Label Peeling Device

Abstract

A single power unit performs all operations from label feeding to peeling. [Solution] The label peeling device comprises a label supply unit that supplies labels, an adsorption unit that adsorbs the labels at the label supply position, a drive unit that performs a peeling operation to move the adsorption unit from the label adsorption position in a direction along the label supply direction, a roller that peels the backing paper from the label, and a backing paper recovery unit that recovers the backing paper, wherein the label supply unit supplies a new label using power based on the peeling operation, the roller peels the backing paper using power based on the peeling operation, and the backing paper recovery unit recovers the backing paper using power from the label supply unit generated when supplying a new label.

Description

[Technical Field]

[0001] The present disclosure relates to a label removing device. [Background technology]

[0002] Patent Document 1 discloses a tape application device configured to automatically apply tape having an adhesive surface to a predetermined position on a workpiece. The tape application device includes a tape take-out head that takes out and holds the tape with the adhesive side facing out on its head surface, a work pressing means that presses the workpiece against the tape held on the head surface of the tape take-out head, a position deviation detection means that detects a position deviation of the tape on the head surface of the tape take-out head, and a correction means that corrects the position at which the workpiece is pressed by the work pressing means based on the detection result by the position deviation detection means. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-285285 Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure has been devised in view of the above-described conventional circumstances, and aims to provide a label peeling device that performs operations from label supplying to label peeling using a single power unit. [Means for solving the problem]

[0005] The present disclosure provides a label peeling device comprising: a label supply unit that supplies a label affixed to a backing sheet to a label supply position; an adsorption unit that adsorbs the label affixed to the backing sheet at the label supply position; a drive unit that executes a peeling operation to move the adsorption unit from the label adsorption position in a direction along the label supply direction; a roller that guides the backing sheet to which the label is affixed in a direction different from the supply direction to peel it from the label; and a backing recovery unit that recovers the backing sheet peeled by the roller, wherein the label supply unit supplies a new label to the label supply position using power based on the peeling operation, the roller peels the backing sheet using power based on the peeling operation, and the backing recovery unit recovers the peeled backing sheet using power from the label supply unit that is generated when the new label is supplied. [Effects of the Invention]

[0006] According to the present disclosure, a single power unit can achieve operations from label supply to peeling. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing an example of the overall configuration of a labeling device according to an embodiment; [Figure 2] Enlarged perspective view of the label guide, label holder, and stopper [Figure 3] FIG. 1 is a diagram showing an example of the internal configuration of a labeling system according to an embodiment. [Figure 4] FIG. 10 is a diagram showing an example 1 of operation transition of the labeling device according to the embodiment. [Figure 5] FIG. 10 is a diagram showing an example 2 of operation transition of the labeling device according to the embodiment. [Figure 6] FIG. 10 shows an example 3 of operation transition of the labeling device according to the embodiment. [Figure 7] FIG. 4 shows an example 4 of operational transition of the labeling device according to the embodiment. [Figure 8] FIG. 5 shows an example 5 of operational transition of the labeling device according to the embodiment. [Figure 9]FIG. 6 shows an example 6 of operational transition of the labeling device according to the embodiment. [Figure 10] A diagram explaining an example of adjusting the fixed position of the stopper DETAILED DESCRIPTION OF THE INVENTION

[0008] (Background to this disclosure) Conventionally, there have been tape application devices that peel and apply labels. However, conventional tape application devices are very expensive because they are comprised of a device for taking out and feeding the tape (tape take-out / feed mechanism) and a camera used to inspect for tape misalignment. Furthermore, conventional tape application devices require synchronization of the operation of the robot unit that applies the tape with the operation of the mechanism that takes out and feeds the tape.

[0009] Therefore, in this disclosure, a label peeling device that performs operations from label supplying to label peeling using one power unit will be described.

[0010] Hereinafter, with reference to the drawings as appropriate, an embodiment that specifically discloses the configuration and operation of a label peeling device according to the present disclosure will be described in detail. However, more detailed description than necessary may be omitted. For example, detailed description of already well-known matters or redundant description of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure and are not intended to limit the subject matter recited in the claims.

[0011] First, a label application device 100 according to an embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a diagram showing an example of the overall configuration of the label application device 100 according to an embodiment. Fig. 2 is a diagram showing an enlarged perspective view of the label guide GD, label holder LBH, and stopper ST.

[0012] The labeling system according to the embodiment includes a labeling device 100 that performs various operations from supplying to attaching labels LB (for example, supplying, peeling, transporting, and attaching the labels LB), and a robot control device P1 that controls a robot RB. Note that the robot control device P1 is not shown in FIG. 1.

[0013] The label application device 100 includes a robot RB, a label supply unit RL1, a table TB, a label holder LBH, a stopper ST, a label guide GD, a liner roller RL3, and a liner take-up unit RL4. Note that the label application device 100 and the configuration of the label application device 100 shown in Figures 1 and 2 are merely examples and are not limited to these.

[0014] The robot RB is connected to a robot control device P1 (described later) so as to be able to communicate data with it. The robot RB functions as the sole power source of the label application device 100, and performs various operations such as the adsorption of the label LB by the adsorption unit 12, transport, and application of the label LB under the control of the robot control device P1. Note that the application operation performed by the robot RB in this disclosure is an operation of applying the label LB adsorbed by the adsorption unit 12 to a label application position on an object (e.g., a box moving on a conveyor lane, a product, etc.) present within the range of motion of the robot RB, using a known technology or method. Therefore, in this disclosure, illustrations and descriptions of the application operation of the label LB by the robot RB are omitted.

[0015] The robot RB is a so-called articulated robot, and includes a robot arm ARM that operates under the control of a robot control device P1, a suction nozzle 11, a suction unit 12, and a presser unit 13 attached to the tip of the robot arm ARM.

[0016] The robot arm ARM is configured with multiple joints, and is controlled by a robot control device P1 to drive each joint axis, thereby realizing the functions of the robot RB. The robot arm ARM has a suction nozzle 11, a suction part 12, and a holding part 13 attached to the end (tip) farthest from the installation surface of the robot RB.

[0017] The suction nozzle 11 is attached to the tip of the robot arm ARM and moves integrally with the robot arm ARM. The suction nozzle 11 also connects a vacuum pump (not shown) and the suction unit 12 so that air can be circulated between them.

[0018] The suction part 12 is formed of an elastic material such as rubber. The inside of the suction part 12 is connected to a vacuum pump (not shown) via a suction nozzle 11. The suction part 12 comes into contact with the label LB when the robot arm ARM is lowered, and while in contact with the label LB, the air inside the suction part 12 is reduced in pressure by the vacuum pump (not shown), thereby suctioning the contact surface in contact with the label LB.

[0019] The vacuum pump is controlled by the robot control device P1 to reduce the pressure inside the suction nozzle 11 and the suction unit 12 (not shown) to create a vacuum, or to release the vacuum by letting air into the suction nozzle 11 and the suction unit 12. The suction unit 12 is suctioned to a vacuum by the vacuum pump while in contact with the surface of the label LB, and adsorbs the surface of the label LB attached to the backing sheet MT. After the label LB is transported to the label attachment position (not shown), the suction unit 12 releases the adsorption state with the label LB attached to the label attachment position (not shown) by releasing the vacuum.

[0020] The holding unit 13 is attached by connecting unit 13A having a structure such as a nut between the suction nozzle 11 and the suction unit 12. By attaching connecting unit 13A between the suction nozzle 11 and the suction unit 12, the holding unit 13 moves integrally with the suction nozzle 11 and the suction unit 12.

[0021] The pressing portion 13 is formed to protrude a predetermined length in the direction opposite to the peeling direction X of the label LB (see FIGS. 6 to 9). Note that the predetermined length here may be a length that allows the pressing portion 13 to press down each of the ends 21A, 21B, and 21C of the stopper ST as the suction portion 12 descends toward the label supply position PS0, for example, as shown in FIG.

[0022] Here, the peeling direction X of the label LB described above is substantially the same as the feeding direction of the label LB, so in the following description, the peeling direction X of the label LB will also be referred to as the feeding direction of the label LB.

[0023] When the robot arm ARM is lowered to adsorb the label LB, the pressing portion 13 presses one end 21 of the stopper ST from above, compressing the elastic portion SPR. When the label LB is peeled off, the robot arm ARM moves along the peeling direction of the label LB, causing the pressing portion 13 to move along the peeling direction of the label LB and to leave the one end 21 of the stopper ST. When the pressing portion 13 leaves the one end 21, the compressed state of the elastic portion SPR is released and the elastic force returns to its original position.

[0024] A label roll RR, which is formed by attaching a plurality of labels LB to a liner MT at predetermined intervals, is set in the label supply unit RL1. The label supply unit RL1 is equipped with a gear GR1 that rotates in mesh with a gear (not shown) equipped on the liner take-up unit RL4, which will be described later. The label supply unit RL1 rotates in a rotation direction R1 around a rotation axis J1 as the robot RB peels the labels LB, and the liner MT with the labels LB attached is pulled out toward the label supply position PS0, thereby supplying the labels LB at the label supply position PS0.

[0025] The label presser LBH is installed on the table TB between the label supply unit RL1 and the stopper ST, connected to the label guide GD. The label presser LBH has a roller RL2 that rotates around a rotation axis J2. The label presser LBH applies tension to the liner MT and label LB by pressing down from above with the roller RL2 on the liner MT and label LB pulled out from the label supply unit RL1. In addition, the roller RL2 rotates around the rotation axis J2 as the robot RB peels the label LB, guiding the liner MT and label LB toward the label guide GD.

[0026] The stopper ST is provided between the label holder LBH and the label supply position PS0. The stopper ST is installed at a position based on the length of the label LB in the peeling direction (supply direction) of the label LB, and controls the supply of the label LB. The relationship between the length of the label LB and the installation position of the stopper ST will be described later with reference to FIG. 10.

[0027] The stopper ST is rotatable about the fixed shaft J3. The stopper ST includes one end 21 and the other end 22, a locking portion 23 (see FIG. 4, etc.), and a pair of fixing portions 24. The one end 21, the other end 22, and the fixing portion 24 of the stopper ST are integrally formed from a material such as metal or resin, and the locking portion 23 is integrally formed from a material such as resin. The one end 21 and the other end 22 are supported around the fixed shaft J3 so as to be able to perform seesaw movement in directions Q1 and Q2. The one end 21 and the other end 22 rotate and tilt in either direction Q1 or Q2 depending on whether the one end 21 is pressed down by the presser portion 13 of the robot RB, thereby controlling the supply of the label LB by the locking portion 23.

[0028] As will be described later, the locking portion 23 may come into contact with the label LB, and is formed of a flexible material such as resin so as to prevent the label LB from being scratched.

[0029] The one end 21 is the end of the stopper ST, which is formed in a substantially cross shape, on the side in the label LB supply direction. The one end 21 is configured to freely seesaw (rotate) around a fixed axis J3, which serves as a fulcrum. The one end 21 is urged in different directions Q1 and Q2 by the pressing force F1 from the presser unit 13 or the elastic force from the elastic part SPR, and performs seesaw movement around the fixed axis J3. Specifically, the one end 21 is placed on the elastic part SPR installed on the label guide GD, and is urged in the opposite direction to the pressing direction of the presser unit 13 by the elastic force of the elastic part SPR. Furthermore, when the one end 21 is pressed down by the presser unit 13 as the suction unit 12 descends, the pressing force F1 from the presser unit 13 compresses the elastic part SPR and rotates in the direction Q1.

[0030] The other end 22 is the end of the stopper ST, which is formed in a substantially cross shape, located in the opposite direction to the label LB feed direction, and has a substantially L-shaped locking portion 23 provided on the underside facing the label guide GD. The other end 22 is configured to freely seesaw (rotate) around a fixed axis J3, which serves as a fulcrum. The other end 22 seesaws around the fixed axis J3 due to a force acting on the one end 21, which is integrally formed with the stopper ST (i.e., the pressing force F1 by the presser 13 or the elastic force of the elastic portion SPR). Specifically, when the one end 21 is biased in the direction opposite to the pressing direction by the presser 13 by the elastic force of the elastic portion SPR, the other end 22 rotates in direction Q2 and stops rotating when the locking portion 23 comes into contact with the backing sheet MT or the label LB. When the one end 21 is pressed down by the pressing part 13 as the suction part 12 descends, the other end 22 rotates in the direction Q1, and the locking part 23 moves away from the mount MT or label LB.

[0031] The locking portion 23 is inserted into an opening OP1 provided on the label guide GD and controls the feeding of the backing sheet MT and label LB transported on the transport path GD11. When the backing sheet MT and label LB are moved in the supply direction of the label LB while the locking portion 23 is placed in contact with the backing sheet MT or label LB, the tip of the locking portion 23 locks onto the end of the label LB, stopping the movement of the label LB in the supply direction, i.e., stopping the supply of the label LB.

[0032] Each of the pair of fixing portions 24 is formed by bending a portion of a substantially cross-shaped metal plate (stopper ST) in a direction substantially perpendicular to the label LB feed direction at a substantially right angle along the side of the label guide GD. Each of the pair of fixing portions 24 has a fixing hole formed therein that serves as a fulcrum for the seesaw motion of the stopper ST. The stopper ST is rotatably fixed to the side of the label guide GD through each of the fixing holes of the pair of fixing portions 24. As a result, the stopper ST is fixed to the label guide GD in a state in which one end 21 and the other end 22 can perform seesaw motion with the fixed shaft J3 as the fulcrum.

[0033] The label guide GD is connected to the label holder LBH and guides the mount MT and label LB delivered from the label holder LBH to the label supply position PS0. The label guide GD has an opening OP1 into which a locking part 23 attached to the other end 22 can be inserted and removed, and which guides the locking part 23 onto the mount MT or label LB in the label guide GD, and an opening OP2 which exposes the label LB supplied to the label supply position PS0.

[0034] At least one opening OP1 is formed on the surface of the label guide GD facing the other end 22, corresponding to a position where the stopper ST can be installed.

[0035] The opening OP2 is formed at a position corresponding to the label supply position PS0, and exposes the label LB supplied to the label supply position PS0 so that the suction unit 12 of the robot RB can adsorb the label LB. Note that, in the present disclosure, the opening OP2 is shown as having a semicircular or semi-elliptical shape to match the suction surface of the suction unit 12 of the robot RB, which has a circular shape, but it goes without saying that the opening OP2 is not limited to this. The opening OP2 may be formed in any shape or size that allows the suction surface of the suction unit 12 of the robot RB to adsorb the label LB.

[0036] The liner roller RL3 rotates around an axis J4. The liner roller RL3 uses the power F2 that pulls the label LB in the peeling direction X by the robot RB to guide the liner MT in a direction different from the peeling direction X (feed direction) of the label LB, thereby peeling the label LB from the liner MT. In addition, the liner roller RL3 sends the liner MT, from which the label LB has been peeled, toward the liner take-up unit RL4 due to the attractive force with which the liner take-up unit RL4 collects the label LB.

[0037] The liner take-up unit RL4 meshes with the gear GR1 of the label supply unit RL1 and rotates around the axis J5 in the direction of rotation R4, winding up the liner MT from which the label LB has been peeled. The liner take-up unit RL4 obtains a driving force (rotational force) when the label supply unit RL1 is driven (rotated) by the robot RB peeling the label LB, and this driving force (rotational force) of the label supply unit RL1 is transmitted through a gear (not shown) of the liner take-up unit RL4 that meshes with the gear GR1 of the label supply unit RL1. The driving force (rotational force) transmitted from the label supply unit RL1 becomes the driving force (rotational force) of the liner take-up unit RL4, realizing the winding up of the liner MT.

[0038] The gear ratio of the label supply unit RL1 and the liner take-up unit RL4 is set so that the gear GR1 of the label supply unit RL1 is larger than the gear of the liner take-up unit RL4. The gear ratio of the label supply unit RL1 and the liner take-up unit RL4 is set to a ratio of, for example, 100:55. As a result, the liner take-up unit RL4 is set so that the amount of rotation of the gear GR1 of the label supply unit RL1 is greater than the amount of rotation of the gear of the liner take-up unit RL4 during one peeling operation of the label LB by the robot RB. Specifically, the gear ratio of the label supply unit RL1 and the liner take-up unit RL4 is set so that the length of the liner MT taken up by the liner take-up unit RL4 is longer than the length of the label LB supplied from the label supply unit RL1. This allows the label application device 100 to constantly apply tension to the liner MT to be collected to prevent it from sagging.

[0039] The liner winding unit RL4 also includes a slip mechanism. When the load applied during winding of the liner MT reaches a predetermined level or greater due to the gear ratio described above, the slip mechanism rotates freely, enabling the liner winding unit RL4 to maintain the tension of the liner MT or label LB between the label presser LBH and the liner winding unit RL4 while winding the liner MT.

[0040] The mount sheet winding unit RL4, which is the recovery structure for the mount sheet MT shown in the present disclosure, is an example and is not limited to this. For example, if the height of the table TB is sufficiently high relative to the length of the labels LB attached to the label roll RR, the mount sheet winding unit RL4 may be replaced by a weight.

[0041] In this case, the weight is attached by any method to the end of the backing sheet MT on the side where the label LB of the label roll RR that is first supplied to the label supply position PS0 is affixed, and pulls the backing sheet MT in the direction of gravity. As a result, tension is applied to the backing sheet MT by being pulled in the direction of gravity by the weight of the weight. Therefore, tension based on the weight is applied to the backing sheet MT in the section from the position where the stopper ST is engaged by the engaging portion 23 to the end of the backing sheet MT where the weight is attached, so deflection does not occur.

[0042] Next, a label application device 100 according to an embodiment will be described with reference to Fig. 3. Fig. 1 is a diagram showing an example of the overall configuration of the label application device 100 according to an embodiment. Fig. 2 is a diagram showing an enlarged perspective view of the label guide GD, label holder LBH, and stopper ST.

[0043] The robot control device P1 is connected to the robot RB so as to be able to communicate data with the robot RB, and controls the robot RB. The robot control device P1 includes an external IF 30, a communication unit 31, a processor 32, a memory 33, a display unit 34, and an operation unit 35.

[0044] The external IF 30 is configured using a communication interface circuit for transmitting and receiving data or information to and from the robot RB. The external IF 30 transmits various control commands and the like output from the communication unit 31 to the robot RB. The external IF 30 also outputs various data or electrical signals and the like transmitted from the robot RB to the communication unit 31.

[0045] The communication unit 31 transmits and receives data between the external IF 30 and the processor 32. The communication unit 31 transmits various data (signals) output from the processor 32 to the robot RB via the external IF 30. The communication unit 31 also outputs various data (signals) transmitted from the external IF 30 to the processor 32.

[0046] The processor 32 is configured using, for example, a central processing unit (CPU) or a field programmable gate array (FPGA), and performs various processes and controls in cooperation with the memory 33. Specifically, the processor 32 references the programs and data stored in the memory 33 and executes the programs to realize various functions of the robot control device P1.

[0047] The memory 33 includes, for example, a random access memory (RAM) as a work memory used when executing each process of the processor 32, and a read only memory (ROM) that stores programs and data that define the operation of the processor 32. The RAM temporarily stores data or information generated or acquired by the processor 32. The ROM stores programs that define the operation of the processor 32.

[0048] The display unit 34 is configured using, for example, a display such as a Liquid Crystal Display or an organic electroluminescence display, etc. The display unit 34 generates and outputs various setting screens and the like for controlling the robot RB.

[0049] The operation unit 35 accepts operations by the worker operating the robot control device P1. The operation unit 35 may be provided integrally with or separately from the display unit 34, and may be an interface configured with a touch panel, a mouse, a keyboard, or the like. The operation unit 35 generates an electrical signal based on the input operation and outputs it to the processor 32.

[0050] 4 to 9, an example of the operation of the labeling device 100 from the adsorption operation to the peeling operation of the label LB will be described below. In addition, the following description will explain the adsorption operation and peeling operation of the labeling device 100 using a partially enlarged view of a part of the labeling device 100 from the label guide GD to the label supply position PS0.

[0051] Next, the adsorption operation of the label LB will be described with reference to Fig. 4 and Fig. 5. Fig. 4 is a diagram showing an operation transition example 1 of the label application apparatus 100 in the embodiment. Fig. 5 is a diagram showing an operation transition example 2 of the label application apparatus 100 in the embodiment.

[0052] 4, the robot RB positions the center position of the suction part 12 of the robot RB at the label supply position PS0. The label supply position PS0 shown in FIG. 4 is in a state where the label LB has been supplied, and the label LB to be sucked and peeled is exposed from the opening OP2.

[0053] When the elastic portion SPR is in a non-compressed state, the stopper ST is biased by the elastic portion SPR, which lifts the one end 21, and the locking portion 23 catches on the end of the label LB on the conveyance path GD11 in the supply direction, thereby restricting movement of the label LB in the supply direction. In addition, the stopper ST aligns the mount MT and the label LB by the locking portion 23 of the label LB hooking on the end of the label LB.

[0054] 5, the robot RB moves the suction unit 12 shown in FIG. 4 downward in the vertical direction Z (see FIG. 4) toward the label LB at the label supply position PS0 and comes into contact with the label LB exposed from the opening OP2. When the suction unit 12 has completed its downward movement, the robot RB turns on a vacuum pump (not shown) to reduce the pressure inside the suction unit 12, and the suction unit 12 adheres to the label LB.

[0055] One end 21 of the stopper ST is pressed down with a pressing force F1 by the lowered presser portion 13, and the pressing force F1 from the presser portion 13 compresses the elastic portion SPR via the one end 21. As one end 21 of the stopper ST lowers while the elastic portion SPR is compressed, one end 21 and the other end 22 rotate in direction Q1 around the fixed axis J3 (fulcrum), and the locking portion 23 attached to the other end 22 rises from above the backing sheet MT, that is, the locking state is released.

[0056] The label supply unit RL1 rotates in the rotation direction R1 by the amount of horizontal movement of the label LB caused by the peeling operation by the robot RB, and begins to pull out the liner MT and label LB. The liner take-up unit RL4 rotates in the rotation direction R4 by the driving force transmitted via the gear GR1 of the label supply unit RL1, and begins to take up the liner MT folded back by the liner roller RL3.

[0057] Next, the peeling operation of the label LB will be described with reference to Fig. 6 to Fig. 9. Fig. 6 is a diagram showing an operation transition example 3 of the labeling apparatus 100 in the embodiment. Fig. 7 is a diagram showing an operation transition example 4 of the labeling apparatus 100 in the embodiment. Fig. 8 is a diagram showing an operation transition example 5 of the labeling apparatus 100 in the embodiment. Fig. 9 is a diagram showing an operation transition example 6 of the labeling apparatus 100 in the embodiment.

[0058] 6, the label application device 100 moves the suction unit 12 of the robot RB horizontally in the peeling direction X of the label LB while the suction unit 12 is holding the label LB. The stopper ST has one end 21 pressed down with a pressing force F1 by the pressing unit 13 having a predetermined length, and the locking unit 23 maintains the state in which the locking state between the mount MT and the label LB is released.

[0059] The labeling device 100 in FIG. 7 shows a state in which the suction unit 12 of the robot RB has further moved horizontally along the peeling direction X of the label LB from the suction position of the label LB shown in FIG. 6 while the suction unit 12 is still holding the label LB.

[0060] The liner MT moves in the peeling direction X of the label LB due to the horizontal movement of the label LB that is adsorbed by the adsorption unit 12, and while moving in the peeling direction X of the label LB, it is folded back by the liner roller RL3 and peeled off from the label LB. The liner MT from which the label LB has been peeled is sent by the liner roller RL3 toward the liner take-up unit RL4. As a result, only the portion of the label LB where the liner MT has been folded back by the liner roller RL3 is peeled off from the liner MT.

[0061] When the pressing portion 13, which has a predetermined length, is released from one end 21 due to the horizontal movement of the suction portion 12, the one end 21 of the stopper ST is biased by the elastic force of the elastic portion SPR. As the one end 21 of the stopper ST is lifted by the elastic force of the elastic portion SPR, the stopper ST rotates in direction Q2 around the fixed axis J3 (fulcrum), and the locking portion 23 attached to the other end 22 comes into contact with the mount MT or label LB on the conveying path GD11.

[0062] 7 shows an example in which the locking portion 23 is in contact with the label LB, but is not limited to this. The object that the locking portion 23 comes into contact with may be the label LB or the mount MT exposed from the gap between the labels LB.

[0063] The label supply unit RL1 is driven by the horizontal power F2 applied by the robot RB to peel the label LB, and rotates in a rotation direction R1 by the amount of horizontal movement of the label LB due to the peeling operation of the label LB, thereby supplying the liner MT and label LB from the label roll RR. The liner take-up unit RL4 is rotated in a rotation direction R4 by the driving force transmitted via the gear GR1 of the label supply unit RL1, and takes up the liner MT that has been peeled and fed by the liner roller RL3.

[0064] The labeling device 100 in FIG. 8 shows a state in which the suction unit 12 of the robot RB has further moved horizontally from the suction position of the label LB shown in FIG. 7 along the peeling direction X of the label LB while the suction unit 12 is still holding the label LB.

[0065] When the suction unit 12 peels off the label LB (moves horizontally), the latching unit 23 of the stopper ST moves from on the label LB to on the backing sheet MT and catches on the end LB0 of the next label LB. Here, the label LB attached to the backing sheet MT is resistant to external forces acting in the direction in which the label LB is fed. This allows the stopper ST to suppress the feeding (movement) of the backing sheet MT and label LB in the direction in which the label LB is fed, while also aligning the backing sheet MT and label LB.

[0066] The label supply unit RL1 stops the feed of the liner MT and label LB when the stopper ST catches on the end of the end LB0 of the label LB. Meanwhile, even when the feed of the liner MT and label LB is stopped by the stopper ST, the liner take-up unit RL4 rotates at a greater rotational speed than the label supply unit RL1 due to the difference in gear ratio with the gear GR1 of the label supply unit RL1. As a result, the length of the liner MT taken up by the liner take-up unit RL4 is longer than the length of the label LB supplied by the label supply unit RL1. Therefore, even after the label supply unit RL1 stops, the liner take-up unit RL4 continues to rotate in the rotational direction R4 and continues to take up the liner MT. When the load caused by taking up the liner MT reaches a predetermined magnitude, the slip mechanism begins to rotate freely. This allows the liner take-up unit RL4 to maintain tension on the liner MT and label LB from the position where the locking unit 23 locks the liner MT and label LB to the liner take-up unit RL4.

[0067] 9, the robot RB further moves the suction unit 12 horizontally from the suction position of the label LB shown in Fig. 8 along the peeling direction X of the label LB while the suction unit 12 is still holding the label LB. By further horizontally moving the suction unit 12 while holding the label LB, the label LB is peeled off from the backing sheet MT, whose movement is restricted by the stopper ST, and is transported to the label LB attachment position and attached.

[0068] As described above, in the label application device 100 of the present disclosure, the power F2 for pulling out (peeling off) the label LB in the peeling direction X by the suction unit 12 of the robot RB becomes the driving force for the label supply unit RL1, thereby realizing the pulling out (supply) of the liner MT and the label LB, and further, the rotational force (driving force) of this label supply unit RL1 is transmitted to the liner take-up unit RL4, thereby making it possible to collect the liner MT after the label LB has been peeled off. In other words, the label application device 100 can drive the label supply unit RL1 and the liner take-up unit RL4 using only the power F2 for the peeling operation in which the suction unit 12 peels off the label LB as a power source.

[0069] In addition, the label application device 100 can guide the backing sheet MT of the label LB in a direction different from the peeling direction X of the label LB by the suction unit 12 of the robot RB, thereby utilizing the action of the suction unit 12 of the robot RB to pull out (peel off) the label LB, thereby peeling off the backing sheet MT from the label LB.

[0070] Furthermore, the labeling device 100 can control the state of engagement of the backing sheet MT and label LB by the engagement unit 23 by the downward movement of the suction unit 12 when adsorbing the label. In other words, the labeling device 100 can control the supply of the backing sheet MT and label LB (i.e., the supply state or the stopped state) using the movement of the suction unit 12 in the vertical direction Z (see FIG. 4) as a power source. Furthermore, the labeling device 100 can align the backing sheet MT and label LB by the engagement of the engagement unit 23 with the end LB0 of the label LB (see FIGS. 8 and 9).

[0071] Therefore, the label application device 100 of the present disclosure can supply the label LB, peel the label LB, wind (recover) the backing sheet MT from which the label LB has been peeled, and apply the peeled label LB using only the power F2 of the robot RB.

[0072] Next, the fixing position of the stopper ST will be described with reference to Fig. 10. Fig. 10 is a diagram for explaining an example of adjusting the fixing position of the stopper ST.

[0073] As shown in FIG. 10, the stopper ST is configured to be between the label retainer LBH and the elastic portion SPR, and the fixed position of the fixed shaft J3 relative to the conveying path GD11 of the label guide GD is adjustable.

[0074] For example, when stopper STA is installed at the position of fixed axis J3A, the distance between the position where the label is locked by locking portion 23A and label supply position PS0 is L1A. When stopper STB is installed at the position of fixed axis J3B, the distance between the position where the label is locked by locking portion 23B and label supply position PS0 is L1B. When stopper STC is installed at the position of fixed axis J3C, the distance between the position where the label is locked by locking portion 23C and label supply position PS0 is L1C.

[0075] (Technology 1) a label supply unit RL1 that supplies a label LB attached to a mount MT to a label supply position PS0; a suction unit 12 that sucks the label LB attached to the mount MT at the label supply position PS0; a drive unit (robot arm ARM) that performs a peeling operation to move the suction unit 12 from the label suction position (label supply position PS0) in a direction along the label LB supply direction (i.e., peeling direction X); a roller (backing sheet roller RL3) that guides the backing sheet MT, to which the label LB is attached, in a direction different from the feeding direction and peels it off from the label LB; a mount recovery unit (mount winding unit RL4) that recovers the mount MT peeled off by the roller, The label supply unit RL1 supplies a new label LB to the supply position of the label LB by a power F2 based on the peeling operation, The roller (mounting sheet roller RL3) peels off the mounting sheet MT using a power F2 based on the peeling operation, The liner recovery unit (liner winding unit RL4) recovers the peeled liner MT by the power of the label supply unit RL1 generated when the new label is supplied. Label peeling device (label application device 100). As a result, in the label application device 100 of the present disclosure, the power F2 used to pull out (peel) the label LB in the peeling direction X by the suction unit 12 of the robot RB becomes the driving force for the label supply unit RL1, thereby realizing the pulling out (supply) of the liner MT and the label LB. Furthermore, the rotational force (driving force) of this label supply unit RL1 is transmitted to the liner take-up unit RL4, thereby enabling the liner MT to be collected after the label LB has been peeled off. In other words, the label application device 100 can drive the label supply unit RL1 and the liner take-up unit RL4 using the horizontal movement of the suction unit 12 as a power source. Furthermore, the label application device 100 can peel the liner MT from the label LB by guiding the liner MT of the label LB in a direction different from the peeling direction X of the label LB by the suction unit 12 of the robot RB, thereby utilizing the power F2 used when the suction unit 12 of the robot RB pulls out (peels) the label LB. Therefore, the label application device 100 of the present disclosure can supply the label LB, peel the label LB, wind (recover) the backing sheet MT from which the label LB has been peeled, and apply the peeled label LB using only the power F2 of the robot RB.

[0076] (Technology 2) The label supply unit RL1 has a first gear (gear GR1) that rotates based on the peeling operation, The liner recovery unit (liner winding unit RL4) has a second gear that meshes with the first gear (gear GR1) and rotates by the power transmitted by the first gear (gear GR1). The label peeling device (label sticking device 100) described in (Technology 1). As a result, the label application device 100 of the present disclosure can realize winding of the backing paper MT by using the gear GR1 provided in the label supply unit RL1 and the gear provided in the backing paper winding unit RL4 to transmit the power during the peeling operation of the label LB from the label supply unit RL1 to the backing paper winding unit RL4.

[0077] (Technology 3) the mount recovery unit (mount winding unit RL4) further includes a slip mechanism that causes the second gear to slip based on a load applied to recover the mount MT, The length of the label LB supplied by the label supply unit RL1, which rotates based on the power, is shorter than the length of the liner MT recovered by the liner recovery unit (liner winding unit RL4), which rotates based on the power. The label peeling device (label sticking device 100) described in (Technology 2). As a result, in the label application device 100 of the present disclosure, the length of the backing sheet MT wound up by the backing sheet winding section RL4 is longer than the length of the label LB supplied by the label supply section RL1, and when the load caused by winding up the backing sheet MT reaches a predetermined size, the slip mechanism spins freely, applying tension to the backing sheet MT or label LB between the locking section 23 and the backing sheet winding section RL4 and preventing sagging.

[0078] (Technology 4) a pressing portion 13 connected to the suction portion 12; a stopper ST disposed between the label supply unit RL1 and the label supply position PS0 to control the supply of the label LB; The stopper ST has one end 21 along the supply direction of the label LB, another end 22 in the opposite direction to the one end 21, and a locking portion 23 provided at the other end 22 to restrict the supply of the label LB in the supply direction of the label LB, and is supported by a support member (fixed shaft J3) provided between the one end 21 and the other end 22 so as to be able to perform a seesaw movement, When the one end 21 of the stopper ST is pressed down by the pressing portion 13, the stopper ST releases the restriction of the supply of the label LB by the locking portion 23. The label peeling device (label sticking device 100) according to any one of (Technology 1) to (Technology 3). As a result, the labeling device 100 of the present disclosure can control the state of engagement of the backing sheet MT and label LB by the engagement unit 23 through the downward movement of the suction unit 12 during label adsorption. In other words, the labeling device 100 can control the supply of the backing sheet MT and label LB (i.e., the supply state or the stopped state) using the pressing force F1 of the pressure unit 13, which is based on the movement of the suction unit 12 in the vertical direction Z, as a power source. Furthermore, the labeling device 100 can align the backing sheet MT and label LB by having the engagement unit 23 engage the end LB0 of the label LB (see Figures 8 and 9).

[0079] (Technology 5) The pressing portion 13 protrudes in the opposite direction to the feeding direction of the label LB, When the pressing of the one end 21 by the pressing portion 13 of the stopper ST is released, the locking portion 23 restricts the supply of the label LB. A label peeling device (label sticking device 100) according to (Technology 4). As a result, in the label application device 100 of the present disclosure, the pressing portion 13, which moves integrally with the suction portion 12, moves in the peeling direction X during the peeling operation of the label LB, so that the pressing portion 13 can release the pressing of the one end 21 by the pressing portion 13.

[0080] (Technology 6) The one end 21 is provided with an elastic portion SPR on a surface opposite to the surface pressed down by the pressing portion 13, The elastic portion SPR is compressed by being pressed by the pressing portion 13, and when the pressing by the pressing portion 13 is released, the elastic portion SPR biases the one end portion 21 in a direction opposite to the pressing direction by the pressing portion 13. A label peeling device (label sticking device 100) according to (Technology 4) or (Technology 5). As a result, in the label application device 100 of the present disclosure, when the pressing of the one end 21 by the pressing part 13 is released during the peeling operation of the label LB, the movement (supply) of the label LB can be restricted by the locking part 23 due to the elastic force of the elastic part SPR.

[0081] (Technology 7) The locking portion 23 locks onto the end LB0 of the label on the supply direction side, and restricts movement of the label in the supply direction. The label peeling device (label sticking device 100) according to any one of (Technology 4) to (Technology 6). As a result, the label application device 100 of the present disclosure can suppress the supply (movement) of the backing sheet MT and label LB along the supply direction of the label LB by using the locking portion 23 that is locked along the end LB0 of the label LB, and can also align the backing sheet MT and label LB.

[0082] Although various embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that those skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components of the various embodiments described above may be combined in any manner without departing from the spirit of the invention. [Industrial Applicability]

[0083] The present disclosure is useful as a label peeling device that performs operations from label supplying to label peeling using a single power unit. [Explanation of symbols]

[0084] 11 Suction nozzle 12 Adsorption part 13 Presser foot 13A Connection part 21,21A,21B,21C One end 22 Other end 23,23A,23B,23C Locking part 24 Fixed part 100 Labeling device ARM Robotic Arm GD Label Guide GD11 conveyor path GR1 Gear J3,J3A,J3B,J3C Fixed axis LB Label LB0 end MT mount OP1,OP2 opening P1 Robot control device PS0 Label supply position RB Robot RL1 Label supply unit RL2 Roller RL3 Backing Roller RL4 Mounting paper winding section RR Label Roll SPR elastic part ST, STA, STB, STC stopper TB Table X Peeling direction Z vertical direction

Claims

1. a label supply unit that supplies the label attached to the mount to a label supply position; a suction unit that sucks the label attached to the mount at the label supply position; a drive unit that executes a peeling operation to move the suction unit from the label suction position in a direction along the label supply direction; a roller that guides the backing sheet to which the label is attached in a direction different from the feeding direction and peels the backing sheet from the label; a backing paper recovery unit that recovers the backing paper peeled off by the roller, the label supply unit supplies a new label to the label supply position by power based on the peeling operation, the roller peels off the backing sheet using power based on the peeling operation; the backing paper recovery unit recovers the peeled backing paper by power of the label supply unit generated when the new label is supplied. Label peeling device.

2. the label supply unit has a first gear that rotates based on the peeling operation, the backing paper recovery unit has a second gear that meshes with the first gear and is rotated by the power transmitted by the first gear; The label peeling device according to claim 1 .

3. the backing paper recovery unit further includes a slip mechanism that causes the second gear to slip based on a load applied to recover the backing paper, a length of the labels supplied by the label supply unit that rotates based on the power is shorter than a length of the liner that is collected by the liner collection unit that rotates based on the power; The label peeling device according to claim 2 .

4. a pressing portion connected to the suction portion; a stopper disposed between the label supply unit and the label supply position to control the supply of the labels; The stopper has one end along the label supply direction, another end opposite to the one end, and a locking portion provided at the other end for restricting the supply of the labels in the label supply direction, and is supported by a support member provided between the one end and the other end so as to be able to perform a seesaw movement, When the one end of the stopper is pressed down by the pressing portion, the stopper releases the restriction on the supply of the label by the locking portion. The label peeling device according to claim 1 .

5. The pressing portion protrudes in a direction opposite to the label feeding direction, When the pressing of the one end by the pressing portion of the stopper is released, the locking portion restricts movement of the label. The label peeling device according to claim 4.

6. The one end portion has an elastic portion provided on a surface opposite to a surface pressed down by the pressing portion, the elastic portion is compressed by being pressed by the pressing portion, and when the pressing by the pressing portion is released, the elastic portion urges the one end portion in a direction opposite to the pressing direction by the pressing portion. The label peeling device according to claim 4.

7. The locking portion locks onto an end portion of the label on the supply direction side, thereby restricting the supply of the label in the supply direction. The label peeling device according to claim 4.

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