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

Claim 15:
16. A sealing material attachment control method for attaching a sealing material to an object, the sealing material having an elongated shape having 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 having an attachment surface, wherein
an attachment system comprises:
a robot having a hand which is movable at a tip of an arm;
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 operation of the hand of the robot and respectively controls suction of the sealing material conducted by the plurality of suction pads, wherein

the control device executes:
a first step for suctioning the sealing material to each suction surface of the plurality of suction pads;
a second step for controlling a position and an orientation of the base in the operation space so that the suction surface of part of the plurality of suction pads is arranged to face a predetermined attachment position on the object;
a third step for partially attaching the attachment surface of the sealing material, to which part of the plurality of suction pads arranged to face the attachment position at the second step is suctioned, to the attachment position on the object; and
after finishing the third step, the second and the third steps are repeated for each partial attachment operation of the sealing material with respect to any remaining attachment position of the object, and wherein

the third step includes a step of stretching the sealing material 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.