Peeling and pasting device and peeling and pasting system

Abstract

This releasing / affixing device moves a seal from a sheet having one or more seals affixed thereto. The releasing / affixing device is provided with: a base unit; a suction-attracting unit disposed on the base unit to suction-attract a part of the seal; a gripping unit that is disposed on the base unit to be movable in a direction toward and away from the suction-attracting unit, is movable in a vertical direction for elevation, and grips the end of the seal; and a driving unit that drives the gripping unit in a direction toward and away from the suction-attracting unit.

Description

[Technical field]

[0001] Disclosed herein is a peel and stick device and a peel and stick system. [Background technology]

[0002] Conventionally, a sticker application device has been proposed that peels a sticker off a backing paper using a first hand and a second hand, moves the held sticker to an imaging position, and matches the outer shape of the sticker in the captured image with the ideal sticker shape to eliminate sticker deformation (for example, Patent Document 1). This device is said to be able to peel a flexible sticker off a backing paper using a robot hand and apply the peeled sticker to a desired application position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-15846 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned sticker application device, it is necessary to control the first hand and the second hand separately, and it is laborious to control the positions of the sticker peeling, moving and application processes. Thus, there is a demand for a device that can more reliably peel, move and apply stickers from a sheet.

[0005] The present disclosure has been made in consideration of such problems, and has as its main object to provide a peeling and pasting device and a peeling and pasting system that can more reliably remove a sticker from the sheet to which it is attached. [Means for solving the problem]

[0006] Disclosed herein Peeling and pasting device and peeling and pasting systemIn order to achieve the above-mentioned main objective, the following measures have been taken:

[0007] The peeling and pasting device of the present disclosure is A peel-and-stick device that removes one or more stickers from a sheet to which the stickers are attached, comprising: A base portion; a suction portion disposed on the base portion and adapted to suction a portion of the seal; a gripping portion that is disposed on the base portion so as to be movable in a direction approaching and moving away from the suction portion and that is movable in a vertical direction to lift and lower, and that grips an end portion of the seal; a drive unit that drives the gripping unit in a direction toward and away from the suction unit; It is equipped with the following:

[0008] In this peeling and pasting device, an adsorption part and a gripping part are disposed on a base part, and the positional relationship between the adsorption part and the gripping part can be uniquely determined, and the sticker can be peeled off, moved, and pasted in a state in which a part of the sticker is adsorbed and an end part of the sticker is gripped. Therefore, in this peeling and pasting device, the sticker can be more reliably moved from the sheet to which it is pasted. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic explanatory diagram showing an example of a peel-and-stick system 10. [Diagram 2] FIG. 4 is a perspective view of the push-up device 20 and the peeling and pasting mechanism 41. [Diagram 3] FIG. 4 is a side view of the push-up device 20 and the peeling and pasting mechanism 41. [Figure 4] FIG. [Diagram 5] FIG. [Figure 6] FIG. 2 is a block diagram showing the electrical connections of the peel-and-stick system 10. [Figure 7] 11 is a flowchart showing an example of a thrust-up processing routine. [Figure 8] 11 is a flowchart showing an example of a peeling and pasting process routine. [Figure 9]4A to 4C are explanatory diagrams of a series of processes for pushing up and gripping the tip 13 of the seal 12. [Figure 10] 4A to 4C are explanatory diagrams of a series of processes for peeling off the seal 12. [Figure 11] 3A to 3C are explanatory diagrams of a series of processes for sticking a sticker 12 onto an object 15 to be stuck. [Figure 12] FIG. 11 is an explanatory diagram showing an example of another thrusting device 20B. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The present embodiment will be described below with reference to the drawings. FIG. 1 is a schematic explanatory diagram showing an example of a peeling and pasting system 10. FIG. 2 is a perspective view of a push-up device 20 and a peeling and pasting mechanism 41. FIG. 3 is a side view of the push-up device 20 and the peeling and pasting mechanism 41. FIG. 4 is an explanatory diagram of a push-up unit 26. FIG. 5 is a perspective view of the peeling and pasting mechanism 41. FIG. 6 is a block diagram showing an electrical connection relationship of the peeling and pasting system 10. The peeling and pasting system 10 is a system that performs a process of peeling one or more stickers 12 attached to a sheet 11 one by one, moving the stickers, and pasting the stickers to a pasting target. The peeling and pasting system 10 includes a push-up device 20, a peeling and pasting device 40, and a control PC 60. In this embodiment, the left-right direction (X-axis), the front-rear direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIGS. 1 to 5. For the sake of convenience, the direction in which the sticker 12 is pushed up is referred to as the "front," and the direction in which the sticker 12 is attached to the sheet 11 is referred to as the "rear," and these directions are described as the front-rear direction.

[0011] The sticker 12 may be formed with information about the object to which it is to be affixed. Examples of the information about the object to which it is to be affixed include identification information, the price of the object to which it is to be affixed, and performance. The information formed on the sticker 12 may be, for example, characters, symbols, figures, and may be a barcode or a two-dimensional code. The object to which it is to be affixed 15 is not particularly limited as long as it is something to which the sticker 12 is to be affixed, and examples of the object to which it is to be affixed include industrial products including machines, devices, device units, and parts, household goods that are generally used daily, foods, and fresh produce. FIG. 1 shows a feeder used in a mounting device that mounts components on a board, and equipped with a tape that holds the components, as an example of the object to which it is to be affixed 15.

[0012] The push-up device 20 is a device that pushes up one or more stickers 12 from a sheet 11 to which the stickers 12 are attached, and peels off the end of the stickers 12. As shown in Figs. 1 to 4, the push-up device 20 includes a placement section 21, a push-up section 26, and a lifting section 28. The placement section 21 is a plate-shaped member on which the sheet 11 is placed, and has a placement surface 22 and an opening 23. The placement surface 22 is the upper surface of the placement section 21, and is a rectangular surface on which the sheet 11 is placed. The opening 23 is connected from the placement surface 22, which is the upper surface of the placement section 21, to the lower surface side, and is a space into which the push-up section 26 is inserted. The opening 23 is formed by a rectangular surface into which the rectangular parallelepiped push-up section 26 can be inserted. As shown in Fig. 3, an introduction surface 25 that guides the push-up section 26 into the internal space of the opening 23 is formed on an opening edge 24 on the lower surface side of the opening 23. The introduction surface 25 is a surface formed in a tapered shape in which the opening area becomes smaller from the lower surface toward the upper surface. The push-up portion 26 is guided by the introduction surface 25 and moves toward the inside of the opening 23, where it is positioned.

[0013] As shown in FIG. 4, the push-up portion 26 is a member that pushes up the tip 13 of the seal 12 and peels off the tip 13 of the seal 12. The push-up portion 26 peels off the tip 13 from the sheet 11 while the side of the seal 12 different from the tip 13 is attached to the sheet 11. As shown in FIGS. 1 and 2, the push-up portion 26 is arranged on the lower surface side of each of the multiple seals 12. The push-up portion 26 has a first member 31 that pushes up the seal 12 from the lower surface side, and a second member 32. The first member 31 is disposed in front of the upper surface of the push-up portion 26, is formed with a predetermined height H1, and is a member that pushes up the tip of the seal 12 from below. The second member 32 is disposed behind the upper surface of the push-up portion 26, has a height H2 lower than the height H1 of the first member 31, is located closer to the center than the tip of the seal, and is a member that pushes up the seal 12 from below. The first member 31 and the second member 32 penetrate the sheet 11 and push up the seal 12 from the lower surface side. The first member 31 is two first pins that push up the corners of the tip 13 of the seal 12 from below, and the second member 32 is two second pins that push up the center side of the seal 12 from the tip. The "corner" refers to an area (e.g., several mm square) that includes the corner of the tip 13. The first member 31 and the second member 32 are disposed in the push-up section 26 at a height such that the seal 12 is inclined in a straight line starting from one end side of the seal 12 with the other end side of the seal 12 at a higher position. The push-up section 26 may be disposed at a height and position such that the second member 32 pushes up the seal 12 from the lower surface side at the timing when the tip 13 of the seal 12 is released from the first member 31 when the push-up section 26 is raised. In the push-up section 26, Seal 12 One end is Sheet 11Since the tip 13 is pushed up while attached to the seal 12, the tip 13 rises in an arc, and as the first member 31 rises, the tip of the first member 31 comes off the tip 13 when it exceeds a certain height. With such a first member 31, the tip 13 of the seal 12 is not continuously subjected to too much force, so that damage to the tip 13 can be further suppressed. In addition, the push-up portion 26 is formed with a tapered surface 33 at its upper end, which is inclined so that the area of ​​the upper surface becomes smaller as it goes upward. The tapered surface 33 is a surface that comes into contact with the opening edge 24 of the opening 23, and as the push-up portion 26 rises, the introduction surface 25 comes into contact with the tapered surface 33, and the push-up portion 26 is guided into the inside of the opening 23 and positioned at the opening 23.

[0014] The lifting unit 28 moves the push-up unit 26 up and down between a standby position on the underside of the placement unit 21 and a push-up position where the tip 13 of the seal 12 is pushed up. The lifting unit 28 may be an air cylinder. Since an air cylinder has room in all directions when raised, the push-up unit 26 can be inserted into the opening 23 even if there is a dimensional discrepancy between the fixed position of the lifting unit 28 and the position where the opening 23 is disposed.

[0015] The peeling and pasting device 40 is a device that peels off one or more stickers 12 from a sheet 11 to which the stickers 12 are attached, moves the stickers, and then pastes the stickers 12 on an object 15 to be pasted. The peeling and pasting device 40 has a peeling and pasting mechanism 41 and a robot arm 54. The peeling and pasting mechanism 41 is a main part of the peeling and pasting device 40 that moves the stickers 12, and is configured as an end effector that is attached to the tip of the robot arm 54 in a detachable state. The peeling and pasting mechanism 41 has a base part 42, an adsorption part 43, a gripping part 46, a driving part 48, a fixing part 50, and an attachment part 52.

[0016] The base part 42 is a base on which each component of the peeling and pasting mechanism 41 is disposed. The suction part 43 is disposed on the underside of the base part 42, the grip part 46 is supported in front via a drive part 48, a fixing part 50 is fixed below the suction part 43 via a stay, and a mounting part 52 connected to a robot arm 54 is disposed on the upper surface. A pressure applying device (not shown) is connected to the base part 42, and negative pressure and positive pressure are supplied from the pressure applying device to the base part 42. The base part 42 can be freely moved in the up-down direction, left-right direction, and front-rear direction by the robot arm 54.

[0017] The suction unit 43 is disposed on the lower surface side of the base portion 42 and suctions a part of the seal 12. The suction unit 43 includes a nozzle 44 and a suction tube 45. The nozzle 44 is a member that contacts the seal 12 to apply negative pressure, and is formed into a circular suction cup shape from rubber or resin. The nozzle 44 also serves as a pressing member that presses the seal 12 from above after placing the seal 12 on the attachment target 15. The suction tube 45 is contained in the base portion 42, and protrudes from the inside to the outside of the base portion 42 when the nozzle 44 descends. The suction tube 45 is supplied with negative pressure or positive pressure from the pressure applying device via the base portion 42. The suction unit 43 is disposed on the base portion 42 so as to be able to rise and fall between a standby position and a suction position, and descends to the suction position when suctioning the seal 12, and rises to the standby position when releasing the suction.

[0018] The gripping portion 46 grips the tip 13 of the seal 12 in a state where it is pushed up by the pushing portion 26, and has a pair of opposing gripping claws 47. The gripping portion 46 is disposed on the base portion 12 so as to be movable in a direction (front-rear direction) where it approaches and moves away from the suction portion 43. The gripping portion 46 can also move up and down as the base portion 42 moves up and down. As shown in FIG. 5, the gripping portion 46 is disposed diagonally downward so as to face the tip 13 of the seal 12 in a state where it is lifted up from the sheet 11. The pair of gripping claws 47 has a width that allows it to be inserted between the two first members 31. The gripping claws 47 grip the tip 13 pushed up by the first member 31 by entering between the first members 31. The gripping portion 46 is driven by an air actuator or an electromagnetic actuator (not shown) between a gripping state where the tips of the gripping claws 47 are closed and a gripping release state where the tips are opened. The gripping portion 46 grips the tip portion 13 of the seal 12 in a curved bent state so that the shape of the seal 12 when viewed from the side is S-shaped (see FIG. 1, etc.).

[0019] The drive unit 48 moves the support member 49 in a direction to move the gripping unit 46 toward and away from the adsorption unit 43. The drive unit 48 has an air cylinder that is driven by pressure supplied from the base unit 42. The support member 49 is connected to the drive unit 48 so as to be movable in the front-rear direction by the drive unit 48, and is a member that supports the gripping unit 46 below it.

[0020] The fixing part 50 is a member that fixes the sheet 11 to the placement part 21 on which the sheet 11 is placed. As shown in FIG. 5, the fixing part 50 is a C-shaped plate-like member with an opening at the front, and its lower surface is a pressing surface that contacts and presses the placement surface 22. From the front to the center of the fixing part 50, there is a working space 51 through which the suction part 43 passes in the vertical direction and into which the gripping part 46 enters at the rear. The working space 51 is a space where the seal 12 is peeled off from the sheet 11 in a state where the sheet 11 is fixed to the fixing part 50. The seal 12 moves upward together with the gripping part 46 and the suction part 43 through the working space 51.

[0021] The mounting part 52 is a part that can be mounted on and removed from the robot arm 54, and is disposed on the upper surface of the base part 42. This mounting part 52 has a locking mechanism that is locked when the peeling and pasting mechanism 41 is mounted on the robot arm 54. When removing the peeling and pasting mechanism 41 from the robot arm 54, the operator releases this locking mechanism.

[0022] 1, the robot arm 54 has a peeling and pasting mechanism 41 attached to its tip, and moves the peeling and pasting mechanism 41 in the front-back, left-right, and up-down directions to peel the sticker 12 from the sheet 11, move it, and paste it on the object 15. The robot arm 54 has a plurality of arms 55 that rotate around a rotation axis, a drive motor 56 that rotates the rotation axis connected to the arm 55, a base 57 that supports and arranges the arm 55, etc.

[0023] The control PC 60 executes control of each device of the peeling and pasting system 10. The control PC 60 includes a push-up control unit 61, a process control unit 62, a memory unit 63, a communication unit 64, a display unit 65, and an operation unit 66. The push-up control unit 61 is configured as a microprocessor centered on a CPU, and controls the entire push-up device 20. The push-up control unit 61 outputs a control signal to the lifting and lowering unit 28 so as to push up the push-up unit 26 on the lower surface side of the sticker 12 to be peeled and then lower it. The process control unit 62 is configured as a microprocessor centered on a CPU, and controls the entire peeling and pasting device 40. The process control unit 62 outputs a drive signal to the adsorption unit 43, the gripping unit 46, the drive unit 48, and the robot arm 54. The memory unit 63 is a large-capacity storage medium such as a flash memory, and stores a program for controlling the peeling and pasting system 10, information on the sticker 12, the pasting target 15, and the like. The communication unit 64 is an interface for exchanging information with external devices such as the push-up device 20 and the peeling and pasting device 40. Each device of the peeling and pasting system 10 exchanges information with the control PC 60 via the communication unit 64. The display unit 65 is a display that displays information to the worker. The operation device 66 includes a keyboard, a mouse, and the like, through which the worker performs various inputs. Note that in the peeling and pasting system 10, the push-up device 20 and the peeling and pasting device 40 are described as being controlled by a single control PC 60, but a control device may be provided for each of the push-up device 20 and the peeling and pasting device 40, or each control process may be shared among three or more control devices.

[0024] Next, the peeling and pasting process of the sticker 12 by the peeling and pasting system 10 thus configured will be described. Fig. 7 is a flow chart showing an example of a push-up process routine executed by the CPU of the push-up control unit 61 and operated by the push-up device 20. Fig. 8 is a flow chart showing an example of a peeling and pasting process routine executed by the CPU of the process control unit 62 and operated by the peeling and pasting device 40. Fig. 9 is an explanatory diagram of a series of processes in which the push-up device 20 pushes up the tip 13 of the sticker 12 and the peeling and pasting device 40 grips it, Fig. 9A is a diagram of fixing the sheet 11, Fig. 9B is a diagram of the sticker 12 being pushed up by the push-up unit 26, Fig. 9C is a diagram of the gripping unit 46 preparing to grip, and Fig. 9D is a diagram of the sticker 12 being gripped by the gripping unit 46. Fig. 10 is an explanatory diagram of a series of processes in which the peeling and pasting device 40 peels off the sticker 12, with Fig. 10A showing the sticker 12 being curved, Fig. 10B showing the sticker 12 being adsorbed to the adsorption section 43, and Fig. 10C showing the sticker 12 being peeled off from the sheet 11. Fig. 11 is an explanatory diagram of a series of processes in which the peeling and pasting device 40 sticks the sticker 12 to the attachment target 15, with Fig. 11A showing a part of the sticker 12 being attached to the attachment target 15, Fig. 11B showing the adsorption being released, Fig. 11C showing the sticker 12 being released from its curved bend, Fig. 11D showing the sticker 12 being released from its grip, Fig. 11E showing the first pressing process, and Fig. 11F showing the second pressing process.

[0025] First, the pushing-up process of the sticker 12 executed by the pushing-up device 20 will be described. The pushing-up process routine of FIG. 7 is stored in the storage unit 63, and is executed after an operator inputs an execution command for the sticker 12 pasting process. When this routine is started, the CPU of the pushing-up control unit 61 first judges whether or not it is time to peel the sticker 12 (S100). The CPU judges that it is time to peel the sticker 12, for example, when the preparation on the peeling and pasting device 40 side is completed and the peeling and pasting device 40 becomes capable of peeling a new sticker 12. When it is judged that it is time to peel the sticker 12 in S100, the CPU acquires the position of the sticker 12 to be peeled based on the information stored in the storage unit 63 (S110), and judges whether or not the sheet 11 is fixed by the fixing unit 50 (S120). The CPU can execute this judgment by acquiring, for example, the position information of the peeling and pasting mechanism 41 from the peeling and pasting device 40. When the fixing unit 50 is not fixing the sheet 11, the CPU waits as it is. On the other hand, when the fixing part 50 fixes the sheet 11 (FIG. 9A), the CPU performs a process of raising the corresponding push-up part 26 to push up the tip part 13 of the seal 12 (S130, FIG. 9B). Conditions such as the lifting speed of the push-up part 26 may be empirically obtained, for example, by using the seal 12 in advance to determine the time required for the push-up process of the seal 12 and the conditions for preventing damage to the seal 12, and a suitable range may be adopted. Similarly, the worker empirically obtains suitable ranges for the height, position, number, etc. of the first member 31 and second member 32 of the push-up part 26, and uses the push-up part 26 with the obtained conditions.

[0026] Here, the push-up part 26 first pushes up the tip 13 of the seal 12 by the first member 31 formed at a height H1 (see FIG. 4). When the push-up part 26 rises, the tip 13 of the seal 12 rises with the opposite end attached to the sheet 11, so that the tip 13 rises while drawing an arc and shifting in a direction away from the first member 31. When the push-up part 26 rises to a predetermined height, the tip 13 comes off the first member 31, but then the second member 32 at a height H2 supports the center side of the seal 12 from below, further pushing up the seal 12. In this way, since the part to be pushed up is changed, the push-up device 20 can push up the tip 13 on one side of the seal 12 in a position that is easily gripped by the gripping part 46 while further suppressing damage to the seal 12.

[0027] When the push-up section 26 pushes up the leading end 13 of the sticker 12, the CPU judges whether the gripping section 46 of the peeling and pasting device 40 has gripped the end of the sticker 12 based on a signal from the peeling and pasting device 40 or the like (S140). When the leading end 13 is not gripped by the gripping section 46, the CPU makes the push-up section 26 wait at the raised push-up position (FIG. 9C). On the other hand, when the leading end 13 of the sticker 12 is gripped by the gripping section 46 in S140, the CPU moves the push-up section 26 down to the waiting position (S150, FIG. 9D). After S150, or when it is not the timing to peel the sticker 12 in S100, the CPU judges whether the peeling and pasting process of all the stickers 12 has been completed (S160), and when there are stickers 12 that have not yet been peeled and pasted, the process from S100 onward is repeated. On the other hand, when the peeling and sticking process of all the stickers 12 is completed in S160, the CPU ends this routine. In this manner, the push-up device 20 raises and lowers the push-up portion 26 to assist in peeling the stickers 12.

[0028] Next, the peeling, moving and pasting process of the sticker 12 executed by the peeling and pasting device 40 will be described. The push-up process routine of FIG. 8 is stored in the memory unit 63, and is executed after the operator inputs an execution command for the pasting process of the sticker 12. When this routine is started, the CPU of the process control unit 62 first judges whether it is time to peel the sticker 12 (S200). The CPU judges it to be the peeling timing when, for example, the preparation of the push-up device 20 side is completed and the push-up device 20 is able to push up a new sticker 12. When it is judged to be the peeling timing of the sticker 12 in S200, the CPU acquires the position of the sticker 12 to be peeled based on the information stored in the memory unit 63 (S210), and moves the peeling and pasting mechanism 41 to the top of the peeling target by the robot arm 54 (S220). Next, the CPU lowers the base unit 42 and fixes the sheet 11 by the fixing unit 50 (S230, FIG. 9A). Next, the CPU judges whether or not the push-up portion 26 is pushing up the tip portion 13 of the seal 12 based on a signal from the push-up device 20 (S240). When the push-up portion 26 is not pushing up the seal 12, the CPU waits as it is. On the other hand, when the push-up portion 26 is pushing up the seal 12, the CPU moves the gripping portion 46 closer to the suction portion 43 side (FIG. 9C) and causes the gripping portion 46 to grip the tip portion 13 of the seal 12 (S250, FIG. 9D).

[0029] Next, the CPU moves the base part 42 upward and backward by the robot arm 54 so that the sticker 12 is curved in an S-shape when viewed from the side (S260, FIG. 10A). At this time, it is preferable that the robot arm 54 moves the base part 42 so that the suction part 43 can be suctioned and the area where the sticker 12 is affixed to the sheet 11 is minimized. If the area where the sticker 12 is affixed to the sheet 11 is larger, it may be difficult to peel the sticker 12 with the suction force of the suction part 43. The smaller the affixing area is, the more reliably the sticker 12 can be peeled off, which is preferable. At this time, the suction part 43 is located above the end of the sticker 12 affixed to the sheet 11. Next, the CPU lowers the suction part 43 to the suction position and suctions the end of the sticker 12 on the side affixed to the sheet 11 (S270, FIG. 10B). Then, the CPU raises the base portion 42 by the robot arm 54, and peels the seal 12 from the sheet 11 (S280, FIG. 10C). At this time, it is preferable for the CPU to move the base portion 42 upward and backward, from the viewpoint of more reliably peeling the seal 12.

[0030] Next, the CPU of the process control unit 62 moves the peeling and pasting mechanism 41 above the attachment target 15 by the robot arm 54 (S290), and lowers the base part 42 to attach a part of the sticker 12 attached by the adsorption part 43 to the attachment target 15 (S300, FIG. 11A). Next, the CPU releases the adsorption of the adsorption part 43 and raises the adsorption part 43 to the standby position (S310, FIG. 11B). Since a part of the sticker 12 is fixed on the attachment target 15 in S300, the sticker 12 is stable on the attachment target 15 even in this state. Next, the CPU moves the base part 42 forward and downward by the robot arm 54 to release the S-shaped curved bend of the sticker 12 (S320, FIG. 11C). Next, the CPU releases the gripping of the tip 13 by the gripping part 46 and retreats the gripping part 46 in a direction away from the suction part 43 (330, FIG. 11D). When the tip 13 is released from the gripping state, the seal 12 is released from the bent state and descends in sequence from the part that has already been affixed toward the tip 13 side, and is affixed on the attachment target 15 in a state where wrinkles are unlikely to occur. Then, the CPU performs a pressing process of pressing the nozzle 44 as a pressing member against the seal 12 one or more times (S340). Here, the CPU performs the pressing process at two places, the center of the seal 12 and the side of the gripped tip 13 (FIGS. 11E, F). In this way, the peeling and pasting device 40 can peel the seal 12 from the sheet 11 and paste it on the attachment target 15 in a clean state without wrinkles.

[0031] Here, the correspondence between the components of this embodiment and the components of this disclosure will be clarified. The base portion 42 of this embodiment corresponds to the base portion of this disclosure, the suction portion 43 corresponds to the suction portion, the gripping portion 46 corresponds to the gripping portion, the driving portion 48 corresponds to the driving portion, the process control portion 62 corresponds to the process control portion, the robot arm 54 corresponds to the robot arm, the mounting portion 52 corresponds to the mounting portion, the nozzle 44 corresponds to the pressing member, and the fixing portion 50 corresponds to the fixing portion. In addition, the push-up portion 26 corresponds to the push-up portion, the placement portion 21 corresponds to the placement portion, the first member 31 corresponds to the first member and the first pin, the second member 32 corresponds to the second member and the second pin, the lifting portion 28 corresponds to the lifting portion, and the push-up control portion 61 corresponds to the push-up control portion.

[0032] In the peeling and pasting device 40 of the present embodiment described above, the adsorption section 43 and the gripping section 46 are disposed on the base section 42, and the positional relationship between the adsorption section 43 and the gripping section 46 can be uniquely determined, and the seal 12 can be peeled off, moved, and pasted in a state in which a part of the seal 12 is adsorbed and the leading end 13 of the seal is gripped. Therefore, in this peeling and pasting device 40, the seal 12 can be more reliably moved from the sheet 11 to which it is pasted. In addition, the gripping section 46 is disposed diagonally downward so as to face the end of the seal 12 in a state in which it is lifted from the sheet 11, and grips the end of the seal. In this peeling and pasting device 40, the gripping section 46 easily supports the end of the seal 12 by moving along the direction approaching and moving away from the adsorption section 43. Furthermore, the gripping section 46 grips the end of the seal 12 so that the shape of the seal 12 when viewed from the side is S-shaped. With this peeling and pasting device 40, the sticker 12 can be easily peeled off from the sheet 11, and the occurrence of wrinkles and the like can be further suppressed, so that the sticker 12 can be more neatly pasted on the object 15 to be pasted.

[0033] Moreover, since the peeling and pasting device 40 includes a process control unit 62 that controls the suction unit 43, the gripping unit 46, the driving unit 48, and the robot arm 54, the sticker 12 to be peeled can be moved automatically by the process control unit 62. Furthermore, the base unit 42 is provided with a mounting unit 52 that is mounted on the robot arm 54, and is moved in the up-down direction, the front-back direction, and even the left-right direction by the robot arm 54. In this peeling and pasting device 40, the base unit 42 can be moved in the up-down direction by the robot arm 54. In addition, in this peeling and pasting device 40, in addition to the movement of the gripping unit 46 by the driving unit 48, the base unit 42 can be moved in the front-back direction by the robot arm 54. Furthermore, the process control unit 62 causes the drive unit 48 to bring the gripping unit 46 close to the adsorption unit 43, causes the gripping unit 46 to grip the tip 13 of the sticker 12 lifted from the sheet 11, raises the gripping unit 46 to bend the sticker 12 into a curved shape, and then causes the adsorption unit 43 to adsorb a part of the sticker 12 and raises the base unit 42 to peel the sticker 12 from the sheet 11. Through this series of operations, the peeling and sticking device 40 can peel the sticker 12 more reliably.

[0034] Furthermore, the process control unit 62 causes the suction unit 43 to suction a part of the seal 12, causes the gripping unit 46 to bend the seal 12 into a curve and grip the tip 13 of the seal 12, and then causes the part of the seal 12 suctioned by the suction unit 43 to abut against the target 15, releases the grip of the gripping unit 46 to release the curved bent state of the seal, and causes the seal 12 to be affixed to the target 15. The peeling and pasting device 40 can peel off the seal 12 more reliably through such a series of operations. Furthermore, the process control unit 62 causes the suction unit 43 to release the suction of the part of the seal 12 before releasing the grip of the gripping unit 46. When the suction unit 43 maintains its suction state, the movement of the base unit 42 is restricted, but in this peeling and pasting device 40, the release of suction creates a degree of freedom in the movement of the base unit 42, so that the operation of pasting the seal 12 can be performed more freely. Furthermore, after bringing a part of the sticker 12 into contact with the target 15, the process control unit 62 moves the gripping unit 46 so as to move away from the contact position and downward, releases the gripping of the gripping unit 46, and causes the drive unit 48 to move the gripping unit 46 away from the adsorption unit 43. With this peeling and sticking device 40, the sticker 12 can be stuck to the target 15 more neatly.

[0035] Furthermore, the base part 42 has a nozzle 44 as a pressing member for pressing the upper surface of the sticker 12 affixed to the affixing target 15, and the process control part 62 performs the operation of pressing the upper surface of the sticker affixed to the affixing target 15 with the nozzle 44 one or more times after releasing the grip of the gripping part 46. In this peeling and pasting device 40, the sticking state of the sticker 12 can be further improved by pressing the upper surface of the sticker 12. In addition, the nozzle 44 of the adsorption part 43 serves both as the adsorption of the sticker 12 and as the pressing member, so that the configuration can be further simplified. Furthermore, the adsorption part 43 is disposed on the base part 42 so as to be able to rise and fall between the standby position and the adsorption position, and moves to the adsorption position when adsorbing a part of the sticker 12, and moves to the standby position when releasing the adsorption. In this peeling and pasting device, the adsorption part is retracted, so that the base part 42 can move more freely. Furthermore, base portion 42 has working space 51 including suction portion 43 and gripping portion 46, and is provided with fixing portion 50 for fixing sheet 11 to placement portion 21 on which sheet 11 is placed, and processing control portion 62 peels sticker 12 from sheet 11 in a state in which sheet 11 is fixed to fixing portion 50. In this peeling and sticking device 40, by fixing sheet 11, sticker 12 can be peeled off more reliably.

[0036] The peeling and pasting system 10 is a peeling and pasting system that pushes up and peels off one or more stickers from a sheet to which the stickers are attached, and moves and pastes the stickers to an object to be pasted, and includes the peeling and pasting device 40 described above, and a push-up device 20 that is disposed on the underside of the sticker 12 and has a push-up section 26 that pushes up the sticker 12 and peels the sticker 12 from the sheet 11 to which the stickers 12 are attached, and the gripping section 46 grips the end of the sticker 12 pushed up by the push-up device 20 to peel the sticker 12. Since this peeling and pasting system includes the peeling and pasting device 40 described above, the sticker 12 can be more reliably moved from the sheet 11 to which it is attached. Furthermore, in the peeling and pasting system 10, the push-up device 20 comprises a placing section 21 on which the sheet 11 is placed, a first member 31 arranged on the underside of the seal 12 placed on the placing section 21 and pushing up the tip portion 13 of the seal 12 from below, and a second member 32 having a height H2 lower than the first member 31 and positioned more centrally than the tip portion 13 of the seal 12, and pushes up the seal 12 with the side other than the tip portion 13 of the seal 12 attached to the sheet 11, thereby peeling off the tip portion 13 from the sheet 11, a lifting section 28 that moves the push-up section 26 up and down, and a push-up control section 61 that controls the lifting section 28 to push up the push-up section 26 on the underside of the seal 12 to be peeled and then lower it. In this push-up device 20, one end of the seal 12 is affixed to the sheet 11, and the attitude of the seal 12 is stabilized while the other end of the seal 12 is lifted, making it easy to grasp the lifted end of the seal 12. Therefore, in this peel-and-stick system 10, the seal 12 can be more reliably moved from the sheet 11 to which it is affixed.

[0037] Furthermore, in the peeling and pasting system 10, the push-up control unit 61 raises the push-up unit 26 to push up the end of the seal 12, and the gripping unit 46 grips the end of the seal 12 and then lowers the push-up unit 26, and the process control unit 62 moves the gripping unit 46 to the end of the seal 12 after the push-up unit 26 pushes up the end of the seal 12 and causes the gripping unit 46 to grip the end. In this peeling and pasting system 10, the end of the seal can be gripped more reliably. In addition, in the peeling and pasting system 10, the base unit 42 has a working space 51 including the suction unit 43 and the gripping unit 46, and is provided with a fixing unit that fixes the sheet 11 to the placement unit on which the sheet 11 is placed, and the push-up control unit may raise the push-up unit to push up the end of the seal after the fixing unit fixes the sheet. In this peeling and pasting system, the end of the seal can be peeled off more reliably.

[0038] In addition, Peeling and pasting device and peeling and pasting system It goes without saying that the present disclosure is not limited to the above-described embodiment, and may be embodied in various forms as long as it falls within the technical scope of the present disclosure.

[0039] For example, in the above embodiment, the gripping portion 46 is disposed obliquely downward so as to face the end of the seal 12 in a state where it is lifted from the sheet 11, but this is not particularly limited, and the direction is not particularly limited as long as it can grip the tip end 13 of the seal 12. Note that if the gripping portion 46 is disposed obliquely downward, it is preferable because the gripping claws 47 can be directly opposed to the upper and lower surfaces of the tip end 13 of the seal 12 by only moving in the front-rear direction.

[0040] In the above-described embodiment, the gripping portion 46 grips the tip 13 of the sticker 12 so that the shape of the sticker 12 becomes S-shaped when viewed from the side in conjunction with the suction of the suction portion 43, but is not particularly limited to this, and is not particularly limited to an S-shape as long as the gripping portion is bent into a curved shape. Note that if the gripping portion 46 grips by bending into an S-shape, when the sticker is applied to the attachment target 15, the part that is partially attached by contacting the suction portion 43 is attached to the upper surface of the attachment target 15 in order, which is preferable from the viewpoint of neater application.

[0041] In the above-described embodiment, the peeling and pasting device 40 is configured to freely move the base unit 42 by the robot arm 54, but is not particularly limited to this, and may be, for example, an XY robot equipped with a head to which the peeling and pasting mechanism 41 is attached and a plurality of sliders. In this peeling and pasting device, the base unit 42 can be moved by the XY robot.

[0042] In the above-described embodiment, the process control unit 62 causes the suction unit 43 to adsorb a part of the seal 12 after bending the seal 12 into a curve in the process of peeling the seal 12 (FIG. 10B), but this is not particularly limited, and the suction unit 43 may adsorb a part of the seal 12 before bending the seal 12 into a curve. This peeling and pasting device 40 can more reliably ensure that a part of the seal 12 is attached. From the viewpoint of the degree of freedom of movement of the base unit 42, it is preferable to cause the suction unit 43 to adsorb a part of the seal 12 after bending the seal 12 into a curve.

[0043] In the embodiment described above, when sticking the sticker 12 to the target 15, the process control unit 62 releases the suction of the suction unit 43 and raises the suction unit 43 to the standby position immediately after sticking a part of the sticker 12 to the target 15 by the suction unit 43, but this is not particularly limited, and a process may be performed to release the grip of the gripping unit 46 while maintaining the suction state of the suction unit 43. With this peeling and sticking device 40, the affixed state of the end of the sticker 12 can be better maintained.

[0044] In the above-described embodiment, when attaching the sticker 12 to the attachment target 15, the process control unit 62 moves the base portion 42 downward and forward, releases the curved bending of the sticker 12, and then releases the grip of the gripping portion 46, but this is not particularly limited, and the grip of the gripping portion 46 may be released without moving the base portion 42. Note that, from the viewpoint of achieving a neater attachment state, it is preferable for the process control unit 62 to move the base portion 42 downward and forward.

[0045] In the above-described embodiment, the process control unit 62 executes the pressing process using the nozzle 44 as a pressing member, but is not particularly limited to this, and for example, the fixing unit 50 may be used as the pressing member, or a pressing member dedicated to the pressing process may be disposed on the base unit 42 and used to execute the pressing process. This peeling and pasting device 40 can also paste the sticker 12 onto the paste target 15 with a good finish.

[0046] In the above-described embodiment, the peel-and-stick system 10 is configured to push up the tip 13 of the seal 12 by the push-up device 20 including the push-up part 26 in which the first member 31 and the second member 32 are arranged, but is not particularly limited to this as long as it has a push-up part that can push up the tip 13 of the seal 12. For example, the first member 31 and the second member 32 are pin-shaped, but are not particularly limited to this as long as they have a shape that can push up the seal 12.

[0047] For example, in the above-described embodiment, the push-up portion 26 is configured so that the first member 31 and the second member 32 are arranged at a height such that the seal 12 is tilted in a straight line starting from one end side of the seal 12 with the other end side of the seal 12 at a higher position, but as long as it can push up the tip portion 13 of the seal 12, it is not particularly limited, and it does not have to be linear or inclined.

[0048] In the embodiment described above, the first member 31 and the second member 32 are disposed at a height and position where the second member 32 pushes up the seal 12 from the lower surface side at the timing when the tip portion 13 of the seal 12 comes off the first member 31 when the push-up portion 26 rises, but this is not particularly limited. For example, the tip portion 13 of the seal 12 may not come off the first member 31. From the viewpoint of protecting the seal 12, it is preferable that the push-up portion 26 is configured so that the second member 32 pushes up the seal 12 from the lower surface side at the timing when the tip portion 13 of the seal 12 comes off the first member 31.

[0049] In the above embodiment, the first member 31 is two first pins, but is not limited to two and may be one or more. Also, the second member 32 is two second pins, but is not limited to two and may be one or more.

[0050] In the above-described embodiment, the introduction surface 25 for guiding the push-up portion 26 is formed on at least a part of the opening edge 24 of the opening 23, but this may be omitted. In this case, it is preferable that the push-up portion 26 has a tapered surface 33 formed thereon. Also, in the above-described embodiment, the upper end of the push-up portion 26 has a tapered surface 33 that comes into contact with the opening edge 24 formed thereon, but this may be omitted. In this case, it is preferable that the introduction surface 25 is formed on the opening edge 24. Also, both the introduction surface 25 of the opening 23 and the tapered surface 33 of the push-up portion 26 may be omitted.

[0051] In the above-described embodiment, the push-up device 20 is provided with the push-up portion 26 on the lower surface of each of the seals 12 (see FIG. 1), but is not particularly limited thereto. For example, as shown in FIG. 12, a push-up device 20B may be provided with a moving portion 35 that moves the push-up portion 26 to the lower surface side of the seal 12 to be peeled. FIG. 12 is an explanatory diagram showing an example of another push-up device 20B. The push-up device 20B is provided with one push-up portion 26 for each row of the seals 12, and a moving portion 35 that moves the lifting portion 28 in the row direction. The moving portion 35 is a slider that fixes the lifting portion 28 and slides in a predetermined moving direction. In the push-up device 20B, the moving direction is the left-right direction. In this push-up device 20B, the seal 12 to be peeled can be pushed up by moving the push-up portion 26, and the number of the push-up portions 26 and the lifting portion 28 can be further reduced, so that the seal can be pushed up with a more simplified configuration. In addition, while the push-up device 20B is provided with a push-up section 26 and a lifting section 28 for each row, it is also possible to provide a moving section whose movement direction is also in the forward and backward directions, thereby reducing the number of push-up sections 26 and lifting sections 28. EXAMPLES

[0052] An example of a specific production of the peeling and pasting device 40 of the present disclosure will be described below. Here, the results of examining the operating conditions of the peeling and pasting device 40 and an example of the pasting state of the sticker 12 will be described. Note that this is only one example, and the present disclosure is not limited to this example, and it goes without saying that the present disclosure can be embodied in various forms as long as it falls within the technical scope of the present disclosure.

[0053] A sticker peeling test was conducted using the peeling and pasting device 40. When peeling off sticker 12, the pad diameter of nozzle 44, peeling direction, peeling speed, suction position and peeling height were examined. The size of the sticker to be peeled off was 12 mm x 52 mm. The success rate was 50% when the pad diameter was 8 mm, which is small compared to the width of the sticker, but when it was 10 mm in diameter, the success rate was 90%. It was found that the success rate could be increased by changing the amount lifted and peeled off in advance, the peeling speed, the suction position, etc. Although peeling was possible even in an oblique direction, vertical lifting was preferable as it caused less air leakage at the suction part. The peeling speed could be either high or low. Peeling It was possible. From the viewpoint of increasing the amount of pre-peeling and the relationship with the adhesive strength of the application site, it was preferable to adsorb the seal closer to the tip side. The peeling height refers to the height of the gripping part 46 in Figs. 10A and 10B. It was found that the higher the peeling height, the greater the amount of pre-peeling and the higher the success rate of peeling. It was found that the more important conditions for peeling the seal 12 (see Fig. 10C) are the pad diameter of the nozzle 44, the peeling direction, and the peeling height. [Industrial Applicability]

[0054] The present disclosure is applicable to the technical field of automatically attaching stickers to articles. [Explanation of symbols]

[0055] 10 peeling and pasting system, 11 sheet, 12 seal, 13 tip portion, 15 pasting object, 20, 20B push-up device, 21 placement portion, 22 placement surface, 23 opening, 24 opening edge, 25 introduction surface, 26 push-up portion, 28 lifting portion, 31 first member, 32 second member, 33 tapered surface, 35 moving portion, 40 peeling and pasting device, 41 peeling and pasting mechanism, 42 base portion, 43 suction portion, 44 nozzle, 45 suction tube, 46 gripping portion, 47 gripping claw, 48 driving portion, 49 support member, 50 fixing portion, 51 working space, 52 mounting portion, 54 robot arm, 55 arm, 56 driving motor, 57 base portion, 60 control PC, 61 push-up control portion, 62 processing control portion, 63 memory portion, 64 Communication unit, 65 display unit, 66 operating device, H1, H2 height.

Claims

1. A peel-and-apply device for removing one or more stickers from a sheet having the stickers attached thereto, comprising: A base portion; a suction portion disposed on the base portion and adapted to suction a portion of the seal; a gripping portion that is disposed on the base portion so as to be movable in a direction approaching and moving away from the suction portion and that is movable in a vertical direction to lift up and down and grips an end portion of the seal in a state where the seal is lifted up from the sheet; a drive unit that drives the gripping unit in a direction toward and away from the suction unit; A peeling and pasting device comprising:

2. The peeling and sticking device according to claim 1 , wherein the gripping portion is disposed obliquely downward toward an end of the sticker in a state where the sticker is lifted from the sheet, and grips the end of the sticker.

3. The peeling and sticking device according to claim 1 or 2, wherein the gripping portion grips an end of the sticker so that the sticker has an S-shape when viewed from the side.

4. The peeling and pasting device according to any one of claims 1 to 3, A peeling and pasting device comprising: a processing control unit that controls the adsorption unit, the gripping unit, and the drive unit.

5. The base portion is provided with a mounting portion to be mounted on a robot arm, The processing control unit also controls the robot arm, The peeling and sticking device according to claim 4 , wherein the base portion is moved in the up-down direction and the front-rear direction by the robot arm.

6. 6. The peeling and pasting device according to claim 4 or 5, wherein the processing control unit causes the drive unit to bring the gripping unit close to the suction unit to grip the end of the seal lifted from the sheet, raises the gripping unit to bend the seal into a curved shape, causes a portion of the seal to be adsorbed to the suction unit before or after the seal is bent into a curve, and raises the base unit to peel the seal from the sheet.

7. The peeling and pasting device according to any one of claims 4 to 6, wherein the processing control unit causes a portion of the sticker to be adsorbed to the suction unit, causes the sticker to be curved and bent by the gripping unit and grips an end of the sticker, brings the portion of the sticker adsorbed to the suction unit into contact with an object to be affixed, releases the gripping of the gripping unit to release the curved and bent state of the sticker, and affixes the sticker to the object to be affixed.

8. The peeling and sticking device according to claim 7 , wherein the process control section causes the suction section to release the suction from the part of the sticker before releasing the grip of the gripping section.

9. The peeling and pasting device according to claim 7 or 8, wherein the processing control unit, after bringing a portion of the sticker into contact with the object to be pasted, moves the gripping unit so as to move away from and downward from the position when the sticker was brought into contact, causes the gripping unit to release the grip, and causes the drive unit to move the gripping unit away from the suction unit.

10. The base portion has a pressing member that presses an upper surface of the sticker attached to an object to be attached, The peeling and pasting device according to any one of claims 7 to 9, wherein the processing control unit performs an operation of pressing the upper surface of the sticker attached to the attachment target with the pressing member one or more times after releasing the gripping of the gripping unit.

11. The peeling and pasting device according to any one of claims 1 to 10, wherein the suction section is arranged on the base section so as to be able to rise and fall between a standby position and an suction position, and moves to the suction position when suctioning a portion of the sticker, and moves to the standby position when suction is released.

12. the base portion has a working space including the suction portion and the gripping portion, and a fixing portion is disposed to fix the sheet to a placement portion on which the sheet is placed, The peeling and sticking device according to any one of claims 1 to 11, wherein the sticker is peeled off from the sheet in a state where the sheet is fixed to the fixing part.

13. A peeling and pasting system that pushes up and peels one or more stickers from a sheet to which the stickers are attached, and moves the stickers to attach them to an object to which the stickers are attached, A peeling and pasting device according to any one of claims 1 to 12, a push-up unit disposed on the lower surface side of the seal and pushing up the seal, and a push-up device for peeling off the seal from a sheet to which one or more seals are attached; The gripping section grips an end of the seal pushed up by the push-up device and peels off the seal.

14. The push-up device is A placement section for placing the sheet; a push-up portion having a first member disposed on the underside of the seal placed on the placement portion and pushing up the leading end of the seal from below, and a second member having a height lower than the first member and positioned closer to the center than the leading end of the seal, and pushes up the seal while the side opposite the leading end of the seal is affixed to the sheet, thereby peeling off the end from the sheet; A lifting unit that moves the push-up unit up and down; a push-up control unit that controls the lift unit so as to push up and then lower the push-up unit located on the underside of the seal to be peeled; The peel and stick system of claim 13 .

15. The peel-and-stick device includes a processing control unit that controls the adsorption unit, the gripping unit, and the drive unit, The push-up device includes a push-up control unit that controls a lifting unit that moves the push-up unit up and down so as to push up and then lower the push-up unit located on the underside of the seal to be peeled, The push-up control unit raises the push-up unit to push up the end of the seal, and then lowers the push-up unit after the gripping unit grips the end of the seal, The peel-and-stick system according to claim 13 or 14, wherein the processing control unit is configured to move the gripping unit to the end of the sticker and grip the end of the sticker after the pushing unit has pushed up the end of the sticker.

16. The push-up device includes a push-up control unit that controls a lifting unit that moves the push-up part up and down so as to push up and then lower the push-up part located on the underside of the seal to be peeled, the base portion has a working space including the suction portion and the gripping portion, and a fixing portion is disposed to fix the sheet to a placement portion on which the sheet is placed, The peel-and-stick system according to any one of claims 13 to 15, wherein the push-up control section raises the push-up section to push up the edge of the seal after the fixing section fixes the sheet.

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