Peeling and sticking method and program

Abstract

A peeling and sticking method is performed by a peeling and sticking device having a picking member that picks a label and a peeling member that peels the label, the peeling and sticking device peeling the label from a sheet on which one or more labels are stuck. The method includes a force applying step of bringing the picking member that picks the label into abutment with a surface of the label and applying a force to the label in a tilt direction that is inclined with respect to a vertical direction of the surface, a inserting step of inserting the peeling member between the label and the sheet at an end portion of the label on the opposite side of the tilt direction and peeling the label, and a moving step of moving the peeled label.

Description

Technical Field

[0001] This manual discloses the peeling and pasting method and procedure. Background Technology

[0002] Conventionally, label-applying devices have included, for example, those that peel the label from the backing paper using a first and second hand, move the held label toward a photographing position, and eliminate label deformation by making the shape of the label in the photographed image match the desired label shape (e.g., Patent Document 1). In this device, a flexible label can be peeled from the backing paper using a robotic arm, and the peeled label can be applied to the desired application location.

[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-applying device, the first and second hands need to be controlled separately, and the position control and operation of the label peeling, moving, and pasting processes require manual labor. Therefore, a device is needed that simplifies the process and reliably peels, moves, and pastes labels onto sheets.

[0007] This disclosure was made in view of such a problem, and its main purpose is to provide a peeling and pasting method and procedure that can more reliably peel off labels from sheets through a relatively simple process.

[0008] Technical solutions for solving the problem

[0009] The peeling and pasting methods and procedures disclosed in this specification employ the following means to achieve the aforementioned main objectives.

[0010] The peeling and pasting method disclosed herein is a peeling and pasting method performed by a peeling and pasting device, which includes a picking member for picking up the label and a peeling member for peeling off the label. The peeling and pasting device peels off the label from a sheet on which one or more labels are pasted.

[0011] The above peeling and pasting method includes the following steps:

[0012] The force application step involves bringing the pickup component that picks up the label into contact with the surface of the label and applying force to the label in an inclined direction that is inclined relative to the vertical direction of the surface.

[0013] In the insertion step, a peeling member is inserted between the label and the sheet at the end of the label on the side opposite to the aforementioned tilt direction, and the label is peeled off; and

[0014] The moving step involves moving the aforementioned label after it has been peeled off.

[0015] In this peel-off adhesive method, the pickup member is brought into contact with and tilted against the surface of the label. While applying force to the label in the tilted direction, the peeling member is inserted between the sheet and the end of the label, thus peeling off the label. In this peel-off adhesive method, by using the relatively simple process of applying force to the label in the tilted direction with the pickup member and inserting the peeling member into the end, the label can be peeled off from the sheet and moved more reliably. Attached Figure Description

[0016] Figure 1 This is a schematic diagram illustrating an example of the peeling and pasting device 10.

[0017] Figure 2 These are a side view and a perspective view of the end effector 20 viewed from below.

[0018] Figure 3 This is a 3D view of the end effector 20.

[0019] Figure 4 This is a 3D view of the end effector 20.

[0020] Figure 5 This is a perspective view of the sheet holding section 40.

[0021] Figure 6 This is an explanatory diagram of sheet 11 and label 12.

[0022] Figure 7 This is an explanatory diagram regarding the positional relationship between the label 12 and the peeling part 30.

[0023] Figure 8 This is a block diagram showing the electrical connections of the peel-off adhesive device 10.

[0024] Figure 9 This is a flowchart representing an example of a peel-and-paste processing routine.

[0025] Figure 10 This is a flowchart representing an example of a cleaning process routine.

[0026] Figure 11 This is an explanatory diagram of an example of detecting the orientation of label 12.

[0027] Figure 12 This is an explanatory diagram showing the position of the end effector 20 during the peeling process of label 12.

[0028] Figure 13 This is an illustration of a series of processes involved in peeling off label 12.

[0029] Figure 14 This is a conceptual diagram of a series of processes involving the peeling off of label 12.

[0030] Figure 15 This is an illustration of a series of processes involved in pasting the label 12 onto the object 13.

[0031] Figure 16 This is another illustration of the process of picking up the label 12 using multiple picking units 25.

[0032] Figure 17 This is an instructional diagram for when pasting the label (12).

[0033] Figure 18 This is an illustration of how the label 12 is maintained via guide block 28.

[0034] Figure 19 This is an explanatory diagram showing an example of another end effector 20B.

[0035] Figure 20 This is an illustrative diagram illustrating an example of how the label 12 is held in place by the end effector 20B. Detailed Implementation

[0036] Hereinafter, this embodiment will be described with reference to the accompanying drawings. Figure 1 This is a schematic diagram illustrating an example of the peeling and pasting device 10. Figure 2 These are a side view and a perspective view of the end effector 20 viewed from below. Figure 3 This is a 3D view of the end effector 20. Figure 4 This is a 3D view of the end effector 20. Figure 5 This is a perspective view of the sheet holding section 40. Figure 5 (A) is the state without sheet 11. Figure 5 (B) is a diagram showing the sheet 11. Figure 6 This is an explanatory diagram of sheet 11 and label 12. Figure 7 This is an explanatory diagram regarding the positional relationship between the label 12 and the peeling part 30. Figure 8 This is a block diagram showing the electrical connections of the peel-off adhesive device 10. The peel-off adhesive device 10 is, for example, a system that peels off and moves one or more labels 12 attached to a sheet 11 one by one, and performs a process of pasting them onto a bonding object 13. This peel-off adhesive device 10 includes: a peel-off adhesive device 15, an end effector 20, a sheet holding part 40, an arm robot 50, a mounting part 51, 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... Figure 1 As shown. Additionally, in Figure 2 In the future, for the purpose of easy observation of the structure, the accompanying drawings may sometimes omit parts of the structure such as the guide block 28, the pressing part 44, and the cleaning part 46.

[0037] Label 12 can also generate information related to the pasted object 13 (see reference). Figure 6 Information related to the affixed object 13 may include identification information, price, and performance of the affixed object 13. Additionally, information formed on the label 12 may be text, symbols, graphics, barcodes, QR codes, etc. The affixed object 13 is not particularly limited to any object to which the label 12 is affixed; examples include industrial products such as machinery, devices, units, and components of devices, as well as everyday consumer goods, food, and fresh produce. Figure 1 In this example, a mounting device for mounting components to a substrate, and a feeder equipped with a strip holding the components, is shown as an example of the object to be mounted (13). Figure 1 As shown, multiple labels 12 are arranged and affixed to the sheet 11. For example, as Figure 6 As shown, the label 12 is attached to the sheet 11 with length X in the length direction and width Y in the width direction, at intervals L. Additionally, as... Figure 6 As shown, a code display bar and a text display bar with text related to the code can also be formed on the label 12.

[0038] The end effector 20 is a device mounted on the mounting portion 51 of the peeling and pasting device 10, which peels off and moves the labels 12 from the sheet 11 on which one or more labels 12 are pasted. The end effector 20 is the main part of the peeling and pasting device 10 that moves the labels 12, and is mounted on the connector 52 located at the front end of the arm robot 50 in a detachable state. The end effector 20 includes: a connecting portion 21, a base 22, a support portion 23, a swing portion 24, a pickup portion 25, a following portion 27, a guide block 28, a peeling portion 30, a peeling drive portion 32, a posture maintaining portion 35, a fixing portion 34, and a shooting portion 38. Additionally, the end effector 20 includes a pressing portion 44 and a cleaning portion 46.

[0039] The connecting part 21 is an accessory that connects to the mounting part 51 and fixes the end effector 20 to the arm robot 50. The connecting part 21 may also have, for example, a locking mechanism such as a pin and a slot for inserting the pin, or a fixing mechanism that fixes the connecting part 21 and the mounting part 51 by magnetic force, negative pressure, etc.

[0040] The base 22 is a main component equipped with a structure that embodies the function of the peeling and pasting device 10. For example... Figure 2 As shown, a connecting part 21 for mounting the arm robot 50 is disposed on the base 22, and a picking part 25 for picking up the label 12 is disposed on the lower surface side via a support part 23. A peeling part 30, a shooting part 38, and a cleaning part 46 are disposed on one side, and a pressing part 44 is disposed on the opposite side. Figure 3As shown, the base 22 has a U-shaped inverted form, and a support 23 is oscillatingly supported in the central space. The base 22 can move freely in the up-down, left-right, and forward-backward directions via the arm robot 50.

[0041] The support portion 23 supports the pickup portion 25 and allows the pickup portion 25 to tilt relative to the vertical direction of the label 12. The support portion 23 has a shape resembling an inverted T-shape and is connected to a pressure application device (not shown) via a supply pipe 39, from which negative and positive pressure are supplied to the support portion 23. Other pressure application devices include vacuum pumps and air compressors. The swing portion 24 is fixed to the base 22 and provides axial support to the support portion 23, causing the support portion 23 to swing relative to the base 22. The lower end of the pickup portion 25, which is the free end of the support portion 23, is arranged around the support shaft of the axially supported swing portion 24 and rotates (swings) within a predetermined range. By tilting, the support portion 23 causes the pickup member 26 that picks up the label 12 to abut against the surface of the label 12, applying force to the label in an inclined direction D that is inclined relative to the vertical direction of the surface. The tilt direction D of the support portion 23 can be set, for example, along a direction orthogonal to the length direction of the label 12, i.e., the width direction. The tilt angle θ1 of the support portion 23 is set, for example, within the range where the pickup member 26 does not detach from the abutting label 12, preferably within a range of 10° or more and 45° or less relative to the vertical direction. The tilt angle θ1 of the support portion 23 is preferably 12.5° or more, more preferably 15° or more, and can be set to 17.5° or more or 20° or more. If the tilt angle θ1 is larger, the force applied in the peeling direction of the label 12 can be increased, which is preferable from the viewpoint of ease of peeling. In addition, the tilt angle θ1 is more preferably 40° or less, further preferably 35° or less, and can be 30° or less or 25° or less. If the tilt angle θ1 is smaller, the pickup member 26 is difficult to detach from the label 12, which is preferable from the viewpoint of improving reliability.

[0042] The pickup part 25 abuts against the surface of the label 12 to pick up the label 12, and is disposed on the lower surface side of the support part 23. The pickup part 25 includes: a pickup member 26 for picking up the label 12, a following part 27 that follows the label 12 in response to the swinging of the support part 23, and a guide block 28 that supports the picked-up label 12 (see reference). Figure 2Negative or positive pressure is supplied to the pickup member 26 via the interior of the support portion 23 and the supply pipe 39 (not shown) through a pressure application device. The pickup member 26 is not particularly limited; it is a component that abuts against the label 12 and applies negative and / or positive pressure, and may also be a circular suction cup-shaped adsorption pad formed from a soft material such as rubber or resin. For example, the pickup portion 25 may have multiple adsorption pads serving as pickup members 26 arranged along the length of the label 12. The following portion 27 functions like a joint that allows the pickup portion 25 to follow the surface of the label 12 when the support portion 23 is tilted. The soft adsorption pad of the pickup member 26, between the connecting portion to the support portion 23 and the end abutting against the label 12, also serves as the following portion 27. Additionally, the pickup member 26 may also function as a pressing component that presses the label 12 from above after it has been placed on the object to be pasted 13. The guide block 28 is a component that is provided to cover the outer periphery of the pickup member 26, and a support surface 29 is formed on its front end side in a manner that surrounds the outer side of the pickup member 26. When the peeling and pasting device 10 picks up the label 12, the entire outer edge of the label 12 is supported by the support surface 29.

[0043] The peeling part 30 is inserted between the sheet 11 and the label 12 to peel off the end of the label 12. The peeling part 30 is fixed to the base 22 in a manner that allows it to move up and down relative to the pickup part 25. The peeling part 30 includes a peeling member 31, a peeling drive part 32, and a cylinder part 33. The peeling part 30 is positioned in an inclined direction D that causes the support part 23 to tilt downwards (see reference). Figure 2 The side of the base 22 on the opposite side of the sheet 11. The peeling member 31 is one or more insert pins inserted between the sheet 11 and the label 12. In this peeling section 30, there are four insert pins as peeling members 31, but the number of insert pins is arbitrary. In the peeling section 30, as Figure 7As shown, the peeling member 31 is fixed to the cylinder portion 33 by being inserted sequentially from the end side of the label 12 toward the center side between the sheet 11 and the label 12. That is, the peeling member 31 is fixed to the cylinder portion 33 such that the length of the peeling member 31 becomes shorter as it approaches the center side of the label 12 along its length direction. In addition, the peeling member 31 is fixed to the cylinder portion 33 at an angle downward with its front end facing the label 12 side. The tilt angle θ2 of the peeling member 31 is set, for example, according to the tilt angle θ1 of the support portion 23 and the size of the label 12, within a suitable range where the peeling member 31 can easily enter the lower surface of the label 12 when it contacts the end of the label 12. The tilt angle θ2 is preferably set to a range of 10° or more and 45° or less relative to the horizontal direction. The tilt angle θ2 of the peeling member 31 is preferably 12.5° or more, more preferably 15° or more, and can be set to 17.5° or more or 20° or more. Furthermore, the tilt angle θ2 is more preferably 40° or less, more preferably 35° or less, and can be set to 30° or less or 25° or less. The tilt angle θ2 is preferably set to correspond to the tilt angle θ1 of the support portion 23. If the tilt angle θ2 is within this range, when the support portion 23 is tilted, the peeling member 31 can be inserted into the lower surface of the label 12 at an angle closer to parallel. The peeling member 31 is inserted between the sheet 11 and the label 12 while the pick-up portion 25 is in contact with the label 12 and the support portion 23 is tilted. In the peeling portion 30, the peeling member 31, whose front end R shape, length, thickness, and tilt angle are selected according to the material and size of the label 12 and the sheet 11, is installed in the cylinder portion 33. The peeling drive portion 32 is a component that moves the peeling member 31 up and down relative to the label 12 in the vertical direction, and can be, for example, a cylinder or a linear motor. The peeling drive unit 32 can move the peeling components 31 up and down as a whole, or it can move each peeling component 31 up and down independently. The cylinder unit 33 is a cylindrical component that moves up and down along the vertical direction of the end effector 20 via the peeling drive unit 32. The peeling components 31 are detachably fixed to the lower end of the cylinder unit 33. Figure 7 As shown, the peeling section 30 has a cylinder section 33 positioned at the insertion point of the peeling member 31 during the arrangement of the holding holes 42 on which the fixing label 12 is formed. In this peeling section 30, it is easier to insert the peeling member 31 between the sheet 11 and the label 12 compared to the case where the peeling member 31 is inserted from the side of the holding hole 42.

[0044] The fixing part 34 is a component that fixes the support part 23 in an inclined position and / or in a vertical position along the vertical direction of the end effector 20. The fixing part 34 includes a posture maintaining part 35, a force applying part 36, and a stop member 37. The posture maintaining part 35 is a device that fixes the support part 23 in an inclined position. This posture maintaining part 35 can be, for example, a solenoid valve, a position component disposed on the support part 23 and whose position changes with the inclination of the support part 23. The force applying part 36 is a component that applies force to the support part 23 towards the vertical direction of the end effector 20. This force applying part 36 can be, for example, a rotary spring supported on the support shaft of the swing part 24 and applying force to the support part 23 in a predetermined rotational direction. The stop member 37 is a component that holds the support part 23 in a position along the vertical direction of the end effector 20. The stop 37 is a component that restricts the movement of the support 23 to prevent it from rotating beyond its vertical position. For example... Figure 2 , Figure 3 As shown, the stop 37 has a fixing plate 37a fixed to the base 22 and a fixing screw 37b disposed on the front end side of the fixing plate 37a. In the stop 37, the fixing angle of the support 23 can be finely adjusted according to the screw-in position of the fixing screw 37b.

[0045] The imaging unit 38 is a device that acquires images of the label 12 and the object to be pasted on the imaging sheet 11. The images acquired by the imaging unit 38 are output to the control PC 60 for detecting the peeling position and the pasting position of the label 12.

[0046] The pressing part 44 is a component used to press the label 12 to prevent it from peeling off after it has been applied to the object 13. Figure 2 As shown, the pressing part 44 is fixed to the base 22 on the inclined direction D side of the support part 23. This pressing part 44 includes: a pressing member 45, which is grounded with and presses the label 12; and a pressing drive (not shown) that moves the pressing member 45 up and down. The pressing member 45 is a cuboid-shaped component with a pressing surface having an area the same as or larger than the label 12. The pressing drive, which moves the pressing member 45 up and down between a pressing position and a retracted position, is composed of a cylinder, a linear motor, a ball screw, etc. The pressing member 45 is configured on the base 22 so that it can move up and down between the retracted and pressing positions via the pressing drive; it descends to the pressing position when pressing the label 12 and rises to the retracted position when not pressing the label 12.

[0047] The cleaning unit 46 is a unit for cleaning the pickup unit 25 and / or the peeling unit 30. The cleaning unit 46 blows compressed air into the pickup unit 25 and the peeling unit 30 to remove foreign matter adhering to them. The cleaning unit 46 has a cleaning hole 47 for ejecting compressed air and a supply pipe (not shown) for supplying compressed air to the cleaning hole 47. Furthermore, while the cleaning unit 46 is a blowing type unit, it could also be a unit that removes foreign matter from the pickup unit 25 and / or the peeling unit 30 by applying and / or impregnating a cleaning solution, or it could be a unit that removes foreign matter from the pickup unit 25 and / or the peeling unit 30 using a brush or similar component.

[0048] The sheet holding section 40 is a unit that fixes the sheet 11. For example... Figure 5 As shown, the sheet holding portion 40 includes: a mounting portion 41 having a mounting surface for mounting the sheet 11; and a holding hole 42 for applying negative pressure to the sheet 11 mounted on the mounting portion 41 to fix it. Furthermore, in the sheet holding portion 40, the method for fixing the sheet 11 can be other than applying negative pressure, such as using electrostatic force, magnetic force, or holding the ends of the sheet 11 for fixation.

[0049] The arm robot 50 is configured as a moving part that moves the end effector 20 at least on the sheet 11 fixed to the sheet holding part 40. The arm robot 50 can be configured as, for example, a vertical multi-joint type five-axis robot or a six-axis robot. The arm robot 50 includes: a mounting part 51, a connector 52, an arm 55, a drive motor 56, and a base part 57. The mounting part 51 is a portion capable of mounting and detaching the end effector 20, and is disposed on the lower surface side of the connector 52. The mounting part 51 has a locking mechanism that locks the end effector 20 when it is mounted on the arm robot 50. The locking mechanism is released when the operator removes the end effector 20 from the arm robot 50. The connector 52 is the base for detachably mounting the end effector 20 and is disposed at the front end of the arm 55. The arm 55 consists of multiple components supported by joint axes, which rotate freely around the joint axes, allowing the end effector 20 to move in three-dimensional space in the front-back, left-right, and up-down directions. Drive motors 56 are disposed on each joint axis to drive the joint axis to rotate. A base 57 supports and mounts the arm 55. A sheet holding part 40 and a pasted object 13 are disposed within the range of motion of the end effector 20. Alternatively, while an arm robot 50 is used here as the moving part, it could also be configured as an XY robot capable of moving the end effector 20 in the vertical direction, provided that the end effector 20 can move freely.

[0050] The control PC 60 controls each device of the peel-off adhesive device 10. The control PC 60 includes a control unit 61, a storage unit 62, a communication unit 64, a display unit 65, and an operation unit 66. The control unit 61 is configured as a CPU-centric microprocessor, controlling the entire peel-off adhesive device 10. The control unit 61 outputs drive signals to the posture maintenance unit 35, the imaging unit 38, the drive motor 56, etc. After the pickup unit 25 comes into contact with the label 12, the control unit 61 moves the end effector 20 in an inclined direction D towards the support unit 23. While applying a peeling force to the label 12 via the following unit 27, the peeling part 30 is inserted between the label 12 and the sheet 11, causing the label 12 to peel off from the sheet 11, and the peeled label 12 is moved. Furthermore, the control unit 61 releases the inclination of the support unit 23, and with the peeling part 30 retracting from under the label 12, the label 12 held at the pickup unit 25 is placed in the adhesive position. The storage unit 62 is a high-capacity storage medium such as flash memory, storing a program for controlling the peel-off and adhesive stripper 10, and a list of information including the shape and placement of the adhesive strip 12, the shape and placement of the adhesive object 13, the peel-off sequence of the adhesive strip 12, the peel-off position, and the adhesive placement position. The communication unit 64 is an interface for exchanging information with external devices such as a management device (not shown). The display unit 65 is a display for showing information to the operator. The operation unit 66 includes a keyboard and mouse for the operator to perform various inputs. Furthermore, in the peel-off and adhesive stripper 10, the control of the end effector 20, the sheet holding unit 40, and the robotic arm 50 is described using a single control PC 60. However, control units can be installed in each device, or four or more control units can handle different control processes.

[0051] Next, the peeling and pasting process of the label 12 performed by the peeling and pasting device 10 configured in this way will be described. Figure 9 This is a flowchart illustrating an example of a peeling and pasting process routine executed by the control unit 61 to cause the arm robot 50 to move. Figure 10 This is a flowchart illustrating an example of a cleaning process performed by the control unit 61. Figure 11 This is an explanatory diagram of an example of detecting the orientation of label 12. Figure 12 This is an illustrative diagram showing an example of the position of the end effector 20 during the peeling process of the label 12. Figure 13 This is an illustration of a series of processes involved in peeling off label 12. Figure 13 (A) is a diagram showing the contact between the pickup component 26 and the label 12. Figure 13 (B) is a diagram showing the support 23 tilted. Figure 13 (C) is a diagram showing the peeling part 31 abutting against the label 12. Figure 13 (D) is a picture after the label 12 has been peeled off. Figure 14 This is a concept diagram of a series of processes involved in peeling off label 12. Figure 14(A) is a diagram showing the contact between the pickup component 26 and the label 12. Figure 14 (B) is a diagram showing the force applied in the peeling direction to the pickup component 26. Figure 14 (C) is a diagram showing how the opportunity for peeling is created by peeling off component 31. Figure 15 This is an illustration of a series of processes involved in pasting the label 12 onto the object 13. Figure 15 (A) is a diagram showing the movement towards the top of the pasted object 13. Figure 15 (B) is a diagram showing the removal of the tilt of the support 23. Figure 15 (C) is a diagram of pasting label 12 onto paste object 13. Figure 15 (D) is a picture of pressing the label 12. Figure 16 This is another illustration of the label 12 being picked up using multiple pickup units 25. Figure 17 This is an illustrative diagram illustrating an example of pasting a label (12). Figure 18 This is an illustration of how the label 12 is maintained via guide block 28.

[0052] First, the process of peeling off the label 12 from the sheet 11 by the peeling and pasting device 10 will be explained. Figure 9 The peeling and pasting process routine is stored in the storage unit 62 and is executed after the operator inputs an execution command for pasting the label 12. When the routine starts, the CPU of the control unit 61 first executes the process of fixing the sheet 11 through the sheet holding part 40 (S100). The operator places the sheet 11 with the label 12 pasted on onto the holding part 41. The control unit 61 supplies negative pressure to the holding hole 42 of the sheet holding part 40, and the sheet 11 is fixed onto the holding part 41 by the negative pressure. Next, the control unit 61 obtains information related to the position of the label 12 to be peeled off and the pasting position of the pasting object 13 (S110). The control unit 61, for example, reads the list information pre-stored in the storage unit 62 and obtains this information.

[0053] Next, based on the acquired information, the control unit 61 moves the end effector 20 upwards towards the label 12 to be peeled off (S120), and the imaging unit 38 captures an image of the label to be peeled off, obtaining its detailed position and angle (S130, imaging step). The control unit 61 can also obtain the position and angle by detecting the label 12 contained in the captured image using a known matching process. After obtaining the position and angle of the label 12, the control unit 61 sets the angular vector direction of the end effector 20 corresponding to that position and angle, and sets the movement amount (S140, setting step). Figure 11As shown, even when the label 12 has various angles, the control unit 61 sets the angle vector of the end effector 20 by making contact with the long side of the code display bar by the peeling part 30 (refer to the white arrow). At this time, the control unit 61 sets the amount of movement of the end effector 20 in the up-down and left-right directions based on the angle vector (refer to...). Figure 12 The setting value determines the posture of the end effector 20 during the peeling process. That is, the control unit 61 takes a picture of the label 12 on the sheet 11, sets the position and orientation of the pickup member 26 based on the obtained picture, and sets the tilt direction D relative to the vertical direction and the insertion direction of the peeling member 31.

[0054] Next, the control unit 61, based on the set angle vector and movement amount, causes the pickup component 26 to come into contact with the surface of the label 12 of the object to be peeled off, and applies negative pressure (S150). Figure 13 (A)). For example, as Figure 12 As shown in S1, the coordinates and movement of the end effector 20 are determined, and the control unit 61 causes the end effector 20 to descend in the Z-axis direction. Next, the control unit 61 moves the end effector 20 in the width direction, which is orthogonal to the length direction, and tilts the support 23 (S160, force application step). Figure 13 (B)). For example, as Figure 12 As shown in S2, the coordinates and movement of the end effector 20 are determined, and the control unit 61 moves the end effector 20 horizontally in the X-axis direction. In this step, the pickup member 26 that picks up the label 12 comes into contact with the surface of the label 12, and a force is applied to the label in an inclined direction D that is inclined relative to the vertical direction of the surface. That is, in this step, a peeling (upward) force is applied to the end of the label 12 on the side opposite to the inclined direction D.

[0055] Next, the control unit 61 lowers the peeling part 30, causing the peeling member 31 to abut against the end of the label 12, and inserts the peeling member 31 into the lower part of the label 12 (S170, insertion step). Figure 13 (C)). For example, as Figure 12 The control unit 61 moves the end effector 20 slightly in the X-axis and Z-axis directions, as shown in S3, according to the coordinates and movement amount of the end effector 20. The peeling member 31 enters the inner side of the label 12 while being pressed against the sheet 11. In this step, the peeling member 31 is inserted between the label 12 and the sheet 11 at the end of the label 12 on the side opposite to the tilt direction D, and the label 12 is peeled off. That is, in this step, the peeling member 31 is inserted into the end of the label 12 to which a peeling force is applied (upward), releasing the adhesive force of the label 12 on the sheet 11. In this step, the peeling member 31 is inserted sequentially between the sheet 11 and the label 12 from the short side end side of the label 12 toward the center side (see reference). Figure 7 When the peeling member 31 is pressed under the label 12, it provides an opportunity to peel off the label 12, further improving the peelability of the label 12. In particular, in the end effector 20, the peeling member 31 is inserted sequentially from the outside of the label 12, i.e., the short side end, toward the central side, thus enabling more reliable peeling of the label 12.

[0056] Next, the control unit 61 fixes the posture of the support unit 23 in an inclined state via the posture holding unit 35, causing the end effector 20 to rise and peel the label 12 off the sheet 11 (S180). Figure 13 (D)). For example, as Figure 12 As shown in S4, the control unit 61 controls the coordinates and movement of the end effector 20, causing it to rise in the X and Z axes. The peeled label 12 is stably supported with its entire outer edge in contact with the support surface 29 of the guide block 28. Furthermore, the control unit 61 moves the label 12 towards the coordinates of the adhesion position on the object 13 while holding the peeling part 30 below it (S190, moving step). In this step, after peeling off the label 12, the label 12 is moved with the peeling part 31 positioned below it. The control unit 61 prevents the label 12 from falling by positioning the peeling part 31 below it. This allows the control unit 61 to more reliably peel off labels 12 that are difficult for automated robots to peel off.

[0057] Here, use Figure 14 The peeling mechanism of the label 12 performed by the end effector 20 will be explained. The end effector 20 includes: a swinging part 24, a pickup member 26, and a following part 27. From the state where the pickup member 26 abuts against the label 12 ( Figure 14 (A)) The two axial pickup components 26, the swing part 24 and the following part 27, apply a force in the tilting direction D. Figure 14 (B) That is, after the control unit 61 brings the pickup unit 25 into contact with the label 12, it moves the swing unit 24 (base 22) in an inclined direction D toward the support unit 23. The support unit 23 is tilted by the swing unit 24 and the following unit 27, and a peeling force is applied to the label 12 via the pickup member 26. Thus, a peeling force is applied to the end of the label 12. Furthermore, the end of the label 12 is pressed by the peeling member 31, thereby providing an opportunity for peeling. Figure 14(C)). That is, while the control unit 61 applies a force in the inclined direction D to the label 12, it inserts the peeling member 31 between the label 12 and the sheet 11 to peel the label 12 from the sheet 11. Even if only the pickup member 26 is raised, the label 12 can be stably adhered to the sheet 11. Compared with peeling the label 12, the pickup member 26 detaches and is not easy to peel off. In this peeling method, in addition to applying a force in the inclined direction D to the label 12, the label 12 can also be peeled off by inserting the peeling member 31 into the end. In addition, in this mechanism, the swinging part 24 has an arbitrary structure. In addition, the following part 27 does not apply force to the label 12 in a structure that can swing without resistance, so it has resistance to the extent that it can apply a force toward the peeling direction to the label 12 when swinging.

[0058] Next, the process of the peeling and pasting device 10 pasting the label 12 onto the object to be pasted 13 will be described. In S190, when the label 12 is moved upwards towards the object to be pasted 13 ( Figure 15 (A) The control unit 61 captures the object to be pasted 13 with the imaging unit 38, obtaining the pasting position of the object to be pasted 13 and the angle of the label 12 (S200). The control unit 61 extracts the object to be pasted 13 contained in the captured image through image analysis, obtaining the pasting position and its angle. Next, the control unit 61 releases the posture holding unit 35 from the tilted state of the support unit 23, and causes the peeling member 31 to rise to the retracted position (S210). Figure 15 (B) Next, the control unit 61 lowers the pickup unit 25, causing the label 12 to come into contact with the pasting position and adhere (S220). Thus, the control unit 61 holds the label 12, which is held on the pickup unit 26, at the pasting position while the peeling member 31 retracts from below the peeled label 12. Next, the control unit 61 supplies positive pressure to the pickup unit 26, releasing the label 12 pickup state, and raises the end effector 20 (S230). Figure 15 (C)). In this way, the control unit 61 can affix the label 12 to the affixing position.

[0059] Here are the instructions for affixing label 12. Figure 16 As shown, for example, in the pickup section 25 without the guide block 28, multiple circular pads of the pickup member 26 are arranged, therefore, the label 12 is not picked up in a planar manner, resulting in surface undulations and / or deflection. In such cases, as Figure 17 As shown, there may be a situation where a portion of the end of the label 12 comes into contact with the object 13 first, thus sometimes causing wrinkles or other issues with the label 12 adhered to the object 13. On the other hand, in the end effector 20, such as Figure 18As shown, due to the guide block 28, the outer edge of the label 12, which is picked up by the pickup section 25, is supported by the support surface 29 over its entire circumference, and the label 12 can be held relatively flat. In this way, in the peeling and pasting device 10 that holds the outer edge of the label 12 by the guide block 28, bending and wrinkling can be prevented when the label 12 is pasted onto the object 13.

[0060] Next, after S230, the control unit 61 performs one or more pressing operations on the label 12 by the pressing unit 44 (S240, Figure 15 (D)). In the pressing process, the control unit 61, for example, controls the arm robot 50 to lower the pressing member 45 downwards from the picking member 25, pressing the label 12 placed at the pasting position from above. Alternatively, before performing the pressing process of the pressing member 44, the control unit 61 can capture an image of the label 12 pasted on the pasting object 13 using the imaging unit 38, and check whether the pasting position of the label 12 is appropriate, and whether the label 12 is free from bending or wrinkles, based on the captured image. Furthermore, the control unit 61 determines whether the peeling and pasting process of all labels 12 is complete (S250). If not, it executes the process after S110. That is, the control unit 61 obtains the next label position and pasting position from the top of the list, and repeatedly performs the above-described peeling, moving, and pasting processes. On the other hand, when all peeling and pasting processes are completed in S250, the routine ends. In this way, the peeling and pasting device 10 can peel the label 12 off the sheet 11 and paste the label 12 onto the object 13 in a neat, wrinkle-free state.

[0061] Next, the cleaning process of the pickup unit 25 and / or the stripping unit 30 will be described. The control unit 61 performs the cleaning process... Figure 10The flowchart is shown. This routine is executed in parallel by the control unit 61 after the peeling and pasting process. When the routine starts, the control unit 61 determines whether the cleaning time has arrived (S300). The control unit 61 can make this determination based on one or more conditions, such as whether the working time of the end effector 20 has reached a predetermined time (e.g., 100 hours or 500 hours), whether a predetermined number (e.g., 100 or 500) of labels 12 have been peeled and pasted, and whether any abnormalities have occurred with the pasted labels 12. When it is time to clean, the control unit 61 performs the cleaning process of the pickup unit 25 and / or the peeling unit 30 (S310). During the cleaning process, the control unit 61 performs the process of blowing compressed air from the cleaning hole 47 to the pickup unit 25 and / or the peeling unit 30 to remove foreign objects. After S310 or when it is not time to clean in S300, the control unit 61 determines whether the peeling and pasting process of all labels 12 has been completed (S320). While the peeling and pasting process of all labels 12 is not completed, the control unit 61 repeatedly executes the process after S300. On the other hand, when the peeling and pasting process of all labels 12 is completed in S320, the routine ends. In this way, since foreign objects are removed from the pickup unit 25 and the peeling unit 30 in the peeling and pasting device 10, the peeling and pasting process can continue more reliably.

[0062] Here, the correspondence between the constituent elements of this embodiment and the constituent elements of this disclosure is clarified. The processing in S160 of this embodiment corresponds to the force application step of this disclosure, the processing in S170 corresponds to the insertion step, the processing in S190 corresponds to the movement step, the processing in S130 corresponds to the shooting step, and the processing in S140 corresponds to the setting step. Furthermore, the pickup member 26 of this embodiment corresponds to the pickup member of this disclosure, the peeling member 31 corresponds to the peeling member, the support member 23 corresponds to the support member, the swinging member 24 corresponds to the swinging member, and the following member 27 corresponds to the following member.

[0063] In the peeling and pasting device 10 of this embodiment described above, an end effector 20 is mounted on the mounting portion 51. This end effector 20 includes: a pickup portion 25 that abuts against the surface of the label 12 to pick up the label 12; a support portion 23 that supports the pickup portion 25 and allows the pickup portion 25 to be tilted relative to the vertical direction of the label 12 pasted on the sheet 11; a following portion 27 that causes the pickup portion 25 to follow the label surface when the support portion 23 is tilted; and a peeling portion 30 that is inserted between the sheet 11 and the label 12 to peel off the end of the label 12. In this end effector 20, the peeling portion 30 can be inserted between the end of the sheet 11 and the label 12 while the pickup portion 25 abuts against the surface of the label 12, the support portion 23 is tilted, and a force in the peeling direction is applied to the label 12. At this time, the following part 27 follows, so when the support part 23 is tilted, the picking part 25 does not detach from the label 12 and can apply a force toward the peeling direction to the label 12. Furthermore, in the end effector 20, the force that lifts the peeling part 30 from the lower surface side and the force that pulls the label 12 upward by suction by the picking part 25 are applied, thereby enabling the label 12 to be peeled from the sheet 11 and moved. In this way, in this end effector 20, by tilting the support part 23 and inserting the peeling part 30, the label 12 can be peeled from the sheet 11 and moved more reliably.

[0064] Furthermore, the end effector 20 includes a fixing part 34 that fixes the support part 23 in an inclined position and / or in a vertical position along the vertical direction of the end effector 20. In this end effector 20, the support part 23 can be fixed in either an inclined or vertical position, thus easily maintaining the same posture before and after peeling off the label 12, facilitating peeling and movement. Moreover, the fixing part 34 includes a force-applying part 36 that applies force to the support part 23 towards the vertical direction of the end effector 20 and a stop member 37 that holds the support part 23 in a position along the vertical direction of the end effector 20. In this end effector 20, the support part 23 is held vertically, and the force can be released when the support part 23 is tilted, thus facilitating operation. Additionally, the pickup part 25 has a soft suction pad as a pickup member 26, which also serves as a follower part 27. In this end effector 20, the suction pad can be used to realize both the pickup part 25 and the follower part 27.

[0065] Furthermore, the pickup unit 25 is provided with multiple adsorption pads along the length of the label 12, and has a guide block 28. The guide block 28 has a support surface 29 formed on the outer side of the adsorption pads to support the outer edge of the label 12. In the end effector 20, when the pickup unit 25 peels the label 12 from the sheet 11, the label 12 may sometimes rise due to negative pressure. However, since the outer edge of the label 12 is pressed against the support surface 29 of the guide block 28 near the rising end, the label 12 can be peeled and moved without bending or other defects. In this end effector 20, the label 12 can be peeled and moved more reliably using multiple adsorption pads. Additionally, in this end effector 20, when the label 12 is picked up, its outer edge is supported by the guide block 28, thus further suppressing positional deviations during application. Furthermore, in the peel-off adhesive device 10, when using captured images to identify the shape and position of the label 12, if the label 12 is flexed or warped, the control unit 61 may be unable to accurately capture the size or center position of the label 12. In the end effector 20, the flexing and warping of the label 12 can be further suppressed by the guide block 28, thus improving the accuracy of image recognition of the label 12.

[0066] Furthermore, the peeling part 30 is positioned on the opposite side of the tilting direction D that tilts the support part 23. In this end effector 20, since the peeling part 30 is positioned on the end side of the label 12 where a force is applied in the peeling direction to the support part 23, it is easy to peel off the label using the peeling part 30. Moreover, the peeling part 30 is inserted between the sheet 11 and the label 12 when the pickup part 25 abuts against the label 12 and the support part 23 is tilted. In this end effector 20, since the peeling part 30 is inserted on the end side of the label 12 where a force is applied in the peeling direction to the support part 23, it is easy to peel off the label using the peeling part 30. In addition, the peeling part 30 has one or more insertion pins as peeling members 31 that are inserted between the sheet 11 and the label 12. In this end effector 20, the label 12 is easily peeled off by using the insertion pins. Furthermore, the peeling part 30 is configured to be inserted sequentially between the sheet 11 and the label 12 from the end side of the label 12 toward the center side. In this end effector 20, since the labels 12 are peeled off sequentially from the end side, it is easier to peel off the labels 12 compared to peeling off from the center.

[0067] Furthermore, the end effector 20 includes a pressing portion 44 for pressing the label 12 after it has been affixed to the object 13. In this end effector 20, the pressing portion 44 allows for more reliable affixing of the label 12. Moreover, the end effector 20 includes a base 22 mounted on the mounting portion 51, and a swing portion 24 fixed to the base 22, providing axial support for the support portion 23, allowing the support portion 23 to swing relative to the base 22. In this end effector 20, the support portion 23 can be axially supported by the base 22, and the support portion 23 can be easily tilted by the swing portion 24. Additionally, the peeling portion 30 is fixed to the base 22 in a manner that allows it to move vertically relative to the pickup portion 25. In this end effector 20, when the peeling portion 30 is inserted between the sheet 11 and the label 12, fine adjustments in the vertical direction can be made, making it easy to peel off the label 12. In addition, the end effector 20 can move the peeling part 30 up and down to avoid obstructing the pasting process.

[0068] Furthermore, the peeling and adhesive removal device 10 includes: the aforementioned end effector 20, a mounting portion 51 for mounting the end effector 20, and an arm robot 50 serving as a moving portion for moving the end effector 20 at least on the sheet 11. Because the peeling and adhesive removal device 10 includes the aforementioned end effector 20, it can more reliably peel the label 12 from the sheet 11 and move it by a relatively simple process such as tilting the support portion 23 to insert the peeling portion 30. Additionally, the peeling and adhesive removal device 10 includes a control portion 61 for controlling the arm robot 50, which serves as the moving portion. The peeling and adhesive removal device 10 can control any one of the aforementioned end effector 20 structures via the control portion 61. Furthermore, after the pick-up unit 25 comes into contact with the label 12, the control unit 61 moves the end effector 20 in an inclined direction toward the support unit 23. While applying a peeling force to the label 12 via the following unit 27, the peeling unit 30 is inserted between the label 12 and the sheet 11, causing the label 12 to peel off from the sheet 11 and move the peeled label 12. In this peeling and sticking device 10, the label 12 can be peeled and moved more reliably.

[0069] Furthermore, the control unit 61 releases the tilt of the support unit 23, and with the peeling part 30 retracted from below the label 12, the label 12 held in the pickup unit 25 is pasted towards the pasting position. In this peeling and pasting device 10, the label 12 can be pasted to the object 13 more reliably. Moreover, the peeling and pasting device 10 includes a sheet holding part 40 that fixes the sheet 11 on the mounting part 41. The peeling and pasting device 10 uses the sheet holding part 40 to fix the sheet 11, so it is easy to peel the label 12 from the end of the label 12. In addition, the peeling and pasting device 10 includes a cleaning part 46 for cleaning the pickup unit 25 and / or the peeling part 30. The peeling and pasting device 10 can clean the structure of the end effector 20 by cleaning the cleaning part 46, and can more reliably peel and move the label 12 from the sheet 11.

[0070] Furthermore, the peeling and pasting method described in this embodiment is performed by a peeling and pasting device 10, which includes a pickup member 26 for picking up the label 12 and a peeling member 31 for peeling off the label 12. The method peels off the label 12 from a sheet 11 to which one or more labels 12 are pasted. This peeling and pasting method includes a force application step, an insertion step, and a movement step. In the force application step, the pickup member 26 for picking up the label 12 abuts against the surface of the label 12, and a force is applied to the label 12 in an inclined direction D relative to the vertical direction of the surface. In the insertion step, the peeling member 31 is inserted between the label 12 and the sheet 11 at the end of the label 12 on the side opposite to the inclined direction D, thus peeling off the label 12. In the movement step, the peeled label is moved. In this peel-off adhesive method, the label 12 is tilted against the pick-up member 26, and while a force is applied to the label in the tilt direction D, the peeling member 31 is inserted between the end of the sheet 11 and the label 12, thus peeling off the label 12. In this peel-off adhesive method, the label 12 can be peeled off from the sheet 11 and moved more reliably by using the pick-up member 26 to apply force to the label 12 in the tilt direction D and inserting the peeling member 31 into the end, a relatively simple process.

[0071] Furthermore, in this peel-off adhesive method, during the force application step, the direction orthogonal to the length direction of the label 12 is set as the tilt direction D. In this peel-off adhesive method, the label 12 is easier to peel off compared to the case where it is tilted in a direction orthogonal to the width direction of the label 12. Moreover, in this peel-off adhesive method, during the force application step, the pickup member 26 is tilted within a range that does not detach from the abutting label 12. In this peel-off adhesive method, the label 12 is held more reliably by the pickup member 26, thus enabling more reliable peeling and movement of the label 12. Additionally, in this peel-off adhesive method, during the force application step, the tilt is within a range of 10° to 45° relative to the vertical direction. When the tilt angle is 10° or more, the force applied in the peeling direction can be further increased; when the tilt angle is 45° or less, the pickup member can be further prevented from detaching from the label. Furthermore, in this peel-off adhesive method, during the insertion step, the peeling member 31 is inserted sequentially between the sheet 11 and the label 12, from the end side of the label 12 toward the center side. In this peeling and pasting method, since the sticker 12 is peeled off sequentially from the end side, it is easier to peel off the sticker 12 compared to the method of peeling off from the center.

[0072] Furthermore, in this peel-off adhesive method, during the moving step, after the label 12 is peeled off, the label 12 is moved with the peeling member 31 positioned below it. In this peel-off adhesive method, the peeling member 31 is located below the peeled label 12, thus protecting the peeled label 12. In this peel-off adhesive method, during the moving step, the label 12 held on the pickup member 26 is adhered to the adhesive position while the peeling member 31 is retracted from below the peeled label 12. In this peel-off adhesive method, the label 12 can be adhered to the adhesive position more reliably. Moreover, during the moving step, after the peeled label 12 is adhered to the adhesive position, a pressing process is performed by the pressing member 45. In this peel-off adhesive method, the pressing process allows for more reliable adhesion of the label 12 to the adhesive object 13. Furthermore, this peeling and pasting method includes: a photographing step, photographing the label 12 on the sheet 11; and a setting step, based on the photographed image obtained in the photographing step, setting the position and orientation of the pickup member 26, and setting the tilt direction relative to the vertical direction and the insertion direction of the peeling member 31, and performing a force application step and an insertion step based on the set content. In this peeling and pasting method, the position and orientation of the label 12 on the sheet 11 can be identified, and a more appropriate peeling action can be performed.

[0073] In addition, in this peeling and pasting method, the peeling and pasting device 10 includes: a support portion 23 supporting a pickup member 26, which can tilt the pickup member 25 relative to the vertical direction of the label 12; a following portion 27 that causes the pickup member 25 to follow the surface of the label 12 when the support portion 23 is tilted; and a swing portion 24 that provides axial support to the support portion 23 and causes the support portion 23 to swing. In the force application step, after the pickup member 26 comes into contact with the label 12, the swing portion 24 is moved in the tilting direction D of the support portion 23. The support portion 23 is tilted by the swing portion 24 and the following portion 27, and a peeling force is applied to the label 12 via the pickup member 26. In the insertion step, while a peeling force is applied to the label 12, the peeling member 31 is inserted between the label 12 and the sheet 11, and the label 12 is peeled off from the sheet 11. In this peel-off adhesive method, the support portion 23 is tilted by the swing portion 24. At this time, the following portion 27 causes the pickup member 26 to follow the surface of the label 12. Therefore, when the support portion 23 is tilted, the pickup member 25 does not detach from the label 12, and a force in the peeling direction can be applied to the label 12. In this peel-off adhesive method, the label 12 can be peeled off from the sheet 11 more reliably and moved using the swing portion 24, the support portion 23, and the following portion 27.

[0074] Furthermore, the end effector, peeling and pasting device, peeling and pasting method and procedure disclosed herein are not limited to the above-described embodiments. As long as they fall within the technical scope of this disclosure, they can be implemented in various ways, which is self-evident.

[0075] For example, in the above embodiment, a posture maintaining part 35 is provided to fix the support part 23 in an inclined position, and a fixing part 34 is provided to have a force applying part 36 and a stop member 37 to fix the support part 23 in a vertical position. However, either the fixing in the inclined position or the fixing in the vertical position can be omitted, and the fixing part 34 can also be omitted. In this end effector 20, a force in the peeling direction can be applied to the label 12 by a relatively simple process such as tilting the pickup member 26 and inserting the peeling member 31, thereby more reliably peeling the label 12 from the sheet 11.

[0076] In the above embodiment, the pickup member 26 is described as an adsorption pad with the function of the following part 27, but it is not particularly limited to this, and the pickup member 26 and the following part 27 may also be separate parts. Furthermore, the pickup member 26 is an adsorption pad, but it is not particularly limited to this; as long as it can pick up the label 12, it is not limited to an adsorption pad. Additionally, the end effector 20 has a guide block 28 with a support surface 29 extending around the outer periphery of the pickup member 26, but it is not particularly limited to this, and the guide block 28 may be omitted. Figure 19 This is an explanatory diagram showing an example of another end effector 20B. Figure 20This is an illustrative diagram illustrating an example of how the label 12 is held in place by the end effector 20B. (See diagram for example.) Figure 19 As shown, the end effector 20B includes: a pickup section 25B having a flexible flat pad 26B as a pickup member 26; and an elastic member 27B as a following section, disposed on the support section 23, supporting the flat pad 26B in a state that allows it to follow the surface of the label 12. The flat pad 26B has a pressure supply hole 28B for supplying negative and / or positive pressure and a support surface 29B for supporting the surface of the label 12. Furthermore, when the support section 23 is tilted while the label 12 is attached to the sheet 11, the elastic member 27B absorbs the stress of the tilt while applying a force in the peeling direction to the label 12; for example, it could be a sponge, rubber, spring, etc. In this end effector 20B, such as... Figure 20 As shown, since the label 12 is supported by the support surface 29, the loosening or wrinkling of the label 12 during the pasting process can be further suppressed, and the label 12 can be pasted well.

[0077] In the above embodiment, the peeling part 30 has an insertion pin as a peeling member 31, but it is not particularly limited to any member that can be inserted between the sheet 11 and the label 12 and create a peeling opportunity. For example, the peeling member 31 may also be one or more insertion blades inserted between the sheet 11 and the label 12. The insertion blade may be a member formed on the entire long side of the label 12, or it may be a partial member disposed on one of the plurality of cylinder parts 33. Considering the adhesion of foreign matter, the peeling member 31 is preferably an insertion pin.

[0078] In the above embodiment, the peeling part 30 is inserted sequentially from the end side of the label 12 toward the center side between the sheet 11 and the label 12 (see reference). Figure 7 However, this is not a limitation. For example, multiple peeling members 31 can be inserted into the ends of the label 12 simultaneously, or they can be inserted sequentially from the center side of the label 12 toward the end side. In this end effector 20, a force in the peeling direction can be applied to the label 12 by a simpler process, such as tilting the pickup member 26 and inserting the peeling member 31, thereby more reliably peeling the label 12 from the sheet 11. Furthermore, from the viewpoint of ease of peeling the label 12, the peeling member 31 is preferably inserted sequentially between the sheet 11 and the label 12 from the end side toward the center side.

[0079] In the above embodiments, the peeling section 30 is described as having four cylinder sections 33 and peeling components 31 (see reference). Figure 7However, this is not a limitation; the number of peeling parts 31 can be appropriately increased or decreased depending on the size of the label 12. Furthermore, in the above embodiment, the sheet holding portion 40 has three holding holes 42 on the lower surface side of one label 12 (see reference). Figure 7 However, it is not specifically limited to this, and the number and position of retaining holes 42 can be appropriately changed according to the size of the label 12.

[0080] In the above embodiment, the peeling part 30 is fixed to the base 22 in a way that allows it to move up and down via the peeling drive part 32. However, this is not a particular limitation, and the peeling drive part 32 may be omitted while the peeling part 30 is fixed. In this case, for example, the pickup part 25 may be moved up and down. In this end effector 20, a force in the peeling direction can be applied to the label 12 by a relatively simple process, such as tilting the pickup part 26 and inserting it into the peeling part 31, thereby more reliably peeling the label 12 from the sheet 11.

[0081] In the above embodiments, the case where the end effector 20 includes a swinging portion 24 that swings the support portion 23 has been described, but this is not particularly limiting; the swinging portion 24 may not be provided in the end effector 20. In this case, for example, the peeling and pasting device 10 may also provide the function of swinging the support portion 23 to the arm robot 50 side, which is a moving part. For example, the peeling and pasting device may also include a swinging portion that supports the mounting portion 51 and swings the mounting portion. Specifically, Figure 1 The connector 52 shown can also be used as a configuration to make the end effector 20 swing. In this peeling and pasting device, the label 12 can also be peeled off from the sheet 11 more reliably by applying a force in the peeling direction to the label 12 through a simpler process such as tilting the pickup member 26 and inserting it into the peeling member 31.

[0082] In the above embodiment, the end effector 20 includes a pressing part 44, but it is not particularly limited to this; the end effector 20 may also omit the pressing part 44. In this case, the peeling and pasting device 10 may be an arm robot 50 equipped with the pressing part 44, or the pressing part 44 may be omitted from the peeling and pasting device 10. Alternatively, the pressing process may be performed using the picking part 25. In this peeling and pasting device, the label 12 can also be peeled off from the sheet 11 more reliably by applying a force in the peeling direction to the label 12 through a simpler process such as tilting the picking part 26 and inserting it into the peeling part 31.

[0083] In the above-described embodiment, the end effector 20 includes a cleaning section 46, but it is not particularly limited to this; the end effector 20 may also omit the cleaning section 46. In this case, the peeling and pasting device 10 may include an arm robot 50 equipped with the cleaning section 46, or the cleaning section 46 may be other devices, or the cleaning section 46 may be omitted from the peeling and pasting device 10. In this peeling and pasting device, the label 12 can also be peeled off from the sheet 11 more reliably by applying a force in the peeling direction to the label 12 through a relatively simple process such as tilting the pick-up member 26 and inserting it into the peeling member 31.

[0084] In the above embodiment, the peeling and bonding device 10 includes a sheet holding part 40 and a control PC 60, but these can also be replaced by other devices. In this case, it can also be a peeling and bonding system that includes a peeling and bonding device, a sheet holding part, and a control device.

[0085] In the above embodiments, the direction orthogonal to the length direction of the label is set as the tilt direction D, but it is not particularly limited to this. The direction deviating from the direction orthogonal to the length direction of the label can also be set as the tilt direction D.

[0086] In the above embodiment, after peeling off the label 12, the label 12 is moved with the peeling member 31 disposed below the label 12. However, it is not particularly limited to this. The label 12 can also be moved by retracting the peeling member 31 to a retracted position.

[0087] In the above embodiment, the label 12 on the sheet 11 is photographed, and the position and orientation of the pickup member 26 are set based on the photographed image. The tilt direction D and the insertion direction of the peeling member 31 are also set. However, this is not particularly limited to these steps, and the photographing and setting processes can be omitted. In addition, in order to improve the accuracy of peeling, moving, and pasting the label 12, it is preferable to perform photographing and setting processes.

[0088] In the above embodiments, this disclosure has been described as a peel-off adhesive device 10 and a peel-off adhesive method, but it can also be a program that implements the peel-off adhesive method. This program enables one or more computers to perform the steps of the peel-off adhesive method. The program can be recorded on a computer-readable recording medium (e.g., hard disk, ROM, FD, CD, DVD, etc.), distributed from one computer to other computers via a transmission medium (communication network such as the Internet or LAN), or sent and received in any other form.

[0089] Industrial availability

[0090] This disclosure can be used in the technical field of automatically attaching labels to articles.

[0091] Explanation of reference numerals in the attached figures

[0092] 10 Peeling and pasting device, 11 Sheet, 12 Label, 13 Pasting object, 20, 20B End effector, 21 Connecting part, 22 Base, 23 Support part, 24 Swinging part, 25, 25B Pick-up part, 26 Pick-up component, 26B Flat pad, 27 Following part, 27B Elastic component, 28 Guide block, 28B Pressure supply hole, 29, 29B Support surface, 30 Peeling part, 31 Peeling component, 32 Peeling drive part, 33 Cylinder part, 34 Fixing part, 35 Posture holding part, 36 Force application part, 3 7 Stop, 37a Fixing plate, 37b Fixing screw, 38 Imaging part, 39 Supply tube, 40 Sheet holding part, 41 Mounting part, 42 Holding hole, 44 Pressing part, 45 Pressing component, 46 Cleaning part, 47 Cleaning hole, 50 Arm robot (moving part), 51 Mounting part, 52 Connector, 55 Arm, 56 Drive motor, 57 Base part, 60 Control PC, 61 Control part, 62 Storage part, 64 Communication part, 65 Display part, 66 Operation part, D Tilt direction, L Spacing, x Length, y Width.

Claims

1. A peeling and pasting method, performed by a peeling and pasting device, the peeling and pasting device comprising a picking component for picking up labels and a peeling component for peeling off labels, the peeling and pasting device peeling off labels from a sheet on which one or more labels are pasted. The peel-off and adhesive method includes the following steps: The force application step involves bringing the pickup component that picks up the label into contact with the surface of the label, and applying a peeling force to the label in an inclined direction that is inclined relative to the vertical direction of the surface. In the insertion step, while the picking member applies a peeling force in the tilting direction, a peeling member is inserted between the label and the sheet at the end of the label on the opposite side of the tilting direction, and the label is peeled off; and The moving step involves moving the peeled-off label.

2. The peeling and pasting method according to claim 1, wherein, In the force application step, the direction orthogonal to the length direction of the label is defined as the tilt direction.

3. The peeling and pasting method according to claim 1, wherein, During the force application step, the picking component is tilted within the range that it does not disengage from the abutting label.

4. The peeling and pasting method according to claim 2, wherein, During the force application step, the picking component is tilted within the range that it does not disengage from the abutting label.

5. The peeling and pasting method according to any one of claims 1 to 4, wherein, During the force application step, the inclination is within a range of 10° to 45° relative to the vertical direction.

6. The peeling and pasting method according to any one of claims 1 to 4, wherein, In the insertion step, the peeling component is inserted sequentially between the sheet and the label, starting from the end side of the label and moving towards the center side.

7. The peeling and pasting method according to any one of claims 1 to 4, wherein, In the moving step, after the label is peeled off, the label is moved with the peeling component positioned below the label.

8. The peeling and pasting method according to claim 7, wherein, During the moving step, while the peeling component is retracted from under the peeled label, the label held by the picking component is pasted towards the pasting position.

9. The peeling and pasting method according to any one of claims 1 to 4, wherein, In the moving step, after the peeled label is pasted onto the pasting position, a pressing process is performed by the pressing component.

10. The peeling and pasting method according to any one of claims 1 to 4, wherein, The peel-off and adhesive method includes the following steps: The shooting steps include photographing the label on the sheet material; and The setting step involves setting the position and orientation of the pickup component based on the captured image obtained in the shooting step, and setting the tilt direction relative to the vertical direction and the insertion direction of the peeling component. The force application step and the insertion step are performed based on the settings.

11. The peeling and pasting method according to any one of claims 1 to 4, wherein, The peeling and pasting device includes: a support portion that supports the pickup member and allows the pickup member to tilt relative to the vertical direction of the label; a following portion that allows the pickup member to follow the label surface when the support portion is tilted; and a swinging portion that provides axial support to the support portion and causes the support portion to swing. In the force application step, after the pickup component comes into contact with the label, the swinging part moves in a direction that tilts towards the support part. The support part is tilted by the swinging part and the following part, and a force in the peeling direction is applied to the label via the pickup component. In the insertion step, while applying a force in the peeling direction to the label, the peeling member is inserted between the label and the sheet to peel the label off from the sheet.

12. A program that enables one or more computers to perform the steps of the peeling and pasting method according to any one of claims 1 to 11.

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