Seal application system, method executed by the seal application system, and program executed by the seal application system

Abstract

To perform teaching including adjustment of inclination of an adsorption tool to an object, in teaching of the adsorption position of the adsorption tool.SOLUTION: A seal sticking system includes a multi-joint robot, a control device for controlling the multi-joint robot, an adsorption tool 110 mounted at the tip of the multi-joint robot, a force sensor 201 for detecting force applied to the adsorption tool 110, and a storage part for storing teaching data of the multi-joint robot. The control device allows the multi-joint robot to execute operation of making the adsorption tool 110 approaching a seal on a seal mount 300 in a teaching mode, operation of adjusting the adsorption position of the adsorption tool 110, and inclination in the traveling direction (roll axis X) of the adsorption tool 110 when the seal is peeled on the basis of a signal from the force sensor 201, and operation of storing teaching data including information on the adsorption position after adjustment and inclination of the adsorption tool 110 in the storage part.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present disclosure relates to a seal application system, and more particularly to a seal application system using an articulated robot. [Background technology]

[0002] When a suction tool or the like is used to peel a sticker from a sticker backing on a sticker feeder and apply the sticker to an object, the sticker may warp, wrinkle, or the like. Such warping, wrinkles, or the like can prevent the sticker from being properly applied to the object. Therefore, there is a need for a system for peeling a sticker without deforming it and properly applying it to an object, or a technology for supporting or improving at least a portion of each process for peeling a sticker without deforming it and properly applying it to an object.

[0003] Regarding sticker peeling and pasting technology, for example, Japanese Patent Application Laid-Open No. 2021-028242 (Patent Document 1) discloses a label pasting device that "includes a sticker feeding means that peels multiple labels pasted on a backing sheet from the sticker backing and feeds them out in a predetermined direction, a stage with a flat mounting surface on which the labels fed out by the sticker feeding means are placed, and a robot arm that grasps the label L placed on the stage and attaches the label to the container body, the stage being positioned a predetermined distance from the mounting surface and including a pressing member that has an abutment portion that abuts against the label fed out by the label feeding means to prevent the label from warping" (see [Abstract]).

[0004] Further, other techniques relating to peeling and sticking of stickers are disclosed in, for example, Patent Documents 2 to 7. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-028242 [Patent Document 2] Japanese Patent Application Laid-Open No. 2012-197095 [Patent Document 3] Japanese Patent Publication No. 2020-114743 [Patent Document 4] Japanese Patent Application Laid-Open No. 2009-286429 [Patent Document 5] Japanese Patent Application Laid-Open No. 2012-232826 [Patent Document 6] Japanese Patent Application Laid-Open No. 2003-081232 [Patent Document 7] Patent Publication No. 2021-122923 Summary of the Invention [Problem to be solved by the invention]

[0006] The techniques disclosed in Patent Documents 1 to 7 do not allow for adjustment of the inclination of the suction tool relative to the target object when teaching the suction position of the suction tool. Therefore, there is a need for a technique for teaching the suction tool while adjusting the inclination of the suction tool relative to the target object when teaching the suction position of the suction tool.

[0007] The present disclosure has been made in consideration of the above-described background, and an object in one aspect is to teach the suction position of a suction tool, including adjusting the inclination of the suction tool relative to an object. [Means for solving the problem]

[0008] According to one embodiment, there is provided a sticker application system. The sticker application system includes an articulated robot, a control device for controlling the articulated robot, a suction tool attached to the tip of the articulated robot, a force sensor for detecting the force acting on the suction tool, and a memory unit for storing teaching data for the articulated robot. In a teaching mode, the control device causes the articulated robot to perform the following operations: move the suction tool closer to a sticker on a sticker backing; adjust the suction position of the suction tool and the tilt of the suction tool in the direction of travel (roll axis) when peeling the sticker based on a signal from the force sensor; and store the teaching data, including information on the adjusted suction position and tilt of the suction tool, in the memory unit.

[0009] According to this disclosure, the sticker application system can instruct the articulated robot to adjust the tilt of the suction tool in the direction of travel (roll axis) when peeling off the sticker, which can prevent the sticker from wrinkling when peeling off.

[0010] In the above disclosure, the control device acquires an actual measured value of the moment of the roll axis of the suction tool from the force sensor, calculates the difference between the actual measured value of the moment of the roll axis and a target value of the moment of the roll axis, and determines the amount of adjustment of the tilt of the roll axis of the suction tool based on the difference.

[0011] According to this disclosure, the seal application system can adjust the tilt of the suction tool about the roll axis based on the difference between the actual measured value of the moment about the roll axis and the target value of the moment about the roll axis.

[0012] In the above disclosure, the control device further causes the articulated robot to perform an operation of adjusting the inclination of the pitch axis with respect to the direction of travel of the suction tool based on a signal from the force sensor.

[0013] According to this disclosure, the sticker application system can instruct the articulated robot to adjust the tilt of the pitch axis relative to the direction of travel of the suction tool when peeling off the sticker, thereby preventing wrinkles from forming on the sticker when peeling off.

[0014] In the above disclosure, the control device acquires an actual measured value of the moment of the pitch axis of the suction tool from the force sensor, calculates the difference between the actual measured value of the moment of the pitch axis and the target value of the moment of the pitch axis, and determines the amount of adjustment of the tilt of the suction tool about the pitch axis based on the difference.

[0015] According to this disclosure, the seal application system can adjust the tilt of the suction tool about the pitch axis based on the difference between the actual measured value of the moment about the pitch axis and the target value of the moment about the pitch axis.

[0016] In the above disclosure, the control device stores in the memory unit a position that is a predetermined distance above the sticker mount from the adjusted suction position as the start position for the sticker peeling operation of the suction tool.

[0017] According to this disclosure, the seal application system can determine the start position of the seal removal operation in the suction tool based on the adjusted suction position.

[0018] According to another embodiment, there is provided a method for controlling a sticker application system. The sticker application system includes an articulated robot, a control device for controlling the articulated robot, a suction tool attached to the tip of the articulated robot, a force sensor for detecting a force acting on the suction tool, and a memory unit for storing teaching data for the articulated robot. The method includes the steps of: in a teaching mode, moving the suction tool closer to a sticker on a sticker backing; adjusting the suction position of the suction tool and the tilt of the suction tool in the direction of travel (roll axis) when peeling the sticker based on a signal from the force sensor; and storing the teaching data, including information on the adjusted suction position and tilt of the roll axis, in the memory unit.

[0019] According to this disclosure, by executing the method, the sticker application system can instruct the articulated robot to adjust the tilt of the suction tool in the direction of travel (roll axis) when peeling off the sticker, which can prevent the sticker from wrinkling when peeling off.

[0020] According to yet another embodiment, there is provided a program for controlling a sticker application system. The sticker application system includes an articulated robot, a control device for controlling the articulated robot, a suction tool attached to the tip of the articulated robot, a force sensor for detecting the force acting on the suction tool, and a memory unit for storing teaching data for the articulated robot. The program causes the sticker application system, in a teaching mode, to perform the following operations: move the suction tool closer to a sticker on a sticker mount; adjust the suction position of the suction tool and the tilt of the suction tool in the direction of travel (roll axis) when peeling the sticker based on a signal from the force sensor; and store the teaching data in the memory unit, including information on the adjusted suction position and tilt of the roll axis.

[0021] According to this disclosure, by executing the program, the sticker application system can instruct the articulated robot to adjust the tilt of the suction tool in the direction of travel (roll axis) when peeling off a sticker, which can prevent wrinkles from forming on the sticker when peeling it off. [Effects of the Invention]

[0022] According to an embodiment, when teaching the suction position of the suction tool, it is possible to perform teaching that includes adjustment of the inclination of the suction tool with respect to the object.

[0023] The above and other objects, features, aspects and advantages of the present disclosure will become apparent from the following detailed description of the disclosure taken in conjunction with the accompanying drawings. [Brief explanation of the drawings]

[0024] [Figure 1] 1 is a diagram showing an example of an overall view and an outline of operation of a sticker application system 10 according to an embodiment. [Figure 2] 1 is a diagram illustrating an example of a hardware configuration of a sticker pasting system 10. FIG. [Figure 3] 1 is a diagram showing an example of the appearance of a seal feeder 120. FIG. [Figure 4] 10A and 10B are diagrams showing examples of various problems that may occur when peeling off a sticker 150 from a sticker mount 300. FIG. [Figure 5] 2 is a diagram showing an example of the configuration of a suction tool 110. FIG. [Figure 6] FIG. 2 is a diagram illustrating an example of a circuit configuration of a control device 200. [Figure 7] 1 is a diagram showing an example of a configuration related to a process for removing a sticker 150 in a sticker pasting system 10. FIG. [Figure 8] 10A and 10B are diagrams showing an example of a procedure for repeating the operation of peeling off a sticker 150 in the sticker application system 10. FIG. [Figure 9] 10A and 10B are diagrams showing an example of a teaching procedure for the process of peeling off a sticker 150 in the sticker application system 10. FIG. [Figure 10] 10A and 10B are diagrams showing an example of an operation of attaching a sticker 150 to an object 130 by a suction tool 110. FIG. [Figure 11] 10A and 10B are diagrams illustrating an example of control of the direction of travel and the attitude of the suction tool 110 during the bonding process. [Figure 12] 10A and 10B are diagrams illustrating an example of control of the advancing direction of the suction tool 110 relative to the rounded convex surface of the target object 130. FIG. [Figure 13] 10A and 10B are diagrams illustrating an example of control of the advancing direction of the suction tool 110 relative to the rounded concave surface of the target object 130. FIG. [Figure 14] 10A and 10B are diagrams illustrating an example of control of the direction of travel of the suction tool 110 at a corner of the target object 130. FIG. [Figure 15]It is a diagram showing an example of a processing procedure for peeling off the seal 150 from the seal backing paper 300 in the seal pasting system 10.

Embodiments for Carrying Out the Invention

[0025] Hereinafter, embodiments of the technical idea according to the present disclosure will be described while referring to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated.

[0026] <A. Configuration of Seal Pasting System> First, referring to FIGS. 1 to 6, an operation example of a seal pasting system to which the technology disclosed in this specification can be applied and a hardware configuration will be described. In this specification, the term "system" includes a configuration consisting of one or more devices, and services, virtual machines, instances, containers, etc. constructed on a cloud environment. Further, the system includes a combination of a configuration consisting of one or more devices, and services, virtual machines, instances, containers, etc. constructed on a cloud environment and various devices such as an articulated robot and a seal feeder. Also, in this specification, the term "seal" includes labels, tapes, films, etc. that are attached to other objects. Also, the seal may include those attached to an object by an adhesive and those attached to an object using a vacuum, such as a film for protecting the liquid crystal of a smartphone.

[0027] FIG. 1 is a diagram showing an overall view and an example of an operation outline of a seal pasting system 10 according to the present embodiment. Referring to FIG. 1, the configuration of the seal pasting system 10 and a series of operations in which the seal pasting system 10 peels off the seal 150 from the seal backing paper 300 (see FIG. 3) and pastes the seal 150 on an object will be described. At the same time, a mechanism for suppressing the occurrence of wrinkles in the seal 150 in the peeling process of the seal 150 by the seal pasting system 10 will also be described.

[0028] The sticker application system 10 mainly comprises an articulated robot 100, a suction tool 110, and a sticker feeder 120. The articulated robot 100, the suction tool 110, and the sticker feeder 120 are controlled by a control device 200 (see FIG. 2).

[0029] The articulated robot 100 is configured so that a tool suited to the application can be attached to the tip of the robot. In the example shown in FIG. 1, a suction tool 110 is attached to the articulated robot 100. The articulated robot 100 may be a vertical articulated robot, a horizontal articulated robot, or any other robot. Furthermore, the articulated robot 100 may have any number of joints, and may be a six-axis articulated robot, for example.

[0030] The suction tool 110 has a plurality of holes for adhering to the seal 150. A tool connected to the tip of the articulated robot 100, such as the suction tool 110, is also called an end effector. The suction tool 110 is connected to one or more vacuum generators 204 (also called vacuum ejectors) (see FIG. 2). Details of the suction tool 110 will be described with reference to FIG. 5.

[0031] The seal feeder 120 transports one side of the original roll of the seal liner 300 from the first winding shaft 223 (see FIG. 2) toward the second winding shaft 224 (see FIG. 2). The seal 150 is peeled off from the seal liner 300 at an edge A of the peeling table 122 while the seal liner 300 is being transported from the first winding shaft 223 toward the second winding shaft 224. The seal feeder 120 includes a sensor 121. The sensor 121 can detect when the seal 150 passes directly below the sensor 121. The sensor 121 is sometimes called a latch sensor. In one aspect, the sensor 121 may be a photoelectric sensor.

[0032] The object 130 is an object to which the sticker 150 is attached. The surface of the object 130 to which the sticker 150 is attached is not necessarily flat. In some aspects, the surface of the object 130 to which the sticker 150 is attached may be flat, curved, have a part of an angle, or a combination of all of these.

[0033] Next, the operation of the sticker application system 10 will be described.

[0034] In step 1, the articulated robot 100 moves the suction tool 110 to a suction start position (or standby position) near the peeling table 122. In addition, the seal feeder 120 transports the seal mount 300 and transmits the signal acquired from the sensor 121 or the position information of the seal 150 to the control device 200.

[0035] In step 2, the articulated robot 100, based on a command from the control device 200, lowers the suction tool 110 to adsorb the seal 150. Furthermore, the articulated robot 100 translates the suction tool 110 relative to the sticker mount 300 so that the speed is equal to the transport speed of the sticker mount 300. In other words, the articulated robot 100 translates the suction tool 110 relative to the sticker mount 300 in synchronization with the movement of the seal feeder 120. As a result, the suction tool 110, while adsorbed to the sticker 150, is carried together with the sticker 150 to the edge A of the peeling table 122.

[0036] In step 3, the articulated robot 100 continues to move parallel to the sticker mount 300 until it passes over edge A of the peeling table 122. The sticker mount 300 bends at edge A of the peeling table 122 and is taken up by the second take-up shaft 224. The sticker 150 moves parallel away from edge A of the peeling table 122 while being attracted to the suction tool 110. As a result, the sticker 150 is peeled off from the sticker mount 300.

[0037] As described above, the suction tool 110, while adsorbed to the seal 150, moves parallel to the seal liner 300 in synchronization with the movement of the seal liner 300. That is, the seal 150 is carried on the peeling table 122 sandwiched between the suction tool 110 and the seal liner 300 without warping and / or wrinkles. Then, at edge A of the peeling table 122, the seal 150 continues to move parallel to the suction tool 110 while maintaining its shape, and the seal liner 300 is folded and wound around the second winding shaft 224. Through the above series of steps, the seal application system 10 can peel the seal 150 from the seal liner 300 without warping and / or wrinkles occurring in the seal 150.

[0038] In step 3 and subsequent steps, the articulated robot 100 attaches the sticker 150 to the target object 130, and then moves the suction tool 110 to the suction start position, and repeats the above process. Details of the operation of attaching the sticker 150 will be described later with reference to FIGS. 10 to 14.

[0039] Fig. 2 is a diagram showing an example of the hardware configuration of the sticker application system 10. The hardware configuration of the sticker application system 10 will be described with reference to Fig. 2. In addition to the articulated robot 100, the suction tool 110, and the sticker feeder 120, the sticker application system 10 includes a control device 200, a force sensor 201, a tool changer 202, one or more vacuum generators 204, and an encoder signal conversion device 210.

[0040] The vacuum generator 204, the tool changer 202, and the suction tool 110 are connected to one another via air piping 231. A flow rate regulator 205 is provided for each path (air piping 231) between each vacuum generator 204 and each suction tool 110. The control device 200 is connected to the force sensor 201 and the articulated robot 100 via a first signal line 232. In one aspect, the first signal line 232 may be EtherCAT (registered trademark) or any other type of signal line. The seal feeder 120 is connected to the control device 200 and the encoder signal conversion device 210 via a second signal line 233. In one aspect, the second signal line 233 may be any type of signal line.

[0041] The control device 200 controls the articulated robot 100, the flow rate regulator 205 (or the vacuum generator 204), and the seal feeder 120. In one aspect, the control device 200 may be a programmable logic controller (PLC). In another aspect, the control device 200 may be an integrated control device including a PLC and a robot control unit. The control device 200 has the following functions related to the technology of the present disclosure.

[0042] As a first function, the control device 200 transmits a command including a movement destination of the suction tool 110 to the articulated robot 100. The articulated robot 100 generates a posture of the articulated robot 100 based on the received command (based on the movement destination of the suction tool 110) and operates based on the generated posture (moves the suction tool 110 to the target location). Note that the movement destination of the suction tool 110 also includes the posture of the suction tool 110 (angles of each of the X, Y, and Z axes in space). As another example, the control device 200 may transmit a command including the posture of the articulated robot 100 to the articulated robot 100. In this case, the articulated robot 100 operates to assume the posture included in the received command.

[0043] As a second function, the control device 200 drives the seal feeder 120. More specifically, the control device 200 transmits a drive permission signal to the seal feeder 120. Based on receiving the drive permission signal, the control device (not shown) of the seal feeder 120 drives the motor 222 mounted on the seal feeder 120 directly or via a motor driver or the like (not shown). The motor 222 directly or indirectly rotates the first winding shaft 223 and the second winding shaft 224. The seal mount 300 is transported from the first winding shaft 223 to the second winding shaft 224 by the power of the motor 222.

[0044] As a third function, the control device 200 synchronizes the movements of the articulated robot 100 and the seal feeder 120.

[0045] First, the control device 200 acquires information for calculating the position of the next sticker 150 to be peeled from the sticker feeder 120 via the encoder signal conversion device 210. More specifically, the sticker feeder 120 is equipped with an encoder 720 (see FIG. 7) for calculating the transport amount of the sticker mount 300. The encoder 720 is provided at an arbitrary position on the sticker feeder 120 that can detect the rotation of the first winding shaft 223, the second winding shaft 224, the shaft of the motor 222, or a pulley or the like on the path of the sticker mount 300. The control device 200 receives from the sticker feeder 120 a signal from the sensor 121 (indicating the timing when the next sticker 150 to be peeled passes under the sensor 121) and a signal from the encoder 720 (the transport amount of the sticker mount 300) as information for calculating the position of the next sticker 150 to be peeled.

[0046] The control device 200 calculates or records the timing when the next sticker 150 to be peeled passes the reference position (directly below the sensor 121) from the signal of the sensor 121. The control device 200 also calculates the distance traveled by the next sticker 150 to be peeled after it passed the reference position (directly below the sensor 121) (the current position of the next sticker 150 to be peeled) from the signal of the encoder 720. The control device 200 controls the articulated robot 100 in accordance with the current position of the next sticker 150 to be peeled. That is, the control device 200 calculates the movement destination and movement speed of the suction tool 110 from the signal of the sensor 121 and the signal of the encoder 720. The articulated robot 100 moves the suction tool 110 to the position where the next sticker 150 to be peeled is located, based on a command from the control device 200. After attaching the sticker 150 to the target object 130, the articulated robot 100 moves the suction tool 110 to a standby position for peeling off the sticker 150. The control device 200 determines the operation timing of the suction tool 110 (the timing for adsorbing the sticker 150) based on the timing when the sensor 121 detects the sticker 150 and the output of the encoder 720. The control device 200 sends a command to the articulated robot 100 to move the suction tool 110 from the standby position to the adsorption position for the next sticker 150 at the determined operation timing.

[0047] In one aspect, the control device 200 may control the articulated robot 100 and the seal feeder 120 so that the suction tool 110 adheres to the next seal 150 to be peeled off while the seal liner 300 is not moving. In another aspect, the control device 200 may control the articulated robot 100 and the seal feeder 120 so that the suction tool 110 adheres to the next seal 150 to be peeled off while following the seal liner 300 while the seal liner 300 is being transported.

[0048] After the suction tool 110 has adsorbed to the next sticker 150 to be peeled off, the control device 200 controls the articulated robot 100 based on the signal from the encoder 720 so that the suction tool 110 moves parallel to the next sticker 150 (or sticker backing 300) to be peeled off at a constant speed (so that the suction tool 110 moves in synchronization with the sticker feeder 120).

[0049] As a fourth function, the control device 200 controls the suction force of the suction tool 110. More specifically, the control device 200 adjusts or turns on / off the amount of air suction by each vacuum generator 204 using each flow rate regulator 205. In this way, the control device 200 can, for example, increase the suction force of the suction tool 110 when peeling off the sticker 150, and decrease the suction force of the suction tool 110 when attaching the sticker 150.

[0050] As an example, the force sensor 201 is installed between the tip of the articulated robot 100 and the tool changer 202. The force sensor 201 measures the force generated in the suction tool 110 (actually, the force generated in the force sensor 201) and outputs a signal indicating the force generated in the suction tool 110 to the control device 200. The force sensor 201 detects the forces generated in three dimensional directions (X-axis, Y-axis, and Z-axis) in the suction tool and the moments in the rotational directions (Rx, Ry, and Rz) about each axis. A moment is a force applied in the rotational direction about an axis, and is also called a moment load or a moment of force. The signal output by the force sensor 201 is used to teach the articulated robot 100 how to peel off the sticker 150, to control the attitude of the suction tool 110 when attaching the sticker 150, and so on. Teaching the peeling operation of the sticker 150 will be described later with reference to FIG. 9. The attitude control of the suction tool 110 when attaching the sticker 150 will be described later with reference to FIGS.

[0051] The tool changer 202 is configured to be able to attach various tools to the articulated robot 100. In the example shown in Fig. 2, the tool changer 202 is used to attach the suction tool 110 to the articulated robot 100. The tool changer 202 may also serve as a waypoint for connecting the vacuum generator 204 and the suction tool 110 with an air pipe 231.

[0052] The vacuum generator 204 is connected to an external compressor or the like. The vacuum generator 204 throttles and discharges compressed air internally. The internal pressure decreases as the compressed air is discharged at high speed. As a result, the vacuum generator 204 sucks air through the holes in the suction tool 110 via the air pipe 231. In some aspects, the vacuum generator 204 may be attached to the articulated robot 100 or may be located at a position separate from the articulated robot 100.

[0053] The encoder signal conversion device 210 has a function of acquiring a signal from the encoder 720 and transmitting it to the control device 200. In one aspect, the encoder signal conversion device 210 may be separate from the control device 200 or may be integrated with the control device 200. In another aspect, the encoder signal conversion device 210 may be built into the seal feeder 120 or may be disposed outside the seal feeder 120. In another aspect, the encoder signal conversion device 210 may have a function of transmitting the signal from the sensor 121 to the control device 200. Alternatively, the control device 200 may directly receive the signal from the sensor 121 via the second signal line 233.

[0054] The seal feeder 120 includes a motor 222, a first winding shaft 223, a second winding shaft 224, and an extension table 221. The motor 222 directly or indirectly rotates the first winding shaft 223 and / or the second winding shaft 224 to transport the seal liner 300 from the first winding shaft 223 to the second winding shaft 224. The extension table 221 extends the distance (the distance of the peeling table 122) that the seal liner 300 is fed horizontally relative to the ground. The length of the peeling table 122 in the horizontal direction (the direction in which the seal liner 300 is transported) is configured to be equal to or greater than the length of the suction tool 110 in the horizontal direction (the direction indicated by arrow 310 in FIG. 3).

[0055] 3 is a diagram showing an example of the appearance of the seal feeder 120. The operation of the seal feeder 120 and how the seals 150 are peeled off the seal mount 300 will be described in detail with reference to FIG.

[0056] The stickers 150 are attached at equal intervals to the sticker mount 300, and the sticker mount 300 itself is in the form of a roll (raw material). The roll of sticker mount 300 is attached to a first winding shaft 223, and one end of the sticker mount 300 is attached to a second winding shaft 224.

[0057] When the motor 222 of the seal feeder 120 is driven, the seal mount 300 is transported from the first winding shaft 223 to the second winding shaft 224. At that time, for example, the seal mount 300 travels from the first winding shaft 223 through the paths indicated by arrows 310, 320, and 330 to reach the second winding shaft 224. For example, rollers for transporting the seal mount 300 may be disposed between the paths of arrows 320 and 330.

[0058] When the sticker mount 300 passes along the path of the arrow 310 (horizontal to the ground), it passes under the sensor 121. The sensor 121 transmits a signal from the sensor 121 to the control device 200. The control device 200 refers to the signal from the sensor 121 and records the timing when the sticker 150 passes a reference position (such as directly below the sensor 121). The sticker feeder 120 or the encoder signal conversion device 210 transmits a signal from the encoder 720 to the control device 200. The control device 200 refers to the signal from the encoder 720 and can calculate the current position of the sticker 150 (i.e., the distance the sticker 150 has traveled from the reference position) and the conveyance speed. The control device 200 uses information on the current position and / or conveyance speed of the sticker 150 for synchronization processing (processing for moving the suction tool 110 parallel to the sticker mount 300 at a uniform speed).

[0059] After passing under the sensor 121, the sticker mount 300 is carried on the peeling table 122. On the peeling table 122, one of the stickers 150 on the sticker mount 300 is adsorbed (held) by the suction tool 110. With the suction tool 110 still adsorbed to the sticker 150, the sticker mount 300 is carried to the edge A of the peeling table 122. At this time, the suction tool 110 moves in the direction of the arrow 310 at the same speed as the sticker mount 300.

[0060] When the sticker mount 300 reaches the edge A of the peeling table 122, it is folded back in the direction of arrow 320. Meanwhile, the sticker 150, which is adsorbed (held) by the suction tool 110, is carried by the suction tool 110 in the direction of arrow 310 even after it reaches the edge A of the peeling table 122. In other words, the sticker 150 is peeled off from the sticker mount 300 at the edge A. At this time, the sticker 150 is peeled off from the sticker mount 300 while maintaining its shape due to being adsorbed by the suction tool 110.

[0061] Fig. 4 is a diagram showing an example of various problems that may occur when peeling the sticker 150 from the sticker mount 300. With reference to Fig. 4, various problems that may occur when peeling the sticker 150 from the sticker mount 300 will be described. The suction tool 110 according to the present embodiment includes a configuration for solving these problems, as will be described later with reference to Fig. 5.

[0062] The first problem is that when the seal 150 is peeled off from the seal mount 300 using a suction tool with one hole, suction wrinkles may form on the surface of the seal 150. This can occur when a portion of the surface of the seal 150 is suctioned with a strong force. Therefore, it is desirable to use a suction tool that applies a uniform force to a wide surface of the seal 150 to prevent suction wrinkles from forming on the surface of the seal 150.

[0063] The second problem is that when the sticker 150 is peeled off from the sticker mount 300, it may sag due to the effect of gravity, or it may warp due to the influence of the curling tendency of the roll (original sheet) of sticker 150. Therefore, it is necessary to prevent the sticker 150 from sagging or warping when peeled off from the sticker mount 300.

[0064] A third problem is that if an external force such as an air blow is used to prevent the seal 150 from sagging and warping, this external force itself may become a disturbance and interfere with the suction tool 110 picking the seal 150. Therefore, it is desirable to prevent the seal 150 from sagging and warping without using an external force.

[0065] Fig. 5 is a diagram showing an example of the configuration of the suction tool 110. The configuration and functions of the suction tool 110 will be described with reference to Fig. 5. The suction tool 110 includes a suction unit 501, a pressing unit 502, and one or more air intake ports 503.

[0066] The suction unit 501 has a plurality of holes 510 on its surface. These holes 510 constitute one or more blocks. In the example shown in FIG. 5, the suction unit 501 includes blocks A, B, C, and D. The holes 510 included in each block are connected to the respective air intake ports 503. The holes 510 included in each block are connected to one of the vacuum generators 204 via the respective air intake ports 503 and the air pipes 231. In the example of FIG. 5, the blocks A, B, C, and D correspond to the individual vacuum generators 204.

[0067] The control device 200 adjusts the suction force of the suction tool 110 for each block. This allows the suction tool 110 to adhere to the seal 150 using only some of the blocks (for example, only blocks A and C) depending on the shape of the seal 150. The suction tool 110 can also adhere to a large seal 150 using all of the blocks.

[0068] The suction unit 501 has a plurality of holes 510, and therefore can adhere uniformly to the wide surface of the seal 150. By adhering uniformly to the wide surface of the seal 150, the suction unit 501 can suppress the occurrence of suction wrinkles on the seal 150. Furthermore, the suction unit 501 does not require an external force when peeling the seal 150, and is therefore not affected by external disturbances. Furthermore, the suction tool 110 continues to move horizontally beyond the edge A of the seal feeder 120 while adsorbed to the seal 150, thereby preventing sagging and warping of the seal 150.

[0069] In one aspect, some or all of the holes 510 may be configured to be able to be blocked as needed. For example, some or all of the holes 510 may be screw holes. In this case, each hole 510 can be blocked with a set screw or the like. As another example, some or all of the holes 510 may be configured to be able to be blocked with a cap or the like. By configuring the suction portion 501 to be able to block individual holes 510, the user can fine-tune the suction force of the suction tool 110.

[0070] The pressing unit 502 is used when attaching the sticker 150 to the object 130. Based on a command received from the control device 200, the articulated robot 100 moves the suction tool 110 along the surface of the object 130 while tilting the bottom of the suction tool 110 (the surface having the hole 510) with respect to the surface of the object 130. In this way, the sticker 150 held by the suction unit 501 is attached to the surface of the object 130 by the pressing unit 502.

[0071] In one aspect, the pressing portion 502 may include a rotatable roller. In this case, while the suction tool 110 moves along the surface of the object 130, the roller of the pressing portion 502 rotates to press the seal 150 against the surface of the object 130. In another aspect, the pressing portion 502 may include a spatula or a corner. In this case, while the suction tool 110 moves along the surface of the object 130, the pressing portion 502 presses the seal 150 against the surface of the object 130 with the tip or corner of the spatula.

[0072] In another aspect, the pressing unit 502 may be configured to be detachable by replacing multiple types of suction tools 110. It is desirable that the length in the direction indicated by arrow 550 (a direction perpendicular to the direction in which the seal 150 is attached) be interchangeable depending on the size of the seal 150. By configuring the pressing unit 502 to be detachable from the suction tool 110, the user can select a pressing unit 502 of a length appropriate for the seal 150 from multiple types of pressing units 502 and attach it to the suction tool 110.

[0073] In another aspect, the control device 200 may adjust the suction force of the suction unit 501 when attaching the sticker 150 to the object 130 so that it is weaker than the suction force of the suction unit 501 when peeling the sticker 150 from the sticker mount 300. This adjustment allows the pressing unit 502 to easily peel the sticker 150 from the suction unit 501 and attach it to the object 130. As an example, the control device 200 may stop or adjust the flow of air into at least some of the multiple vacuum generators 204, thereby adjusting the suction force of the suction unit 501 when attaching the sticker 150 to the object 130 so that it is weaker than the suction force of the suction unit 501 when peeling the sticker 150 from the sticker mount 300.

[0074] The air intake port 503 is connected to the vacuum generator 204 via the air pipe 231. When the air pressure inside the vacuum generator 204 drops, outside air is sucked in through the hole 510 and sent to the vacuum generator 204 via the air intake port 503. As a result, the seal 150 is drawn to the hole 510.

[0075] Fig. 6 is a diagram showing an example of the circuit configuration of the control device 200. The circuit configuration of the control device 200 will be described with reference to Fig. 6. The control device 200 includes a processor 601, a memory 602, a storage 603, a robot control unit 604, an I / O (Input Output) IF (Interface) 605, a network IF 606, and a bus 607.

[0076] The processor 601 executes a program loaded in the memory 602 and references data loaded in the memory 602, thereby realizing various functions of the control device 200. In one aspect, the processor 601 executes a program to realize functions as a PLC. In another aspect, the processor 601 executes a program to realize all or part of the functions related to the control of the articulated robot 100. The processor 601 is, for example, configured with at least one integrated circuit. The integrated circuit may be, for example, configured with at least one CPU (Central Processing Unit), at least one FPGA (Field Programmable Gate Array), or a combination thereof.

[0077] Memory 602 stores programs executed by processor 601 and data referenced by processor 601. In one aspect, memory 602 may be realized by a dynamic random access memory (DRAM), a static random access memory (SRAM), or the like.

[0078] Storage 603 is a non-volatile memory and may store programs executed by processor 601 and data referenced by processor 601. In this case, processor 601 executes programs read from storage 603 to memory 602 and references data read from storage 603 to memory 602. In one aspect, storage 603 may be realized by a hard disk drive (HDD), a solid state drive (SSD), an erasable programmable read only memory (EPROM), an electrically erasable programmable read only memory (EEPROM), a flash memory, or the like.

[0079] The robot control unit 604 controls the articulated robot 100. As an example, the robot control unit 604 may generate a command to be sent to the articulated robot 100 and send the command to the articulated robot 100 via the I / O IF 605.

[0080] The robot control unit 604 is configured, for example, by at least one integrated circuit. The integrated circuit may be configured, for example, by at least one CPU, at least one FPGA, at least one ASIC (Application Specific Integrated Circuit), or a combination of these. In one aspect, the processor 601 may have the functions of the robot control unit 604. In another aspect, the robot control unit 604 may be provided separately from the processor 601.

[0081] The articulated robot 100 includes a processor 620, which executes received instructions. In one aspect, the articulated robot 100 may include an integrated circuit implemented by an FPGA, an ASIC, or the like, instead of the processor 620.

[0082] The I / OIF 605 is a communication interface with other devices. The control device 200 may be equipped with one or more I / OIFs 605. The I / OIF 605 may also include multiple interfaces corresponding to different protocols. For example, the I / OIF 605 may include an interface corresponding to the communication protocol of the first signal line 232 and an interface corresponding to the communication protocol of the second signal line 233. The I / OIF 605 may be connected to the articulated robot 100, the force sensor 201, the encoder signal conversion device 210, the sensor 121, the flow rate regulator 205, and any other components.

[0083] The network IF606 is connected to a wired or wireless network device. For example, the control device 200 may be connected to the user's terminal 610 via the network IF606. In this case, the control device 200 may receive the PLC program, the program of the multi-joint robot 100, etc. from the terminal 610. In a certain aspect, the control device 200 may be connected to the terminal 610 via the I / O IF605. In other aspects, the network IF606 may be implemented by a wired LAN (Local Area Network) port, a Wi-Fi (registered trademark) (Wireless Fidelity) module, etc. Further, in other aspects, the network IF606 may transmit and receive data using communication protocols such as TCP / IP (Transmission Control Protocol / Internet Protocol) and UDP (User Datagram Protocol).

[0084] The bus 607 interconnects the processor 601, the memory 602, the storage 603, the robot control unit 604, the I / O IF605, and the network IF606.

[0085] <B. Operation of Peeling off the Seal> Next, referring to FIGS. 7 to 9, the procedure of the operation of the seal attachment system 10 for peeling off the seal 150 and its teaching method will be described.

[0086] FIG. 7 is a diagram showing an example of a configuration related to the peeling process of the seal 150 in the seal attachment system 10. The seal backing paper 300 is conveyed from the first take-up shaft 223 via the edge A of the peeling table 122 to the second take-up shaft 224. Seals 150 (seals 150A, 150B, 150C in the example of FIG. 7) are evenly pasted on the seal backing paper 300. The encoder signal conversion device 210 transmits the signal of the encoder 720 to the control device 200. In a certain aspect, the encoder signal conversion device 210 may acquire the signal of the sensor 121 and transmit the signal to the control device 200.

[0087] Fig. 8 is a diagram showing an example of a repeating procedure for peeling off the sticker 150 in the sticker pasting system 10. With reference to Fig. 8, the repeating procedure for peeling off the sticker 150 will be described using stickers 150A, 150B, and 150C as an example.

[0088] In the first step, the sticker application system 10 moves the suction tool (EE: end effector) 110 to a peeling process start position using the articulated robot 100. The sticker application system 10 also moves the sticker 150A to a suction position using the sticker feeder 120.

[0089] In the second step, the sticker application system 10 causes the suction tool 110 to adsorb the sticker 150A that has been transported to the adsorption position of the sticker mount 300. In one aspect, the sticker application system 10 may cause the suction tool 110 to adsorb the sticker 150A while the sticker feeder 120 is stopping the transport of the sticker mount 300. In another aspect, the sticker application system 10 may cause the suction tool 110 to adsorb the sticker 150A while the sticker feeder 120 is transporting the sticker mount 300. In this case, the action of the suction tool 110 during adsorption includes not only a downward action but also an action of horizontally following the sticker 150A.

[0090] In the third step, the seal application system 10 moves the suction tool 110 parallel to the seal mount 300 at the same speed while the suction tool 110 is attached to the seal 150A. The seal 150A is peeled off from the seal mount 300 when it passes over the edge A of the peeling table 122. The seal mount 300 is folded back at the edge A and taken up on the second take-up shaft 224.

[0091] In a fourth step, the sticker application system 10 applies the sticker 150A to the object 130. The application process is performed with the suction tool 110 tilted relative to the surface of the object 130, as shown in FIG.

[0092] In the fifth step, the sticker application system 10 returns the suction tool 110 to the start position. In one aspect, the sticker application system 10 may use the sticker feeder 120 to move the sticker 150B (the sticker 150 to be peeled next) to the suction position between the third step and the fifth step. In another aspect, the sticker application system 10 may use the sticker feeder 120 to move the sticker 150B (the sticker 150 to be peeled next) to the suction position after the suction tool 110 has returned to the start position of the peeling process. Thereafter, the sticker application system 10 applies the stickers 150B and 150C to the object 130 using a similar procedure. Note that the stickers 150A, 150B, and 150C are each applied to a different object 130 (e.g., object 130A, 130B, and 130C).

[0093] FIG. 9 is a diagram showing an example of a teaching procedure for a process of peeling off a sticker 150 in the sticker application system 10. The articulated robot 100 may require advance teaching of alignment in a process such as picking a workpiece. Furthermore, when picking a soft object such as the sticker 150, the articulated robot 100 may require more precise teaching. Referring to FIG. 9, a teaching procedure for a process in which the articulated robot 100 picks (sucks and peels off) the sticker 150 using the suction tool 110 will be described. Note that in the example of FIG. 9, the force sensor 201 is located above the suction tool 110, but a tool changer 202 may be present between the force sensor 201 and the suction tool 110.

[0094] The X axis is the direction in which the seal mount 300 and the suction tool 110 move, and the Y axis is a direction perpendicular to the X axis on the surface of the peeling table 122. The Z axis is a direction perpendicular to the X axis. Rx is the direction of rotation about the X axis, Ry is the direction of rotation about the Y axis, and Rz is the direction of rotation about the Z axis. The X axis, Y axis, and Z axis are also called the roll axis, pitch axis, and yaw axis, respectively.

[0095] The processing of steps 1 to 3 below can be executed, for example, when the user inputs a start command for the teaching process into the control device 200. First, the user manually brings the suction tool 110 close to the sticker 150 attached to the sticker mount 300 on the peeling table 122. With the suction tool 110 somewhat close to the sticker 150, the user inputs a start command for the teaching process into the sticker application system 10 via the terminal 610 or the like. The sticker application system 10 (control device 200) executes the processing of steps 1 to 3 based on receiving the start command for the teaching process.

[0096] In step 1, the seal application system 10 gradually lowers the suction tool 110.

[0097] In step 2, the sticker application system 10 determines the suction position (position in the Z-axis direction) of the suction tool 110 to suction the sticker 150 and the suction posture of the suction tool 110 to suction the sticker 150. Note that either of the following steps 2-1 and 2-2 may be performed first.

[0098] First, in step 2-1, the sticker application system 10 stops the lowering operation of the suction tool 110 when the force sensor 201 detects a force in the Z-axis direction that is equal to or greater than a predetermined threshold. The Z-axis is a direction perpendicular to the surface of the peeling table 122. The height at which the suction tool 110 stops lowering is the position at which the suction tool 110 adheres to the sticker 150.

[0099] Next, in step 2-2, the sticker application system 10 adjusts the posture of the suction tool 110 so that the actual measured value of the moment in the Rx direction acting on the force sensor 201 (suction tool 110) is equal to or less than a first target value, and so that the actual measured value of the moment in the Ry direction is equal to or less than a second target value.

[0100] More specifically, the sticker application system 10 acquires an actual measurement value of the moment in the Rx direction from the force sensor 201. Next, the sticker application system 10 compares the actual measurement value of the moment in the Rx direction with a first target value. Based on the comparison result, the sticker application system 10 determines an adjustment amount for the attitude of the suction tool 110 in the Rx direction. The sticker application system 10 adjusts the attitude of the suction tool 110 in the Rx direction. The sticker application system 10 repeatedly executes the above process until the actual measurement value of the moment in the Rx direction becomes equal to or less than the first target value.

[0101] The sticker application system 10 also acquires an actual measurement value of the moment in the Ry direction from the force sensor 201. Next, the sticker application system 10 compares the actual measurement value of the moment in the Ry direction with a second target value. Based on the comparison result, the sticker application system 10 determines the amount of adjustment to the attitude of the suction tool 110 in the Ry direction. The sticker application system 10 adjusts the attitude of the suction tool 110 in the Ry direction. The sticker application system 10 repeatedly executes the above process until the actual measurement value of the moment in the Ry direction becomes equal to or less than the second target value.

[0102] In step 3, the sticker application system 10 determines the suction position of the suction tool 110 relative to the sticker 150 and the suction posture of the suction tool 110 relative to the sticker 150, and then raises the suction tool 110 by a predetermined distance. The position of the suction tool 110 after being raised corresponds to the start position in FIG. 8. In one aspect, the control device 200 may be configured to be able to receive input for setting the amount of lift of the suction tool 110.

[0103] As described above, the seal attachment system 10 adjusts the suction position and suction posture of the suction tool 110 so that not only the force in the Z-axis direction applied to the force sensor 201 but also the moments in the Rx direction and the Ry direction are below a certain amount by means of the teaching function. By doing so, the bottom surface of the suction tool 110 can uniformly contact and adsorb to the seal 150. As a result, the seal attachment system 10 can suppress the generation of wrinkles in the seal 150 due to adsorption.

[0104] <C. Operation of attaching the seal to the object> Next, referring to FIGS. 10 to 14, the details of the operation of attaching the seal 150 will be described.

[0105] FIG. 10 is a diagram showing an example of the operation of attaching the seal 150 to the object 130 by the suction tool 110. Referring to FIG. 10, the procedure for the seal attachment system 10 to attach the seal 150 to the object 130 without generating bubbles will be described. The operations from the following Step 1 to Step 4 are realized by the control device 200 transmitting a command to the articulated robot 100 and the articulated robot 100 moving the suction tool 110 based on the received command.

[0106] In Step 1, the suction tool 110 presses the seal 150 against the object 130 with the pressing portion 502 while tilting the bottom surface of the suction portion 501 with respect to the surface of the object 130.

[0107] In Step 2, the suction tool 110 moves along the surface of the object 130 while pressing the seal 150 against the object 130 with the pressing portion 502. When the suction tool 110 moves, the seal 150 slides on the surface of the suction portion 501 toward the pressing portion 502 because the end portion is held by the pressing portion 502.

[0108] In step 3, the suction tool 110 further moves along the surface of the object 130. The suction tool 110 moves while pressing the seal 150 against the object 130 with a pressing part 502 shaped like a spatula, a corner, a roller, or the like. Because the area 1000 where only the pressing part 502 presses the seal 150 against the object 130 is small, air bubbles are less likely to occur during application.

[0109] In step 4, the suction tool 110 finishes passing over the seal 150 attached to the surface of the object 130. The seal 150 is pressed from one end to the other by the pressing part 502 over a small area 1000, so that no air bubbles are generated between the seal 150 and the object 130.

[0110] In one aspect, the control device 200 may adjust the suction force of the suction tool 110 when attaching the sticker 150 to the object 130 to be weaker than the suction force of the suction tool 110 when peeling off the sticker 150. This makes the sticker 150 more easily slippery (easy to separate) from the suction portion 501.

[0111] Fig. 11 is a diagram showing an example of control of the direction of travel and attitude of the suction tool 110 during the attachment process. With reference to Fig. 11, attitude control when the sticker attachment system 10 attaches a sticker 150 to an object 130 having a shape other than a flat surface will be described. The operation described with reference to Fig. 11 is realized by the control device 200 sending a command to the articulated robot 100, and the articulated robot 100 adjusting the direction of travel and attitude of the suction tool 110 based on the command received.

[0112] The X-axis is the direction in which the suction tool 110 moves during the bonding process, and the Y-axis is a direction perpendicular to the X-axis on the surface of the peeling table 122. The Z-axis is a direction perpendicular to the X-axis and points upward. The X-axis, Y-axis, and Z-axis can also be called the roll axis, pitch axis, and yaw axis during the bonding process.

[0113] Based on the signal acquired from the force sensor 201, the sticker application system 10 detects the force acting on the suction tool 110 (or the pressing portion 502) in the Z-axis direction and the moment acting on the suction tool 110 (or the pressing portion 502) in the Rx direction.

[0114] The sticker application system 10 adjusts the direction of travel of the suction tool 110 so that the force applied to the suction tool 110 (or the pressing unit 502) in the Z-axis direction is constant. More specifically, the sticker application system 10 compares the actual measured value of the force applied in the Z-axis direction with a target value of the force applied in the Z-axis direction to determine the amount of adjustment of the direction of travel of the suction tool 110. The sticker application system 10 changes the direction of travel of the suction tool 110 based on the determined amount of adjustment. The sticker application system 10 repeatedly performs the above process during the application operation.

[0115] The sticker application system 10 can always apply a uniform force to an object 130 that has a surface other than a flat surface by maintaining a constant force applied to the suction tool 110 (or pressing portion 502) in the Z-axis direction.

[0116] Furthermore, the control device 200 adjusts the attitude of the suction tool 110 (the tilt of the suction tool 110 in the Rx direction) so that the moment acting on the suction tool 110 (or the pressing unit 502) in the Rx direction is equal to or less than a target value. More specifically, the sticker application system 10 compares the actual measured value of the moment acting in the Rx direction with the target value of the moment acting in the Rx direction, and determines the amount of adjustment for the attitude of the suction tool 110 (the tilt of the suction tool 110 in the Rx direction, or the tilt of the suction tool 110 with respect to the direction of travel of the suction tool 110 (roll axis (X))). The sticker application system 10 adjusts the attitude of the suction tool 110 based on the determined amount of adjustment. The sticker application system 10 repeatedly executes the above-described process during the application operation.

[0117] The sticker application system 10 can maintain uniform pressure over the entire contact surface between the suction part 501 and the sticker 150 by keeping the moment acting on the suction tool 110 (or the pressing part 502) in the Rx direction at or below a target value. This allows the sticker application system 10 to suppress the occurrence of air bubbles, wrinkles, and the like due to the application operation.

[0118] 12 is a diagram showing an example of control of the direction of travel of the suction tool 110 relative to the rounded convex surface of the object 130. In order to apply a uniform force to the sticker 150 on the object 130, it is desirable that the direction of travel of the pressing unit 502 is always normal to the surface of the object 130. Therefore, the control device 200 adjusts the direction of travel of the pressing unit 502 (suction tool 110) based on a signal acquired from the force sensor 201.

[0119] More specifically, the control device 200 compares the actual measured value of the force applied to the pressing unit 502 with the target value of the force applied to the pressing unit 502, and determines the amount of adjustment of the direction of travel of the pressing unit 502 (suction tool 110) based on the difference between the two. Furthermore, the control device 200 may determine the direction in which to change the orientation of the pressing unit 502 (suction tool 110) based on the direction of the force applied to the pressing unit 502. Alternatively, the control device 200 may correct the traveling direction of the pressing unit 502 upward (in a direction that moves the pressing unit 502 away from the surface of the object 130) when the actual measured value of the force applied to the pressing unit 502 is greater than the target value (when the pressing unit 502 is pressed against the object 130 more than necessary), and may correct the traveling direction of the pressing unit 502 downward (in a direction that moves the pressing unit 502 closer to the surface of the object 130) when the actual measured value of the force applied to the pressing unit 502 is smaller than the target value. The control device 200 adjusts the traveling direction of the pressing unit 502 (the suction tool 110) based on the determined adjustment direction and adjustment amount. The control device 200 repeats the above process to bring the traveling direction of the pressing unit 502 closer to the normal direction to the surface of the object 130.

[0120] Control of the direction of travel of the suction tool 110 will be described using examples where the pressing portion 502 climbs onto the rounded convex surface and where the pressing portion 502 clears the rounded convex surface.

[0121] Scene A shows a state in which the pressing unit 502 has reached a position where it will ride on the rounded convex surface of the object 130. In scene A, the traveling direction 1301 of the pressing unit 502 is inward (toward the object 130 as viewed from the normal) with respect to a normal direction 1310 to the surface of the object 130. In this case, the reaction force that the pressing unit 502 receives from the object 130 acts as a resistance force against the traveling direction of the pressing unit 502. As a result, the pressing unit 502 presses the seal 150 against the object 130 with a force stronger than expected. Therefore, the control device 200 adjusts the traveling direction of the pressing unit 502 (the suction tool 110) outward (toward the opposite side of the object 130 as viewed from the normal) based on a signal acquired from the force sensor 201.

[0122] Scene B shows the state after the pressing unit 502 has climbed over the highest point of the rounded convex surface of the target object 130. In scene B, the traveling direction 1301 of the pressing unit 502 is outward (opposite the target object 130 from the normal direction) from the normal direction 1310 to the surface of the target object 130. In this case, the pressing unit 502 presses the seal 150 against the target object 130 with a force weaker than expected. Therefore, the control device 200 adjusts the traveling direction of the pressing unit 502 (the suction tool 110) inward (toward the target object 130 from the normal direction) based on the signal acquired from the force sensor 201.

[0123] 13 is a diagram showing an example of control of the direction of travel of the suction tool 110 relative to the rounded concave surface of the target object 130. Even for the rounded concave surface of the target object 130, the control device 200 can adjust the direction of travel of the pressing unit 502 (the suction tool 110) in the same manner as the procedure described with reference to FIG.

[0124] In scene C, the traveling direction 1301 of the pressing part 502 is inward (toward the object 130 as viewed from the normal line) with respect to the surface of the object 130 relative to a normal direction 1310. In this case, based on the signal acquired from the force sensor 201, the traveling direction of the pressing part 502 (the suction tool 110) is adjusted outward (toward the opposite side of the object 130 as viewed from the normal line).

[0125] In scene D, the traveling direction 1301 of the pressing part 502 is outward (opposite the object 130 as viewed from the normal) from the normal direction 1310 to the surface of the object 130. In this case, based on the signal acquired from the force sensor 201, the traveling direction of the pressing part 502 (the suction tool 110) is adjusted inward (toward the object 130 as viewed from the normal).

[0126] 14 is a diagram illustrating an example of control of the advancing direction of the suction tool 110 at a corner of the target object 130. When the surface to which the sticker 150 is to be attached includes a corner, feedback from the force sensor 201 alone may not be enough to apply the sticker 150 to the target object 130 without wrinkles. This is because the force sensor 201 no longer detects stress when the pressing unit 502 passes the corner of the target object 130, and the control device 200 cannot accurately adjust the advancing direction of the suction unit 501 (suction tool 110) based on the signal from the force sensor 201. Therefore, the sticker application system 10 performs position control (control of the advancing direction of the suction unit 501 (suction tool 110) based on the position of the pressing unit 502) at the corner of the target object 130 instead of force control (control of the advancing direction of the suction unit 501 (suction tool 110) based on the signal from the force sensor 201).

[0127] More specifically, when the pressing unit 502 (suction tool 110) reaches a predetermined first position 1400, the control device 200 stops controlling the attitude of the suction tool 110 using the force sensor 201. Next, the control device 200 controls the attitude and traveling direction of the suction tool 110 based on the position of the suction tool 110. In the example of FIG. 14, the control device 200 changes the direction of the pressing unit 502 (suction tool 110) along the corner. When the suction tool 110 reaches a predetermined second position 1410, the control device 200 resumes controlling the attitude of the suction tool 110 using the force sensor 201.

[0128] The first position 1400 may be the apex of the corner or a position slightly past the corner (near the corner). The second position 1410 is a position where the force sensor 201 can detect a stress from the object 130.

[0129] The control device 200 registers the first position 1400 and the second position 1410 in advance in the storage 603 as input settings or instruction results from the user. The control device 200 transmits a command including the target position of the suction tool 110 to the articulated robot 100, and therefore always holds information on the current position of the suction tool 110.

[0130] As another example, the control device 200 may temporarily ignore the signal from the force sensor 201 when the suction tool 110 reaches a predetermined first position 1400. In this case, the control device 200 causes the articulated robot 100 to move the suction tool 110 along the shape (corner) of the object 130 based on the position of the suction tool 110. When the suction tool 110 reaches a predetermined second position 1410, the control device 200 resumes acquiring the signal from the force sensor 201 and causes the articulated robot 100 to move the suction tool 110 along the shape (surface after passing the corner) of the object 130 based on the signal from the force sensor 201.

[0131] In this way, the seal attachment system 10 stops the attachment process using the force sensor 201 at the corner of the object 130, and instead performs the attachment process using the position information of the suction tool 110. Thereby, it is possible to realize the attachment of the seal 150 to the corner of the object 130, which is difficult to achieve only by the control of the force sensor 201.

[0132] <D. Internal Processing of Seal Attachment System> FIG. 15 is a diagram showing an example of a processing procedure for peeling the seal 150 from the seal backing paper 300 in the seal attachment system 10. In a certain aspect, the processor 601 may read a program for performing the processing of FIG. 15 from the storage 603 into the memory 602 and execute the program. In other aspects, part or all of the processing may also be realized as a combination of circuit elements configured to execute the processing. In a certain aspect, the processing from step S1510 to step S1580 may be reordered as necessary.

[0133] In step S1510, the articulated robot 100 moves the end effector (suction tool 110) to the standby position. The processing of this step corresponds to the processing of step 1 in FIG. 8. More specifically, the control device 200 transmits a command including the target position (standby position) of the suction tool 110 to the articulated robot 100. The articulated robot 100 changes the posture of each joint based on the received command and moves the suction tool 110 to the standby position.

[0134] In step S1520, the seal feeder 120 starts the conveyance of the seal backing paper 300 based on a command from the control device 200. The processing of this step may be executed simultaneously with the processing of step S1510 or may be executed before the processing of step S1510.

[0135] In step S1530, the control device 200 receives the amount of rotation of the encoder 720 of the nip roller of the seal feeder 120. The nip roller is, for example, a roller that is adjacent to the first winding shaft 223, the second winding shaft 224, or any roller on the transport path of the seal mount 300 to pinch the seal mount 300, and rotates in accordance with the rotation of the adjacent roller. In one aspect, the encoder 720 may be provided on the first winding shaft 223, the second winding shaft 224, or any roller on the transport path of the seal mount 300.

[0136] In step S1540, the control device 200 detects the position of the seal 150 using the sensor 121 on the peeling table 122 of the seal feeder 120. More specifically, the control device 200 detects the timing when the seal 150 passes directly below the sensor 121 (the reference position for calculating the current position of the seal 150).

[0137] In step S1550, the articulated robot 100 causes the suction tool 110 to follow the seal 150 based on the latch information (information from the sensor 121) and the amount of encoder rotation. More specifically, the control device 200 determines the target position and arrival time of the suction tool 110 based on the latch information (information from the sensor 121) and the amount of encoder rotation. The control device 200 transmits a command including the target position and arrival time of the suction tool 110 to the articulated robot 100. The articulated robot 100 moves the suction tool 110 based on the received command. At that time, the vacuum generator 204 discharges compressed air to generate a suction force in the multiple holes 510 of the suction tool 110. The vacuum generator 204 is also controlled by the control device 200. The processing of this step corresponds to the processing of step 2 in FIG. 8.

[0138] In step S1560, the seal feeder 120 continues to transport the seal mount 300 and peels the adsorbed seal 150 from the seal mount 300 at the edge (edge A in FIG. 8) of the peeling table 122. The processing of this step corresponds to the processing of step 3 in FIG. 8.

[0139] In step S1570, the sticker feeder 120 conveys the sticker mount 300 by a specified amount and completes the conveying process.

[0140] In step S1580, the articulated robot 100 stops following the sticker 150. The vacuum generator 204 maintains the suction tool 110 adhering to the sticker 150. The articulated robot 100 proceeds to the next process, which corresponds to steps 4 and 5 in FIG. 8. After completing the process of attaching the sticker 150 to the target object 130, the articulated robot 100 returns to step S1510 and repeats the processes from step S1510 onwards.

[0141] As described above, the sticker application system 10 according to the present embodiment has a function of synchronously operating the sticker feeder 120 and the articulated robot 100. This function enables the sticker application system 10 to suppress the occurrence of wrinkles in the sticker 150 when peeling it off.

[0142] Moreover, the sticker application system 10 according to the present embodiment includes a suction tool 110 having a suction unit 501 and a pressing unit 502. The sticker application system 10 uses the suction tool 110 to apply the sticker 150 to the object 130, thereby preventing air bubbles from being generated between the sticker 150 and the object 130 during the application operation.

[0143] Furthermore, the sticker application system 10 according to this embodiment can adjust the direction of travel and the posture of the suction tool 110 during the application process of the sticker 150 based on the signal acquired from the force sensor 201. This allows the sticker application system 10 to constantly apply a uniform force to the surface of the sticker 150 and further move the suction tool 110 along the shape of the target object 130. As a result, the sticker application system 10 can prevent wrinkles from occurring in the sticker 150 during the application operation of the sticker 150.

[0144] In addition, the seal - attaching system 10 according to the present embodiment can switch between controlling the suction tool 110 using the force - sensing sensor 201 and controlling the suction tool 110 using the position information of the suction tool 110 and use them. Thereby, the seal - attaching system 10 can realize the process of attaching the seal 150 to a surface including corners, which is difficult with only the control of the suction tool 110 using the force - sensing sensor 201.

[0145] Furthermore, the seal - attaching system 10 according to the present embodiment can use the force - sensing sensor 201 to teach the peeling position of the suction tool 110 to the articulated robot 100. In the teaching, the seal - attaching system 10 adjusts the position in the Z - axis direction of the suction tool 110 (the upward vertical direction (Z - axis: yaw axis) with respect to the advancing direction (X - axis: roll axis) during the peeling process of the suction tool 110), the Rx direction (the rotation direction with the X - axis as the rotation axis), and the Ry direction (the rotation direction with the vertical direction (Y - axis: pitch axis) to the X - axis on the surface of the peeling table 122 as the rotation axis). Thereby, the seal - attaching system 10 can generate an even suction force on the surface of the seal 150 during the peeling operation and peel the seal 150 from the seal backing paper 300 without creasing the seal 150.

[0146] <E. Supplementary Note> As described above, the present embodiment includes the following disclosures. [Configuration 1] An articulated robot (100); A control device (200) for controlling the articulated robot (100); A suction tool (110) attached to the tip of the articulated robot (100); A force - sensing sensor (201) for detecting the force applied to the suction tool (110); A storage unit (603) for storing the teaching data of the articulated robot (100), and the control device (200) causes the articulated robot (100) to in the teaching mode, perform an operation of approaching the suction tool (110) to the seal (150) on the seal backing paper (300), and an operation of adjusting the suction position of the suction tool (110) and the inclination of the suction tool (110) in the moving direction (roll axis (X)) when peeling off the seal (150) based on a signal from the force sensor (201); and storing the teaching data including information on the adjusted suction position and the tilt of the suction tool (110) in the storage unit (603). [Configuration 2] The control device (200) The force sensor (201) acquires an actual measurement value of the moment of the roll axis (X) of the suction tool (110); Calculating the difference between the actual measured value of the moment about the roll axis (X) and the target value of the moment about the roll axis (X); The sticker application system (10) according to configuration 1, wherein an adjustment amount of the tilt of the suction tool (110) about the roll axis (X) is determined based on the difference. [Configuration 3] The sticker application system (10) according to configuration 1 or 2, wherein the control device (200) further causes the articulated robot (100) to perform an operation of adjusting the inclination of the pitch axis (Y) relative to the direction of travel of the suction tool (110) based on a signal from the force sensor (201). [Configuration 4] The control device (200) The force sensor (201) acquires an actual measurement value of the moment of the pitch axis (Y) of the suction tool (110); Calculating the difference between the actual measured value of the moment about the pitch axis (Y) and the target value of the moment about the pitch axis (Y)(Y); The seal application system (10) according to configuration 3, further comprising: determining an adjustment amount of the tilt of the suction tool (110) about the pitch axis (Y) based on the difference. [Configuration 5] The sticker application system (10) according to any one of configurations 1 to 4, wherein the control device (200) stores in the memory unit (603) a position that is a predetermined distance above the sticker mount (300) from the adjusted suction position as a start position for the sticker (150) peeling operation of the suction tool (110). [Configuration 6] 1. A method for controlling a seal application system (10), comprising: The above-mentioned sticker application system (10) An articulated robot (100); a control device (200) for controlling the articulated robot (100); a suction tool (110) attached to the tip of the articulated robot (100); a force sensor (201) for detecting a force applied to the suction tool (110); a memory unit (603) for storing teaching data for the articulated robot (100); The above method is In a teaching mode, the suction tool (110) is moved closer to the sticker (150) on the sticker mount (300); adjusting the suction position of the suction tool (110) and the inclination of the roll axis (X) relative to the moving direction of the suction tool (110) when peeling off the seal (150) based on a signal from the force sensor (201); and storing the teaching data including information on the adjusted suction position and the tilt of the roll axis (X) in the memory unit (603). [Configuration 7] A program for controlling a sticker application system (10), The above-mentioned sticker application system (10) An articulated robot (100); a control device (200) for controlling the articulated robot (100); a suction tool (110) attached to the tip of the articulated robot (100); a force sensor (201) for detecting a force applied to the suction tool (110); a memory unit (603) for storing teaching data for the articulated robot (100); The program causes the sticker pasting system (10) to In a teaching mode, the suction tool (110) is moved closer to the sticker (150) on the sticker mount (300); an operation of adjusting the suction position of the suction tool (110) and the inclination of the roll axis (X) with respect to the moving direction of the suction tool (110) when peeling off the seal (150) based on a signal from the force sensor (201); and storing the teaching data including information on the adjusted suction position and the tilt of the roll axis (X) in the storage unit (603).

[0147] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present disclosure is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope equivalent to the claims. Furthermore, the disclosures described in the embodiments and each modification are intended to be implemented, as far as possible, either alone or in combination. [Explanation of symbols]

[0148] 10 Seal application system, 100 Articulated robot, 110 Suction tool, 120 Seal feeder, 121 Sensor, 122 Peeling table, 130 Object, 150 Seal, 200 Control device, 201 Force sensor, 202 Tool changer, 204 Vacuum generator, 205 Flow regulator, 210 Encoder signal conversion device, 221 Extension table, 222 Motor, 223 First winding shaft, 224 Second winding shaft, 231 Air piping, 232 First signal line, 233 Second signal line, 300 Seal backing, 310, 320, 330, 550 Arrow, 501 Suction part, 502 Pressing part, 503 Air intake port, 510 Hole, 601, 620 Processor, 602 Memory, 603 Storage, 604 Robot control unit, 605 I / O IF, 606 network IF, 607 bus, 610 terminal, 720 encoder, 1000 area, 1301 traveling direction, 1310 normal direction, 1400 first position, 1410 second position.

Claims

1. Articulated robots and a control device for controlling the articulated robot; a suction tool attached to a tip of the articulated robot; a force sensor for detecting a force applied to the suction tool; a storage unit for storing teaching data of the articulated robot, The control device controls the articulated robot. In a teaching mode, an operation of moving the suction tool closer to a sticker on a sticker mount; an operation of adjusting the suction position of the suction tool and the inclination of the suction tool in the moving direction (roll axis) when peeling off the seal based on a signal from the force sensor; and storing the teaching data, including information on the adjusted suction position and tilt of the suction tool, in the storage unit.

2. The control device acquiring an actual measurement value of the moment of the roll axis of the suction tool from the force sensor; calculating a difference between the actual measured value of the moment about the roll axis and the target value of the moment about the roll axis; The seal application system according to claim 1 , wherein an adjustment amount of the tilt of the suction tool about the roll axis is determined based on the difference.

3. 3. The sticker application system according to claim 1, wherein the control device further causes the articulated robot to perform an operation of adjusting an inclination of a pitch axis with respect to a direction of travel of the suction tool based on a signal from the force sensor.

4. The control device acquiring an actual measurement value of a moment of the pitch axis of the suction tool from the force sensor; Calculating a difference between the actual measured value of the pitch axis moment and the target value of the pitch axis moment; The seal application system according to claim 3 , wherein an adjustment amount of the tilt of the suction tool about the pitch axis is determined based on the difference.

5. A sticker application system as described in any one of claims 1 to 4, wherein the control device stores in the memory unit a position that is a predetermined distance above the sticker backing from the adjusted suction position as the starting position for the sticker peeling operation of the suction tool.

6. 1. A method for controlling a seal application system, comprising: The seal application system includes: Articulated robots and a control device for controlling the articulated robot; a suction tool attached to a tip of the articulated robot; a force sensor for detecting a force applied to the suction tool; a storage unit for storing teaching data of the articulated robot, The method comprises: a step of moving the suction tool closer to a sticker on a sticker mount in a teaching mode; adjusting the suction position of the suction tool and the inclination of the suction tool in the moving direction (roll axis) when peeling off the seal based on the signal from the force sensor; and storing the teaching data including information on the adjusted suction position and tilt of the roll axis in the storage unit.

7. A program for controlling a sticker application system, The seal application system includes: Articulated robots and a control device for controlling the articulated robot; a suction tool attached to a tip of the articulated robot; a force sensor for detecting a force applied to the suction tool; a storage unit for storing teaching data of the articulated robot, The program is for the sticker pasting system to: In a teaching mode, an operation of moving the suction tool closer to a sticker on a sticker mount; an operation of adjusting the suction position of the suction tool and the inclination of the suction tool in the moving direction (roll axis) when peeling off the seal based on a signal from the force sensor; and storing the teaching data including information on the adjusted suction position and tilt of the roll axis in the storage unit.

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