Technology for processing label tape from label rolls

Abstract

The present invention relates primarily to an apparatus (10) for processing label tape, preferably a label tape gripping device. The apparatus (10) has: a shaft (14) for winding a segment of the label tape from a label roll (12) to hold the label tape at the shaft (14); and a base (42) arranged beside the shaft (14) for abutting the segment of the label tape adjacent to the wound segment of the label tape.

Description

Technical Field

[0001] This invention relates to an apparatus for processing label tape, a robot, a labeling system, and a related operating method. 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, a roll library that can manually load multiple rolls is also feasible.

[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 accordingly includes: a vehicle device for changing the robot's position; and a manipulator device having a multi-axis manipulator and an associated end effector for manipulating the label rolls. Because the end effector is configured to support the label rolls and the outer circumferential gripper of the empty core of the label rolls, ergonomically problematic steps in adding label rolls can be performed entirely by the machine with high precision and material savings.

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

[0006] The object of this invention is to create an improved technique for processing label tape for loading labeling devices.

[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 an apparatus, preferably (e.g., a label tape gripping device), for handling label tape. The apparatus has a shaft for winding (taking up) a segment of label tape from a label roll to hold the label tape at the shaft. The apparatus also has a base arranged beside the shaft for abutting a segment of the label tape adjacent to the wound segment of the label tape.

[0009] Advantageously, this method provides a compact and versatile robotic gripper for label tape handling. High process reliability is advantageously achieved because the label tape can be securely held by the shaft and cut, for example, only at the final stage of the processing. The tape force adjustment via the shaft advantageously enables tighter yet gentler label tape transport. Combined with a tape dispenser, the device advantageously pre-treats label tape for various roll receptacles (e.g., applying adhesive strips at appropriate locations, cutting at appropriate locations). The device also advantageously enables the re-secured opening label rolls, for example, in conjunction with the tape dispenser. Combined with a roll gripper, the device advantageously provides a fully automated consumable supply solution.

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

[0011] - The shaft is a hollow shaft;

[0012] - The outer circumferential surface of the shaft has a non-stick coating;

[0013] - The shaft has a longitudinal gap, preferably a longitudinal suction gap and / or a longitudinal clamping gap, for accommodating the beginning of a segment of the label tape;

[0014] - The shaft is supported in a rotatable manner only at one end face of the shaft;

[0015] - The shaft has a preferred segmented or fully encircling flange (e.g., a shoulder or collar) at its free end to prevent the label tape from slipping off the shaft;

[0016] - The shaft has a total shaft length of ≥200mm and / or ≤300mm; and

[0017] - The shaft has an outer diameter of ≥50mm and / or ≤100mm.

[0018] In another embodiment, the device further includes a suction device for drawing the label tape into and / or into the shaft, and / or a clamping device for clamping the label tape inside and / or at the shaft.

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

[0020] - The suction device is arranged inside the shaft;

[0021] - The suction device is connected to the shaft in a torsion-resistant manner;

[0022] - The suction device has a suction nozzle for drawing the beginning of a segment of the label tape into the nozzle, wherein the nozzle is open on the outer circumferential surface of the shaft, preferably within the longitudinal clearance of the shaft and / or substantially along the entire length of the shaft; and

[0023] - The suction device has a vacuum line arranged parallel to the central longitudinal axis of the shaft.

[0024] In another embodiment, at least one of the following conditions is met:

[0025] - The clamping device is arranged inside the shaft;

[0026] - The clamping device is pneumatically operated, preferably by means of a pneumatic clamping actuator within the shaft;

[0027] - The clamping device has two clamping elements (e.g., clamping plates) that can move toward each other, and these clamping elements are preferably aligned with the longitudinal clearance of the shaft;

[0028] - The clamping device is connected to the shaft in a torsion-resistant manner;

[0029] - The clamping device is arranged to hold the section of the label tape drawn into the beginning of the shaft; and

[0030] - The clamping device extends substantially along the entire length of the shaft.

[0031] In one implementation variant, the device also has a strip sensor arranged to detect the label strip held by the shaft.

[0032] In another implementation variant, at least one of the following is satisfied:

[0033] - A sensor is arranged inside the shaft, preferably for detecting the section of longitudinal clearance entering the shaft;

[0034] - The sensor is an optical sensor, preferably a laser sensor or an LED sensor;

[0035] - Equipped with a sensor for torsion-resistant connection to the shaft; and

[0036] - The sensor is placed in the free end area of ​​the shaft or at the free end area.

[0037] In one embodiment, the device further includes a drive unit, preferably an electric drive unit (e.g., a servo motor), which is drivably connected to the shaft to rotate it. Preferably, at least one of the following may also be satisfied:

[0038] - The drive unit is connected to the shaft via a gear connection, which preferably has a planetary gearbox, a bevel gearbox, a cycloidal reducer and / or a belt drive, or is directly connected to the shaft;

[0039] - The drive unit is connected to the shaft via a compensating coupling, preferably an axial offset and / or angular offset compensating coupling, and particularly preferably a bellows coupling; and

[0040] - The drive unit is configured to drive the shaft in a force-adjustable manner, depending on the load (e.g., detected by a sensor) at the shaft and / or at the device, as the entire device is moved, so as to apply a force to the label tape, preferably to prevent the label tape from sagging and / or being damaged.

[0041] Preferably, the load can be detected by a sensor, such as force or torque at a shaft or other component of the device, or motor current of a drive unit.

[0042] Alternatively, a drive unit, which is drivably connected to a label roll receiver (e.g., a film tray) capable of accommodating label rolls, is configured to drive the label roll receiver (e.g., its shaft) in a force-adjustable manner depending on the load at the label roll receiver (e.g., detected by a sensor), preferably to prevent label tape sagging and / or damage.

[0043] In another embodiment, the substrate further comprises at least one of the following:

[0044] - At least one cutting device, preferably a pneumatically operated cutting device, is used to cut the section of the label tape that is attached to the substrate;

[0045] - At least one suction device for holding the label tape abutting the substrate;

[0046] - At least one reflector, preferably a reflective strip, for identifying printed markings in the case of transparent label strips;

[0047] - At least one heating device for heating the section of the label tape that is attached to the substrate (e.g., to improve the adhesion of the adhesive).

[0048] - At least one steering element, preferably a friction-reducing steering element, preferably a guide roller or sliding element, located at at least one edge region of the substrate, is used to guide the label tape around the corresponding edge region; and

[0049] - At least one resiliently supported transfer strip, preferably in the form of a spring, is used to support the transfer of the label tape abutting against the substrate.

[0050] In one implementation, at least one of the following is satisfied:

[0051] - The base has a receiving portion, preferably in the shape of a substantially cylindrical segment, with the axial portion extending into the receiving portion;

[0052] - The substrate has a preferred segmented or fully encircling flange (e.g., a shoulder or collar; for example, in the plane of a flange on a shaft) at its free end to prevent the label tape from slipping off the substrate;

[0053] - The matrix has a cross-section that is substantially triangular or substantially quadrilateral, preferably along its entire length; and

[0054] - The matrix has a total length that essentially corresponds to the total length of the shaft.

[0055] In another embodiment, at least one of the following conditions is met:

[0056] - This device is an end effector for robots, preferably multi-axis robots, and particularly preferably articulated arm robots;

[0057] - The device has a support flange for mounting the device on the robot's robotic arm, wherein preferably, the central axis of the support flange is misaligned with the central axis of the shaft, more preferably parallel to it; and

[0058] - The device has a connection interface, preferably a pneumatic and / or electrical connection interface, for connecting the robot cable chain to at least one supply line.

[0059] On the other hand, the invention relates to a robot, preferably a multi-axis robot, and particularly preferably an articulated arm robot. This robot has the apparatus and tape dispenser as disclosed herein (preferably mounted on the robot's base or movable axis (such as the main rotation axis)) for dispensing tape onto a section of a label tape abutting the base of the apparatus. Advantageously, the same advantages already explained with reference to the apparatus can be achieved using this robot.

[0060] On the other hand, a labeling system for labeling containers is disclosed. This labeling system comprises: two label roll receptacles for accommodating one label roll each; an adhesive bonding device (e.g., a joining device) for connecting the beginning of a label strip from one of the label rolls to the end of a label strip from the other label roll; and a robot as disclosed herein. The robot (e.g., by means of a signal processing device) is configured to selectively convey a segment of label strip from one of the two label roll receptacles to the adhesive bonding device; and optionally prepare the segment for the adhesive bonding device, preferably by cutting and / or applying adhesive (e.g., applying a double-sided adhesive strip). Advantageously, the same advantages already explained with reference to this device can be achieved using this labeling system.

[0061] In one embodiment, the labeling system also includes (e.g., a fixed) receiving device for containing tape residue. This receiving device comprises: a suction unit for drawing and sucking the tape residue from the shaft; a clamping unit for clamping the sucked-in tape residue; and a collection container for collecting the sucked-in tape residue. Advantageously, this enables automated disposal of the tape residue.

[0062] It should be clearly pointed out that the containment device is disclosed as an independent aspect in this document and is entitled to claim rights.

[0063] For example, the housing can be arranged adjacent to the robot.

[0064] Preferably, the robot (e.g., using a signal processing device) is configured to move the shaft together with the tape residue held at the shaft to a receiving device for disposal of the tape residue. Preferably, the robot may also (e.g., using a signal processing device) be configured to rotate the shaft to unwind the tape residue and / or remove the shaft from the clamping unit, for example, when the tape residue is sucked up by the suction unit and clamped by the clamping unit.

[0065] 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). The container handling apparatus may include the devices disclosed herein, the robots disclosed herein, or the labeling systems disclosed herein. The container handling apparatus may, for example, be a beverage filling apparatus.

[0066] For example, containers can be implemented as bottles, cans, tubes, cartons, glass bottles (flakon), pipes, etc.

[0067] On the other hand, it relates to a method for operating the apparatus, robot, or labeling system disclosed herein. This method has the following characteristics:

[0068] - A segment of label tape from the label roll is wound onto the shaft to hold the label tape at the shaft, the label roll preferably being housed in the label roll receiving section of the labeling system; and

[0069] - By moving, preferably rotating, the entire device, preferably with the aid of a robot, the section of the label tape adjacent to the section on which the label tape is wound is abutted against the substrate.

[0070] Advantageously, the same advantages already explained with reference to the device can be achieved using this method.

[0071] In one embodiment, the method further comprises at least one of the following steps:

[0072] - Before winding, accommodate the beginning of the label tape segment within the longitudinal gap of the shaft;

[0073] -The suction device of this apparatus draws the beginning of a section of the label tape to the shaft or into the shaft.

[0074] -The clamping device of the device clamps the beginning of the section of the label tape at or inside the shaft;

[0075] - By using the suction device of the device to pick up the label tape to the substrate, the section of the label tape that is adjacent to the section of the label tape that is wound on the substrate is held on the substrate.

[0076] -Move the device together with the wound section of the label tape, preferably by means of a robotic arm, to a processing device for processing the label tape, preferably for identifying the cutting marks of the label tape and / or for applying adhesive strips;

[0077] -The heating device of the device heats the section of the label tape that is adjacent to the section of the label tape that is wound around the substrate;

[0078] -Move the device, along with the wound section of the label tape, preferably by means of a robotic arm, to the gluing device of the labeling system so as to glue the label tape to the end of another label tape.

[0079] - By means of a drive unit connected to the shaft and / or a drive unit connected to the label roll receiving portion, when the device is moved (e.g., by means of a robotic arm), the force acting on the label tape (e.g., depending on the load detected by a sensor at the shaft and / or the device) is adjusted, preferably regulated, to prevent the label tape from sagging and / or being damaged (e.g., overstretched); and

[0080] - The label tape is cut using the cutting device of the apparatus, preferably at the gluing device of the labeling system, so as to glue the label tape to the end of another label tape.

[0081] In another embodiment, the method further includes: disposing of residue at the shaft, including:

[0082] - The suction unit extracts the residue from the shaft using a (e.g., fixed) receiving device (which is arranged, for example, adjacent to the robot);

[0083] - The suctioned residue is held by the clamping unit of the receiving device;

[0084] - The gripped tape residue is removed from the shaft by moving the shaft away from the gripping unit (e.g., by means of a robot), and / or the tape residue is unloaded from the shaft by rotating the shaft; and optionally

[0085] -A collection container for sucking residue removed from the shaft into a receiving device using a suction unit; and preferably

[0086] - Release the residue held by the clamping unit during suction.

[0087] It is feasible to deactivate the suction during clamping and removal, for example, to conserve energy.

[0088] The preferred embodiments and features of the present invention described above can be combined with each other as needed. Attached Figure Description

[0089] Other details and advantages of the invention will now be described with reference to the accompanying drawings. In the drawings:

[0090] Figure 1 A schematic perspective view of the label roll is shown;

[0091] Figure 2 A perspective view of a device according to one embodiment is shown;

[0092] Figure 3 A side view of the exemplary device is shown;

[0093] Figure 4 A perspective sectional view of the shaft and base of the exemplary device is shown, with a partial interior view;

[0094] Figure 5 Show Figure 4 Top view of the cross-sectional view of the central axis and the base;

[0095] Figure 6 A perspective side view of the shaft and base of the exemplary device is shown, with a partial interior view;

[0096] Figure 7 A perspective view of the cutting device of the exemplary apparatus is shown;

[0097] Figures 8 to 10 Show Figure 7 Top views of the cutting device in different positions;

[0098] Figure 11 A bottom view of the shaft and base of the exemplary device is shown;

[0099] Figure 12 A perspective view of a robot according to one embodiment is shown;

[0100] Figure 13A perspective view of a robot according to another embodiment is shown;

[0101] Figure 14 A perspective view of a modified section of the exemplary device is shown;

[0102] Figures 15 to 22 Schematic diagrams of exemplary devices according to different embodiments are shown;

[0103] Figure 23 A perspective view of a section of a labeling system according to one embodiment is shown;

[0104] Figures 24 to 67 Exemplary method steps for processing label tape are shown;

[0105] Figure 68 A perspective view of a section of a labeling system according to one embodiment is shown;

[0106] Figure 69 A perspective view of a section of a labeling system according to one embodiment is shown;

[0107] Figure 70 A perspective view of a section of a labeling system according to one embodiment is shown;

[0108] Figure 71 A perspective view is shown of a section of the containment device for holding the residue; and

[0109] Figure 72 Show Figure 71 A cross-sectional view of a section of the housing device.

[0110] 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

[0111] Figures 2 to 10 Different views and sections of the apparatus 10 for processing label tape from label roll 12 are shown, such as Figure 1 As shown in the example.

[0112] The label tape or label roll 12 that can be processed by device 10 can, for example, have a height in the range of 20 mm to 200 mm, wherein other tape heights are also conceivable. The label tape material can preferably be polypropylene (PP), wherein other tape materials are also conceivable.

[0113] With the aid of device 10, label tapes can be received (grabbed) and processed, for example, by performing manufacturing operations. Therefore, device 10 can also be referred to as a label tape gripping device (a tool for gripping label tapes) for processing label tapes.

[0114] Preferably, device 10 can be implemented as an end effector mounted on the robotic arm of a robot (preferably a multi-axis robot, such as an articulated arm robot). For example, it is feasible for the robot to receive device 10 at a tool changing station, preferably automatically. For instance, the robot may be able to change device 10 and a label roll holder for gripping and handling the entire label roll 12 as needed at this tool changing station. It is also feasible for device 10 to be used in other applications.

[0115] The device 10 can preferably perform different functions and activities, which will be briefly described below and will be described in more detail in this document.

[0116] For example, device 10 can identify, receive, and secure the beginning of the label tape of label roll 12. As a further example, device 10 can wind up the beginning of the label tape from label roll 12, such as the first layer of the label tape from label roll 12. It is also possible for device 10 to move the label tape to a processing device (e.g., a tape dispenser, a gluing device), preferably in a force-adjustable manner so that the label tape is not overstretched. It is also possible for device 10 to provide support in identifying cutting marks, thereby correctly applying adhesive strips to the label tape, for example, in cooperation with an (external) tape dispenser. For example, device 10 can also provide support in correctly cutting the label tape in place and transferring it to a gluing device, and / or disposing of the cut tape residue.

[0117] The device 10 has a shaft 14 and a base 42. The shaft 14 and the base 42 may preferably constitute the lower part of the device 10. The device 10 may also have, for example, an upper part 66.

[0118] Shaft 14 is used to wind (take up) the (starting) section of the label tape from label roll 12. The label tape can be held in place by means of the shaft 14 through the section wound on it.

[0119] Figure 1 In this context, a preferred embodiment of the tag roll 12, prepared for processing by means of device 10, is shown. In this case, Figure 1 This shows a state during preparation before gluing label roll 12.

[0120] Preferably, the (starting) section of the label tape can be secured (e.g., at the manufacturer's location) using double-sided tape K, more precisely, secured such that the starting section extends beyond the tape K by a distance a. That is, the tape K can be arranged to maintain a distance a from the starting edge of the label tape. The distance a can be, for example, a few centimeters, such as between 30 mm and 40 mm.

[0121] Preferably, the tape K can also be arranged to be spaced apart from the upper and / or lower edges of the label tape. For example, the distance b from the upper edge can be between 1 mm and 5 mm. The distance c from the lower edge can be between 1 mm and 5 mm.

[0122] Preferably, the tape K may have two sides with different adhesive strengths. This may, for example, ensure that when the beginning of the tape is torn, the tape K remains on the desired side, such as on the beginning of the tape rather than on the label roll 12.

[0123] Refer again Figure 2 As shown in the following figures, the shaft 14 can preferably have a total length of ≥200mm and / or ≤300mm. Preferably, the shaft 14 can be used to wind up label tape with a height between 20mm and 200mm.

[0124] For example, shaft 14 can have an outer diameter of ≥50 mm and / or ≤100 mm, such as about 80 mm or less. Advantageously, such a small outer diameter allows for a low mass moment of inertia, which is beneficial for adjusting the tape force. Typically, for this outer diameter, shaft 14 may need to be rotated approximately eight times (600 mm roll outer diameter / 80 mm shaft diameter = 7.5 rotations) to wind the first layer of label roll 12 onto shaft 14. Multiple / multi-layer winding of shaft 14 can advantageously support a secure hold of the label tape to shaft 14.

[0125] Preferably, shaft 14 can be made of a lightweight material, such as aluminum alloy or plastic. This advantageously minimizes the moment of inertia. It is also possible to implement shaft 14 entirely, substantially entirely, or partially as a 3D printed part (an additively manufactured part consisting of multiple adjacent material layers), where functional integration, weight reduction, and cost optimization can be particularly advantageous.

[0126] Preferably, the shaft 14 may have a non-stick coating on its outer / peripheral surface. This advantageously prevents adhesion to tape used for securing the belt or any adhesive residue thereof. The non-stick coating may be, for example, a ceramic or plastic coating.

[0127] Preferably, shaft 14 has a longitudinal gap 16. The beginning of a segment of the label tape can be accommodated within the longitudinal gap 16. Preferably, the beginning can be held in the longitudinal gap 16 in any conceivable manner, such as by clamping and / or sucking. For example, the longitudinal gap 16 can be implemented as a longitudinal sucking gap and / or a longitudinal clamping gap.

[0128] The longitudinal clearance 16 may preferably extend parallel to the longitudinal axis of shaft 14. The longitudinal clearance 16 may, for example, have a total length of ≥200 mm and / or ≤300 mm.

[0129] Preferably, the shaft 14 has a flange 18 at its free (lower) end. The flange 18 may wrap around the shaft 14 completely or only in sections. The flange 18 prevents the label tape from shifting or slipping off the shaft 14. The longitudinal edge of the label tape (e.g., the lower edge) may be supported at the flange 18. The label tape may be guided along the flange 18, for example, when wound onto the shaft 14.

[0130] Preferably, the shaft 14 is rotatably supported only at one end face, i.e., the end face opposite the free end. For example, the shaft 14 can be rotatably supported within a preferably flat support 70, for example by means of a deep groove ball bearing. The support 70 can support the shaft 14 at the upper component 66.

[0131] Preferably, the shaft 14 can be a hollow shaft, within which various devices can be arranged, for example.

[0132] The drive unit 20 of the device 10 can be drivably connected to the shaft 14 so as to rotate the shaft 14 about its central longitudinal axis. The drive unit 20 can preferably be arranged in the upper part 66 of the device 10. The drive unit 20 can be, for example, carried on the support body 72 of the upper part 66.

[0133] The drive unit 20 is preferably an electric drive unit, such as a servo motor. Preferably, the drive unit 20 can be connected to the shaft 14 via a gear connection 22. The gear connection 22 can, for example, have a planetary gearbox and / or a bevel gearbox (e.g., a 90° bevel gearbox). Alternatively or additionally, the gear connection 22 can, for example, have a cycloidal reducer, belt drive, or any other suitable gear mechanism.

[0134] Alternatively, the drive unit 20 can be directly connected to the shaft 14. For example, in this case, force measurement may be easily made possible by the motor current of the drive unit 20. Here, it may be more disadvantageous to provide a gear mechanism between the drive unit 20 and the shaft 14 (friction, backlash). On the other hand, if an additional sensor (such as a torque sensor or force sensor) is used in the optional force measurement, the gear connection 22 may be more advantageous because it may be possible to keep the size of the drive unit 20 smaller.

[0135] The drive unit 20 enables the shaft 14 to rotate in two rotational directions, and this is independent of the movement (e.g., rotation) of the entire device 10 at, for example, the robotic arm.

[0136] Drive unit 20 may preferably be via compensating coupling 24 (obscured in the drawings, therefore only shown as a dashed line). Figure 3 (As shown in the diagram) is connected to shaft 14. The compensating coupling 24 can be, for example, an axial offset and / or angular offset compensating coupling. Preferably, the compensating coupling 24 is a bellows coupling. For example, the compensating coupling 24 can be arranged between the gear connection 22 and shaft 14.

[0137] A suction device 26, a clamping device 32, and / or a sensor 40 may preferably be arranged inside or at the shaft 14.

[0138] The suction device 26 can be used to draw the label tape onto and / or into the shaft 14 (see in particular). Figure 3 and Figure 4 The suction device 26 is preferably arranged inside the (hollow) shaft 14. The suction device 26 can be torsionally connected to the shaft 14 and rotate with the shaft 14.

[0139] For example, the suction device 26 may have a suction nozzle 28. The suction nozzle 28 may be arranged within the shaft 14. The suction nozzle 28 may extend, for example, substantially along the entire length of the shaft 14. With the aid of the suction nozzle 28, the beginning of the label tape can be drawn into the suction nozzle 28. The suction nozzle 28 may preferably open in a longitudinal gap 16. In other words, the longitudinal gap 16 may serve as an inlet to the suction nozzle 28 through which the beginning of the label tape can be drawn into the suction nozzle 28.

[0140] It is feasible that the suction device 26 has a vacuum line (vacuum pressurization line) 30. The line 30 may, for example, be in the form of a rigid tube. The longitudinal axis of the line 30 may preferably be parallel to and spaced apart from the central longitudinal axis of the shaft 14. The line 30 may be connected to the suction nozzle 28 on one side for drawing air. On the other side, the line 30 may be connected to a vacuum supply unit, for example, within the area of ​​the carrier 70. Particularly preferably, the vacuum supply is not achieved via a rotary distributor, but via a conduction path between two rotating bearings for the shaft 14 at the end section of the shaft 12. Advantageously, this allows for a particularly large tube cross-section simply. Alternatively, a rotary distributor may be used.

[0141] It is feasible that the suction device 26 can be supported, for example, by at least one compressed air nozzle at the device 10. For example, the at least one compressed air nozzle can be arranged outside the device 10. For example, the at least one compressed air nozzle can blow the belt into the longitudinal gap 16 from the outside, i.e., by applying compressed air to it to move it to and / or move it into the longitudinal gap 16.

[0142] The clamping device 32 can be used to clamp the label tape within and / or at the shaft 14 (see in particular). Figure 3 and Figure 4 The clamping device 32 is preferably arranged inside the (hollow) shaft 14. The clamping device 32 can be torsionally connected to the shaft 14 and rotate with the shaft 14.

[0143] Preferably, the clamping device 32 can clamp the beginning of the label tape being sucked into the shaft 14. Preferably, the clamping device 32 can extend substantially along the entire length of the shaft 14.

[0144] The clamping device 32 may, for example, have two clamping elements 34 that are movable toward each other. The clamping elements 34 may, for example, be implemented as clamping plates. The sucked-in beginning of the label tape can be clamped between the clamping elements 34. Preferably, the clamping elements 34 may at least partially have a contoured structure and / or be resiliently pressed in.

[0145] The clamping element 34 may preferably be aligned with or transition into the longitudinal gap 16. The space between the clamping elements 34 may preferably form a segment of the suction nozzle 28.

[0146] Preferably, the clamping device 32 can be pneumatically operated. For example, compressed air can be supplied to the pneumatic clamping actuator 38 of the clamping device 32 via a compressed air line 36. The clamping actuator 38 can be, for example, an inflatable bellows or a pneumatic cylinder. The clamping actuator 38, with compressed air applied, can press one clamping element of the clamping elements 34 onto the other clamping element to clamp the beginning of the label tape.

[0147] Compressed air line 36 can be connected to a compressed air supply unit, for example, within the area of ​​the carrier 70. Here, a rotary distributor can be connected, for example, to the compressed air line 36. Alternatively, the compressed air conduction path can be achieved, for example, via a detachable connection, such as a plug-in connection. This can be intermittently communicated between the fixed portion of the device 10 and the shaft 14 and the clamping device 32 within the shaft, for example, by means of a cylinder-piston unit. The cylinder-piston unit can, for example, be arranged within the carrier 70. This variation is feasible when the corresponding function only needs to be performed when the shaft 14 is stationary.

[0148] Preferably, the tape sensor 40 can detect when the shaft 14 holds the label tape. Particularly preferably, the tape sensor 40 can detect when a segment of the label tape passes through the longitudinal gap 16 and enters the shaft 14.

[0149] The sensor 40 can be torsionally connected to the shaft 14. The sensor 40 is, for example, an optical sensor, such as a laser sensor or an LED sensor. The sensor 40 can also be, for example, a grating. Preferably, the sensor 40 can be arranged within the shaft 14.

[0150] For example, the sensor 40 can be positioned in the free end region of the shaft 14. This is sufficient because label tapes of varying heights can always be wound onto the shaft 14 in a manner that allows them to abut and be guided at the flange 18. Therefore, when accommodated by the shaft 14, the lower edge of the label tape is always located at the lower edge of the longitudinal gap 16, where the sensor 40 can also be positioned.

[0151] Electrical signals from and / or transmitted to sensor 40 can be conducted, for example, via a rotary distributor (e.g., a slip ring transformer) within carrier 70. Alternatively, signal transmission can also be carried out via a separable connection (e.g., a pluggable connection), as explained above for compressed air.

[0152] The substrate 42 is used to abut the section of the label tape adjacent to the section of the label tape wound on the shaft 14. The substrate 42 thus serves as a fixed opposing surface for processing and, where appropriate, machining the label tape. For this purpose, after the label tape is wound into sections onto the shaft 14 and optionally secured inside or at the shaft, the label tape can be guided around the substrate 42 and laid by the movement of the overall device 10. This movement of the overall device 10 can preferably be achieved by the movement of a robotic arm. Particularly advantageous in this case is that, by selecting the rotation direction of the entire device 10, the outer or inner side of the label tape can be selectively abutted against the substrate 42. Preferably, this allows for simple placement of both sides of the tape in the processing position.

[0153] The substrate 42 is arranged beside the shaft 14. For example, the longitudinal axis of the substrate 42 may extend parallel to the longitudinal axis of the shaft 14. Preferably, the substrate 42 has a receiving portion 44 that is substantially cylindrical in shape (see, for example, a receptacle portion 44). Figure 5 The shaft 14 (e.g., a cylindrical segment thereof) extends into the receiving portion. The base 42 may wrap around (cover) the outer peripheral surface segment of the shaft 14 at the receiving portion 44 without contacting the shaft 14.

[0154] Preferably, the substrate 42 has a flange 46 at its free (lower) end. The flange 46 may completely or only partially surround the substrate 42. The flange 46 prevents the label tape from shifting or slipping off the substrate 42. The longitudinal edge of the label tape (e.g., the lower edge) may be supported at the flange 46. The label tape may be guided along the flange 46, for example, when it is abutting against the substrate 42.

[0155] Preferably, flange 18 and flange 46 may be located in the same plane. Preferably, the flanges 18 and 46 of the base 42 and the shaft 14 may be flush with each other at their end faces.

[0156] Preferably, the substrate 42 may have a substantially triangular prism shape or a quadrilateral prism shape. The substrate 42 may, for example, have a substantially triangular cross-section, preferably along its entire length, for example in… Figure 4 and Figure 5 As can be seen from this. Alternatively, the substrate 42 may have another cross-section, preferably polygonal, such as a quadrilateral (e.g., rectangular) cross-section.

[0157] The base 42 may have a total length (total height) that may correspond to the total length of the shaft 14, for example, ≥200mm and / or ≤300mm.

[0158] The substrate 42 can preferably be implemented substantially entirely or partially as a 3D printed part (an additive manufacturing part consisting of multiple adjacent material layers).

[0159] Preferably, the base 42 is supported or carried only at one end face, that is, the end face opposite to the free end. For example, the base 42 can be carried by the carrier 70. The carrier 70 can carry the base 42 at the upper component 66.

[0160] Preferably, the substrate 42 may have at least one guide roller 48, at least one suction device 50, at least one heating device 52, at least one reflector 54 and / or at least one cutting device 56, 64.

[0161] At least one guide roller 48 is disposed at at least one (longitudinal) edge region of the substrate 42 for guiding the label tape around the corresponding edge region. Advantageously, the guide roller 48 can significantly reduce the frictional force of the tape as it passes over the substrate 42, which can prevent the label tape from being subjected to unacceptably high loads, especially when the tape height is small.

[0162] Preferably, it includes a plurality of guide rollers 48. If the base 42, which has a substantially triangular (quadrilateral) cross-section, has three (four) longitudinal edge regions, then preferably one guide roller 48 can be arranged at each longitudinal edge region, i.e., a total of three (four) guide rollers 48 can be included.

[0163] Preferably, the at least one guide roller 48 can be supported in a rotatable manner at both end faces. The at least one guide roller 48 can roll as the label tape passes over the corresponding guide roller 48.

[0164] The longitudinal axis of the at least one guide roller 48 is preferably parallel to the longitudinal axis of the shaft 14.

[0165] Preferably, the at least one guide roller 48 can be made of carbon tubing. Advantageously, this reduces the moment of inertia, thereby enabling rapid belt handling.

[0166] Preferably, the at least one guide roller 48 protrudes from the adjacent side surface of the substrate 42, for example, by a degree between 0.5 mm and 1 mm. This allows the label tape to advantageously adhere substantially to the at least one guide roller 48 within the area of ​​the substrate 42 during normal processing.

[0167] Alternatively, as an alternative or addition to the at least one guide roller 48, another type of steering element, such as a sliding element or sliding guide, may be included. Generally, this at least one steering element can prevent an undesirable increase in belt force when the belt is steering. Depending on the measurement principle, the frictional force may not be measured at the same time when detecting belt force, potentially leading to belt breakage.

[0168] The at least one suction device 50 can additionally hold and secure the label tape abutting against the substrate 42. Preferably, the at least one suction device 50 can also retain loose tape residue after the label tape is cut, for example, when transferring it to the adhesive device of the labeling system.

[0169] The at least one suction device 50 is disposed on at least one side surface of the substrate 42. For example, the substrate 42 may have two side surfaces, each having at least one suction device 50. For example, at least one suction device 50 may be disposed adjacent to a guide roller 48.

[0170] exist Figures 2 to 11 In the illustrated embodiment, for example, four suction devices 50 are included on the opposing sides of the substrate 42, which are preferably arranged adjacent to three guide rollers 48.

[0171] The at least one suction device 50 preferably each has a vacuum bar. A vacuum bar may, for example, have multiple suction openings. These suction openings may be arranged at intervals along the length of the vacuum bar.

[0172] The at least one heating device 52 is in Figure 2 and Figure 3 The at least one heating device 52 is schematically shown in the diagram using dotted lines. It may be arranged adjacent to, for example, the at least one suction device 50. Preferably, the at least one heating device 52 may be an electric heating device.

[0173] exist Figures 2 to 11 In the illustrated embodiment, for example, two heating devices 52 are included on opposite sides of the substrate 42.

[0174] For example, the corresponding side surface (e.g., side plate) of the substrate 42 can be heated by means of the at least one heating device 52. Preferably, the at least one heating device 52 is arranged just behind the corresponding side surface, at which adhesive or tape is applied to the label tape. Advantageously, adhesive can be reliably and quickly applied to the label tape through the heating process.

[0175] Preferably, the at least one reflector 54 can be used for printed mark identification in the case of a transparent label tape. For example, the at least one reflector 54 can be implemented as a reflective tape. The longitudinal axis of the reflective tape can, for example, be parallel to the longitudinal axis of shaft 14.

[0176] The at least one reflector 54 may be arranged adjacent to, for example, the at least one cutting device 56 and / or the at least one suction device 50.

[0177] exist Figures 2 to 11 In the illustrated embodiment, for example, two reflectors 54 are included on opposite sides of the substrate 42.

[0178] The at least one cutting device 56 is used to cut the label tape abutting the substrate 42, for example, at the end of the processing. Preferably, two cutting devices 56 are mounted on opposite sides of the substrate 42.

[0179] exist Figures 7 to 10 In the image, the cutting device 56 is shown separately.

[0180] The cutting device 56 preferably has a cutting actuator 58 and a cutting blade 60, and optionally a transfer bar 62.

[0181] Preferably, the cutting actuator 58 is a pneumatic actuator, such as a pneumatic cylinder. The cutting actuator 58 can be connected to the cutting blade 60 for retracting and extending the cutting blade 60. Preferably, when the cutting actuator 58 is switched to an inactive state, such as when no compressed air is applied, the cutting blade 60 is in the retracted state. The cutting actuator 58 can, for example, have a retractable piston connected to the cutting blade 60 for retracting and extending the cutting blade 60.

[0182] The cutting blade 60 can preferably be arranged beside the suction device 50 and / or the transfer bar 62. Preferably, the longitudinal axis of the cutting blade 60 can extend parallel to the central axis of the shaft 14.

[0183] As mentioned earlier, the cutting blade 60 can be retractable. Figure 8 An example of the retracted position is shown. Figure 9 and Figure 10 An example of the extended position is shown. Wherein, Figure 9 The transfer strip 62 (opposite side not shown) is shown in a loaded state when the label tape is cut by means of the cutting blade 60. Figure 10 The transfer strip 62 is shown in an unloaded state, for example, after the label tape is cut when the device 10 is moved away from the opposite side (the opposite side is not shown).

[0184] In the retracted state, the cutting blade 60 preferably does not protrude from the relevant side surface of the base 42 (e.g., the suction device 50) and / or the transfer strip 62 (see [reference]). Figure 8 Therefore, advantageously, there is no risk of injury. In the extended state, the cutting blade 60 may preferably protrude from the relevant side surface of the base 42 (e.g., the suction device 50) and / or the transfer strip 62 (see...). Figure 9 and Figure 10 ).

[0185] The transfer strip 62 is preferably used to support the transfer of the tape at the end of the process, such as to the adhesive device of a labeling system. Preferably, the longitudinal axis of the transfer strip 62 may extend parallel to the central axis of the shaft 14.

[0186] Preferably, the transfer bar 62 can be elastically supported, thereby enabling translation or pressing against the elastic support. For example, the transfer bar 62 can be elastically supported and optionally carried by multiple springs (e.g., coil springs). The springs enable elastic mobility of the transfer bar 62 perpendicular to its longitudinal axis.

[0187] Particularly preferably, the transfer strip 62 may have a non-stick coating, such as a ceramic or plastic coating. Advantageously, this prevents adhesion to adhesive strips that are attached to the transfer strip 62 together with the label tape for transfer, for example, to the adhesive device of a labeling system.

[0188] Additionally or alternatively, it is conceivable that the transfer strip 62 has recesses in certain areas. In this way, the transfer strip 62 preferably does not come into contact with the adhesive at all.

[0189] Alternatively, the substrate 42 may also include a cutting device 64, such as... Figure 4 and Figure 5 As exemplarily and schematically shown, the cutting device 64 may be arranged directly opposite the shaft 14. The cutting device 64 may also be referred to as an internal cutting device.

[0190] The cutting device 64 may have a retractable cutting blade and, preferably, a pneumatic cutting actuator for retracting and extending the cutting blade. Figure 4 and Figure 5 (Not shown in detail in the text).

[0191] Preferably, the cutting blade can extend toward the shaft 14 to cut the label tape (e.g., wrapped around the shaft 14) passing between the cutting device 64 and the shaft 14. Particularly preferably, the shaft 14 can be rotated before the cutting blade extends such that the cutting blade can reach (cut into) the longitudinal gap 16 of the shaft 14.

[0192] Advantageously, the cutting device 64 can therefore cut away the label tape residue on the shaft 14. This is because at the end of the process, multiple tape layers may remain on the shaft 14, which may be adhered to each other by double-sided tape or adhesive residue. By cutting the tape layers, the label tape residue can be advantageously and more easily removed from the shaft 14. It is also feasible to discard the tape or the cut tape using a device specifically designed for this purpose (see, for example, [link to relevant documentation]). Figure 71 and Figure 72 (and its description).

[0193] The upper component 66 enables the connection of the shaft 14 and the base 42 to the robot's robotic arm.

[0194] Preferably, the upper component 66 has a support flange 68 for mounting the device 10 to the support flange of the robotic arm in a load-bearing manner. The support flange 68 can be connected to the shaft 14 and the base 42 in a load-bearing manner via at least one support body 70, 72. The shaft 14 and the base 42 can be supported at the support flange 68 via the at least one support body 70, 72, thereby being supported at the robotic arm.

[0195] Preferably, the support flange 68 can be connected to the robot's support flange via an automatic quick-change system. This allows for replacement with other types of grippers (e.g., label roll grippers) when needed without operator intervention.

[0196] Preferably, the central axis M of the bearing flange 68 is misaligned with the central axis of the shaft 14, and more preferably, they are parallel misaligned. Preferably, for the rotating device 10, a robotic arm can be rotated about the central axis M, and the device 10 is mounted on the robotic arm via the bearing flange 68.

[0197] Preferably, the upper component 66 also has a pneumatic and / or electrical connection interface 74 for connecting the robot cable chain to at least one supply line. This at least one supply line can be guided within the robot cable chain. For example, it may include at least one electrical supply line and / or at least one pneumatic supply line.

[0198] The upper component 66 may have different devices and components. For example, the upper component 66 may have a drive unit 20, a gear connection 22, a compensating coupling 24, an input / output module 76, a valve island 78, at least one venturi nozzle 80, a vacuum line 82 and / or a sensor 84.

[0199] The input / output module 76 and valve island 78 of the upper component 66 make it possible to minimize the number of pipelines that must be laid by a robotic cable chain.

[0200] The input / output module 76 may, for example, have at least one electrical supply interface for connecting electrical supply lines, and at least one communication interface for receiving communication signals. The input / output module 76 may, for example, be connected to the drive unit 20, the sensor 40, the cutting devices 56, 64, the valve island 78, and / or the sensor 84.

[0201] Valve island 78 may have multiple pneumatic valves for switching the pneumatic functions of device 10. For example, pneumatic valves may be used to switch clamping device 32 and / or cutting devices 56, 64, and / or to supply compressed air to the at least one venturi nozzle 80.

[0202] The at least one Venturi nozzle 80 is preferably connected to the valve island 78 and the at least one suction device 50. The at least one Venturi nozzle 80 can be used to generate negative pressure or vacuum for the at least one suction device 50. The at least one suction device 50 preferably requires a relatively high negative pressure at a relatively small volumetric flow rate. Preferably, at least two Venturi nozzles 80 are included, which may be arranged, for example, on opposite sides of the base 42.

[0203] Vacuum line 82 may preferably connect connection interface 74 and suction device 26 to each other. Vacuum line 82 may, for example, pass through the carrier 70 in sections and connect to the inlet section of line 30 of suction device 26. Vacuum line 82 may preferably be connected to a vacuum source, which is separate from device 10 and, for example, the robot carrying device 10. For example, the vacuum source may have a side-channel compressor and / or a volumetric flow amplifier. Vacuum line 82 preferably has a relatively large cross-section. Suction device 26 may require a relatively low negative pressure at a relatively large volumetric flow rate.

[0204] Sensor 84 is arranged to detect forces and / or torques acting on device 10 and / or shaft 14. Sensor 84 may be arranged, for example, adjacent to bearing flange 68, such as... Figure 2 and Figure 3 As exemplified. Alternatively, sensor 84 may be arranged, for example, in or at the drive connection between shaft 14 and drive unit 20, or to measure the motor current of drive unit 20. Other arrangements at or within device 10 are also conceivable.

[0205] For example, when handling narrow label tapes, the label tape must not be overloaded or stretched. However, a certain force must be applied to prevent the label tape from sagging. For example, when the tape height is in the range of 20mm to 35mm, the tape force can preferably be about 5N to 10N.

[0206] With the aid of sensor 84, the magnitude and direction of the tape force can preferably be detected as the device 10 moves / travels, and therefore as the held label tape moves / travels, since, for example, no other related force is at work in this case. The measured value can be taken into account when adjusting, preferably regulating, the tape force. This adjustment can be performed substantially by drive unit 20. Alternatively or additionally, for example, it is possible to adjust, preferably regulate, the tape force by means of a label roll receiver (e.g., a film tray) that houses the label roll.

[0207] Correspondingly, the drive unit 20 can be configured to drive the shaft 14 in a force-adjustable manner, depending on the load detected at the shaft 14 and / or the device 10 by means of the sensor 84, during the movement of the entire device 10, so as to apply a belt force to the label tape. This function may also be referred to herein as belt force adjustment. As previously mentioned, this can, for example, prevent the label tape from sagging and being damaged.

[0208] Figure 11As exemplarily shown, the position P on the side of the substrate 42 (e.g., a side panel) for applying adhesive (e.g., an adhesive strip) to the label tape is preferably positioned such that the adhesive direction passes exactly through the central axis M. Because adhesive application preferably requires a relatively large clamping force, this clamping force, in the illustrated arrangement, will not produce, or at least not significantly produce, unexpected torques on the device 10, sensor 84, and the connected robotic arm.

[0209] Furthermore, this arrangement advantageously enables the installation of a tape dispenser mounted on the robot and pivoting together with the robot's first robot axis (see also...). Figure 12 Because the robot lacks degrees of freedom regarding the adhesive dispenser, the vertical line at the application point must pass through the extension of the robot arm's central axis, since the robot arm cannot laterally translate device 10 to the tape dispenser at this point.

[0210] Figure 12 and Figure 13 The device 10 is shown as an end effector carried at robot 86, which is preferably implemented as an articulated arm robot.

[0211] The robot 86 preferably also includes a tape dispenser 88 for dispensing adhesive strips onto label tape abutting the substrate 42. Preferably, the tape dispenser 88 can be mounted on a movable axis of the robot 86 (e.g., the main rotation axis) (see [link to documentation]). Figure 12 ) or at the fixed base (such as the base) of robot 86 (see Figure 13 ).

[0212] Figure 12 A variant of the tape dispenser 88 illustrated herein, which pivots together with the robot 86, can be particularly advantageous. For example, if the working height of the shaft 14 and the base 42, and thus the working height of the tape dispenser 88, is at the robot's level, the robot 86 can pivot freely without the risk of collision that exists with a fixed dispenser. The tape dispenser 88 can be aligned with the corresponding label roll receiver (or other storage for label rolls) by means of the robot 86, for example, to achieve an optimal tape travel path. This is particularly advantageous if it is necessary to approach a large number of different locations.

[0213] If the working height of shaft 14 and base 42 is much lower than the robot level, the tape dispenser 88 will not pivot together (e.g. Figure 13 (As shown) is more advantageous because pivoting, for example, within the wiring area of ​​the robot base would not cause any problems. Alternatively, the tape dispenser 88 can be fixedly mounted on the robot 86 and optionally moved using an additional actuator.

[0214] The tape dispenser 88 can also be replaced by other devices, or the application of the adhesive strip can be performed by a machine other than the robot 86. The same applies when cutting the tape using optional cutting devices 56, 64.

[0215] Figure 14 A simplified illustration of the modified device 10' is shown.

[0216] For example, shaft 14 can have a bellows holder 90. Advantageously, shaft 14 can therefore be designed to be relatively compact and does not require a separate vacuum source, since the venturi nozzle is sufficient for the low volumetric flow rate of the bellows holder 90. Since only a relatively small force can be applied via the bellows holder 90, it may be possible, for example, to secure the beginning of the label roll 12 by means of a pre-perforated sticker.

[0217] It is conceivable that shaft 14, for example, does not have a suction nozzle 28 for drawing in the beginning of the tape. Instead, the beginning of the tape may be detected, for example, via a camera, and then approached, aligned, and clamped in a targeted manner. In this case, the beginning of the tape may also preferably be additionally fixed to shaft 14, for example, by means of single-sided adhesive tape with a pull tab.

[0218] Alternative implementations, including clamping devices, are also conceivable. For example, the beginning of the tape could be secured using a pin clamp, a rotating roller, or electrostatic force.

[0219] The base 42 of the device 10' may, for example, not include guide rollers for the label tape. Alternatively or additionally, it is possible that the cutting device 56 is arranged at the apex / edge of the back axis 14 of the base 42.

[0220] Figures 15 to 22 Different embodiments of the substrate 42 of the device 10 are shown, with the label tape additionally shown in dashed lines.

[0221] For example, embodiments of the substrate 42 can have different basic shapes and / or different numbers of guide rollers 48. For example, the substrate 42 can have a rectangular basic shape, preferably with one guide roller 48 at each of the four corners. Thus, more structural space is advantageously available within the substrate 42. It is also possible to change the arrangement and / or number of functional devices of the substrate 42 (e.g., suction device 50, heating device 52, reflector 54, cutting devices 56, 64). For example, the cutting device 56 can be arranged at the vertices of the substrate 42, which has a triangular cross-section. The heating device 52 can be omitted, for example, in the case where (part) of the machine that loads the label tape through device 10 has an integrated tape dispenser. Even the cutting device 56 may be omitted, for example, in the case where (part) of the machine to be loaded has its own cutting device.

[0222] Figure 15 Showing according to Figures 2 to 13 A schematic diagram of a preferred embodiment of the detailed variant, having a substantially triangular cross-section and three guide rollers 48.

[0223] Figure 16 A schematic diagram of one embodiment is shown, wherein the base 42 has a generally trapezoidal cross section and four guide rollers 48.

[0224] Figure 17 A schematic diagram of one embodiment is shown, in which a base 42 has a generally rectangular cross-section, four guide rollers 48, and a sensor 84. For example, the sensor 84 may be arranged on the side of the base 42 opposite to the shaft 14.

[0225] Figure 18 A schematic diagram of one embodiment is shown, in which the base 42 has a generally trapezoidal cross-section and four guide rollers 48. For example, the cutting device 56 may be arranged on the side of the base 42 opposite to the shaft 14.

[0226] Figure 19 A schematic diagram of one embodiment is shown, wherein the substrate 42 has a substantially trapezoidal or rectangular cross-section and two guide rollers 48. For example, the cutting device 56 and the adhesive application position P may be arranged on the side of the substrate 42 opposite to the axis 14.

[0227] Figure 20 A schematic diagram of one embodiment is shown, in which the base 42 has a substantially triangular cross-section and only one guide roller 48. For example, the guide roller 48 may be arranged at a vertex or edge of the base 42 opposite to the axis 14.

[0228] Figure 21 A schematic diagram of one embodiment is shown, in which the substrate 42 has a substantially rectangular cross-section, four guide rollers 48, and two sensors 84. For example, the sensors 84 may be arranged on opposite sides of the substrate 42. For example, the cutting device 56 and the adhesive application position P may be arranged on the side of the substrate 42 opposite to the axis 14.

[0229] Figure 22 An exemplary minimized implementation is shown, which includes a driven shaft 14 and a base 42 fixed relative to the shaft, without functional devices, optionally having guide rollers 48, the base acting as a support / opposite surface for processing the label tape.

[0230] Figure 23A segment of a labeling system 92 is shown. The labeling system 92 may also have a labeling unit (not shown) for labeling containers. As the container passes the labeling unit, the labeling unit may be a container conveyor (e.g., linear or rotary) that... Figure 23 (Not shown in the image) The transport container is labeled with a label from the label tape.

[0231] Preferably, the labeling system 92 may have two or more label roll receptacles 94 for accommodating one label roll 12 each for feeding label tape into the labeling unit. For example, the label roll receptacles 94 may be implemented as turntables and / or each has a rotatable tension shaft for one label roll 12. Preferably, the turntables may be horizontally aligned and / or the tension shafts may be vertically aligned. Alternatively, the label roll receptacles 94 may be implemented as preferably vertically aligned storage compartments (e.g., insert-type drawer structures) of a label roll storage device (e.g., a multireel, i.e., a multi-roll storage device).

[0232] Preferably, the labeling system 92 may also have an adhesive device 96 for adhesively bonding the beginning of a label strip from one label roll 12 to the end of a label strip from the other label roll 12. Preferably, the adhesive device 96 may be implemented as a so-called bonding device.

[0233] The labeling system 92 may also include a robot 86 holding the device 10. The robot 86 may be configured to feed a segment of label tape from one of the two label roll receptacles 94 to the gluing device 96 for gluing to the end of the other label tape. Optionally, the robot 86 or the device 10 may prepare the segment for the gluing device 96, preferably by cutting and / or applying adhesive (tape).

[0234] Figures 24 to 67 Exemplary methods and method steps that can be performed using device 10 and / or robot 86 are illustrated. For clarity, robot 86 or its robotic arm is not shown. Figures 24 to 67 As shown in the image.

[0235] Preferably, in the method described below, the force acting on the label tape can be adjusted such that the label tape neither sags nor undergoes plastic deformation (stretching) due to excessive force. In this case, preferably both the movement of the robot 86 to position the label tape in space and the movement (rotation) of the shaft 14 to position the label tape relative to the device 10 are taken into account. Preferably, the set force acting on the label tape can be between 5N and 10N.

[0236] For example, the force f_ist acting on the label tape can be measured using sensor 84. The force adjustment difference e_f can be determined from the set force f_soll (e.g., between 5N and 10N) and the measured force f_. The force adjustment difference e_f can be fed into a regulator, such as one with P, I, and / or DT1 units, whose output can be interpreted as the sum of the tape speeds v_f. The tape speed v_f can be superimposed on the tape output speed, which can be derived from the robot's movement v_R and the suction axis's movement v_s. The sum of these speeds can be transmitted, for example, as the set speed v_soll to the corresponding label roll receiver 94. Advantageously, this makes it possible to synchronously wind and unwind the label tape through the label roll receiver 94 during the rotation of axis 14 and / or the movement of robot 86. Thus, both robot 86 and axis 14 can advantageously move independently of the adjustment.

[0237] Figure 24 The starting position is shown. A new label roll 12 is placed on the label roll receiver 94 (left) and preferably tensioned thereon. Another label roll 12 on the label roll receiver 94 (right) feeds the label tape to the labeling unit. The device 10 can be positioned at the label roll receiver 94 (left) by a robotic arm.

[0238] Figure 25 This illustrates how the beginning of the label tape of label roll 12 (left) can be received by shaft 14. Device 10 can move shaft 14 to a position slightly ahead of the protruding tape beginning, and preferably sucks in the tape beginning. Tape sensor 40 (see, for example, [reference needed]). Figure 4 Detection: The belt starter has been successfully sucked in. The belt starter can be secured within the shaft 14 by the clamping device 32 (see, for example, see...). Figure 4 ).

[0239] Figure 26 This shows how to loosen the tape securing the label roll 12 (left) (e.g., adhesive, such as double-sided tape K—see [link]). Figure 1 The device 10 can be moved backward by a robotic arm to loosen the tape fixation. Alternatively, the shaft 14 can be rotated to move the label tape, thereby loosening the tape fixation.

[0240] Figure 27 This illustrates how at least the first layer of label roll 12 (left) can be wound onto shaft 14. This allows dirt and residue from the double-sided tape to remain on the label tape wound onto shaft 14. Preferably, tape tension adjustment can be activated during winding. Advantageously, the label tape is thus tightly wound onto shaft 14 without being overstretched.

[0241] Figures 28 to 31This illustrates how the outer side of the label tape can be laid around the substrate 42. For example, tape tension adjustment can be activated. Preferably, the device 10 can be rotated approximately 270° by a robotic arm, for example, about the central axis M or the longitudinal central axis of shaft 14. Here, the label tape can be placed against one side of the substrate 42. In the illustration, the device 10 can be rotated such that the label tape is placed against the substrate 42 with the outer side facing outwards. Cutting marks are typically provided on the outer surface of the tape to facilitate proper positioning for the next step. If, in a particular style, the cutting marks are located on the inner surface of the tape, the device 10 can be rotated in the opposite direction accordingly.

[0242] Figure 32 and Figure 33 This illustrates how a robotic arm brings the device 10 close to the tape dispenser 88 and how cutting mark recognition is performed. Preferably, tape force adjustment can be activated. The robotic arm can move the device 10 to the cutting mark sensor. The cutting mark sensor is preferably located at the tape dispenser 88. Similar to the tape dispenser 88, the cutting mark sensor can be fixed in position in front of the robot 86, or fixed to the robot, for example, rotating together at the first robot axis. The label tape can be wound evenly around the cutting mark sensor to identify the cutting mark. The position of the cutting mark relative to the axis 14 can be detected and stored.

[0243] Figures 34 to 37 This illustrates how a robotic arm can move device 10 to its initial position. Preferably, force adjustment can be activated. For example, the robotic arm can rotate device 10 approximately 270° back to its initial position.

[0244] Figures 38 to 41 This illustrates how the inner side of the label tape can be laid around the device 10. Preferably, the tape tension adjustment can be activated. The device 10 can be rotated approximately 270° by a robotic arm, in the direction of rotation relative to... Figures 28 to 31 The steps are reversed. In the accompanying drawings, the device 10 can be moved by a robotic arm such that the label tape is abutted against the substrate 42 with the inner side facing outwards. In the depicted case (two horizontally placed label roll receptacles 94 and the automatic adhesive device 96 therein), for the left label roll receptacle 94, the adhesive tape must be applied to the inner side. For the right label roll receptacle 94, the adhesive tape must be applied to the outer side of the label tape. If, for the label tape, the side where the cutting mark is located coincides with the side where the adhesive is applied, then, for example, it may be possible to omit this step. Figures 34 to 41 The steps.

[0245] Figure 42 and Figure 43This illustrates how the device 10 is brought close to the tape dispenser 88 and how adhesive, such as double-sided adhesive strips, is applied. Preferably, tape tension adjustment can be activated. The device 10 can be moved to the tape dispenser 88 using a robotic arm. Using the position of the preserved cutting marks, the label tape can be correctly positioned on the substrate 42 via the shaft 14, thus enabling the adhesive / tape to be applied in the correct location. The tape tension adjustment can then be deactivated when appropriate. The roller unit 98 of the tape dispenser 88 can contact the substrate 42. Adhesive can be applied to the label tape. The position of the applied adhesive strip relative to the shaft 14 can be preserved. Contact with the roller unit can be terminated.

[0246] Figures 44 to 47 This illustrates how a robotic arm can move device 10 to its initial position. Preferably, force adjustment can be activated. For example, the robotic arm can rotate device 10 approximately 270° back to its initial position.

[0247] Figure 48 This illustrates how the adhesive strip applied to the label tape by the tape dispenser 88 can be positioned. Preferably, tape tension adjustment can be activated. A small section of the label tape can be wound onto the label roll receiver 94 so that the adhesive strip does not contact the device 10 in the next step. Preferably, the adhesive strip is positioned so that it is already in the correct position on the substrate 42 when it later travels to the bonding device 96. However, it is also possible to correct the position of the adhesive strip in subsequent steps.

[0248] Figure 49 This illustrates how the device 10 can be pivoted. Preferably, the belt force adjustment can be activated. The device 10 can be rotated, for example, by about 180° using a robotic arm, so as to align the device and the label tape for transfer to the gluing device 96.

[0249] Figures 50 to 54 This illustrates how device 10 can be moved to bonding device 96. Preferably, belt tension adjustment can be activated. Device 10 can be guided by a robotic arm through the rollers of bonding device 96 in the left half of this figure. Ultimately, the current transfer side of device 10 can be substantially parallel and aligned with the inner surface of bonding device 96. The distance between the side surface of substrate 42 and bonding device 96 is preferably 1 mm to 5 mm.

[0250] Figure 55 This illustrates how the suction strip of the adhesive device 96 extends. The force adjustment can preferably be disabled. The suction strip of the adhesive device 96 can extend and contact the transfer side of the substrate 42 within the area of ​​the applied adhesive strip, securing the label tape. A transfer strip 62 may be provided below the adhesive strip (see, for example, [reference needed]). Figure 7By moving the label roll receiving section 94, the label tape (which passes around the roller of the gluing device 96) can be slightly loosened on one side. Supportively, to secure the tape, negative pressure can be activated at the suction bar of the gluing device 96 and the suction device 50 of the substrate 42.

[0251] Figure 56 This illustrates how the cutting blade 60 can extend and how the label tape can be cut. Preferably, the tape force adjustment can be deactivated. The cutting blade 60 can extend from the substrate 42. Therefore, the label tape can be cut in the correct position. Tape residue at device 10 can be held in place by the suction device 50 (right side). The suction device 50 on the left side of the substrate 42 can be deactivated.

[0252] Figure 57 The diagram illustrates the transfer process of the label tape to the gluing device 96. Preferably, the tape force adjustment can be deactivated. Preferably, the suction strip of the gluing device 96 can retract. The transfer strip 62 of the substrate 42 can extend by spring force and secure the label tape as the suction strip of the gluing device 96 moves.

[0253] Figure 58 This illustrates how the cutting blade 60 can be retracted back into the base 42. Preferably, the force adjustment can be deactivated.

[0254] Figure 59 This illustrates how device 10 can be removed from adhesive bonding device 96. Preferably, the tape tension adjustment can be deactivated. Device 10 can be removed from adhesive bonding device 96 using a robotic arm, and any label tape residue at device 10 can be disposed of.

[0255] Figures 60 to 63 Variations of the method steps are shown depending on the label tape or label roll 12. Depending on the winding direction of the label roll 12, on which side of the label tape the cutting marks are placed, and on which side of the label tape the adhesive is applied, the robotic arm can pivot the device 10 in different ways to position the correct tape side in the engagement position. For example, the following tape orientation is obtained.

[0256] Figure 60 One variation is shown in which the label roll 12 is wound to the right, and the cutting mark identification or adhesive is applied to the outer side of the roll.

[0257] Figure 61 One variation is shown in which the label roll 12 is wound to the left, and the cutting mark identification or adhesive is applied to the outer side of the strip.

[0258] Figure 62 One variation is shown in which the label roll 12 is wound to the left, and the cutting mark identification or adhesive is applied on the inside side of the roll.

[0259] Figure 63 One variation is shown in which the label roll 12 is wound to the right, and the cutting mark identification or adhesive is applied on the inside side of the roll.

[0260] Figures 64 to 67 It is shown that the same device 10 can also be used to re-attach the beginning of the tape of an opened label roll 12.

[0261] Figure 64 As shown: After replacing with a new label roll 12 (right), the beginning of the tape of the opened label roll 12 (left) can be fixed, for example, at the adhesive device 96 (see exemplary example). Figure 68 ), and can be accommodated by shaft 14.

[0262] Figure 65 Similar to the conventional process, tape can be applied to the label strip using a tape dispenser 88 (precise positioning is not required, therefore no cutting mark identification is needed), see example [link to example]. Figure 69 .

[0263] Figure 66 As shown, the adhesive tape can be pressed onto the label roll 12 (left) by means of the substrate 42 (e.g., its apex), and the label tape can be cut by means of the cutting device of the device 10, so that a few centimeters of tape protrude again. A pressure strip may be provided at the label roll receiving portion 94 as an alternative to the device 10 to allow for better cutting of the label tape (see also exemplarily). Figure 70 ).

[0264] Figure 67 As shown, the device 10 is capable of disposing of labels with residue. Optionally, the robotic arm can be replaced with a roll holder and can pick up the label roll 12 (left) from the label roll receiver 94.

[0265] Figure 68 As shown, the gluing device 96 may be equipped with, for example, a travelable roller 100 or other element. The end of the label tape can be secured to the gluing device 96 by means of the roller / element 100.

[0266] Figure 69 As shown, when the device 10 re-attaches the beginning of the tape using the applied tape strip, it brings the label tape close to the label roll 12 on the label roll receiving portion 94 so as to adhere it to the label roll 12.

[0267] Figure 70 A variant is shown with a movable pressure strip 102 at the label roll receiving portion 94. The pressure strip 102 can serve as an alternative to the cutting device 56 for the base 42 of the device 10.

[0268] Figure 71 and Figure 72An exemplary containment device 104 is shown for containing residue.

[0269] Preferably, the receiving device 104 can be used in conjunction with the device 10 and receives tape residue from the shaft 14 of the device 10. However, it is also possible, for example, to use the receiving device 104 with any other processing unit that carries tape residue.

[0270] Preferably, the receiving device 104 is fixedly arranged. For example, the receiving device 104 may be arranged within the workspace of the robot 86, such as adjacent to the label roll receiving section 92 or as part of the labeling system 92 (see...). Figure 23 ).

[0271] Preferably, the receiving device 104 has a suction unit 106, a clamping unit 108, and a collection container 110. Optionally, the receiving device 104 may also have, for example, a diversion conduit 112 and a cover portion 114.

[0272] Optionally, the housing 104 may have a soundproofing device (not shown here).

[0273] Alternatively, the receiving device 104 may have an opening in the housing / wall, thereby enabling the controlled discharge of airflow introduced via the suction unit 106.

[0274] Furthermore, the receiving device 104 may optionally have at least one baffle, such as a barrier, to intercept the label in a controlled manner and, for example, direct it in a desired direction (e.g., toward the box / cabinet or collection container 110, as will be mentioned later). The baffle may be arranged, for example, in the piping system and / or collection container 110, such as in the inlet area of ​​collection container 110.

[0275] Optionally, the receiving device 104 may have (e.g., removable or replaceable) boxes / containers (e.g., as part of the collection container 110). The collection container 110 may preferably have an openable passage, such as a flap, lid, or door, to allow access to the boxes / containers, for example, to enable emptying or replacement of the boxes / containers.

[0276] In addition, the receiving device 104 may optionally have a (e.g., level) sensor arranged to monitor the label level in the collection container 110, such as a box / cabinet. Depending on the sensor's signal output, control actions may be performed as needed, such as sending information to the user via a user interface to empty or replace the collection container 110 or box / cabinet.

[0277] The suction unit 106 is designed to draw in air through the clamping unit 108 and, where appropriate, deliver the drawn-in air to the collection container 110 via the deflector 112. The suction unit 106 can also be used to draw in residues using the drawn-in air.

[0278] Preferably, the suction unit 106 can generate negative pressure within the clamping unit 108 and blow all objects and gases sucked through the clamping unit 108 into the collection container 110, and, where appropriate, via the diversion conduit 112.

[0279] For example, the suction unit 106 can be implemented as a volumetric flow amplifier. The volumetric flow amplifier can convert the energy of high pressure at low volumetric flow rate into low pressure at high volumetric flow rate. For example, the suction air volumetric flow rate through the clamping unit 108 caused by the suction unit 106 can be several times (e.g., three times) the input volumetric flow rate of compressed air radially supplied to the suction unit 106.

[0280] As an alternative to the volumetric flow amplifier, other technologies may be employed to generate the suction effect. For example, the suction unit 106 may have a side-channel compressor. The side-channel compressor can generate a vacuum. In this configuration, it is preferable that the collection container 110 is hermetically sealed. For example, the cover 114 may be arranged as a sealing plate, such as a metal plate, for hermetically sealing the collection container 110. The vacuum generated by the suction unit 106 can be introduced into the collection container 110. At this time, a vacuum can be generated at the clamping unit 108 via an optional diversion conduit 112, which can be used to draw in residue. A combination of a volumetric flow amplifier and a side-channel compressor is also conceivable.

[0281] It is feasible that the suction unit 106 can be supported by an additional compressed air nozzle. Figure 71 and Figure 72 (Not shown). A compressed air nozzle can be arranged, for example, at the inlet of the clamping unit 108. This can be particularly advantageous for wide label tapes that are prone to wrinkling in the area of ​​the suction unit 106, leading to blockage. Advantageously, blockage can be effectively prevented by the compressed air nozzle.

[0282] The clamping unit 108 is arranged to clamp the residue drawn into the clamping unit 108 by the suction unit 106. Preferably, the clamping unit 108 may be arranged upstream of the suction unit 106 with respect to the airflow drawn in by the suction unit 106.

[0283] The clamping unit 108 may, for example, have two clamping elements capable of moving toward each other. The clamping elements may, for example, be implemented as clamping plates. The sucked-in beginning end with residue can be clamped between the clamping elements. The clamping elements may, for example, be disc-shaped or strip-shaped.

[0284] Preferably, one or both clamping elements may have at least a partially contoured structure and / or be elastically press-fitted. For example, one or both clamping elements may have grooves or serrations that, for example, create a form-locking engagement when the clamping elements are pressed together. An elastomer may also be used at one or both clamping elements, which preferably increases the clamping force by means of increased friction.

[0285] The clamping gap formed between the clamping elements of the clamping unit 108 can have any orientation. Preferably, the clamping gap can be horizontally or vertically aligned.

[0286] Preferably, the clamping unit 108 can be pneumatically operated. For example, compressed air can be supplied to the pneumatic clamping actuator of the clamping unit 108 via a compressed air line to move one or both clamping elements. The clamping actuator can be, for example, an inflatable bellows or a pneumatic cylinder.

[0287] Alternatively, the clamping unit 108 can be driven using other technologies. For example, the clamping unit 108 may have an electrically driven unit for moving one or both clamping elements.

[0288] Collection container 110 is used to collect the sucked-in residue. Regarding the airflow sucked in by suction unit 106, collection container 110 may be arranged downstream of suction unit 106, and where appropriate, downstream of diversion duct 112.

[0289] Preferably, the collection container 110 is openable for emptying. For example, the cover 114 can be removed from the collection container 110 to open it. Preferably, the cover 114 can be removed from the collection container 110 without tools. The cover 114 may, for example, be arranged on the upper side of the collection container 110. The cover 114 may, for example, have a handle for removal from the collection container.

[0290] Preferably, the covering portion 114 can be implemented as a covering mesh.

[0291] The diversion conduit 112 connects the suction unit 106 and the collection container 110. The diversion conduit 112 can redirect the airflow drawn in by the suction unit 106 to the collection container 110, for example, at an angle of approximately 90°. Advantageously, by diverting the airflow using the diversion conduit 112, no danger to operators is posed even in the event of particle inhalation. Exhaust gas, labels, particles, etc., can be safely introduced downwards into the collection container 110.

[0292] It is feasible that at least one of the suction unit 106, clamping unit 108, collection container 110, diversion conduit 112, and cover portion 114 is partially or entirely composed of a plurality of adjacent additive manufacturing material layers. The material layers may be made of, for example, polyamide, such as PA12. It is also feasible that the entire receiving device 104 is configured as a one-piece, additively manufactured component (e.g., a one-piece 3D printed part).

[0293] It is also conceivable that the inner surfaces of the suction unit 106, the clamping unit 108, and / or the diversion conduit 112 are coated, for example, to prevent possible adhesion of tape residues. The coating may be, for example, made of silicone or PTFE.

[0294] The receiving device 104 can operate, for example, as follows.

[0295] The clamping unit 108 can be opened, and the suction unit 106 can be activated. Robot 86 (see...) Figure 23 The device 10, which carries the belt, can be moved in front of the clamping unit 108 such that the end of the belt is drawn into the suction unit 106. Here, in order to improve process reliability, the suction process can preferably be monitored by sensors arranged at the clamping unit 108 or the suction unit 106.

[0296] Once the protruding end of the tape has been sucked into the clamping unit 108, the clamping unit 108 can be closed and the suction unit 106 can be deactivated. The tape end with tape residue can now be firmly secured in the clamping unit 108.

[0297] Preferably, robot 86 (see Figure 23 The movement of removing (removing) shaft 14 (with tape residue wound on it) from clamping unit 108 can now be performed. Simultaneously, shaft 14 can rotate at a certain speed, thereby enabling the tape residue to be unwound from shaft 14. Alternatively, for example, it is possible to disconnect the current to the drive of shaft 14 and release the electric brake when appropriate, thereby allowing shaft 14 to rotate freely when the tape is withdrawn. This can be particularly meaningful for shaft 14, which is directly driven by a drive and has no intermediate gear mechanism.

[0298] Preferably, the tape residue can be tensioned during unwinding to prevent tangling. Since the tape residue can be unwound from the shaft 14 while under tension, it can be removed from the shaft 14 with high process reliability. Any tape residue that may be present on the tape residue also does not adversely affect functionality.

[0299] After the tape residue has been completely unwound from the shaft 14, the suction can be reactivated by the suction unit 106 and the clamping can be reopened by the clamping unit 108. Preferably, the tape residue can be completely sucked in and, when appropriate, introduced into the collection container 110 via the diversion conduit 112.

[0300] Alternatively, the process can be performed in multiple repetitive steps. For example, the tape end can be sucked in by the suction unit 106 and clamped by the clamping unit 108. Then, the tape residue can be unwound from the shaft 14 for a predetermined length, such as 0.5 m. Afterward, suction can be activated by the suction unit 106, and the clamping unit 108 can be reopened. The unwound 0.5 m of tape residue can be sucked in, while the robot 86 brings the shaft 14 close to the clamping unit 108 at that length. The clamping unit 108 can then be closed again, and the next tape segment can be unwound, for example, another 0.5 m, and so on.

[0301] Using this method, robot 86 no longer needs to unwind the entire tape residue at once. Instead, unwinding is performed in multiple steps, which improves process reliability, for example, because the length of the freely tensioned tape is shorter.

[0302] 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 thus 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, the features of dependent claims are also disclosed independently of all features of independent claim 1, for example, independently of features relating to the presence and / or configuration of the axis and / or base of independent claim 1. All scope descriptions provided herein should be understood as disclosed, i.e., all values ​​falling within the corresponding scope appear to be individually disclosed, for example, preferably also as the narrower outer boundary of the corresponding scope.

[0303] List of reference numerals

[0304] 10. Device 68. Load-bearing flange. 12 Labels, 70 Carriers 14 Axles 72 Bearing 16 Longitudinal clearance 74 Connection interface 18 Flange 76 Input / Output Module 20 Drive Units 78 Valve Island 22 Gear connection part 80 Venturi nozzle 24 Compensating coupling 82 Vacuum piping 26 Suction Devices 84 Sensors 28 suction nozzles, 86 robot. 30 Vacuum tubing 88 Tape dispenser 32 Clamping device 90 Bellows clamp 34 Clamping elements 92 Labeling system 36 Compressed air piping 94 Label roll receiving section 38 Clamping actuator 96 Bonding device 40 98-roller unit with sensors 42 base 100 rolls 44 Receiving section 102 Pressure strip 46 Flange 104 Receiving Device 48 guide rollers 106 suction unit 50 suction device 108 clamping unit 52 Heating device 110 Collection container 54 Reflector 112 Steering pipe 56 Cutting device 114 Covering part 58 Cutting Actuator 60 Cutting blades a, b, c spacing 62 Transfer strip K Adhesive strip 64 Cutting device M Central axis 66 Upper component P adhesive application location.

Claims

1. An apparatus (10) for processing label tape, preferably a gripping device, wherein, The device (10) has: A shaft (14) is used to wind a section of the label tape from the label roll (12) in order to hold the label tape at the shaft (14). and A substrate (42) is arranged next to the shaft (14) for abutting the section of the label tape adjacent to the section around which the label tape is wound.

2. The apparatus (10) according to claim 1, wherein, Meet at least one of the following: The shaft (14) is a hollow shaft; The outer peripheral surface (14) of the shaft has a non-stick coating; The shaft (14) has a longitudinal gap (16), preferably a longitudinal suction gap and / or a longitudinal clamping gap, for accommodating the beginning of the segment of the label tape; The shaft (14) is rotatably supported only at one end face of the shaft (14); The shaft (14) has a preferred segmented or fully encircling flange (18) at its free end to prevent the label tape from slipping off the shaft (14); The shaft (14) has a total shaft length of ≥200 mm and / or ≤300 mm; and The shaft (14) has an outer diameter of ≥50mm and / or ≤100mm.

3. The apparatus (10) according to claim 1 or 2 further comprises at least one of the following: Suction device (26) for drawing the label tape onto the shaft (14) and / or into the shaft; and A clamping device (32) is used to clamp the label tape inside and / or at the shaft (14).

4. The apparatus (10) according to claim 3, wherein, Meet at least one of the following: The suction device (26) is arranged inside the shaft (14); The suction device (26) is torsionally connected to the shaft (14); The suction device (26) has a suction nozzle (28) for drawing the beginning of the segment of the label tape into the suction nozzle (28), wherein the suction nozzle (28) is open on the outer peripheral surface of the shaft (14), preferably within the longitudinal gap (16) of the shaft (14) and / or substantially along the entire length of the shaft (14); and The suction device (26) has a vacuum line (30) arranged parallel to the central longitudinal axis of the shaft (14) at a distance from it.

5. The apparatus (10) according to claim 3 or 4, wherein, Meet at least one of the following: The clamping device (32) is arranged inside the shaft (14); The clamping device (32) is pneumatically operated, preferably by means of a pneumatic clamping actuator (38) within the shaft (14). The clamping device (32) has two clamping elements (34) that can move toward each other, and the clamping elements are preferably aligned with the longitudinal gap (16) of the shaft (14); The clamping device (32) is torsionally connected to the shaft (14); The clamping device (32) is arranged to clamp the beginning of the section of the label tape that is drawn into the shaft (14); and The clamping device (32) extends substantially along the entire length of the axis (14).

6. The apparatus (10) according to any one of the preceding claims, further comprising: A strip sensor (40) is provided, the strip sensor being arranged to detect the label strip held by the shaft (14). Preferably, at least one of the following is satisfied: The sensor (40) is arranged inside the shaft (14) and is preferably used to detect the section of the shaft (14) through which the longitudinal gap (16) passes. The sensor (40) is an optical sensor, preferably a laser sensor or an LED sensor; The sensor (40) is torsionally connected to the shaft (14); and The sensor (40) is arranged in or at the free end region of the shaft (14).

7. The apparatus (10) according to any one of the preceding claims, further comprising: A drive unit (20), preferably an electric drive unit, is drivably connected to the shaft (14) to rotate the shaft (14). Preferably, at least one of the following is satisfied: The drive unit (20) is connected to the shaft (14) via a gear connection (22), which preferably has a planetary gearbox, a bevel gearbox, a cycloidal reducer and / or a belt drive, or is directly connected to the shaft; The drive unit (20) is connected to the shaft (14) via a compensating coupling (24), preferably an axial offset and / or angular offset compensating coupling, and particularly preferably a bellows coupling; and The drive unit (20) is configured to drive the shaft (14) in a force-adjustable manner, depending on the load at the shaft (14) and / or the device (10), as the entire device (10) is moved, so as to apply a force to the label tape, preferably to prevent the label tape from sagging and / or being damaged.

8. The apparatus (10) according to any one of the preceding claims, wherein, The substrate (42) has at least one of the following: At least one cutting device (56, 64), preferably a pneumatically operated cutting device, is used to cut the section of the label tape that is attached to the substrate (42); At least one suction device (50) is used to hold the label tape abutting the section on the substrate (42); At least one reflector (54), preferably a reflective strip, is used for printed mark identification in the case of transparent label strips; At least one heating device (52) is used to heat the section of the label tape that is attached to the substrate (42); At least one steering element, preferably a friction-reducing steering element, preferably a guide roller (48) or a sliding element, located at at least one edge region of the substrate (42), is used to guide the label tape around the corresponding edge region; and At least one elastically supported transfer strip (62), preferably in the form of a spring, is used to support the transfer of the label tape abutting against the base (42).

9. The apparatus (10) according to any one of the preceding claims, wherein, Meet at least one of the following: The base (42) has a receiving portion (44), preferably substantially cylindrical in shape, into which the shaft (14) extends partially; The substrate (42) has a preferred segmented or fully encircling flange (46) at its free end to prevent the label tape from slipping off the substrate (42); The substrate (42) has a substantially triangular or substantially quadrilateral cross-section, preferably along its entire length; and The base (42) has a total length that substantially corresponds to the total length of the shaft (14).

10. The apparatus (10) according to any one of the preceding claims, wherein, Meet at least one of the following: The device (10) is an end effector for a robot (86), preferably a multi-axis robot, and particularly preferably an articulated arm robot; The device (10) has a support flange (68) for mounting the device (10) on the robotic arm of the robot (86), wherein preferably, the central axis (M) of the support flange (68) is misaligned with the central axis (14) of the shaft, preferably parallel misalignment; and The device (10) has a connection interface (74), preferably a pneumatic and / or electrical connection interface, for connecting the robot cable chain to at least one supply line.

11. A robot (86), preferably a multi-axis robot, particularly preferably an articulated arm robot, wherein, The robot (86) has: The apparatus (10) according to any one of the preceding claims; and optionally: A tape dispenser (88), preferably mounted on the base or movable shaft of the robot (86), is used to dispense tape onto the section of the label tape that abuts against the substrate (42) of the device (10).

12. A labeling system (92) for labeling containers, wherein, The labeling system (92) has the following features: Two label roll accommodating sections (94) are used to accommodate one label roll (12) each. A gluing device (96) for gluing the beginning of a label strip from one label roll (12) to the end of a label strip from another label roll (12); and The robot (86) according to claim 11 is configured to: - Selectively convey a segment of the label tape of the label roll (12) from one of the two label roll receptacles (94) to the gluing device (96); and optionally - For the gluing device (96) to prepare the section, preferably by cutting and / or applying glue.

13. The labeling system (92) according to claim 12 further comprises: A receiving device (104) for receiving residue, wherein the receiving device (104) comprises: a suction unit (106) for sucking and drawing in residue from the shaft (14); a clamping unit (108) for clamping the sucked residue; and a collection container (110) for collecting the sucked residue.

14. A method for operating the apparatus (10) according to any one of claims 1 to 10, or the robot (86) according to claim 11, or the labeling system (92) according to claim 12 or 13, wherein the method comprises: A segment of the label tape from the label roll (12) is wound onto the shaft (14) to hold the label tape at the shaft (14), the label roll preferably being housed in the label roll receiving section (94) of the labeling system (92); and By moving, preferably rotating, the entire device (10), preferably with the aid of a robot (86), the section of the label tape adjacent to the section around which the label tape is wound is abutted against the substrate (42).

15. The method according to claim 14, wherein, The method further includes at least one of the following: Before winding, the beginning of the section of the label tape is accommodated in the longitudinal gap (16) of the shaft (14); The starting end of the section of the label tape is drawn to the shaft (14) or into the shaft by means of the suction device (26) of the device (10); The beginning of the segment of the label tape is clamped at or inside the shaft (14) by means of the clamping device (32) of the device (10); By using the suction device (50) of the device (10) to suck up the label tape to the substrate (42), the section of the label tape that is adjacent to the section of the label tape that is wound on the substrate (42) is held on the substrate (42). The device (10) together with the wound section of the label tape is moved, preferably by means of a robotic arm, to a processing device for processing the label tape, preferably for identifying the cutting marks of the label tape and / or for applying adhesive strips; The heating device (52) of the device (10) heats the section of the label tape that is adjacent to the section of the label tape that is wound around the substrate (42). The device (10), together with the section of the label tape that is wound, is preferably moved to the gluing device (96) of the labeling system (92) by means of a robotic arm, so as to glue the label tape to the end of another label tape; By means of a drive unit (20) connected to the shaft (14) and / or by means of a drive unit connected to the label roll receiving portion (94), the force acting on the label tape is adjusted, preferably regulated, when the device (10) is moved, in order to prevent the label tape from sagging and / or being damaged; The label tape is cut by means of the cutting device (56, 64) of the device (10), preferably at the gluing device (96) of the labeling system (92) so as to glue the label tape to the end of another label tape; and Disposal of the residue at the shaft (14) includes: -The suction unit (106) of the receiving device (104) sucks up the residue from the shaft (14); -The suctioned residue is held by the clamping unit (108) of the receiving device (104); -The clamped tape residue is removed from the shaft (14) by removing the shaft (14) from the clamping unit (108), and / or the tape residue is unwound from the shaft (14) by rotating the shaft (14); and optionally - The suction unit (106) sucks the residue removed from the shaft (14) into the collection container (110) of the receiving device (104).

Images