Patent Description:
Adhesive-backed tape is commonly applied to body surfaces, interior and exterior claddings and panels (e.g. trim, moldings, covers, trays, panels, doors and hatches) of a vehicle (e.g., an automobile, aircraft, or watercraft), or structures (e.g. buildings, HVAC units). For example, an adhesive-backed tape mounted around the periphery of a cladding on a vehicle component provides a seal which helps to control water intrusion, and reduce cabin noise due to wind when the vehicle is in motion, as well as control dust intrusion into the cabin and engine parts. Such tapes may be manually installed, however such a process is not only slow, but labour intensive, and prone to human error. In addition, the application process may not be uniform, predictable or reproducible.

Several methods have been proposed to apply adhesive-backed tape on substrates, such as those employing robotic end effectors or fixed applicators. However, these methods suffer from several challenges, such as, inaccurate placement of the adhesive tape, constant cycle interruptions due to jams within the equipment, tape breakages due to lack of adequate tension control, and the inevitable downtime due to spool changes during a production cycle. Furthermore, industry adoption of automated applicator equipment has been slow for numerous reasons such as: application geometry constraints (i.e. having a large roll mounted on the applicator head), speed and volume of application, as the roll size is limited, cell design constraints. In addition, existing equipment is typically only capable of holding/dispensing rolls of tape that are less than <NUM> meters in length, and therefore this equipment is incapable of keeping up with the production demands.

In one of its aspects, there is provided a robotized tape applicator system according to claim <NUM>.

In another of its aspects, there is provided a system for applying a tape to a surface or substrate according to claim <NUM>.

In another aspect, there is provided a method of applying a tape to a surface or a substrate according to claim <NUM>.

Advantageously, the robotized tape application system allows for faster application rates, and increased efficiency; accurate and consistent application of the tape; reduced labor costs and increased flexibility by allowing for longer application times, and application of tape in more complex paths on the substrate. In addition, the robotized tape application minimizes human intervention and human error during runtime.

Various embodiments of the disclosure are discussed in detail below. While specific implementations are discussed, it should be understood that this is done for illustration purposes only. A person skilled in the relevant art will recognize that other components and configurations may be used without parting from the spirit and scope of the disclosure.

The detailed description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or used. However, the same or equivalent functions and sequences may be accomplished by different examples.

Referring to <FIG>, there is shown a robotic tape applicator system for attaching a tape to a receiving surface or a substrate, generally identified by numeral <NUM>, in an exemplary embodiment. <FIG> show tape <NUM>, such as adhesive tape, or double-sided tape, comprising material <NUM> and tape liner <NUM>, while <FIG> show a roll and spool of adhesive lined tape <NUM>, respectively. System <NUM> comprises payout device <NUM> which feeds adhesive tape <NUM> into flexible conduit <NUM> terminating at adhesive tape applicator head <NUM> mounted on robotic arm <NUM> of an industrial robot <NUM> with various axis configurations. For example, the industrial robot may include six axes, or six degrees of freedom, which allow for greater flexibility. Accordingly, flexible conduit <NUM> bends as needed based on the movements of robotic arm <NUM>. Flexible conduit <NUM> comprises infeed conduit <NUM> through which adhesive tape <NUM> is conveyed from payout device <NUM> to applicator head <NUM>, and alongside flexible infeed conduit <NUM> is flexible outfeed conduit <NUM> which transports liner <NUM> which is removed from material <NUM> and dispensed during the application process.

Now referring to <FIG>, payout device <NUM> comprises payout spool shaft <NUM> rotatably attached to the mounting frame <NUM>, and payout spool shaft or spindle <NUM> receives payout spool <NUM> of adhesive tape <NUM>. Examples of elastomeric adhesive lined tape <NUM>, include, but are not limited to, crushed ethylene propylene diene monomers (EPDM); neoprene closed cell; expanded polyvinyl chloride (PVC); polyethylene; acrylic foam tapes (e.g. very high bond (VHB) tape); weld-thru tapes, sealer tapes, electrical circuit tapes, heat activated tapes. Tape <NUM> may include a range of widths, thickness and length depending on the application. In one example, tape <NUM> comprises a width ranging from <NUM> to <NUM> or material thickness ranges from <NUM> to <NUM>. In other implementations, adhesive tape <NUM> can be fed from any type of tape dispensing means or tape supply means, such as a conveying platform. Payout device <NUM> also comprises system controller <NUM> which exchanges signals with associated components, such as, sensors, motors, actuators, and communicates with robotic arm <NUM>, and applicator head <NUM> and other components, to provide tape <NUM> on demand as called for by applicator head <NUM> in a relatively fast, accurate and consistent manner. Human machine interface <NUM> is communicatively coupled to system controller <NUM> for inputting program instructions and configure system <NUM> settings, and outputting alerts, warnings, notifications and displaying system <NUM> settings. System controller <NUM> comprises board logic or programmable circuitry or a processor.

In more detail, payout spool <NUM> of tape <NUM> is unwound by toggling spool brake <NUM> on and off, and tape <NUM> is fed through a series of lower pulleys <NUM> and upper pulleys <NUM> of tape material accumulator <NUM>. Alternatively, a spool motor is controllable to initiate and stop rotation of payout spool shaft <NUM> or regulate the rotational speed of payout spool shaft <NUM>. Pulleys <NUM>, <NUM> accumulate tape <NUM> for on the fly spool changes, and account for any feeding variances, as will be explained later. Lower pulleys <NUM> are mounted on lower pulley arm <NUM>, and upper pulleys are mounted on upper pulley arm <NUM>. Lower pulley arm <NUM> slides vertically, such that the position of lower pulley arm <NUM> determines the length of tape <NUM> stored in accumulator <NUM>. As tape <NUM> is dispensed, lower pulley arm <NUM> rises, and the amount of stored tape <NUM> decreases. As an example, in the upper most position of lower pulley arm <NUM> there may be <NUM> meters of tape <NUM> in accumulator <NUM>, while in the lower most position of lower pulley arm <NUM> there could be as much as <NUM> meters of tape <NUM> depending on the number of pulleys <NUM>, <NUM> and windings of tape <NUM>.

Accumulator position sensor <NUM> is mounted on frame <NUM> of accumulator <NUM> to detect the position of movable lower pulley arm <NUM>, and spool level sensor <NUM> detects amount of tape <NUM> on payout spool <NUM>. Accumulator position sensor <NUM> comprises a plurality of set points e.g. lower limit and upper limit. For example, when lower pulley arm <NUM> passes the upper limit set point spool brake <NUM> is released to allow new tape <NUM> to feed into accumulator <NUM>, as lower pulley arm <NUM> falls under the force of gravity, spool <NUM> unwinds and accumulator <NUM> fills with tape <NUM>. When lower pulley arm <NUM> passes the lower limit set point brake <NUM> is re-applied to stop spool <NUM> unwinding. Next, tape <NUM> exits accumulator <NUM> into payout drive mechanism <NUM>, which indexes tape <NUM> out towards robotic arm <NUM> via flexible infeed conduit <NUM> at a controlled, metered rate as it is called for by applicator head <NUM>. Drive mechanism <NUM> may include servo motors or stepper motors, pulleys, to control the advancement of tape <NUM> to applicator head <NUM>. When spool level sensor <NUM> indicates spool <NUM> is empty, or close to being completely depleted, payout device <NUM> switches into a spool change mode, as will be described later. Alternatively, accumulator <NUM> is associated with at least one accumulator position sensor <NUM> which determines a numerical position of tape <NUM> in accumulator <NUM>, ranging from a predefined low threshold to a predefined high threshold. When tape <NUM> in accumulator <NUM> reaches the low threshold payout spool <NUM> of tape <NUM> is unwound by toggling spool brake <NUM> off or actuating spool motor to rotate payout spool shaft <NUM>, and feed tape <NUM> through a series of lower pulleys <NUM> and upper pulleys <NUM> of tape material accumulator <NUM>. In another implementation, accumulator position sensor <NUM> comprises a plurality of sensors located at different positions associated with the lower limit and the higher limit.

Payout drive mechanism <NUM> comprises fluid amplifier <NUM> which creates a vacuum effect inside therein to effectively reduce frictional forces between tape <NUM> and the interior wall of flexible conduit <NUM> as tape <NUM> is fed along flexible conduit <NUM> towards applicator head <NUM>. The vacuum is activated only when payout drive mechanism <NUM> is feeding new tape <NUM>.

Looking at <FIG>, tape <NUM> exits flexible tube <NUM> at robotic applicator head <NUM>, and tape <NUM> is wound around material buffer <NUM> by buffer refill mechanism <NUM>. Generally, material buffer <NUM> is a loop of tape <NUM>, or a reserve, of variable size, which accounts for feeding variances between payout drive mechanism <NUM> and head drive mechanism <NUM> and promotes application of consistent tension to tape <NUM>, or controls the tension forces associated with tape <NUM>. In one implementation, buffer refill mechanism comprises resilient means and a slide mechanism, such that as material buffer <NUM> shrinks, sensor <NUM> detects the level of compressed buffer loop <NUM> and commands payout drive mechanism <NUM> to send more tape <NUM> causing material buffer <NUM> to grow again.

Material buffer <NUM> is associated with buffer sensor <NUM> which determines a numerical position of material buffer <NUM>, ranging from a predefined low threshold to a predefined high threshold. When material buffer <NUM> reaches the low threshold payout drive mechanism <NUM> is called upon to feed additional tape <NUM> to refill material buffer <NUM>. When the buffer reaches the high threshold payout drive mechanism <NUM> is shut off. The numerical data being measured by position sensor <NUM> can predict tape <NUM> jams and tape <NUM> breakages and shut down system <NUM>, thereby minimizing any possible further damage or equipment faults.

Next, head drive mechanism <NUM> is actuated and feeds tape <NUM> from material buffer <NUM> towards the application tip <NUM>. Similar to drive mechanism <NUM>, head drive mechanism <NUM> may include servo motors or stepper motors to control the advancement of tape <NUM> to applicator tip <NUM>. For example, head drive mechanism <NUM> comprises a set of rollers or gears coupled to an electric motor, and configured to pull tape <NUM> around application tip <NUM>, as shown in <FIG>. Material <NUM> is peeled off liner <NUM>, or vice versa, by virtue of the geometry of application tip <NUM>, which comprises rounded member <NUM>, exposing the adhesive layer. Material <NUM> is advanced to application tip <NUM> prior to the commencement of the application of material <NUM> to the substrate, and buffer <NUM> includes a loop of tape <NUM> which accounts for feeding variances between payout drive mechanism <NUM> and head drive mechanism <NUM> and to ensure consistent tension is applied to tape <NUM>, and assist with peeling off liner <NUM>, and feeding tape <NUM>. Accordingly, following program instructions executable by system controller <NUM> robotic arm <NUM> moves to the start position on the substrate and applicator head <NUM> begins to apply material <NUM> along a predefined application path while sending a feed command to actuate head drive mechanism <NUM> to index more tape <NUM>, as needed. The predefined paths may be linear, nonlinear, three-dimensional, and so forth. In some instances, specialized hardware associated with robotic arm <NUM> determines the speed of robotic arm <NUM> movements, and transmits that speed to system controller <NUM>, and the speed of head drive mechanism <NUM> is automatically adjusted to match the speed of the movements of the robotic arm <NUM>. In other instances, the speeds may be calculated and manually adjusted in the program. With the aid of encoders or other tracking means, system controller <NUM> can determine the amount of tape <NUM> passing under applicator tip <NUM>, including the precise location where tape <NUM> is to be applied.

As material <NUM> is applied, wet-out roller <NUM> associated with applicator head <NUM> follows the path of applied material <NUM> and applies pressure to material <NUM> to enhance adherement; or activate the adhesive on pressure-sensitive adhesive tapes <NUM>. In some implementations, an additional tool is used to apply adhesion promoter on the substrate, such as along the predefined application path, before material <NUM> is applied. A vision system may be used to detect the presence of adhesion promoter on the substrate, and automatically apply material <NUM> to the sensed locations on the substrate. When applicator head <NUM> reaches the end of its pre-programmed application path it sends a command to system controller <NUM>. Next, a cut sequence commences, and entails commanding blade actuator <NUM> to actuate and cause straight blade <NUM> to sever tape <NUM>. Straight blade <NUM> performs a precision kiss cut by severing material <NUM> without severing liner <NUM> underlying material <NUM>. Accordingly, the speed and depth of straight blade <NUM> into material <NUM> is precisely calibrated and stored in the calibration parameters in memory means associated with system controller <NUM>, and may be dependent on the thickness of material <NUM> and liner <NUM>. Alternatively, the speed and depth of straight blade <NUM> into material <NUM> is precisely calibrated via mechanical means. For example, a positioning device comprising one of a threaded adjuster, an eccentric lobe, and a stop capable of modification to suit a predetermined thickness, for performing adjustments. Blade actuator <NUM> may be any one a fluidic muscle, electric actuator, pneumatic actuator, and a hydraulic actuator. Upon completion of the cut, robotic arm <NUM> makes a final move to apply the last millimeters of material <NUM> up to the cut location and rolls material <NUM> with wet-out roller <NUM>. In other implementations, blade <NUM> may be serrated or non-serrated, angled, curved, or heated to enhance the cutting sequence.

As head drive mechanism <NUM> draws tape <NUM>, head drive mechanism <NUM> simultaneously expels spent liner <NUM>, and guides liner <NUM> into outfeed tube <NUM> for disposal. Similar to infeed tube <NUM>, outfeed tube <NUM> includes outfeed fluid amplifier <NUM> to pull the spent liner <NUM> away from applicator head <NUM> towards payout device <NUM>, where used liner <NUM> is collected in a disposal bin <NUM>. Payout device <NUM> may include cutting device <NUM> to cut used liner <NUM> to manageable sizes to facilitate disposal.

An operating cycle of system <NUM> will now be described with reference to a flow charts 200a-c as shown in <FIG>. In step <NUM> of the cycle, robotic arm <NUM> in a cell receives a start command from an external source having programmed instructions to apply adhesive tape <NUM> along a predefined path on a substrate. In accordance with the instructions, robotic arm <NUM> moves to a start position and the external source sends a robot in position signal (<NUM>), and system controller <NUM> determines whether payout device <NUM> is in auto mode (<NUM>) When payout device <NUM> is in auto mode then system controller <NUM> activates fluid amplifier <NUM> (<NUM>), otherwise system controller <NUM> determines the conditions of accumulator <NUM> and payout spool <NUM> based on the status signals from the accumulator sensor <NUM>, and spool level sensor <NUM>, step <NUM>. Next, via human machine interface <NUM>, operator instructs system controller <NUM> to reset payout device <NUM> to home position (<NUM>) and switches payout device <NUM> to auto mode (<NUM>). In step <NUM>, system controller <NUM> determines whether payout device <NUM> is in auto mode, and when payout device <NUM> is not in auto mode the process returns to step <NUM>, otherwise system controller <NUM> activates payout drive mechanism <NUM>, fluid amplifier <NUM> to feed tape <NUM> along flexible infeed conduit <NUM> towards applicator head <NUM> (<NUM>), including head drive mechanism <NUM> to feed material <NUM> to the application tip <NUM> (<NUM>).

In step <NUM>, robotic arm <NUM> commences applying tape <NUM> along the predefined path on the substrate, and head drive mechanism <NUM> indexes material <NUM> in relation to robotic arm <NUM> movement. As material <NUM> is applied to the substrate, the length of material <NUM> in buffer loop <NUM> of applicator head <NUM> diminishes (<NUM>), and system controller <NUM> continually determines the level of buffer <NUM> based on the output signals from buffer sensor <NUM> (<NUM>). At the end of the predefined path, robotic arm <NUM> stops and signals system controller <NUM> (<NUM>), and system controller <NUM> issues a command to head drive mechanism <NUM> to stop indexing material <NUM> and another command to applicator head <NUM> to actuate straight blade <NUM> to sever material <NUM> (<NUM>), and the process continues with robotic arm <NUM> applying material <NUM> at a new location of the predefined path, or another predefined path on the substrate. In step <NUM>, robotic arm <NUM> completes the final path movement to apply the remainder of material <NUM>, and payout device <NUM> issues a cycle complete signal to the external source (<NUM>), and the cycle ends.

As material <NUM> is applied to the substrate, in step <NUM>, the length of material <NUM> in buffer <NUM> of applicator head <NUM> diminishes (<NUM>), and system controller <NUM> continually determines the level of buffer <NUM> based on the output signals from buffer sensor <NUM> (<NUM>). If the level of buffer <NUM> is within a predefined threshold then the process continues (<NUM>), otherwise a request for more material <NUM> is made (<NUM>) and system controller <NUM> activates fluid amplifier <NUM> to facilitate transport of material <NUM> via infeed conduit <NUM> (<NUM>). Payout drive mechanism <NUM> indexes material <NUM> to applicator head <NUM> to replenish buffer loop <NUM> (<NUM>), and system controller <NUM> determines whether the level of buffer <NUM> is within the predetermined levels based on the output signals from buffer sensor <NUM> (<NUM>). When the level of buffer <NUM> is within the predetermined levels then the process continues to step <NUM>, otherwise a determination is made as to whether material <NUM> feeding has timed out (<NUM>), if there is a time out then a fault alarm or notification is issued by system controller <NUM> alerting an operator to rectify the situation (<NUM>), otherwise the process returns to step <NUM>.

Back to step <NUM>, as material <NUM> is applied to the substrate the length of material <NUM> in buffer <NUM> and accumulator <NUM> also diminishes (<NUM>), spool brake <NUM> is released (<NUM>) and lower pulley arm <NUM> lowers by way of gravity (<NUM>), and system controller <NUM> determines whether the lower threshold has been flagged based on the output from accumulator sensor <NUM> when lower limit set point is triggered (<NUM>). When the lower threshold has been flagged then spool brake <NUM> is re-applied (<NUM>) and the process returns to step <NUM>; otherwise the process proceeds to step <NUM> where system controller <NUM> determines the level of payout spool <NUM> based on the output from payout spool sensor <NUM>. If payout spool sensor <NUM> indicates that payout spool <NUM> is empty then a fault alarm or notification is issued by system controller <NUM> to alert an operator to rectify the situation (<NUM>), otherwise system controller <NUM> determines whether accumulator <NUM> upper threshold has been flagged (<NUM>) based on output signals from accumulator sensor <NUM>.

Accordingly, in one implementation, depleted spool <NUM> may be swapped for a new spool <NUM> of tape <NUM> without interrupting the application cycle in progress. Accordingly, the spool <NUM> changeover minimizes production downtime. If upper threshold has not been flagged then operation continues (<NUM>), otherwise material clamp <NUM> on incoming side of accumulator <NUM> is actuated (<NUM>) to clamp the new tape <NUM> entering accumulator <NUM>. In step <NUM> system controller <NUM> issues an alert notifying an operator to change spool <NUM>.

While the new tape <NUM> is clamped, payout device <NUM> continues to index tape <NUM> to applicator head <NUM> by using up reserve tape <NUM> (e.g. up to <NUM> meters) stored in accumulator <NUM>, while operator swaps spools <NUM> within a predefined swap time i.e. the amount of time to complete a spool <NUM> change (<NUM>). As an example, the predefined swap time may be determined by dividing the length (meters) of the reserve tape <NUM> in accumulator <NUM> by application rate of tape <NUM> (meters per minute). For example, for a tape <NUM> reserve of <NUM> meters, and an application rate of <NUM> meter per minute, then the predefined swap time is <NUM> minutes. Generally, the predefined swap time depends on the cycle time of system <NUM>, user preferences and settings. In step <NUM>, when system controller <NUM> determines that the spool change and the splice process is completed before lower pulley arm <NUM> passes upper limit of sensor <NUM>, then the process proceeds to step <NUM>, otherwise operation of payout device <NUM> is halted by system controller <NUM> (<NUM>) and operator is alerted by system controller <NUM> to change spool <NUM> (<NUM>).

Operator cuts tape <NUM> at splice location (<NUM>) and operator removes empty spool <NUM> and loads a new full spool <NUM> (<NUM>). Next, operator creates splice joint to join an end of new tape <NUM> to an end of in-progress tape <NUM> clamped before accumulator <NUM> (<NUM>). Splicing fixture <NUM> is provided to make these splices expeditiously, and in a consistent manner. Once operator completes the change of spool <NUM> and the splice joint, a command is input via human machine interface <NUM> to indicate completion of the task (<NUM>). System controller <NUM> receives the completion signal and deactivates material clamp <NUM> (<NUM>) and accumulator <NUM>, which was depleted during the splice sequence as per normal operation, refills (<NUM>). When the splice joint reaches applicator head <NUM>, splice sensor <NUM> positioned to detect this joint triggers applicator head <NUM> to enter a purge cycle. Generally, the purge cycle consists of applying tape <NUM> with the splice to disposal surface, that is, not on the predefined application path. Once enough tape <NUM> has been purged to ensure the splice is eliminated, system <NUM> resumes normal operation, and the process ends. Alternatively, the operator may load a new spool <NUM> and thread the new tape <NUM> in the payout device <NUM> and advance the tape <NUM> to the applicator head <NUM>, that is, without any splice joints.

In one implementation, adhesive tape <NUM> can be single- or double-sided tape, in a monolithic or layered format.

In one implementation, material clamp <NUM> on the incoming side of accumulator <NUM> is manually actuated to clamp the new tape <NUM> entering accumulator <NUM>.

In one implementation, material clamp <NUM> on the incoming side of accumulator <NUM> is electrically actuated to clamp the new tape <NUM> entering accumulator <NUM>.

In one implementation, material clamp <NUM> on the incoming side of accumulator <NUM> is pneumatically actuated to clamp the new tape <NUM> entering accumulator <NUM>.

In one implementation, adhesive tape <NUM> travels through a delamination device comprising rollers configured to separate material <NUM> and removable liner <NUM> from each other temporarily before reapplying material <NUM> to removable liner <NUM> to loosen the bond.

In one implementation, applicator head <NUM> comprises a vision system, which includes an image capture device to verify the correct application of material <NUM> on the substrate part or work piece, and identify substrate features or edges to facilitate self-alignment of application tip <NUM> with the predefined application path.

In one implementation, applicator head <NUM> comprises a vision system, which includes a laser profiler to verify the correct application of material <NUM> on the substrate part or work piece, and identify substrate features or edges to facilitate self-alignment of application tip <NUM> with the predefined application path.

In one implementation, application tip <NUM> comprises means for tracking and calculating the amount of material <NUM> between blade <NUM> and the application tip <NUM>.

In one implementation, applicator head <NUM> comprises a sensor located on the outbound side of applicator tip <NUM> to sense the presence of material <NUM> indicating a failed application.

In one implementation, applicator head <NUM> comprises an attachment containing an adhesion promoter and a device for applying said adhesion promoter to the substrate.

In one implementation, applicator head <NUM> comprises an air blower located at the application tip to help peel the material <NUM> off liner <NUM>.

In one implementation, liner <NUM> is collected and severed into smaller manageable pieces.

In one implementation, applicator head <NUM> comprises at least one safety device for mounting on industrial robot <NUM>.

In one implementation, industrial robot <NUM> is a servo gantry style robot.

In one implementation, industrial robot <NUM> is a collaborative robot.

In one implementation, applicator head <NUM> is fixed in position and the part to receive material <NUM> is moved to applicator head <NUM>, that is, a part-to-process strategy. In one example, the part may be on a robot or any other means of actuation.

In one implementation, system <NUM> comprises a 'quick change' blade system.

In one implementation, system <NUM> comprises one or more safety devices mountable on a collaborative robot to enhance safe operation.

In one implementation, drive mechanism <NUM>, <NUM> comprises a linear grip and pull mechanism, such as a walking beam transfer.

System <NUM> may be useful in the automotive sector, where material <NUM> is applied to automotive interior and exterior trim and claddings to reduce noise, seal moisture and to couple components together; and in the construction industry, such as trim and seals for glazing materials e.g. interior and exterior building architectural claddings and HVAC equipment.

In one implementation, system <NUM> is coupled to a measurement or data acquisition (DAQ) devices, such as, instruments, smart sensors, data acquisition devices or boards, and any of various types of devices that are operable to acquire and/or store data.

In one implementation, system controller <NUM> comprises computing means with computing system <NUM> comprising at least one processor such as processor <NUM>, at least one memory device such as memory <NUM>, input/output (I/O) module <NUM> and communication interface <NUM>, as shown in <FIG>. Although computing system <NUM> is depicted to include only one processor <NUM>, computing system <NUM> may include a number of processors therein. In an embodiment, memory <NUM> is capable of storing instructions. Further, the processor <NUM> is capable of executing instructions.

In one implementation, processor <NUM> may be configured to execute hardcoded functionality. In an embodiment, processor <NUM> may be embodied as an executor of software instructions, wherein the software instructions may specifically configure processor <NUM> to perform algorithms and/or operations described herein when the software instructions are executed.

In one implementation, processor <NUM> may be embodied as a multi-core processor, a single core processor, or a combination of one or more multi-core processors and one or more single core processors. For example, processor <NUM> may be embodied as one or more of various processing devices, such as a coprocessor, a microprocessor, a controller, a digital signal processor (DSP), a processing circuitry with or without an accompanying DSP, or various other processing devices including integrated circuits such as, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller unit (MCU), a hardware accelerator, a special-purpose computer chip, Application-Specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), Programmable Logic Controllers (PLC), Graphics Processing Units (GPUs), and the like. For example, some or all of the device functionality or method sequences may be performed by one or more hardware logic components.

Memory <NUM> may be embodied as one or more volatile memory devices, one or more non-volatile memory devices, and/or a combination of one or more volatile memory devices and non-volatile memory devices. For example, memory <NUM> may be embodied as magnetic storage devices (such as hard disk drives, floppy disks, magnetic tapes, etc.), optical magnetic storage devices (e.g., magneto-optical disks), CD-ROM (compact disc read only memory), CD-R (compact disc recordable), CD-R/W (compact disc rewritable), DVD (Digital Versatile Disc), BD (BLU-RAY™ Disc), and semiconductor memories (such as mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, RAM (random access memory), etc.).

I/O module <NUM> is configured to facilitate provisioning of an output to a user of computing system <NUM> and/or for receiving an input from the user of computing system <NUM>, and send/receive communications to/from the various sensors, components, and actuators of system <NUM>. I/O module <NUM> is configured to be in communication with processor <NUM> and memory <NUM>. Examples of the I/O module <NUM> include, but are not limited to, an input interface and/or an output interface. Some examples of the input interface may include, but are not limited to, a keyboard, a mouse, a joystick, a keypad, a touch screen, soft keys, a microphone, and the like. Some examples of the output interface may include, but are not limited to, a microphone, a speaker, a ringer, a vibrator, a light emitting diode display, a thin-film transistor (TFT) display, a liquid crystal display, an active-matrix organic lightemitting diode (AMOLED) display, and the like. In an example embodiment, processor <NUM> may include I/O circuitry configured to control at least some functions of one or more elements of I/O module <NUM>, such as, for example, a speaker, a microphone, a display, and/or the like. Processor <NUM> and/or the I/O circuitry may be configured to control one or more functions of the one or more elements of I/O module <NUM> through computer program instructions, for example, software and/or firmware, stored on a memory, for example, the memory <NUM>, and/or the like, accessible to the processor <NUM>.

Communication interface <NUM> enables computing system <NUM> to communicate with other entities over various types of wired, wireless or combinations of wired and wireless networks, such as for example, the Internet. In at least one example embodiment, the communication interface <NUM> includes a transceiver circuitry configured to enable transmission and reception of data signals over the various types of communication networks. In some embodiments, communication interface <NUM> may include appropriate data compression and encoding mechanisms for securely transmitting and receiving data over the communication networks. Communication interface <NUM> facilitates communication between computing system <NUM> and I/O peripherals.

In an embodiment, various components of computing system <NUM>, such as processor <NUM>, memory <NUM>, I/O module <NUM> and communication interface <NUM> may be configured to communicate with each other via or through a centralized circuit system <NUM>. Centralized circuit system <NUM> may be various devices configured to, among other things, provide or enable communication between the components (<NUM>-<NUM>) of computing system <NUM>. In certain embodiments, centralized circuit system <NUM> may be a central printed circuit board (PCB) such as a motherboard, a main board, a system board, or a logic board. Centralized circuit system <NUM> may also, or alternatively, include other printed circuit assemblies (PCAs) or communication channel media.

It is noted that various example embodiments as described herein may be implemented in a wide variety of devices, network configurations and applications.

Those of skill in the art will appreciate that other embodiments of the disclosure may be practiced in network computing environments with many types of computer system configurations, including personal computers (PCs), industrial PCs, desktop PCs), hand-held devices, multi-processor systems, microprocessor-based or programmable consumer electronics, network PCs, server computers, minicomputers, mainframe computers, and the like. Accordingly, system <NUM> may be coupled to these external devices via the communication, such that system <NUM> is controllable remotely. Embodiments may also be practiced in distributed computing environments where tasks are performed by local and remote processing devices that are linked (either by hardwired links, wireless links, or by a combination thereof) through a communications network. In a distributed computing environment, program modules may be located in both local and remote memory storage devices.

Claim 1:
A robotized tape applicator system (<NUM>) comprising:
a source of a tape (<NUM>) comprising a material (<NUM>) associated with an adhesive and at least one removable liner (<NUM>), wherein the source comprises a payout spool (<NUM>) of the tape (<NUM>) mounted on a rotatable shaft (<NUM>);
an applicator head (<NUM>);
a cutting mechanism;
at least one drive feeding mechanism comprising a drive unit configured to index the tape (<NUM>) from the source to the applicator head (<NUM>) at a controlled rate, wherein the tape (<NUM>) is conveyed to the applicator head (<NUM>) via a flexible conduit (<NUM>);
wherein the applicator head (<NUM>) is controllable to apply the material (<NUM>) on a surface or a substrate; and
wherein the applicator head (<NUM>) comprises a cutting mechanism configured to sever the material (<NUM>) while leaving the at least one removable liner (<NUM>) intact.