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1. 发明申请

WO2015048276A1 A METHOD OF ROBOT ASSISTED AUTOMATED DECAL APPLICATION ON COMPLEX THREE DIMENSIONAL SURFACES 审中-公开
标题翻译：机器人辅助自动分布式应用于复合三维表面的方法
公开(公告)号：WO2015048276A1
公开(公告)日：2015-04-02
申请号：PCT/US2014/057438
申请日：2014-09-25
申请人： 3M INNOVATIVE PROPERTIES COMPANY
发明人： VARGHESE, Aby , ARELEKATTI, Murthy V. N. , BHATTACHARYA, Dhritisunder
IPC分类号： B65C3/00 , B65C9/26
CPC分类号： B65C9/0006 , B29C63/0047 , B29C63/0073 , B29C2063/027 , B65C9/0015 , B65C9/36 , B65C9/40 , B65C2009/0018
摘要： The present Invention discloses two robot assisted automated methods for application of decals on complex 3 dimensional surfaces without wrinkle and bubble. The method includes loading of objects having 3D surfaces on an object holding fixture manually from a conveyor belt, picking up a first application fixture automatically by a robot, peeling off the liner disposed on the decal manually and placing the decal on the first application fixture which holds the decal by suction, positioning the decal with exposed adhesive accurately on a first 3D surface of the object and switching off the suction automatically leaving the decal placed on the 3D surface of the object, placing the first application fixture back and picking up a second application fixture automatically by the robot for squeegee application, applying the second application fixture to complete the squeegee application by pressurizing the decal. The first application fixture is configured to be programmed to hold decals of different shape and size and the second application fixture is configured to be programmed to identify the 3D direction of squeezing pad motion within each region of such decals to eliminate the bubbles without wrinkling. The second method uses a mechatronic pick and place mechanism for picking up a decal from the decal stack and placing of the decal on the 3D surface of the object automatically.
摘要翻译：本发明公开了两种机器人辅助自动化方法，用于在复杂的三维表面上应用贴花而没有皱纹和气泡。该方法包括从传送带手动地将具有3D表面的物体装载在物体保持夹具上，由机器人自动拾取第一应用夹具，手动剥离设置在贴花上的衬垫，并将贴花放置在第一应用夹具上通过吸力保持贴花，将暴露的粘合剂的贴花准确地定位在物体的第一个3D表面上，并自动关闭吸力，使放置在物体的3D表面上的贴花放置，将第一个应用固定装置放回第二个应用夹具由机器人自动应用于刮刀应用，应用第二应用夹具，通过加压贴花来完成刮刀应用。第一应用夹具被配置为被编程为保持不同形状和尺寸的贴花，并且第二应用夹具被配置为被编程以识别挤压垫运动的3D方向在这些贴花的每个区域内以消除气泡而不起皱。第二种方法使用机电拾取和放置机构来从贴花堆栈拾取贴花，并将贴花放置在物体的3D表面上。

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