path where the tape material T has been attached using the tension of the tape material T without using the third guide roller 35, thereby increasing the adhesive strength of the tape material T attached along the specific attachment path.

[0085] (4) A cutter blade can also be used as a device for cutting the tape material T. Alternatively, a half-cut blade can be used to cut the tape material T without cutting the release paper P, and the release paper P can be wound onto the release paper take-up reel 61. Alternatively, a fusing device such as a wire cutter or a laser cutter can also be used.

[0086] (5) The control unit 200 that controls the tape application machine 1 can be provided in the control unit 500 of the robot 300. Also, a computer program for controlling the robot 300 and a computer program for controlling the tape application machine 1 can be integrated.

[0087] (6) Instead of the air-driven air cylinder 11 and chuck cylinder 13, they may be changed to a drive system using a solenoid or a piezoelectric actuator as the drive source.

[0088] (7) A sensor (e.g., an image sensor, etc.) that detects whether the tape material T applied to the workpiece W deviates from the application path R can be provided in the tape application machine 1, and an alarm device (e.g., a lamp, an alarm sound output device, etc.) can be provided to notify the detection result of the sensor. [Explanation of symbols]

[0089] 1. Tape application machine 10...Holding part 11. Air cylinder 13. Chuck cylinder 14. Clamping member 14b...1st clamping body 14d...Second clamping body 20...Supply section 21 Tape supply reel 22 Motor 30...Information Department 31... Window 1 32...Second window 35 Third guide roller (pressure section) 37...1st side plate 38...Second side plate 40...cutting section 41. Scissors 50 Tape tension adjustment device 60 Release paper winding section 61 Release paper take-up reel 62 Motor 70 Release paper tension adjusting device 80...Structure 100 Tape application system 101 Work holding device P···Release paper R···Paste path SE...Straight section SP1 recess SP2 recess T···Tape material T1 · 1st part T2·Second part T3...Third part C: Planned cleavage site FE...Front end TE...Rear end

Claims

1. A tape application system comprising a robot that holds a workpiece and a tape application machine that applies a tape having an adhesive surface to the workpiece, the system controlling the robot and the tape application machine to displace the workpiece held by the robot relative to the tape application machine and apply the tape along a set application path to the workpiece, A control unit for controlling the tape application machine is provided, The tape application machine includes: a supply unit that supplies the tape material; a guide unit that guides the tape material supplied from the supply unit toward the workpiece held by the robot; a clamping section that is changeable between a state in which the tape guided by the guide section is clamped and a state in which the tape is not clamped, and that is configured to be able to change the clamping position of the tape; a pressing portion for pressing the workpiece against the adhesive surface of the tape material guided by the guide portion; a cutting unit that cuts the tape guided by the guide unit; It is equipped with The direction in which the tape material is supplied to the workpiece is the front, the opposite direction is the rear, the end of the tape material supplied when joining of the tape material to the workpiece begins is the front end, and the cut end of the tape material on the workpiece side when the tape material is cut while joining of the tape material to the workpiece is the rear end. The control unit a first control that controls the clamping unit to clamp a first portion that is near the front end of the tape material guided by the guide unit when the front end of the tape material guided by the guide unit is joined to the workpiece held by the robot; a second control for controlling the clamping unit so that the first portion is not clamped after the front end is attached to the workpiece; a third control for controlling the clamping unit to clamp a second portion near the intended cutting portion when cutting the tape material at the intended cutting portion, the second portion being near the workpiece side; a fourth control that controls the cutting unit to cut the portion to be cut when the clamping unit is clamping the second portion; a fifth control for controlling the clamping unit to clamp the second portion until the rear end of the tape material cut by the cutting unit is attached to the workpiece, and to not clamp the second portion after the rear end has been attached to the workpiece; The robot A tape application system characterized by displacing the workpiece while pressing it against the adhesive surface via the pressing unit, and applying the tape along an application path set on the workpiece.

2. The second portion is set in front of the pressing portion, The robot The tape application system of claim 1, characterized in that when the control unit executes the fifth control, if the application path for applying the cut tape material is a specific application path that is linear or convex, the tape material is taut between the clamping unit that clamps the second portion and the workpiece, and the workpiece is pressed against the tape material and displaced, thereby applying the tape material along the specific application path without using the pressing unit.

3. The robot 3. The tape application system of claim 1, wherein when the tape is being applied to the application path and it is determined that the length of the tape that is not applied to the application path has reached a predetermined length, the tape is pulled out from the guide section by displacing the work so that the length from the boundary between the area where the tape is applied and the area where it is not applied to the application path to the intended cutting area becomes the predetermined length, and then the control section executes the third control to the fifth control.

4. The clamping portion includes: a first clamping body that clamps both side surfaces of the tape material; a second clamping body that clamps a portion of each side surface of the tape material that is forward of the portion that is clamped by the first clamping body, The control unit The tape application system according to claim 1 or claim 2, characterized in that in the first control, the second clamping body clamps the first portion and the first clamping body clamps a third portion rearward of the first portion, and in the third control, the clamping unit is controlled so that the first clamping body clamps the first portion and the second clamping body clamps the second portion.

5. The guide unit is a first side plate disposed opposite one side surface of the tape material; a second side plate disposed opposite the other side surface of the tape material, the first clamping body and the second clamping body are disposed so as to sandwich the first side plate and the second side plate from outside, respectively; a first window through which the first clamping body can protrude is formed in a portion of the first side plate and the second side plate corresponding to the third portion; a second window through which the first clamping body or the second clamping body can protrude is formed in a portion of the first side plate and the second side plate corresponding to the first portion; In the first control, the first clamping body clamps the third portion through the first window, and the second clamping body clamps the first portion through the second window; In the third control, 5. The tape application system according to claim 4, wherein the first clamping member clamps the first portion through the second window, and the second clamping member clamps the second portion.

6. The clamping portion includes: a displacement device for displacing the first clamping body and the second clamping body back and forth in conjunction with each other in accordance with the first control to the fifth control; 6. The tape application system according to claim 5, further comprising a linkage device for causing the first clamping body and the second clamping body to perform, in conjunction with each other, an operation of changing from a state in which both the first clamping body and the second clamping body do not clamp the tape material to a state in which both the first clamping body and the second clamping body do clamp the tape material, and an operation of changing from a state in which both the first clamping body and the second clamping body clamp the tape material to a state in which both the first clamping body and the second clamping body do not clamp the tape material, in accordance with the first control and the fifth control.

7. A tape application system as described in claim 1 or claim 2, characterized in that when the tape material is being applied to the application path using the pressing unit, the clamping unit, the guide unit and the pressing unit are configured so as not to come into contact with the workpiece.

8. The tape application system of claim 1 or claim 2, characterized in that the pressing portion is formed in a cylindrical shape and is rotatably supported on the front end of the guide portion, and the back surface of the tape material opposite the adhesive surface is pressed against the circumferential surface of the pressing portion, while the pressing portion rolls on the application path in accordance with the displacement of the workpiece.

9. The tape application machine includes: A sensor is provided to detect the joint of the tape material, The control unit 3. The tape applying system according to claim 1, wherein when the sensor detects the joint, the tape applying system controls so that the joint is not applied to the workpiece.

10. Equipped with multiple tape application machines, The plurality of tape application machines each supply a different tape material; the control unit controls the plurality of tape application machines, The tape application system described in claim 1 or claim 2, characterized in that the robot displaces the workpiece it holds relative to each of the multiple tape application machines and applies the tape supplied from the multiple tape application machines along an application path set on the workpiece.

11. A tape application system comprising a robot that holds a workpiece and a tape application machine that applies a tape having an adhesive surface to the workpiece, the system controlling the robot and the tape application machine to displace the workpiece held by the robot relative to the tape application machine and apply the tape along a set application path to the workpiece, A control unit for controlling the tape application machine is provided, The tape application machine includes: a supply unit that supplies the tape material; a guide unit that guides the tape material supplied from the supply unit toward the workpiece held by the robot; a clamping section that is changeable between a state in which the tape guided by the guide section is clamped and a state in which the tape is not clamped, and that is configured to be able to change the clamping position of the tape; a pressing portion for pressing the workpiece against the adhesive surface of the tape material guided by the guide portion; a cutting unit that cuts the tape guided by the guide unit; A computer program executed by the control unit and the robot of a tape application system comprising: The direction in which the tape material is supplied to the workpiece is the front, the opposite direction is the rear, the end of the tape material supplied when joining of the tape material to the workpiece begins is the front end, and the cut end of the tape material on the workpiece side when the tape material is cut while joining of the tape material to the workpiece is the rear end. The control unit a first control that controls the clamping unit to clamp a first portion that is near the front end of the tape material guided by the guide unit when the front end of the tape material guided by the guide unit is joined to the workpiece held by the robot; a second control for controlling the clamping unit so that the first portion is not clamped after the front end is attached to the workpiece; a third control for controlling the clamping unit to clamp a second portion near the intended cutting portion when cutting the tape material at the intended cutting portion, the second portion being near the workpiece side; a fourth control that controls the cutting unit to cut the portion to be cut when the clamping unit is clamping the second portion; a fifth control for controlling the clamping unit to clamp the second portion until the rear end of the tape material cut by the cutting unit is attached to the workpiece, and to not clamp the second portion after the rear end has been attached to the workpiece; The robot A computer program for executing a process of displacing the workpiece while pressing the workpiece against the adhesive surface via the pressing unit, and attaching the tape material along an attachment path set on the workpiece.

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