A device for identifying a label web head

Abstract

The present invention relates to a device (10) for identifying the end of a label roll (E). The device (10) includes a receiving cavity (12) having an inlet opening (14) for receiving the end of the label roll. The device (10) further includes a suction device (18) connected to the receiving cavity (12) for drawing the end of the label roll into the receiving cavity (12) through the inlet opening (14). The device (10) also includes a sensor (26) arranged to identify the end of the label roll that has been drawn into the receiving cavity (12).

Description

Technical Field

[0001] This invention relates to a device for identifying the tip of a label reel. The invention also relates to a related system and a method for operating the system. Background Technology

[0002] The container handling equipment may include a labeling device for labeling containers. For example, the labeling device may label containers with labels from a label roll (a roll containing label material).

[0003] Traditionally, label rolls are added manually by the operator. If necessary, the user must perform further tasks, such as cutting the label tape to the correct position, applying double-sided tape to the label tape, or introducing the label tape into an automated adhesive system. Alternatively, roll-to-roll storage devices that can manually load multiple rolls can also be used.

[0004] DE 10 2021 125 133 A1 describes a mobile robot, a supply system and method for changing label rolls on a labeling unit for labeling containers. The mobile robot thereby includes: a vehicle device for changing the robot's position; and a manipulator device having a multi-axis manipulator and associated end effectors for manipulating the label rolls.

[0005] EP 3 760 550 A1 describes a conveying unit for feeding rolls of labeling material to a labeling module configured to apply labels to articles. The conveying unit has a carrier element configured to carry multiple rolls arranged vertically in at least one vertical stack. The conveying unit also has a robotic arm configured to remove at least one roll from the stack at a gripping station and release it at a release station. Summary of the Invention

[0006] The purpose of this invention is to provide an improved technique for supporting the supplementary assembly of a labeling system.

[0007] This objective is achieved through the features of the independent claims. Advantageous improvements are given in the dependent claims and the specification.

[0008] One aspect relates to a device (e.g., a fixed device) for identifying the tip of a label tape roll. The device has a receiving cavity (e.g., a suction port or nozzle) with an inlet opening for receiving the tip of the label tape. The device also has a suction device connected to the receiving cavity to draw the tip into the receiving cavity through the inlet opening. The device further includes a sensor for identifying the tip drawn into the receiving cavity.

[0009] Advantageously, this device enables automated and reliable identification of label roll heads with relatively small investment. Advantageously, it can therefore be used as part of an automation solution for automatic replenishment of labeling devices, thereby reducing operator workload and avoiding errors during label roll replenishment. The device is advantageously applicable to labels of varying widths and materials. Depending on the type of sensor used, it can also advantageously handle transparent labels. Advantageously, the identification process is largely independent of environmental conditions, such as lighting conditions (which can cause problems when using cameras).

[0010] In one embodiment, at least one of the following is satisfied:

[0011] -The receiving cavity is in the shape of a long groove and / or a narrow slit and / or basically in the shape of a plate-like quadrangular prism;

[0012] - The opening is slit-shaped and / or elongated and / or strip-shaped;

[0013] - The entrance opening is set to be horizontal;

[0014] -The receiving cavity is set in a vertical direction;

[0015] - The longitudinal sidewalls of the receiving cavity are aligned with the longitudinal edge of the entry opening;

[0016] - The receiving cavity has a depth of ≥20mm and / or ≤100mm from the entrance opening.

[0017] Advantageously, the receiving cavity enables reliable suction and identification of the label tape tip extending from the label roll. Furthermore, depending on requirements, this depth ensures that the sucked-in tape tip remains solely within the receiving cavity and does not, for example, enter the connected suction line. Within the suction line, the possibility of the tape tip deforming due to airflow adhering to the inner wall of the line cannot be ruled out. Alternatively, it is possible, and advantageously, to intentionally induce a deformation effect on the tape tip, for example, by adjusting the depth of the receiving cavity. In this case, the tape tip can be sucked into the suction line to a depth sufficient to undergo persistent plastic (mechanical) deformation, thereby facilitating the detection of deformed tape tips. Depending on the structure of the device for further gripping the tape tip, one of the two aforementioned options may be more suitable. This device could be, for example, a gripper, or a device for bonding the tape tip of a new label roll to the end of a previous label roll. For example, the device could be a splicing device. When the device cannot provide strong suction to grip the tape tip, or can only grip the tape tip mechanically, it is desirable, for example, that the tape tip deforms.

[0018] In another embodiment, the suction device has a suction line, preferably a vacuum line, connected to the receiving cavity.

[0019] In one implementation, at least one of the following is satisfied:

[0020] - The receiving cavity is directly connected to the intake tube, preferably along the entire length of the receiving cavity;

[0021] - The receiving cavity is connected tangentially or radially to the circular (preferably circular) cross-section of the intake line;

[0022] - A long, preferably strip-shaped inlet opening into the intake tube, wherein this section of the intake tube is long, preferably straight;

[0023] - The sidewall of the receiving cavity is integrally molded with the intake pipe;

[0024] - The suction line is connected to a vacuum source (e.g., the suction device, the device itself, or the vacuum source in the entire system).

[0025] - Advantageously, the longitudinal axes of the entry opening and / or the longitudinal axes of the receiving cavity and / or the longitudinal axes of the inlet opening and / or the longitudinal axes of the elongated tube segment are parallel to each other and / or directly vertically aligned.

[0026] In another embodiment, at least one of the following conditions is met:

[0027] - The sensor is an optical sensor, preferably a photoelectric switch, laser sensor, or LED sensor, or an ultrasonic sensor, mechanical switch, or capacitive sensor; and

[0028] - The sensor is arranged such that the output sensing beam is substantially perpendicular to the longitudinal axis of the receiving cavity and / or the entry opening.

[0029] In one embodiment, the device further includes an elongated, preferably cylindrical or prismatic, optical cavity for the sensor's sensing beam, which passes through the receiving cavity. Preferably, the sensor is positioned at one end of the elongated optical cavity to emit a sensing beam parallel to or coincident with its central longitudinal axis. Preferably, the longitudinal axis of the elongated optical cavity is angled to the longitudinal axis of the receiving cavity and / or the entry opening, and is preferably arranged laterally. For example, the other end of the elongated optical cavity, i.e., the end opposite the sensor, is closed and / or the distance between it and the sensor is greater than the sensor's detection range. Advantageously, the elongated optical cavity allows for minimizing or avoiding the intake of external air when the sensor is positioned in its mounting location, while allowing the sensing beam to propagate freely.

[0030] In another embodiment, the device also includes a sensor holder for detachably securing the sensor (e.g., without tools), preferably by snap-fit, insertion, clip-on, or screw fastening. Advantageously, the sensor holder is integrally formed with the sidewall of the receiving cavity. Preferably, the sensor holder is located externally to the device. Therefore, the sensor is advantageously easy to install and accessible from the outside.

[0031] In one embodiment, the device further includes at least one additional sensor holder, which preferably has the same structure as the aforementioned sensor holder and / or can be used to detachably secure at least one additional sensor (e.g., without tools), preferably by snap-fit, insertion, clip-on, or screw fixation. For example, the sensor holder is arranged side-by-side with at least one additional sensor holder, preferably along the longitudinal axis of the receiving cavity and / or access opening. Advantageously, this allows for the arrangement of multiple sensors for identifying the tag tape head, thereby monitoring the entire length of the receiving cavity when needed.

[0032] In another embodiment, the device also includes an additional sensor arranged to emit a sensing beam substantially parallel to the longitudinal axis of the inlet opening and / or located outside the receiving cavity, for identifying the thickness of the label roll. Preferably, the additional sensor is an optical sensor, such as a photoelectric switch, laser sensor, or LED sensor, or an ultrasonic sensor. Advantageously, by detecting the thickness, it can be verified whether the correct label roll has been sucked in (e.g., the actual thickness compared to a preset value = label height).

[0033] Another aspect relates to a system. This system has an operating robot, preferably an articulated arm robot, equipped with a label roll gripper, preferably an in-label roll gripper, for gripping label rolls (e.g., gripping from within). The system has at least one device, as disclosed herein (e.g., fixed), arranged within the operable range of the operating robot (e.g., for sucking up and identifying the tip of the label roll gripped by the label roll gripper). Optionally, the system may also include at least one labeling device for labeling containers, having at least one label roll carrying device (e.g., a rotary disk), preferably arranged within the operable range of the operating robot, for receiving the label roll gripped by the label roll gripper. Advantageously, the system can utilize the identified label roll tip position to replenish label rolls to the label roll carrying device, thereby positioning the label rolls in a defined orientation.

[0034] In one embodiment, the system further includes a processing unit configured to:

[0035] - Drive the robot to rotate the label roll gripped by the label roll gripper, positioning it before (e.g., above) the entry opening (e.g., when the gripped label roll is vertical), preferably with the central axis of the label roll directly above the entry opening; optionally

[0036] - The aspiration device draws in the head of the rotating label roll; optionally

[0037] - Determine the position of the label roll head based on the signal output of the sensor, preferably relative to the label roll gripper, wherein preferably the signal output indicates that the sucked-in rotating label roll head leaves the receiving cavity.

[0038] Preferably, the signal output indicator sensor used for tag head identification is no longer obstructed when the tag head is pulled out of the receiving cavity. Preferably, this technique is particularly reliable because the movement of the tag head is significantly more stable and less turbulent when pulled out than when it is sucked in.

[0039] The term "processing device" may preferably refer to electronic equipment (e.g., designed as a drive circuit or having a microprocessor and data memory) that, depending on its configuration, takes over control and / or regulation and / or processing tasks. While the term "control" is used herein, it may also suitably include or indicate "regulation" or "feedback control" and / or "processing." A processing device may be, for example, a central processing unit, or may have several distributed or distributed processing units.

[0040] In another embodiment, the processing device is further configured to:

[0041] - Drive the robot to rotate in the opposite direction the label roll gripper has grasped, positioning it before (e.g., above) the entry opening (e.g., when the grasped label roll is vertical), preferably with the central axis of the label roll directly above the entry opening; optionally...

[0042] - The aspiration device draws in the tape head of the label roll rotating in the opposite direction; optionally

[0043] - Determine another position of the label roll head based on another signal output from the sensor, preferably relative to the label roll gripper, wherein preferably this other signal output indicates that the sucked-in, oppositely rotating label roll head leaves the receiving cavity; optionally

[0044] - Calculate the average value of the leading position from the determined position and another determined position.

[0045] Advantageously, this method allows for the particularly precise determination of the label roll's tape head position. For example, the length of the excess tape head may be uncertain or variable. If only one position is measured, that position may be subject to error. However, by calculating the average of the tape head positions from the position values ​​measured in opposite directions of label roll rotation, it is advantageous to provide the precise position of the label roll's tape head.

[0046] In one embodiment, the processing device is further configured to:

[0047] - The thickness of the tag roll gripped by the tag roll gripper is determined based on the signal output of an additional sensor, which emits a sensing beam substantially parallel to the longitudinal axis of the entry opening and located outside the receiving cavity; and / or

[0048] - The drive robot moves the label roll gripped by the label roll gripper to the device, preferably before rotation and / or in a manner that positions the central axis of the label roll directly above the entry opening; and / or

[0049] - The driving robot transfers the label rolls gripped by the label roll gripper to the label roll carrying device of at least one labeling device. During the transfer, the orientation of the label rolls is adjusted according to at least one determined lead position, another determined position, and the calculated average of the lead positions.

[0050] On the other hand, it relates to a container handling apparatus (e.g., for temperature control, manufacturing, cleaning, coating, testing, filling, sealing, pasteurizing, decorating, labeling, printing, engraving, laser engraving, and / or packaging containers for liquid or paste-like media, preferably beverages, liquid foods, or products from the pharmaceutical or healthcare industries). This container handling apparatus may have the means as disclosed herein, or the system as disclosed herein. The container handling apparatus may, for example, be a beverage filling apparatus.

[0051] For example, these containers can be made into bottles, jars, barrels, cartons, vials, ampoules, tubes, etc.

[0052] Another aspect relates to a method for operating a system as disclosed herein. This method has:

[0053] - By operating the robot to rotate the label roll gripper, the label roll is rotated before entering the opening (e.g., by means of) (e.g., when the gripped label rolls are vertically aligned), preferably so that the central axis of the label roll is directly above the entry opening;

[0054] - The tape head of the rotating label roll is drawn into the receiving cavity by a suction device (e.g., in cases where the tape head undergoes plastic deformation or not); and

[0055] - The position of the tape head is determined based on the signal output of the sensor, preferably relative to the label roll gripper, wherein preferably the signal output indicates that the sucked-in tape head of the rotating label roll has left the receiving cavity; and optionally...

[0056] - The thickness of the label roll gripped by the label roll gripper is determined based on the signal output of an additional sensor that emits a sensing beam that is directed at the end face (e.g., the upper or lower surface) of the label roll gripped by the label roll gripper.

[0057] Advantageously, this method can achieve the same advantages as described in the apparatus above.

[0058] In one embodiment, the method further includes:

[0059] - Before rotation, the label roll gripped by the label roll gripper is moved to the device by operating the robot, preferably with the central axis of the label roll directly above the entry opening.

[0060] In another embodiment, the method further includes:

[0061] - By operating the robot to rotate the label rolls gripped by the label roll gripper in the opposite direction before entering the opening (e.g., when the gripped label rolls are arranged vertically), preferably so that the central axis of the label rolls is directly above the entry opening; and optionally

[0062] - The tape head of the counter-rotating label roll is drawn into the receiving cavity by an air suction device (e.g., in the case where the tape head undergoes plastic deformation or not); and optionally

[0063] - Determine another position of the tape head based on another signal output, preferably relative to the label roll gripper, wherein preferably the signal output indicates that the sucked-in tape head of the oppositely rotating label roll has left the receiving cavity; and optionally

[0064] - Calculate the average position of the leading position from the determined position and another determined position (e.g., through the system's processing device).

[0065] In one implementation, the method further includes:

[0066] - Transfer the tag rolls grabbed by the tag roll grabber to the tag roll receiver of at least one labeling device, wherein at the time of transfer, the arrangement of the tag rolls depends on at least one of the determined position of the tag head, another determined position, and the average of the determined positions.

[0067] The preferred embodiments and features of the present invention described above can be combined with each other as needed. Attached Figure Description

[0068] Other details and advantages of the invention will now be described with reference to the accompanying drawings. In the drawings:

[0069] Figure 1 A perspective view of a device for identifying a label tape head according to an embodiment is shown;

[0070] Figure 2 A perspective cross-sectional view of the example device is shown;

[0071] Figure 3 A side view of the example device is shown;

[0072] Figure 4 A top view of a system according to one embodiment is shown;

[0073] Figure 5 A side view of the example device and the tag roll gripper with tag roll gripping function is shown;

[0074] Figure 6 A perspective view of the example device and the tag roll grabber with tag roll grabbing function is shown.

[0075] The embodiments shown in the figures are at least partially corresponding, so similar or identical parts are given the same reference numerals. In order to avoid repetition, reference is also made to the description of other embodiments or figures. Detailed Implementation

[0076] Figures 1 to 3 A device 10 for identifying the label roll head is shown.

[0077] The device 10 includes a receiving cavity 12, an air intake device 18, and a sensor 26. Optionally, the device 10 may also include a sensor bracket 30 and / or an additional sensor 34.

[0078] The receiving cavity 12 is used to receive the tape head from the label roll. Preferably, the receiving cavity 12 can be elongated or slit-shaped, or substantially plate-shaped cuboid. Preferably, the longitudinal mid-face of the receiving cavity 12 can be arranged vertically.

[0079] The receiving cavity 12 is provided with an entry opening 14. The tip of the label roll can be introduced into the receiving cavity 12 from the external environment of the device 10 through the entry opening 14.

[0080] The entry opening 14 is preferably slit-shaped, longitudinal, or strip-shaped. Preferably, the entry opening 14 can extend in a straight line. Preferably, the longitudinal edge of the entry opening 14 can be chamfered.

[0081] The entry opening 14 is preferably a top entry opening. The entry opening 14 is preferably located at the top of the device 10. For example, a belt head can be introduced into the receiving cavity 12 from above through the entry opening 14. Preferably, the longitudinal sidewall of the receiving cavity 12 can be aligned with the longitudinal edge of the entry opening 14.

[0082] A plane 16 is preferably provided on one or both sides of the entrance to the opening 14. The plane 16 is preferably arranged on a horizontal plane. For example, the plane 16 can be rectangular.

[0083] Starting from the entry opening 14, the receiving cavity 12 preferably has a depth of ≥20 mm and / or ≤100 mm. This depth is preferably measured perpendicular to the plane containing the entry opening 14 and / or the plane 16. Preferably, the receiving cavity 12 can extend downward in a vertical direction from the entry opening 14.

[0084] The suction device 18 is connected to the receiving cavity 12 and is used to draw the tip of the label roll into the receiving cavity 12. Preferably, the receiving cavity 12 may also be referred to as a suction slit or suction nozzle.

[0085] Preferably, the suction device 18 may include a suction tube 20. The suction tube 20 may be connected to the receiving cavity 12. Preferably, the suction tube 20 is a vacuum tube.

[0086] Preferably, the suction pipe 20 is disposed below the receiving cavity 12. For example, the suction pipe 20 may be adjacent to the receiving cavity 12. The receiving cavity 12 may extend radially or tangentially from the (e.g., circular) cross-section of the suction pipe 20. Preferably, the sidewall of the receiving cavity 12 and the suction pipe 20 may be integrally formed.

[0087] Preferably, the receiving cavity 12 communicates directly with the suction pipe 20, preferably along the entire length of the receiving cavity 12. For example, the receiving cavity 12 may converge into a longitudinal inlet opening 22 of the suction pipe 20. The inlet opening 22 is preferably strip-shaped. This pipe segment is preferably straight.

[0088] The suction tube 20 can be connected to the vacuum source 24 (only when...). Figure 3 (Illustrated schematically). Vacuum source 24 can draw in air through inlet opening 14, receiving cavity 12, and suction pipe 20. Vacuum source 24 may include, for example, a volumetric flow amplifier or a side-channel compressor. Vacuum source 24 may be part of suction device 18, or at least connected to suction device 18.

[0089] Sensor 26 is configured to identify the label roll head that is sucked into the receiving cavity 12.

[0090] Preferably, sensor 26 is an optical sensor, such as a photoelectric switch, laser sensor, or LED sensor. Alternatively, sensor 26 may be, for example, an ultrasonic sensor, a mechanical switch, or a capacitive sensor.

[0091] Preferably, the sensor 26 is mounted in such an orientation that the sensing beam S1 emitted by it can pass through the receiving cavity 12 (see...). Figure 2 Specifically, the sensing beam S1 can be substantially perpendicular to the central axis M of the receiving cavity 12 and / or the central axis M of the opening 14.

[0092] For example, sensor 26 can be arranged to emit its sensing beam S1 into a longitudinal optical cavity 28. Optical cavity 28 can pass through receiving cavity 12. Preferably, optical cavity 28 is cylindrical or cuboid in shape.

[0093] Specifically, sensor 26 may be arranged, for example, at one end of optical cavity 28. Sensor 26 may emit its sensing beam S1 parallel to or coinciding with the central axis M of optical cavity 28. The longitudinal axis of optical cavity 28 may be arranged at an angle, preferably transverse to the central axis M of receiving cavity 12 and / or entry opening 14.

[0094] Preferably, the end opposite to the sensor 26 in the optical cavity 28 can be closed. This opposite end is preferably kept at a certain distance from the sensor 26, a distance greater than the sensor's detection range. For example, this distance can be greater than 50 mm.

[0095] Preferably, the sidewall of the optical path cavity 28 can be integrally formed with the sidewall of the receiving cavity 12 and / or the suction pipe 20.

[0096] Preferably, the sensor 26 can be detachably fixed to the sensor bracket 30. Preferably, the sensor 26 can be installed on the sensor bracket 30 without tools and can be removed from the bracket. Preferably, the sensor 26 can be clipped, inserted, snapped, or screwed into / on the sensor bracket 30.

[0097] For example, the sensor holder 30 may have two retaining arms. The retaining arms may be arranged opposite to each other. The sensor 26 may be detachably secured between the retaining arms. The retaining arms may be elastically flexible to detachably secure the sensor 26. Preferably, each of the two retaining arms may have a latch at its free end. For example, the sensor holder 30 may be generally U-shaped, with its outer legs formed by the two retaining arms.

[0098] Preferably, the sensor bracket 30 can be arranged on the outside of the device 10. Preferably, the sensor 26 can be kept accessible from the outside through the sensor bracket 30.

[0099] Preferably, the sensor bracket 30 can be integrally formed with the sidewall of the receiving cavity 12, the sidewall of the optical path cavity 28 and / or the suction tube 20.

[0100] The device 10 may have at least one additional sensor bracket 32. At least one additional sensor (not shown in the figure) may be detachably fixed to at least one additional sensor bracket 32, for example, when an additional sensor is needed or required.

[0101] At least one additional sensor bracket 32 ​​may have the same features as the sensor bracket 30. Preferably, at least one additional sensor bracket may be of the same type as the sensor bracket 30.

[0102] For example, the sensor holder 30 and at least one additional sensor holder 32 can be arranged side by side. Preferably, the sensor holders 30 and 32 can be arranged side by side along the central axis M of the receiving cavity 12 and / or the access opening 14.

[0103] The additional sensor 34 can be arranged to emit a sensing beam S2, which is substantially parallel to the central axis M of the entrance opening 14 and located outside the receiving cavity 12. Preferably, the thickness of the label roll can be detected by the additional sensor 34.

[0104] Preferably, the additional sensor 34 can be an optical sensor, such as a photoelectric switch, a laser sensor or an LED sensor, or an ultrasonic sensor.

[0105] For example, the additional sensor 34 may be offset relative to the receiving cavity 12 and the access opening 14. For example, the additional sensor 34 may be positioned near one (e.g., longitudinal) end of the access opening 14. The central axis M of the additional sensor 34 may be angled, preferably transverse to the access opening 14.

[0106] The additional sensor 34 may be detachably attached to the additional sensor bracket 36, for example. Preferably, the additional sensor 34 can be tool-free mounted to the additional sensor bracket 36 and can be detached from the bracket. Preferably, the additional sensor 34 can be clipped, inserted, snapped, or screwed into / on the additional sensor bracket 36.

[0107] For example, the additional sensor bracket 36 can be arranged on the outside of the device 10. For example, the additional sensor bracket 36 can be arranged at one longitudinal end of the device 10. Preferably, the additional sensor 34 can be kept accessible from the outside through the additional sensor bracket 36.

[0108] For example, the additional sensor bracket 36 can be designed as a cantilever of the device 10. The additional sensor bracket 36 can extend from the plane 16, for example.

[0109] The additional sensor bracket 36 can also be integrally formed with the sidewall of the receiving cavity 12, the sidewall of the optical path cavity 28 and / or the suction tube 20.

[0110] Preferably, the device 10 for detecting the lead of the label roll E may be included once or multiple times in a robotic unit of a supply device as disclosed in DE 10 2023125 933.4. DE 10 2023 125 933.4 is incorporated herein by reference and relates to features of the supply device and features of the device for labeling.

[0111] Figure 4 An exemplary system 38 is shown.

[0112] System 38 is preferably part of a system for labeling containers, which may, for example, be included in a container handling apparatus.

[0113] System 38 includes an operating robot 40 and at least one device 10. Optionally, system 38 may also include at least one roll holder 44 and / or at least one labeling device 46.

[0114] The operating robot 40 is preferably a multi-axis robot, such as a bending-arm robot. For example, the bending-arm robot can be a 5-axis, 6-axis, or 7-axis bending-arm robot. Other types of robots are also conceivable.

[0115] Preferably, the operating robot 40 is fixedly installed. For example, the operating robot 40 may be positioned in the central location or central area within the robot unit of system 38. However, the operating robot 40 may also be movable, preferably moving along a linear axis and / or guided by a track.

[0116] The robot 40 may be equipped with a tag roll gripper 42 for gripping tag roll E. The tag roll gripper 42 is designed to grip tag roll E using a force lock or form lock method.

[0117] Preferably, the label roll gripper 42 is an inner gripper capable of gripping the label roll E from inside the roll core. For example, the label roll gripper may have a plurality of inner jaws, preferably radially movable, which can clamp the inner circumferential surface of the roll core of the label roll E from the inside.

[0118] Preferably, the tag roll grabber 42 can be implemented according to the grabbing system disclosed in DE 10 2023 125 949.0. DE 10 2023 125 949.0 is incorporated herein by reference and relates to the features of the grabbing system, the features of the means for processing the tag roll E, and the method of operating the grabbing system.

[0119] At least one roll tray 44 can be manually replenished by a user, for example, using a transport vehicle or forklift. Alternatively / and, the label rolls E in at least one roll tray 44 can be automatically replenished, for example, by an unmanned transport vehicle (AGV). Preferably, at least one roll tray 44 can be accessed by a user, transport vehicle, forklift, and / or AGV through a signal screen or door of system 38. For example, two roll trays 44 may be included, such as... Figure 4 As shown in the example.

[0120] The supply of label roll E to at least one roll holder 44 can be, for example, in a horizontal manner, such as by stacking on a pallet. The specific orientation of label roll E, i.e., the position of the tape head of label roll E on its outer periphery, may be unknown or undefined.

[0121] At least one device 10 is arranged within the working range of the operating robot 40. For example, at least one device 10 may be arranged beside at least one reel holder 44. Preferably, one device 10 may be provided for each reel holder 44. For example, two devices 10 may be included, such as... Figure 4 As shown in the example.

[0122] The beginning of the label roll E gripped by the label roll gripper 42 can be detected using at least one device 10. Preferably, the operating robot 40 can remove a label roll E from the roll holder 44 and move it to a device 10 for detecting the beginning of the label roll E.

[0123] At least one labeling device 46 has at least one label roll carrier 48. The at least one labeling device 46 may also have, for example, an adhesive device for bonding the tape end to the tape head. Each label roll carrier 48 can hold one label roll E. The label roll E held by one label roll carrier 48 can be wound out by the corresponding label roll carrier 48 and transported as label tape to the labeling assembly (not in the labeling section) of the corresponding labeling device 46. Figure 4 (as shown in the figure) to label the container, preferably with intermediate buffering via label tape buffer 50.

[0124] At least one tag roll carrier 48 is preferably designed as a turntable. The tag roll carrier 48 may also be designed as a compartment (e.g., a slot) of a tag roll memory (e.g., a multi-volume memory), preferably a vertically arranged compartment.

[0125] At least one tag roll carrier 48 is preferably arranged within the working range of the operating robot 40. At least one tag roll carrier 48 is preferably capable of receiving tag rolls E gripped by the tag roll gripper 42.

[0126] For example, system 38 may have two labeling devices 46, each labeling device having two label roll carriers 48 and a labeling assembly (not included in the original text). Figure 4 (as shown in the image), and each can optionally have a tag with a buffer 50.

[0127] System 38 may preferably have a processing device 52. For example, the processing device 52 may control the operation of system 38 as described below.

[0128] The following combination Figures 4 to 6 A preferred operating mode of system 38 is described.

[0129] A label roll E can be gripped from a label roll placement table 44 by a label roll gripper 42. The end of the label roll E is preferably secured with some kind of adhesive (e.g., double-sided tape). The end may be located anywhere on the outer periphery of the label roll E. The operating robot 40 can move the gripped label roll E to a device 10.

[0130] Preferably, the robot 40 can position the gripped label roll E such that its central axis M is directly above the entry opening 14. Preferably, the central axis M can be parallel to the longitudinal axis of the entry opening 14. Preferably, the label roll E can be vertically oriented. The outermost layer (outer diameter) of the label roll E is preferably positioned immediately adjacent to the entry opening 14.

[0131] The label roll gripper 42 can rotate the gripped label roll E before entering the opening 14 by means of the operating robot 40. For example, the label roll E can rotate clockwise.

[0132] Preferably, the gripped label roll E can be rotated over the entry opening 14. Rotation can occur about the central axis M of the label roll E. Preferably, the entry opening 14 can be located in a horizontal plane. This can be advantageous because the label roll E is vertically oriented, thus preventing undesirable stretching or contraction (telescope effect) of the label roll E. Such undesirable stretching or contraction may occur during rotation if the label roll E is gripped only from the inside by the label roll gripper 42.

[0133] During rotation, the outer diameter of label roll E passes through the inlet opening 14. As label roll E rotates, when the protruding tape tip approaches the inlet opening 14, the tape tip may be drawn into the receiving cavity 12, i.e., drawn into the receiving cavity 12 via the suction device 18. Depending on the protruding length of the tape tip relative to label roll E and the depth of the receiving cavity 12, the tape tip may or may not undergo the desired plastic deformation when drawn into the receiving cavity 12.

[0134] Based on the signal output of sensor 26, the position of the sucked-in tape start end on the label roll E can be determined. Preferably, the signal output indicates that after the tape start end is sucked into the receiving cavity 12, the tape start end leaves the receiving cavity 12 as the label roll E continues to rotate (sensor 26 is no longer occupied). Preferably, this position can be determined relative to the label roll gripper 42, for example, by a reference coordinate system and / or the rotational position of the label roll gripper 42.

[0135] Preferably, after determining the starting position of the label roll, the label roll E can be rotated in the opposite direction before entering the opening 14 by the label roll gripper 42. For example, the label roll E can be rotated counterclockwise. Preferably, the central axis M of the label roll E can be positioned directly above the entry opening 14 again.

[0136] During the reverse rotation of label roll E, at a certain moment, the starting end of the tape of the reverse-rotating label roll E will be drawn back into the receiving cavity 12 by the suction device 18. Depending on the protruding length of the starting end of the tape of label roll E and the depth of the receiving cavity 12, the desired plastic deformation of the starting end of the tape may or may not occur at this time.

[0137] Based on another signal output from sensor 26, another position of the sucked-in tape start end on the label roll E can be determined. Preferably, this other signal output indicates that after the tape start end is sucked into the receiving cavity 12, the tape start end leaves the receiving cavity 12 as the label roll E continues to rotate in the opposite direction. Preferably, this position can be determined relative to the label roll gripper 42, for example, by a reference coordinate system and / or the rotational position of the label roll gripper 42.

[0138] Preferably, for example, a position average can be calculated by the processing device 52 based on the determined position and another determined position.

[0139] The thickness of the label roll E can be determined by the device 10, for example, before, during, or after the label roll E rotates. For example, the thickness of the label roll E gripped by the label roll gripper 42 can be determined based on the signal output of the additional sensor 34. The additional sensor 34, or its sensing beam S2, can be directed, for example, toward the end face of the label roll E. The signal output can, for example, indicate the distance between the additional sensor 34 and the label roll E. For example, the processing device 52 can determine the thickness based on this distance, which corresponds to the label height of the label roll E.

[0140] After the device 10 identifies the starting end of the label roll E and the thickness of the optional label roll E, the operating robot 40 can move the grasped label roll E, for example, to the label roll carrier 48. The operating robot 40 can then deliver the grasped label roll E to the label roll carrier 48. Preferably, the orientation of the label roll E during delivery, and the orientation of the label roll E received by the label roll carrier 48, can be adjusted based on a determined position, another determined position, and / or the calculated average position of the starting end of the label roll E. This orientation can be adjusted, for example, by the operating robot 40 and / or the label roll gripper 42 and / or the corresponding label roll carrier 48. Subsequently, the tape head of the delivered label roll E can be in a defined preset position, thereby enabling defined subsequent processing.

[0141] This invention is not limited to the preferred embodiments described above. Instead, numerous variations and modifications are possible, which also utilize the concepts of this invention and therefore fall within the scope of protection. In particular, this invention also claims protection for the subject matter and features of dependent claims independent of the cited claims. Specifically, each feature of independent claim 1 is disclosed independently of the others. Furthermore, features of the dependent claims may also be disclosed and claimed independently of all features of independent claim 1, such as the features in independent claim 1 concerning the presence and / or configuration of the receiving cavity, the suction device, and / or the sensor. All scope descriptions herein should be understood as disclosable and claimable, i.e., all values ​​within each scope are disclosed individually, for example, also as their respective preferred narrower outer boundaries.

[0142] List of reference numerals

[0143] 10 devices

[0144] 12-cavity housing

[0145] 14 Enter the opening

[0146] 16-plane

[0147] 18 Inhalation Devices

[0148] 20 Inhalation Tubes

[0149] 22 entrance openings

[0150] 24 vacuum source

[0151] 26 sensors

[0152] 28 optical cavities

[0153] 30 sensor bracket

[0154] 32 Additional Sensor Bracket

[0155] 34 additional sensors

[0156] 36 Additional Sensor Brackets

[0157] 38 system

[0158] 40 operating robots

[0159] 42-Tag Volume Scraper

[0160] 44 Label Roll Placement Table

[0161] 46 Labeling Device

[0162] 48 Label roll carrier

[0163] 50 tags with buffer

[0164] 52 processing unit

[0165] S1 Sensing Beam

[0166] S2 Sensing Beam

[0167] E-label roll

[0168] M-center axis.

Claims

1. A device (10) for identifying the header of a tag roll (E), the device (10) comprising: A receiving cavity (12) having an entry opening (14) for receiving the belt head; A suction device (18) connected to a receiving cavity (12) for drawing the tape head into the receiving cavity (12) through an inlet opening (14); and A sensor (26) is arranged to identify the head sucked into the receiving cavity (12).

2. The apparatus (10) according to claim 1, wherein at least one of the following is satisfied: The receiving cavity (12) is elongated and / or slit-shaped and / or substantially plate-shaped cuboid; The entry opening (14) is slit-shaped and / or longitudinally extended and / or strip-shaped; Enter the opening (14) and arrange horizontally; The receiving cavity (12) is arranged vertically; The longitudinal sidewalls of the receiving cavity (12) are aligned with the longitudinal edge of the entry opening (14); and The depth of the receiving cavity (12) from the entry opening (14) is ≥20 mm and / or ≤100 mm.

3. The apparatus (10) according to claim 1 or claim 2, wherein, The suction device (18) has a suction tube (20), preferably a vacuum tube, which is connected to the receiving cavity (12).

4. The apparatus (10) according to claim 3, wherein at least one of the following is satisfied: The receiving cavity (12) is directly connected to the suction tube (20), preferably along the entire length of the receiving cavity (12); The receiving cavity (12) extends from the tangent or radial of the circular or preferably circumferential section of the suction tube (20); The receiving cavity (12) merges into a longitudinally extending, preferably strip-shaped, inlet opening (22) of the suction pipe (20), which extends longitudinally and preferably in a straight line; The sidewall of the receiving cavity (12) and the suction pipe (20) are integrally formed; and The suction tube (20) is connected to the vacuum source (24).

5. The apparatus (10) according to any one of the preceding claims, wherein at least one of the following is satisfied: The sensor (26) is an optical sensor, preferably a photoelectric switch, a laser sensor, or an LED sensor, or an ultrasonic sensor, or a mechanical switch, or a capacitive sensor; and The sensor (26) is arranged to emit a sensing beam (S1) substantially perpendicular to the longitudinal axis of the receiving cavity (12) and / or the entry opening (14).

6. The apparatus (10) according to any one of the preceding claims, further comprising: A longitudinally extending, preferably cylindrical or cuboid, optical path cavity (28) is used for the sensing beam (S1) of the sensor (26), wherein the optical path cavity (28) passes through the receiving cavity (12). Preferably, at least one of the following is satisfied: The sensor (26) is arranged at one end of the longitudinal optical path cavity (28) to emit its sensing beam (S1), which is parallel to or coincides with the central axis of the longitudinal optical path cavity (28); The longitudinal axis of the longitudinal optical path cavity (28) is arranged at an angle to the longitudinal axis of the receiving cavity (12) and / or the entry opening (14), preferably laterally; and The end of the longitudinal optical path cavity (28) opposite to the sensor (26) is closed and / or arranged at a distance from the sensor (26) greater than the detection range of the sensor (26).

7. The apparatus (10) according to any one of the preceding claims, further comprising: A sensor bracket (30) from which the sensor (26) can be detached and fixed, preferably by snap-fit, insertion, snap-fit, or threaded fixing. Preferably: The sensor holder (30) is integrally formed with the sidewall of the receiving cavity (12); and / or The sensor bracket (30) is arranged outside the device (10).

8. The apparatus (10) according to claim 7, further comprising: At least one additional sensor bracket (32), preferably having the same structure as the sensor bracket (30), and / or at least one additional sensor that can be detachably fixed, preferably by snap-fit, insertion, snap-fit, or threading. in: The sensor holder (30) is arranged side by side with at least one additional sensor holder (32), preferably along the longitudinal axis of the receiving cavity (12) and / or the access opening (14).

9. The apparatus (10) according to any one of the preceding claims, further comprising: An additional sensor (34), arranged to emit a sensing beam (S2) substantially parallel to the longitudinal axis of the entrance opening (14) and located outside the receiving cavity (12), is used to identify the thickness of the label roll (E). Preferably: The additional sensor (34) is an optical sensor, preferably a photoelectric switch, a laser sensor or an LED sensor, or an ultrasonic sensor.

10. A system (38), the system comprising: An operating robot (40), preferably an articulated arm operating robot, is equipped with a label roll gripper (42), preferably an in-label roll gripper, for gripping label rolls (E); and At least one device (10) according to any of the preceding claims is arranged within the working range of the operating robot (40); and optionally... At least one labeling device (46) is used to label the container. The labeling device (46) has at least one label roll carrier (48), preferably arranged within the working range of the operating robot (40), for receiving the label roll (E) gripped by the label roll gripper (42).

11. The system (38) according to claim 10, further comprising: Processing device (52), the processing device being configured to: - Drive the robot (40) to rotate the label roll (E) gripped by the label roll gripper (42) before entering the opening (14), preferably so that the central axis (M) of the label roll (E) is directly above the opening (14); - The aspiration device (18) draws in the head of the rotating label roll (E); - The position of the tape head is determined based on the signal output of the sensor (26), preferably relative to the label roll gripper (42), wherein the signal output preferably indicates that the tape head of the rotating label roll (E) has left the receiving cavity (12).

12. The system (38) according to claim 11, wherein: The processing device (52) is also configured to - Drive the robot (40) to rotate the label roll (E) held by the label roll gripper (42) in the opposite direction before entering the opening (14), preferably so that the central axis (M) of the label roll (E) is directly above the opening (14); - The aspiration device (18) draws in the head of the counter-rotating label roll (E); - Determine another position of the tape head based on further signal output from the sensor (26), preferably relative to the label roll gripper (42), wherein the further signal output preferably indicates that the tape head of the reverse-rotating label roll (E) has left the receiving cavity (12); and optionally - Calculate the average value of the leading position from the determined position and another determined position.

13. The system (38) according to claim 11 or 12, wherein: The processing device (52) is also configured to - The thickness of the label roll (E) gripped by the label roll gripper (42) is determined based on the signal output of an additional sensor (34), which emits a sensing beam (S2) substantially parallel to the longitudinal axis of the entry opening (14) and located outside the receiving cavity (12); and / or - The drive robot (40) moves the label roll (E) gripped by the label roll gripper (42) to the device (10), preferably before rotation, and / or positions the central axis (M) of the label roll (E) directly above the entry opening (14); and / or - The drive robot (40) transfers the label roll (E) gripped by the label roll gripper (42) to the label roll carrier (48) of at least one labeling device (46), wherein the transfer direction of the label roll (E) is adjusted according to the determined position of the head, another position and / or the average position.

14. A method for operating the system (38) according to any one of claims 10 to 13, the method comprising: The label roll (E) gripped by the label roll gripper (42) is rotated by the robot (40) before entering the opening (14), wherein preferably the central axis (M) of the label roll (E) is directly above the opening (14); The suction device (18) is used to draw the tip of the rotating label roll (E) into the receiving cavity (12); The position of the tape head is determined based on the signal output of the sensor (26), preferably relative to the label roll gripper (42), wherein preferably the signal output indicates that the sucked-in tape head leaves the rotating label roll (E) of the receiving cavity (12); and optionally... The thickness of the label roll (E) gripped by the label roll gripper (42) is determined based on the signal output of the additional sensor (34), which emits a sensing beam (S2) that is directed toward the end face of the gripped label roll (E).

15. The method of claim 14, wherein: The method further includes: - Using an operating robot (40), the label roll (E) gripped by the label roll gripper (42) is moved to the device (10), the movement occurring before rotation, preferably such that the central axis (M) of the label roll (E) is directly above the entry opening (14); and / or The method further includes: - Before entering the opening (14), the label roll (E) gripped by the label roll gripper (42) is rotated in the opposite direction by the operating robot (40), preferably so that the central axis (M) of the label roll (E) is directly above the opening (14); - The tape head is drawn into the receiving cavity (12) from the counter-rotating label roll (E) by the suction device (18); - Determine another position of the tape head based on another signal output from the sensor (26), preferably relative to the label roll gripper (42), wherein the signal output preferably indicates that the tape head has left the receiving cavity (12); and optionally - Determine the average position based on the determined position and another position; and / or The method further includes: - A label roll (E) gripped by a label roll gripper (42) is delivered to a label roll carrier (48) of at least one labeling device (46), wherein the alignment of the label roll (E) at delivery can be adjusted according to at least one of a determined position of the head, another position and / or position average.

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