Tape material applicator and computer program

A tape material applicator that applies tape material having an adhesive layer on a back surface, to a workpiece along a predefined application path using a robot, comprising:

• an application mechanism mounted at the tip of the robot for applying the tape material to the workpiece;
• and
• a control unit,
• wherein the tape material comprises:
• a urethane resin layer formed of urethane resin;
• and
• an adhesive layer formed on the back surface of the urethane resin layer,
• the adhesive layer having a greater elastic modulus than the urethane resin layer,
• wherein the application mechanism includes:
• a clamping device equipped with a clamping member for clamping one end of the tape material and a driving device for operating the clamping member;
• a holding member capable of holding the other end of the tape material;
• and
• a roller for pressing and applying the tape material to the workpiece,
• wherein the control unit controls the robot and the driving device to clamp one end of the tape material in the clamping member and to hold the other end of the tape material in the holding member, and further controls the robot to move the application mechanism to the position where the tape material is to be applied to the workpiece,
• wherein the other end of the tape material held by the holding member is pressed and applied to the workpiece by the roller, while maintaining the unapplied portion of the tape material in a state of being elevated from the workpiece, and wherein the position and posture of the application mechanism relative to the workpiece are controlled, thus applying the tape material from the other end to the one end by pressing with the roller along the application path.