Label peeling device

Abstract

A label peeling device includes: a label supply part for supplying a label; a suction part for sucking the label at a label supply position; a drive part for executing a peeling operation for moving the suction part in a direction along a supply direction of the label from a suction position of the label; a roller for peeling a mount from the label; and a mount recovery part for recovering the mount. The label supply part supplies a new label by power based on the peeling operation, the roller executes peeling of the mount by power based on the peeling operation, and the mount recovery part recovers the mount by power of the label supply part generated when supplying the new label.

Description

Label Peeling Device

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

[0002] Patent Document 1 discloses a tape applying device configured to automatically apply tape having an adhesive surface to a predetermined position on a workpiece. The tape applying device includes a tape take-out head that takes out and holds the tape on its head surface with the adhesive side facing out, 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 of the position deviation detection means.

[0003] Japanese Patent Application Publication No. 2008-285285

[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.

[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.

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

[0007] FIG. 1 is a diagram showing an example of the overall configuration of a label pasting device according to an embodiment; FIG. 2 is an enlarged perspective view of a label guide, a label holder, and a stopper; FIG. 3 is a diagram showing an example of the internal configuration of a label pasting system according to an embodiment; FIG. 4 is an example of an operation transition of a label pasting device according to an embodiment; FIG. 5 is an example of an operation transition of a label pasting device according to an embodiment; FIG. 6 is an example of an operation transition of a label pasting device according to an embodiment;

[0008] (Background to the present disclosure) Conventionally, there have been tape application devices that peel and apply labels. However, conventional tape application devices are very expensive because they include a device for removing and feeding the tape (a tape removal and feeding mechanism) and a camera used to inspect for tape misalignment. Furthermore, conventional tape application devices require synchronization between the operation of the robot unit that applies the tape and the operation of the mechanism that removes and feeds the tape.

[0009] Therefore, in this disclosure, a label peeling device that performs operations from label supplying to label peeling using a single 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 Figures 1 and 2. Figure 1 is a diagram showing an example of the overall configuration of the label application device 100 according to an embodiment. Figure 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 applying labels LB (e.g., supplying, peeling, transporting, and applying labels LB), and a robot control device P1 that controls a robot RB. Note that the robot control device P1 is not shown in Figure 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 adsorbing, transporting, and applying labels LB using the suction unit 12 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 labels LB adsorbed by the suction unit 12 to label application positions on objects (e.g., boxes moving in a conveyor lane, products, etc.) present within the range of motion of the robot RB using known technology or methods. Therefore, in this disclosure, illustrations and descriptions of the label LB application operation performed 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 pressing 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 to realize the functions of the robot RB. The robot arm ARM has a suction nozzle 11, a suction unit 12, and a presser unit 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 unit 12 is formed of an elastic material such as rubber. The interior of the suction unit 12 is connected to a vacuum pump (not shown) via a suction nozzle 11. The suction unit 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 unit 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 (not shown). The suction unit 12 is placed in contact with the surface of the label LB and sucks the label LB onto the surface of the backing sheet MT. After the label LB is transported to the label attachment position (not shown), the vacuum is released with the label LB attached to the label attachment position (not shown), thereby releasing the suction state between the label LB and the suction unit 12.

[0020] The holding unit 13 is attached by connecting a connecting portion 13A having a structure such as a nut between the suction nozzle 11 and the suction unit 12. By attaching the connecting portion 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 on each of the ends 21A, 21B, and 21C of the stopper ST as the suction portion 12 descends toward the label supply position PS0, as shown in FIG. 10, for example.

[0022] Here, the peeling direction X of the label LB is substantially the same as the feeding direction of the label LB, and therefore, 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 pick up the label LB, the pressing portion 13 presses the end 21 of the stopper ST from above, compressing the elastic portion SPR. When the robot arm ARM is moved along the peeling direction of the label LB when the label LB is peeled, the pressing portion 13 moves along the peeling direction of the label LB and leaves the end 21 of the stopper ST. When the pressing portion 13 leaves the end 21, the compressed state of the elastic portion SPR is released and the elastic force returns to its original position.

[0024] The label supply unit RL1 holds a label roll RR, which is formed by attaching a plurality of labels LB to a liner MT at predetermined intervals. The label supply unit RL1 includes a gear GR1 that rotates in mesh with a gear (not shown) provided on the liner take-up unit RL4, which will be described later. The label supply unit RL1 rotates in a rotation direction R1 about a rotation axis J1 as the robot RB peels the labels LB, and the liner MT with the attached labels LB is pulled 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. The roller RL2 also 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 axis 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 also integrally formed from a material such as resin. The one end 21 and the other end 22 are supported around the fixed axis J3 so as to be able to perform seesaw motion 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 labels 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, that is located in the direction in which the label LB is fed. 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 biased in different directions Q1 and Q2 by the pressing force F1 from the presser 13 or the elastic force from the elastic portion SPR, respectively, and performs seesaw motion around the fixed axis J3. Specifically, the one end 21 is placed on the elastic portion SPR installed on the label guide GD and is biased in the opposite direction to the pressing direction of the presser 13 by the elastic force of the elastic portion SPR. Furthermore, when the one end 21 is pressed down by the presser 13 due to the suction portion 12 descending, the pressing force F1 from the presser 13 compresses the elastic portion SPR and rotates in the direction Q1.

[0030] The other end 22 is the end of the generally cross-shaped stopper ST that faces the label LB feed direction, and has a generally L-shaped locking portion 23 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 integrally formed one end 21 (i.e., the pressing force F1 from the presser 13 or the elastic force from the elastic portion SPR). Specifically, when the one end 21 is biased in the direction opposite the pressing direction of 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 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 backing sheet 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 surface 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 surface 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 with one end 21 and the other end 22 capable of seesaw motion with the fixed axis J3 as the fulcrum.

[0033] The label guide GD is connected to the label holder LBH and guides the liner MT and label LB sent 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 liner MT or label LB inside 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. In the present disclosure, the opening OP2 is shown as having a semicircular or semi-elliptical shape to match the circular suction surface of the suction unit 12 of the robot RB, 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 force F2 that pulls the label LB by the robot RB in the peeling direction X 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. The liner roller RL3 also uses the attractive force that causes the liner take-up unit RL4 to collect the label LB, and sends the liner MT, from which the label LB has been peeled, toward the liner take-up unit RL4.

[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 label LB peeling operation by the robot RB, 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, thereby 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 of the liner take-up unit RL4 is greater than the amount of rotation of the gear GR1 of the label supply unit RL1 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 take-up unit RL4 also includes a slip mechanism. When the load applied during take-up of the liner MT reaches a predetermined value or greater, the gear ratio described above causes the slip mechanism to rotate freely, thereby enabling the liner MT to be taken up while maintaining the tension on the liner MT or label LB between the label presser LBH and the liner take-up unit RL4.

[0040] The mount winding unit RL4, which is the mount MT recovery structure 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 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 of the label roll RR to which the first label LB supplied to the label supply position PS0 is affixed, and pulls the backing sheet MT in the direction of gravity. The weight of the weight pulls the backing sheet MT in the direction of gravity, applying tension to it. Therefore, tension based on the weight of 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 that bending does not occur.

[0042] Next, a label application apparatus 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 apparatus 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 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 label application device 100 from the adsorption operation to the peeling operation of the label LB will be described. The following description will also explain the adsorption operation and peeling operation of the label application device 100 using a partially enlarged view of a portion of the label application 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 according to the embodiment. Fig. 5 is a diagram showing an operation transition example 2 of the label application apparatus 100 according to the embodiment.

[0052] 4, the robot RB positions the center position of the suction unit 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 to lift up the one end 21, and the locking portion 23 is hooked onto the end of the label LB on the conveying path GD11 in the supply direction, thereby restricting movement of the label LB in the supply direction. In addition, the stopper ST aligns the backing sheet MT and the label LB by hooking the locking portion 23 of the label LB onto the end of the label LB.

[0054] 5, the robot RB lowers the suction unit 12 shown in FIG. 4 in the vertical direction Z (see FIG. 4) toward the label LB at the label supply position PS0 and contacts the label LB exposed through the opening OP2. After the suction unit 12 has completed lowering, 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 a fixed axis J3 (fulcrum), and the locking portion 23 attached to the other end 22 rises from above the backing sheet MT, i.e., 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 due to the peeling operation by the robot RB, and begins to pull out the liner MT and the 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 according to the embodiment. Fig. 7 is a diagram showing an operation transition example 4 of the labeling apparatus 100 according to the embodiment. Fig. 8 is a diagram showing an operation transition example 5 of the labeling apparatus 100 according to the embodiment. Fig. 9 is a diagram showing an operation transition example 6 of the labeling apparatus 100 according to the embodiment.

[0058] 6, the label application device 100 moves the suction unit 12 of the robot RB horizontally in the direction along 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 label application device 100 in Figure 7 shows a state in which the suction unit 12 of the robot RB has been further moved horizontally from the suction position of the label LB shown in Figure 6 along the peeling direction X of the label LB 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 is peeled off from the label LB by being folded back by the liner roller RL3 while moving in the peeling direction X of 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 backing sheet 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 backing sheet MT exposed from the gap between the labels LB.

[0063] The label supply unit RL1 is driven by the horizontal force 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 labels LB of 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 label application device 100 in Figure 8 shows a state in which the suction unit 12 of the robot RB has been further moved horizontally from the suction position of the label LB shown in Figure 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 locking unit 23 of the stopper ST moves from the label LB onto the backing sheet MT and catches on the end LB0 of the next label LB. 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 pull-out of the liner MT and label LB when the stopper ST catches on the end LB0 of the label LB. Meanwhile, even when the pull-out 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, and the length of the liner MT taken up by the liner take-up unit RL4 becomes longer than the length of the label LB supplied by the label supply unit RL1. Therefore, the liner take-up unit RL4 continues to rotate in the rotational direction R4 even after the label supply unit RL1 has stopped, continuing to take up the liner MT, and when the load caused by taking up the liner MT reaches a predetermined size, the slip mechanism begins to spin freely. As a result, the liner take-up unit RL4 maintains the tension applied to the liner MT and the label LB from the position where the locking unit 23 locks the liner MT and the 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 (supplying) 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] Furthermore, 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 pulling out (peeling off) the label LB by the suction unit 12 of the robot RB to peel off the backing sheet MT from the label LB.

[0070] The labeling device 100 can also control the state of engagement of the backing sheet MT and label LB by the locking unit 23 by the downward movement of the suction unit 12 during label adsorption. That is, 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. The labeling device 100 can also align the backing sheet MT and label LB by having the locking unit 23 lock onto 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 off the label LB, wind up (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 supplies a label LB affixed to a liner MT to a label supply position PS0; an adsorption unit 12 adsorbs the label LB affixed to the liner MT at the label supply position PS0; a drive unit (robot arm ARM) that executes a peeling operation to move the adsorption unit 12 from the label adsorption position (label supply position PS0) in a direction along the supply direction of the label LB (i.e., peeling direction X); a roller (liner roller RL3) that guides the liner MT to which the label LB has been affixed in a direction different from the direction along the supply direction and peels it off from the label LB; and a liner recovery unit (liner winding unit RL4) that recovers the liner MT peeled off by the roller; and the label supply unit RL1 supplies a new label LB to the supply position of the label LB by power F2 based on the peeling operation, The roller (backing roller RL3) peels the liner MT using power F2 based on the peeling operation, and the liner recovery unit (liner take-up unit RL4) recovers the peeled liner MT using power from the label supply unit RL1 generated when the new label is supplied. This label peeling device (label application device 100) uses the power F2 used by the suction unit 12 of the robot RB to pull (peel) the label LB in the peeling direction X as a driving force for the label supply unit RL1 to pull (supply) the liner MT and the label LB. Furthermore, the rotational force (driving force) of the label supply unit RL1 is transmitted to the liner take-up unit RL4, allowing the liner MT to be recovered after the label LB has been peeled. 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 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 force F2 when the suction unit 12 of the robot RB pulls out (peels off) the label LB, thereby peeling off the backing sheet MT from the label LB.Therefore, the label application device 100 of the present disclosure can supply the label LB, peel off the label LB, wind up (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 peeling device (label application device 100) according to (Technology 1), wherein the label supplying unit RL1 has a first gear (gear GR1) that rotates based on the peeling operation, and the liner recovery unit (liner rewinding 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). As a result, the label application device 100 according to the present disclosure can realize the winding of the liner MT by transmitting the power during the peeling operation of the label LB from the label supplying unit RL1 to the liner rewinding unit RL4 using the gear GR1 provided in the label supplying unit RL1 and the gear provided in the liner rewinding unit RL4.

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

[0078] (Technology 4) The label peeling device (label application device 100) according to any one of (Technology 1) to (Technology 3) further comprises: a presser section 13 connected to the suction section 12; and a stopper ST arranged between the label supply section RL1 and the label supply position PS0 to control the supply of the label LB, wherein the stopper ST has one end 21 along the supply direction of the label LB, another end 22 opposite to the one end 21, and a locking section 23 provided at the other end 22 to regulate the supply of the label LB in the supply direction of the label LB, and the stopper ST 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, and when the one end 21 is pressed down by the presser section 13, the stopper ST releases the regulation of the supply of the label LB by the locking section 23. As a result, the labeling device 100 of the present disclosure can control the state of engagement of the backing sheet MT and the label LB by the locking unit 23 by the lowering operation 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 the label LB (i.e., the supply state or the stopped state) using the pressing force F1 of the presser unit 13, which is based on the operation 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 the label LB by the locking unit 23 engaging the end LB0 of the label LB (see FIGS. 8 and 9 ).

[0079] (Technology 5) A label peeling device (label application device 100) according to (Technology 4), wherein the pressure portion 13 protrudes in a direction opposite to the supply direction of the label LB, and the stopper ST has the locking portion 23 restrict the supply of the label LB when the pressure on the one end 21 by the pressure portion 13 is released. As a result, in the label application device 100 of the present disclosure, the pressure portion 13, which moves integrally with the suction portion 12, moves in the peeling direction X during the peeling operation of the label LB, thereby being able to release the pressure on the one end 21 by the pressure portion 13.

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

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

[0083] This application is based on a Japanese patent application (Patent Application No. 2024-149021) filed on August 30, 2024, the contents of which are incorporated herein by reference.

[0084] The present disclosure is useful as a label peeling device that realizes operations from label supplying to label peeling with a single power unit.

[0085] 11 Suction nozzle 12 Suction section 13 Pressing section 13A Connecting section 21, 21A, 21B, 21C One end 22 Other end 23, 23A, 23B, 23C Locking section 24 Fixed section 100 Label application device ARM Robot arm GD Label guide GD11 Conveying path GR1 Gear J3, J3A, J3B, J3C Fixed shaft LB Label LB0 End MT Backing paper OP1, OP2 Opening P1 Robot control device PS0 Label supply position RB Robot RL1 Label supply section RL2 Roller RL3 Backing paper roller RL4 Backing paper take-up section RR Label roll SPR Elastic section ST, STA, STB, STC Stopper TB Table X Peeling direction Z vertical direction

Claims

1. A label peeling device comprising: a label supply unit that supplies a label attached to a liner to a label supply position; an adsorption unit that adsorbs the label attached to the liner 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 guides the liner to which the label is attached in a direction different from the supply direction to peel it off from the label; and a liner recovery unit that recovers the liner peeled off 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 off the liner using power based on the peeling operation, and the liner recovery unit recovers the peeled liner using power from the label supply unit that is generated when the new label is supplied.

2. A label peeling device as described in claim 1, wherein the label supply unit has a first gear that rotates based on the peeling operation, and the backing paper recovery unit has a second gear that meshes with the first gear and rotates by the power transmitted by the first gear.

3. The label peeling device of claim 2, wherein the liner recovery unit further has a slip mechanism that slips the second gear based on the load applied to recover the liner, and the length of the label supplied by the label supply unit that rotates based on the power is shorter than the length of the liner recovered by the liner recovery unit that rotates based on the power.

4. A label peeling device as described in claim 1, further comprising: a pressure section connected to the suction section; and a stopper arranged between the label supply section and the label supply position to control the supply of the labels, wherein the stopper has one end along the label supply direction, another end opposite to the one end, and a locking section provided at the other end to regulate the supply of the labels in the label supply direction, the locking section being supported by a support member provided between the one end and the other end so as to be able to perform a seesaw movement, and wherein the stopper releases the regulation of the label supply by the locking section when the one end is pressed down by the pressure section.

5. A label peeling device as described in claim 4, wherein the pressing portion protrudes in a direction opposite to the label feeding direction, and the stopper has an engaging portion that restricts movement of the label when the pressing of the one end by the pressing portion is released.

6. A label peeling device as described in claim 4, wherein the one end has an elastic portion on the surface opposite to the surface pressed down by the pressing portion, the elastic portion being compressed by the pressing portion, and when the pressing down by the pressing portion is released, urging the one end in the direction opposite to the pressing direction by the pressing portion.

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

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