Labeling device and product marking system

Abstract

Labelling device for applying labels to goods, comprising an extendable manipulator arm (13) provided with a stamp head (15) at the extendable end, which is adjustable between a receiving position for receiving the respective label from a feed device (19) and an application position for applying the respective label to the respective goods (21), characterized by that the manipulator arm (13) is pivotable by means of a drive (29) about a manipulator arm pivot axis (25) extending transversely to the extension direction (89) of the manipulator arm (13), wherein the manipulator arm (13) is linearly movable along the manipulator arm pivot axis (25), that the stamp head (15) is articulated to the manipulator arm (13) via a coupling region (49), that the coupling region (49) comprises at least one punch head pivot axis (61) running parallel to the manipulator arm pivot axis (25), and that the coupling region (49) additionally comprises a further stamp head pivot axis (67) running perpendicular to the stamp head pivot axis (61) and perpendicular to the extension direction (89) of the manipulator arm (13).

Description

[0001] The present invention relates to a labeling device for applying labels to goods, comprising a manipulator arm, in particular axially extendable, provided with a stamping head at the extendable end, which is adjustable between a receiving position for receiving the respective label, in particular from a dispensing device of a feed device, and an application position for applying the respective label to the respective product. Such labeling devices are known, for example, from documents JP H02-102314 U, DE 27 55 071 A1, and DE 89 07 855 U1.

[0002] Such labeling devices retrieve the respective label, for example, from a printer that prints the respective label, or from another feed device, transport the respective label to the respective product, for example a possibly packaged retail item, and then label the product. The takeover position and the application position are usually separated from each other both horizontally and vertically. The horizontal distance between the two positions can usually be overcome by horizontally moving the manipulator arm along a linear guide or two perpendicularly oriented linear guides, and the vertical distance by extending and retracting the manipulator arm.

[0003] The throughput of such a labeling device depends on the speed at which the manipulator arm can be adjusted horizontally between the pick-up position and the application position. This speed, in turn, depends on the mass of the manipulator arm and the force applied to move the manipulator arm. Furthermore, the throughput depends on the horizontal distance the manipulator arm must travel between the pick-up position and the application position. The throughput is higher the higher the specified speed and / or the shorter the specified distance. However, a short distance between the pick-up position and the application position reduces the reach of the manipulator arm.

[0004] The invention is based on the object of providing a labelling device of the type mentioned above which can ensure a high throughput while simultaneously providing a large reach of the manipulator arm.

[0005] This object is achieved by a labeling device having the features of claim 1, and in particular in that the manipulator arm can be pivoted by means of a drive about a manipulator arm pivot axis running transversely, in particular perpendicularly to the extension direction of the manipulator arm, wherein the manipulator arm can be moved linearly along the manipulator arm pivot axis.

[0006] The manipulator arm is therefore mounted in such a way that it can pivot about an axis. The axis preferably runs at least substantially perpendicular to the extension direction of the manipulator arm. In principle, however, the axis can also run obliquely to the extension direction of the manipulator arm. A pivoting movement of the manipulator arm can be achieved with less effort and / or more quickly than a translational movement of the entire manipulator arm. Furthermore, even small pivoting deflections of the manipulator arm can achieve a large range, i.e. a large controllable target corridor for placing the labels on the goods. The pivot axis is preferably located at the end of the manipulator arm opposite the extendable end and / or outside the manipulator arm.

[0007] Preferably, the drive is designed as a stationary drive, i.e., unlike in the prior art, in which the respective drive is permanently connected to the manipulator arm, the drive is not moved with the manipulator arm. The mass to be moved by the drive is therefore smaller, ensuring rapid pivoting of the manipulator arm.

[0008] The drive can be designed as a linear drive, for example as a pneumatic cylinder or an electric spindle drive, which can act on the manipulator arm in particular in an area spaced from the manipulator arm pivot axis.

[0009] The manipulator arm pivot axis can be designed as a fixed manipulator arm pivot axis, i.e., the manipulator arm pivot axis is fixed or stationary. The manipulator arm pivot axis can be defined, for example, by a rod that is rotationally fixed or rotatable when pivoting the manipulator arm relative to the longitudinal axis of the manipulator arm.

[0010] The manipulator arm can be moved linearly along the manipulator arm pivot axis. This is particularly advantageous when, in the case of multiple labeling with different labels, the manipulator arm is assigned to at least two printers and / or other feed devices, each of whose labels is intended to be applied to the goods. The linear mobility allows the manipulator arm to be easily moved back and forth between the printers and / or other feed devices. Independently of this, the linearly movable manipulator arm allows the labels to be applied to the goods not only at points or areas of the goods that lie within a specific pivot plane of the manipulator arm.

[0011] The stamp head is attached or suspended from the manipulator arm via a coupling area. The stamp head is therefore movable relative to the manipulator arm.

[0012] The coupling area comprises at least one stamp head pivot axis running parallel to the manipulator arm pivot axis. This allows for compensation of a tilted orientation of the stamp head due to a respective pivot angle of the manipulator arm, in particular relative to an application surface of the respective product.

[0013] In addition, the coupling area includes another stamp head pivot axis running perpendicular to the stamp head pivot axis and perpendicular to the extension direction of the manipulator arm. This is particularly advantageous when the goods to be labeled are transported continuously, i.e., without stopping, past the labeling device on a conveyor belt in the direction of the manipulator arm pivot axis. The orientation of the stamp head, which will typically be in contact with the goods for a certain period of time during the application of the respective label, can thus be adapted to the constantly changing position of the goods.

[0014] According to another embodiment of the invention, the coupling region comprises a reset device by means of which the stamp head pivoted out of a rest position can be automatically reset to the rest position.

[0015] In particular, the stamp head can automatically and / or independently return to the rest position after an external force acting on the stamp head, for example caused by placing the stamp head on the said application surface of the respective product, is removed, for example by withdrawing the stamp head from the application surface.

[0016] For example, the return mechanism can comprise a spring-loaded ball that is floatingly mounted in a trough-shaped recess containing a pole and is pressed toward the pole. A "floating bearing" refers to a bearing in which the ball can perform a sliding movement transverse to the pole axis. This will be particularly the case when the punch head performs a pivoting movement about the punch head pivot axis and / or another punch head pivot axis. The trough can, for example, be bowl-shaped, spherical, or conical.

[0017] According to a further embodiment of the invention, the stamp head can be displaced against a spring force in the direction of the manipulator arm when applying the respective label to the respective product and / or can be freely tilted relative to the extension direction of the manipulator arm. Tolerances of the products, for example, in height, flatness of the application surface, and / or inclination of the application surface relative to an expected plane, can be compensated for in this way, so that when the stamp head is placed on the aforementioned application surface of the respective product, damage to the respective product, in particular to a film packaging of the respective product, can be avoided.

[0018] In principle, a stamp head designed in this way can also assume the function of the stamp head pivot axes described above. Conversely, the stamp head pivot axes described above can also assume the function of a stamp head designed in this way.

[0019] Preferably, at least one sensor is provided for detecting the displacement and / or tilting, wherein the labeling device is configured to retract the manipulator arm from the goods when a predetermined degree of displacement and / or tilting is reached or exceeded. The respective sensor can be, for example, a reed switch or a Hall sensor.

[0020] According to a further embodiment of the invention, a positive control is provided in order to set, in the takeover position of the manipulator arm, an orientation of the stamp head relative to the manipulator arm which is adapted to the feed device and deviates from the orientation in a rest position.

[0021] For example, the positive control may comprise at least one correspondingly shaped guide slot formed on the manipulator arm, into which a guide member of the coupling region engages.

[0022] The stamp head is preferably designed as a suction stamp. For this purpose, the stamp head, which is particularly cup-shaped, preferably has a fan or ventilator inside it, which can hold the respective label to the stamp head via a perforated plate on the bottom. To apply the respective label to the respective product, it is conceivable that the fan or ventilator is switched off briefly. However, if the adhesive force of an adhesive layer applied to the underside of the respective label is greater than the holding force of the suction stamp - as is usually the case - switching off the fan or ventilator is not necessary. In contrast to an air-jet labeler that operates with compressed air, the suction stamp consumes less energy and can operate with less noise.

[0023] The invention further relates to a product labeling system comprising a labeling device as described above and a weighing device for weighing the goods, at least one printer for printing the labels, and / or a packaging machine for packaging the goods. The labeling device according to the invention can thus be combined with one or more additional devices to form an overall system.

[0024] In particular, at least two printers are provided, each preferably having a dispensing device, with only one common manipulator arm being provided for the printers. Preferably, the manipulator arm is then linearly movable along the manipulator arm pivot axis, with the printers being arranged along the manipulator arm pivot axis.

[0025] Further advantageous embodiments of the invention are described in the subclaims, the description of the figures and the drawing.

[0026] The invention will now be described by way of example with reference to the drawings. Fig. 1 a perspective view of a labeling device according to the invention with a manipulator arm, Fig. 2 a perspective view of a product labeling system according to the invention with the labeling device according to the invention from Fig. 1, Fig. 3 a side view of the product labeling system Fig. 2, with the manipulator arm in a takeover position, Fig. 4 a side view of the product labeling system Fig. 2, wherein the manipulator arm is in an application position, Fig. 5 a perspective view of another product labeling system according to the invention, and Fig. 6 different views of a stamp head.

[0027] The labeling device 11 according to the invention for applying labels (not shown) to goods according to the Fig. 1 to 3 comprises a substantially vertically arranged, straight manipulator arm 13, at the lower end of which a stamping head 15 is provided. Fig. 1 to 3, the manipulator arm 13 is shown in a rest position, in which the stamp head 15 takes over the respective label from a dispensing device 17 of a printer 19, in which the labels are printed, transports it to the respective product 21 and in an application position ( Fig. 4) to the respective product 21. For this purpose, the dispensing device 17 is provided with a roller carpet (not shown in detail) on its upper side, on which the labels are transported and / or rest. In principle, the manipulator arm 13 can also take on a shape other than that shown.

[0028] For this purpose, the manipulator arm 13 is pivotally attached to a fixed, horizontally extending rod 23 via an eyelet 27, which projects laterally from the manipulator arm 13 in the direction of the printer 19, by means of which a manipulator arm pivot axis 25 is defined. The manipulator arm pivot axis 25 is oriented perpendicular to the longitudinal axis of the manipulator arm 13. Compared to the takeover position ( Fig. 1 to 3) the manipulator arm 13 is in the application position ( Fig. 4) is pivoted away from the printer 19 or the dispensing device 17.

[0029] The lower end of the manipulator arm 13 is axially, ie along the longitudinal extent of the manipulator arm 13, and telescopically extendable, so that a height difference between the dispensing device 17 and an application surface 41 of the respective product 21 can be overcome. The extension direction 89 of the manipulator arm 13 ( Fig. 1) corresponds to the direction of the longitudinal extension of the manipulator arm 13. If the respective goods 21 have a lower height than in the Fig. 1 to 4, the lower end of the manipulator arm 13 can be extended further than in Fig. 4 shown.

[0030] The longitudinal extension of the manipulation arm 13 and / or the extension direction 89 of the manipulator arm 13 does not have to be perpendicular to the manipulator arm pivot axis 25, but can also be oriented obliquely, ie at an angle different from 90°, to the manipulator arm pivot axis 25.

[0031] In addition, the manipulator arm 13 is linearly movable along the rod 23 or along the manipulator arm pivot axis 25. This is particularly advantageous if, in addition to the printer 19, another printer 85 is present, with both printers 19, 85 being operated by the manipulator arm 13, as in Fig. 5. The manipulator arm 13, the manipulator arm pivot axis 25 and the printer(s) 19, 85 may be covered by a safety cover 87, as shown in Fig. 4 is indicated. The printer 85 in Fig. 5 is mounted so that it can be pulled out forwards, as seen by an operator 43. The right-hand sides of the printers 19, 85, as seen by the operator 43, are designed as pivoting covers to enable easy changing of the label rolls (not shown) located in the printers 19, 85.

[0032] In the Fig. 1 to 5, the printer 19 represents a feed device for the labels, or the multiple printers 19, 85 represent multiple feed devices. In principle, however, the labels can also be fed to the labeling device 11 directly from a label roll with pre-printed labels, for example, in which case the label roll represents the feed device. The feed device, in particular with a dispensing device, is therefore generally understood to be the device that provides the labels to be applied to the goods 21.

[0033] From the Fig. 2 to 4, which show the labeling device 11 according to the invention Fig. 1 in a complete product labeling system together with the printer 19, a weighing device 37 and a packaging machine 39, it can be seen that the pivoting of the manipulator arm 13 about the manipulator arm pivot axis 25 is effected by a linear drive 29, which acts via an L-shaped linkage 31 on a further rod 33 running parallel to the rod 23 ( Fig. 1). The additional rod 33 rests against the manipulator arm 13 and, when actuated, causes the manipulator arm 13 to pivot about the manipulator arm pivot axis 25. The linear drive 29 is fixedly mounted on a frame part 35 of the merchandise labeling system and is thus stationary. Consequently, when the manipulator arm 13 pivots, the linear drive 29 does not pivot with it.

[0034] The Fig. The product labeling system illustrated in Figures 2 to 4 functions as follows: First, the respective product 21, for example, meat in a plastic tray, is placed on the weighing device 37 to determine the weight of the respective product 21. The respective product 21 is then transported backward to the packaging machine 39 by means of a conveyor belt 45, where it is wrapped with film. Subsequently, the respective product 21 is transported forward again by means of another conveyor belt 47, which is arranged above the conveyor belt 45, so that the labeling device 11 can operate in the manner explained above.

[0035] To transport the labels between the takeover position ( Fig. 1 to 3) and the application position ( Fig. 4) of the manipulator arm 13, the stamp head 15 designed as a suction stamp is provided ( Fig. 6). In Fig. 6 a) the stamp head 15 is shown in a perspective view. In the Fig. 6 b) and d) the stamp head 15 is shown in a side view, wherein the Fig. 6 c) and e) Longitudinal sections along the Fig. 6 b) and d) show the levels marked.

[0036] The stamp head 15 is cup-shaped, with a perforated plate 51 provided at the bottom. Inside the stamp head 15 there is a fan or ventilator 53, which during operation ensures that the respective label is sucked in and held against the perforated plate 51. Fig. 6 the stamp head 15 is shown in a rest position.

[0037] The stamp head 15 is attached to the extendable end of the manipulator arm 13 via a coupling area 49. The coupling area 49 is articulated. For this purpose, the coupling area 49 comprises a cylindrical central part 55 connected to the extendable end of the manipulator arm 13 and a box-shaped frame part 57 connected to the stamp head 15.

[0038] The frame part 57 can be pivoted relative to the central part 55 via a rod 59 rotatably mounted on the frame part 57 about a stamp head pivot axis 61 running parallel to the manipulator arm pivot axis 25. The central part 55 is penetrated by a passage 65 in which the rod 59 is received. The rod 59 is held on the central part 55 by a pin 63 which passes through the rod 59 and the central part 55 and runs perpendicular to the stamp head pivot axis 61 and perpendicular to the longitudinal extent of the manipulator arm 13. Due to the design of the passage 65 as an elongated hole, the pin 63 forms a further stamp head pivot axis 67 about which the frame part 57 can be pivoted to a limited extent relative to the central part 55.

[0039] The stamp head pivot axis 61 makes it possible to compensate for an inclined orientation of the stamp head 15, in particular of the perforated plate 51 of the stamp head 15, relative to the application surface 41 of the respective product 21 due to the respective pivot position of the manipulator arm 13.

[0040] Alternatively or additionally, the stamp head pivot axis 61 can, for example, compensate for a curvature of the application surface 41 of the respective product 21.

[0041] The stamp head pivot axis 67 enables the orientation of the stamp head 15 to be adapted during the application of the respective label to a constantly changing position of a respective product 21 moving in the direction of the manipulator arm pivot axis 25 without stopping past the labeling device 11. Such a movement of the respective product 21 requires a conveyor belt conveying in the direction of the manipulator arm pivot axis 25. Such a conveyor belt is shown in the Fig. 2 to 5 not shown.

[0042] In principle, however, it is also possible that the respective goods 21 in the conveying direction of the conveyor belt 47 from the Fig. 2 to 5. In this case, the stamp head pivot axis 61 can assume the above-explained function of the stamp head pivot axis 67. Furthermore, inclined removal is also possible, so that both stamp head pivot axes 61, 67 can assume the above-explained function.

[0043] Alternatively or additionally, the stamp head pivot axis 61 and / or the stamp head pivot axis 67 can, for example, compensate for a curvature of the application surface 41 of the respective product 21.

[0044] When placing the stamp head 15 on the application surface 41 of a respective product 21, the frame part 57 can be pivoted out of the Fig. 6 shown rest position about one or both of the stamp head pivot axes 61 and 67 (not shown). At the same time, a ball 71 ( Fig. 6c, Fig. 6 e) is displaced transversely to the polar axis (not shown). In order to return the frame part 57 and thus the stamp head 15 to the rest position, the ball 71 is moved by means of a spring 69 ( Fig. 6 e) is pushed back towards the pole 75 of the recess 73.

[0045] When applying the respective label to the respective product 21, the stamp head 15 can deflect upwards under spring load and / or tilt freely, for example to compensate for unevenness of the application surface 41 or deviations in the inclination of the application surface 41 from product to product, so that damage to the respective product 21 or the occurrence of a permanent imprint or partial imprint of the stamp head 15 on the respective product 21, in particular in its respective film packaging, can be prevented. A spring 77 is provided for this purpose ( Fig. 6c, Fig. 6 e), which is clamped within the stamp head 15 between the perforated plate 51 of the stamp head 15 and a bottom section 79 of the frame part 57.

[0046] By means of a stamp head 15 designed in this way, the inclined orientation of the stamp head 15 due to the respective pivoting position of the manipulator arm 13 and / or the constantly changing position of a respective product 21 moving past can also be compensated.

[0047] A preferred Fig. 6, a sensor (not shown) is provided which detects the displacement and / or tilting of the stamp head 15. If a predetermined degree of displacement and / or tilting is reached, the manipulator arm 13 retracts the stamp head 15 from the respective product 21, in particular to avoid damage to the respective product 21.

[0048] In order to adapt the orientation of the stamp head 15 to an inclination of the dispensing device 17 in the takeover position of the manipulator arm 13, a positive control for the stamp head 15 is provided for this position. The positive control comprises two guide slots 81 ( Fig. 3 and Fig. 4), in which, when the manipulator arm 15 approaches the takeover position, a guide member 83 ( Fig. 6), which is formed on the frame part 57 of the coupling area 49, is positively guided.

[0049] The labeling device according to the invention allows fast labeling while simultaneously allowing a large reach of the manipulator arm. List of reference symbols 11 Labeling device 13 Manipulator arm 15 stamp head 17 Donation facility 19 printers 21 goods 23 staff 25 Manipulator arm swivel axis 27 eyelet 29 Linear actuator 31 rods 33 staff 35 frame part 37 Weighing device 39 packaging machine 41 Application area 43 Operator 45 Conveyor belt 47 Conveyor belt 49 Coupling area 51 perforated plate 53 Fan 55 Middle part 57 frame part 59 Staff 61 Stamp head swivel axis 63 pen 65 slot 67 Stamp head swivel axis 69 spring 71 ball 73 Deepening 75 pole 77 spring 79 floor section 81 Guide slot 83 Management body 85 printers 87 Cover 89 Exit direction

Claims

[1] Labelling device for applying labels to goods, comprising an extendable manipulator arm (13) provided with a stamp head (15) at the extendable end, which is adjustable between a receiving position for receiving the respective label from a feed device (19) and an application position for applying the respective label to the respective goods (21), characterized by , that the manipulator arm (13) is pivotable by means of a drive (29) about a manipulator arm pivot axis (25) extending transversely to the extension direction (89) of the manipulator arm (13), wherein the manipulator arm (13) is linearly movable along the manipulator arm pivot axis (25), that the stamp head (15) is articulated to the manipulator arm (13) via a coupling region (49), that the coupling region (49) comprises at least one punch head pivot axis (61) running parallel to the manipulator arm pivot axis (25), and that the coupling region (49) additionally comprises a further stamp head pivot axis (67) running perpendicular to the stamp head pivot axis (61) and perpendicular to the extension direction (89) of the manipulator arm (13). [2] Labeling device according to claim 1, characterized by that the drive (29) is designed as a stationary drive. [3] Labeling device according to claim 1 or 2, characterized by that the drive (29) is designed as a linear drive. [4] Labeling device according to one of the preceding claims, characterized by that the manipulator arm pivot axis (25) is designed as a fixed manipulator arm pivot axis. [5] Labeling device according to one of the preceding claims, characterized by that the coupling region (49) comprises a return device (69, 71, 73, 75) by means of which the stamp head (15) pivoted out of a rest position can be automatically returned to the rest position. [6] Labeling device according to claim 5, characterized by that the return device comprises a spring-loaded ball (71) which is floatingly mounted in a trough-shaped recess (73) having a pole (75) and is pressed in the direction of the pole (75). [7] Labeling device according to one of the preceding claims, characterized by that the stamp head (15) can be displaced against a spring force in the direction of the manipulator arm (13) when the respective label is applied to the respective product (21) and / or can be freely tilted relative to the extension direction (89) of the manipulator arm (13). [8] Labeling device according to claim 7, characterized by that at least one sensor is provided for detecting the displacement and / or tilting, wherein the labeling device (11) is designed to retract the manipulator arm (13) from the goods (21) when a predetermined degree of displacement and / or tilting is reached or exceeded. [9] Labeling device according to one of the preceding claims, characterized by that a positive control (81, 83) is provided in order to set, when the manipulator arm 15 approaches the take-over position, an orientation of the stamp head (15) relative to the manipulator arm (13) which is adapted to the feed device (19) and deviates from a rest position. [10] Labeling device according to one of the preceding claims, characterized by that the stamp head (15) is designed as a suction stamp. [11] Goods labelling system, with a labelling device (11) according to one of the preceding claims, and with a weighing device (37) for weighing the goods (21), at least one printer (19, 85) for printing the labels and / or a packaging machine (39) for packaging the goods (21). [12] Product labelling system according to claim 11, characterized bythat at least two printers (19, 85) are provided, wherein only one common manipulator arm (13) is provided for the printers (19, 85).

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