Attachment jig and work attachment method

Abstract

To provide a technology allowing work to be easily pasted onto a surface to be pasted.SOLUTION: An embodiment of the present invention includes a suction plate 30 that holds the work facing the surface to be pasted and away from the surface to be pasted, and a 4-axis moving stage 20 that supports the suction plate 30 so as to be rotatable around a vertical direction axis and movable along the vertical direction.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to a pasting jig and a work pasting method for pasting a work, particularly a sheet-like work, to a receiving surface. [Background technology]

[0002] In recent years, systems that automatically transport objects using AGVs (Automatic Guided Vehicles) as autonomous mobile robots have become known. There are several methods for autonomous travel of AGVs, among which the most widely used is the guidance method, in which the vehicle moves along guides such as magnetic tape, light-reflecting tape, and two-dimensional codes laid on the floor of a facility.

[0003] FIG. 16 is a diagram for explaining a conventional guidance method using a two-dimensional code in an automated guided vehicle. As shown in FIG. 16, in this guidance method, sheet-like workpieces W, each of which has a unique two-dimensional code printed thereon, are laid in a grid pattern at regular intervals on the floor surface F of a facility. An automated guided vehicle 90 can move to a target workpiece W by reading the laid workpieces W as it travels. This type of guidance method in which two-dimensional codes are attached in a grid pattern can be used as the travel path of the automated guided vehicle 90 throughout the entire floor surface, making it suitable for cases in which multiple automated guided vehicles 90 travel simultaneously, and is therefore adopted in large-scale facilities such as logistics centers and production factories.

[0004] The workpiece W has an adhesive applied to its underside, which is the surface that comes into contact with the floor surface F, and a reference mark for alignment is provided on that surface. When laying the workpiece W on the floor surface F, the workpiece W must be attached by aligning this reference mark with a marking line (scribing line) L that has been drawn on the floor surface F in advance. If adjacent works W are attached out of position with each other, this may cause the automatic guided vehicle 90 to malfunction, leading to a deterioration in the stopping accuracy and linearity of the automatic guided vehicle 90, and may prevent the automatic guided vehicle 90 from traveling around the workpiece W. Therefore, the attachment of the workpiece W must be performed carefully.

[0005] Regarding the application of an adhesive to a surface to be applied, there is known an adhesive applicator which comprises a generally cylindrical main body with a lower end serving as a pressure surface for the adhesive, an actuator which is mounted on the lower end of an adsorbent which adheres to the adhesive and which is capable of being exposed or intruded downward from the pressure surface and which is movable up and down within the main body, and a spring which presses the actuator upward when no load is applied, thereby holding the adsorbent inside the main body below the pressure surface (see Patent Document 1 below). [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2003-137240 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, the task of aligning and pasting the reference mark and marking line L on the workpiece W, which requires precision, requires multiple workers to accurately align the reference mark and marking line L while holding the workpiece W, which results in extremely poor workability and a huge amount of time.

[0008] The present invention has been made to solve the above-mentioned problems, and has an object to provide a technique that enables a patch to be attached accurately and easily to a surface to be attached. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems, an embodiment of the present invention is characterized in that it includes a holding portion that holds the workpiece facing the surface to be attached and away from the surface to be attached, and a support portion that supports the holding portion so that it can rotate around the vertical direction and move along the vertical direction. Effect of the Invention

[0010] According to an embodiment of the present invention, a technique can be provided that enables a patch to be attached accurately and easily to a receiving surface. [Brief description of the drawings]

[0011] [Figure 1] FIG. 2 is a schematic front view showing the application jig according to the embodiment. [Diagram 2] FIG. 2 is a schematic side view showing the application jig according to the embodiment. [Diagram 3] FIG. 2 is a schematic plan view showing a pasting jig according to the embodiment. [Figure 4] 2 is a cross-sectional view taken along line AA shown in FIG. 1. [Diagram 5] FIG. 4 is a partially enlarged front view showing the suction plate and the photographing unit according to the embodiment. [Figure 6] FIG. 4 is a schematic bottom view of the suction plate according to the embodiment. [Figure 7] FIG. 2 is a plan view showing a workpiece according to the embodiment; [Figure 8] FIG. 2 is a diagram for explaining a shooting area of ​​a camera according to an embodiment. [Figure 9] 4 is a flowchart showing a workpiece attaching method according to the embodiment. [Figure 10] 13A and 13B are diagrams for explaining connection of the pasting jig and lowering of the suction plate according to the embodiment. [Figure 11] 11A and 11B are diagrams for explaining a state in which a workpiece is attracted to a suction plate in an ideal position according to an embodiment. [Figure 12] 11A and 11B are diagrams for explaining an image of a shooting area displayed on a display of an information processing device in a state in which a workpiece is adsorbed at an ideal position on the suction plate according to the embodiment. [Figure 13] 13A and 13B are diagrams for explaining a state in which a workpiece is adsorbed to the suction plate according to the embodiment at a position displaced from an ideal position. [Figure 14] 13A and 13B are diagrams for explaining an image of a shooting area displayed on a display of an information processing device in a state in which a workpiece is adsorbed to an adsorption plate according to an embodiment at a position that is shifted from an ideal position. [Figure 15] 13A and 13B are diagrams for explaining a display on a display of an information processing device according to a modified example of an embodiment. [Figure 16] FIG. 1 is a diagram for explaining a guidance method using a two-dimensional code in a conventional automatic guided vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and duplicated description will be omitted.

[0013] (Device configuration) Fig. 1 to Fig. 4 are respectively a schematic front view, a schematic side view, a schematic plan view, and a cross-sectional view along line AA shown in Fig. 1, showing the application jig according to this embodiment. Fig. 2 shows a schematic right side view of the application jig 1 according to this embodiment. For convenience of explanation, Fig. 1 and Fig. 2 do not show the front side photographing unit 40 out of the four photographing units 40, and Fig. 3 shows only the housing 10.

[0014] The pasting jig 1 according to this embodiment uses a sheet-like material with a two-dimensional code attached as an object to be pasted (workpiece W: target value of an automated guided vehicle) and pastes it onto a floor surface F of a facility, which is a surface to be pasted. As shown in Figs. 1 to 3, the pasting jig 1 includes a housing 10, a four-axis moving stage 20, a suction plate 30, and four photography units 40.

[0015] (Chassis 10) The housing 10 is configured by assembling four long vertical frames 110, four upper frames 120, and four lower frames 130 in a generally lattice pattern. The four vertical frames 110 extend in the vertical direction and are erected at intervals from one another so as to be located at the vertices of a rectangle in a plan view. An L-shaped connector 111 (see FIG. 2) is connected to the lower end of each vertical frame 110. A leg 112 is connected to the connector 111 so as to be movable in the vertical direction so as to keep the floor surface F and the suction plate 30 horizontal.

[0016] 3, one pair of the four upper frames 120 extend in the front-rear direction and the other pair extend in the left-right direction, and are arranged to be located on the sides of a rectangle in a plan view, with both ends connected to the upper ends of the adjacent vertical frames 110. A top plate 121 extending in the left-right direction is provided between the pair of upper frames 120 extending in the front-rear direction. The top plate 121 is formed by connecting four upper frames extending in the left-right direction in the front-rear direction, and a support plate 122, which is a flat plate having a substantially rectangular shape in a plan view, is connected to the underside of the top plate 121.

[0017] The four lower frames 130 are connected to each other so that the pair of lower frames 130a extends in the left-right direction and the pair of lower frames 130b extends in the front-rear direction to form a rectangle in a plan view. The pair of lower frames 130b are formed shorter than the pair of lower frames 130a and are positioned between the pair of lower frames 130a, and thus the rectangle formed by the four lower frames 130 has a size that is positioned on the inner side of the upper frame 120 in a plan view. An L-shaped plate 141 is connected to each of the outer side surfaces near both ends of the pair of lower frames 130a. The L-shaped plate 141 is also connected to the inner side surface of the vertical frame 110, and thus the four lower frames 130 are fixed to the four vertical frames 110.

[0018] A groove 113 (see FIG. 4) extending in the vertical direction is formed on the surface of each vertical frame 110 that contacts the L-shaped plate 141, and a bolt 142 (see FIGS. 1 and 4) is screwed into the groove 113 so as to pass through the L-shaped plate 141, thereby fastening the L-shaped plate 141 to the vertical frame 110. Therefore, when each bolt 142 is inserted into the groove 113, the bolt 142 can be loosened to arbitrarily adjust the vertical position of the lower frame 130 that is integrated to form a rectangle. A photographing unit 40, which will be described in detail later, is connected to the approximately center of the extension direction on the upper surface of each lower frame 130. Therefore, the vertical position of each photographing unit 40 can be adjusted together with the integrated lower frame 130.

[0019] The above-mentioned frames are connected by fastening members such as threaded bolts, and in some places by nuts, washers, L-shaped plates, etc. Not only frames, but also the various members described below are connected (fixed) by the above-mentioned fastening members unless otherwise specified.

[0020] (4-axis moving stage 20) As shown in Figures 1 to 3, the four-axis moving stage 20 supports an adsorption plate 30 located at the lower end so that it can be moved in the front-back, left-right and up-down directions, and is equipped with an XY-axis stage 210 located at the upper part, a Z-axis stage 220 connected to the underside of the XY-axis stage 210, and a rotating stage 230 connected to the underside of the Z-axis stage 220.

[0021] The XY-axis stage 210 is formed in a rectangular parallelepiped shape, and is supported by the support plate 122 by being connected to the lower ends of four pillars 123 connected to the four corners of the lower surface of the support plate 122 connected to the lower surface of the top plate 121. The XY-axis stage 210 has an X-axis feed knob 211 extending in the X-axis direction, i.e., the front-rear direction, provided on the right side, and a Y-axis feed knob 212 extending in the Y-axis direction, i.e., the left-right direction, provided on the back. The XY-axis stage 210 can move the Z-axis stage 220 forward and backward along the X-axis direction according to the rotation direction and amount of the X-axis feed knob 211, and can move the Z-axis stage 220 forward and backward along the Y-axis direction according to the rotation direction and amount of the Y-axis feed knob 212. The XY-axis stage 210 is preferably movable in each axial direction by a distance of about 10 mm to 20 mm, and is preferably movable in units of 10 μm.

[0022] The Z-axis stage 220 is formed in a rectangular parallelepiped shape, and a Z-axis feed knob 221 extending in the X-axis direction is provided on the front side. The Z-axis stage 220 can move the rotating stage 230 forward and backward in the Z-axis direction, i.e., in the up-down direction, according to the direction and amount of rotation of the Z-axis feed knob 221. The movable distance of the Z-axis stage 220 in the Z-axis direction is preferably about 10 mm.

[0023] The rotating stage 230 is formed in a rectangular parallelepiped shape, and a disk-shaped support plate 240 is connected to the lower surface of the rotating stage 230. A θ-axis feed knob 231 extending in the Y-axis direction is provided on the rear surface of the rotating stage 230, and the support plate 240 can be rotated around the Z-axis according to the direction and amount of rotation of the θ-axis feed knob 231.

[0024] Four support columns 250 are connected to the lower surface of the support plate 240, each extending in the vertical direction and spaced apart from each other so as to be located at the vertices of a rectangle in a plan view, and the suction plate 30 is connected to the lower ends of the four support columns 250. Therefore, the XY-axis stage 210, the Z-axis stage 220, and the rotation stage 230 can realize the movement of the suction plate 30 in the X, Y, and Z axes and the rotation around the Z axis. For such XY-axis stage 210, the Z-axis stage 220, and the rotation stage 230, for example, a manual stage manufactured by Sigma Koki Co., Ltd. or a manual linear stage manufactured by Machifit Co., Ltd. can be used.

[0025] In addition, flat auxiliary plates 241 are connected to both ends of the support plate 240 in the left and right direction. An insertion hole (not shown) is formed in each of the outer ends of the two auxiliary plates 241, through which a hook 510 formed at the lower end of the biasing member 50 is inserted. The biasing member 50 is a so-called coil spring extending in the vertical direction, and a hook 520 formed at the upper end is inserted into an insertion hole 125 (see FIG. 2) formed in a support 124 extending in the vertical direction. The upper end of the support 124 is connected to the lower surface of the top plate 121, and supports the biasing member 50 by suspending it. As a result, the biasing member 50 is supported by the top plate 121 via the support 124, and can constantly bias the support plate 240 upward via the auxiliary plate 241. By biasing the support plate 240 upward by the biasing member 50, the load applied to the four-axis moving stage 20, i.e., the load on the device, can be reduced.

[0026] (Adsorption plate 30) Fig. 5 is a partially enlarged front view showing the suction plate and the photographing units according to this embodiment. Fig. 6 is a schematic bottom view of the suction plate. In Fig. 5, the suction plate 30 is shown in vertical section, and the photographing unit 40 located on the front side of the four photographing units 40 is not shown for the sake of explanation.

[0027] 4 to 6, the suction plate 30 is a rectangular parallelepiped having a quadrangular shape in a plan view, and suctions and holds the workpiece W placed below it, and presses and attaches the workpiece W to a target position on the floor surface F as the four-axis moving stage 20 moves down. The suction plate 30 includes a lower plate 310 and an upper plate 320.

[0028] The lower plate 310 is provided with a plurality of intake holes 311 extending in the vertical direction and penetrating the inside of the plate. The lower surface of the upper plate 320 is uniformly recessed over a range wider than the range (hereinafter referred to as the intake surface AR) where the intake holes 311 are provided, which is shown by the imaginary line (two-dot chain line) in Fig. 6, and this defines an internal space S between the upper surface of the lower plate 310 and the upper plate 320. The upper plate 320 is provided with a through hole 321 communicating with the internal space S at approximately the center in a plan view, and is provided with a hollow cylindrical joint pipe 322 on the upper surface to which a connection member 61 (see Fig. 10) of a vacuum pump 60, which will be described in detail later, can be airtightly connected. The intake holes 311, the internal space S, the through hole 321, and the joint pipe 322 are fluidly connected. In addition, an annular groove 323 is formed on the lower surface of the upper plate 320 so as to surround the internal space S, and an annular packing (not shown) is disposed in the groove 323 to keep the internal space S airtight.

[0029] In this embodiment, the side length of each side of the lower surface of the suction plate 30 (the lower surface of the lower plate 310) is preferably 50% or more and less than 95% of the side length of the side of the workpiece W corresponding to each side, and more preferably 60% or more and less than 90%. Here, "the sides of the workpiece W corresponding to each side" should be understood to mean the four sides of the workpiece W that are approximately parallel to and close to each of the four sides forming the lower surface of the suction plate 30 when the workpiece W is suctioned to the suction plate 30. In addition, the intake surface AR is formed in a rectangular shape, and the side length of each side is preferably 20% or more and less than 95% of the side length of the side of the lower surface of the suction plate 30 corresponding to each side, and more preferably 40% or more and less than 70%. Here, "the sides of the lower surface of the suction plate 30 corresponding to each side" should be understood to mean the four sides that form the lower surface of the suction plate 30 that are approximately parallel to and close to each of the four sides forming the suction surface AR. By forming the suction plate 30 to have such a size, the workpiece W can be satisfactorily adsorbed without its end bending, and the workpiece W can be adsorbed in a state in which its reference mark M (see FIG. 7) is visible and not hidden by the suction plate 30. Furthermore, since the workpiece W can be adsorbed without its end bending, the workpiece W can be attached accurately to the target position on the floor surface F.

[0030] Furthermore, in the reference state (immediately after returning to the origin) in which the four-axis moving stage 20 is not being operated, the separation distance between the lower surface of the suction plate 30, i.e., the lower surface of the lower plate 310, and the attachment surface of the workpiece W, such as the floor surface of the facility, is preferably set to be longer than 2 mm and shorter than 30 mm. This is because if the separation distance is 2 mm or less, it will be affected by dust adhering to the attachment surface or undulations of the attachment surface, and if it is 30 mm or more, the depth of the target attachment position of the workpiece W on the floor surface F will not match with the reference mark M of the workpiece W (see FIG. 7), and in either case, accurate attachment may not be possible.

[0031] In addition, the lower surface of the lower plate 310 is preferably parallel to the surface of the floor F. By making it parallel, the adsorbed workpiece W can also be maintained in a parallel state, so that when attaching it to the floor F, the workpiece W can be lowered while maintaining the parallel state, and the lower surface of the workpiece W can be uniformly pressed against the surface of the floor F.

[0032] (Photography Unit 40) 4 and 5, the four photographing units 40 photograph the floor surface F together with the workpiece W when the workpiece W is attached to the floor surface F. The four photographing units 40 are each connected at one end to the approximate center in the extension direction of the upper surface of one of the lower frames 130, and the other ends are positioned on the inner side so as to be close to each other, so that they are arranged in an approximately cross shape in a plan view. The photographing units 40 are L-shaped plates 410 and 420 connected in a crank shape, and four support columns 430 are connected to the inner lower surface of the L-shaped plate 420 so as to be located at the vertices of a rectangle in a plan view, and a support plate 440 is connected to the lower ends of the four support columns 430, and a camera 450 is provided on the lower surface of the support plate 440.

[0033] The camera 450 photographs the workpiece W, which is in a state of being sucked by the suction plate 30, together with the opposing floor surface F, and in this embodiment, is disposed so that the suction plate 30 is captured within the viewing angle. As the camera 450, for example, a camera equipped with a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor may be used. From the viewpoint of transmitting images, it is preferable to use a USB (Universal Serial Bus) camera. It is preferable that the L-shaped plate 420 is formed with an opening 421 and a cutout portion 422 for inserting the wiring of the camera 450.

[0034] The photographing area P photographed by the camera 450 and the workpiece W will be described in detail below. Fig. 7 is a plan view showing the workpiece according to this embodiment, and Fig. 8 is a diagram for explaining the photographing area of ​​the camera according to this embodiment. Fig. 8 shows a plan view of the photographing area in a state where the pasting jig 1 is placed on a floor surface F.

[0035] 7, the work W is a substantially square sheet-like object with a plurality of two-dimensional codes C such as QR codes (registered trademark) drawn on its surface, and a reference mark M for adjusting the bonding position is provided at the center of each of its four sides. The bottom surface of the work W is an adhesive surface coated with an adhesive, and this adhesive surface is covered with a release paper until bonding. The suction plate 30 suctions the work W by creating a negative pressure inside the intake holes 311 when in contact with the surface of the work W.

[0036] 8, there is an intersection L1 on the floor surface F where the marking lines L intersect, and the work W is positioned on this intersection L1, and the positions where the four reference marks M of the work W each coincide with the marking lines L become the target positions for attaching the work W. When the work W is positioned at the target position, the center of the work W coincides with the intersection L1.

[0037] When the pasting jig 1 is set to align with the target position on the floor surface F while the workpiece W is being adsorbed, the shooting areas P of the four cameras 450 each include the portion of the workpiece W with the reference mark M and the portion of the floor surface F with the marking line L. In other words, the cameras 450 are positioned so that when the workpiece W is positioned at the target position, each shooting area P includes the portion of the workpiece W with the reference mark M and the portion of the floor surface F with the marking line L. By checking the images of the four shooting areas P, the user of the pasting jig 1 can accurately align the workpiece W to the target position, that is, all four reference marks M to the marking lines L.

[0038] (How to use) Next, a method for attaching a workpiece using the attachment jig 1 according to this embodiment will be described in detail. Fig. 9 is a flowchart showing the method for attaching a workpiece according to this embodiment. Fig. 10 is a diagram for explaining the connection of the attachment jig and the lowering of the suction plate according to this embodiment. In Fig. 10, the front of the attachment jig 1 is shown typically, and for the sake of explanation, only the photographing units 40 arranged on both the left and right sides are shown.

[0039] 9, first, prior to using the application jig 1, the application jig 1 is connected to various devices (S101). The various devices here are, as shown in FIG. 10, a vacuum pump 60 and an information processing device 70 such as a PC (Personal Computer) or a tablet terminal having a display 701.

[0040] Specifically, the vacuum pump 60 is connected to a buffer tank (accumulator) 62 using a hollow connecting member 61 such as a hose, and the buffer tank 62 is connected to the extension pipe 322 of the suction plate 30 using the connecting member 61. As a result, the vacuum pump 60 performs vacuum drawing, and negative pressure can be created in the suction hole 311 via the buffer tank 62, the extension pipe 322, the through hole 621, and the internal space S, and the workpiece W in contact with the lower surface can be adsorbed. Note that any device capable of performing vacuum drawing may be used as the vacuum pump 60, but it is preferable to use a manual vacuum pump that can manually perform vacuum drawing by repeatedly operating a built-in hand valve, for example, in terms of suppressing the generation of excessive negative pressure, workability, and cost.

[0041] Further, each camera 450 of the photographing unit 40 is communicatively connected to the information processing device 70 using a data transmission cable 71 or the like. In this embodiment, the cameras 450 are connected by wire, but a wireless connection such as Wifi (registered trademark) or Bluetooth (registered trademark) may be used depending on the type of the camera 450. This allows the images of the multiple photographing areas P photographed by each camera 450 to be enlarged and displayed on the display 701 in real time. At this time, it is preferable to simultaneously display the multiple photographing areas P on the display 701. This simultaneous display of the multiple photographing areas P on the display 701 is realized by storing dedicated application software in advance in the storage device of the information processing device 70 and reading it out when the pasting jig 1 is used.

[0042] After connecting the suction plate 30 and the vacuum pump 60, and connecting each camera 450 of the photographing unit 40 to the information processing device 70, the user brings the workpiece W, from which the release paper has been peeled off, into contact with the lower surface of the suction plate 30, and operates the vacuum pump 60 to suction the workpiece W (S102). At this time, excessive suction may cause wrinkles to form on the workpiece W. If the workpiece W is suctioned, i.e., if the two-dimensional code C is suctioned, the unmanned guided vehicle cannot read it correctly, which may cause a malfunction. Therefore, it is preferable to suction the workpiece W to an extent that wrinkles are not formed on the workpiece W. When the workpiece W is suctioned to the suction plate 30, the vacuum state is maintained by the action of the buffer tank 62 without operating the vacuum pump 60. By using the buffer tank 62, it is not necessary to carry a heavy vacuum pump 60, and the time to maintain the negative pressure can be secured for a long time. As a result, the suction state of the workpiece W can be maintained during the time of alignment of the workpiece W to the target position (alignment of the reference mark M with the marking line L).

[0043] After the workpiece W is attached, the attachment jig 1 is placed at the target position on the floor surface F (S103). At this time, it is unlikely that the reference mark M on the workpiece W will coincide with the marking line L on the floor surface F, and they will often be in a state of some degree of positional deviation. Therefore, after placement, the suction plate 30 is moved by the four-axis moving stage 20 to adjust the position of the workpiece W (S104).

[0044] Fig. 11 is a diagram for explaining a state in which a workpiece is adsorbed at an ideal position on the suction plate according to this embodiment, and Fig. 12 is a diagram for explaining an image of the shooting area displayed on the display of the information processing device in this state. Fig. 13 is a diagram for explaining a state in which a workpiece is adsorbed at a position displaced from the ideal position on the suction plate according to this embodiment, and Fig. 14 is a diagram for explaining an image of the shooting area displayed on the display in this state.

[0045] As shown in FIG. 11, when the workpiece W is adsorbed in an ideal position relative to the suction plate 30, specifically, when the center of the workpiece W coincides with the center of the suction plate 30 and both sides are parallel to each other, as shown in FIG. 12(a), the image of the shooting area P displayed on the display 701 is an image that looks like the same image displayed at a different angle. This is because the camera 450 is pre-installed according to the size of the workpiece W, that is, so as to be positioned directly above the reference mark M. In such a case, if the attachment jig 1 is installed at the target position on the floor surface F and the reference marks M and the marking lines L in the two shooting areas P are aligned, the four reference marks M and the marking lines L will accurately coincide as shown in FIG. 12(b). Therefore, it is not necessary to adjust the position of the workpiece W using the four-axis moving stage 20 in step S104.

[0046] In this embodiment, the image of the shooting area P displayed on the display 701 is an image taken by the camera 450 located on the front side of the attachment jig 1 at the bottom, an image taken by the camera 450 located on the rear side at the top, an image taken by the camera 450 located on the right side at the right side, and an image taken by the camera 450 located on the left side at the left side, so that the user can intuitively recognize the positional relationship between the displayed image and the attachment jig 1.

[0047] On the other hand, since the user visually adheres the workpiece W to the suction plate 30, the workpiece W may be adhered at an ideal position relative to the suction plate 30, or may be adhered at a different angle and position in the front-rear and left-right directions relative to the suction plate 30, as shown in FIG. 13. In this case, as shown in FIG. 14(a), the images displayed on the display 701 will not be similar to each other. In this state, if the attachment jig 1 is installed so that the adhered workpiece W is positioned above the target position on the floor surface F, some of the reference marks M will match the marking lines L, but some of the reference marks M will not match the marking lines L, as shown in FIG. 14(b). In this case, by adjusting the position of the workpiece W using the four-axis moving stage 20 in step S104, it is possible to align each reference mark M with each marking line L, as shown in FIG. 14(c). The position adjustment here is mainly performed by operating the θ-axis feed knob 231, the X-axis feed knob 211, and the Y-axis feed knob 212.

[0048] After each reference mark M coincides with the marking line L, as shown in FIG. 10, the Z-axis feed knob 221 is rotated to lower the suction plate 30, and the adhesive surface of the workpiece W is brought into contact with the floor surface F to attach it to the target position (S105). After attachment, the vacuum pump 60 or the buffer tank 62 is operated to break the vacuum in the suction plate 30, thereby separating the workpiece W from the suction plate 30 (S106). After separation, the four-axis moving stage 20 is returned to the origin, and if attachment of all the workpieces W has been completed (S107, YES), this flow ends. On the other hand, if attachment of all the workpieces W has not been completed (S107, NO), the process proceeds to step S103 again to attach the workpiece W to the suction plate 30 in order to attach the workpiece W to another target position where no workpiece W has been attached.

[0049] According to the present embodiment described above, the workpiece W can be held in an adsorbed state, and furthermore, the position of the workpiece W can be adjusted by the four-axis moving stage 20, so that the alignment of the workpiece W to the target position on the floor surface F can be performed easily with extremely high precision in a short time.

[0050] When attaching the workpiece W to the target position on the floor surface F without using the attachment jig 1 according to this embodiment, for example, if 100 workpieces W are attached to one floor, two workers hold the four corners of the workpiece W and align it to the target position while floating. After that, when the workpiece W matches the target position, another worker holds the center of the workpiece W and presses it down to the target position to attach it. Therefore, at least three workers are required. It takes about 5 minutes on average to attach one sheet, and considering the time to move to the target position and the preparation of the workpiece W, it takes about 10 hours of work time to attach 100 sheets. In addition, since the two-dimensional code drawn on the workpiece W is unique to each workpiece W, if it is accidentally attached at a position significantly different from the target position, it is difficult to reattach it considering the formation of wrinkles when peeling it off, and reattaching is not easy. On the other hand, if another workpiece W is attached instead, it is necessary to change the route in software, which is not realistic.

[0051] However, according to this embodiment, the above-mentioned workpiece attachment method can be performed by a single user, which improves work efficiency and reduces costs by reducing the number of personnel. Furthermore, since the workpiece W can be held in an adsorbed state, wrinkles and twists do not occur in the workpiece W when it is attached, and since high-precision alignment is possible as described above, it is possible to avoid situations such as reattaching or remaking the workpiece W or attaching a different workpiece W.

[0052] Moreover, according to this embodiment, the position of the four-axis moving stage 20 can be adjusted while watching the display 701, and furthermore, since a plurality of shooting areas P are displayed collectively and enlarged, it is possible to more easily and reliably align each reference mark M with the marking line L. Also, each frame of the housing 10 can be made of aluminum, which makes it lightweight and easy to carry.

[0053] 15, it is preferable that auxiliary lines 702 for aligning the marking line L and a mark 703 such as a cross for aligning the reference mark M are displayed on the display 701. Also, a mark for positioning the pasting jig 1 at a target position on the floor surface F, for example a cross line extending from the center in the front-rear and left-right directions, may be formed in the center of the upper surface of the top plate 121 of the pasting jig 1. The line may be formed on other frames in the housing 10 or on various plates of the photographing unit 40.

[0054] In addition, in this embodiment, the camera 450 is connected to the information processing device 70, but this is not limiting, and the camera 450 may be connected to a tablet terminal such as a smartphone. In this case, it is preferable that the video of the camera 450 is transmitted by wireless communication. In this embodiment, four cameras 450 are provided, but this is not limiting, and the same effect can be achieved with three cameras. Of course, five or more cameras may be provided.

[0055] In the present embodiment, the pasting jig 1 is used to paste the work W to the target position on the floor surface F, but the present invention is not limited to this, and any object that can be adsorbed and held by the suction plate 30 can be pasted on the surface to be pasted. In the present embodiment, the alignment of the work W to the target position is performed manually by operating the four-axis moving stage 20. However, the information processing device 70 may drive and control the four-axis moving stage 20 based on the image obtained from the camera 450, and the alignment of the work W to the target position may be performed automatically.

[0056] The present invention can be implemented in various other forms without departing from the spirit or main features thereof. Therefore, the above-described embodiments are merely illustrative in all respects and should not be interpreted as being limiting. The scope of the present invention is defined by the claims and is not limited to the text of the specification. Furthermore, all modifications, various improvements, substitutions and alterations within the scope of the claims are within the scope of the present invention. [Explanation of symbols]

[0057] 1 Pasting jig 20 4-axis moving stage (support part) 30 Adsorption plate (holding part, adsorption part) 310 Lower plate (adsorption part) 311 Air Intake 450 Camera 60 Vacuum pump (pressure reducing device) 62 Buffer Tank 701 Display R1 Ring (mounting object) F Floor surface (surface to be attached) M Reference Mark Double work

Claims

1. A holding section that faces the workpiece to the surface to be affixed and holds the workpiece at a distance from the surface to be affixed; a support portion that supports the holding portion so as to be rotatable around a vertical direction, so as to be movable along the vertical direction, and so as to be movable in a direction perpendicular to the vertical direction; a camera capable of photographing a workpiece held by the holding unit and displaying the photographed image on a display in real time; Equipped with The camera is provided in plurality so as to correspond individually to the marks for alignment with respect to the attachment surface provided in the plurality of the workpiece, The plurality of cameras capture images of the surface to which the marks are to be applied, each of the images including the marks, so that the images can be displayed on the display at once. The attachment jig is characterized by the above.

2. The holding portion has a suction portion that releasably suctions the workpiece.

2. The application jig according to claim 1.

3. The suction portion has a substantially rectangular lower surface with which the workpiece comes into contact, and the length of each side of the lower surface is 50% or more and 95% or less of the length of the corresponding side of the workpiece.

3. The attachment jig according to claim 2.

4. A suction surface having a plurality of intake holes for suctioning a workpiece is formed in a substantially rectangular shape on the lower surface of the suction portion, The length of each side of the suction surface is set to a size that is 20% or more and less than 95% of the length of the corresponding side on the lower surface of the suction portion.

4. The attachment jig according to claim 3.

5. The holding portion is a pressure reducing device for reducing the pressure inside a plurality of intake holes formed on a lower surface of the suction portion; a buffer tank interposed between the plurality of intake holes and the pressure reducing device to maintain the reduced pressure caused by the pressure reducing device; The pressure reduction device reduces the pressure in the plurality of air intake holes via the buffer tank, causing the holding portion to suck and hold the workpiece in contact with the suction portion.

3. The attachment jig according to claim 2.

6. The display device further includes an information processing device communicatively connected to the camera.

2. The application jig according to claim 1.

7. The holding portion faces the workpiece to the surface to be affixed and holds the workpiece away from the surface to be affixed; In a state where the workpiece is held, the workpiece is attached to the attachment surface by operating a support part that supports the holding part so as to be rotatable around the vertical direction, movable along the vertical direction, and movable in a direction perpendicular to the vertical direction; During the pasting, the workpiece held by the holding unit is photographed by a camera, and the obtained image is displayed on a display in real time; The camera is provided in plurality so as to correspond individually to the marks for alignment with respect to the attachment surface provided in the plurality of the workpiece, The plurality of cameras capture images of the surface to which the marks are to be applied, each of the images including the marks, so that the images can be displayed on the display at once. A method for attaching a workpiece comprising the steps of:

Images