Applicator device and method

Abstract

An applicator device comprising an applicator pad (10) and an actuator (180) for positioning the applicator pad (10) in a desired position, the applicator pad (10) being connected to the actuator (180) by a connecting member (40), wherein the connecting member (40) enables engagement between the applicator pad (10) and the actuator (180).

Description

Technical Field

[0001] Embodiments of the present invention relate to a coating apparatus and its components and related methods, particularly but not limited to labeling apparatus and methods for printing and applying printing devices. Background Technology

[0002] In the field of printing technology (particularly label printing), it is known that labels are affixed to a printing head of a printing device for printing before being removed from a carrier and affixed to an article (e.g., a package). Each label is typically made of paper and has a printing side adjacent to the printing head for ink to be printed on, providing, for example, information, barcodes, images, etc. It also has an adhesive side, typically with a layer of adhesive, on which the label is first affixed to the carrier and then to the labeled article. It is also known to make labels using thin plastic materials. Other materials may also be used. The carrier may have a waxy structure or coating to allow the label to be separated from the carrier. It is known in the art to use a coating pad or "tamping pad" to affix each printed label to the corresponding article. Each label is fed from the printing head toward the coating pad, and the printing side of the label is typically kept adjacent to the coating pad by a vacuum. The coating pad can then be moved relative to the printing head toward the surface of the article to which the label is to be attached, and the adhesive side of the label is placed on that surface, such that the adhesive holds the label to the surface of the article. The air pressure in the coating pad and label area can then be increased to reduce the suction between the coating pad and the label, causing the label to detach from the coating pad and remain adhered to the item surface. Movement of the coating pad is typically achieved by an actuator, and the pad is usually secured to the actuator using screws or similar mechanical fasteners. This means that one or more tools are required to remove the coating pad for maintenance or replacement. Pneumatic tubing and electronic connections must typically be made between the actuator and the coating pad. Therefore, replacing and maintaining the coating pad is time-consuming and prone to human error. This can lead to production delays and equipment damage.

[0003] Known coating pads are designed to handle a range of label sizes, typically from 26mm × 26mm to 170mm × 226mm. Industry practice involves using plastic pneumatic tubes to deliver air at pressures such as 1–10 bar (100,000 Pa–1,000,000 Pa) to create the necessary vacuum to hold the label in place near the coating pad, increasing air pressure during application. This high-pressure air is then typically used to create a vacuum within the pad itself, which increases the weight and complexity of the moving pad.

[0004] It is known that an array of injectors separate from the nozzle pad can be used to guide each label away from the nozzle so that each label is moved to the area affected by the vacuum generated by the nozzle pad.

[0005] Actuators for moving coating pads to affix labels to target surfaces are also known. Known actuators include heavy and / or bulky moving parts. Actuators are typically pneumatically or electrically driven. Summary of the Invention

[0006] According to an embodiment of the present invention, a coating device is provided, including a coating pad and an actuator for positioning the coating pad in a desired position, the coating pad being connected to the actuator via a connecting member, wherein the connecting member allows engagement between the coating pad and the actuator.

[0007] A portion of the connecting member may be configured to slidably engage with a portion of the coated pad.

[0008] The connecting member may include a joining member configured to engage with the joining parts of the coated pad in a dovetail arrangement.

[0009] The connecting components and the coating pad can be configured to snap together.

[0010] The coating device may include a locking structure for locking the coating pad together with the actuator.

[0011] Connecting components may include universal joints.

[0012] The connecting component can create a pneumatic coupling between the coated pad and the actuator.

[0013] The coating apparatus may include an airflow generator.

[0014] The airflow generator can be carried out as part of the actuator.

[0015] The airflow generator can be located on a fixed part of the coating device.

[0016] The airflow generator can be operated to produce airflow with a pressure of up to about 1000 Pa.

[0017] The coating pad may have a first label receiving surface and a second surface, a label inlet edge and an opposite edge, a fluid inlet and a fluid conduit device that is in fluid communication with the fluid inlet to deliver fluid from the fluid inlet to multiple locations on the first label receiving surface.

[0018] The fluid inlet of the coated pad can be fluidly connected to the airflow generator via a connecting component.

[0019] The fluid inlet may be located near the edge of the label inlet of the coating pad, and at least a portion of the conduit assembly may extend from the edge of the label inlet of the coating pad to the opposite edge of the coating pad.

[0020] Fluid conduit devices may include multiple conduits.

[0021] Two or more of the multiple catheters may include sections that are substantially parallel to each other.

[0022] The cross-sectional area of ​​the fluid inlet can be approximately 25% to 75% of the area of ​​the coated pad, and preferably approximately 50% of the area of ​​the coated pad.

[0023] The label receiving surface of the coating pad may include a portion having a rough surface that covers at least a portion of the first label receiving surface of the coating pad. This portion may cover multiple portions of the first label receiving surface of the coating pad. This portion may cover the entire first label receiving surface of the coating pad.

[0024] Rough surfaces can be formed through additive manufacturing and / or molding processes.

[0025] The coating pad may include one or more reinforcing ribs.

[0026] The coating pad may include one or more nozzles terminated at or near the label receiving surface of the coating pad, and each nozzle may be in fluid communication with a pressurized fluid source.

[0027] The pressurized fluid source can be an airflow generator.

[0028] The coating device may include multiple nozzles, at least some of which may be in fluid communication with a pressurized fluid source via a dispensing chamber.

[0029] The applicator device may include at least one opening on the label side of the coating pad, and each opening may be associated with a corresponding nozzle.

[0030] Each opening can surround the corresponding nozzle.

[0031] Also provided is a coating device including a coating pad for attaching a label to an article, an airflow generator, an air deflector for guiding airflow between the airflow generator and the coating pad, and a label detector for detecting the presence of a label near the coating pad, wherein the label detector includes a flow sensor for measuring the airflow at a location between the airflow generator and the coating pad.

[0032] A flow sensor can be a differential pressure sensor.

[0033] Air deflectors can include obstacles, and differential pressure sensors can measure the air pressure on both sides of the obstacle.

[0034] The coating device may include any or all of the above features in any combination.

[0035] An actuator for a coating apparatus is also provided, which can be operated to position a coating pad at a desired location relative to an article to which a label is to be applied, the actuator including one of an extrusion body or a pultrusion body that can be connected to the coating pad.

[0036] The actuator may include at least two telescopic bodies.

[0037] The actuator body enables fluid communication between the coated pad and the pressurized fluid source and / or airflow generator.

[0038] The actuator may include at least one bearing component that can engage with a portion of the label printing apparatus to facilitate movement of at least one portion of the actuator relative to a portion of the label printing apparatus.

[0039] Each bearing component can be a roller.

[0040] This actuator can be used in conjunction with any or all of the features of the above-described coating device.

[0041] A method for controlling a coating apparatus is also provided, the apparatus including a coating pad for affixing a label to an article, an actuator for positioning the coating pad at a desired position relative to the article, and a control system for controlling the movement of the actuator, the control system including at least one motor, the method including determining the desired position of the coating pad, considering at least one physical parameter of the actuator and / or the coating pad, determining a required speed for the actuator to reach the desired position of the coating pad, and considering the current position of the coating pad, calculating the motor torque required to reach the desired position of the coating pad.

[0042] The method may include determining the impact between the coating pad and the article by detecting one or more of the following: an increase in motor current, a change in actuator speed, and an increase in the difference between the desired position of the coating pad and the actual position of the coating pad.

[0043] The method may include determining the impact zone, and the control system may operate under different conditions when the actual location of the coated pad is determined to be within the impact zone.

[0044] This method can be used to attach labels to each item in a series of items, where a control system can be used to determine the respective impact zone associated with each item to be labeled.

[0045] This method may include reducing control stiffness, and / or operating the motor in open-loop torque mode, and / or using a model-based feedforward algorithm to control the motor when the coated pad is determined to be in the impact zone.

[0046] The method may include adjusting control parameters of the control system in response to detecting an impact between the coated pad and the article. Attached Figure Description

[0047] Embodiments of the invention will now be described by way of example only with reference to the accompanying drawings, in which:

[0048] Figure 1It is a schematic perspective view showing the first side of the coated pad of a portion of the receiving tag.

[0049] Figure 2 It is a schematic 3D diagram showing Figure 1 The second side of the coated pad.

[0050] Figure 3 It is a schematic perspective view showing a coating pad and a related connection device for connecting the coating pad to the actuator.

[0051] Figure 4A This is another schematic perspective view showing a coating pad and a related connection device for connecting the coating pad to the actuator.

[0052] Figure 4B This is a schematic cross-sectional view showing a portion of the connection device used to attach the coated pad to the actuator.

[0053] Figure 5A is a schematic perspective view showing one embodiment of the coated pad.

[0054] Figure 5B is a schematic perspective view of an embodiment of the coated pad in Figure 5A, showing the label receiving surface of the coated pad.

[0055] Figure 6 It is a flowchart showing a part of the control system of the labeling device.

[0056] Figure 7 It is a speed curve and related position curve of the actuator and coating pad of a labeling system.

[0057] Figure 8 It is a schematic 3D diagram showing a portion of the actuator.

[0058] Figure 9 It is a cross-sectional view showing Figure 8 Part of the actuator.

[0059] Figure 10 It is a schematic cross-sectional view showing Figure 8 and Figure 9 The actuator is connected to a part of the printing unit.

[0060] Figure 11 It is a schematic 3D diagram showing a portion of an optional actuator.

[0061] Figure 12 It is a schematic cross-sectional view showing a actuator.

[0062] Figure 13A is a schematic cross-sectional view showing a label detection device with no label near its coating pad.

[0063] Figure 13B is a schematic cross-sectional view showing a portion of a label detection device with a label near its coating pad; and

[0064] Figure 14 This is a schematic cross-sectional view showing a portion of another embodiment of the label detection device. Detailed Implementation

[0065] refer to Figure 1 and Figure 2 The figure shows a coating pad 10 for a labeling device that receives a label 12. The coating pad 10 has a first side or label receiving side 14 and a second side 16. The coating pad 10 also has a label inlet edge 18 and an opposite edge 19. The label 12 has a leading edge 12a and a trailing edge 12b.

[0066] The coating pad 10 includes a conduit assembly 20, which in an embodiment includes a plurality of conduits 22 in fluid communication with each other. The conduit assembly 20 may also be in fluid communication with an air inlet 24 that serves as an air inlet. In an embodiment, the air inlet 24 may be in fluid communication with each conduit 22. The air inlet 24 is located near the label inlet edge 18. For example, the edge of the air inlet 24 may be located at a distance of about 2 to 15 mm (preferably about 12 mm) from the label inlet edge 18 of the pad 10. At least a portion of the air inlet 24 and the conduit assembly 20 may be in fluid communication with the label receiving surface 14 of the coating pad 10. Fluid, such as air, may be drawn into the coating pad 10 via at least a portion of the air inlet 24 and / or at least a portion of the conduit assembly 20. The air inlet 24 may have a large cross-sectional area in the plane of the label receiving surface 14.

[0067] The cross-sectional area of ​​the air inlet 24 on a plane substantially parallel to or coincident with the label receiving surface 14 may depend on the dimensions of the coating pad 10. For example, the cross-section of the air inlet 24 may be approximately circular, or it may be approximately rectangular. For labels that are greater than 40 mm wide and 30 mm long, the cross-sectional area of ​​the air inlet 24 on a plane substantially parallel to or coincident with the plane of the label receiving surface 14 may be approximately 240 mm². 2 The minimum cross-sectional area of ​​the air inlet 24 on the plane of the tag receiving surface 14 is 140 mm. 2 A smaller cross-sectional area of ​​the air inlet 24 may impair airflow, thus affecting label attraction performance. For smaller labels (i.e., labels smaller than 40mm × 30mm), the cross-sectional area of ​​the air inlet 24 can be even smaller. The cross-sectional area could be 48mm². 2 Ideally, the air intake 24 should cover approximately 50% of the small label pad 10.

[0068] The cross-sectional area of ​​each conduit 22 can be very small relative to the cross-sectional area of ​​the air inlet 24, and the width of each conduit 22 can be between about 1 mm and about 5 mm, and can be, for example, about 2 mm wide.

[0069] The coating pad 10 may include one or more protective ribs 28 extending at least a portion of the air inlet 24. Each or every protective rib 28 may extend in a plane substantially perpendicular to the coating pad, and thus substantially perpendicular to the cross-section of the air inlet 24. Each protective rib 28 may prevent the label and / or foreign objects from entering (e.g., being sucked into) the air inlet 24. The number of protective ribs 28 may be determined by the thickness of the label used and the air pressure.

[0070] For example (such as) Figure 1 As shown, the catheter device 20 may include four catheters 22 in an embodiment. It may also have more or fewer than four catheters 22. Each catheter 22 may include a generally straight portion. A portion of one or more catheters 22 may extend from the label inlet edge 18 of the coating pad 10 to an opposite edge 19. The generally straight portion of the catheter 22 may extend from the label inlet edge 18 of the coating pad 10 to an opposite edge 19. When the catheter device 20 includes multiple catheters 22, corresponding portions of two or more of the multiple catheters 22 may be parallel to each other.

[0071] For example, the purpose of the conduit assembly 20 and the air inlet 24 is to provide a suction force or vacuum effect that can resist gravity to hold the label 12 near the label receiving surface 14 of the coating pad 10. An airflow generator, such as a fan, is provided and is in fluid communication with the air inlet 24. The conduit assembly 20 and / or the air inlet 24 enable the label 12 to be sucked onto the coating pad 10 without the need for an additional directional gas jet, such as an external gas jet, or other forms of guiding devices that require guiding the label toward the coating pad of a known label application system.

[0072] The label receiving surface 14 of the coating pad may include a portion having a structure, which may be a rough surface, to reduce the contact area between the label receiving surface 14 and the label 12. The rough surface portion 26 may extend across the entire surface of the label receiving surface 14. The rough surface portion 26 may extend onto a portion or several portions of the surface of the label receiving surface 14. The rough surface portion 26 may include some discontinuous sections. This provides a low-stick or "non-stick" effect, which is advantageous when the sticky side of the label 12 is in contact with the coating pad. Such accidentally stuck-on labels 12 can be easily removed by hand, or may even detach on their own due to the rough surface.

[0073] When manufacturing the coating pad 10, the structure of portion 26 of the label receiving surface 14 can be disposed within or on the label receiving surface 14 of the coating pad 10. The coating pad 10 can be molded, for example, injection molded. The coating pad 10 can be produced by additive manufacturing, such as 3D printing or selective laser sintering (SLS). If the coating pad 10 is produced by additive manufacturing (a powder-based manufacturing process), the outer surface (including the label receiving surface) can be naturally roughened, thereby providing a structure or rough surface that gives the label receiving surface 14 of the coating pad 10 low adhesion properties. If the coating pad 10 is produced by a molding process, then the structure that gives the label receiving surface 14 low adhesion properties can be molded onto portion 26 of the label receiving surface 14.

[0074] The second surface 16 of the coating pad 10 may include one or more reinforcing ribs 30. For example, the ribs 30 may be arranged in a grid pattern, or another advantageous arrangement, such as a honeycomb or triangular arrangement. The arrangement of the ribs 30 can be selected to provide optimal torsional stiffness. The cross-sectional shape of the ribs 30 (i.e., on a plane substantially perpendicular to the second surface 16 of the coating pad 10) may be uniform or may vary with the height of the ribs 30. For example, each rib 30 may be T-shaped. The cross-sectional shape of each rib 30 may depend on the manufacturing process.

[0075] The ideal ratio of stiffness to weight of the coating pad 10 determines the cross-sectional shape and / or height of the ribs 30, and / or the number of ribs 30 provided, and / or the arrangement of the ribs 30. The thickness of the coating pad 10 (excluding the ribs 30) can be between about 0.5 mm and about 1 mm. The width of each rib 30 can be between about 1 mm and 1.5 mm, and the height (perpendicular to the pad 10) can be between about 3 mm and 15 mm, for example, it can be about 6 mm.

[0076] To facilitate the manufacture of embodiments of the coating pad 10, a parametric computer-aided design (CAD) model can be provided to create instructions for the additive manufacturing method. Inputting the desired width W and length L of the coating pad into the model will generate instructions for producing all features of the coating pad 10. The designer can choose whether to include optional features.

[0077] During use, the label 12 is conveyed away from the print head of the printing device. Typically, a motor-driven reel rolls up the carrier screen 15, which carries a series of labels 12, 13, in the desired direction. Each label 12, 13 can be separated from the carrier screen 15 by means of, for example, a peeling roller or a blade. The label 12 travels along... Figure 1The movement is indicated by the arrow marked A. As the tag 12 is peeled off from the carrier net 15, the tag 12 moves toward the tag inlet edge 18 of the coating pad 10. The leading edge 12a of the tag 12 separates from the carrier net 15 before the trailing edge 12b, and the leading edge 12a of the tag 12 engages with the tag receiving surface 14 of the coating pad 10 before the trailing edge 12b separates from the carrier net 15.

[0078] As the label 12 passes through the label receiving surface 14 of the coating pad 10 in the direction of arrow A, the proportion of the label 12 covering the air inlet 24 of the coating pad 10 gradually increases. When the air inlet 24 is covered, air is drawn in through at least a portion of the conduit assembly 20. As the label 12 continues to move in the direction of arrow A, the conduit assembly 20 is gradually covered, and air is then drawn in through one or more uncovered portions of the conduit assembly 20. This arrangement means that as the label 12 moves on the coating pad 10, the effective air inlet (i.e., the air inlet 24 and / or one or more portions of the conduit assembly 20 that are uncovered at a given time) moves further away from the label inlet edge 18 of the coating pad 10. This allows labels of various sizes to be conveyed through the same coating pad 10. The maximum label size 12 that can be processed by the coating pad is determined by the physical dimensions of the coating pad 10, and the minimum label size is defined by the rectangular area defined by the outermost conduit 22, and can be approximately two-thirds of the length (measured from the label inlet edge 18 to the opposite edge 19) and two-thirds of the width W (symmetric about the centerline of the coating pad 10) of the label receiving surface 14 of the coating pad 10. The width of the conduit 22 can be selected to ensure that even the thinnest label will not deform or bend in the vicinity of the conduit 22. The width of each conduit can be selected such that the total vacuum area formed behind the air inlet 24 (i.e., between the air inlet 24 and the airflow generator, but not on the label receiving surface 14 of the coating pad 10) does not exceed twice the cross-sectional area of ​​the air inlet 24 plus the cross-sectional area of ​​the portion of the conduit 22 located between the air inlet 24 and the opposite edge 19 of the label pad 10.

[0079] Alternative settings for the coating pad 10 and the conduit device 20 can be selected, and the optimal settings can be chosen based on the size of the label to be printed by the printing device intended to be used with the coating pad 10.

[0080] The advantage of the embodiment of the coating pad 10 described in this specification is that the rough portion 26 of the label receiving surface 14 eliminates the need to apply a "non-stick" coating to the label receiving surface 14 (or a portion or several portions of the label receiving surface 14). This eliminates a manufacturing step. The coating pad 10 is particularly suitable for high-volume, low-pressure airflow generated by a local airflow generator (such as a fan) system, compared to low-volume, high-pressure airflow generated by an external pneumatic generator (i.e., air generated in the factory).

[0081] refer to Figure 3 Specifically, the coating pad 10 forms part of the coating device and is connected to an actuator via a connecting member 40, which affects the movement of the actuator pad 10. The connecting member 40 can provide at least one of mechanical and pneumatic coupling between the coating pad 10 and the actuator. The connecting member 40 includes a body 42. In an embodiment, the cross-section of a portion of the outer surface of the body 42 may be generally square. The body 42 includes an opening 44. The opening 44 may extend into the body 42. The connecting member 40 may include an engaging member 46. In an embodiment, the engaging member 46 may include a pair of protrusions 46a, 46b. The cross-section of each protrusion 46a, 46b may be generally triangular, but it is understood that other forms are also possible or desirable. For example, the cross-section of the protrusion or each protrusion may be generally flat, square, rectangular, or circular. In an embodiment, the engaging member or each engaging member 46 may extend laterally outward from the body 44 or near the bottom 48 of the connecting member 40. The connecting member 40 may also include a locking structure 50. In an embodiment, the locking structure 50 may be an opening or a slot. The locking structure may be disposed in the base 48 of the connecting member 40. The locking structure 50 may be disposed at approximately the center of the connecting member 40 and may extend in a direction substantially parallel to the connecting member 46 or each of the connecting members 46.

[0082] The coating pad 10 may include an engagement feature 36 capable of engaging with an engagement member 46 of the connecting member 40. In an embodiment, the engagement feature 36 may include one or more lips 36a, 36b extending from the second surface 16 of the coating pad. Each lip 36a, 36b may provide a channel for receiving a corresponding one of the protrusions 46a, 46b of the engagement member 46. Each lip 36a, 36b may be angled or curved to provide its respective channel for the engagement feature 36.

[0083] The engaging member 46 and engaging structure 36 can be configured to allow the connecting member 40 to slide into the coating pad 10. The engaging member 46 and engaging structure 36 can allow the connecting member 40 to be connected to the actuator in a "dovetail" configuration. The connecting member 40 can allow a "click" engagement between the coating pad 10 and the actuator.

[0084] The engagement structure 36 may be located near or adjacent to the label inlet edge 18 of the coating pad 10. The engagement structure 36 may be located near or adjacent to the air inlet 24. A portion or several portions of the engagement structure 36 may partially or substantially surround the air inlet 24.

[0085] The coating pad 10 may include a locking member 52 that engages with a locking structure 50 of the connecting member 40. In an embodiment, the locking member 52 may include a tongue that can be received in the locking structure 50 of the connecting member 40. The locking member 52 may extend through at least a portion of the air inlet 24 and be oriented substantially parallel to the one or each lip 36a, 36b of the engagement structure 36. The locking member 52 may include a pawl or lip 54 that engages with a portion of the connecting member 40 to prevent the coating pad 10 from accidentally slipping off the connecting member 40. The locking member 52 may be resilient, allowing it to disengage from the connecting member, for example, enabling the removal, replacement, and / or maintenance of the coating pad 10.

[0086] The connecting member 40 may be elastic, or at least a portion thereof may be elastic and / or hinged, to enable adjustment of the position and / or orientation of the coating pad 10 relative to the actuator, thereby adapting the coating pad 10 to the surface on which the label 12 is to be applied. This adjustment can be made passively if the coating pad 10 contacts the surface on which the label 12 is to be applied, or actively if the labeling device determines that the position or orientation of the surface on which the label 12 is to be applied differs from the current position or orientation of the coating pad 10. Adjustment of the position and / or orientation of the coating pad 10 can be achieved through a combination of active and passive adjustments.

[0087] The configuration of the connecting member 40 allows for adjustment of the position and / or orientation of the coating pad 10 while maintaining the integrity of the air passage flowing through the connecting member 40. The configuration of the connecting member 40 can prevent or inhibit rotation of the coating pad 10 relative to the actuator to avoid misalignment (e.g., skewing) of the label 12.

[0088] The engagement structure 36 and locking member 52 (if provided) can be positioned adjacent to and / or substantially aligned with the air inlet 24 of the coated pad 10.

[0089] The connecting member 40 can be permanently or semi-permanently fixed to the actuator, for example by using screws or similar fasteners, or it can be integrated with the actuator.

[0090] Figure 4A and 4B An embodiment of the connecting member 140 is shown. Features of the connecting member 140 that are similar to those of the connecting member 40 are indicated by similar reference numerals, prefixed with '1'. The connecting member 140 includes a first portion 142 and a second portion 143. The connecting member 140 includes a connecting member 145 that connects the first portion 142 and the second portion 143 of the connecting member 140.

[0091] The first portion 142 is a body comprising a base 148 and a coupling member 146. The coupling member 146 may include a pair of protrusions 146a, 146b receivable in the coupling structure 36 of the coated pad 10. The first portion 142 includes an opening 144 through which a pneumatic connection can be made. Although not mandatory, an electrical connection may also be made through the first portion. The first portion may include a retainer 141 for retaining a portion of the connecting member 145. The retainer 141 may be a base for a portion of the connecting member 145. The retainer 141 may include an opening through which a portion of the connecting member 145 can pass. The outer surface of the first portion 142 is malleable to be received in and movable relative to the second portion 143. A portion of the outer surface of the first portion 142 may be curved. The external shapes of the first portion 142 and the second portion 143 may be selected to allow them to mate with each other. The engagement of the first portion 142 and the second portion 143 provides a sealing engagement, thereby allowing fluid communication between the first portion 142 and the second portion 143. The pneumatic connection can be maintained through the connection between the first part 142 and the second part 143.

[0092] A realignment member 155 may be connected between the second portion 143 and the connecting member 145. The realignment member 155 may be, for example, an elastic member 155 such as a spring. When the first portion 142 and the second portion 143 are tilted relative to each other, the realignment member 155 can restore the first portions 142 and 143 to a substantially coaxial alignment. When the realignment member 155 is a spring, the spring force can be transmitted through the connecting member 145 to the retaining member 142, so that the retaining member 141 can maintain contact with the second portion 143 of the connecting member 140. The realignment member 155 applies a spring force to the retaining member 141 in a direction toward the second portion 143, which is substantially perpendicular to the plane of the connecting pad 10, thereby applying a realignment force to the retaining member 141, so that the retaining member 141 and the second portion 143 of the connecting member are substantially coaxially aligned with each other.

[0093] The second portion 143 includes a first opening 147. The first opening may extend through the second portion 143 at a generally central location. The first opening 147 may receive a portion of the connecting member 145. The second portion 143 includes a second opening 149 in which at least a portion of the first portion 142 of the connecting member 140 may be received. The second opening 149 may be generally annular and may be generally concentric with the first opening 147 about axis A. The second opening 149 may be axially located outside the second portion 143 relative to axis A. The second portion 143 is configured to connect to the actuator 180. The second portion 143 may include a portion made of an elastic material. The second opening 149 may be defined by the portion made of an elastic material to allow the second portion to receive the first portion 142 within the second opening 149.

[0094] The connecting member 145 may include a spherical element 145a and a shaft 145b. The shaft 145b may pass through a first opening 147 of the second part 143 and through an opening of the fastener 141 of the first part 142.

[0095] The first portion 142 and the second portion 143 of the connecting member 140 can be hinged to each other. The connecting member 140 can form a universal joint. The connecting member 140 can cause the coated pad 10 to pivot and / or rotate relative to the actuator 180.

[0096] The connecting members 40, 140 may have different sizes and shapes to facilitate use with coating pads and / or actuators of different sizes.

[0097] Figures 5A and 5B illustrate an embodiment of a coating pad 210. Figure 5B shows the first label receiving surface 214 of the coating pad 200, while Figure 5A shows the second surface 216 of the pad 200. The embodiments of the coating pads shown in Figures 5A and 5B may be advantageous when impact between the coating pad 210 and the surface to be labeled is unnecessary or impossible—for example, if the surface to be labeled is fragile, or the article beneath the surface is fragile and / or brittle and / or the surface to be labeled may be uneven. In such cases, it is preferable to apply the label by blowing it onto the surface. It is known that labels can be applied by combining a blowing process and a compaction (pressing) process.

[0098] Referring to Figures 5A and 5B, a coating pad 210 for a labeling apparatus is shown. The coating pad 210 has a first side or label receiving side 214 and a second side 216. The coating pad 210 also has a label inlet edge 218 and an opposite edge 219.

[0099] The coating pad 210 includes a conduit assembly 220, which in an embodiment includes a plurality of conduits 222, wherein one or more conduits are in fluid communication with each other. The conduit assembly 220 may also be in fluid communication with an air inlet 224, which may serve as an air inlet. In an embodiment, the air inlet 224 may be in fluid communication with each conduit 222. The air inlet 224 is located near the label inlet edge 218. For example, the edge of the air inlet 224 may be located approximately 2 to 15 mm (preferably approximately 12 mm) from the label inlet edge 218 of the pad 214. At least a portion of the air inlet 224 and the conduit assembly 220 may be in fluid communication with the label receiving surface 214 of the coating pad 210. Fluid, such as air, may be drawn into the coating pad 10 via at least a portion of the air inlet 224 and / or at least a portion of the conduit assembly 220. The air inlet 224 may have a large cross-sectional area in the plane of the label receiving surface 214.

[0100] The cross-sectional area of ​​the air inlet 224 on a plane substantially parallel to or coincident with the label receiving surface 214 may depend on the dimensions of the coating pad 210. For example, the cross-section of the air inlet 224 may be approximately circular, or it may be approximately rectangular. For labels greater than 40 mm wide and 30 mm long, the cross-sectional area of ​​the air inlet 224 on a plane substantially parallel to or coincident with the plane of the label receiving surface 214 may be approximately 240 mm². 2 The minimum cross-sectional area of ​​the air inlet 224 in the plane of the tag receiving surface 214 is 140 mm. 2 A smaller cross-sectional area of ​​the air inlet 224 may impair airflow, thus affecting label attraction performance. For smaller labels (i.e., labels smaller than 40mm × 30mm), the cross-sectional area of ​​the air inlet 224 can be even smaller. The cross-sectional area could be 48mm². 2 Ideally, the air intake 224 should cover approximately 50% of the small label pad 10.

[0101] For example, the purpose of the conduit device 220 and the air inlet 224 is to provide a way to resist the suction or vacuum effect of gravity and keep the tag 12 near the tag receiving surface 214 of the coated pad 120.

[0102] The cross-sectional area of ​​each conduit 222 can be very small relative to the cross-sectional area of ​​the air inlet 224, and the width of each conduit 222 can be between about 1 mm and about 5 mm, and can be, for example, about 2 mm wide. The width of the conduit 222 can be selected to ensure that even the thinnest label will not deform near the conduit 222.

[0103] The cross-sectional area of ​​the air inlet 224 on the plane of the label receiving surface 214 may depend on the size of the coating pad 210. For a "standard" size coating pad, the cross-sectional area of ​​the air inlet 224 may be greater than or equal to 135 mm².2 However, for coating pads 210 manufactured for attaching small labels, their cross-sectional area may be smaller. The coating pad 210 may include one or more protective ribs 228 extending at least a portion of the air inlet 224. This or each protective rib 228 may extend in a plane substantially perpendicular to the coating pad 210, thus substantially perpendicular to the cross-section of the air inlet 224. Each protective rib 228 may prevent labels and / or foreign objects from entering (e.g., being sucked into) the air inlet 224.

[0104] In an embodiment, the catheter device 220 may include four catheters 222, for example (as shown in FIG. 5B), which may be more or fewer than four catheters 222. Each catheter 222 may include a generally straight portion. A portion of one or more catheters 222 may extend from the label inlet edge 218 of the coating pad 210 toward an opposite edge 219. When the catheter device 220 includes multiple catheters 222, corresponding portions of two or more of the multiple catheters 222 may be parallel to each other.

[0105] The coating pad 210 includes an opening or port 202. The port 202 may be near or adjacent to the air inlet 224. Fluid, such as air, may be supplied to the coating pad 210 through the port 202, for example, through an external fluid source, such as an air compressor.

[0106] The coating pad 210 may include a dispensing device 204. The dispensing device 204 may include a dispensing chamber 206 in fluid communication with a port 202. The dispensing device 202 may include one or more dispensing conduits 208 in fluid communication with the dispensing chamber 206 and / or the port 202. The coating pad 210 may include one or more nozzles 209 associated with their respective dispensing conduits 208. Each dispensing conduit 208 may terminate at its respective nozzle 209. Each dispensing conduit 208 may include one or more bends. Where space permits, each bend may have the largest possible radius of curvature to optimize fluid flow through each dispensing conduit 208.

[0107] Each orifice 209 includes a small orifice serving as a fluid outlet. Each orifice 209 may have the minimum cross-sectional area in the dispensing device 204. The total cross-sectional area of ​​the nozzles 209 may be smaller than any of the fluid delivery paths extending between the fluid source and the nozzle via port 202, dispensing chamber 204, and each orifice dispensing conduit 208. The total cross-sectional area of ​​the nozzles 209 may be smaller than the minimum cross-sectional area of ​​any other portion of the airflow path between the fluid source and the nozzles 209. Setting a minimum cross-sectional area at each orifice allows for high-speed fluid flow at each orifice 209, which optimizes thrust to remove the label 12 from the label receiving surface 214 of the coating pad 210. The fluid may exit the orifice 209 at ultrasonic speeds.

[0108] The coating pad 210 includes one or more openings 207, each associated with a respective nozzle 209. The opening 207 may surround its respective nozzle 209. The nozzle 209 may be substantially concentrated within its respective opening 207. The opening 207 may have a large cross-sectional area relative to its respective nozzle 209. The diameter of the opening 207 may be approximately 11 mm. The opening 207 may draw air, such as ambient air, into the coating pad 210. Air can be drawn into the coating pad 210 through the opening 207. This prevents the labels 12, 13 from sticking to the pad during application to the surface and improves the efficiency of the "blowing" process. The openings 207 prevent the formation of a vacuum between the labels 12, 13 and the coating pad 210, which is important during the blowing process but not crucial when compacting the labels onto the surface to be applied. The cross-sectional area of ​​the or each opening 207 can be optimized to ensure sufficient airflow while still providing enough material for the coating pad 210 to provide space and / or support for the or each dispensing conduit 208 and / or dispensing chamber 204.

[0109] The conduit device 220 and / or air inlet 224 enable the labels 12, 13 to be sucked onto the coating pad 10 without the need for an additional directional gas jet, such as an external gas jet, or other forms of guiding devices that require guiding the label to move toward the coating pad of a known label application system.

[0110] The coating pad 210 may include an engagement configuration that can engage with a connecting member, which may be similar to or the same as the connecting member 40 described above. The coating pad 210 may be connected to an actuator, which may be the same as or similar to the actuator 180 described above, and / or as shown in the figure.

[0111] The coating pad 210 has a complex construction and may not be achievable using known molding processes. Therefore, the manufacture of the coating pad 210 may include an additive manufacturing process.

[0112] The label receiving surface 214 of the coating pad may include a portion having a rough surface structure, which has the effect of reducing the contact area between the label receiving surface 214 and the label 212. This portion 226 may be similar to or the same as portion 26 of the coating pad 10 described above, and may have any or all of the features of portion 26.

[0113] The second surface 216 of the coating pad 210 may include one or more reinforcing ribs 230. For example, the ribs 230 may be arranged in a grid pattern, or another advantageous arrangement, such as a honeycomb or triangular arrangement. Ribs 30 may be selectively arranged to provide optimal torsional stiffness. The arrangement of the ribs 230 may be configured according to the location of this or each of the dispensing conduits 208 or some of the dispensing conduits 208 and / or dispensing chambers 206. Alternatively, each rib 230 may have any or all of those or each of the ribs 30 of the coating pad 10.

[0114] To facilitate the manufacture of embodiments of the coating pad 10, a parametric computer-aided design (CAD) model can be provided to create instructions for the additive manufacturing method. Inputting the desired width W and length L of the coating pad into the model will generate instructions for producing all features of the coating pad 210. The designer can choose whether to include optional features.

[0115] During use, the label 12 is conveyed away from the print head of the printing apparatus. A reel, typically driven by a motor, winds up the carrier mesh 15 carrying a series of labels 12, 13 in the desired direction, and each label 12, 13 can be separated from the carrier mesh 15 by means of, for example, a peeling roller or a blade. As the label 12 is peeled from the carrier mesh 15, it moves toward the label inlet edge 218 of the coating pad 210. The leading edge 12a of the label 12 separates from the carrier mesh 15 before the trailing edge 12b, and the leading edge 12a of the label 12 engages with the label receiving surface 214 of the coating pad 210 before the trailing edge 12b separates from the carrier mesh 15.

[0116] As label 12 passes through the label receiving surface 214 of coating pad 210 in the direction of arrow B, the proportion of at least a portion of label 12 covering the air inlet 224 of coating pad 210 gradually increases. When air inlet 224 is covered, air is drawn in through at least a portion of conduit device 220. As label 12 continues to move in the direction of arrow B, conduit device 220 is gradually covered, and air is then drawn in through one or more uncovered portions of conduit device 220. This arrangement means that as label 12 moves on coating pad 210, the effective air inlet (i.e., air inlet 224 and / or one or more portions of conduit device 220 that are uncovered at a given time) moves further away from the label inlet edge 218 of coating pad 210. This allows labels of various sizes to be conveyed through the same coating pad 210. The maximum label 12 that can be processed by the coating pad is determined by the physical dimensions of the coating pad 210, and the minimum label size is defined by the rectangular area defined by the outermost conduit 220, and can be approximately two-thirds of the length (measured from the label inlet edge 218 to the opposite edge 219) and two-thirds of the width W (symmetric about the centerline of the coating pad 210) of the label receiving surface 214 of the coating pad 210.

[0117] Alternative settings for the coating pad 210 and the conduit device 220 can be selected, and the optimal settings can be chosen based on the label size printed by the printing device intended to be used with the coating pad 210.

[0118] The coating pad 210 is manipulated to the desired position by an actuator that may be the same as or similar to actuator 180 to affix the label. For example, the distance between the coating pad 210 and the item to be labeled may be between about 0 mm and about 100 mm, but more typically between about 0 mm and about 20 mm. The smaller the distance between the label 12 and the surface to which the label is to be applied, the higher the positional accuracy when placing the label.

[0119] Fluid, typically air, is drawn into the coating pad 210 via port 202 and can be forcibly drawn in through this or each nozzle 209, for example, through the dispensing chamber 206 and / or each dispensing conduit 208. The movement of the fluid through each nozzle 209 can push the label 12 from the label receiving surface 214 of the coating pad 210 toward the surface where the label is to be applied. The label 12 can be applied to the surface without a compaction process; that is, the blowing process may be sufficient to adhere the label 12 in the desired position.

[0120] Understandably, compaction may be permissible in some cases, but the impact should be minimized. In other cases, it may also be desirable to be able to apply a variable impact force.

[0121] Ideally, labels should be affixed using controlled and / or repeatable impact energy and / or impact force. Furthermore, a short "cycle" time is desirable; in other words, the time required to affix each label should be as short as possible.

[0122] The labeling apparatus includes a coating pad (which may be similar to or dissimilar to coating pads 10 and 210) for receiving labels 12 and 13 from a printing apparatus, and an actuator (which may be similar to or dissimilar to actuator 180) to which the coating pad is connected for moving the coating pad. The actuator may include a first motor 301. Motor 301 is connected to the actuator via a drive belt 302 that converts the rotational motion of motor 301 into linear motion of actuators 180, 400, and 500. A drive belt tensioner 304 may be provided to maintain acceptable tension in the drive belt 302.

[0123] A control system for controlling the movement of at least a portion of a labeling apparatus may be provided. This control system may include a motor control system. The motor control system may include a first motor (e.g., 301) for controlling the movement of an actuator (e.g., 180, 400, 500) that can move a coating pad. The coating pad may be similar to or the same as coating pads 10, 210, and may include one or both features of coating pads 10, 210.

[0124] The motor control system may include a closed-loop control system. The motor control system may include a position encoder mounted on a portion of the first motor, such as on the rotor of the first motor. Closed-loop motor control can be implemented using sensorless motor control techniques, such as those provided by Microbeam SA.

[0125] Figure 6 A flowchart illustrating the actuator motor control process is shown. The controller is typically implemented in a microprocessor, and its functions are implemented by microprocessor software.

[0126] Motor 301 may include a stepper motor and may include the motor itself as well as drive electronics for operating motor 301. It is understood that similar functionality can be achieved with other types of motors, such as brushless DC motors or servo motors. The motor control system can monitor rotor speed and position. This monitoring can be provided as part of a "sensorless" drive system. For example, for other types of motors, this can be obtained from a rotary encoder mounted on the motor.

[0127] A position curve generator 307 specifies the desired positions of the coating pads 10 and 210 in real time. The corresponding desired positions and speeds of the actuators 180, 400, and 500 are fed to the position controller 305, which can be a closed-loop proportional controller that uses the current coating pad position information to create speed requirements for the motor 301.

[0128] The motor control system is configured to know the physical parameters of the actuator 180, 400, 500 and pad 10, 210 system; this includes the inertia of all moving parts and the expected friction of the bearing surfaces.

[0129] A physical embodiment of the motor control system may also include gravity-related components. Actuators 180, 400, and 500 can operate in any direction, so the motor control system may include a gravity sensor to determine the operating plane of actuators 180, 400, and 500. The motor control system can then use standard solid modeling techniques to calculate the expected torque that motor 301 should provide. The expected torque is indicated to speed controller 303, which may be a closed-loop proportional / integral controller, where the expected torque is combined with the speed demand signal to generate a motor torque demand signal fed back to the motor itself. Combining the theoretical torque signal with the speed demand allows the actuator to respond faster and more accurately, meaning the actuator gets closer to the desired path.

[0130] In the field of motor control, it is known that when using closed-loop control, there is always a small error between the desired speed / position and the actual speed / position. It is also known that closed-loop control systems will overshoot their target speed / position. This technique can reduce errors and overshoot.

[0131] Figure 7 The speed and position curves of the applicator are shown during a single label application operation.

[0132] When the coating pad receives the labels 12 and 13 to be pasted, the motor control system controls the first motor to move the actuator, thereby moving the coating pad and labels 12 and 13 to an ideal position close to the surface where the labels 12 and 13 are to be pasted, namely the first potential impact point P. The value of point P is measured as the distance along the motion axis of the coater from the rest position E. The motor control system can move the coating pad from the rest position E to point P as quickly as possible. The coating pad reaches point P at a speed V. The speed V is adjustable. The speed V can be the ideal impact speed of the coating pad on the surface where the labels 12 and 13 are to be pasted.

[0133] The first motor 301 can be controlled in a position control mode, in which the speed of the first motor 301 is determined by the position of the coater as it moves between a stationary position E and a point P. The speed profile of the coating pad can be set based on the motion mass of the coater (plus the moving parts of the actuator) and the torque that the first motor 301 can provide. The speed profile can be optimized to cover the distance between the stationary position E and the point P in a minimum time period. The distance between the stationary position E and the point P can be predetermined (i.e., set) and configured in the motor control system, or it can be obtained from a sensor that measures the position of the coating pad relative to the surface to be labeled (i.e., the target). A suitable sensor could be an ultrasonic distance sensor that can be triggered by an optical sensor.

[0134] The impact zone Z can be defined as the area of ​​the surface to be labeled that the coater may impact. Depending on the package being labeled and the packaging handling system used, there will be a range of potential impact points. Within the impact zone Z, the motor control system preferably maintains the coating pad speed V. Z Basically unchanged. Z This could be the velocity V of the coating pad reaching point P. When the coating pad is within the impact zone Z, the control parameters of the motor control system may differ from those used when moving the coating pad from its rest position E to point P. These parameters may differ in any or all of the following ways: for example, to avoid a sharp increase in motor force upon impact with the target surface (which could be envisioned if the motor control system operates according to a position control algorithm), the controller stiffness may be reduced, allowing the motor control system to operate in an open-loop configuration, in torque control mode, or according to a model-based feedforward algorithm. One objective of the control system is to maintain the velocity V of the coating pad. Z Simultaneously, a low impact force is applied, such as the minimum impact force sufficient to adhere labels 12 and 13 to the target surface. One objective is to achieve one or more of the following: minimize the contact time between the coating pad and the target surface, avoid the coating pad bouncing off the target surface, and / or avoid applying greater force during or after the impact (e.g., immediately following it) due to increased motor torque. This method enables a very gentle impact.

[0135] The control system can detect the impact between the coated pad and the target surface (at impact location D). The control system can monitor one or more of the following impact detection parameters, or a combination of two or more of the following parameters: the increase in motor current, and the impact velocity V. Z The deviation and the increase in position error (i.e., the difference between the target position and the measurement position).

[0136] When an impact is detected, the motor controller is switched back to position control mode, which may be a "rigid" position control mode with the target position being the impact position D, in order to reduce the momentum of the first motor 301 and the transmission.

[0137] A delay (possibly predetermined) may occur before the control system moves the actuator to move the coating pad away from the target surface and back to the rest position E to receive another label 12, 13, during which time labels 12, 13 are affixed to the target surface. The control system can operate in a position control mode, for example, using an optimized motion curve to minimize the movement time between the impact position D and the rest position E. The motor control system can operate in a similar mode as described above regarding the movement of the coating pad between the rest position E and point P.

[0138] This can be achieved by, for example, adjusting the impact velocity V. Z Adjust the label adhesion force by modifying one or more of the above impact test parameters and / or by modifying a combination of two or more impact test parameters.

[0139] The labeling process can be repeated to affix one or more labels to each of a series of items, such as packages on a production line. The position of each item is determined as it approaches the labeling machine, for example by a position sensor, which determines the impact zone Z associated with each item. Therefore, the impact zone Z of each item can be dynamically determined during the operation of the coater device to achieve precise control of the coater device.

[0140] The labeling device may include an actuator for moving the labeling pad toward the surface to which the label is to be applied.

[0141] Actuators in typical labeling devices are pneumatic or electric. Existing "actuators," which may be made of aluminum and / or steel, are commonly used in labeling devices to move the labeling pad toward or away from the target surface (i.e., the surface to which the label is to be applied) and to affix the label to the target surface. Known actuators are often bulky, which tends to affect the actuator's speed and inertia, thus affecting the coating pad (which is connected to a portion of the actuator).

[0142] Figure 8 and Figure 9 An example of a portion of a linear actuator 400 according to an embodiment of the present invention is shown. The actuator 400 includes a first arm 402. The first arm 402 may be substantially hollow. The first arm 402 may be extruded. The first arm 402 may be made of a lightweight material, such as aluminum alloy, plastic, fiber-reinforced plastic, or pultruded composite material. The first arm 402 may have a cross-sectional shape configured to provide mechanical robustness and / or stiffness. The first arm 402 may be formed as one or more tubes.

[0143] The first arm 402 may have a shape, such as an internal shape, that can effectively guide fluid, such as air for holding and / or affixing labels. Arm 402 may include a first channel 404 through which fluid, such as compressed air, can travel toward an applicator pad that may be attached to arm 402 to blow labels 12, 13 from the applicator pad toward the target surface. The applicator pad may have any or all of the features of applicator pads 10, 210. For example, arm 402 may have a second channel 406 through which fluid, such as air, can travel away from the applicator pad to provide suction to hold the labels on the applicator pad before they are affixed to the target surface.

[0144] The arm 402 may have a shape configured to engage with one or more guides 408, such as an external shape. For example, the guide or each guide 408 may be a wheel, roller, or bearing. The arm 402 may include a track portion 410 for receiving the guide or each guide 408. The track portion 410 may be formed on the outer surface of the arm 402.

[0145] Actuator 400 may include a second arm 403. A portion of the first arm 402 may be mounted within the second arm 403, such that actuator 400 includes a telescopic portion. The second arm 403 may include any or all features of the first arm 402.

[0146] The coating pad (e.g., coating pad 10, 210) can be connected to the first arm 402 or the second arm 403, in other words, to the inner arm or the outer arm.

[0147] The actuator 400 is mounted to and / or supported by a body 422, which may be part of a labeling apparatus and / or another part of a production / wrapping line, such as a printing apparatus. One or more bearings 424, such as a first arm 402, may be provided to allow movement between the body 422 and a portion of the actuator 400. Each guide 408 may engage with a portion of the body 422 and / or one or more bearings 424.

[0148] Air supply components 420, such as fans or valves, are supported by the static portion of actuator 400 to maintain a low mass of the moving portion of actuator 400. In embodiments, air supply components 420 may be connected to, supported on, or housed in a first arm 402 or a second arm 403. Air supply components 420 may be connected to, supported on, or housed in arms 402, 403, which are attached to the body 422.

[0149] For example, Figure 11Another embodiment of the actuator according to an embodiment of the present invention is shown. The actuator 500 may be a rotary actuator. The actuator 500 includes a body 530. The body 530 may be the static portion of the actuator 500 and may be connected to, carried on, or housed in one part of a labeling apparatus and / or another part of a production / wrapping line, such as a printing apparatus. Air supply components 520, such as fans and / or valves, may be connected to, carried on, or housed in the body 530.

[0150] Arm 502 can carry coating pads, such as coating pads 10 and 210. The coating pads can be connected to the connecting member 534.

[0151] Arm 502 may include any or all of the features of arm 402. Arm 502 may be made of lightweight materials such as aluminum alloys, plastics, fiber-reinforced plastics, and / or pultruded composites.

[0152] The actuator 500 also includes an arm 502 pivotally connected to the body 530. The arm 502 can be connected to the body 530 via a rotary joint 532. The rotary joint 532 provides fluid communication between the body 530 and the arm 502 to allow, for example, air (e.g.,...). Figure 10 The fluid flow (as indicated by the arrow in the image) secures labels 12 and 13 near the coating pad.

[0153] The aforementioned actuator 180 may include any or all of the features associated with actuators 400 and 500. Actuators 180, 400, and 500 may be used in conjunction with any or all other features of the labeling device described in this specification.

[0154] One advantage of actuators 180, 400, and 500 is their light weight, resulting in low inertia compared to existing actuators. This allows actuators 180, 400, and 500 (and the coating pad) to move at high speeds, thus enabling a faster labeling process. Furthermore, the light weight of actuators 180, 400, and 500 reduces energy consumption during labeling. The reduced moving mass compared to known actuators allows for the use of smaller, low-inertia, high-torque motors, such as stepper motors. A single motor can be used to drive arms 403 and 502, for example, using a toothed belt that provides low inertia. A motor rotor position sensor, which can be part of the motor control system, will be directly correlated with the position of the coating pad, allowing it to be used as a position sensor to provide actuator / pad position feedback to the coater control system. The motor rotor position sensor can be a rotary encoder attached to the motor or part of a sensorless drive system such as those manufactured by Microbeam SA. Actuators 180, 400, and 500 are very robust—for example, they have no moving cables and / or pneumatic tubing. The ability to incorporate an airflow generator as part of the coater assembly, such as as part of actuators 180, 400, and 500, means that pressurized air from a factory compressor (i.e., “factory air”) is not required. The airflow generated and / or used in the coater assembly can be provided at low pressures, such as 1000 Pa, significantly lower than typical “factory air” pressures, which may be in the range of 10 bar or 1 MPa and must be input to the coater assembly from a remote compressor (or other generator). The coater of this invention does not require connection to a separate air compressor, and therefore can be used in any situation as needed. Any existing pneumatic device compatible with it may already exist where it is not required to install the device. Actuators 180, 400, and 500 are safe due to the low static force and kinetic energy of any moving parts. Actuators can deliver controlled impacts—from very soft impacts (low force, such as 5 N) to very high impacts (strong force, such as 50 N, but potentially up to 150 N, although such high forces are unlikely to be needed in practice). An ideal impact force might be 18 N. Known actuators cannot withstand such soft or controlled impacts due to their mass and inertia.

[0155] Actuators 180, 400, and 500 can be used in conjunction with any coated pad described in this specification and / or shown in the figures.

[0156] The goal is to determine when a label is adjacent to the labeling pad of the labeling device. In known labeling devices, proximity sensors are typically mounted on the labeling pad to detect the presence of a label. Existing label sensors generally use optical detector systems that include an optical emitter / detector assembly, where the detector detects light emitted from the emitter and reflected by the label. This option is expensive because it requires a flexible electrical connection to the moving end of the actuator.

[0157] Figures 13A and 13B illustrate one embodiment of a label detection device 600 that can be used in a label detection method. It will be understood that the label detection device 600 and method can be used in conjunction with any suitable actuator and / or coating pad.

[0158] The label detection device 600 includes an airflow generator 620, such as a fan. Other airflow sources may also be used. The airflow generated by the airflow generator 620 creates a suction force that holds the labels 12, 13 near the coating pads 10, 210d. Other types of coating pads may also be used, but the characteristics of the coating pads 10, 210 may be advantageous. For example, the structure of the actuators 180, 400, 500 of arms 402, 502 can provide an airflow channel 602 (e.g., as described above). The airflow channel 602 may have a relatively large cross-sectional area. The airflow channel 602 may extend between the inlet 624 and the airflow generator 620.

[0159] An airflow sensor 636 may be provided for measuring airflow in airflow channel 602. The airflow sensor 636 may be a differential pressure sensor capable of measuring the pressure on both sides of an obstacle 638 in airflow channel 602. The obstacle 638 may generate turbulence in the airflow within airflow channel 602. The obstacle may be shaped to reduce the cross-sectional area of ​​airflow channel 602. The obstacle may be configured to generate a 'Venturi' effect within airflow channel 602. Alternatively, the airflow sensor 636 may measure the pressure in airflow channel 602 relative to ambient pressure. The airflow sensor 636 may measure the total pressure in airflow channel 602 relative to ambient pressure. Ambient pressure may be the pressure outside airflow channel 602. The pressure in airflow channel 602 may be determined by a pitot tube 637. The pitot tube 637 may include an elongated tube having a first opening and a second opening. The first opening may be located in airflow channel 602 and may measure stagnant pressure (total pressure). The second opening can be located outside the airflow channel 602 to measure the static pressure (ambient pressure); the dynamic pressure value can be given by the difference between the stagnant pressure and the ambient pressure. Therefore, the dynamic pressure can be determined by the airflow sensor 636. Since the diameter of the Pitot tube 637 can be significantly smaller than that of the airflow channel 602, using the Pitot tube 637 may be advantageous, and thus the turbulence caused by the Pitot tube 637 can be negligible. The first opening of the Pitot tube 637 can be located near the wall of the airflow channel 602. The location of the Pitot tube can be selected to minimize or reduce the turbulence generated in the airflow channel 602 by the presence of the Pitot tube 637. The first opening of the Pitot tube 637 can be located in the airflow channel, separated from the inlet 624. The first opening of the Pitot tube can be closer to the airflow generator 620 than the inlet 624.

[0160] The airflow sensor 636 may include a diaphragm, and may be of the type manufactured by Honeywell. The airflow sensor 636 may be a bypass-based sensor, and may be manufactured by Sensiron. TM The kind that's manufactured.

[0161] The airflow sensor 636 can be disposed on the static portion of actuators 180, 400, and 500. Disposing the airflow sensor 636 on the static portion of actuators 180, 400, and 500 eliminates the need to provide flexible electrical connections to the dynamic portion of actuators 180, 400, and 500.

[0162] In use, the airflow generator produces airflow in the airflow channel 602. The airflow sensor 636 monitors the airflow in the airflow channel 602. An obstacle 638 creates localized disturbance in the airflow, resulting in a pressure difference on either side of the obstacle 638. Additionally, the pitot tube 637 measures the stagnant pressure (total pressure) and static pressure (ambient pressure) in the airflow channel 602. The airflow sensor 636 measures the total pressure relative to ambient pressure (dynamic pressure).

[0163] When labels 12 and 13 approach or are near coating pads 10 and 210, the air inlet 624 is blocked by labels 12 and 13, thus suppressing or blocking airflow through airflow channel 602. Airflow sensor 636 detects a reduction or loss of airflow in airflow channel 602, indicating that labels 12 and 13 are approaching or adjacent to coating pads 10 and 210. Airflow at any location in airflow channel 602 can be measured to determine the presence of labels 12 and 13. Airflow at locations in airflow channel 602 farther from coating pads 10 and 210 can also be measured. The presence of labels can be detected by static components or internal sensors located on other parts of the actuator or labeling device. This method can be used with any type of actuator, such as linear or rotary actuators.

[0164] Regardless of the optical characteristics of labels 12 and 13, labels 12 and 13 can be detected. For example, transparent labels can be detected. The label detection device has strong resistance to contamination, such as debris that could obstruct the optical system and cause erroneous results. There is no need to connect wires and / or tubing to the moving parts of the actuators and / or coating pads, which reduces the risk of damage and / or malfunction and simplifies the maintenance and / or replacement of components of the label detection device 600. This also means that the moving parts of actuators 180, 400, and 500 are much lighter than existing actuators, thus providing or maintaining the aforementioned advantages related to the lightweight nature of actuators 400 and 500.

[0165] The less turbulence induced or generated in the fluid within the airflow channel 602, the more accurate the pressure measurement, and consequently, the more accurate the airflow determination, and the more accurate the determination of whether a tag is present at or near the air inlet 624. Less airflow turbulence in the airflow channel 602 results in a better signal-to-noise ratio for the measurement data used to determine the presence or absence of a tag. Using a Pitot tube 637 is beneficial for reducing or minimizing turbulence in the airflow channel 602. Therefore, using a Pitot tube 637 as the airflow sensor 636 may be particularly advantageous. The configuration (e.g., size) and location of the Pitot tube 637 can be selected to optimize the ability to determine the presence or absence of a tag. This optimization can be achieved by optimizing or minimizing the effect of the Pitot tube's presence on the airflow turbulence in the airflow channel 602.

[0166] The label detection device 600 and label detection method described in this invention can be used in conjunction with any or all other features and / or components of the labeling device described and / or shown in the figures.

[0167] Representative features are listed in the following claims. These features may exist alone or in any way combined with one or more features disclosed in the text and / or drawings of this specification.

[0168] When used in this specification and claims, the terms "comprising" and "including," and variations thereof, mean including the specified features, steps, or whole. These terms should not be construed as excluding the presence of other features, steps, or components.

[0169] The features disclosed in the foregoing specification, or the following claims, or the drawings, described in their particular form, or by means of implementing the disclosed functions, or by means of methods or processes for achieving the disclosed results (as the case may be), may be represented individually or in any combination of these features, for implementing the invention in various forms.

[0170] Although certain embodiments of the invention have been described, the scope of the appended claims is not intended to be limited to these embodiments only. The claims should be interpreted literally, purposefully, and / or including equivalent variations.

Claims

1. A method for controlling a coating apparatus, the coating apparatus comprising a coating pad for affixing a label to an article, an actuator for positioning the coating pad at a desired position relative to the article, and a control system for controlling movement of the actuator, the control system comprising at least one motor, the method comprising: Determine the desired location of the coating pad; Taking into account at least one physical parameter of the actuator and / or the coating pad, determine the required speed at which the actuator reaches the desired position of the coating pad; Considering the current position of the coating pad, calculate the motor torque required to reach the desired position of the coating pad; Moving the coating pad to the desired location includes: The coated pad is moved from a stationary position toward the first potential impact point at a maximum speed, at a speed V less than the maximum speed. z The steps to reach the first potential impact point; and subsequently The coating pad is applied at a speed of V. z The step of moving into the impact zone originating from the first potential impact point, in which a pad is applied to the surface to be labeled during impact. Within the impact zone, the velocity of the coated pad is maintained at velocity V before reaching the desired position. z .

2. The method for controlling the coating apparatus according to claim 1, characterized in that, Where the velocity V z It is adjustable.

3. The method for controlling the coating apparatus according to claim 1, characterized in that, The velocity profile of the coating pad is optimized to cover the distance between the stationary position and the first potential impact point within a minimum time period.

4. The method for controlling the coating apparatus according to claim 1, characterized in that, The method includes determining the impact between the coated pad and the article by detecting an increase in the motor current.

5. The method for controlling the coating apparatus according to claim 1, characterized in that, The impact between the coated pad and the article is determined by detecting one or more of the following: The increase in motor current; The change in the speed of the actuator; and The increase in the difference between the desired position and the actual position of the coating pad.

6. The method for controlling the coating apparatus according to claim 5, characterized in that, When an impact is detected, the control system can be operated to reduce the momentum of the motor and transmission.

7. The method for controlling the coating apparatus according to claim 5, wherein, When an impact is detected, there is a predetermined delay before the control system moves the coater to the stationary position.

8. The method for controlling the coating apparatus according to claim 5, characterized in that, The control system operates under different conditions when the actual position of the coated pad is determined to be within the impact zone.

9. The method for controlling the coating apparatus according to claim 1, characterized in that, The method includes determining the impact zone associated with each item to be labeled.

10. The method for controlling the coating apparatus according to claim 9, characterized in that, Position sensors are used to determine the impact zone of each item.

11. The method for controlling the coating apparatus according to claim 1, characterized in that, When the coated pad is determined to be in the impact zone, the method includes one or more of the following: Reduce control stiffness; and / or Operate the motor in open-loop torque mode; and / or The motor is controlled using a model-based feedforward algorithm.

12. The method for controlling the coating apparatus according to claim 1, characterized in that, The method includes adjusting control parameters of the control system in response to detecting an impact between the coating pad and the article.

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