Application device, robot device and manufacturing system equipped with spiral feed unit

Abstract

Shown and described is an application device (17) comprising a base unit (25) having at a first end (31) a coupling device (35) for a manufacturing system (1) and extending along an axis (37) from the first end (31) to a second end (33) spaced apart from the coupling device (35); an application unit (27) configured for applying a tape (23), preferably an adhesive tape, onto a workpiece (19), the application unit (27) being rigidly connected to the base unit (25) at the second end (33) of the base unit (25); and a deflection unit (29) pivotably connected to the base unit (25) about the axis (37), the application unit (27) being configured for applying a tape (23), preferably an adhesive tape, onto a workpiece (19), the application unit (27) being rigidly connected to the base unit (25) at the second end (33) of the base unit (25); the first inlet guide element (41) of the application unit (27) can be supplied with the tape (23) via the deflection unit (29), the deflection unit (29) is configured such that when the tape (23) is guided via the deflection unit (29) from an axial receiving position (71) where the tape (23) abuts against the deflection unit (29) to an axial discharge position (73) where the tape (23) is released from the deflection unit (29), the tape (23) can wrap around the deflection unit (29) such that the axial receiving position (71) is spaced axially of the axis (37) from the axial discharge position (73), and the first inlet guide element (41) of the application unit (27) is spaced axially of the axis (37) from the axial receiving position (71).

Description

[Technical field]

[0001] The present invention relates to an application device, a robot device, and a manufacturing system. [Background technology]

[0002] Application devices are known in the prior art. They comprise an application unit that is configured to apply a tape onto a workpiece. In many cases, the application unit has an inlet guide element via which the tape can be fed to the application unit.

[0003] Generally, it is desired in these application devices to provide as much tape material as possible, which can be used in the application of the tape in one piece and without manual intervention. Basically, it is possible to provide the entire tape material directly on the application device. If the application device is moved by a robot arm of a robot device, however, the amount of tape material that can be provided directly on the application device is limited by the weight of the tape material, since the greater the weight that has to be carried by the robot arm, the less accurate the application of the tape on the workpiece and the greater the space required for the robot device with a robot arm that has to carry a high weight. Furthermore, it is basically possible to provide the tape material by a tape dispenser, which is stationary on the floor of the production plant and is not moved above the workpiece together with the application device. In this case, the geometry of the trajectory along which the tape can be applied on the workpiece is strongly limited, especially when it is desired that the entire tape material be applied on the workpiece in one piece and without manual intervention.

[0004] From DE 10 200 03 133 A1 a system for feeding material to a lay-up machine is known, in which a material coil can be loaded on each of several material drives, which then transport the material from each of the material coils via a respective strip path to a feed section of the lay-up machine. A drawback of this type of feed section, in addition to the complexity and size of the feed system, is the division between an active zone and a maintenance zone, into which several material drives can be moved to allow personnel access for new loading operations.

[0005] From DE 10 200 03 133 A1 an applicator for punches is known which comprises a punch tape on which a number of punches are arranged along a carrier strip. The punch tape is guided through a punch head and the punches are pressed onto the surface by a punch. The disadvantage is that the punch roll and the take-up roll or rolls are attached on or to the punch head and are dragged along when the punch head moves. This increases the weight that has to be moved by the robot arm and thus the moment of inertia as well as the need to change the punch roll and the take-up roll. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] European Patent Application Publication No. 2928802 [Patent Document 2] DE 102018200439 Summary of the Invention [Problem to be solved by the invention]

[0007] The object of the invention is to apply the entire tape material of a tape onto a workpiece in one piece and without manual intervention, precisely and space-savingly, along a trajectory having any geometrical shape. [Means for solving the problem]

[0008] According to a first aspect of the invention, the problem is solved by an application device with the features of claim 1. The application device comprises a base unit. The base unit has at a first end a coupling device for a manufacturing system. The base unit extends along an axis from the first end to a second end at a distance from the coupling device. The application device comprises an application unit. The application unit is configured for applying a tape, preferably an adhesive tape, onto a workpiece. The application unit is rigidly connected to the base unit at the second end of the base unit. The application device comprises a deflection unit. The deflection unit is pivotably connected to the base unit about said axis. The application unit comprises a first inlet guide element. The tape can be fed via the first inlet guide element of the application unit. The deflection unit is configured such that when the tape is guided through the deflection unit from an axial receiving position, where the tape comes into contact with the deflection unit, to an axial discharge position, where the tape is released from the deflection unit, the tape can wrap around the deflection unit such that the axial receiving position is spaced axially from the axial discharge position of the axis. The first inlet guide element of the application unit is spaced axially from the axial receiving position of the axis.

[0009] The application device comprises a base unit, the base unit forming a partial section of the application device. The base unit has at a first end a coupling device for a manufacturing system. The coupling device can be configured to be coupled to a robot arm of a robotic device. The application device can be moved above a workpiece by the robot arm. The base unit extends along said axis from the first end to a second end spaced apart from the coupling device.

[0010] The application device comprises an application unit, which forms a partial section of the application device. The application unit is configured to apply a tape, preferably an adhesive tape, onto a workpiece. The tape may be an adhesive tape. Preferably, the tape is a double-sided adhesive tape, in which case the tape has one adhesive surface on each of two opposite sides. More preferably, the tape is a single-sided adhesive tape, in which case the tape has one adhesive surface on one side and a non-adhesive surface on the opposite side. The tape may be a partial section of a tape complex. The tape complex may comprise a tape and a carrier, which are bonded to each other. To apply the tape onto the workpiece, the tape may be detached from the carrier. The tape may be bonded to the carrier on the side having the adhesive surface. When the tape and the carrier are detached from each other, the adhesive surface may be exposed, and with the adhesive surface the tape may be applied onto the workpiece. In particular, the tape and the carrier are bonded to each other up to the section of the tape complex where the tape is detached from the carrier to apply the tape onto the workpiece. In this case, the tape complex can be guided in one direction by the application device and, viewed along this direction, from the point at which the tape is detached from the carrier, only the carrier, without the tape, can be guided by the application device.

[0011] The application unit is rigidly coupled to the base unit at a second end of the base unit. The rigid coupling between the base unit and the application unit ensures that the application unit follows movements of the base unit.

[0012] In particular, when the base unit is moved by the robot arm of the robot device, the application unit follows this movement, so that the tape can be applied on the workpiece along a trajectory defined by the movement of the base unit. In particular, the rigid connection between the base unit and the application unit ensures that when the base unit is pivoted about said axis, the application unit is pivoted together with the base unit about said axis. The rigid connection between the base unit and the application unit is provided at the second end of the base unit. For the rigid connection between the base unit and the application unit, a connecting element may be provided at the second end of the base unit, which extends to a free end in a direction away from said axis, at which the application unit is attached. In particular, for the rigid connection between the base unit and the application unit, two or more connecting elements may be provided at the second end of the base unit, which connecting elements each extend to a free end in a direction away from said axis, at which the application unit is attached.

[0013] The application device comprises a deflection unit, which forms a partial section of the application device. The deflection unit is pivotably connected to the base unit about said axis. This pivotable connection between the base unit and the deflection unit ensures that when the base unit and thus also the application unit are pivoted about said axis, the deflection unit is not pivoted about said axis relative to the circumference of the application device, or at least can be pivoted about said axis independently of the pivoting movements of the base unit and the application unit. In particular when the application device is moved by a robot arm of a robotic device, the deflection unit is subject to this movement in the sense that the position of the deflection unit is changed together with the position of the base unit and the position of the application unit, but the orientation of the deflection unit can change independently of the orientation of the base unit and the orientation of the application unit. In particular when the orientation of the base unit changes and the orientation of the application unit changes, the orientation of the deflection unit does not necessarily have to change. Thus, when the tape is applied onto the workpiece, it may be necessary for the application unit to change its orientation, for example when the path along which the tape is applied onto the workpiece forms a closed path in itself, for example a rectangularly shaped path or a circular path. Due to the deflection unit being pivotally connected to the base unit about said axis, during the movement of the application unit forming the closed path, the deflection unit can keep its orientation constant or only minimally change it, in particular with respect to the tape dispenser resting on the floor of the manufacturing plant. Due to the deflection unit being able to keep its orientation constant or only minimally change it, it is ensured that the tape can be guided by the deflection unit in such a way that it can always be received in the same section of the deflection unit during all movements of the application unit forming the closed path. In particular, the tape can be received in the same section of the deflection unit regardless of the position and orientation of the application unit.This applies to all possible forms of trajectory along which the tape is applied onto the workpiece. The pivotable connection between the base unit and the deflection unit ensures that the tape can be applied onto the workpiece along a trajectory having any geometric shape.

[0014] The application unit has a first inlet guide element, through which the tape can be fed. The first inlet guide element may have one or more first deflection rolls, which are supported rotatably about their axis of rotation. In particular, the first inlet guide element may have four first deflection rolls. The four first deflection rolls may be arranged such that the projection of the axis of rotation on a plane arranged perpendicular to the tape extension forms a quadrangle. Alternatively, the first inlet guide element may have three first deflection rolls. The three first deflection rolls may be arranged such that the projection of the axis of rotation on a plane arranged perpendicular to the tape extension forms a triangle. Preferably, the tape is guided by the first deflection rolls such that the movement of the tape in each direction perpendicular to the tape guiding direction is limited by the first deflection rolls. The first deflection roll arranged in this way thereby ensures a secure and reliable guidance of the tape. The use of a first deflection roll is particularly advantageous, since it allows the first deflection roll to roll on the tape when it comes into contact with the tape, and thus friction losses due to friction between the tape and the application unit can be minimized.

[0015] The deflection unit is configured such that when the tape is guided through the deflection unit from an axial receiving position, where the tape abuts against the deflection unit, to an axial discharge position, where the tape is released from the deflection unit, the tape can wrap around the deflection unit such that the axial receiving position is spaced apart in the axial direction of said axis from the axial discharge position. The tape can thus wrap around the deflection unit such that the tape abuts against the deflection unit at the axial receiving position. Preferably, the tape abuts against a third deflection roll of the deflection unit. The abutment of the tape on the deflection unit defines the axial receiving position. Furthermore, the tape can wrap around the deflection unit such that the tape is released from the deflection unit at the axial discharge position. The point at which the tape is released from the deflection unit defines the axial discharge position. Preferably, the tape is released from the third deflection roll of the deflection unit. The tape is guided through the deflection unit from the axial receiving position to the axial discharge position. Viewed in a guide direction in which the tape is guided around the deflection unit, the section of the tape first passes through an axial receiving position and then through an axial ejection position. The axial receiving position is spaced apart in the axial direction of said axis from the axial ejection position. The axial receiving position being spaced apart in the axial direction of said axis from the axial ejection position ensures that when the application unit moves, the section of the tape between the tape dispenser and the axial receiving position and the section of the tape between the axial ejection position and the application unit do not touch. Preferably, the tape may be partially wrapped around the deflection unit or at least completely wrapped around one turn. A complete wrapping of the deflection unit by the tape can be provided when a straight line extending parallel to said axis intersects the axial receiving position and the axial ejection position and then only intersects the tape at the axial receiving position and the axial ejection position.Likewise, two complete turns of the deflection unit by the tape can be provided when a straight line extending parallel to the axis intersects the tape at the axial receiving position and at the axial ejection position and then intersects the tape both at the axial receiving position and at the axial ejection position and additionally between the axial receiving position and the axial ejection position. Similarly, three, four, five, etc. turns of the deflection unit by the tape can be provided.

[0016] The first inlet guide element of the application unit is spaced axially of said axis from the axial receiving position, which ensures that when the application unit is pivoted relative to the deflection unit, the axial ejection position may change axially, but the axial ejection position then remains axially spaced from the axial receiving position.

[0017] In short, it can be said that by means of the application device according to the invention, it is possible to provide as much tape material as possible, which can be used in the application of the tape in one piece and without manual intervention. In this case, it is not necessary to provide all the tape material directly on the application device, and all the tape material does not have to be moved together with the application device by the robot arm of the robot device, so that high precision in the application of the tape on the workpiece is guaranteed and the space required by the robot device with the robot arm can be kept small. Instead, the tape material can be provided by a tape dispenser that is stationary on the floor of the production plant. In this case, however, the geometry of the trajectory along which the tape can be applied on the workpiece is not limited, especially when it is desired that all the tape material be applied on the workpiece in one piece and without manual intervention. Therefore, all the tape material of the tape can be applied on the workpiece in one piece and without manual intervention, precisely and space-savingly, along a trajectory with a free geometry.

[0018] In one embodiment, the deflection unit comprises a ring-shaped element and at least two deflection rolls, each of which is rotatably supported on the ring-shaped element and has a surrounding outer surface, with which the deflection roll can roll on a section of the tape during the guiding of the tape. The ring-shaped element can be ring-shaped and can surround at least a section of the base unit due to the ring-shaped form of the ring-shaped element. This ring-shaped element can be referred to as a first ring-shaped element. The deflection unit can comprise a second ring-shaped element. The second ring-shaped element can be ring-shaped and can surround at least a section of the base unit due to the ring-shaped form of the second ring-shaped element. The deflection unit comprises at least two deflection rolls. In particular, the deflection unit can comprise two, three or four deflection rolls. Each deflection roll of the deflection unit can be referred to as a third deflection roll. Each third deflection roll can be rotatably supported on the first ring-shaped element or on the first ring-shaped element and on the second circular element. When the first ring-shaped element is provided, the first ring-shaped element can ensure, based on the ring-shaped form of the first ring-shaped element, that the third deflection rolls can be arranged around the base unit at an even distance from one another. When the second ring-shaped element is provided, the second ring-shaped element can ensure, based on the ring-shaped form of the second ring-shaped element, that the third deflection rolls can be arranged around the base unit at an even distance from one another. In particular, when both the first and the second ring-shaped elements are provided, the third deflection roll can be connected to the first ring-shaped element and to the second ring-shaped element at both ends of the third deflection roll, so that the third deflection roll is mounted in the deflection unit in a particularly mechanically robust manner. Each third deflection roll has a surrounding outer surface with which it can roll on a section of the tape when guiding the tape. The use of third deflection rolls is particularly advantageous, since it allows the third deflection roll to roll on the tape when in contact with the tape, and thus the friction losses due to friction between the tape and the deflection unit can be minimized.

[0019] In one embodiment, the axis of rotation of each of these deflection rolls runs obliquely to said axis. The axis of rotation running obliquely to said axis allows a particularly simple possibility for the tape to wrap around the deflection unit without the tapes coming into contact with each other even when the tape has wrapped around the deflection unit for one complete revolution. Furthermore, the axis of rotation running obliquely to said axis ensures that the tape does not slip off the deflection unit when it wraps around the deflection unit.

[0020] In one embodiment, the rotation axis of each of these deflection rolls forms an angle of between 1° and 20° with respect to a line extending parallel to said axis. It has been found to be advantageous, particularly in connection with the four third deflection rolls, that at an angle of between 1° and 20°, commercially available tapes do not come into contact with each other when these tapes wrap around the deflection unit at least once completely.

[0021] In one embodiment, the orientation of the rotation axis of each of these deflection rolls relative to the above-mentioned axis is adjustable. The adjustable rotation axes of the deflection rolls ensure that tapes with different geometric shapes can be used. In particular, the rotation axes of the deflection rolls can be adjusted, in particular depending on the width of the tape, in such a way that the tapes do not touch each other when they have wrapped around the deflection unit at least once completely.

[0022] In one embodiment, the deflection unit comprises a second inlet guide element and a pivot arm, the pivot arm extending from a first end of the pivot arm to a second end of the pivot arm in a direction away from the axis, the second end to which a second inlet guide element is attached, through which the tape can be fed to the deflection unit. The second inlet guide element may comprise at least one fourth deflection roll. Preferably, each fourth deflection roll is supported rotatably about its own axis of rotation. In particular, the second inlet guide element comprises four fourth deflection rolls. The four fourth deflection rolls may be arranged such that the projection of the axis of rotation on a plane arranged perpendicular to the extension of the tape forms a rectangle. Alternatively, the second inlet guide element may comprise three fourth deflection rolls. The three fourth deflection rolls may be arranged such that the projections of the rotation axes on a plane arranged perpendicular to the tape extension form a triangle. The tape can be guided by the fourth deflection roll such that the movement of the tape in each direction perpendicular to the tape guiding direction is limited by the fourth deflection roll. The fourth deflection roll arranged in this way ensures a secure and reliable guidance of the tape. The use of a fourth deflection roll is particularly advantageous, since it allows the fourth deflection roll to roll on the tape when in contact with the tape, and thus the friction losses due to friction between the tape and the deflection unit can be minimized.

[0023] In one embodiment, the base unit comprises a cavity extending from the first end of the base unit along said axis to the second end of the base unit. The cavity ensures that for example cables or tubes which may connect the second end of the robot arm to the application unit can be arranged in the base unit and are thus protected by the base unit from influences from the surroundings of the base unit, for example from the deflection unit or the tape or other objects arranged in the manufacturing plant, for example from the tape dispenser, the frame of the robot device, the workpiece or the worktable. The cavity thereby ensures in particular that the cables or tubes are mechanically protected by the base unit.

[0024] According to a second aspect of the invention, the problem set out at the outset is solved by a robotic device with the features of claim 8. The robotic device comprises a frame and a robot arm. The robotic arm is attached with a first end of the robotic arm to the frame and with a second end of the robotic arm to a coupling device provided at a first end of a base unit of an application device according to the first aspect of the invention. At the second end of the robotic arm, an actuator is provided, by means of which the base unit can be pivoted about said axis relative to the second end of the robotic arm. The features, technical effects and / or advantages explained in connection with the application device according to the first aspect of the invention also apply in at least an analogous manner to the robotic device according to the second aspect of the invention, so that a corresponding repetition here will be omitted.

[0025] According to a third aspect of the present invention, the problem set out at the outset is solved by a manufacturing system with the features of claim 9. The manufacturing system comprises a robotic device according to the second aspect of the present invention. Furthermore, the manufacturing system comprises a tape dispenser with a pretensioning device. When the tape is fed to the application device, a section of the tape is pretensioned by the pretensioning device such that a pretensioning force above a predefined pretensioning force threshold acts along the tape. The features, technical effects and / or advantages explained in connection with the robotic device according to the second aspect of the present invention also apply in at least an analogous manner to the manufacturing system according to the third aspect of the present invention, so that a corresponding repetition here will be omitted.

[0026] Further features, advantages and applicability of the invention can be seen from the following description of the embodiments and the drawings, in which all features described and / or shown in the drawings, both by themselves and in any combination, form the subject of the invention, regardless of their configuration in individual claims or in the context of the claims, in which, moreover, the same reference symbols represent the same or similar objects. [Brief description of the drawings]

[0027] [Figure 1] 1 is a schematic diagram of an embodiment of a manufacturing system according to the present invention; [Diagram 2] 2 is a schematic diagram of a first embodiment of an application device according to the present invention of the manufacturing system shown in FIG. 1. [Diagram 3] 2 is a schematic diagram of a first embodiment of an application device according to the present invention of the manufacturing system shown in FIG. 1. [Figure 4] 2 is a schematic diagram of a first embodiment of an application device according to the present invention of the manufacturing system shown in FIG. 1. [Diagram 5] 2 is a schematic diagram of a first embodiment of an application device according to the present invention of the manufacturing system shown in FIG. 1. [Figure 6] 2 is a schematic diagram of a first embodiment of an application device according to the present invention of the manufacturing system shown in FIG. 1. [Figure 7] 2 is a schematic diagram of a first embodiment of an application device according to the present invention of the manufacturing system shown in FIG. 1. [Figure 8] 2 is a schematic diagram of a first embodiment of an application device according to the present invention of the manufacturing system shown in FIG. 1. [Figure 9] 2 is a schematic view of the guidance of the tape around the deflection unit of a second embodiment of an application device according to the invention of the production system shown in FIG. 1; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] FIG. 1 shows a schematic diagram of an embodiment of a manufacturing system 1 according to the present invention. The manufacturing system 1 includes a robot device 3 and a tape dispenser 5. The tape dispenser 5 includes a pretensioning device 7. The tape dispenser 5 may be placed on the floor of a manufacturing plant. The robot device 3 includes a frame 9 and a robot arm 11. The frame 9 may be placed on the floor of a manufacturing plant. The robot arm 11 includes a first end 13 and a second end 15. The robot arm 11 is attached to the frame 9 at the first end 13 of the robot arm 11. At the second end 15 of the robot arm 11, the robot arm 11 is attached to an application device 17 of the robot device 3. A workpiece 19 is shown in FIG. 1. The workpiece 19 is placed on a work table 21, which may be placed on the floor of a manufacturing plant. Furthermore, a tape 23 is shown in FIG. 1. For example, the tape 23 may be an adhesive tape. The tape 23 is supplied to the application device 17 by the tape dispenser 5. A section of the tape 23 is pretensioned by the pretension device 7 such that a pretension force acts along the tape 23 that is greater than a predefined pretension force threshold. The pretension force threshold is preferably selected such that the pretension force acting along the tape 23 ensures that the tape 23 extends along a straight line between the pretension device 7 and the application device 17. The robot arm 11 has a number of sections that are movable relative to one another. By means of the sections of the robot arm 11 that are movable relative to one another, the application device 17 can be moved relative to the workpiece 19. This ensures that the application device 17 can be moved to different positions. In particular, the distance between the application device 17 and the pretension device 7 of the tape dispenser 9 can be different at the various positions of the application device 17. The pretension device 7 then ensures that at each position of the application device 17, the section of the tape 23 between the pretension device 7 and the application device 17 extends along a straight line.In particular, a number of straight lines are envisaged along which the section of tape 23 between the pretension device 7 and the application device 17 may extend, with each position of the application device 17 being assigned one of these multiple straight lines.

[0029] Figures 2 to 8 show schematic diagrams of an embodiment of an application device 17 according to the invention of the manufacturing system 1 shown in Figure 1. The application device 17 comprises a base unit 25, an application unit 27 and a deflection unit 29.

[0030] The base unit 25 extends from a first end 31 to a second end 33. At the first end 31, the base unit 25 has a coupling device 35 for the manufacturing system 1. The coupling device 35 is attached to the second end 15, shown in FIG. 1, of the robot arm 11. At the second end 15 of the robot arm 11, an actuator is provided, by means of which the base unit 25 can be pivoted about an axis 37 relative to the second end 15 of the robot arm 11. Along the axis 37, the base unit 25 extends from the first end 31 to a second end 33 spaced apart from the coupling device 35. The base unit 25 has a cavity 39 extending from the first end 31 of the base unit 25 along the axis 37 to the second end 33 of the base unit 25 (see FIGS. 7 and 8). The cavity 39 ensures that, for example, a cable or a tube connecting the second end 15 of the robot arm 11 to the application unit 27 can be arranged in the base unit 25 and is thus protected by the base unit 25 from influences from its surroundings, such as the deflection unit 29 or the tape 23 or other objects arranged in the manufacturing plant, such as the tape dispenser 5, the frame 9, the workpiece 19 or the workpiece table 21. The cavity 39 thereby ensures in particular that the cable or tube is mechanically protected by the base unit 25.

[0031] The application unit 27 has a first inlet guide element 41, via which the tape 23 can be fed to the application unit 27. The first inlet guide element 41 has four first deflection rolls 43, which are supported rotatably about their axes of rotation. The four first deflection rolls 43 are arranged such that the projection of the axes of rotation on a plane arranged perpendicular to the extension of the tape 23 forms a quadrangle. The tape 23 can thereby be guided by the first deflection rolls 43 in such a way that the movement of the tape 23 in each direction perpendicular to the guiding direction of the tape 23 is limited by the first deflection rolls 43. The first deflection rolls 43 arranged in this way thereby ensure a secure and reliable guiding of the tape 23. The use of first deflection rolls 43 is particularly advantageous. This is because this allows the first deflection roll 43 to roll on the tape 23 when it comes into contact with the tape 23, thereby minimizing friction losses due to friction between the tape 23 and the application unit 27.

[0032] The application unit 27 is further configured to apply the tape 23 onto the workpiece 19. The application unit 27 has a second deflection roll 45, which is supported for rotation about its axis of rotation. The second deflection roll 45 and the first inlet guide element 41 are attached to a plate element 47 of the application unit 27. By means of the second deflection roll 45, the tape 23 can be guided from the inlet guide element 41 to the surface of the workpiece 19 and applied onto the workpiece 19.

[0033] The deflecting unit 29 comprises a ring-shaped element 49. The deflecting unit 29 further comprises a further ring-shaped element 51. The deflecting unit 29 further comprises four deflecting rolls 53. Each deflecting roll 53 of the deflecting unit 29 may be called a third deflecting roll 53. Each of the four deflecting rolls 53 is supported rotatably both on the ring-shaped element 49 and on the further circular element 51. Each of the four deflecting rolls 53 has a surrounding outer surface, with which the deflecting roll 53 can roll on a section of the tape 23 during the guiding of the tape 23. The four deflecting rolls 53 are arranged in such a way that the rotation axis of each of the deflecting rolls 53 extends obliquely with respect to the axis 37. The rotation axes extending obliquely to the axis 37 provide a particularly simple possibility for the tapes 23 to wrap around the deflection unit 29 without coming into contact with each other, even when the tapes 23 have wrapped around the deflection unit 29 for one complete revolution. Furthermore, the four deflection rolls 53 are arranged in such a way that the rotation axis of each of these deflection rolls 53 forms an angle of 1° to 20° with a straight line extending parallel to the axis 37. It has proven advantageous, particularly in connection with the four deflection rolls 53, that commercially available tapes 23 do not come into contact with each other at an angle of 1° to 20° when the tapes 23 have wrapped around the deflection unit 29 for at least one complete revolution. Furthermore, the position of the rotation axis of each of the four deflection rolls 53 with respect to the axis 37 is adjustable. The adjustable rotation axis of the deflection rolls 53 ensures that tapes 23 having different geometric shapes can be used. In particular, the axis of rotation of the deflection roll 53 can be adjusted, in particular depending on the width of the tapes 23, so that the tapes 23 do not touch each other when they wrap around the deflection unit 29 at least once completely.

[0034] The deflection unit 29 further comprises a second inlet guide element 55 and a pivot arm 57. The pivot arm 57 extends from a first end 59 of the pivot arm 57 to a second end 61 of the pivot arm 57 in a direction away from the axis 37. The second inlet guide element 55 is attached to the second end 61. The deflection unit 29 can be fed with the tape 23 via the second inlet guide element 55. The second inlet guide element 55 comprises four fourth deflection rolls 63, which are supported rotatably about their axes of rotation. The four fourth deflection rolls 63 are arranged in such a way that the projection of the axes of rotation on a plane perpendicular to the extension of the tape 23 forms a rectangle. The tape 23 can thereby be guided by the fourth deflection roll 63 in such a way that the movement of the tape 23 in each direction perpendicular to the guiding direction of the tape 23 is limited by the fourth deflection roll 63. The fourth deflection roll 63 arranged in this way thereby ensures a secure and reliable guiding of the tape 23. The use of a fourth deflection roll 63 is particularly advantageous, since it allows the fourth deflection roll 63 to roll on the tape 23 when in contact with the tape 23, and thus friction losses due to friction between the tape 23 and the deflection unit 29 can be minimized.

[0035] The deflection unit 29 further comprises a cylindrical element 65, which extends from the ring-shaped element 49 to the further ring-shaped element 51. The cylindrical element 65 is screwed at a first end of the cylindrical element 65 to the ring-shaped element 49 and at a second end of the cylindrical element 65 to the further ring-shaped element 51. The cylindrical element 65 has a continuous closed wall extending from the first end of the cylindrical element 65 to the second end of the cylindrical element 65, so that between the ring-shaped element 49 and the further ring-shaped element 51, the base unit 25 is continuously protected by the cylindrical element 65 against the periphery of the cylindrical element 65. The cylindrical element 65 forms a cavity in which a partial section of the base unit 25 is arranged. The cylindrical element 65 ensures that relative movement between the base unit 25 and the deflection unit 29 is inaccessible from the periphery of the cylindrical element 65, at least between the ring-shaped element 49 and the further ring-shaped element 51, thereby ensuring that an article, e.g. the tape 23, cannot become entangled between the base unit 25 and the deflection unit 29.

[0036] The base unit 25 is rigidly connected to the application unit 27. The rigid connection between the base unit 25 and the application unit 27 ensures that the application unit 27 follows the movement of the base unit 25. In particular, when the base unit 25 is moved by the robot arm 11 of the robot device 3, the application unit 27 follows this movement, so that the tape 23 is applied onto the workpiece 19 along a trajectory defined by the movement of the base unit 25. In particular, the rigid connection between the base unit 25 and the application unit 27 ensures that when the base unit 25 is pivoted about the axis 37, the application unit 27 is pivoted together with the base unit 25 about the axis 37. The rigid connection between the base unit 25 and the application unit 27 is provided at the second end 33 of the base unit 25. The application unit 27 is thus rigidly connected to the base unit 25 at the second end 33 of the base unit 25. For a firm connection between the base unit 25 and the application unit 27, two connecting elements 67 are provided at the second end 33 of the base unit 25, each of which extends away from the axis 37 to a free end 69 to which the application unit 27 is attached.

[0037] The base unit 25 is connected to the deflection unit 29 in such a way that the base unit 25 and the deflection unit 29 can be pivoted relative to one another about an axis 37. The deflection unit 29 is thus pivotably connected to the base unit 25 about the axis 37. This pivotable connection between the base unit 25 and the deflection unit 29 ensures that when the base unit 25, and thus also the application unit 27, are pivoted about the axis 37, the deflection unit 29 is not pivoted about the axis 37 relative to the circumference of the application device 17, or at least can be pivoted about the axis 37 independently of the pivoting movements of the base unit 25 and the application unit 27. In particular, when the application device 17 is moved by the robot arm 11 of the robot device 3, the deflection unit 29 is subject to this movement in the sense that the position of the deflection unit 29 is changed together with the position of the base unit 25 and the position of the application unit 27, but the orientation of the deflection unit 29 can change independently of the orientation of the base unit 25 and the orientation of the application unit 27. In particular, when the orientation of the base unit 25 changes and the orientation of the application unit 27 changes, the orientation of the deflection unit 29 does not necessarily have to change. Thus, when the tape 23 is applied onto the workpiece 19, it may be necessary for the application unit 27 to change its orientation, for example, when the trajectory along which the tape 23 is applied onto the workpiece 19 forms a closed trajectory in itself, for example a trajectory formed into a rectangle or a circular trajectory. Due to the deflection unit 29 being pivotably connected to the base unit 25 about the axis 37, the deflection unit 29 can keep its orientation constant or only minimally change it, in particular its orientation relative to the tape dispenser 5, during the movement of the application unit 27 forming the closed trajectory. By the deflection unit 29 being able to keep its orientation constant or only minimally change it, it is ensured that the tape 23 can be guided by the deflection unit 29 in such a way that it can always be received within the same section of the deflection unit 29 during all movements of the application unit 27 forming the closed trajectory.In particular, the tape 23 can be received in the same section of the deflection unit 29 regardless of the position and orientation of the application unit 27. This applies to all possible forms of trajectory along which the tape 23 is applied onto the workpiece 19.

[0038] Fig. 9 shows a schematic diagram of the guidance of the tape 23 around the deflection unit 29 of a second embodiment of an application device 17 according to the invention of the manufacturing system 1 according to Fig. 1. The schematic diagram shown in Fig. 9 is for illustrative purposes only, and the features, technical effects and / or advantages described in connection with Fig. 9 also apply, at least in a similar manner, to the first embodiment of the application device 17 according to the invention according to Fig. 2 to 8. Likewise, the features, technical effects and / or advantages described in connection with the first embodiment of the application device 17 according to the invention according to Fig. 2 to 8 also apply, at least in a similar manner, to the second embodiment of the application device 17 according to the invention according to Fig. 9.

[0039] FIG. 9 shows diagrammatically that the tape 23 winds around the deflection unit 29. The tape 23 is guided in the manufacturing system 1 from the tape dispenser 5, in particular the pretension device 7, to the application device 17 and from there to the workpiece 19. In the application device 17, the tape is guided first to the deflection unit 29 and then to the application unit 27. To guide the tape 23, the deflection unit 29 has a second inlet guide element 55, which first passes the tape 23 so that it is guided between the fourth deflection rolls 63. The tape 23 then runs along the deflection roll 53 of the deflection unit 29. The tape 23 then rests against the deflection roll 53 and winds around it. The tape is then guided past the first inlet guide element 41 so that it is guided between the first deflection rolls 43 of the first inlet guide element 41. The tape 23 then runs along the second deflection roll 45 of the application unit 27 and is applied onto the workpiece 19. In FIG. 9, a part of the tape guidance is shown diagrammatically, which part shows the guidance of the tape 23 around the deflection unit 29. In FIG. 9, the arrows indicated with the reference numbers 5 and 7 symbolically show that the tape 23 has passed through the tape dispenser 5, in particular the pretensioning device 7, before it reaches the deflection unit 29 in the area indicated with the reference numbers 5 and 7. The arrow indicated with the reference number 27 symbolically shows that the tape 23 reaches the application unit 27 after it has passed through the deflection unit 29. The path described here is followed by each section of the tape 23 before their corresponding section is applied onto the workpiece 19. Preferably, the tape runs from the tape dispenser 5 to the workpiece 19, and when describing the path of the tape 23 through the manufacturing system 1 or the movement of the tape 23, this means that the tape has several sections that follow this path through the manufacturing system 1.

[0040] As shown in FIG. 9, the axis of rotation of each third deflection roll 53 runs obliquely relative to the axis 37. The position of the axis of rotation of each third deflection roll 53 is adjustable relative to the axis 37. The deflection unit 29 is configured as follows: The tape 23 winds around the deflection unit 29 in such a way that the tape 23 comes into contact with the deflection unit 29 at an axial receiving position 71. In the example shown, the tape 23 comes into contact with the third deflection roll 53 shown at the front right. This contact defines the axial receiving position 71. The tape 23 further winds around the deflection unit 29 in such a way that the tape 23 is released from the deflection unit 29 at an axial discharge position 73. The point at which the tape 23 is released from the deflection unit 29 defines the axial discharge position 73. The tape 23 is guided from the axial receiving position 71 to the axial discharge position 73 via the deflection unit 29. The axial receiving position 71 is spaced apart in the axial direction of the axis 37 from the axial discharge position 73. The axial distance of the axial receiving position 71 from the axial discharge position 73 ensures that when the application unit 27 moves, the section of the tape 23 between the tape dispenser 5 and the axial receiving position 71 and the section of the tape 23 between the axial discharge position 23 and the application unit 27 do not come into contact. Furthermore, the first inlet guide element 41 of the application unit 27 is spaced apart in the axial direction of the axis 37 from the axial receiving position 71. The axial distance of the first inlet guide element 41 from the axial receiving position 71 ensures that when the application unit 27 is pivoted relative to the deflection unit 29, the axial discharge position 73 can be axially changed and that the axial discharge position 73 then maintains its axial distance from the axial receiving position 71.

[0041] Finally, Figures 2-4 and 6 show the tape extending through the second deflection roll 45, which is shown in the lower edge of these figures. In the example shown, the tape 23 is a section of a tape composite 75 comprising the tape 23 and a carrier 77. The tape 23 and the carrier 77 are bonded to each other until the tape 23 is applied onto the workpiece 19. The above-described path of the tape 23 is traversed by the tape 23 while it is bonded to the carrier 77. In the area where the tape 23 is to be applied onto the workpiece 19, the tape 23 is disengaged from the carrier 77. Viewed in the direction of tape guiding, the tape 23 and the carrier 77 are connected to each other before the second deflection roll 45 shown in the lower edge of the figure, the tape 320 and the carrier 77 are separated from each other after the second deflection roll 45 shown in the lower edge of the figure, the tape 23 is applied onto the workpiece 19 after the second deflection roll 45 shown in the lower edge of the figure, and the carrier 77 is guided from the application unit 27 by some of the second deflection rolls 45 of the plurality of second deflection rolls 45. The example shown here with the tape composite 75 is only illustrative. It is also possible that the carrier 77 is not provided and the tape 23 without the carrier 77 follows the above-mentioned path through the manufacturing system 1.

[0042] It should be further noted that "having" does not exclude other elements or steps, and that the indefinite article "ein" or "eine" does not exclude a plurality. It should be further noted that a feature described in the specification of one of the above embodiments may be used in combination with another feature of another embodiment described above. Reference signs in the claims should not be regarded as limiting. This application relates to the invention described in the claims, but also includes the following as other aspects. 1. An application device (17), a base unit (25) having at a first end (31) a coupling device (35) for a manufacturing system (1) and extending along an axis (37) from said first end (31) to a second end (33) spaced apart from said coupling device (35); an application unit (27) configured to apply a tape (23), preferably an adhesive tape, onto a workpiece (19), the application unit (27) being rigidly connected to the base unit (25) at the second end (33) of the base unit (25); a deflection unit (29) pivotably connected to the base unit (25) about the axis (37); Equipped with the application unit (27) has a first inlet guide element (41) through which the tape (23) can be fed to the application unit (27); the deflection unit (29) is configured such that when the tape (23) is guided through the deflection unit (29) from an axial receiving position (71) where the tape (23) comes into contact with the deflection unit (29) to an axial discharge position (73) where the tape (23) is released from the deflection unit (29), the tape (23) can be wound around the deflection unit (29) such that the axial receiving position (71) is spaced from the axial discharge position (73) in the axial direction of the axis (37); the first inlet guide element (41) of the application unit (27) is spaced axially from the axial receiving position (71) along the axis (37); Application devices(17). 2. 13. The application device (17) of claim 1, wherein the deflection unit (29) comprises a ring-shaped element (49) and at least two deflection rolls (53), each of the at least two deflection rolls (53) being rotatably supported on the ring-shaped element (49) and having a surrounding outer surface by means of which the deflection rolls (53) can roll on a section of the tape (23) during the guiding of the tape (23). 3. The two application devices (17) wherein the rotation axis of each of the deflection rolls (53) extends obliquely relative to the axis (37). 4. The application device (17) according to claim 2 or 3, wherein the rotation axis of each of the deflection rolls (53) forms an angle of 1° to 20° with respect to a straight line extending parallel to the axis (37). 5. 5. The application device (17) according to any one of claims 2 to 4, wherein the attitude of the rotation axis of each of the deflection rolls (53) relative to the axis (37) is adjustable. 6. 6. The application device (17) of any one of claims 1 to 5, wherein the deflection unit (29) has a second inlet guide element (55) and a pivot arm (57) extending in a direction away from the axis (37) from a first end of the pivot arm (57) to a second end of the pivot arm (57), the second end having the second inlet guide element (55) attached thereto, and wherein the tape (23) can be supplied to the deflection unit (29) via the second inlet guide element (55). 7. 7. Any one of the application devices (17) as defined in claim 1 to 6, wherein the base unit (25) has a cavity (39) extending from the first end (31) of the base unit (25) along the axis (37) to the second end (33) of the base unit (25). 8. A robot device (3), A frame (9); A robot arm (11); Equipped with the robot arm (11) is attached to the frame (9) at a first end (13) of the robot arm (11) and is attached to the coupling device (35) provided at the first end (31) of the base unit (25) of any one of the application devices (17) described above in any one of 1 to 7, at a second end (15) of the robot arm (11); an actuator is provided at the second end (15) of the robot arm (11), and the actuator allows the base unit (25) to pivot about the axis (37) relative to the second end (15) of the robot arm (11); Robot device (3). 9. A manufacturing system (1), comprising: The robot device (3) according to the above eight, A tape dispenser (5) having a pretension device (7); Equipped with when the tape (23) is fed to the application device (17), a section of the tape (23) is pretensioned by the pretensioning device (7) such that a pretensioning force greater than a predetermined pretensioning force threshold acts along the tape (23); Manufacturing system (1). [Explanation of symbols]

[0043] 1. Manufacturing System 3. Robotic Device 5 Tape Dispenser 7 Pretension device 9 Frame 11 Robot Arm 13 First end of the robot arm 15 Second end of the robot arm 17 Application Equipment 19 Work 21 Work table 23 Tape 25 Base Unit 27 Application Unit 29 Deflection Unit 31 First end of the base unit 33 Second end of base unit 35 Coupling device 37 axis 39 Vacant Space 41 First entrance guide element 43 First deflection roll of the first inlet guide element 45 Second deflection roll of application unit 47 Plate Elements 49 Ring-shaped Elements 51 Another ring-shaped element 53 Deflection roll of deflection unit, third deflection roll 55 Second entrance guide element 57 Swivel Arm 59 First end of pivot arm 61 second end of the pivot arm 63 Fourth deflection roll of the second inlet guide element 65 Cylindrical elements 67 Connected Elements 69 Free end of connecting element 71 Axial Receptacle Position 73 Axial ejection position 75 Tape Complex 77 Career

Claims

1. An application device (17), a base unit (25) having at a first end (31) a coupling device (35) for a manufacturing system (1) and extending along an axis (37) from said first end (31) to a second end (33) spaced apart from said coupling device (35); an application unit (27) configured to apply a tape (23), preferably an adhesive tape, onto a workpiece (19), the application unit (27) being rigidly connected to the base unit (25) at the second end (33) of the base unit (25); a deflection unit (29) pivotably connected to the base unit (25) about the axis (37); Equipped with the application unit (27) has a first inlet guide element (41) through which the tape (23) can be fed to the application unit (27); the deflection unit (29) is configured such that when the tape (23) is guided through the deflection unit (29) from an axial receiving position (71) where the tape (23) comes into contact with the deflection unit (29) to an axial discharge position (73) where the tape (23) is released from the deflection unit (29), the tape (23) can wrap around the deflection unit (29) such that the axial receiving position (71) is spaced from the axial discharge position (73) in the axial direction of the axis (37); the first inlet guide element (41) of the application unit (27) is spaced axially from the axial receiving position (71) of the axis (37); An application device (17).

2. 2. The application device (17) according to claim 1, wherein the deflection unit (29) comprises a ring-shaped element (49) and at least two deflection rolls (53), each of the at least two deflection rolls (53) being rotatably supported on the ring-shaped element (49) and having a surrounding outer surface with which the deflection roll (53) can roll on a section of the tape (23) during the guiding of the tape (23).

3. 3. The application device (17) according to claim 2, wherein the axis of rotation of each of the deflection rolls (53) extends obliquely relative to the axis (37).

4. 3. The application device (17) according to claim 2, wherein the rotation axis of each of the deflection rolls (53) respectively forms an angle of between 1° and 20° with a straight line extending parallel to the axis (37).

5. 3. The application device (17) according to claim 2, wherein the attitude of the rotation axis of each of the deflection rolls (53) relative to the axis (37) is adjustable.

6. 2. The application device (17) of claim 1, wherein the deflection unit (29) comprises a second inlet guide element (55) and a pivot arm (57) extending in a direction away from the axis (37) from a first end of the pivot arm (57) to a second end of the pivot arm (57), the second end having the second inlet guide element (55) attached thereto, through which the tape (23) can be fed to the deflection unit (29).

7. 2. The application device (17) of claim 1, wherein the base unit (25) has a cavity (39) extending from the first end (31) of the base unit (25) along the axis (37) to the second end (33) of the base unit (25).

8. A robotic device (3), A frame (9); A robot arm (11); Equipped with the robot arm (11) is attached with a first end (13) of the robot arm (11) to the frame (9) and with a second end (15) of the robot arm (11) to the coupling device (35) provided on the first end (31) of the base unit (25) of an application device (17) according to any one of claims 1 to 7, an actuator is provided at the second end (15) of the robot arm (11), by which the base unit (25) can be pivoted about the axis (37) relative to the second end (15) of the robot arm (11); Robot device (3).

9. A manufacturing system (1), comprising: A robot device (3) according to claim 8, A tape dispenser (5) having a pretension device (7), Equipped with when the tape (23) is fed to the application device (17), a section of the tape (23) is pretensioned by the pretensioning device (7) such that a pretensioning force greater than a predetermined pretensioning force threshold acts along the tape (23); Manufacturing system (1).

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