CZ20031942A3 - Method for attaching a strip-like flexible section and apparatus for making the same - Google Patents

Description

cutting the malleable pliable

Technical field

BACKGROUND OF THE INVENTION 1. Field of the Invention The invention relates to a device for attaching a strip-like compliant profile, in particular a sealing profile, adjacent to or at a particularly curved edge of the body. Furthermore, the invention relates to a corresponding method, using a sealing profile with an adhesive tape on one side thereof, wherein the side of the adhesive tape not adhered to the profile is covered by a protective tape.

BACKGROUND OF THE INVENTION

The need to fit a flexible profile next to the curved edge of the sheet-shaped body or at such a curved edge arises, for example, at the connection of the water tank to the windshield of the car. The connection of the water reservoir comprises a three-dimensional, pre-bent strip profile from which a flat strip-like section is formed which carries on both sides a double-sided adhesive tape. On the side facing away from the profile, the adhesive strip is provided with a protective strip, the so-called liner.

SUMMARY OF THE INVENTION It is an object of the present invention to connect a rail-like pliable profile, in particular a sealing profile, adjacent to a curved edge or at a curved edge of the body, automatically and quickly and also with profile profile tolerances, accurately and reliably. sticks to the edge of the body next to its edge. In particular, such a profile should be firmly glued by means of an adhesive tape adhering to the body, the adhesive tape being previously covered by a protective strip on the side to be connected to the body.

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SUMMARY OF THE INVENTION

Said object is achieved by a device for attaching a strip-like yielding profile, in particular a sealing profile, next to a particularly curved edge of the body, which is connected to a multiaxial robot with a combined gripping and connecting tool adjustable to multiple stations. at least partially adapted to the profile contour that grips the profile and temporarily presses it against the body for initiating the joining process, as well as a pair of rollers, at least partially adapted to the profile contour, which are mounted to guide the profile substantially along the desired bending line to the body and and preferably two attach the profile to the body.

An essential feature of the device is a combined gripping and attachment tool that can be positioned by a multi-axis rotor to multiple stations, as further described below. The combined gripping and attachment tool comprises as essential elements a gripper gripper with two gripping jaws with a contour adapted to the shape of the profile that surrounds the profile on one side, namely in the case of a profile provided with an adhesive tape in an area not covered by the adhesive tape. Furthermore, three pairs of rollers are inserted in the gripping and coupling tool, both rollers forming a corresponding slot for receiving the profile. The outer circumferences of the rollers are also at least partially adapted to the profile. Of the pairs of rollers, two first serve for guiding the profile to the body to which the profile is to be attached, and preferably at least one of the pair of rollers, but preferably two of them, serves for a fixed connection

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the profile to the body next to the particularly curved edge after the profile in the initial position was first pre-fixed to the body by the gripper.

By means of the three pairs of rollers, the desired profile bending line can be achieved.

If the profile, which is provided with a narrower adhesive tape on one side, is covered by a protective liner, according to a further feature of the invention, the profile is driven by a combined gripping and connecting tool at a tape stripping station on which the compressed air nozzle arrangement is mounted. It is orientable to the protective tape of the adhesive tape, as well as to the withdrawal mechanism of the protective tape, which is suitable for pulling the withdrawal of the protective tape, on the face separated from the adhesive tape, further away from the adhesive tape. As a result, the protective strip can be detached automatically. The following embodiments are possible which provide differentiated advantages.

In one embodiment, the protective strip separating station comprises substantially only a compressed air nozzle arrangement, wherein the protective strip twisting mechanism is coupled to the gripper and attachment tool into the structural unit. In this case, only the initial zone of the protective strip is separated from the profile at the strip separation station, while the further stripping separation takes place in synchronization with the subsequent connection process, so that in the connection zone the profile just stripped of the strip is produced. In an alternative embodiment, the nozzle arrangement and the wrapping mechanism of the protective tape may be combined as a stationary unit.

In particular, according to a further feature of the invention, the air-jet nozzle arrangement may comprise a first nozzle which is oriented towards the front side of the profile with adhesive tape and protective tape as well as a second nozzle which is suitable for inflating the protective tape separated from the profile on the driven drive. a roll of the roll-over tape mechanism, the roll-over tape mechanism further comprising a clamping wheel movable to the driven drive wheel, which can clamp the separate roll-off tape between itself and the driven drive wheel to further roll off the roll-off tape from the profile.

According to a further feature of the invention, the structural unit comprising the driven drive wheel and the clamping wheel is mounted on the gripper and the attachment tool in a pivotable manner from the attachment region. Swiveling is not hindered by the connection process via the synchronized running twisting of the separated protective tape.

Further, a suction hose may be disposed on the tapping mechanism of the protective tape so that it takes over the taped protective tape.

According to a further feature of the invention, the pairs of rollers are arranged and arranged in the gripping and coupling tool so that, viewed from the end of the gripper and attachment tool opposite the gripper, the first pair of rollers, the second pair of rollers and the third pair of rollers are mounted. The first pair of rollers running in their slot profile is preset with their slot in the attachment position in the Z direction at a distance above the body, i.e. at a height relative to the second and third pairs of rollers forming the attachment rollers, so ··

-5fil with exposed adhesive tape is kept at a distance from the body, prevents premature sticking of the profile and the profile is simultaneously guided. The upper roller and the lower roller of the first pair of rollers are displaceable in different profile sections in the X direction, i.e. transversely to the adjacent body edge, in particular the upper roller substantially on the tape-like flat side facing away from the adhesive tape and the lower roller on the thickening section next to the tape-like flat section. The rollers are expediently mounted on a clamping gripper by means of which the assignment of the roller to the profile can be controlled by the clamping stroke. In addition, the first pair of rollers is adjustable across the profile independently in the X direction transverse to the adjacent body edge and is pivotable by an angle α to allow bending adaptation, to which the second pair of rollers and the third pair of rollers are adjustable in the X direction.

The second pair of rollers is more closely matched to the contour geometry of the profile than the first pair of rollers to precisely guide the profile. Furthermore, by adjusting it in the X direction, the bending radius is adjusted to the bent profile. In addition, with the setting of the second pair of rollers in the X direction, a greater bias towards the body edge can be set compared to the first and third pair of rollers. Thus, for example, the tongue-shaped part of the profile can be biased during connection. The second pair of rollers thus assumes, in addition to this partial coupling function, essentially the function of guiding the profile.

The third pair of rollers is mounted such that, with a gap that surrounds the profile outside the adhesive tape, it presses the section containing the adhesive tape against the body, and is adjustable in this direction in the Z direction.

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The clamping gripper belonging to the integrated gripping and attachment tool has in particular the task that the grip that grips in its preparatory position, in particular in the bearing of the turntable, then locks in its position during transport between different stations. A second essential function of the gripper is to set and press the profile in a defined manner at its starting point or starting position on the sheet-like body, to which it is adjustable in the Z direction, and by rotating through an angle β. Therefore, the clamping gripper can press the profile onto the sheet-like body by means of a robot-induced movement without the second pair of rollers and the third pair of rollers necessarily having to start the connection process.

According to a further feature of the invention, the gripping and connection tool can be first positioned to the combined clamping and measuring station as a intermediate station in which the pair of rollers are closed around the profile clamped to the desired bend line and in which the initial position of the profile is detected by defined attribute to the body.

The corresponding clamping device at the clamping and measuring station may consist of a contour bench which forms a line of the desired profile bend and into which the profile can be clamped, for example, by clamping bolts. By subsequently closing the three pairs of rollers related to the direction, the bending line can be reproduced and the profile accurately positioned and held clamped for the subsequent joining process. Instead of clamping the profile by means of clamping bolts to the contour bench, the desired bending line can also be used to more easily reproduce the game «► · ···· ·· · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · ·

-7 down and moving the robot.

On the whole, the gripping and connecting tool guiding of the device can be combined such that the gripping gripper grabs the profile prepared in the receptacle in the defined position, leads it to the combined clamping and measuring station after clamping in three pairs of rollers according to the desired bending line; after measuring the initial position of the profile in the Y direction, it goes from there to a strip-stripping station, to which the strip is separated and moved away from the profile adhesive strip, then the beginning of the profile with loose adhesive tape leads to the initial position on the body and presses it, after which the gripper and attachment tool are tilted after opening the gripper to bring the second pair of rollers and the third pair of rollers into the engagement engagement on the profile, whereupon the gripper and attachment tool with pairs of rollers closed around the profile travels along the body edge to the end in the profile position, and from there with the third pair of rollers back to the initial profile position, in order to fully press the initial profile region to the body.

The third pair of rollers practically assumes their own pressing action by pressing the profile with a pre-set pressure force at or near the upper edge of the body, after returning to the initial region also in a section of the profile which was not gripped by the gripper . The top edge is otherwise simply referred to as the edge.

In order to compensate for the tolerances of the body and / or the profile, according to another feature, the gripping and connecting tool is provided with an alignment in the X and Z directions, which can be pre-regulated by force.

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The method developed by the apparatus results essentially from the above-mentioned robot guidance. A method for attaching a strip-like compliant profile, in particular a sealing profile, with an adhesive tape on one side thereof adjacent a particularly curved edge of a sheet-like body, wherein the adhesive tape is covered by a protective tape can generally be defined by the following steps profile according to the desired bending line and measuring the initial position of the profile, separating the protective strip from the adhesive tape of the clamped profile, clamping the profile at the body, and at this initial position to press the body against the body. to the body continuously along its edge to the end position, whereupon the profile is also pressed in the initial region, i.e. at the starting position, towards the body

The separation of the protective tape from the profile adhesive tape can be carried out in two variants. According to a first variant, the protective strip is completely removed from the profile before guiding the clamped profile to the initial position on the body. According to a second variant, in which the protective strip is removed only in the initial section of the profile before guiding the clamped profile to the initial position on the body, and thereafter it is further retracted as it exits the initial section continuously before connecting the profile during continuously advancing the profile to the body along this edge to the end position.

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-9Overview of figures in drawings

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of a rotary table carrying pallets with associated sealing profiles; FIG. Fig. 3 is a side view of a panel mounted on a carousel (not shown) to which the sealing profile is to be attached; Fig. 4 is a plan view rotated by 90 ° with the sealing profile shown in the attached position and gripping and connecting tool used; 6 is a side view of the gripper and attachment tool of FIG. 5, FIG. 7 is a view of the first pair of rollers of the gripper and attachment tool on the front side thereof; FIG. 8 is a view of the second or third pair of rollers gripped FIG. 9 shows a front view of the gripper gripper of the combined gripper and attachment tool, FIG. 10 is a view of the arrangement of the pairs of rollers and gripper gripper with indicated adjustments of these components of the gripper and attachment tool; FIG. Fig. 11 is a plan view of the combined gripping and attachment tool at the clamping and measuring station; Fig. 12 is a front view of the first pair of rollers in the clamping position; Fig. 13 is a side view of the compressed air arrangement of the shield strip separating station; 14, the nozzle arrangement and the driven drive wheel of the stripping mechanism of the protective strip, the protective strip being separated from the profile in the initial region of the sealing profile at the front end and is inflated to the driven drive wheel, φφ φ • φ φφφφ • φ φφφφ • ΦΦ φ φ φφφ · φ φφφ φφφ φφφ φ ΦΦΦ ·· φφφ φ φ φ φφφ φφφφ φφφ φφφ φ · ·· ··

FIG. 15 shows a design of the belt wrapping mechanism comprising a driven drive wheel in a first rotated position on a combined gripper and attachment tool (not shown); and FIG. 16 a belt stripping unit assembly in a second rotated position on a gripper and attachment tool (not shown).

DETAILED DESCRIPTION OF THE INVENTION

In Fig. 1a, a rotary table 2 supporting a plurality of pallets 3, 4 is shown for preparing and attaching sealing profiles 21 for connection to planks. The sealing profiles are loosely fitted into the pallet receptacles (storage pockets) as shown in Figs. .2. The sealing profiles are supported by the supports 5, 6. The rotary table does not belong directly to the sealing profile connecting device and only has the task of keeping the sealing profiles prepared in the working range of the combined gripper and coupling device connected to a multi-axis robot.

FIG. 2 shows a plan view of a single receptacle 7 (receiving pocket) of the pallets 2, 4 with the sealing profile 1 and FIG. cross section through this profile.

The strip-shaped sealing profile 1 comprises a thickening section 8 and a ribbon flat section 9 which is provided with a double-sided adhesive tape 10. The adhesive surface of the adhesive tape 10, which is not adhered to the flat section 9, is continuously covered by a covering tape also called liner (not shown) 2.

The sealing profile support 7, as shown in FIG. 2, is shaped such that the sealing profile can be inserted therein.

-11 © · © © © · © © © © © © © © ován © © © © © © © ován © ován ován ován ován ován ován The sealing profile is defined by a thickened section 8 in a defined manner and is secured against rotation on the bearing 7.

Also within the range of the robot (not shown) with the combined gripping and connecting tool lies a carousel, of which only the bearing surface 11 is shown in FIG. 3, on which the three-dimensionally curved panel 12 is supported.

The panel 12 also having a three-dimensionally curved edge 20, more specifically the upper edge, is provided with a sealing profile 1 already attached to this edge, and is shown in plan view in FIG. 4, where it is also possible to recognize the start position 19 of the combined gripping tools 13 to start the connection.

5 and 6, it is further evident that the first pair of rollers 14, the second pair of rollers 15 and the third pair of rollers 16 are arranged side by side in the combined gripper and attachment tool 13. A clamping gripper 17 is arranged next to this arrangement. A pair of rollers 14 to 16 and a clamping gripper 17 each form a block of a connecting tool. Only in the example shown, said blocks are alternatively complemented by a guard tape twist mechanism 18 which here forms part of the combined gripping and attachment tool, but in another embodiment this mechanism is not required at this point. In order to further define the arrangement of the pairs of rollers 14 to 16 and the gripper 17 as well as the mechanism 18, the starting position 19 of the sealing profile 1 connected to the panel (not shown) is shown in FIG.

• «· · · <<<* * * * * * * * * * * * * * * * * * * * * * * 4 ·· «4

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FIG. 7 shows that the first pair of rollers 14 is contoured on a portion of the circumference of both rollers so that the sealing profile 1 extends during the joining process, namely the upper roller 14a guides the upper side of the profile opposite the adhesive tape 10, substantially in the region The lower roller 14b guides the sealing profile 1 in the region of the thickening section 8 and is approximately adapted to this section. The pair of rollers 14 is adjustable in the X direction, see also FIG. 10, where the directions are indicated to allow the bending of the sealing profile to be adjusted in that direction. The essential adaptation of the position of the first pair of rollers 14 is in the Z direction, whereby the first pair of rollers 14 can be height-adjusted relative to the second pair of rollers 15 and the third pair of rollers 16 so that the sealing profile 1 has already been withdrawn is guided at a sufficient distance from the surface of the panel during the connection process, thereby preventing premature sticking of the sealing profile to the panel 12.

The second pair of rollers 15, which is essentially constructed in the same way as the first pair of rollers 14, but with the circumferential geometry of the upper roller 15a and lower roller 15b more closely related to the sealing profile to guide the sealing profile accurately, lies deeper in the Z direction than the first pair of rollers. 6, showing the basic structure of the combined gripper and attachment tool, while the sealing profile applied to the panel is biased at the edge 20 during bonding. the height position of the three pairs of rollers 14, 15, 16 is not A * A * A

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-13not differentiated. In addition, FIG. 6 and the following figures assume a straight edge 20. In order to press the sealing profile 1 against the edge 20 of the panel 12, the second pair of rollers 15 is adjustable in the X direction and further at an angle. also the bending radius of the sealing profile clamped by the pair of rollers is adapted to the pre-bent sealing profile.

The third pair of rollers 16 is configured as the second pair of rollers 15 in FIG. 8 and is adjustable in the same manner. Its purpose is to press the profile 1, which is free of the sealing tape 10, against the panel 12 and thereby to make the connection.

Finally, the gripper 17 has two gripping jaws 21 and 22, shaped in shape to the profile 1 as shown in FIG. 9, by which the sealing profile is gripped and by which the gripper grips the sealing profile section 8 with thickening, while the tape flat sealing profile section 9 only to the side of the gripping jaw 21 facing away from the adhesive tape 10.

As a result, the gripper 17 can, after gripping on the rotary table 2, lock the sealing profile 1 in position until it is attached to the panel 12. A further essential function of the gripper is that it can be used to define the starting point of the sealing profile in a defined position on the panel to the starting position 19 and to press the sealing profile in this position by the gripping jaw 21. For this purpose, the gripper is adjustable about the gripper axis at an angle β, as shown in FIG. The clamping gripper 17 can thus be applied to press or seal the sealing profile onto the planar structure 12 (9) (9). 9

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14 separately to engage without necessarily the second pair of rollers 15 and the third pair of rollers 16 beginning the attachment process, which could reduce downforce by the gripper in the initial position.

The device includes, as an intermediate station, a clamping and measuring station into which the combined gripping and connection tool 13 can be driven and which is shown in the exemplary basic construction of FIG.

The clamping device of the clamping and measuring station may, for example, be provided with a contour bench or contour block 23 comprising a first clamping block 24, a second clamping block 25 and a third clamping block 26 with which the sealing profile 1 which has traveled into the contour block. The line of the desired bending of the sealing profile can thus be defined. Thereafter, the three pairs of rollers 14 to 16 arranged in the desired direction are clamped according to the profile geometry. As a result, the sealing profile 1 is precisely positioned along the desired bending line and is clamped for the subsequent joining process. Furthermore, the touch sensor 28 measures the position of the start of the sealing profile in the Y direction. This value can be calculated by the robot control and the sealing profile 1 can be accurately matched to the panel 12 accordingly by the gripping and connecting tool 12.

Prior to this, it is driven by the robot to the protective tape separating station belonging to the apparatus shown in the exemplary basic structure of FIGS. 13 and 14.

The stripping station includes: • · · • β

15 arrangement of two air nozzles 29 and 30, of which the nozzle 19 can be oriented to the front side of the sealing profile 1 with the protective tape 31 over the adhesive strip 10 when the front section of the sealing profile 1 with the gripping and connecting tool moves into this position. Underneath the compressed air nozzle 29, a second nozzle 30, which is substantially directed to the drive wheel 32 forming part of the protective tape twisting mechanism, lies so as to inflate the protective tape 31 which has been released by blowing the nozzle 29 on the face of the sealing profile 1. a drive wheel 32 as shown in FIG. Then the clamping wheel 33 is pushed in. 15, to the driven drive wheel 32, whereby the protective strip 31 is firmly pressed against the driven drive wheel 32 so that the finely toothed or structured driven drive wheel 32 is reliably coiled and pulled away from the sealing profile 1.

When the assembly unit comprising the driven drive wheel 32 and the clamping wheel 33 is integrated in the combined gripper and attachment tool, the assembly unit is expediently pivotable by approximately 180 °, as shown in Figures 15 and 16, to move away from the gripper and gripper attachment range. where it would disturb. This rotated position of the assembly with the driven drive wheel 32 and the clamping wheel 33 is shown in Figure 16, on which the suction hose 34 is also mounted such that the loose protective strip is held away from the attachment area, and may be connected to the suction hose 34. the protective tape is also easily disposed of. In another embodiment, the security strip separating station may be formed entirely outside and independent of the combined gripping and connection tool and pushed in with it to release the security strip.

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If the driven drive wheel and the clamping wheel are formed as a structural unit on the combined gripper and attachment tool with which it is movable, the drive wheel 32 is driven at the traverse speed of the gripper and attachment tool so that the protective strip is pulled at the same speed and a pair of rollers. proceed along the sealing profile 1 for connection.

By the described device, the method of connecting the flexible sealing profile 1 can be carried out as follows. With the combined gripping and connection tool 13, the sealing profile is removed from the pallet receptacle during robot control. When the interrogation device that the combined gripping and attachment tool may include is not occupied, the robot moves to the next fit. The sealing profile gripped by the gripping gripper is moved to the clamping and measuring station, at which the sealing profile is pre-oriented and the end face of the sealing profile is measured for its initial position during coupling. The pair of rollers of the combined gripper and attachment tool are adjusted to their desired bending line when attached to the sealing profile.

Thereafter, the sealing profile, clamped between the pairs of rollers, is moved to the nozzle strip separating station, whereupon at least an initial portion of the strip is released and removed from the sealing profile unless the entire strip is removed.

• · · · · · ·

Then, with the adhesive sealing profile, the gripping and attachment tool, in which it is still clamped, is driven by the robot to the attachment position, which is defined by the initial position or the corresponding edge of the sheet to be fed. In this initial position, the sealing profile is pre-fixed by the clamp gripper, whereupon the sealing profile is guided by the combined gripper and attachment tool along the edge of the body when pressed by the first pair of rollers and the second pair of rollers. If the protective strip is not completely pulled away from the sealing profile before this connection step, further pulling by the drive wheel drive unit and the clamping wheel on the combined gripping and connection tool together with the connection step synchronized with the robot speed takes place.

After the sealing profile has been fully connected, the robot can drive back to prepare the next sealing profile and trigger the release of the assembly table on which the planks are placed for further clocking.

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Claims (12)

• 0 · 0 PATENT CLAIMS Device for attaching a strip-like flexible profile, in particular a sealing profile (1), next to a particularly curved body edge (20), characterized in that a multi-axis robot is connected to a combined gripping and connecting tool (13) and the attachment tool (13) comprises a clamping gripper (17), at least partially adapted to the profile contour, which grips the profile and temporarily presses it against the body for initiating the attachment process, as well as a pair of rollers (14, 15, 16) at least partially adapted to the profile contour , which are positioned to guide the profile substantially along the desired bending line to the body and of which one (16) and preferably two (15, 16) attach the profile to the body. Device according to claim 1, characterized in that for processing a profile which is unilaterally provided with a narrower adhesive strip (10) covered by a protective strip (31), the profile is capable of being driven into the separation station by means of a combined gripping and connecting tool (13). a protective tape carrying a compressed air nozzle arrangement (29, 30) which is orientable to the protective tape (31) of the adhesive tape (10) as well as a protective tape withdrawal mechanism (32, 33) suitable for retracting the protective tape a tape (31) on the face separated from the adhesive tape (10), further away from the adhesive tape. -193. Apparatus according to claim 2, characterized in that the strip strip separating station comprises essentially only a pressurized air jet arrangement (29, 30), wherein the stripping mechanism of the strip (32, 33) is connected to the gripping and connecting tool (13) into a units. Apparatus according to claim 3, characterized in that the compressed air nozzle arrangement (29, 30) comprises a first nozzle (29) which is oriented towards the end face of the profile with an adhesive strip (10) and a protective strip (31) as well as a second nozzle. (30), which is suitable for inflating the protective strip (31) separate from the profile onto the driven drive wheel (32) of the protective tape twisting mechanism, the protective tape twisting mechanism further comprising a clamping wheel (33) movable to the driven a drive wheel (32) when gripping the protective strip (31) to be separated. Device according to claim 3 or 4, characterized in that the assembly unit comprising the driven drive wheel (32) and the clamping wheel (33) is mounted on the gripping and connecting tool (13) to be pivoted away from the connecting area. Device according to any one of claims 2 to 5, characterized in that a suction hose (24) is mounted on the roll-off mechanism (32, 33) in such a way that it takes over the roll-off protective band (31). Device according to any one of claims 2 to 6, characterized in that the gripping and connecting tool (13) comprises: - a first pair of rollers (14), a second pair of rollers (15) and a third pair of rollers (16) are disposed, the first pair of rollers (14) guiding the profile being movable in the Z direction in the attachment position at a distance above the housing the second pair of rollers (15), the leading edge to the body edge, has a more narrowly shaped circumferential geometry than the first pair of rollers and is preset to a predetermined bias to the body edge (20), the third pair of rollers (16) is adjustable in the Z direction to press the section (9) of the sealing profile (1) containing the adhesive tape (10) against the body, and wherein the gripper (17) is also adjustable in the Z direction to push the profile with its section (9) ) comprising an adhesive tape (10) to the body. Device according to claim 7, characterized in that each of the roller pairs (14, 15, 16) is adjustable independently in the X direction transversely to the adjacent body edge and is pivotable by angle α and the gripper (17) is pivotable by angle β. Apparatus according to any one of claims 1 to 8, characterized in that the gripping and connecting tool (13), while being guided by the robot, is adjustable to a combined clamping and measuring station in which the pairs of rollers (14, 15, 16) are lockable around the clamped profile. to the desired bending line, and in which the initial position of the profile is detectable in the Y direction by the sensor for subsequent locally defined fit to the body. -2110. Device according to any one of claims 1 to 8, characterized in that the entire gripping and connection tool is adjustable and prestressable in several directions, whereby the tolerances of the body and / or the profile are automatically compensable. Device according to claim 9, characterized in that it comprises a guide for the gripping and connecting tool (13) such that the gripping gripper (17) grips the profile in the bearing (7) in a defined position, leads it to the combined gripping and measuring station. after clamping in three pairs of rollers (14, 15, 16) according to the desired bending line and after measuring the initial position, to the protective strip separating station where the protective strip (31) is separated from the adhesive strip (10) and separated from the profile then the start of the profile with the loose adhesive strip (10) leads to the initial position on the body and presses it there, whereupon the gripping and connecting tool (13) tilts after opening the gripper (17) to introduce the second pair of rollers (15) and a third pair of rollers (16) into the engagement engagement on the profile, whereupon the gripping and attachment tool (13) with the pairs of rollers (14, 15, 16) closed around the The filament extends along the body edge (20) to the end position of the profile, and from there with the third pair of rollers (16) back to the initial position of the profile, in order to fully press the initial region of the profile. Method for attaching a strip-like flexible profile, in particular a sealing profile, with an adhesive tape (10) to One side adjacent to a particularly curved edge (20) of the body, the adhesive strip (10) being covered by a protective tape, the method comprising the steps of clamping at least the initial the profile region according to the desired bending line and measuring the initial position of the profile, separating the protective strip (31) from the adhesive strip (10) of the clamped profile, guiding the clamped profile to the starting position near the body and starting from the initial position, the profile is pressed continuously against the body along its edge (20) up to the end position, whereupon the profile is also pressed in the initial region at the initial position on the body. Method according to claim 12, characterized in that the protective strip (31) is completely removed from the profile before guiding the clamped profile to the initial position on the body. Method according to claim 12, characterized in that the protective strip (31) is removed only in the initial section of the profile before guiding the clamped profile to the initial position on the body and thereafter it is further contracted, starting from the initial section, during continuous connecting of the profile to the body along this edge to the end position. OBRA