Label Affixing Device

Abstract

To provide a label sticking device which can stick a label at a correct position and a direction even with respect to an article being difficult to align, and which can be installed in a limited space.SOLUTION: A label sticking device 1 includes: an article conveyance part 11 for conveying an article; an imaging part 121 for imaging the article conveyed on the article conveyance part 11; and a label sticking part 14 which is provided on the side of the article conveyance part 11, and sticks a label to the article at an angle corresponding to a direction of the article imaged by the imaging part 121. The label sticking part 14 includes: an applicator 141 for holding and sticking a label; and an actuator 142 for moving the applicator 141. The actuator 142 moves the applicator 141 only in two directions, which are a vertical direction and a direction orthogonal to a conveyance direction of the article out of the horizontal direction.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a label affixing device for affixing a label to an article.

Background Art

[0002] Conventionally, in the process of conveying an article and affixing a label to the article, the robot arms shown in Patent Document 1 and Patent Document 2 have been used. In such a label affixing process, for articles that are difficult to align, such as frozen tilted products, the orientation of the articles has been adjusted manually in order to affix the label in the correct orientation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In this regard, with the robot arms as described in Patent Documents 1 and 2, the device becomes large-sized and cannot be installed in a limited space.

[0005] Therefore, an object of the present invention is to provide a label affixing device that can affix a label to an article that is difficult to align at an accurate position and orientation, and can also be installed in a limited space.

Means for Solving the Problems

[0006] To achieve the above object, a label affixing device according to the present invention includes an article conveying unit that conveys an article, an imaging unit that images the article conveyed by the article conveying unit, and a label affixing unit that is provided on a side of the article conveying unit and affixes a label to the article at an angle corresponding to the orientation of the article imaged by the imaging unit. The label affixing unit includes an applicator that holds and affixes the label, and an actuator that moves the applicator. The actuator moves the applicator only in two directions, namely, a vertical direction and a direction orthogonal to the conveyance direction of the article in a horizontal direction.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0008] ●Overview Hereinafter, the label attaching device 1 according to an embodiment of the present invention will be described with reference to the drawings. The label attaching device 1 shown in FIG. 1 is a device that issues a label for an article and attaches the label to the article. This label attaching device 1 is composed of an article conveying unit 11, an article detecting unit 12, a label issuing unit 13, a label attaching unit 14, and a display / operation unit 15.

[0009] In the present embodiment, the article to which the label is to be attached is not particularly limited, but it is preferably used for articles that are difficult to align or have a distorted shape, such as vacuum-packed products in which the shape of the contents is exposed on the outside as seen in frozen chilled products, products with deep-drawn packaging, and products packed in round containers.

[0010] The label attaching device 1 is configured as an integral device by a frame 16 assembled in a rack shape. The frame 16 includes a column frame portion 161 that stands vertically from the installation surface, a lower-end side connecting frame portion 162 that connects the lower ends of the respective column frame portions 161, and an upper-end side connecting frame portion 163 that connects the upper ends of the respective column frame portions 161.

[0011] A door-shaped panel 17 that can be opened and closed is fitted between the support frame part 161-2 and the support frame part 161-3. This panel 17 can prevent the conveyance of articles from being obstructed from the outside in the event of an accident, or prevent an operator from being involved in the operation of a device or mechanism for attaching a label. In this embodiment, the panel 17 is transparent, and the operation of the device can be visually recognized even when the panel 17 is closed. Also, during maintenance of the device, such as when replacing the label roll, the panel 17 can be opened for work.

[0012] As shown in FIG. 2, the upper end side connecting frame part 163-3 on the downstream side among the upper end side connecting frame parts 163 has a length in a direction orthogonal to the conveyance direction of the article, and a strip groove 163a-3 is provided in the length direction on its upper surface. Also, among the upper end side connecting frame parts 163, at substantially the middle positions of the pair of upper end side connecting frame parts 163-2 and 163-4 that have a length in the conveyance direction of the article, a pair of short protruding members 164 that have a length in a direction orthogonal to the conveyance direction of the article protrude inward. Also, on the upper surface side of this protruding member 164, strip grooves 164a-1 and 164a-2 similar to those provided on the upper surface of the upper end side connecting frame part 163-3 are provided in the length direction.

[0013] Between the upper end side connecting frame part 163-3 and the protruding member 164-1, and between the upper end side connecting frame part 163-3 and the protruding member 164-2, strip-shaped hanging frame parts 165-1 and 165-2 that have a length in the conveyance direction of the article are respectively spanned. On the lower surface sides at both ends in the length direction of the hanging frame 165, fitting parts that are slidably fitted into the strip groove 163a-3 of the upper end side connecting frame part 163-3 and the strip grooves 164a-1 and 164a-2 of the protruding members 164-1 and 164-2 are provided respectively. Thereby, the hanging frame 165 can move in a direction orthogonal to the conveyance direction of the article on the upper end side connecting frame part 163-3 and the protruding members 164-1 and 164-2.

[0014] Further, as shown in FIG. 3, inside the upper-end-side connection frame portions 163-2 and 163-4 having a length in the conveyance direction of the article, between the hanging frames 165-1 and 165-2 and the upper-end-side connection frame portions 163-2 and 163-4, a damper 181 such as a spring that elastically expands and contracts in a direction orthogonal to the conveyance direction of the article is interposed.

[0015] Between a pair of hanging frames 165-1 and 165-2 provided apart from each other, a pair of support frames 166-1 and 166-2 having a length in a direction orthogonal to the conveyance direction of the article are spanned. These support frames 166-1 and 166-2 support the actuator 142 that constitutes the label attaching portion 14 so as to suspend it from above. Further, the support frames 166-1 and 166-2 are connected to the hanging frames 165-1 and 165-2 via dampers 182 such as springs that elastically expand and contract in the vertical direction.

[0016] Thereby, in the step of operating the actuator 142 to attach a label to the article as described later, among the rocking transmitted to the apparatus by the operations of the arms 1424 and 1425 and the sliders 1422 and 1423 that move the applicator 141 or attach a label to the article, the horizontal rocking is absorbed by the damper 181, and the vertical rocking is absorbed by the damper 182.

[0017] ● Article conveyance unit 11 The article conveyance unit 11 conveys an article that is an object to which a label is to be attached. This article conveyance unit 11 rotates an endless belt by a predetermined drive source, and the upper surface of the endless belt constitutes an article conveyance surface 110 that conveys the article in one direction. In the present embodiment, as will be described later, the arms 1424 and 1425 that constitute the label attaching portion 14 operate only in a direction orthogonal to the conveyance direction of the article, that is, vertically and horizontally when viewed from the conveyance direction of the article, and do not move in the conveyance direction of the article. Therefore, it is not necessary to secure an operation area for the arms 1424 and 1425 in the conveyance direction of the article, and the length of the article conveyance surface 110 in the conveyance direction of the article can be configured to be short. In addition, an imaging unit 121, a label issuing unit 13, and a label attaching unit 14, which will be described later, are arranged within the entire length range of the article conveying unit 11, whereby the label attaching device 1 is configured to be compact.

[0018] An article detection unit 12 is provided above the article conveying surface 110 on the upstream side of the article conveying unit 11. On the side of the article conveying unit 11, a label issuing unit 13 and a label attaching unit 14 are provided in sequence along the downstream direction from the position where the article detection unit 12 is provided. In addition, a display / operation unit 15 is provided on the opposite side of the label issuing unit 13 across the article conveying surface 110.

[0019] Note that at the upstream end and the downstream end of the article conveying unit 11, other conveying units for conveying articles to the article conveying unit 11, or other conveying units for conveying the articles conveyed from the article conveying unit 11 to a mounting table or a sorting mechanism, etc. are appropriately connected.

[0020] ● Article detection unit 12 The article detection unit 12 shown in FIG. 4 detects articles on the article conveying surface 110 upstream of the article conveying unit 11. This article detection unit 12 is composed of an imaging unit 121 and an illumination unit 122.

[0021] The imaging unit 121 is realized by a vision sensor or the like. This imaging unit 121 is provided above the upstream portion of the article conveying surface 110, detects articles conveyed on the article conveying surface 110, captures the upper surfaces of the detected articles, generates captured images of the articles, and sets a coordinate system for the captured images.

[0022] Below the imaging unit 121 and above the article conveying surface 110, a plate-shaped mounting plate 123 having a circular through-hole 123a formed therein is provided. On the lower surface side of the mounting plate 123, an illumination unit 122 composed of an LED or the like is attached. The illumination unit 122 has an annular shape with a diameter larger than that of the through-hole 123a of the mounting plate 123, and illuminates the article conveying surface 110 from above. The imaging unit 121 is configured to be able to photograph the article conveyance surface 110 through the through-hole 123a of the mounting plate 123. As a result of the article conveyance surface 110 being illuminated from above by the illumination unit 122, the detection accuracy of the article by the imaging unit 121 can be improved, and the imaging image showing the upper surface of the article obtained by imaging can be made clear.

[0023] Note that regardless of this embodiment, the article detection unit 12 can also be configured only by the imaging unit 121. Further, the article detection unit 12 performs article detection and imaging, and can also be configured by separate devices such as a sensor for detecting an article and a camera for imaging the article.

[0024] ● Label issuing unit 13 The label issuing unit 13 shown in FIGS. 1 and 5 is provided between the article detection unit 12 and the label attaching unit 14 in the article conveyance direction. Further, the label issuing unit 13 is provided on the same side as the label attaching unit 14 with respect to the article conveyance direction, issues a label to be attached to the article, and supplies the issued label to the label attaching unit 14.

[0025] This label issuing unit 13 includes a roll holding unit 131 that holds a label roll, a label printing mechanism 132 that prints on the label paper fed out from the label roll and cuts it into single sheets, a label conveyance unit 133 that conveys the label toward the actuator 142, and the like. Note that the label printing mechanism 132 is further composed of a guide roller that feeds out the label paper from the label roll, a printing unit such as a printing head, a platen roller, a cutting unit such as a cutter that cuts the printed label paper to a predetermined length, and the like.

[0026] Note that the label issued in this embodiment is a label without a backing sheet having a printing surface on one side and an adhesive layer formed on the other side as an adhesive surface, and the label roll is formed by winding a long strip of label paper without a backing sheet in a roll shape. However, regardless of this embodiment, a label with a backing sheet can also be used by providing a means for peeling the backing sheet. Further, with an appropriate design, it is also possible to handle a cassette type in which the label roll is set in a predetermined cassette.

[0027] The label conveying unit 133 conveys the label with predetermined information printed thereon to the label affixing unit 14 side. As shown in FIG. 6, this label conveying unit 133 is constituted by a plurality of endless belts 1331 arranged in parallel at regular intervals in the width direction, and the upper surface side thereof constitutes a label conveying surface 1330. Each endless belt 1331 is a string-like belt having a circular cross-section, whereby the area of contact between the label fed out onto the label conveying surface 1330 and the endless belt 1331 can be reduced. As a result, the suction portion 1411 of the applicator 141 described later can adsorb and hold the label on the label conveying surface 1330 by pulling it away from the label conveying surface 1330 without requiring a strong suction force.

[0028] In the present embodiment, as shown in FIG. 5(a), the label printing mechanism 132 of the label issuing unit 13 is housed in the case 134, and a handle 135 is provided on the article conveying surface 110 side below the case 134. As shown in FIG. 5(b), when the handle 135 is pulled toward the article conveying surface 110 side, the label printing mechanism 132 together with the case 134 can be pulled out onto the article conveying surface 110. As a result of being able to pull out the label printing mechanism 132 together with the case 134 onto the article conveying surface 110 in this way, an operator standing on the side opposite to the label issuing unit 13 across the article conveying surface 110 can perform maintenance such as replacing the label roll without being forced into a cramped posture.

[0029] ● Label affixing unit 14 The label affixing unit 14 is provided on the side of the downstream portion of the article conveying unit 11, and affixes a label to the upper surface of the article at an angle corresponding to the orientation of the article imaged by the imaging unit 121. Here, the orientation of the article means the state of viewing the article conveying surface 110 from above, that is, the inclination of the article with respect to the conveying direction of the article in a plan view. Since the article is not always placed on the article conveying surface 110 so as to face directly in the conveying direction, by affixing the label to the upper surface of the article at an angle corresponding to the orientation of the article, the label is affixed to an appropriate position on the article. As shown in FIG. 6, this label affixing unit 14 is composed of an applicator 141 that holds a label and affixes the label to an article, and an actuator 142 that moves the applicator 141.

[0030] The applicator 141 adsorbs and holds the label issued by the label issuing unit 13 with the adsorption part 1411, and affixes the label to the article to which the label is to be affixed. This applicator 141 is composed of an adsorption part 1411 that adsorbs and holds the label sent out on the label conveyance surface 1330, a support part 1412 that rotatably supports the adsorption part 1411 from above, and a connection part 1413 that is connected to the arms 1424, 1425 and the swing suppression member 1426.

[0031] The adsorption part 1411 is provided with a label adsorption surface on the lower surface side. On the label adsorption surface, a suction force due to negative pressure is generated by the rotation of the suction fan, and thereby the label can be adsorbed to the label adsorption surface. The support part 1412 can rotate the adsorption part 1411 within a horizontal plane parallel to the label conveyance surface 1330 and the article conveyance surface 110. Thereby, the orientation of the label adsorbed and held on the label adsorption surface of the adsorption part 1411 can be adjusted to match the orientation of the article.

[0032] The actuator 142 is a so-called cylinder type actuator and is arranged on the side of the article conveyance unit 11. This actuator 142 is composed of a base 1421 formed by a pair of left and right cylinders 14211, 14212 and a connection part 14213 that connects the pair of cylinders 14211, 14212, a pair of sliders 1422, 1423 that move in the vertical direction along the cylinders 14211, 14212, and a pair of arms 1424, 1425 whose one ends are connected to the sliders 1422, 1423 and the other ends are connected to the applicator 141. This actuator 142 can move the applicator 141 only in two directions, the vertical direction and the direction orthogonal to the article conveyance direction among the horizontal directions, by appropriately controlling the sliders 1422, 1423 and the arms 1424, 1425.

[0033] The pair of left and right cylinders 14211 and 14212 that make up the base 1421 use a servo motor, a stepping motor, or the like as a driving unit to move the sliders 1422 and 1423 up and down, thereby moving the applicator 141 attached to the tips of the arms 1424 and 1425 to a predetermined position. Although its mechanism or structure is not particularly limited, for example, a ball screw shaft connected to the driving unit is provided within the internal operating area. A ball nut is screwed onto the ball screw shaft, and the sliders 1422 and 1423 are attached to the ball nut. When the driving unit is rotationally driven to rotate the ball screw shaft in a predetermined direction, the sliders 1422 and 1423 move up and down via the ball nut that moves accordingly.

[0034] The pair of sliders 1422 and 1423 are provided symmetrically with respect to the cylinder 14211 and 14212 when viewed from the conveyance direction of the article, and move up and down independently by the independently driven cylinders 14211 and 14212.

[0035] The arm 1424 is composed of a first arm portion 14241 extending outward from the slider 1422, and second arm portions 14242-1 and 14242-2 that branch into two from the tip of the first arm portion 14241 and extend inward. One end side of the first arm portion 14241 is rotatably connected to the slider 1422, and the other end side is connected to one end sides of the second arm portions 14242-1 and 14242-2. Further, the first arm portion 14241 and the second arm portions 14242-1 and 14242-2 are rotatably connected to each other, and an applicator 141 is connected to the tips of the second arm portions 14242-1 and 14242-2.

[0036] The arm 1425 is configured in the same manner as the arm 1424. That is, it is composed of a first arm portion 14251 extending outward from the slider 1423, and second arm portions 14252-1 and 14252-2 bifurcated from the tip of the first arm portion 14251 and extending inward. One end side of the first arm portion 14251 is rotatably connected to the slider 1423, and the other end side is connected to one end sides of the second arm portions 14252-1 and 14252-2. Also, the first arm portion 14241 and the second arm portions 14252-1 and 14252-2 are rotatably connected to each other, and an applicator 141 is connected to the tips of the second arm portions 14252-1 and 14252-2.

[0037] Among the second arm portions 14242 and 14252, the second arm portion 14242-1 and the second arm portion 14252-1, and the second arm portion 14242-2 and the second arm portion 14252-2 are respectively connected to the applicator 141 at the same location. Also, the base 1421 and the applicator 141 are also connected by a rod-shaped swing suppression member 1426 that connects the connection portion 1413 between the base 1421 and the applicator 141. The swing suppression member 1426 is connected to the applicator 141 at a location different from the location where the second arm portions 14242 and 14252 are connected. Thereby, the applicator 141 is supported at three points, and when moving the applicator 141 by a predetermined control or when stopping the moved applicator 141 at a predetermined position, the swing of the applicator 141 accompanying the operation can be suppressed. As a result, the label can be accurately attached to an appropriate position of the article, and malfunctions due to the swing of the applicator 141 can be prevented.

[0038] In the label attaching portion 14 having such a configuration, within the plane orthogonal to the conveyance direction of the article, the vertical movement (in the vertical direction) of the sliders 1422 and 1423 is converted into the horizontal movement (in the horizontal direction) of the applicator 141. As shown in Fig. 10(a), when the sliders 1422 and 1423 are at the same height, the arms 1424 and 1425 are in symmetric positions, and the applicator 141 comes right below the base 1421 to which the arms 1424 and 1425 are connected. Here, as shown in Fig. 10(b), when the position of the slider 1422 is made higher than that of the slider 1423, the tip of the arm 1425 protrudes toward the arm 1424 side, and the applicator 141 moves to the arm 1424 side on the right side in the figure, that is, the label conveyance unit 133 side. On the other hand, as shown in Fig. 10(d), when the position of the slider 1423 is made higher than that of the slider 1422, the tip of the arm 1424 protrudes toward the arm 1425 side, and the applicator 141 moves to the arm 1425 side on the left side in the figure, that is, the article conveyance unit 11 side.

[0039] By using the sliders 1422 and 1423 that move up and down independently of each other, it is possible to accommodate articles of various heights. Also, since a sufficient range of movement in the vertical direction can be obtained without lengthening the arms 1424 and 1425, the width of the label applicator 1 as viewed from the article conveyance direction (the depth when viewed from the front) can be made more compact compared to a device that does not use the sliders 1422 and 1423.

[0040] ● Display and operation unit 15 The display and operation unit 15 is a device for the operator to input and output information to and from the label applicator 1, and is realized by, for example, a touch panel display in which an information input means and an output means are integrated. The label applicator 1 receives print information to be printed on the label and information regarding the article through this display and operation unit 15, and outputs information detected by the article detection unit 12 and information related to the label attachment result.

[0041] Note that the display / operation unit 15 may be configured such that the information input means and the output means are separate. Also, in the present embodiment, it is provided in the vicinity of one support frame portion 161-2. Nevertheless, it may be provided at a position physically separated from mechanisms such as the article conveyance unit 11, the article detection unit 12, the label issuing unit 13, and the label attaching unit 14 via a wired or wireless communication line. Further, it may be configured by a general-purpose terminal such as a so-called personal computer.

[0042] ● Configuration of the control device FIG. 7 shows a functional configuration example of a control device that controls the label attaching device 1 according to the present embodiment. The control device includes a CPU (Central Processing Unit) 101 that executes a program to comprehensively control the operation of the label attaching device 1, information storage means such as a RAM (Random Access Memory) 102 and a ROM (Read Only Memory) 103, a display / operation unit 15, and an interface circuit 104. The control device is further connected to the article conveyance unit 11, the article detection unit 12, the label issuing unit 13, and the label attaching unit 14 via the interface circuit 104.

[0043] The label attaching device 1 constitutes at least functional blocks of a control unit, an article information storage unit, a label information storage unit, a setting information storage unit, and a calculation processing unit as software resources by information storage means such as the above-described CPU 101, RAM 102, and ROM 103.

[0044] The control unit controls the operations of the article conveyance unit 11, the article detection unit 12, the label issuing unit 13, and the label attaching unit 14.

[0045] The article information storage unit is a storage unit that stores article information regarding an article. The article information includes, for example, information such as the name, product number, price of the article, and symbol code obtained by encoding various types of information.

[0046] In addition, the article information storage unit stores, for each article, a reference image indicating a reference position when attaching a label to the article. The reference image is something that the article has, and is composed of things such as printed content or seals printed on the packaging of the article, which can be identified as an image by the imaging unit 121. FIG. 8 schematically shows an example of the article W, the reference image M, and the attachment position of the label. In this example, the seal attached to the article W constitutes the reference image M. Also, when looking at the reference image M from the front, an attachment area F for attaching the label R is set at a position on the right side thereof and inside by a certain length from the end of the article W. When the reference image M on the article W is identified by the article detection unit 12, the attachment position and orientation of the label R are determined by a calculation processing unit described later.

[0047] The label information storage unit is a storage unit that stores label information regarding the format of the label. The label information includes, for example, information such as the label length for determining the length to cut the label paper, the printing position on the label, the printing items, and the font of the characters to be printed.

[0048] The setting information storage unit is a storage unit that stores setting information that needs to be individually set for each article to which the label is to be attached. This setting information includes, for example, calibration information according to the height of the article. That is, depending on the height of the article on the article conveyance surface 110, there is a deviation in the camera coordinates per pixel by the imaging unit 121, and this deviation in the camera coordinates leads to a deviation in the attachment position of the label. In this regard, a correction coefficient according to the height of the article is held in the setting information storage unit as calibration information, and the imaging unit 121 corrects the camera coordinates with reference to this calibration information, thereby generating an accurate captured image of the article.

[0049] Based on the detection timing of the article by the article detection unit 12 and the captured image, the calculation processing unit calculates the timing for attaching the label to the article, the position and orientation for attaching the label on the article, and the position when attaching the label on the article conveyance surface 110. That is, the calculation processing unit calculates the time it takes for the article to reach the label attachment position from the detection point based on the distance from the detection position of the article by the article detection unit 12 to the label attachment position and the conveyance speed of the article by the article conveyance unit 11, and thereby determines the timing for attaching the label.

[0050] In addition, the calculation processing unit refers to the reference image for each article stored in the article information storage unit and the information related to the label attachment area, identifies the reference image in the captured image of the article, discriminates its orientation and position, and executes a process of determining the attachment position and orientation of the label on the surface of the article. Further, a process of calculating the position on the article conveyance surface 110 where the label is to be attached and the orientation of the suction unit 1411 according to the orientation of the label is executed. In the example shown in FIG. 8, the attachment area F on the right side of the reference image M in the drawing, which is preset as the position for attaching the label R, is specified from the position of the reference image M on the article W identified by the captured image of the article W. Further, after discriminating the orientation of the reference image M from the shape and the orientation of the characters of the reference image M, the orientation of the label R to be attached is determined according to the discriminated orientation of the reference image M.

[0051] ● Flow of processing by the label attaching device 1 With reference to FIGS. 9 and 10, the flow of processing by the label attaching device 1 will be described together with the operation of the label attaching unit 14. Note that at the start of a series of label attaching processes by the label attaching device 1, setting information including information related to the height of the article that is the object of label attachment and calibration information corresponding thereto is input.

[0052] When the label attaching device 1 starts the label attaching process, it shifts from the stopped state to the standby state. At this time, as shown in FIGS. 10(a) and 10(b), the label attaching unit 14 holds the pair of sliders 1422 and 1423 at the same height, and moves the applicator 141 from a state where it is not moved to either the article conveyance surface 110 or the label conveyance surface 1330 to the label conveyance surface 1330, and waits in this state, ready to receive a command for the label attaching operation (S101).

[0053] When the article detection unit 12 detects an article on the article conveyance surface 110 by the imaging unit 121 (S102), it generates a captured image of the detected article (S103). Note that in generating the captured image, the imaging unit 121 executes correction processing of the captured image according to the height of the article based on the setting information input in advance.

[0054] The calculation processing unit calculates the position and orientation where the label is to be attached on the article and further the label attachment position on the article conveyance surface 110 based on the reference image in the captured image (S104). Further, the calculation processing unit calculates the time from the detection position of the article to the position where the label is to be attached based on the distance from the detection position of the article to the position where the label is to be attached and the conveyance speed of the article by the article conveyance unit 11, and thereby determines the timing for attaching the label (S105).

[0055] On the other hand, after the article is detected by the article detection unit 12, simultaneously and in parallel with the generation of the captured image by the imaging unit 121 (S103) and the processing by the calculation processing unit (S104, S105), the label issuing unit 13 issues a label (S106).

[0056] As shown in FIG. 10(c), when the label is issued and sent out onto the label conveyance surface 1330, the label attachment unit 14 controls the actuator 142 accordingly to lower the applicator 141 near the label, and then the adsorption unit 1411 adsorbs and holds the label (S107). Furthermore, the label attachment unit 14 rotates the support portion 1412, thereby rotating the adsorption unit 1411 connected to the support portion 1412 to align the orientation of the adsorbed label with the orientation of the article (S108).

[0057] As shown in FIG. 10(d), the label attachment unit 14 moves the applicator 141 that has adsorbed and held the label by the adsorption unit 1411 to the label attachment position on the article conveyance surface 110 (S109). When the timing calculated by the calculation processing unit arrives (S110), the label attaching unit 14 lowers the applicator 141 and presses the label against the article on the article conveying surface 110 to attach the label to the article (S111). Thereby, when the label attaching process for one article is completed, the label attaching unit 14 moves the applicator 141 above the label conveying surface 1330 so as to wait for being able to execute the label attaching process for the next article.

[0058] According to the label attaching device 1 according to the present embodiment as described above, the position and orientation of the article on the article conveying surface 110 can be accurately detected, and the label can be attached at an accurate position and orientation even to an article that is difficult to align. In addition, since the operating ranges of the actuator 142 and the applicator 141 are limited to a two-dimensional range in the direction orthogonal to the conveying direction of the article, the label attaching device 1 becomes compact and can be installed even in a limited space.

[0059] In the above present embodiment, a correction coefficient corresponding to the height of the article is held in the setting information storage unit as calibration information, and the imaging unit 121 refers to this calibration information to correct the camera coordinates, thereby generating an accurate captured image of the article. On the other hand, in another embodiment, a drive mechanism for moving the imaging unit 121 may be provided, and based on the information related to the height of the article, the position of the imaging unit 121 in the vertical direction may be moved by a predetermined control unit. Further, a mechanism that allows the imaging unit 121 to be manually moved may be provided, and based on the information related to the height of the article, an operator may be allowed to move the imaging unit 121 to a predetermined position in the vertical direction. Also by this, regardless of the height of the article, generation of an accurate captured image of the article and setting of an accurate coordinate system based on the captured image become possible. As shown in FIGS. 1 and 4, since the mounting plate 123 is formed with a through hole 123a, the imaging unit 121 can be moved in the vertical direction through the through hole 123a. ●Summary of the Embodiment

[0060] The present invention relates to a label affixing device for affixing a label to an article.

[0061] Conventionally, in the process of conveying an article and affixing a label to the article, the robot arms shown in Patent Document 1 (Japanese Patent Application Laid-Open No. 2019-204858) and Patent Document 2 (Japanese Patent Application Laid-Open No. 2021-500244) have been used. In such a label affixing process, for articles that are difficult to align, such as frozen tilted products, the orientation of the articles was adjusted manually in order to affix the labels in the correct orientation.

[0062] In this regard, with the robot arms as described in Patent Documents 1 and 2, the device has become large-sized and cannot be installed in a limited space.

[0063] Therefore, an object of the present invention is to provide a label affixing device that can affix a label to an article that is difficult to align at an accurate position and orientation, and can also be installed in a limited space.

[0064] To achieve the above object, the label affixing device according to the present invention includes an article conveying unit that conveys an article, an imaging unit that images the article conveyed by the article conveying unit, and a label affixing unit that is provided on a side of the article conveying unit and affixes a label to an upper surface of the article at an angle corresponding to the orientation of the article imaged by the imaging unit. The label affixing unit has an applicator that holds and affixes the label, and an actuator that moves the applicator. The actuator moves the applicator only in two directions, namely, a vertical direction and a direction orthogonal to the conveying direction of the article in a horizontal direction.

[0065] The actuator may have a pair of sliders provided symmetrically with respect to the left and right when viewed from the conveying direction of the article, and a pair of arms having one end connected to the slider and the other end connected to the applicator, and may be arranged on a side of the article conveying unit.

[0066] The arm may be configured to convert the vertical movement of the slider into the lateral movement of the applicator.

[0067] The label issuing unit provided on the same side as the label attaching unit with respect to the conveying direction of the article conveying unit, the imaging unit is provided above the upstream portion of the article conveying unit, the label attaching unit is provided on the side of the downstream portion of the article conveying unit, the label issuing unit is provided between the imaging unit and the label attaching unit in the conveying direction of the article conveying unit, and the imaging unit, the label issuing unit, and the label attaching unit may be arranged within the entire length range of the article conveying unit.

[0068] The apparatus may further include a control unit configured to move the position of the imaging unit in the vertical direction based on information preset for the article conveyed by the article conveying unit.

[0069] The label attaching unit may be configured to attach a label to the article according to the attaching position and orientation of the label determined based on a reference image included in the article.

[0070] According to the label attaching apparatus according to the present embodiment, the position and orientation of an article on an article conveying surface can be accurately detected, and a label can be attached to an article that is difficult to align with an accurate position and orientation. In addition, since the operating ranges of the actuator and the applicator are limited to a two-dimensional range in a direction orthogonal to the conveying direction of the article, the label attaching apparatus can be made compact and installed in a limited space.

Description of Reference Numerals

[0071] 1: Label attaching apparatus 11: Article conveying unit 110: Article conveying surface 12: Article detection unit 121: Imaging unit 122: Lighting unit 13: Label issuing unit 131: Roll holding unit 132: Label printing mechanism 133: Label conveying unit 1330: Label conveying surface 14: Label affixing unit 141: Applicator 1411: Suction part 1412: Support part 1413: Connecting part 142: Actuator 1421: Base 14211, 14212: Cylinder 1422, 1423: Slider 1424, 1425: Arm 1426: Oscillation suppression member 15: Operation unit 16: Frame 181, 182: Damper

Claims

1. an article conveying unit for conveying an article; an imaging unit for imaging the article conveyed by the article conveying unit; a label attaching unit provided on a side of the article conveying unit and configured to attach a label to the article at an angle corresponding to an orientation of the article imaged by the imaging unit; the label attaching unit includes: an applicator for holding and attaching the label; an actuator for moving the applicator; the actuator includes: a pair of sliders provided symmetrically with respect to left and right when viewed from a conveyance direction of the article; a pair of arms having one end connected to the slider and the other end connected to the applicator; is arranged on a side of the article conveying unit; moves the applicator only in two directions, namely, a vertical direction and a direction orthogonal to the conveyance direction of the article in a horizontal direction; A label attaching device characterized by the above.

2. The arm converts vertical movement of the slider into horizontal movement of the applicator. The label attaching device according to claim 1.

Images