Patent ID: 11878411
Assignee: DENSO WAVE INCORPORATED
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A sealing material attachment system for attaching an elongated sealing material, which has a first edge direction and a second edge direction that intersect each other, the first edge direction being longer than the second edge direction, and has an attachment surface, to an object, the system comprising:
a robot having a hand which is movable at a tip of an arm of the robot;
a plurality of suction pads each having a suction surface at a tip of the suction pad, the suction surface passing through a suction end capable of abutting on the object;
a base attached to the hand, supporting the plurality of suction pads, and attached so that angles of virtual planes including suction surfaces of the suction pads intersect each other on an operating space of the hand; and
a control device that is operable by way of a previously-set computer program and that, by executing the computer program, controls an operation of the hand of the robot and respectively controls suction of the sealing material conducted by each of the plurality of suction pads,
wherein the control device is configured to functionally provide:
a suction command means for suctioning the sealing material to each suction surface of the plurality of suction pads;
a positioning control means for controlling, for each partial attachment operation of the sealing material, the position and orientation of the base in the operation space so that the suction surface of at least one of the plurality of suction pads is arranged to face a predetermined attachment position on the object;
an attachment control means for partially attaching the attachment surface of the sealing material, to which at least one of the suction pads arranged to face the attachment position by the positioning control means is suctioned, to the attachment position on the object, for each partial attachment operation of the sealing material, the sealing material being stretched in a direction forward to a next attachment position to a degree that tension is generated in the sealing material and moves the hand to the next attachment position; and
a first suction stop means for stopping suction operated by at least one of the suction pads for each partial attachment operation of the sealing material after finishing partial attachment operated by the attachment control means, and

wherein an operation consisting of partially attaching the sealing material and stopping suction by the suction pad is repeated sequentially from a suction pad provided on a first end side of the base to a suction pad provided on a second end side of the base.