Label sticking device, label sticking method and program

Abstract

To make it possible to stick a label on a proper position of an adherend of an arbitrary shape and size.SOLUTION: A label sticking device that sticks a label to an adherend has a measurement unit that measures a shape of the adherend, and a stickable area determination unit that determines a label stickable area on the adherend based on the shape.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a label application device, a label application method, and a program. [Background technology]

[0002] Patent Document 1 discloses a film packaging device that wraps and packages products in film. The film packaging device described in Patent Document 1 detects a tray size, reads tray information corresponding to the detected tray size, and performs film packaging on the tray based on the tray information. The film packaging device is configured to attach a label in a predetermined orientation to an attachment position on the film-wrapped product that is determined based on the tray information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-105019 Summary of the Invention [Problem to be solved by the invention]

[0004] In the film packaging device disclosed in Patent Document 1, the size and shape of the product to be packaged in film are predetermined as tray information, and the position where the label is to be attached to the product is also determined in advance based on the tray information.

[0005] For this reason, the film packaging device disclosed in Patent Document 1 cannot affix labels to products for which information such as size and shape is not prepared in advance.

[0006] Therefore, an object of the present invention is to make it possible to attach a label at an appropriate position to an object of any shape and size. [Means for solving the problem]

[0007] According to one aspect of the present invention, there is provided a labeling device for affixing a label to an adherend, the labeling device comprising: a measurement unit that measures the shape of the adherend; and an attachable area determination unit that determines an area on the adherend to which the label can be attached based on the shape, wherein the measurement unit measures the shape using a parameter based on the height of the adherend from a support surface on which the adherend is placed; and the attachable area determination unit sets a threshold value obtained by subtracting a predetermined value from the highest value of the height of the adherend from the support surface, and determines an area where the parameter is equal to or greater than the threshold value as the attachable area. [Effects of the Invention]

[0008] According to the above aspect, the shape of the adherend is identified and the area where the label can be attached is determined based on the identified shape, so that the label can be attached in an appropriate position to an adherend of any shape and any size. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a label application device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram illustrating a label application device according to an embodiment of the present invention. [Figure 3] FIG. 3 is a flowchart illustrating the label pasting process executed in the label pasting device. [Figure 4] FIG. 4 is a schematic diagram illustrating the measured shape of the adherend and the determined attachable area. [Figure 5] FIG. 5 is a schematic diagram illustrating a process of setting a new slice line and determining a pasteable area based on the new slice line. [Figure 6] FIG. 6 is a schematic diagram illustrating how a label-applicable area is determined based on slice lines and how a label is affixed to the label-applicable area. [Figure 7]FIG. 7 is a schematic diagram illustrating how a label-applicable area is determined based on slice lines and how a label is affixed to the label-applicable area. [Figure 8] FIG. 8 is a schematic diagram illustrating how a label-applicable area is determined based on slice lines and how a label is affixed to the label-applicable area. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A label application device according to an embodiment of the present invention will now be described with reference to the accompanying drawings.

[0011] [Labeling device] The label application device 1 of this embodiment has a measurement unit that measures the shape of the adherend, and an application area determination unit that determines the area on the adherend where a label can be applied based on the shape, and is therefore an apparatus that applies a label to the application area determined based on the shape of the adherend.

[0012] In this embodiment, the adherend is an article packaged in a packaging material, and the shape of the adherend is the shape of the packaging material that covers the article.

[0013] Fig. 1 is a schematic diagram illustrating an example of the configuration of a label pasting apparatus 1 according to this embodiment. Fig. 2 is a block diagram illustrating the label pasting apparatus 1.

[0014] The label application device 1 includes an adherend conveying section 10 for conveying the adherend A, an upstream detection section 20 for acquiring data regarding the shape of the adherend A, and an application arm 30 for applying a label LB to the adherend A.

[0015] The label application device 1 also has a printer 40 as a printing unit that prints on the label LB, a label conveying unit 50 for conveying the printed label LB printed by the printer 40, and a downstream detection unit 60 that is provided downstream of the application arm 30 and detects the substrate A.

[0016] The labeling apparatus 1 also includes a controller 100 for controlling the above-described components. In this embodiment, the measuring unit 110 that measures the shape of the adherend A and the label-applied area determining unit 120 that determines the area on the adherend A where the label LB can be applied are realized as functional components of the controller 100.

[0017] Next, the above-mentioned components of the label application device 1 will be described.

[0018] The adherend transport section 10 individually and continuously transports a plurality of adherends A. This allows the labeling apparatus 1 to stick labels LB to the adherends A while transporting the adherends A.

[0019] 2, the adherend transport section 10 has a drive motor 111 that drives the adherend transport section 10, and a conveyor controller 112 that controls the drive of the drive motor 111. The transport speed of the adherend A by the adherend transport section 10 is appropriately controlled by the controller 100.

[0020] The upstream detection unit 20 is disposed on the upstream side of the adherend conveying unit 10. In this embodiment, a 3D camera can be used as the upstream detection unit 20. The upstream detection unit 20 can capture an image of the adherend A before the label LB is affixed. The image data captured by the upstream detection unit 20 is used to determine whether the adherend A has been introduced into the adherend conveying unit 10 and to determine an area on the adherend A where the label LB can be affixed.

[0021] The application arm 30 has a label holding section 31 that picks up the label LB conveyed by the label conveying section 50 with the adhesive surface facing the adherend A side.

[0022] The applying arm 30 is equipped with actuators that enable movement in the vertical, horizontal, and height directions. As shown in Fig. 2, the applying arm 30 is equipped with a vertical direction actuator 311, a horizontal direction actuator 312, a height direction actuator 313, and a rotation direction actuator 314. The applying arm 30 also is equipped with actuator controllers 321, 322, 323, and 324 that control the driving of each of the above actuators.

[0023] The vertical direction actuator 311 is an actuator that drives in the transport direction of the adherend transport section 10. The horizontal direction actuator 312 is an actuator that drives in a direction intersecting the transport direction of the adherend transport section 10. The height direction actuator 313 is an actuator that drives in the normal direction to the transport surface of the adherend transport section 10. The rotation direction actuator 314 is an actuator that drives in a rotation direction around the normal to the transport surface of the adherend transport section 10.

[0024] The application arm 30 also has a holding section actuator 315 that moves the label holding section 31 in and out in the normal direction to the conveying surface of the adherend conveying section 10, and an actuator controller 325 that controls the driving of this holding section actuator 315.

[0025] The application arm 30 is provided with the above-mentioned actuators, and is therefore able to move the label LB to the adherend A and apply it to the adherend A at a predetermined position.

[0026] Although not shown in the present embodiment, the label holding unit 31 has a structure for sucking and holding the label LB at its tip. Although not shown, the label holding unit 31 is also provided with a vacuum sensor. Whether the label LB is being sucked into the label holding unit 31 can be detected based on the threshold value of the vacuum sensor. In addition, the tip of the label holding unit 31 that comes into contact with the label LB is made of a flexible material, so that the label LB can be held as it flexes and deforms to follow the surface shape of the adherend A.

[0027] By having such a structure, the label holding unit 31 does not damage the label LB even if it is pressed against the label LB when picking up the label LB from the label conveying unit 50 or when attaching the label LB to the substrate A.

[0028] Furthermore, the label holding part 31 is formed to be expandable and contractible in the direction of application of the label LB to the adherend A. As a result, when the label LB is applied to the adherend A, the label holding part 31 comes into contact with the adherend A and contracts in the application direction, absorbing the stress that occurs during application and preventing damage to the adherend A.

[0029] The printer 40 comprises a printer body 41 for printing necessary information on a label LB, a label roll 42 in which the pre-printed label LB is temporarily attached to a continuous body of separator, and a backing roll 43 in which the continuous body of separator is collected after the label LB has been peeled off.

[0030] In this embodiment, the printer 40 is a printer that can independently set and print the print contents related to the adherend A without being connected to an information processing terminal such as a personal computer.

[0031] The labeling device 1 is equipped with a printer 40, which allows information about the adherend A to be printed on the label LB before the label is attached. For example, in the case of a food product, the information about the adherend A includes the date of manufacture, expiration date, names of ingredients, etc.

[0032] The label conveying unit 50 includes a conveyor belt 51 that conveys labels LB peeled from the separator continuum, and conveys multiple labels LB individually and continuously. As shown in FIG. 2, the label conveying unit 50 includes a drive motor 511 that drives the label conveying unit 50, and a conveyor controller 512 that controls the drive of the drive motor 511.

[0033] The downstream detection unit 60 is disposed downstream of the application arm 30 in the adherend transport unit 10. In this embodiment, the downstream detection unit 60 is a camera that captures an image of the adherend A after the label LB has been applied. The image data acquired by the downstream detection unit 60 is used in the controller 100 in a process of determining the application state of the label LB.

[0034] Next, the controller 100 will be described.

[0035] The controller 100 is a computer that includes a microprocessor, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), an input / output interface, and a bus that connects these.

[0036] As shown in Figure 2, the controller 100 has as its functional configuration a measurement unit 110 that measures the shape of the adherend A, and an attachment area determination unit 120 that determines the area on the adherend A where the label LB can be attached based on the measured shape.

[0037] The measurement unit 110 acquires image data including three-dimensional information from the upstream detection unit 20 as data relating to the shape of the adherend A. The measurement unit 110 can acquire height information of the target adherend A and size information such as the length and width of the adherend from the image data. The measurement unit 110 calculates parameters based on the height of the adherend A from the mounting surface of the adherend transport unit 10 on which the adherend A is placed, and measures the shape of the adherend A using the parameters.

[0038] The affixable area determination unit 120 determines an area where the height of the adherend A from the placement surface measured by the measurement unit 110 is equal to or greater than a threshold value (hereinafter sometimes referred to as the slice line) and has an area large enough to affix a label LB of a predetermined size, as the affixable area for the label LB.

[0039] In addition, if the height of the adherend A from the placement surface is less than the slice line, the attachment area determination unit 120 sets a new slice line to a value obtained by subtracting a certain value from the highest height of the adherend A from the placement surface.

[0040] The label-applicable area determining unit 120 determines the position where the label LB is to be attached, using the center of the determined label-applicable area as a reference.

[0041] Furthermore, the attachable area determining section 120 can determine the position where the label LB is attached on the adherend A so that the center of the attachable area and the center of the label LB correspond to each other.

[0042] Even if there are irregularities or gaps on the surface of the adherend A, the label LB may be able to adhere and be held in place due to the adhesive strength and bending of the label LB. Therefore, in this embodiment, the height displacement on the surface of the adherend A to the extent that the label LB can be adhered and held to the adherend A due to the adhesive strength and bending of the label LB is treated as an allowable displacement for application and can be selected as an application area.

[0043] In the controller 100, the above-described processes executed by the measuring unit 110 and the pasteable area determining unit 120 are stored in the ROM or storage unit 200 of the controller 100 as programs executable by a microprocessor.

[0044] The storage unit 200 is a storage medium that can be read by the controller 100. The storage unit 200 may be configured to be detachable from the label application apparatus 1.

[0045] Furthermore, the size of the label LB, the slice line, and the range of values for unevenness, gaps, etc. that are treated as allowable displacement for attachment are stored as default values in the ROM or memory unit 200. These can also be set and changed from outside the controller 100.

[0046] The controller 100 can execute a control program stored in the ROM or memory unit 200 in a microprocessor, thereby performing processing for operating the application arm 30 and processing for adjusting the conveying speed in the adherend conveying unit 10.

[0047] In this embodiment, the controller 100 generates control signals for the actuators (vertical actuator 311, horizontal actuator 312, height actuator 313, rotational actuator 314, and holding unit actuator 315) and drive motors (drive motor 111 and drive motor 511), and supplies them to each controller (actuator controllers 321, 322, 323, 324, 325 and conveyor controllers 112, 512) via the input / output interface.

[0048] In addition, the controller 100 can determine whether or not a label LB is attached to the substrate A based on image data of the substrate A acquired by the downstream detection unit 60 by executing a control program stored in the ROM or memory unit 200 in a microprocessor.

[0049] The controller 100 can detect the label LB by detecting characteristics representative of the label LB, such as the shape and color of the label LB, from the image data of the adherend A acquired by the downstream detection unit 60. Data relating to the characteristics, such as the shape and color of the label LB, is stored in the ROM or the storage unit 200. Furthermore, the data relating to the characteristics, such as the shape and color of the label LB, can be set and changed via the input / output interface.

[0050] If the controller 100 does not detect the label LB on the substrate A based on the image data from the downstream detection unit 60, as an error handling process, the controller 100 discards the label LB that could not be attached to the substrate A in a disposal area 70 (see Figure 1) located at a position different from the substrate conveying unit 10.

[0051] As another error handling process, the controller 100 can attach the label LB that could not be attached to the adherend A to the next adherend A that is conveyed after this adherend A.

[0052] There may be cases where the label-applicable area determination unit 120 is unable to determine the label-applicable area of the adherend A. In such cases, the controller 100 executes a process to move the adherend A out of the labeling apparatus 1 without affixing a label LB to the adherend A for which the label-applicable area could not be determined.

[0053] As an example of the save process, the controller 100 can stop the adherend transport unit 10 and notify the user with an error message such as "Please reload the product that could not be measured" via a notifying unit (not shown).

[0054] By being provided with the above-mentioned functions, the controller 100 can determine the area on the adherend A to which the label LB can be attached, based on the measured shape of the adherend A. Therefore, even for an adherend A for which information such as the size and shape of the adherend A is not prepared in advance, the label LB can be attached to an appropriate position on the adherend A.

[0055] [How to attach the label] Next, a label sticking method using the label sticking device 1 will be described.

[0056] Fig. 3 is a flowchart illustrating the labeling process executed in the labeling apparatus 1. Fig. 4 is a diagram illustrating the shape of the adherend A measured by the measuring unit 110 using parameters based on the height of the adherend A from the placement surface of the adherend transport unit 10, and the labeling area T1 determined based on the slice line SL1.

[0057] The label sticking method according to this embodiment is carried out in the label sticking apparatus 1 based on a process for determining an area to which the label LB can be stuck.

[0058] In step S1, the controller 100 acquires image data obtained from above the adherend A by the measurement unit 110 using a 3D camera serving as the upstream detection unit 20. The controller 100 then measures the shape of the adherend A using parameters based on the height of the adherend A from the placement surface on which the adherend A is placed, which are obtained from the acquired image data.

[0059] FIG. 4(a) shows the cross-sectional shape of adherend A taken along line IV-IV in FIG. 1, and FIG. 4(b) shows the shape C1 of adherend A and the attachable area T1 determined based on slice line SL1.

[0060] The parameters based on height include data on the actual measurement value of the distance from the placement surface to the surface of the adherend A, data that quantifies the difference in height of the surface of the adherend A relative to a predetermined reference value, etc. In this embodiment, data on the actual measurement value of the distance from the placement surface to the surface of the adherend A is used.

[0061] In step S1, the controller 100 uses data on the measured value of the distance from the placement surface to the surface of the adherend A to measure a shape C1 as the shape of the entire adherend A projected onto a plane.

[0062] Next, in step S2, the controller 100 compares the preset slice line SL1 with the height of the adherend A. That is, if the adherable area determining unit 120 determines that there is a coordinate where the data of the actual measured value of the distance from the placement surface of the adherend A to the surface of the adherend A reaches the height of the preset slice line SL1 (step S2: Yes), the controller 100 proceeds to step S4.

[0063] In step S4, the controller 100 determines, as shown in Figure 4(b), using the affixable area determination unit 120, an area that is above the slice line SL1, satisfies the allowable affixing displacement, and has an area that can accommodate a label LB of a specified size, as the affixable area T1 for the label LB.

[0064] Subsequently, in step S5, the controller 100 attaches the label LB to the adherend A so that the center P1 of the determined adhesive-enabled area T1 and the center LP1 of the label LB correspond to each other, as shown in FIG. 4(b).

[0065] On the other hand, in step S2, if the controller 100 determines that there is no coordinate where the height of the adherend A reaches the height of the preset slice line SL1 (step S2: No), the process proceeds to step S3.

[0066] In step S3, controller 100 causes applicability area determining section 120 to set a new slice line SL2.

[0067] FIG. 5 is a schematic diagram illustrating a process of setting a new slice line SL2 and creating a pasteable area T2 based on the slice line SL2.

[0068] In step S3, the applyable area determining section 120 sets a new slice line SL2 as a value obtained by subtracting a predetermined value Δh from the highest height of the adherend A from the placement surface (Tm shown in FIG. 5).

[0069] Next, in step S4, the controller 100 determines, using the affixable area determination unit 120, as shown in Figure 5(b), an area that is above the slice line SL2, satisfies the allowable affixing displacement, and has an area that can accommodate a label LB of a specified size, as the affixable area T2 for the label LB.

[0070] In step S1, the controller 100 is able to acquire data on the actual measured value of the distance from the placement surface to the surface of the adherend A, so as shown in Figure 5(b), the shape of the entire adherend A projected onto a plane is shape C1.

[0071] In step S5, the controller 100 attaches the label LB to the label-applying area T2 so that the center P2 of the determined label-applying area T2 and the center LP1 of the label LB correspond to each other.

[0072] Subsequently, in step S6, the controller 100 determines whether or not the adherend A has a label LB attached thereto.

[0073] If it is determined in step S6 that the label LB is not affixed to the adherend A (step S6: No), the controller 100 executes an error handling process in step S7.

[0074] As the error handling process in step S7, the controller 100 discards the labels LB that could not be attached in a disposal area 70 provided at a position different from the substrate transport unit 10. After executing the error handling process, the controller 100 repeats from step S1.

[0075] In step S7 of the present embodiment, another error handling process can also be executed. As another error handling process, when the vacuum sensor provided in the label holding unit 31 detects that a label LB remains in the label holding unit 31, the controller 100 attaches the label LB that could not be attached to the object A to the next object A.

[0076] In the label attachment process described above, in step S1, there are cases where the upstream detection unit 20 fails to acquire image data, where the measurement unit 110 cannot receive image data from the upstream detection unit 20, or where the measurement unit 110 cannot measure the shape of the adherend A. Furthermore, in step S4, there are cases where the attachable area determination unit 120 cannot determine the attachable area of the adherend A.

[0077] To be able to deal with such errors, it is possible to set a step of setting an error flag when an error occurs in each process, and a step of detecting the error flag.

[0078] When the controller 100 detects an error flag, it can execute a process for retracting, outside the labeling apparatus 1, the adherend A to which the label LB could not be affixed.

[0079] As an example of the saving process, the controller 100 stops the adherend transport unit 10 and notifies the user of an error message such as "Please reload the product that could not be measured."

[0080] By doing this, the adherend A to which the label LB could not be attached due to an error is fed back into the label attachment device 1, thereby preventing the adherend A from being circulated without the label LB attached.

[0081] By performing the above processing, the labeling apparatus 1 can determine the areas T1, T2 on the adherend A to which the label LB can be attached, based on the measured shape of the adherend A. This allows the labeling apparatus 1 to accurately attach the label LB to an appropriate position on the adherend A, even for an adherend A for which information such as the size and shape of the adherend A is not prepared in advance.

[0082] Furthermore, according to the label application device 1 of this embodiment, the areas T1, T2 where the label LB can be applied are determined based on the slice line, and the position where the label LB is to be applied is determined based on the center of the areas T1, T2 where the label LB can be applied, so that the user can apply the label LB to the substrate A in a way that looks good.

[0083] FIG. 6 is a schematic diagram illustrating how a label-applicable area T3 is determined for an adherend B based on a slice line SL3, and how a label LB is attached to the label-applicable area T3.

[0084] The adherend B shown in Fig. 6 has a shape in which the bottom surface and the top surface are offset in the normal direction, and the cross section is substantially diamond-shaped. According to image data acquired from above by a 3D camera serving as the upstream detection unit 20, the contour of the adherend B is measured as shown in shape C3 in Fig. 6(b).

[0085] On the other hand, the pasteable area determining section 120 determines the pasteable area T3 based on the slice line SL3.

[0086] 6, the center P3 based on the contour (shape C3) of the adherend B and the center P4 of the label-applying area T3 are at different positions. For example, in a labeling device that determines the label application position based only on image data from an upper 3D camera without applying a slice line, the label may be applied based on the center P3 of the shape C3, giving the user the impression that the label is applied misaligned.

[0087] In contrast, the label application device 1 according to this embodiment can apply the label LB to the substrate B so that the center P4 of the application area T3 determined based on the slice line SL3 corresponds to the center LP1 of the label LB.

[0088] Therefore, the user can be given the impression that the label is attached in the correct position.

[0089] FIG. 7 is a schematic diagram illustrating how a label-applicable area T4 is determined for an adherend C based on a slice line SL4, and how a label LB is attached to the label-applicable area T4.

[0090] The adherend C shown in Fig. 7 has unevenness on its upper surface that exceeds the allowable displacement for attachment. According to image data acquired from above by a 3D camera serving as the upstream detection unit 20, the contour of the adherend C is measured as shown in shape C4 in Fig. 7(b).

[0091] On the other hand, the pasteable area determining section 120 determines the pasteable area T4 based on the slice line SL4.

[0092] 7, the center P5 based on the outline (shape C4) of the adherend C is at a position that is shifted from the center P6 of the label-applying area T4. For this reason, in a labeling device that determines the label application position based only on image data from an upper 3D camera, even if the application position is determined based on the position of the center P5, it may not be possible to apply the label at that position.

[0093] In contrast, the label application device 1 according to this embodiment can apply the label LB to the substrate C so that the center P6 of the application area T4 determined based on the slice line SL4 corresponds to the center LP1 of the label LB.

[0094] Therefore, the label LB can be attached to the attachment area T4 with high precision, and the user can be given the impression that the label is attached in the correct position.

[0095] FIG. 8 is a schematic diagram illustrating how a label-applicable area T5 is determined for an adherend D based on a slice line SL5, and how a label LB is attached to the label-applicable area T5.

[0096] 8 has a doughnut shape with a void H formed in the center. With the label application device 1 according to this embodiment, the label-applyable area T5 determined based on the slice line SL5 overlaps with the outline (shape C5) of the adherend D, and it can be detected that the void H is continuously surrounded by a part of the adherend D.

[0097] Therefore, the label application device 1 can determine that the surface of the packaging material is continuous even above the gap H, and can treat the label-applyable area T5 as a circular surface with no gap H.

[0098] As a result, even if there is a gap H in the center of the affixable area T5, the label LB can be affixed to the substrate D by aligning the center P7 of the affixable area T5, determined based on the slice line SL5, with the center LP1 of the label LB so that the label LB is positioned on the surface of the packaging material corresponding to the upper surface of the gap H, using the label affixing device 1.

[0099] Therefore, the user can be given the impression that the label LB is attached in the correct position.

[0100] As described above, according to the labeling device 1, even if the shapes of the adherends are different, it is possible to determine an attachable area according to the shape of the adherend, and to attach the label LB to an appropriate position in the attachable area.

[0101] [Labeling Program] The labeling method described above can also be provided as a program that can be executed by the microprocessor in the controller 100 of the labeling device 1.

[0102] In other words, the program of this embodiment is a program for causing a computer to execute a procedure for identifying the shape of each of the substrates A being transported, and a procedure for determining an area T1 on the substrate A where a label LB can be attached based on the shape of the substrate A.

[0103] This program is stored in the ROM of the controller 100 or in the storage unit 200.

[0104] [Other embodiments] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments.

[0105] In the label application apparatus 1, the upstream detection section 20 for acquiring data on the shape of the adherend A may be a sensor that irradiates the object with infrared light, laser light, or the like and measures the distance based on the reflection time.

[0106] In the label application device 1, the way in which the label LB is conveyed in the label conveying section 50 is not limited to the form shown in FIG.

[0107] In this embodiment, the printer 40 may be connected to an information processing device such as a personal computer (PC) not shown, and may be a printer that can accept input of information regarding the substrate A from a user via the PC and perform settings on the printer 40 itself.

[0108] In the labeling apparatus 1, the controller 100 may be configured to determine whether the label LB is stuck to the adherend A and whether the sticking position of the label LB is within an allowable range.

[0109] If it is determined that the position of the label LB on the substrate A is not within the allowable range, the controller 100 notifies the user, for example, by a notification unit (not shown), with an error message indicating that the label has not been attached.

[0110] In this embodiment, the stickable area T does not necessarily have to be an area that is approximately horizontal with respect to the placement surface of the adherend A, as shown in Figures 4 to 8. The stickable area may be inclined with respect to the placement surface, as long as the surface condition allows the label LB to adhere to and be held on the adherend A due to the adhesive strength of the label LB and the deflection of the label LB.

[0111] When adherends A to D are products packaged in packaging material, the surfaces of adherends A to D have a shape that partially reveals the shape of the product, and may not be smooth surfaces as shown in Figures 4 to 8. [Explanation of symbols]

[0112] 1 Labeling device 10. Adherend transport section 20 Upstream detection section 30 Adhesive Arm 31 Label holder 40 Printers 41 Printer body 42 label rolls 43 Mounting Paper Roll 50 Label transport unit 51 Conveyor belt 60 Downstream detection section 70 Waste Area 100 Controllers 110 Measurement Unit 111 Drive motor 112 Conveyor Controller 120 Pasteable area determination unit 200 Storage section 311 Longitudinal Actuator 312 Lateral Actuator 313 Height Actuator 314 Rotational Actuator 315 Holding unit actuator 321,322,323,324,325 Actuator Controller 511 Drive motor 512 Conveyor Controller A,B,C,D Adherent LB Label

Claims

1. A labeling device for attaching a label to an adherend, comprising: a measuring unit that measures the shape of the adherend; and a label-applicable area determining unit that determines a label-applicable area on the adherend based on the shape, the measurement unit measures the shape using a parameter based on a height of the adherend from a placement surface on which the adherend is placed; the attachable area determination unit sets a threshold value obtained by subtracting a predetermined value from the highest value of the height of the adherend from the placement surface, and determines an area where the parameter is equal to or greater than the threshold value as the attachable area. Label application device.

2. 2. The labeling device according to claim 1, the label-applicable area determination unit determines a position to attach the label based on the center of the label-applicable area. Label application device.

3. 3. The labeling device according to claim 2, the label-applicable area determination unit determines a position to attach the label so that a center of the label-applicable area corresponds to a center of the label; Label application device.

4. 4. The label application device according to claim 1, an adherend transport section that transports the plurality of adherends individually and continuously; a label conveying unit that conveys the plurality of labels individually and continuously; a label holding unit that picks up the label conveyed by the label conveying unit with the adhesive surface facing the adherend, the measuring unit measures the shape of each of the adherends, the label-attachable area determination unit determines the label-attachable area on the adherend based on the shapes of the labels; sticking the label picked up by the label holding unit to the stickable area; Label application device.

5. 5. The labeling device according to claim 4, a downstream detection unit for detecting the label attached to the adherend, If the downstream detection unit does not detect the label on the adherend, the label that could not be affixed is affixed to an adherend that is transported next to the adherend to which the label was not affixed. Label application device.

6. 5. The labeling device according to claim 4, a downstream detection unit for detecting the label attached to the adherend, When the downstream detection unit does not detect the label on the adherend, the label that could not be attached is discarded in a discard area provided at a position different from the adherend transport unit. Label application device.

7. 7. A label application device according to claim 4, If the stickable area determining unit is unable to determine the stickable area of the adherend, the adherend is retracted outside the label sticking device without sticking the label to the adherend for which the stickable area could not be determined. Label application device.

8. 8. A label application device according to any one of claims 4 to 7, Further provided is a printing unit that prints on the label, The label printed by the printing unit is attached to the adherend. Label application device.

9. 9. A label application device according to claim 4, The label holding part is formed to be stretchable in a direction in which the label is attached to the adherend. Label application device.

10. A labeling method for attaching a label to an adherend, comprising the steps of: measuring the shape of the adherend using a parameter based on the height of the adherend from a placement surface on which the conveyed adherend is placed; a threshold value is set to a value obtained by subtracting a predetermined value from the highest value of the height of the adherend from the placement surface, and an area on the adherend where the parameter is equal to or greater than the threshold value is determined based on the shape as an area on the adherend to which the label can be attached. Label application method.

11. A program executable by a computer of a labeling device that affixes a label to an adherend, measuring the shape of the adherend using parameters based on the height of the adherend from a placement surface on which the adherend is placed; a step of setting a threshold value obtained by subtracting a predetermined value from the highest value of the height of the adherend from the placement surface, and determining, based on the shape, an area on the adherend where the parameter is equal to or greater than the threshold value as an area on the adherend to which the label can be attached; A program that causes the computer to execute the above.

12. 10. A label application device according to any one of claims 1 to 9, The threshold value is a preset value. Label application device.

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