Plant and method for labelling reels of web material - Patents.com

Abstract

The plant comprises at least one support (3) for the reels to be labelled (B1, B2, ... Bn), a label dispenser, a first labelling robot (11) adapted to take a label from the label dispenser and insert it into a central opening of the reel arranged on the support, and a second handling robot (31) adapted to take the reel and move it away from the support (3).

Description

[Technical field]

[0001] The present invention relates to a system for handling and labeling reels of web material, such as, but not limited to, nonwoven fabrics and paper. [Background technology]

[0002] Typically, reels of web material are wound on tubular elements of various materials or formed leaving a cylindrical open space in the central part of the reel, coaxial with the reel, which is necessary for subsequent processing steps. Thus, typically, the reel has a central opening around which the web material is wound. The central opening is substantially coaxial with the generally cylindrical side surface of the reel and extends along the axis of the reel perpendicular to the generally flat end surface of the reel.

[0003] To identify and track reels of web material from a production or processing line, colored labels are typically used, as well as labels with machine-readable codes such as identification codes, e.g., bar codes, QR codes, numbers, customization codes, alphanumeric OCR characters, etc. In some cases, the labels include RFID tags. Even when RFID tags are provided, the labels are usually sheet-like thin elements with adhesive surfaces, attached to the reels at various points, on the outer surface and inside the central hole or opening.

[0004] Typically, the identified reels are selected and sorted into groups to form stacks that are then wrapped and palletized.

[0005] One known method for selecting, sorting and labelling reels is the use of a robot. Such a robot takes the reels of web material one by one from a table where the reels are placed next to each other with their axes horizontal or nearly horizontal. In other words, the lateral cylindrical surface of the reel rests on a resting surface and the flat end surface of the reel is free and accessible by the handling robot or is placed next to an adjacent reel.

[0006] The first reel in a row of reels that are adjacent to each other and on the same axis is picked up by a special gripping device attached to the robot and rotated until its axis is positioned vertically. Once rotated to the vertical position, the reel is placed on a roller conveyor which transports it to a labeling station where a labeling device applies a label to the outside of the reel and to the inside of the central hole or opening. This operation is performed by two labeling machines, one for applying a label to the outside of the reel and the other for applying a label to the inside of the reel.

[0007] A further robot then takes the labelled reels and arranges them on top of each other with their axes in a vertical position to form a stack of reels ready to be wrapped or palletised.

[0008] In a further known method for handling reels, a first robot takes two reels from a table where the reel axes are arranged in a horizontal position, rotates them until the axes are in a vertical position and places them on a roller conveyor. The roller conveyor transports the reels to a labeling station where both the inner and outer sides of the reels are labelled. In this case, four labelling machines are provided, two for labelling the outer sides of the reels and two for labelling the inner sides of the reels.

[0009] WO 2021 / 074207 describes a method and a plant in which a single robot provided with a labelling and handling device applies a label to the inside of the central opening of the reels and processes the reels by transferring them from a table whose axis is stationary in a horizontal position to a roller conveyor or other transport member. A disadvantage of this known system is that it does not allow labelling and handling of the reels at high speed.

[0010] JP 2010-222042 A describes a method for applying a label to the inside of a reel opening, specifically providing a roller carrying a label to be applied to the inner surface of a tubular winding core, and a system for keeping the roller in contact with the surface of the tubular element to generate sufficient pressure to apply the label.

[0011] Known systems for labelling and handling reels have several drawbacks, in particular low flexibility and / or low processing speed, which has a negative effect on the productivity of a reel packaging line. Summary of the Invention

[0012] To at least partially address one or more of the shortcomings of the prior art, a plant for labeling and handling reels of web material is provided, where the reel has a central opening around which the web material is wound. The plant includes at least one support for the reel to be labeled. Associated with the plant are a label dispenser and a first labeling robot adapted to take a label from the label dispenser and insert the label into the central opening of the reel arranged on the support, and a second handling robot adapted to take the reel and move it away from the support.

[0013] As will become apparent from the detailed description below, the present plant allows labelling and handling operations to be carried out more quickly than prior art plants and at least partially overcomes some of the shortcomings of known plants.

[0014] According to a further aspect, a method is provided for labeling and handling reels of wound web material, where the reels have a central opening and an outer side, the method including the steps of placing a plurality of reels on a reel support, applying a label to the central opening of each reel by a first robot, and removing each labeled reel from the support by a second robot.

[0015] Further features and embodiments of the plant and method of the present invention are described below with reference to the accompanying drawings and defined in the appended claims.

[0016] In particular, in the embodiment shown in the figures, a method for handling and labeling reels of web material provides for using a first industrial robot, preferably a robot having an articulated arm, comprising an apparatus for picking up one or more labels from a printing or label dispenser machine, and applying the labels to an inner surface of a tubular winding core, or generally to a central opening of a reel around which the web material is wound. The labels are applied to the one or more reels based on a labeling recipe.

[0017] As used herein, the term "label" refers to a general support adapted to be affixed to the surface of a reel and containing any form of information, e.g., printed information or digitally stored information.

[0018] The second industrial robot, hereafter called the handling robot, is preferably provided with an articulated arm equipped with a device for gripping and handling reels, which is used to simultaneously pick up one or several (labelled) reels arranged on the table with its axis oriented horizontally or placed on the table with their respective cylindrical sides, and then stack them with their axis in a vertical position for transfer to the packaging and palletising stations.

[0019] In some embodiments, the method provides for applying a label to the exterior of one or more reels, which is performed at the same time that a first robot, also called a labeling robot, applies a label to the interior of the reel. The label application can be performed, for example, by a printing and application system mounted on a slide that moves parallel to the axis of the reel placed on a table, or on another reel support with a horizontal or nearly horizontal axis.

[0020] By using two robots, one for labeling the reels and the other for handling, Labeling and handling can now be performed on multiple reels at the same time, and While the handling robot is moving the reel, the labeling robot can pick up the label and apply it to the inside of the following reel, reducing the overall labeling and handling time. Handling times can be reduced compared to known solutions.

[0021] To speed up the operating cycle and make the system reliable regardless of the more or less soft reel material, in the embodiment described herein, a system for locating the center of the reel is provided, associated with the first robot. This centering system facilitates the step of inserting the members of the first robot that apply the label inside the reel. A centering system can be associated with the second robot to facilitate the insertion of a gripping and handling device into the central opening of the reel.

[0022] It is also possible to have a single centering system for both robots, which can be located, for example, on-board the labeling robot.

[0023] One and / or the other of the two centering systems, one independent of the other, may include vision systems, scanners, sensors, electromechanical devices, etc. The centering systems allow the robot to move faster and more accurately, thereby reducing the time required for handling and labeling the reels.

[0024] The label may be applied to the inside of the reel at any angular position about the axis of the reel.

[0025] The labels may be applied using an adhesive. Typically, the labels picked up by the labeling robot have an adhesive side opposite to the side that contacts the label gripping device or member provided on the labeling robot. The robot takes the labels from the dispenser machine via a vacuum system, i.e. a suction system, or other systems based on the use of electrostatic charges, mechanical grippers, or other, configured in the form of a label gripping member, for example.

[0026] A first labeling robot, via a gripping member, moves the label inside the central hole or opening of the reel. Then, by a system using pressurized gas (air, inert gas), the label is pressed against the inner surface of the central opening and attached by the adhesive provided on its surface. From a conceptual point of view, elements such as spring-loaded applicators, pneumatic applicators, electrostatic applicators, etc. may also be used to apply the label. Moreover, the adhesive can also be applied directly to the inner surface of the central opening of the reel by the labeling robot before the label is applied.

[0027] The system has been developed to allow for the use of any method for removing the labels from the dispenser machine and applying them to the inside of the cylindrical opening of the reel.

[0028] In some embodiments, the first robot or the labeling robot may include a device consisting of a rod-shaped element or multiple rod-shaped elements to which multiple gripping elements are applied, adapted to pick up one or more labels from a dispenser system and apply them to the inside of one or more reels. The elements for gripping the labels may be made of various materials and may have different shapes depending on the shape of the label. If the labels are handled pneumatically, the gripping elements may be connected via a series of pipes to a pressure control system for generating a vacuum (i.e. suction) during the gripping and handling steps and for generating a pressurized gas flow (i.e. gas blow) for applying the labels. Furthermore, the gripping elements may be placed on flexible elastic elements to uniformly adhere the labels to the inner surface of the central opening of the reel.

[0029] The second or handling robot may preferably consist of an industrial robot with an articulated arm. It is applied to the head of the robot and is equipped with a specific device or member for gripping and handling reels, provided with a telescopic element divided into two or more parts adapted to move relative to each other in a radial direction by means of, for example, pneumatic, hydraulic, mechanical or electrical actuators. The two parts of the telescopic element can move away from each other to grip the reel through a central opening in which the telescopic element is inserted.

[0030] The outer surface of the extendable element can be significantly roughened or have protruding tip elements. It can be coated with a material with a high coefficient of friction (rubber, plastic, cork, etc.) or have a combination of these features. In general, the outer surface of the extendable member is configured to provide an axial retention force between the extendable gripping element and the inner surface of the central opening of the reel. This allows the reel to be lifted, moved, rotated, and transported from a pick-up support (where the reel is placed with its axis horizontal or nearly horizontal) to a support surface, conveyor, or roller conveyor where a stack of reels with their axes oriented vertically is formed.

[0031] The device or member for gripping and handling reels, with which the second robot is provided, may be configured to grip and handle either a single reel or multiple reels adjacent to each other. In general, the number of reels that can be handled simultaneously may also depend on the axial dimension of the reels. In fact, the reels may be shaped like a disk, with an axial dimension substantially smaller than the diametric dimension, or may be elongated, with an axial dimension similar to the diametric dimension.

[0032] The gripping and handling device or member can also have further shapes or embodiments, such as a pin provided with an extendable element.

[0033] The handling robot can be equipped with a second gripping and handling member for simultaneously gripping the reel on its outer surface, used for handling reels made of soft materials or general products taken exclusively from the center and oriented vertically with its axis, which can generate telescopic effects damaging the reel. The system consists of two or more elements or jaws that move radially with respect to the axis of the reel and contact the outer cylindrical surface of the reel. These elements are preferably coated with a material with a high coefficient of friction, so that large tangential forces are generated with small radial forces. The radial movement is carried out by pneumatic, hydraulic, electric or mechanical elements with a system of control of the radial forces.

[0034] The head of the second robot may be provided with further devices, for example tools with suction cups connected to a suction system, to take discs or sheets of various shapes and materials (paper, cardboard, corrugated board, plastic) before the reels are sent to the packaging and palletizing device, which is usually provided either at the base and at the top of the stack of reels with a vertical axis, or between the reel and the next reel.

[0035] The various tools on the head of the second robot are connected to a pressure management system for generating vacuum or pressurized gas used during the steps of gripping, handling and releasing the reel or gripping, handling and releasing the disk or sheet.

[0036] For labelling and handling of the reels it is also possible to take the reels from one or more supports, preferably parallel to each other and in the range of two robots, namely a labelling robot and a gripping and handling robot.

[0037] The labeled reels can be stacked on one or more tables (either stationary or equipped with roller conveyors, conveyor belts, moving platens) located within range of the handling robot.

[0038] The handling robot is capable of forming stacks of reels with vertical axes arranged on multiple tables according to a specific recipe defined by the user.

[0039] The plant described herein is suitably equipped with electrical, pneumatic, hydraulic systems and electronic components managed by a specific software that handles all the equipment provided in the labeling and handling area. This software manages the individual operation of the label dispenser system, the labeling robot, the pick-up table, the pressure management system, the handling robot with its attached tools, the stacking table, the external label machine and the centering system.

[0040] The software manages the operations according to instructions received from the user, where the user can select how many labels to put on which reels, how to label them, the order in which to label them, how many reels to take, where to deposit the reels, how to create a stack of vertical reels, and whether to apply protective sheets to the base and top of the stack. [Brief description of the drawings]

[0041] The invention will become clearer from the following description and the accompanying drawings which show non-limiting embodiments of the invention. [Figure 1] FIG. 2 is a front view of a reel having a tubular winding core defining a central opening. [Diagram 2] FIG. 2 is a cross-sectional view taken along line II-II of FIG. [Diagram 3] FIG. 2 is a front view of a reel having a central opening without a winding core. [Figure 4] FIG. 4 is a cross-sectional view taken along line IV-IV in FIG. [Diagram 5] FIG. 1 is an axonometric view of a plant according to a first embodiment. [Figure 6] FIG. 6 is a plan view of the plant of FIG. 5. [Figure 7] FIG. 7 is an axonometric view of the first or labeling robot of the plant of FIGS. 5 and 6. [Figure 8] FIG. 7 is a plan view of a second robot or handling robot of the plant of FIGS. 5 and 6. [Figure 9] FIG. 9 is an axonometric view of the second robot of FIG. [Figure 10] FIG. 2 is a schematic side view of the plant with some parts removed, in a step where a first robot picks up a label from a labelling machine; [Figure 11] FIG. 2 is a schematic plan view of the plant with some parts omitted, in a step where a first robot picks up a label from a labeling machine. [Figure 12] FIG. 2 shows a schematic axonometric view of the plant with some parts removed, in a step where the first robot picks up the labels from the labelling machine. [Figure 13] FIG. 2 is a simplified plan view of the labeling robot in a centering step. [Figure 14] FIG. 2 is a simplified front view of the labeling robot in a centering step. [Figure 15] FIG. 13 is an axonometric view of the step of inserting the labels into the reels. [Figure 16] FIG. 13 is a plan view of the step of inserting the label into the reel. [Figure 17] FIG. 2A shows an axonometric view of a centering step of the second robot or handling robot. [Figure 18] 13A and 13B are plan and axonometric views of a step of gripping a reel by a second robot; [Figure 19] FIG. 13 is an axonometric view of a reel gripping step by the second robot. [Figure 20] FIG. 13 is a side view of the second robot at a step of lifting two reels simultaneously. [Figure 21] FIG. 13 is an axonometric view of a step of simultaneously lifting two reels by the second robot. [Figure 22] FIG. 2 is an axonometric view of the deposition step, in which the reels are placed on a roller conveyor by a handling robot, whose axis is in a vertical position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0042] 1 to 4 show a typical reel B to be labeled and handled. The reel consists of a web material that can be wound on a tubular element C, also called a winding core C, as shown in Figs. 1 and 2. In other embodiments, the reel has a central hole F that simply defines an empty gap, as shown in Figs. 3 and 4. In both cases, the reel B has an empty central opening A, coaxial with the turns of web material wound on the reel. S denotes the outer surface of the reel and SI denotes the inner surface of the central opening A. The inner surface SI is defined either by the central winding core C or by the innermost turn of the web material wound on the reel.

[0043] Reel B can have any diameter, but in many applications the diameter of the reel may range from 300 mm to 2000 mm. The width, i.e., the axial dimension of reel B, can also vary and typically range from 20 mm to 2000 mm, but in some cases can be significantly larger.

[0044] The central opening or central gap of the reel can have a diameter that can vary widely, typically ranging from, for example, 50 mm to 400 mm.

[0045] It should be noted that the above values ​​are purely exemplary and the invention may be applied to reels B of any diameter and width (axial dimension).

[0046] Figures 5 and 6 show an axonometric view and a plan view of an embodiment of a system or plant 1 according to the invention for labelling and handling reels. The reels B1, B2, B3, ... Bn are usually fed from a machine (line cutter, winder, sheeter) equipped with a system for cutting the web material in the longitudinal direction and are generally arranged with their axes horizontal and loaded on a table or support 3. In the embodiment shown in the figures, the plant 1 comprises two supports 3. This configuration has some advantages in terms of versatility and production speed, but it is also possible to provide a different number of supports 3, for example a single support 3 or two or more supports 3. In general, it is sufficient for the number and position of the supports to be within the range of a pair of robots, which will be described later.

[0047] The supports 3 may be oriented horizontally or inclined. In any case, the reels B1 to Bn are arranged so that they rest on their respective cylindrical sides. In this way, the flat surface of the end reel B1 of the series of reels B1 to Bn resting on each single support 3 is free to allow access to the central opening of the reel by a robot, which will be described later.

[0048] In the illustrated embodiment, each support forms a V-shaped mounting surface for supporting reels B1 to Bn.

[0049] The widths (axial dimensions) and diameters of reels B1, B2, B3, ... Bn mounted on the same support 3 may differ from one another, even though the diameters of reels B1 to Bn mounted on a single support generally vary only slightly.

[0050] In some embodiments, as shown in the figures, each table or support 3 includes two conveyors 5 defining a V-shaped resting surface for supporting the reels. The conveyors 5 can be belt conveyors, roller conveyors, chain conveyors, or other conveyors. The conveyors 5 can provide a movement according to the arrow f5 (FIG. 6) for advancing the series of reels B1-Bn towards a handling and labeling area where a robot is located.

[0051] The support 3 may be provided with attachments 7 for holding the reel in place, for example in the form of pushers that facilitate the movement of the reel according to the arrow f5.

[0052] The support may be equipped with a mechanism 9 for adjusting the inclination of the support, making it possible to both facilitate loading the reel and to tilt the axis of the reel slightly relative to the horizontal to increase stability during the labelling and pick-up steps.

[0053] The labelling and handling plant 1 also includes a first robot 11 (hereinafter referred to as labelling robot 11) equipped with a specific device 13 for picking up a label from a label dispenser 15 and applying the label to the inner surface SI of the central opening A of the reel B.

[0054] The first labelling robot 11 is represented in an axonometric view in Fig. 7. This robot preferably has an articulated arm 17 terminating in a head 19, to which an apparatus 13 for picking up and applying labels is fixed. In some embodiments, the apparatus 13 advantageously comprises a rod-shaped element 21. The rod-shaped element 21 may be divided into two straight parts 21A and 21B extending from a midpoint. Here, the rod-shaped element 21 is connected to the head 19 of the articulated arm 17 of the first labelling robot 11.

[0055] In other embodiments, three or more straight sections may be provided, for example four straight sections arranged in a plane at 90° angles to one another, each of which is provided with a member for gripping a label. In further embodiments, the (three or more) straight sections are arranged in a three-dimensional rather than planar arrangement.

[0056] Each of the two straight sections 21A, 21B of the rod-shaped element 21 can have one or more gripping members 23 configured to grip a single label and apply it to the inside of the central opening A of the reel B. In the embodiment shown in the figures, each of the straight sections 21A, 21B comprises two gripping members 23. As mentioned above, the gripping members can be pneumatic and have a suction pad to which the non-adhesive side of the label is adhered by suction. Once inside the central opening A of the reel B, this suction pad is pressed against the inner surface S1 of the central opening A and can be disengaged from the label gripping member and adhered to the inner surface SI of the central opening A of the reel by stopping the suction and generating a flow of air or other fluid as required.

[0057] Since each straight section 21A, 21B has two label gripping members 23, a total of four inner labels, two for each support 3, can be applied to the reel B per work cycle, which will be described below.

[0058] In general, the label dispenser 15 can have any configuration. It can be adapted to dispense a label already produced in a previous step, for example it can also produce the label by printing. Also, if the label includes an RFID tag, the required information can be stored therein. Thus, in some embodiments, a label dispenser 15 for a label (generally consisting of a thin element that may have an adhesive surface) can include a printer that produces the label, a system for writing data to the RFID tag, a system for peeling off the label that is attached to a specific support and wound on a reel, a system for dispensing the labels one by one, or a combination thereof.

[0059] The gripping member 23 generally has a shape similar to the label to be handled, may be made of different materials, and has holes or grooves that are connected to a suction system via a suitable pipe. The gripping member 23 generally may be arranged on a spring or other elastic system.

[0060] After the gripping member 23 has taken the label from the label dispenser 15, the labelling robot 11 moves the device 13 towards the axis of the reel to be labelled. Before or simultaneously with the movement of the device 13, a centreing system 9 provides the labelling robot 11 with the position that the device 13 should take in order to apply the label correctly. The centreing system, i.e. the system for searching for the centre of the reel, is indicated diagrammatically with the reference number 12 and may be provided at the head of the labelling robot 11.

[0061] The centering system may consist of a vision system, a scanner, various sensors, electromechanical or pneumatic devices and may be installed on the labelling robot 11 or in a fixed position or on the support 3.

[0062] Knowing the axial positions of the reels B1, B2, B3, ... Bn, the labelling robot 11 inserts one of the straight sections 21A, 21B of the rod-shaped element 21 inside the central opening A of the reel and applies the previously taken label to the inner surface SI of the central opening A of the reel.

[0063] In the illustrated embodiment, each straight section 21A, 21B has two gripping members 23, so that it is possible, for example, to apply two labels by means of the straight sections 21A, 21B to two adjacent reels B1, B2 arranged on one of the two supports 3, and to apply two other labels to two adjacent reels B3, B4 arranged on the other of the two supports. In the case of large axial dimensions of the reels, each straight section 21A, 21B can only apply a single label to a single reel. It is also possible, if necessary, to apply more labels to the inside of the same reel, depending on the type of information associated with the reel.

[0064] The labels can be applied by radially moving the head of the labelling robot 11 and pressing each label gripping member 23 against the inner surface SI of each reel B, B1, B2, B3, ... Bn. A contact pressure is thus generated, which causes the label to adhere to the inner surface SI by means of the adhesive provided on the label. However, other methods can also be used for applying the labels, for example the application of air or other gases, electrostatic systems or other methods.

[0065] In addition to the label dispenser 15 and the labeling robot 11, the plant 1 can also include an outer labeling machine capable of applying labels to the outer surface S of the reels B, B1, ... Bn. In FIG. 5, the outer labeling machine 27 is provided below the end of the support 3 closest to the labeling robot 11. The outer labeling machine 27 is movable according to the double arrow f27 and can apply labels to reels supported by two supports 3. The outer labeling machine 27 is movable according to the double arrow f27X in a direction perpendicular to the direction of the double arrow f27 and can translate below any one of a number of reels mounted on the same support 3 to apply labels to two or more axially aligned reels. For this purpose, the outer labeling machine 27 can be mounted on a movable slide that is numerically controlled according to two orthogonal translation axes.

[0066] The outer labels may be applied by the outer labelling machine 27 in time intervals which overlap with the time intervals in which the inner labels are applied by the labelling robot 11 .

[0067] The plant 1 also includes a second robot 31, hereafter referred to as handling robot 31, the plan view of which is shown in Figure 8 and the axonometric view of which is shown in Figure 9. In an advantageous embodiment, the second or handling robot 31 includes an articulated arm 33 having a head 35, to which members are attached for gripping and handling the reels B, B1, B2, ... Bn.

[0068] More specifically, a first member 37 for gripping and handling the reel may be disposed on the head 35. The first gripping and handling member 37 is adapted to engage the reel from the center, i.e. by entering a central opening A of the reel. In the embodiment shown in the figures, the gripping and handling member 37 includes two extendable portions 37A. These portions have a radial movement away from each other such that they extend when the gripping and handling member 37 is inserted into one or more axially aligned central openings A of the reel. The movement of the portions 37A of the gripping and handling member 37 away from and towards each other may be controlled by any suitable actuator, e.g., pneumatic, hydraulic, electric, magnetic actuators, etc.

[0069] In the embodiment shown in the figures, the head 35 of the handling robot 31 comprises a second member 39 for gripping and handling the reels. The second gripping and handling member 39 comprises an outer gripping member adapted to engage the outer surface S of one or more reels B. In the embodiment shown in the figures, the second gripping and handling member 39 comprises two jaws 39A that move radially to engage and disengage from the outer surface S of the reels B, B1, B2, ... Bn. The gripping and handling members 37 and 39 can be used alternately or in combination depending on the type of web material from which the reels B, B1, B2, ... Bn are made and / or depending on the winding conditions, e.g. the compactness of the reels.

[0070] The gripping members are adapted to simultaneously engage in each work cycle the same number of reels as those labelled by the labelling robot 11 or a smaller number of reels.

[0071] In some embodiments, the head 35 of the handling robot 31 can include a sheet handler 41 for handling separation or cover sheets. These may be positioned above or below a stack of reels stacked vertically on top of one another as shown in the figure. The sheet handler 41 can include suction cups 43 adapted to engage the sheets by suction.

[0072] The plant 1 may also include one or more support surfaces 45, for example roller conveyors, conveyors, pallets or other forms on which a stack P may be formed. This includes reels B arranged vertically one on top of the other with their axes in a vertical position by the handling robot 31, by an operation to be described below. Each support surface 45 may consist of or incorporate a conveyor (not shown), for example a roller conveyor or a belt conveyor, in order to move the stack P of reels away from the plant 1. Below the lowest reel and / or above the highest reel of each stack P, a preferably circular sheet F may be placed, taken from a sheet store 47 by the handler 41 of the handling robot 31. If necessary, a sheet Fl may be sandwiched between the reels.

[0073] Each support surface may have a single stack or multiple stacks of reels formed thereon.

[0074] The operating cycle of the plant 1 described above is shown in detail in the sequence of figures 10 to 22, which show different perspectives at the various operating steps. For greater clarity, some parts of the plant 1 have been omitted in figures 10 to 22. In particular, in these figures only one table or support 3 is shown, the outer labelling machine 27 has been omitted. In some figures the roller conveyor 45 has also been omitted.

[0075] The operating cycle is as follows: Figures 10, 11 and 12 are respectively a side view, a top view and an axonometric view of the pick-up step, in which the labelling robot 11 picks up the labels from the label dispenser 15. Figures 13 and 14 are respectively a top view and a front view of the centering step, i.e. locating the centre of the reel B in order to insert the rod-shaped element 21 into the axial opening of the reel.

[0076] FIG. 15 is an axonometric view at a step where the rod-shaped elements 21 of the labelling robot 11 are inserted into the central openings A of the two reels closest to the robot 11.

[0077] 16 and 17 are plan and axonometric views, respectively, of the centering step in which the handling robot 31 searches for the center of the reel. The center of the reel can be identified using a single centering system, the detection of which is used by both robots 11 and 31. After the labeling robot 11 has applied one or more labels to one or more reels, the labeling robot 11 can be moved away from the reels and take a label from the label dispenser 15 to perform a new step.

[0078] 18 and 19 are plan and axonometric views, respectively, of the gripping member of the handling robot 31 and the gripping step in which the handling members grip two reels.

[0079] 20 and 21 show the lifting step in which the handling robot 31 lifts up two reels.

[0080] After the reel has been picked up, the head of the handling robot rotates the reel, aligns it so that its respective axis is vertical, and places it on one side or the other of a roller conveyor or other support surface 45, as shown in FIG.

[0081] The above described operations can be repeated for all reels on both supports or tables 3 to form one or more stacks containing identical or different reels on one or more roller conveyors 45.

[0082] In some embodiments of the labeling and handling method that can be implemented through the plant 1, the reels of one of the two supports 3 can be all labeled and removed, and then the reels of the other of the two supports 3 can be all labeled and removed. In this case, when the first support 3 is empty, the robots 11 and 31 can process the reels of the second support 3, while a new set of reels to be labeled is loaded onto the first support. In other embodiments of the method, the reels are labeled and taken from one and the other of the two supports 3, for example grouping the reels into homogeneous vertical stacks (for example reels with the same axial dimensions). This allows taking reels that are collected in a non-homogeneous way on the two tables 3.

Claims

1. A plant for labelling and handling reels of web material, said reels having a central opening around which said web material is wound, a support for labelling said reels; A label dispenser; a first labeling robot that takes the label from the label dispenser and inserts the label into a central opening of the reel disposed on the support; a second handling robot for picking up the reel and moving it away from the support; Including, plant.

2. 2. The plant of claim 1, wherein the supports for supporting the reels to be labelled are configured to support the reels with each side of the reels resting on the supports.

3. The plant of claim 1 or 2, wherein the label dispenser comprises a label printing device.

4. The plant of any one of claims 1 to 3, wherein the first labelling robot comprises a first articulated arm.

5. The plant according to any one of claims 1 to 4, wherein the second handling robot is configured to reorient the reels and place their respective axes in a substantially vertical position.

6. The plant of any one of claims 1 to 5, wherein the second handling robot includes a second articulated arm.

7. The plant according to any one of claims 1 to 6, wherein the first labelling robot comprises a label pick-up device including at least one rod-shaped element provided with a plurality of label pick-up members configured to engage the label and release the label on an inner surface of a central opening of the reel.

8. 8. The plant of claim 7, wherein the rod-shaped element is connected to the robot at a midpoint and includes two straight portions extending from the midpoint, each of the straight portions having at least one of the label pick-up members.

9. The plant according to any one of the preceding claims, wherein at least one system for locating the centre of the reel is associated with the first labelling robot and with the second handling robot.

10. The plant of any one of claims 1 to 9, wherein the second handling robot includes a first gripping and handling member configured to engage the reel from inside the central opening.

11. The plant of claim 11 , wherein the first gripping and handling member is an extendable member.

12. The plant of any one of claims 1 to 11, wherein the second handling robot includes a second gripping and handling member for gripping and handling the reel, the second gripping and handling member configured to engage the reel on an outer surface of the reel.

13. 13. The plant of claim 12, wherein the second gripping and handling member includes a pair of jaws arranged to reciprocate towards each other for gripping the reel radially from the outside.

14. The plant according to any one of claims 1 to 13, wherein the second handling robot comprises a handler for gripping and handling separation sheets intended to be interposed between the stacked reels and / or to cover the end faces of the reels.

15. A plant according to any one of the preceding claims, comprising an outer labelling machine adapted to label the reels on their outer surface.

16. A plant according to any one of the preceding claims, wherein the support comprises a V-shaped resting surface for a series of aligned reels.

17. The plant according to any one of claims 1 to 16, wherein the support comprises a conveyor for moving the reels towards the first labelling robot and the second handling robot.

18. The plant according to any one of claims 1 to 17, wherein the supports are configured to position the reels with their axes inclined relative to the horizontal, such that the reels closest to the first labelling robot and the second handling robot are positioned at a greater height than the reels furthest from the first labelling robot and the second handling robot.

19. 19. The plant according to any one of claims 1 to 18, comprising a further support for the reels, the first labelling robot and the second handling robot being configured to act on the reels mounted on both supports.

20. 1. A method for labeling and handling reels of wound web material having a central opening and outer side surfaces, comprising: placing a plurality of reels on a support; applying, via a first robot, a label to an inside of the reel at a central opening of the reel; removing the labeled reel from the support via a second robot; A method comprising:

21. 21. The method of claim 20, wherein said step of taking and removing said reels includes the steps of: flipping said reels over and placing them with their respective axes in a vertical position; and stacking a plurality of said reels coaxially with one another.

22. 22. The method according to claim 20 or 21, wherein during the step of taking and removing the reel, the first robot performs a step of picking up one or more labels to be applied to a subsequent reel placed on the support.

23. A method according to any one of claims 20 to 22, further comprising the step of applying a label to an outer surface of the reel, preferably whilst the reel is disposed on the support.

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