Seal affixing system
In a seal affixing system, adsorption pores are arranged plurally along a first direction and a second direction on an adsorption face, and the plurality of adsorption pores are sectioned into a first suction region, a second suction region, and a third suction region containing a plurality of adsorption pores from a downstream side to an upstream side along a movement direction, and a controller controls a suction power generator to individually suck the first suction region, the second suction region, and the third suction region. According to the seal affixing system, a turbulent spot will not be generated in the affixed seal.
1. A seal affixing system comprising:
a porous adsorption end effector having an adsorption face containing a plurality of adsorption pores to which seal is to be adsorbed;
a suction power generator configured to communicate with the adsorption pores and generate adsorption power of holding the seal by the adsorption face; and
a controller configured to control the suction power generator in adsorbing the seal by the porous adsorption end effector and affixing the seal to an external target,
wherein when a direction along a movement direction in which the porous adsorption end effector moves in affixing the seal to the target is referred to as a first direction, and a direction orthogonal to the first direction is referred to as a second direction,
the adsorption pores are arranged plurally along the first direction and the second direction on the adsorption face,
the plurality of adsorption pores are sectioned into a plurality of suction regions containing a plurality of the adsorption pores from a downstream side to an upstream side along the movement direction, and
the controller controls the suction power generator to individually suck the plurality of suction regions.
2. The seal affixing system according to claim 1 , wherein
the controller
conducts a control of sequentially stopping suction of the suction regions for which adsorption of the seal to the adsorption face is determined to be unnecessary as an operation of affixing the seal to the target progresses,
from a state where the seal is adsorbed in the plurality of suction regions.
3. The seal affixing system according to claim 2 , wherein
the controller determines that adsorption of the seal to the adsorption face is unnecessary when a suction pressure does not reach a specified value.
4. The seal affixing system according to claim 2 , further comprising a tool position controller configured to conduct a position control of the porous adsorption end effector,
wherein the controller conducts a control of checking progress of the operation of affixing the seal to the target and sequentially stopping suction of the suction regions for which adsorption of the seal to the adsorption face is determined to be unnecessary on the basis of positional information of the porous adsorption end effector obtained from the tool position controller.