Technical Field

One aspect of the present invention relates to a pasting device, a pasting system, and a pasting method.

Background Art

As a pasting device that presses and pastes an object to an adherend, the one described in JP H06-80089 A is known. In this automatic pasting device, in a state where a dam rubber is pressed against the window panel by the pressing member, the dam rubber is pasted to the window panel by moving the pasting hand by a robot arm.

Summary of Invention

Here, when pasting an object to an adherend, it may be required to accurately paste the object to a desired pasting position of the adherend. The above-described automatic pasting device is to paste, for example, a string-shaped dam rubber having a constant cross-sectional shape along the window panel but does not carry out pasting with an accurate positioning. Accordingly, there has been demand for a pasting device, a pasting system, and a pasting method with which an object can be favorably pasted to a desired pasting position of an adherend.

A pasting device according to an embodiment of the present invention is a pasting device to press and paste an object having a first part and a second part to an adherend, the pasting device including: a first pasting portion pasting the first part to the adherend; and a second pasting portion pasting the second part to the adherend, in which the first pasting portion and the second pasting portion can be coupled to and released from each other; the first pasting portion includes a first held portion detachably held with respect to a robot arm and a first pressing portion pressing the first part with respect to the adherend; and the second pasting portion includes a second held portion detachably held with respect to the robot arm and a second pressing portion pressing the second part with respect to the adherend while moving with respect to the adherend.

A pasting system according to an embodiment of the present invention is a pasting system to press and paste an object having a first part and a second part to an adherend, the pasting system including: a pasting device including a first pasting portion that pastes the first part to the adherend and a second pasting portion that pastes the second part to the adherend; and a robot arm that detachably holds the pasting device, in which the robot arm holds the first part in a state where the first part and the second part are coupled to each other, attaches the pasting device to the adherend, and moves, with respect to the adherend, the second pasting portion having been released from the first pasting portion.

A pasting method according to an embodiment of the present invention is a pasting method to press and paste an object having a first part and a second part to an adherend, the pasting method including: an attaching step to attach, to the adherend, a pasting device including a first pasting portion that pastes the first part to the adherend and a second pasting portion that pastes the second part to the adherend; a first pasting step to paste the first part to the adherend by the first pasting portion; and a second pasting step to paste the second part to the adherend by the second pasting portion, in which in the attaching step, a robot arm holds the first part in a state where the first part and the second part are coupled to each other and attaches the pasting device to the adherend; and in the second pasting step, the robot arm releases the second pasting portion from the first pasting portion and moves the second pasting portion with respect to the adherend, thereby pasting the second part to the adherend.

According to an embodiment of the present invention, an object can be favorably pasted to a desired pasting position of an adherend.

Brief Description of Drawings

FIG. 1 is a schematic configuration view illustrating a pasting system according to an embodiment of the present invention.

FIG. 2a is a perspective view illustrating an example of a vehicle door frame component and a weather strip, FIG. 2b is a cross-sectional view illustrating an example of a cross-sectional shape of a side sealing part, and FIG. 2c is a cross- sectional view illustrating an example of a cross-sectional shape of a comer sealing part.

FIG. 3 is a schematic view illustrating a scene in which the pasting system starts pasting of the weather strip. FIGS. 4a and 4b are schematic views illustrating a scene in which the weather strip is pasted to the vehicle door frame component by the pasting system.

FIG. 5a and 5b are schematic views illustrating a scene in which the weather strip is pasted to the vehicle door frame component by the pasting system.

FIG. 6 is a perspective view of a corner pasting unit seen from the interior side of the vehicle.

FIG. 7 is a perspective view of the corner pasting unit seen from the exterior side of the vehicle.

FIG. 8 is a perspective view of a side pasting unit seen from the interior side of the vehicle.

FIG. 9 is a perspective view of the side pasting unit seen from the exterior side of the vehicle.

Description of Embodiments

Detailed descriptions of the embodiments according to the present invention are given below with reference to the attached drawings. Note that in the description of the drawings, identical or equivalent elements are denoted by the same reference signs, and duplicate descriptions of such elements are omitted.

In the present embodiment, as an example in which an object is required to be accurately pasted to a desired pasting position of an adherend, an example in which a weather strip having a plurality of cross-sectional shapes is pasted to a vehicle door frame component of an automobile component will be described. For example, it can be preferably used for pasting an object even if the object has an identical cross- section when the object is formed with a curve to be pasted to a corner portion of the adherend.

FIG. 1 is a schematic configuration view illustrating a pasting system 100 according to an embodiment of the present invention. The pasting system 100 is a system to press and paste a weather strip 101 (object) to a vehicle door frame component 110 (adherend) of an automobile component. The pasting system 100 includes a pasting device 1 to press and paste the weather strip 101 to the vehicle door frame component 110; and a robot arm 2 to detachably hold the pasting device 1.

FIG. 2a is a perspective view illustrating the vehicle door frame component 110 and the weather strip 101. FIG. 3 is a schematic view illustrating a scene in which the pasting system 100 starts pasting of the weather strip 101. FIGS. 4 and 5 are schematic views illustrating scenes in which the weather strip 101 is pasted to the vehicle door frame component 110 by the pasting system 100. In FIGS. 4 and 5, the robot arm 2 is omitted.

An example of the vehicle door frame component 110 and the weather strip 101 will be described with reference to FIGS. 2a and 3 to 5. As illustrated in FIG. 2a, the vehicle door frame component 110 includes a main body portion 111 and a frame portion 112. The frame portion 112 is provided on a part of the upper end side of the main body portion 111 so as to surround a region where glass is disposed. The frame portion 112 has a comer portion 112a that bends, a side portion 112b extending from the corner portion 112a towards the front of the vehicle, and a side portion 112c extending downwards from the comer portion 112a. The side portion 112b extends gradually downwards from the corner portion 112a.

As illustrated in FIGS. 3 to 5, the vehicle door frame component 110 has a step portion 113 (refer also to FIGS. 2b and 2c) for disposing the weather strip 101 on the main surface of the interior side. The step portion 113 is formed continuously along the outer peripheral edge of the frame portion 112 and the outer peripheral edge of the main body portion 111. As illustrated in FIG. 2a, the weather strip 101 is an annular member disposed over the entire circumference of the outer peripheral edge of the vehicle door frame component 110. The weather strip 101 is a sealing member for ensuring water tightness with an opening portion of the vehicle when the vehicle door frame component 110 of the vehicle is closed.

The weather strip 101 according to the present embodiment has a cross- sectional shape that is not constant in the circumferential direction, and the cross- sectional shape changes. The weather strip 101 has a corner sealing part 102 (first part) disposed in the comer portion 112a of the frame portion 112, a side sealing part 103 (second part) disposed in the side portion 112b, and a side sealing part 104 (second part) disposed in the side portion 112c. FIG. 2b illustrates the cross-sectional shape of the side sealing parts 103 and 104. FIG. 2c illustrates the cross-sectional shape of the comer sealing part 102. As illustrated in FIGS. 2b and 2c, the comer sealing part 102 and the side sealing parts 103 and 104 have different cross-sectional shapes from each other. The corner sealing part 102 and the side sealing parts 103 and 104 are pasted to the outer peripheral surface of the step portion 113 of the vehicle door frame component 110 via an adhesive member 106.

As illustrated in FIGS. 1 and 3 to 5, the pasting device 1 includes a comer pasting unit 10 (first pasting portion) and side pasting units 50A and 50B (second pasting portions). The corner pasting unit 10 pastes the corner sealing part 102 of the weather strip 101 to the corner portion 112a of the vehicle door frame component 110. The side pasting unit 50A pastes the side sealing part 103 of the weather strip 101 to the side portion 112b of the vehicle door frame component 110. The side pasting unit 50B pastes the side sealing part 104 of the weather strip 101 to the side portion 112c of the vehicle door frame component 110.

The corner pasting unit 10 and the side pasting units 50A and 50B are configured so that they can be coupled to and released from each other. The corner pasting unit 10 and the side pasting units 50A and 50B are carried by the robot arm 2 in a state where the corner pasting unit 10 and the side pasting units 50A and 50B are coupled to each other. Accordingly, when the robot arm 2 holds and carries the corner pasting unit 10, the side pasting units 50A and 50B move along with it (refer to FIG. 3 in particular). The corner pasting unit 10 is fixed to the vehicle door frame component 110. Accordingly, the side pasting units 50A and 50B are fixed to the vehicle door frame component 110 along with the corner pasting unit 10 being fixed to the vehicle door frame component 110 (refer to FIG. 4 in particular).

At the same time when fixed to the vehicle door frame component 110, the comer pasting unit 10 pastes the corner sealing part 102 of the weather strip 101 to the corner portion 112a of the vehicle door frame component 110 on the spot. By moving along the side portion 112b, the side pasting unit 50A pastes the side sealing part 103 of the weather strip 101 to the side portion 112b of the vehicle door frame component 110 (refer to FIG. 4b in particular). By moving along the side portion 112c, the side pasting unit 50B pastes the side sealing part 104 of the weather strip 101 to the side portion 112c of the vehicle door frame component 110 (refer to FIG. 5a in particular). More detailed configurations of the units 10, 50 A, and 50B of the pasting device 1 will be described later.

The robot arm 2 is a device to move the pasting device 1 while holding the pasting device 1. The robot arm 2 includes a plurality of arm portions 3, joint portions 4, and a holding portion 5. The arm portion 3 is a member to couple the joint portions 4 to each other. The holding portion 5 is provided at the tip end portion of the robot arm 2 and holds the pasting device 1. The robot arm 2 is capable of adjusting the position and orientation of the holding portion 5 by rotating the arm portion 3 at the joint portion 4.

The robot arm 2 holds the corner pasting unit 10 in a state where the comer pasting unit 10 and the side pasting units 50A and 50B are coupled to each other and attaches the pasting device 1 to the vehicle door frame component 110 (refer to FIG. 4a in particular). The robot arm 2 moves the side pasting unit 50A released from the comer pasting unit 10 with respect to the side portion 112b of the vehicle door frame component 110 (refer to FIG. 4b in particular). The robot arm 2 moves the side pasting unit 50B released from the corner pasting unit 10 with respect to the side portion 112c of the vehicle door frame component 110 (refer to FIG. 5a in particular).

Next, a detailed configuration of the pasting device 1 will be described with reference to FIGS. 6 to 9. FIG. 6 is a perspective view of the corner pasting unit 10 seen from the interior side of the vehicle. FIG. 6 illustrates the corner pasting unit 10 in a state of being pasted to the vehicle door frame component 110. FIG. 6 illustrates a state in which the coupling between the corner pasting unit 10 and the side pasting unit 50A is released and the corner pasting unit 10 and the side pasting unit 50B are coupled. FIG. 6 only illustrates a part of the vehicle door frame component 110 and only illustrates a vicinity of a comer portion of the corner portion 112a of the weather strip 101. FIG. 7 is a perspective view of the corner pasting unit 10 seen from the exterior side of the vehicle. FIG. 7 only illustrates the corner pasting unit 10. FIG. 8 is a perspective view of the side pasting unit 50A seen from the interior side of the vehicle. FIG. 9 is a perspective view of the side pasting unit 50A seen from the exterior side of the vehicle. FIGS. 8 and 9 only illustrate the side pasting unit 50A and a part of the weather strip 101. FIGS. 6 to 9 assume that the direction in which the side portion 112b extends from the comer portion 112a is referred to as a "direction Dl" and the direction in which the side portion 112c extends from the corner portion 112a is referred to as a "direction D2". The orientations of the directions Dl and D2 appropriately change depending on the configuration of the target vehicle door frame component 110. In the following description, a description will be given with reference to an attitude when the pasting device 1 is attached to the vehicle door frame component 110. As illustrated in FIGS. 6 and 7, the corner pasting unit 10 includes a base member 11, a held portion 12 (first held portion), a pressing portion 13 (first pressing portion), and coupling portions 14A and 14B.

The base member 11 is a member for attaching various components of the corner pasting unit 10. The base member 11 is mainly composed of a plate-like member having a thickness in the vehicle width direction. The base member 11 has a plate member 21 on the interior side of the vehicle and a plate member 22 on the exterior side of the vehicle. The plate member 21 and the plate member 22 are disposed so as to face each other in a state where they are spaced by a member extending in the vehicle width direction. In FIG. 7, the plate member 22 on the exterior side is omitted.

The held portion 12 is a part detachably held with respect to the robot arm 2. The held portion 12 is held by the holding portion 5 of the robot arm 2. The held portion 12 is provided on the plate member 21 of the interior side on the main surface of the interior side. The held portion 12 protrudes towards the interior side from the main surface. Since the held portion 12 is fixed to the plate member 21, when the robot arm 2 holds the held portion 12, the comer pasting unit 10 and the entire side pasting units 50A and 50B that are coupled to the corner pasting unit 10 are held by the robot arm 2. The held portion 12 is provided so as to extend along the direction Dl, but the extending direction is not particularly limited.

As illustrated in FIG. 7, the pressing portion 13 is a part pressing the corner sealing part 102 of the weather strip 101 with respect to the vehicle door frame component 110. The pressing portion 13 includes a pressing member 23 (first pressing member), a pressing member 24 (second pressing member), and driving portions 26 and 27. The pressing member 23 has a shape corresponding to the inner peripheral side of the corner portion 112a of the vehicle door frame component 110 and presses the corner portion 112a from the inner peripheral side. A pressing surface 23a of the pressing member 23 is curved convexly so as to correspond to a part of the inner peripheral side of the corner portion 112a. The pressing member 24 has a shape corresponding to the outer peripheral side of the corner portion 112a of the vehicle door frame component 110 and presses the corner portion 112a from the outer peripheral side via the weather strip 101. A pressing surface 24a of the pressing member 24 is curved concavely so as to correspond to a part of the outer peripheral side of the corner portion 112a.

The driving portions 26 and 27 bring the pressing member 23 and the pressing member 24 close to and apart from each other. The driving portion 26 is composed of an air cylinder that reciprocates the pressing member 23 from the opposite side of the pressing surface 23a. The driving portion 27 is composed of an air cylinder that reciprocates the pressing member 24 from the opposite side of the pressing surface 24a. The driving portions 26 and 27 fix the pressing members 23 and 24 to the tip ends of rods and move the pressing members 23 and 24 by expanding and contracting the rods. The driving portions 26 and 27 are fixed to the plate member 21 of the base member 11 but the pressing members 23 and 24 are not fixed to the plate member 21. Therefore, the pressing members 23 and 24 move relative to the plate member 21.

The pressing members 23 and 24, the driving portions 26 and 27, and the plate member 22 (refer to FIG. 8) on the exterior side of the base member 11 constitute a fixing mechanism 15 for fixing the vehicle door frame component 110 and the corner pasting unit 10. That is, the lower end portion of the plate member 22 and the pressing member 23 sandwich the vehicle door frame component 110. Due to this, the entire comer pasting unit 10 is fixed to the vehicle door frame component 110. Thereafter, the pressing member 24 presses the weather strip 101 at the comer portion 112a.

The coupling portion 14A is a mechanism for coupling the side pasting unit 50A with respect to the corner pasting unit 10. The coupling portion 14A is provided at a position adjacent to the pressing portion 13 on the direction D1 side. The coupling portion 14A includes a receiving portion 31, a protruding portion 32, and a driving portion 33. The receiving portion 31 is a part receiving a coupling portion 53 of the side pasting unit 50A. The protruding portion 32 protrudes in an expandable and contractible manner from a supporting portion 34 disposed at a position facing and spaced apart from the receiving portion 31. The receiving portion 31 and the supporting portion 34 face each other in a direction orthogonal to the direction Dl. A pair of the protmding portions 32 are provided on the supporting portion 34 and inserted into a hole portion 53a of the coupling portion 53 of the side pasting unit 50A, so that the coupling portion 53 is pressed against the receiving portion 31. The driving portion 33 is provided on the opposite side of the protruding portion 32 across the supporting portion 34. The driving portion 33 is composed of an air cylinder that expands and contracts the protruding portion 32.

The coupling portion 14B is a mechanism for coupling the side pasting unit 50B to the comer pasting unit 10. The coupling portion 14B is provided at a position adjacent to the pressing portion 13 on the direction D2 side. Similar to the coupling portion 14A, the coupling portion 14B includes the receiving portion 31, the protruding portion 32, and the driving portion 33. The coupling portion 14B has the same configuration as that of the coupling portion 124A except that the receiving portion 31 and the supporting portion 34 face each other in the direction orthogonal to the direction D2.

The configuration of the side pasting unit 50A will be described with reference to FIGS. 8 and 9. As illustrated in FIGS. 8 and 9, the side pasting unit 50A includes a base member 51, a held portion 52 (second held portion), the coupling portion 53, a pressing portion 54 (second pressing portion), and a guide mechanism 56.

The base member 51 is a member for attaching various components of the side pasting unit 50A. The base member 51 is mainly composed of a plate-like member having a thickness in the vehicle width direction.

The held portion 52 is a part detachably held with respect to the robot arm 2. The held portion 52 is held by the holding portion 5 of the robot arm 2. The held portion 52 is provided on the base member 51 on the main surface of the interior side. The held portion 52 protrudes towards the interior side from the main surface. Since the held portion 52 is fixed to the base member 51, when the robot arm 2 holds the held portion 52, the entire side pasting unit 50A is held by the robot arm 2. The held portion 52 is provided so as to extend along the direction Dl, but the extending direction is not particularly limited.

The coupling portion 53 is a part detachably coupled with respect to the coupling portion 14A of the corner pasting unit 10. The coupling portion 53 is provided on the base member 51 on the main surface of the interior side. The coupling portion 53 protrudes towards the interior side from the main surface. The coupling portion 53 is provided at a position shifted to the opposite side of the held portion 52 in the direction Dl . The coupling portion 53 is provided so as to extend along the direction Dl. The upper surface of the coupling portion 53 is formed with a pair of the hole portions 53a. The coupling portion 53 is coupled with the coupling portion 14A by inserting the protruding portion 32 (refer to FIG. 6) into the hole portion 53a in a state where the lower surface is supported by the receiving portion 31 (refer to FIG. 6). When the coupling is released, the protruding portion 32 is pulled out from the hole portion 53a.

The pressing portion 54 is a part to press and paste the side sealing part 103 of the weather strip 101 with respect to the vehicle door frame component 110 while moving with respect to the vehicle door frame component 110. As illustrated in FIG. 9, the pressing portion 54 is provided in the base member 51 on the main surface of the exterior side. The pressing portion 54 includes a roller 61 that presses and pastes the weather strip 101. The roller 61 rotates about a rotation shaft extending in the vehicle width direction. The roller 61 is provided at a lower end portion of the base member 51 that is an upstream end portion in the direction Dl . The roller 61 is capable of vertically reciprocating by a driving portion 62 provided above. The driving portion 62 is composed of an air cylinder that reciprocates the roller 61 from above. The driving portion 62 fixes a support body 63 supporting the roller 61 to the tip end of the rod and moves the roller 61 by expanding and contracting the rod. The driving portion 62 is fixed to the base member 51, but the roller 61 and the support body 63 are not fixed to the base member 51. Therefore, the roller 61 moves relative to the base member 51.

The guide mechanism 56 is a mechanism that carries out a guide so as to supply the weather strip 101 before pasting to the pressing portion 54. The guide mechanism 56 includes a supply roller 64 and a plurality of guide rollers 66, 67, 68, and 69. The supply roller 64 and the guide rollers 66, 67, and 68 are provided on the exterior side with respect to the base member 51.

The supply roller 64 is disposed at a position adjacent to the roller 61 of the pressing portion 54 in the direction Dl . The supply roller 64 rotates about a rotation shaft extending in the vehicle width direction. The supply roller 64 is connected to a motor 71 provided on the interior side with respect to the base member 51 (refer to FIG. 8). Due to this, the supply roller 64 is rotationally driven so as to feed the weather strip 101.

The guide rollers 66, 67, 68, and 69 are provided on the downstream side in the direction Dl with respect to the supply roller 64. The guide rollers 66, 67, 68, and 69 guide the weather strip 101 in an inclined state so as to be spaced apart upwards with respect to the direction Dl . The guide roller 66 rotates about a rotation shaft extending in the vehicle width direction so as to guide an upper end portion of the weather strip 101. The guide roller 67 (refer to FIG. 8) rotates about a rotation shaft extending in the vertical direction so as to guide an end portion of the interior side of the weather strip 101. The guide roller 68 rotates about a rotation shaft extending in the vertical direction so as to guide an end portion of the exterior side of the weather strip 101. The guide roller 69 rotates about a rotation shaft extending in the vehicle width direction so as to guide a lower end portion of the weather strip 101.

Of the guide rollers 69 on the lower side, a guide roller 69A on the upstream side in the direction Dl is connected to a motor 73 (refer to FIG. 8) provided on the interior side with respect to the base member 51. Due to this, the guide roller 69A is rotationally driven to feed the weather strip 101. In addition, both of the guide rollers 69 are connected to a driving portion 76 composed of an air cylinder. The guide roller 69 is connected to the driving portion 76 via the motor 73 and a supporting member 74 (refer to FIG. 8) supporting the motor 73. The driving portion 76 is capable of reciprocating the guide roller 69 in the vehicle width direction by expanding and contracting the rod in the vehicle width direction. Accordingly, when setting the weather strip 101 in the side pasting unit 50A, the guide roller 69 is disposed at a position pulled back to the interior side. When the weather strip 101 is set in a position sandwiched among the other guide rollers 66, 67, and 69, the guide roller 69 moves to the exterior side.

The side pasting unit 50A includes an angle sensor 81 (refer to FIG. 8) that detects the inclination of the side pasting unit 50A; and a position sensor 82 (refer to FIG. 9) that detects the position of the side pasting unit 50A. The position sensor 82 is composed of a sensor that emits a laser L.

Since the side pasting unit 50B has the same configuration as that of the side pasting unit 50A except that it moves in the direction D2, a description thereof will be omitted.

Next, the pasting method according to the present embodiment will be described with reference to FIGS. 3 to 5. The pasting method includes an attaching step, a first pasting step, and a second pasting step.

The attaching step is a step of attaching the pasting device 1 including the comer pasting unit 10 and the side pasting units 50A and 50B to the vehicle door frame component 110. In the attaching step, the robot arm 2 holds the corner pasting unit 10 in a state where the corner pasting unit 10 and the side pasting units 50A and 50B are coupled to each other, and the pasting device 1 is attached to the vehicle door frame component 110. The first pasting step is a step of pasting the corner sealing part 102 to the vehicle door frame component 110 by the corner pasting unit 10. The second pasting step is a step of pasting the side sealing parts 103 and 104 to the vehicle door frame component 110 by the side pasting units 50A and 50B. In the second pasting step, the robot arm 2 releases the side pasting units 50A and 50B from the corner pasting unit 10 and moves them with respect to the vehicle door frame component 110, thereby pasting the side sealing parts 103 and 104 to the vehicle door frame component 110.

Specifically, in the attaching step, as illustrated in FIG. 3, the robot arm 2 holds the held portion 12 (refer to FIG. 6) of the comer pasting unit 10. At this time, the coupling portions 53 (refer to FIG. 8) of the side pasting units 50A and 50B are coupled respectively to the coupling portions 14A and 14B (refer to FIG. 7) of the comer pasting unit 10. The robot arm 2 grasps the weather strip 101 with the pasting device 1. At this time, the guide mechanism 56 (refer to FIG. 9) of the side pasting units 50A and 50B grasps the weather strip 101. In the corner pasting unit 10, the weather strip 101 is disposed so as to pass through the space between the pressing members 23 and 24 (refer to FIG. 7). A part of the weather strip 101 is held by another robot arm 90.

Next, in the attaching step, as illustrated in FIG. 4a, the robot arm 2 moves the pasting device 1 to the corner portion 112a of the vehicle door frame component 110. Then, the pressing members 23 and 24 (refer to FIG. 7) of the corner pasting unit 10 sandwich the weather strip 101 and the comer portion 112a. Due to this, the pasting device 1 is fixed to the corner portion 112a. At this time, since the weather strip 101 is pressed against the corner portion 112a to carry out the pasting, the first pasting step is simultaneously executed.

Next, in the second pasting step, as shown in FIG. 4b, the robot arm 2 moves the side pasting unit 50A in the direction Dl . At this time, while feeding the weather strip 101, the guide mechanism 56 pastes the weather strip 101 to the side portion 112b by the supply roller 64, and after that, the roller 61 presses the weather strip 101 (refer to FIG. 9). Due to this, the weather strip 101 is pasted to the side portion 112b of the vehicle door frame component 110. After completion of the pasting, the side pasting unit 50A is coupled to the corner pasting unit 10. As illustrated in FIG. 5a, the robot arm 2 moves the side pasting unit 50B in the direction D2. At this time, the side pasting unit 50B operates in the same manner as the side pasting unit 50A. Due to this, the weather strip 101 is pasted to the side portion 112c of the vehicle door frame component 110.

After completion of the pasting, as illustrated in FIG. 5b, the side pasting unit 50B is coupled to the corner pasting unit 10. Then, the robot arm 2 removes the pasting device 1 from the vehicle door frame component 1110.

Next, the operations and effects of the pasting device, the pasting system, and the pasting method according to the present embodiment will be described.

The pasting device is a pasting device to press and paste an object having a first part and a second part to an adherend, the pasting device including: a first pasting portion pasting the first part to the adherend; and a second pasting portion pasting the second part to the adherend, in which the first pasting portion and the second pasting portion can be coupled to and released from each other; the first pasting portion includes: a first held portion detachably held with respect to a robot arm and a first pressing portion pressing the first part with respect to the adherend; and the second pasting portion includes a second held portion detachably held with respect to the robot arm and a second pressing portion pressing the second part with respect to the adherend while moving with respect to the adherend.

In the pasting device, the first pasting portion and the second pasting portion can be coupled to and released from each other. The first pasting portion has the first held portion detachably held with respect to the robot arm. Accordingly, by holding the first held portion, the robot arm is capable of holding the first pasting portion and the entire second pasting portion coupled to the first pasting portion. Due to this, the robot arm is capable of collectively attaching the entire pasting device to the adherend. The first pasting portion is capable of pasting the first part to the adherend by pressing the first part with respect to the adherend by the first pressing portion. On the other hand, the second pasting portion includes the second held portion detachably held with respect to the robot arm. Accordingly, after the coupling between the first pasting portion and the second pasting portion is released, the robot arm is capable of moving the second pasting portion with respect to the adherend by holding the second held portion. Due to this, the second pasting portion is capable of pasting the second part to the adherend by the second pressing portion pressing the second part with respect to the adherend while moving with respect to the adherend. As described above, by using the different pasting portions, the object can be favorably pasted to the desired pasting position of the adherend.

The first pressing portion may be capable of pressing the first part in a state where holding of the first held portion by the robot arm is released. In this case, the robot arm is capable of executing the pasting step by the second pasting portion at the same time the first pasting portion carries out the pasting.

The first pasting portion may include a fixing mechanism for fixing the adherend and the first pasting portion. In this case, even if the robot arm does not support the first pasting portion, it is possible to maintain the state in which the first pasting portion is attached to the adherend.

The first pasting portion may paste the object to a corner portion of the adherend.

The first pressing portion includes: a first pressing member having a shape corresponding to an inner peripheral side of the corner portion of the adherend and pressing the corner portion from the inner peripheral side; the second pressing member having a shape corresponding to the outer peripheral side of the corner portion of the adherend and pressing the corner portion from the outer peripheral side via the object; and the driving portion bringing the first pressing member and the second pressing member close to and apart from each other, in which the first pressing member, the second pressing member, and the driving portion may constitute the fixing mechanism for fixing the adherend and the first pasting portion. In this case, since the first pressing member and the second pressing member have shapes corresponding to the corner portion of the adherend, it is possible to press the object with an appropriate pressing force. In addition, it is possible to simultaneously carry out pressing of the object and fixing of the first pasting portion to the adherend.

The second pressing portion of the second pasting portion may include a roller that presses and pastes the object. In this case, the roller is capable of feeding the object as it moves while pressing the object.

The adherend may be an automobile component. The adherend may be a vehicle door frame component. he first part and the second part of the object may have different cross- sectional shapes. In this case, it is possible to carry out a favorable pasting with respect to the parts having cross-sectional shapes different from each other by using different pasting portions.

The pasting system is a pasting system to press and paste an object having a first part and a second part to an adherend, the pasting system including: a pasting device including a first pasting portion that pastes the first part to the adherend and a second pasting portion that pastes the second part to the adherend; and a robot arm that detachably holds the pasting device, in which the robot arm holds the first part in a state where the first part and the second part are coupled to each other, attaches the pasting device to the adherend, and moves, with respect to the adherend, the second pasting portion having been released from the first pasting portion.

The pasting method is a pasting method to press and paste an object having a first part and a second part to an adherend, the pasting method including: an attaching step to attach, to the adherend, a pasting device including a first pasting portion that pastes the first part to the adherend and a second pasting portion that pastes the second part to the adherend; a first pasting step to paste the first part to the adherend by the first pasting portion; and a second pasting step to paste the second part to the adherend by the second pasting portion, in which in the attaching step, a robot arm holds the first part in a state where the first part and the second part are coupled to each other and attaches the pasting device to the adherend; and in the second pasting step, the robot arm releases the second pasting portion from the first pasting portion and moves the second pasting portion with respect to the adherend, thereby pasting the second part to the adherend.

According to the pasting system and the pasting method, it is possible to obtain the same operations and effects as those of the pasting device described above.

The present invention is not intended to be limited to the embodiments described above.

For example, the weather strip was employed as the object, and the vehicle door frame component was employed as the adherend. Alternatively, seal rubber, packing, or the like may be employed as the object, and a residential door, an aircraft door, or the like may be employed as the adherend. In the above embodiment, the two side pasting units were coupled with respect to the one corner pasting unit. However, one side pasting unit may be used.

The corner pasting unit included the pressing portion capable of carrying out pasting and fixing at the same time by sandwiching the corner portion with the pressing member. However, separate mechanisms may be employed as the pressing mechanism and the fixing mechanism.

In addition, the mechanism of the pressing portions, the coupling portions, the held portions, and the like of the comer pasting unit and the side pasting unit described above is merely an example and may be appropriately changed.

When moving the pasting device 1 to which the corner pasting unit 10 and the side pasting units 50A and 50B are coupled, there may be a case in which the robot arm 2 carries the held portion 52 in place of the held portion 12.

Reference Signs List

1 pasting device

2 robot arm

10 corner pasting unit (first pasting portion)

12 held portion (first held portion)

13 pressing portion (first pressing portion)

15 fixing mechanism

23 pressing member (first pressing member)

24 pressing member (second pressing member)

26, 27 driving portion

50A, 50B side pasting unit (second pasting portion)

52 held portion (second held portion)

54 pressing portion (second pressing portion)

61 roller

100 pasting system

101 weather strip (object)

102 corner sealing part (first part)

103, 104 side sealing part (second part)

110 vehicle door frame component (adherend)

112a corner portion.