Peeling and sticking device and peeling and sticking system

Abstract

The present application provides a kind of peeling and sticking device, which moves label from the sheet to which more than one label is attached, the peeling and sticking device has: base portion;Suction portion, configured to base portion, suction part of label;Grip portion, configured to base portion in the direction that can be moved relative to suction portion approach and separate, and can be moved in the up and down direction that is lifted, and the end of label is gripped by grip portion;And drive portion, drive grip portion in the direction that can be moved relative to suction portion approach and separate.

Description

Technical Field

[0001] This specification discloses a peeling and bonding device and a peeling and bonding system. Background Technology

[0002] Conventionally, as a label-adhesive device, for example, a device has been proposed that uses a first hand and a second hand to peel the label off the backing paper and moves the held label toward a shooting position so that the shape of the label in the captured image matches the ideal label shape, thereby eliminating label deformation (e.g., Patent Document 1). In this device, a flexible label can be peeled off the backing paper by a robotic arm and adhered to the desired adhesive position.

[0003] Existing technical documents

[0004] Patent Document 1: Japanese Patent Application Publication No. 2018-15846 Summary of the Invention

[0005] The problem that the invention aims to solve

[0006] However, in the aforementioned label-adhesive device, the first and second hands need to be controlled separately, and the position control requires manual labor for the label peeling, moving, and pasting processes. Therefore, a device is needed that can more reliably peel, move, and paste labels onto sheets.

[0007] This disclosure was made in view of such a problem, and its main purpose is to provide a peeling and adhesive device and peeling and adhesive system that can more reliably remove the label from the adhered sheet.

[0008] Technical solutions for solving the problem

[0009] The lifting device disclosed in this specification employs the following means to achieve the aforementioned main objectives.

[0010] The peeling and adhesive device disclosed herein moves the adhesive label from a sheet to which one or more labels are attached.

[0011] The above-mentioned peeling and pasting device includes:

[0012] Base section;

[0013] An adsorption part is disposed on the base portion and adsorbs a portion of the label.

[0014] The gripping part is disposed on the base portion in a manner that allows it to move in a direction relative to the adsorption portion and to separate from it, and is also movable in a vertical direction for lifting and lowering, gripping the end of the label; and

[0015] The driving unit drives the holding unit in the direction of approaching and separating from the adsorption unit.

[0016] In this peel-and-stick device, an adsorption part and a holding part are arranged in the base portion. The positional relationship between the adsorption part and the holding part can be uniquely determined, allowing the label to be peeled, moved, and stuck while adsorbing a portion of the label and holding its end. Therefore, in this peel-and-stick device, the label can be moved from the adhered sheet more reliably. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating an example of a peel-off adhesive system 10.

[0018] Figure 2 This is a perspective view of the lifting device 20 and the peeling and pasting mechanism 41.

[0019] Figure 3 This is a side view of the lifting device 20 and the peeling and pasting mechanism 41.

[0020] Figure 4 It is the explanatory diagram at the top 26.

[0021] Figure 5 This is a three-dimensional view of the peeling and pasting mechanism 41.

[0022] Figure 6 This is a block diagram showing the electrical connections of the peel-off adhesive system 10.

[0023] Figure 7 This is a flowchart representing an example of a top-down processing routine.

[0024] Figure 8 This is a flowchart illustrating an example of a peel-and-paste processing routine.

[0025] Figure 9 This is an illustration of a series of processes that involve pressing the front end 13 of the label 12 against the top.

[0026] Figure 10 This is an illustration of a series of processes involved in peeling off label 12.

[0027] Figure 11 This is an illustration of a series of processes involved in pasting the label 12 onto the object 15.

[0028] Figure 12 This is an illustrative diagram showing an example of another lifting device 20B. Detailed Implementation

[0029] Hereinafter, this embodiment will be described with reference to the accompanying drawings. Figure 1 This is a schematic diagram illustrating an example of a peel-off adhesive system 10. Figure 2 This is a perspective view of the lifting device 20 and the peeling and pasting mechanism 41. Figure 3 This is a side view of the lifting device 20 and the peeling and pasting mechanism 41. Figure 4 It is the explanatory diagram at the top 26. Figure 5 This is a three-dimensional view of the peeling and pasting mechanism 41. Figure 6 This is a block diagram showing the electrical connections of the peel-off adhesive system 10. The peel-off adhesive system 10 is, for example, a system that performs the following process: peeling off and moving one or more labels 12 attached to the sheet 11 piece by piece, and then adhering them to the object to be adhered to. The peel-off adhesive system 10 includes: a lifting device 20, a peel-off adhesive device 40, and a control PC 60. Furthermore, in this embodiment, the left-right direction (X-axis), the front-back direction (Y-axis), and the up-down direction (Z-axis) are as follows... Figures 1-5 As shown. For convenience, the side with the top label 12 is designated as "front", and the side with the label 12 affixed to the sheet 11 is designated as "back". This will be explained using the front-back direction.

[0030] The label 12 may also contain information related to the object to which it is pasted. This information may include, for example, identification information, the price of the object, and its specifications. Furthermore, the information on the label 12 may be text, symbols, graphics, or barcodes and QR codes. The object to be pasted 15 is any object to which the label 12 is pasted; there are no particular limitations. Examples include industrial products such as machinery, devices, units of devices, and components, as well as everyday consumer goods, food, and fresh produce. Figure 1 As an example of the object to be pasted 15, a mounting device for mounting components to a substrate is shown, and a feeder with a strip holding the component is installed.

[0031] The lifting device 20 is a device that lifts up a label 12 from a sheet 11 with one or more labels 12 attached, causing its end to peel off. For example... Figures 1-4 As shown, the lifting device 20 includes: a mounting portion 21, an upper top portion 26, and a lifting portion 28. The mounting portion 21 is a plate-shaped component for mounting the sheet 11, having a mounting surface 22 and an opening 23. The mounting surface 22 is the upper surface of the mounting portion 21, and is a rectangular surface for mounting the sheet 11. The opening 23 extends from the mounting surface 22, which is the upper surface of the mounting portion 21, to the lower surface side, and is a space for inserting the upper top portion 26. The opening 23 is formed by a rectangular surface that allows the cuboid-shaped upper top portion 26 to be inserted. Figure 3 As shown, an inlet surface 25 is formed on the opening edge 24 on the lower surface side of the opening 23 to guide the upper top 26 into the interior space of the opening 23. The inlet surface 25 is formed as a cone-shaped surface whose opening area decreases as it moves from the lower surface to the upper surface side. The upper top 26 is guided by the inlet surface 25 and moves toward the inside of the opening 23, thereby being positioned.

[0032] like Figure 4 As shown, the upper top 26 is a component that peels off the front end 13 of the label 12 by pressing it against the label. This upper top 26 peels the front end 13 from the sheet 11 while the side of the label 12 other than the front end 13 is adhered to the sheet 11. Figure 1 , Figure 2 As shown, an upper top 26 is arranged on the lower surface side of each of the plurality of labels 12. The upper top 26 has: a first component 31 that pushes the label 12 upwards from the lower surface side; and a second component 32. The first component 31 is a component disposed in front of the upper surface of the upper top 26, formed at a predetermined height H1, and pushes the front end of the label 12 upwards from below. The second component 32 is a component disposed behind the upper surface of the upper top 26, having a height H2 lower than the height H1 of the first component 31, located at a position closer to the center of the front end of the label, and pushes the label 12 upwards from below. The first component 31 and the second component 32 penetrate the sheet 11 and push the label 12 upwards from the lower surface side. The first component 31 consists of two first pins that push the corner of the front end 13 of the label 12 upwards from below, and the second component 32 consists of two second pins that push the label 12 at a position closer to the center of the front end 13. Furthermore, "corner" refers to an area including the corner of the front end 13 (e.g., a few millimeters square). A first component 31 and a second component 32 are arranged at the top 26 at a height such that the label is tilted in a straight line with one end of the label 12 as the starting point and the other end of the label 12 in a higher position. Alternatively, the top 26 may have the first component 31 and the second component 32 arranged at a lower height and position such that when the top 26 rises, the second component 32 pushes the label 12 upward from the lower surface side when the front end 13 of the label 12 detaches from the first component 31. In this top 26, since the front end 13 is pushed upward while one end is attached to the sheet 11, the front end 13 rises in an arc-shaped manner. Therefore, as the first component 31 rises, when it exceeds a certain height, the front end of the first component 31 detaches from the front end 13. With such a first component 31, since excessive force is not continuously applied to the front end 13 of the label 12, damage can be further suppressed. Additionally, a tapered surface 33 is formed at the upper end of the upper top 26, with the area of ​​the upper surface decreasing as it approaches the top. The tapered surface 33 is the surface that contacts the opening edge 24 of the opening 23. As the upper top 26 rises, the tapered surface 33 contacts the guide surface 25, thereby being guided into the opening 23 and positioned therein.

[0033] The lifting part 28 moves the upper top 26 up and down between the standby position on the lower surface side of the mounting part 21 and the upper top position of the front end 13 of the upper top label 12. The lifting part 28 can also be a cylinder. Since the cylinder has room for movement in all directions when it rises, even if there is a dimensional deviation between the fixed position of the lifting part 28 and the configuration position of the opening 23, the upper top 26 can still be inserted into the opening 23.

[0034] The peeling and pasting device 40 is a device that peels off labels 12 from a sheet 11 with one or more labels 12 attached, and then pastes them onto a target 15 after movement. This peeling and pasting device 40 includes a peeling and pasting mechanism 41 and a robotic arm 54. The peeling and pasting mechanism 41 is the main part of the peeling and pasting device 40 that moves the labels 12, and is configured as an end effector mounted on the front end of the robotic arm 54 in a detachable state. The peeling and pasting mechanism 41 includes: a base portion 42, an adsorption portion 43, a gripping portion 46, a drive portion 48, a fixing portion 50, and a mounting portion 52.

[0035] The base portion 42 is the base for each structure of the peel-off and adhesive mechanism 41. An adsorption portion 43 is disposed on the lower surface of the base portion 42, a holding portion 46 is supported at the front via a drive portion 48, a fixing portion 50 is fixed below the adsorption portion 43 via a support bar, and a mounting portion 52 connected to the robot arm 54 is disposed on the upper surface. Furthermore, a pressure applying device (not shown) is connected to the base portion 42, supplying negative or positive pressure to the base portion 42. The base portion 42 can move freely in the vertical, horizontal, and forward / backward directions via the robot arm 54.

[0036] An adsorption unit 43 is disposed on the lower surface of the base portion 42 for adsorbing a portion of the label 12. The adsorption unit 43 includes a suction nozzle 44 and an adsorption tube 45. The suction nozzle 44 is a component that abuts against the label 12 to apply negative pressure, and is formed into a circular suction cup shape from rubber or resin. The suction nozzle 44 also serves as a pressing component for pressing the label 12 from above after it is placed on the object to be adhered to 15. The adsorption tube 45 is built into the base portion 42 and extends from the inside of the base portion 42 to the outside when the suction nozzle 44 descends. Negative or positive pressure is supplied to the adsorption tube 45 from the pressure application device via the base portion 42. The adsorption unit 43 is disposed on the base portion 42 in a manner that allows it to rise and fall between a standby position and an adsorption position, descending to the adsorption position when adsorbing the label 12 and rising to the standby position when releasing adsorption.

[0037] The gripping part 46 grips the front end 13 of the label 12 when it is being pushed up by the top 26, and has a pair of opposing gripping claws 47. The gripping part 46 is arranged on the base part 12 in a manner that allows it to move in a forward / backward direction relative to the adsorption part 43. Furthermore, the gripping part 46 can move vertically along with the base part 42 as it moves vertically. Figure 5 As shown, the gripping part 46 is arranged obliquely downwards towards the front end 13 of the label 12 in a state of being pushed up from the sheet 11. A pair of gripping claws 47 have a width that allows them to be inserted between the two first members 31. The gripping claws 47 enter between the first members 31 and grip the front end 13 pushed up from the first members 31. The gripping part 46 is driven by an air actuator or electromagnetic actuator (not shown) to a gripping state in which the front end of the gripping claws 47 is closed and a gripping release state in which the front end of the gripping claws is open. The gripping part 46 grips the front end 13 of the label 12 in a curved state in which the shape of the label 12 is S-shaped when viewed from the side (see reference). Figure 1 wait).

[0038] The drive unit 48 moves the support member 49 in a direction that brings the gripping part 46 closer to and separates it from the adsorption part 43. The drive unit 48 has a cylinder that is driven by pressure supplied from the base part 42. The support member 49 is a member that is connected to the drive unit 48 in a back-and-forth direction and supports the gripping part 46 below it.

[0039] The fixing part 50 is a component that fixes the sheet 11 to the mounting part 21 on which the sheet 11 is mounted. For example... Figure 5 As shown, the fixing part 50 is a C-shaped plate-like component with an opening at the front, and its lower surface is a pressing surface that contacts the mounting surface 22 for pressing. From the front to the center of the fixing part 50, there is a working space 51 for the adsorption part 43 to pass through in the vertical direction and for the holding part 46 to enter rearward. The working space 51 is the space for peeling the label 12 from the sheet 11 while the fixing part 50 fixes the sheet 11. The label 12 moves upward together with the holding part 46 and the adsorption part 43 through the working space 51.

[0040] Mounting part 52 is a portion disposed on the upper surface of base part 42, which is capable of being mounted and detached relative to robot arm 54. Mounting part 52 has a locking mechanism that locks the peeling and pasting mechanism 41 when it is mounted on robot arm 54. The locking mechanism is released when the operator removes the peeling and pasting mechanism 41 from robot arm 54.

[0041] like Figure 1As shown, the robotic arm 54 is equipped with a peeling and pasting mechanism 41 at its front end, which allows the label 12 to be peeled off from the sheet 11 and moved, and then pasted onto the object 15. The peeling and pasting mechanism 41 can move in the front-back, left-right, and up-down directions. The robotic arm 54 has multiple arms 55 that rotate around a rotation axis, a drive motor 56 that drives the rotation axis connected to the drive arms 55 to rotate them, and a base 57 that supports the configuration of the arms 55.

[0042] The control PC 60 controls the various devices of the peel-off adhesive system 10. The control PC 60 includes: a lifting control unit 61, a processing control unit 62, a storage unit 63, a communication unit 64, a display unit 65, and an operating device 66. The lifting control unit 61 is configured as a CPU-centric microprocessor, controlling the entire lifting device 20. The lifting control unit 61 outputs control signals to the lifting unit 28 in a manner that the upper top 26 located on the lower surface side of the label 12 to be peeled off is lifted and then lowered. The processing control unit 62 is also configured as a CPU-centric microprocessor, controlling the entire peel-off adhesive device 40. The processing control unit 62 outputs drive signals to the adsorption unit 43, the gripping unit 46, the drive unit 48, and the robotic arm 54. The storage unit 63 is a large-capacity storage medium such as flash memory, storing programs controlling the peel-off adhesive system 10, information about the label 12, and the adhesive object 15. The communication unit 64 is an interface for exchanging information with external devices such as the lifting device 20 and the peel-off adhesive device 40. Each device in the peel-off adhesive system 10 exchanges information with the control PC 60 via the communication unit 64. The display unit 65 is a display screen for showing information to the operator. The operating device 66 includes a keyboard, mouse, etc., for the operator to perform various inputs. In the peel-off adhesive system 10, the control of the lifting device 20 and the peel-off adhesive device 40 is described using a single control PC 60. However, it is also possible to install separate control devices for the lifting device 20 and the peel-off adhesive device 40, or to have three or more control devices share the control processing.

[0043] Next, the peeling and pasting process of the label 12 performed on the peeling and pasting system 10 thus configured will be described. Figure 7 This is a flowchart illustrating an example of a lifting processing routine executed by the CPU of the lifting control unit 61 and operated by the lifting device 20. Figure 8 This is a flowchart illustrating an example of a peel-and-stick process routine executed by the CPU of the processing control unit 62 and operated by the peel-and-stick device 40. Figure 9 This diagram illustrates a series of processes involving the front end 13 of the sticker 12 being lifted by the lifting device 20 and held by the peeling and sticking device 40. Figure 9 (A) is a diagram of the fixed sheet 11. Figure 9 (B) is a diagram showing the top position of the top label 12 (top 26). Figure 9(C) is a diagram showing that the gripping part 46 has completed the gripping preparation. Figure 9 (D) is a diagram of the label 12 being held by the holding part 46. Figure 10 This is an explanatory diagram illustrating a series of processes by which the peeling and pasting device 40 peels off the label 12. Figure 10 (A) is a diagram that makes the curve of label 12 bend. Figure 10 (B) is a diagram showing how the adsorption section 43 adsorbs a portion of the label 12. Figure 10 (C) is a diagram showing the peeling of the label 12 from the sheet 11. Figure 11 This is an explanatory diagram illustrating a series of processes by which the peeling and pasting device 40 pastes the label 12 onto the object 15. Figure 11 (A) is a diagram showing a portion of the label 12 being pasted onto the object 15. Figure 11 (B) is the diagram after desorption. Figure 11 (C) is a diagram showing the curve bending of the unsealed label 12. Figure 11 (D) is a diagram showing the release of the control over label 12. Figure 11 (E) is an illustration of the first press procedure. Figure 11 (F) is an illustration of the second pressing process.

[0044] First, the lifting process of the labeling 12 performed by the lifting device 20 will be explained. Figure 7 The lifting process routine is stored in the storage unit 63 and is executed after the operator inputs the execution command for the label 12 pasting process. When the routine starts, the CPU of the lifting control unit 61 first determines whether it is the right time to peel off the label 12 (S100). The CPU determines that it is the right time to peel off, for example, when the preparation of the peeling and pasting device 40 is completed or when the peeling and pasting device 40 is able to peel off a new label 12. When it is determined in S100 that it is the right time to peel off the label 12, the CPU obtains the position of the label 12 to be peeled off based on the information stored in the storage unit 63 (S110) and determines whether the sheet 11 is fixed by the fixing unit 50 (S120). The CPU can, for example, obtain the position information of the peeling and pasting mechanism 41 from the peeling and pasting device 40 and perform this determination. When the fixing unit 50 does not fix the sheet 11, the CPU remains in standby mode. On the other hand, when the fixing unit 50 fixes the sheet 11 ( Figure 9 (A)), the CPU performs the process of raising the corresponding upper top 26 and the front end 13 of the upper label 12 (S130, Figure 9 (B) Regarding conditions such as the rising speed of the top 26, for example, the time required for the top processing of the label 12 or the conditions for preventing damage to the label 12 can be calculated based on experience using the label 12 in advance, and an optimal range can be adopted. Similarly, the operator calculates the height, position, number of the first component 31 and the second component 32 of the top 26 based on experience, and uses the top 26 with the calculated conditions.

[0045] Here, the upper top 26 is first placed on the front end 13 of the label 12 via the first component 31 formed at a height H1 (see reference). Figure 4 As the top 26 rises, the front end 13 of the label 12 rises with its opposite end adhered to the sheet 11, thus the front end 13 rises while tracing an arc and deviating in the direction of separation from the first component 31. When the top 26 rises to a predetermined height, the front end 13 detaches from the first component 31, and then the second component 32, at a height H2, further pushes the label 12 upward from the central side supporting it from below. In this way, due to the change in the upward position, damage to the label 12 can be further suppressed in the lifting device 20, and the front end 13 of one side of the label 12 can be pushed upward in a posture that is easy to be held by the holding part 46.

[0046] When the top 26 presses against the front end 13 of the label 12, the CPU determines whether the holding part 46 of the peeling and pasting device 40 is holding the end of the label 12 based on signals from the peeling and pasting device 40 (S140). When the front end 13 is not held by the holding part 46, the CPU keeps the top 26 in a standby position after it has risen. Figure 9 (C)). On the other hand, when the front end 13 of the label 12 is held by the holding part 46 in S140, the CPU lowers the upper top 26 and moves towards the standby position (S150). Figure 9 (D)). After S150 or when it is not the time to peel off the label 12 in S100, the CPU determines whether the peeling and pasting process of all labels 12 is completed (S160). If there are labels 12 that have not yet been peeled and pasted, the process after S100 is repeated. On the other hand, when the peeling and pasting process of all labels 12 is completed in S160, the CPU ends the routine. In this way, the lifting device 20 raises and lowers the upper top 26 to assist in the peeling off of the label 12.

[0047] Next, the peeling, moving, and pasting processes of the label 12 performed by the peeling and pasting device 40 will be explained. Figure 8The lifting process routine is stored in the storage unit 63 and is executed after the operator inputs the execution command for the label 12 pasting process. When the routine starts, the CPU of the processing control unit 62 first determines whether it is the right time to peel off the label 12 (S200). The CPU determines that it is the right time to peel off, for example, when the preparation on the lifting device 20 side is completed and the lifting device 20 can lift the new label 12. When it is determined in S200 that it is the right time to peel off the label 12, the CPU obtains the position of the label 12 to be peeled off based on the information stored in the storage unit 63 (S210), and uses the robot arm 54 to move the peeling and pasting mechanism 41 to the upper part of the label to be peeled off (S220). Then, the CPU lowers the base part 42 and fixes the sheet 11 by the fixing part 50 (S230). Figure 9 (A)). Next, the CPU determines whether the label 12's front end 13 is pressed onto the upper top 26 based on the signal from the lifting device 20 (S240). If the label 12 is not pressed onto the upper top 26, the CPU remains in standby mode. On the other hand, if the label 12 is pressed onto the upper top 26, the CPU moves the holding part 46 closer to the suction part 43 (S240). Figure 9 (C)), so that the holding part 46 holds the front end 13 of the label 12 (S250, Figure 9 (D)).

[0048] Next, the CPU moves the base 42 upward and backward via the robotic arm 54, so that the label 12 bends in an S-shape when viewed from the side (S260, Figure 10 (A)). At this time, the robot arm 54 preferably moves the base part 42 in such a way that the area where the adsorption part 43 can adsorb and the label 12 is pasted on the sheet 11 is minimized. If the area where the label 12 is pasted on the sheet 11 is larger, it may be difficult to peel off the label 12 using the adsorption force of the adsorption part 43. The smaller the pasting area, the more reliably the label 12 can be peeled off, which is preferred. In addition, at this time, the adsorption part 43 is located above the end of the label 12 pasted on the sheet 11. Next, the CPU lowers the adsorption part 43 to the adsorption position and adsorbs the end of the label 12 pasted on one side of the sheet 11 (S270, Figure 10 (B)). Then, the CPU raises the base 42 via the robotic arm 54, causing the label 12 to peel off from the sheet 11 (S280). Figure 10 (C)). At this point, from the viewpoint of more reliably peeling off the label 12, the CPU preferably moves the base 42 upward and backward.

[0049] Next, the CPU of the processing control unit 62 moves the peeling and pasting mechanism 41 upward toward the object to be pasted 15 via the robot arm 54 (S290), and lowers the base part 42, so that a portion of the label 12 adsorbed by the adsorption part 43 is pasted onto the object to be pasted 15 (S300). Figure 11 (A)). Next, the CPU releases the adsorption unit 43, causing the adsorption unit 43 to rise to the standby position (S310, Figure 11 (B)). In S300, a portion of the label 12 is fixed to the object 15, so even in this state, the label 12 is stable on the object 15. Next, the CPU moves the base portion 42 forward and downward via the robot arm 54 to release the S-shaped curve bend of the label 12 (S320). Figure 11 (C)). Next, the CPU releases the gripping part 46 from the front end 13, causing the gripping part 46 to retract in the direction of separation from the adsorption part 43 (330, Figure 11 (D)). When the front end 13 is released from the holding state, the label 12 is released from the bent state and descends sequentially from the pasted portion to the front end 13 side, adhering to the object 15 in a manner that minimizes wrinkles. Then, the CPU performs a pressing process (S340) at least once, pressing the nozzle 44, which acts as a pressing member, onto the label 12. Here, the CPU performs the pressing process at both the center of the label 12 and the front end 13 side that is being held. Figure 11 (E), (F)). In this way, the peeling and pasting device 40 can peel the label 12 from the sheet 11 and paste it onto the object 15 in an aesthetically pleasing state without wrinkles.

[0050] Here, the correspondence between the constituent elements of this embodiment and the constituent elements of this disclosure is clarified. In this embodiment, the base portion 42 corresponds to the base portion of this disclosure; the adsorption portion 43 corresponds to the adsorption portion; the gripping portion 46 corresponds to the gripping portion; the driving portion 48 corresponds to the driving portion; the processing control portion 62 corresponds to the processing control portion; the robot arm 54 corresponds to the robot arm; the mounting portion 52 corresponds to the mounting portion; the suction nozzle 44 corresponds to the pressing component; and the fixing portion 50 corresponds to the fixing portion. Furthermore, the upper top 26 corresponds to the upper top; the placement portion 21 corresponds to the placement portion; the first component 31 corresponds to the first component and the first pin; the second component 32 corresponds to the second component and the second pin; the lifting portion 28 corresponds to the lifting portion; and the lifting control portion 61 corresponds to the lifting control portion.

[0051] In the peel-and-stick device 40 of this embodiment described above, an adsorption part 43 and a holding part 46 are arranged in the base part 42. The positional relationship between the adsorption part 43 and the holding part 46 can be uniquely determined, and the label 12 can be peeled, moved, and stuck while adsorbing a part of the label 12 and holding the front end 13 of the label. Therefore, in this peel-and-stick device 40, the label 12 can be moved more reliably from the sheet 11 to which it is stuck. In addition, the holding part 46 is arranged obliquely downward toward the end of the label 12 when it is being pushed up from the sheet 11, and holds the end of the label. In this peel-and-stick device 40, the holding part 46 can easily support the end of the label 12 by moving along the direction of approaching and separating relative to the adsorption part 43. Furthermore, the holding part 46 holds the end of the label 12 in such a way that the shape of the label 12 viewed from the side is S-shaped. In this peeling and pasting device 40, the label 12 can be easily peeled off from the sheet 11. In addition, it can further suppress the occurrence of wrinkles and the like, and can paste the label 12 onto the object 15 more aesthetically.

[0052] Furthermore, the peeling and adhesive removal device 40 includes a processing control unit 62 that controls the adsorption unit 43, the gripping unit 46, the drive unit 48, and the robotic arm 54, thus enabling the automatic movement of the label 12 to be peeled off via the processing control unit 62. Additionally, the base unit 42 is equipped with a mounting unit 52 for mounting the robotic arm 54, which moves vertically, horizontally, and forward / backward, and also laterally. In this peeling and adhesive removal device 40, the robotic arm 54, together with the base unit 42, can move vertically. Furthermore, in addition to the movement of the gripping unit 46 based on the drive unit 48, the robotic arm 54, together with the base unit 42, can also move forward / backward in this device 40. Furthermore, the processing control unit 62 uses the drive unit 48 to bring the holding part 46 close to the adsorption part 43, causing the holding part 46 to hold the front end 13 of the label 12 in a state of being pushed off the sheet 11. The holding part 46 is raised, causing the label 12 to bend into a curved state. Then, the adsorption part 43 adsorbs a portion of the label 12, causing the base part 42 to rise and peel the label 12 off the sheet 11. Through this series of actions, the peeling and sticking device 40 can peel off the label 12 more reliably.

[0053] Furthermore, while the processing control unit 62 is in a state where the adsorption part 43 adsorbs a portion of the label 12, the holding part 46 bends the label 12, and the front end 13 of the label 12 is held, the portion of the label 12 adsorbed on the adsorption part 43 comes into contact with the object to be pasted 15, the holding part 46 is released, the bending state of the label is released, and the label 12 is pasted onto the object to be pasted 15. Through this series of actions, the peeling adhesive device 40 can peel off the label 12 more reliably. In addition, before releasing the holding part 46, the processing control unit 62 releases the adsorption part 43 from adsorption on a portion of the label 12. When the adsorption part 43 is in the adsorption-maintained state, the movement of the base part 42 is restricted, but in this peeling adhesive device 40, the movement of the base part 42 is freed due to the release of adsorption, so the action of pasting the label 12 can be performed more freely. Furthermore, after the processing control unit 62 brings a portion of the label 12 into contact with the object to be pasted 15, it moves the holding part 46 in a manner that separates from the contact position and lowers, releasing the grip of the holding part 46, and causing the drive unit 48 to drive the holding part 46 to separate from the suction part 43. In this peeling and pasting device 40, the label 12 can be pasted onto the object to be pasted 15 more aesthetically.

[0054] Furthermore, the base portion 42 has a suction nozzle 44, which serves as a pressing member, to press the label 12 adhered to the adhesive object 15. After the holding portion 46 releases its grip, the processing control portion 62 performs the action of pressing the label adhered to the adhesive object 15 with the suction nozzle 44 at least once. In this peeling adhesive device 40, pressing the upper surface of the label 12 further improves the adhesion of the label 12. In addition, since the suction nozzle 44 of the adsorption portion 43 also serves as both an adsorption and pressing member for the label 12, the structure can be further simplified. Furthermore, the adsorption portion 43 is arranged in the base portion 42 in a manner that allows it to move up and down between a standby position and an adsorption position. When adsorbing a portion of the label 12, it moves towards the adsorption position, and when releasing the adsorption, it moves towards the standby position. In this peeling adhesive device, since the adsorption portion retracts, the base portion 42 can move more freely. Furthermore, the base portion 42 is provided with a fixing portion 50, which has a working space 51 that includes the adsorption portion 43 and the holding portion 46, and fixes the sheet 11 to the placement portion 21 on which the sheet 11 is placed. The processing control portion 62 peels the label 12 off the sheet 11 while the sheet 11 is fixed to the fixing portion 50. In this peeling and pasting device 40, by fixing the sheet 11, the peeling of the label 12 can be performed more reliably.

[0055] Furthermore, the peel-off adhesive system 10 is a peel-off adhesive system that peels off labels from sheets with one or more labels attached, and moves the labels to the object to be adhered to. The peel-off adhesive system 10 includes: the aforementioned peel-off adhesive device 40; and a lifting device 20, which has a top 26 disposed on the lower surface of the label 12 and lifting it upwards, peeling the label 12 off the sheet 11 with one or more labels attached, and a holding portion 46 holding the end of the label 12 lifted by the lifting device 20 to peel it off. Because this peel-off adhesive system includes the aforementioned peel-off adhesive device 40, the labels 12 can be moved more reliably from the adhered sheet 11. Furthermore, in the peeling and pasting system 10, the lifting device 20 includes: a mounting portion 21 for mounting a sheet 11; an upper top 26 having a first component 31 disposed on the lower surface side of the label 12 mounted on the mounting portion 21 and lifting the front end portion 13 of the label 12 from below, and a second component 32 having a height H2 lower than the first component 31 and located at a position closer to the center side than the front end portion 13 of the label 12, the upper top 26 lifting the label 12 while the side of the label 12 different from the front end portion 13 is pasted on the sheet 11, thereby peeling the front end portion 13 from the sheet 11; a lifting portion 28 for moving the upper top 26 up and down; and a lifting control portion 61 for controlling the lifting portion 28 to lift and then lower the upper top 26 located on the lower surface side of the label 12 to be peeled. In this lifting device 20, one end of the label 12 is adhered to the sheet 11, the label 12 is in a stable position, and the other end of the label 12 is lifted upwards, making it easy to hold the lifted end of the label 12. Therefore, in this peel-off adhesive system 10, the label 12 can be moved more reliably from the adhered sheet 11.

[0056] Furthermore, in the peel-off adhesive system 10, the lifting control unit 61 raises the upper top 26 to press against the end of the label 12. After the holding part 46 holds the end of the label 12, the upper top 26 is lowered. After the upper top 26 presses against the end of the label 12, the processing control unit 62 moves the holding part 46 toward the end of the label 12, so that the holding part 46 holds the end. In this peel-off adhesive system 10, the end of the label can be held more reliably. Alternatively, in the peel-off adhesive system 10, the base part 42 may be provided with a fixing part having a working space 51 that includes the adsorption part 43 and the holding part 46. The sheet 11 is fixed at the mounting part of the mounting sheet 11. After the sheet is fixed at the fixing part, the lifting control unit raises the upper top to press against the end of the label. In this peel-off adhesive system, the end of the label can be peeled off more reliably.

[0057] Furthermore, the storage device and printing system disclosed herein are not limited to any of the above-described embodiments. They can be implemented in various ways as long as they fall within the technical scope of this disclosure, which goes without saying.

[0058] For example, in the above embodiment, the gripping part 46 is arranged obliquely downwards towards the end of the label 12 when it is being pushed up from the sheet 11. However, this is not particularly limited; as long as the front end 13 of the label 12 can be gripped, its direction is not particularly limited. Furthermore, if the gripping part 46 is arranged obliquely downwards, it is preferable that the gripping claw 47 can be aligned with the upper and lower surfaces of the front end 13 of the label 12 simply by moving it in the back-and-forth direction.

[0059] In the above embodiment, the gripping part 46 and the adsorption part 43 cooperate to grip the front end 13 of the label 12 in an S-shape when viewed from the side. However, this is not particularly limited to this; it is acceptable to grip it in a curved shape. Furthermore, if the gripping part 46 is gripped in an S-shape, when pasting it onto the object 15, it will be pasted sequentially onto the upper surface of the object 15 starting from the part that abuts against the adsorption part 43 and is partially pasted. Therefore, this is better from the viewpoint of more aesthetically pleasing pasting.

[0060] In the above embodiment, the peel-off adhesive device 40 moves the base portion 42 freely via the robotic arm 54, but it is not particularly limited to this. For example, it could also be an XY robot equipped with a head for mounting the peel-off adhesive mechanism 41 and multiple sliders. In this peel-off adhesive device, the base portion 42 can be moved by the XY robot.

[0061] In the above embodiment, after the processing control unit 62 bends the label 12 in a curved manner during the peeling process, the adsorption unit 43 adsorbs a portion of the label. Figure 10 (B)), but is not particularly limited thereto; the adsorption portion 43 may also adsorb a portion of the label before the label 12 is curved. In this peel-off adhesive device 40, the partial adhesion of the label 12 can be further ensured. In addition, from the viewpoint of the degree of freedom of movement of the base portion 42, it is preferable to adsorb a portion of the label 12 after the label 12 has been curved.

[0062] In the above embodiment, when the processing control unit 62 applies the label 12 to the object to be applied 15, it immediately releases the adsorption of the adsorption part 43 after applying a portion of the label 12 to the object to be applied 15 using the adsorption part 43, causing the adsorption part 43 to rise to the standby position. However, it is not particularly limited to this; the process of releasing the gripping part 46 can also be performed while maintaining the adsorption state of the adsorption part 43. In this peeling and pasting device 40, the adhesive state of the end of the label 12 can be further maintained.

[0063] In the above embodiment, when the label 12 is pasted onto the object 15, the processing control unit 62 moves the base portion 42 downward and forward, and releases the gripping portion 46 after the curved shape of the label 12 is released. However, this is not particularly limited to this, and the movement of the base portion 42 can be omitted to release the gripping portion 46. In addition, from the viewpoint of making the pasted state more aesthetically pleasing, the processing control unit 62 preferably moves the base portion 42 downward and forward.

[0064] In the above embodiment, the processing control unit 62 uses the suction nozzle 44 as a pressing member to perform the pressing process, but it is not particularly limited to this. For example, the fixing part 50 can also be used as a pressing member, or a pressing member dedicated to the pressing process can be arranged on the base part 42 and used to perform the pressing process. With this peeling and pasting device 40, the label 12 can also be pasted to the object 15 in a good condition.

[0065] In the above embodiment, the peel-off adhesive system 10 uses a lifting device 20 having an upper top 26 on which the first component 31 and the second component 32 are disposed to lift the front end 13 of the label 12. However, it is not particularly limited to having an upper top capable of lifting the front end 13 of the label 12. For example, the first component 31 and the second component 32 can be formed in the shape of pins. However, it is not particularly limited to any shape capable of lifting the label 12.

[0066] For example, in the above embodiment, the upper top 26 is provided with a first component 31 and a second component 32 with the following height: the label 12 is tilted in a straight line with one end of the label 12 as the starting point and the other end of the label 12 in a higher position. However, it is not particularly limited as long as it can reach the front end 13 of the label 12. It may not be straight or tilted.

[0067] In the above embodiment, the upper top 26 is provided with a first component 31 and a second component 32 at a height and position such that when the front end 13 of the label 12 detaches from the first component 31 during upward movement, the second component 32 pushes the label 12 upward from the lower surface side, but this is not particularly limited. For example, the front end 13 of the label 12 may not detach from the first component 31. In addition, from the viewpoint of protecting the label 12, it is preferable that the upper top 26 is used to push the label 12 upward from the lower surface side by the second component 32 when the front end 13 of the label 12 detaches from the first component 31.

[0068] In the above embodiments, the first component 31 has two first pins, but is not particularly limited to two; one or more is acceptable. Similarly, the second component 32 has two second pins, but is not particularly limited to two; one or more is acceptable.

[0069] In the above embodiment, a guide surface 25 for guiding the upper top 26 is formed on at least a portion of the opening edge 24 of the opening 23, but this can be omitted. In this case, a conical surface 33 is preferably formed on the upper top 26. Alternatively, in the above embodiment, a conical surface 33 that contacts the opening edge 24 is formed at the upper end of the upper top 26, but this can also be omitted. In this case, a guide surface 25 is preferably formed on the opening edge 24. Alternatively, either the guide surface 25 of the opening 23 or the conical surface 33 of the upper top 26 can be omitted.

[0070] In the above embodiment, the lifting device 20 has an upper top 26 (see reference) disposed on the lower surface of each label 12. Figure 1 However, it is not specifically limited to this, for example... Figure 12 As shown, it can also be a lifting device 20B that has a moving part 35 that moves the upper top 26 toward the lower surface of the label 12 to be peeled off. Figure 12 This is an explanatory diagram showing an example of another lifting device 20B. In the lifting device 20B, each column of labels 12 has an upper top 26 and a moving part 35 that moves the lifting part 28 along the column direction. The moving part 35 is a slider that fixes the lifting part 28 and slides along a predetermined moving direction. In addition, in the lifting device 20B, the left-right direction is set as the moving direction. In this lifting device 20B, by moving the upper top 26, the labels 12 to be peeled can be lifted, which can further reduce the number of upper tops 26 and lifting parts 28, thus further simplifying the structure for lifting labels. In addition, in the lifting device 20B, each column has an upper top 26 and a lifting part 28, but it is also possible to further configure a moving part that also uses the front-back direction as the moving direction to reduce the number of upper tops 26 and lifting parts 28.

[0071] Example

[0072] The following describes an example of the specific fabrication of the peel-off adhesive device 40 of this disclosure. Here, the results of a study on an example of the operating conditions of the peel-off adhesive device 40 and the adhesive state of the label 12 are presented. Furthermore, this embodiment is merely an example, and this disclosure is not limited to this embodiment in any way. It is self-evident that it can be implemented in various ways as long as it falls within the technical scope of this disclosure.

[0073] A label peeling test was conducted using the peeling and adhesive device 40. In the peeling of label 12, the pad diameter of the suction nozzle 44, peeling direction, peeling speed, adsorption position, and tear height were investigated. The label to be peeled was 12mm × 52mm in size. The success rate was 50% when the pad diameter was 8mm, which is smaller than the label width, but 90% when the diameter was 10mm. It was found that changing the amount of peeling, peeling speed, and adsorption position beforehand could improve the success rate. Peeling was possible even in an inclined direction, but vertical peeling resulted in less air leakage at the adsorption part, which was preferred. Peeling was possible at both high and low speeds. Considering the relationship between further increasing the amount of peeling beforehand and the adhesive strength of the adhesive area, the front end of the label was further preferred for adsorption position. The tear height refers to... Figure 10 The height of the holding part 46 in (A) and (B) indicates that the higher the tearing height, the greater the amount of material to be peeled off beforehand, and the higher the success rate of peeling. Regarding the peeling of label 12 (refer to...). Figure 10 (C)) It can be seen that the pad diameter, peeling direction and tearing height of the nozzle 44 are more important.

[0074] Industrial availability

[0075] This disclosure can be applied to the technical field of automatically affixing labels to articles.

[0076] Explanation of reference numerals in the attached figures

[0077] 10. Peel-off adhesive system; 11. Sheet; 12. Label; 13. Front end; 15. Adhesive object; 20, 20B. Lifting device; 21. Mounting part; 22. Mounting surface; 23. Opening; 24. Opening edge; 25. Guide surface; 26. Top; 28. Lifting part; 31. First component; 32. Second component; 33. Conical surface; 35. Moving part; 40. Peel-off adhesive device; 41. Peel-off adhesive mechanism; 42. Base part; 43. Absorbent Attachments; 44. Suction nozzle; 45. Adsorption tube; 46. Holding part; 47. Holding claw; 48. Drive unit; 49. Support component; 50. Fixing part; 51. Working space; 52. Mounting part; 54. Robot arm; 55. Arm; 56. Drive motor; 57. Base; 60. Control PC; 61. Lifting control unit; 62. Processing control unit; 63. Storage unit; 64. Communication unit; 65. Display unit; 66. Operating device; H1, H2, Height.

Claims

1. A peeling and adhesive removal device for removing adhesive labels from a sheet on which one or more labels are attached. The peeling and pasting device includes: Base section; An adsorption part is disposed on the base part to adsorb a portion of the label; A holding portion is disposed on the base portion in a manner movable relative to the adsorption portion in a direction of approach and separation, and is movable in a vertical direction for lifting and lowering, holding the end of the label when it is being pushed off the sheet; and The driving unit drives the holding unit in the direction of approaching and separating from the adsorption unit. The gripping part is arranged obliquely downwards towards the end of the label, gripping the end of the label. The gripping part holds the end of the label in such a way that the shape of the label as viewed from the side is curved. The peeling and pasting device is configured such that the holding part holds the end of the label which is being pushed off the sheet, the holding part is raised to bend the label into a curve, the adsorption part adsorbs a portion of the label before or after the label curve is bent, and the base part is raised to peel the label off the sheet.

2. The peeling and pasting device according to claim 1, wherein, The gripping part holds the end of the label in such a way that the shape of the label as viewed from the side is S-shaped.

3. The peeling and pasting device according to claim 1, wherein, The peeling and pasting device includes a processing control unit that controls the adsorption unit, the holding unit, and the driving unit.

4. The peeling and pasting device according to claim 2, wherein, The peeling and pasting device includes a processing control unit that controls the adsorption unit, the holding unit, and the driving unit.

5. The peeling and pasting device according to claim 3, wherein, The base portion is equipped with a mounting portion for mounting the robot arm. The processing control unit also controls the robotic arm. The base portion moves up and down and forward and backward via the robotic arm.

6. The peeling and pasting device according to claim 4, wherein, The base portion is equipped with a mounting portion for mounting the robot arm. The processing control unit also controls the robotic arm. The base portion moves up and down and forward and backward via the robotic arm.

7. The peeling and pasting device according to any one of claims 3 to 6, wherein, The processing control unit causes the driving unit to drive the holding unit to approach the adsorption unit, so that the holding unit holds the end of the label.

8. The peeling and pasting device according to claim 7, wherein, When the processing control unit causes the adsorption part to adsorb a portion of the label and the holding part to bend the label curve and hold the end of the label, the portion of the label adsorbed on the adsorption part comes into contact with the object to be pasted, the holding part is released and the bending state of the label is released, and the label is pasted onto the object to be pasted.

9. The peeling and pasting device according to claim 8, wherein, Before releasing the gripping part, the processing control unit causes the adsorption part to release its adsorption on a portion of the label.

10. The peeling and pasting device according to claim 8, wherein, After the processing control unit brings a portion of the label into contact with the object to be pasted, it moves the holding part in a manner that separates from the position at the time of contact and lowers it, thereby releasing the holding part and causing the driving unit to drive the holding part to separate from the adsorption part.

11. The peeling and pasting device according to claim 8, wherein, The base portion has a pressing component that presses the label being adhered to the upper surface of the object to be adhered. After releasing the gripping part, the processing control unit performs the action of pressing the upper surface of the label pasted on the object with the pressing member at least once.

12. The peeling and pasting device according to any one of claims 1 to 6, wherein, The adsorption unit is configured on the base in a manner that allows it to move up and down between a standby position and an adsorption position. When adsorbing a portion of the label, it moves toward the adsorption position, and when de-adsorbing, it moves toward the standby position.

13. The peeling and pasting device according to any one of claims 1 to 6, wherein, The base portion is provided with a fixing portion, which has a working space that includes the adsorption portion and the gripping portion, and fixes the sheet to the mounting portion on which the sheet is mounted. Peel the label off the sheet while the fixing part is fixing the sheet in place.

14. A peel-off adhesive system in which a label is lifted and peeled off from a sheet with one or more adhesive tags, the label is moved and then adhered to an object. The peel-off and adhesive system includes: The peeling and pasting device according to any one of claims 1, 2, 12 and 13; and A lifting device is provided, which is disposed on the lower surface of the label and lifts the upper top of the label, so as to peel the label off from a sheet with one or more labels attached. The holding part holds the end of the label that is being pushed up by the lifting device and peels the label off.

15. The peel-off adhesive system according to claim 14, wherein, The lifting device includes: The mounting section holds the sheet material. The top part has a first component disposed on the lower surface side of the label placed on the mounting part and pushes the front end of the label upward from below, and a second component having a lower height than the first component and located at a position closer to the center side than the front end of the label, and pushes the label upward to peel the end off the sheet while the side of the label different from the front end is pasted on the sheet. The lifting unit causes the upper top to move up and down; and The lifting control unit is used to control the lifting unit by lifting and lowering the upper top located on the lower surface side of the label to be peeled off.

16. A peel-off adhesive system in which a label is lifted and peeled off from a sheet with one or more adhesive tags, the label is moved and then adhered to an object. The peel-off and adhesive system includes: The peeling and pasting device according to any one of claims 3 to 11; and A lifting device is provided, which is disposed on the lower surface of the label and lifts the upper top of the label, so as to peel the label off from a sheet with one or more labels attached. The holding part holds the end of the label that is being pushed up by the lifting device and peels the label off.

17. The peel-off adhesive system according to claim 16, wherein, The lifting device includes: The mounting section holds the sheet material. The top part has a first component disposed on the lower surface side of the label placed on the mounting part and pushes the front end of the label upward from below, and a second component having a lower height than the first component and located at a position closer to the center side than the front end of the label, and pushes the label upward to peel the end off the sheet while the side of the label different from the front end is pasted on the sheet. The lifting unit causes the upper top to move up and down; and The lifting control unit is used to control the lifting unit by lifting and lowering the upper top located on the lower surface side of the label to be peeled off.

18. The peel-off adhesive system according to claim 17, wherein, The lifting control unit raises the upper top to push against the end of the label, and after the holding part holds the end, it lowers the upper top. After the processing control unit presses the end of the label against the top, it moves the holding part toward the end of the label and holds the end.

19. The peel-off adhesive system according to any one of claims 17 or 18, wherein, The base portion is provided with a fixing portion, which has a working space that includes the adsorption portion and the gripping portion, and fixes the sheet to the mounting portion on which the sheet is mounted. After the fixing part fixes the sheet, the lifting control part causes the upper top to rise and push against the end of the label.

Images