Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
  • B65C9/00—Details of labelling machines or apparatus
  • B65C9/40—Controls; Safety devices
  • B65C9/42—Label feed control
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T156/00—Adhesive bonding and miscellaneous chemical manufacture
  • Y10T156/10—Methods of surface bonding and/or assembly therefor
  • Y10T156/1052—Methods of surface bonding and/or assembly therefor with cutting, punching, tearing or severing
  • Y10T156/1082—Partial cutting bonded sandwich [e.g., grooving or incising]
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T156/00—Adhesive bonding and miscellaneous chemical manufacture
  • Y10T156/10—Methods of surface bonding and/or assembly therefor
  • Y10T156/1052—Methods of surface bonding and/or assembly therefor with cutting, punching, tearing or severing
  • Y10T156/1084—Methods of surface bonding and/or assembly therefor with cutting, punching, tearing or severing of continuous or running length bonded web
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T156/00—Adhesive bonding and miscellaneous chemical manufacture
  • Y10T156/17—Surface bonding means and/or assemblymeans with work feeding or handling means
  • Y10T156/1702—For plural parts or plural areas of single part
  • Y10T156/1744—Means bringing discrete articles into assembled relationship
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T156/00—Adhesive bonding and miscellaneous chemical manufacture
  • Y10T156/17—Surface bonding means and/or assemblymeans with work feeding or handling means
  • Y10T156/1702—For plural parts or plural areas of single part
  • Y10T156/1744—Means bringing discrete articles into assembled relationship
  • Y10T156/1768—Means simultaneously conveying plural articles from a single source and serially presenting them to an assembly station

Definitions

• the invention relates to a method and a device for labeling.
• a label sensor is used which is mounted at a specific location on a labeling device, preferably very close to the location where the labels are dispensed. This position is determined empirically by the machine's adjuster. If a label comes to this sensor, it generates an impulse which is then used to switch off the drive.
• this object is achieved by the subject matter of patent claim 1.
• a predetermined position of the label tape e.g. on a label edge, the target position at which the movement is to be completed, redefined while the motor is running. This happens e.g. by entering a defined distance-to-go, also called overtravel, as the target position in the controller.
• This distance to go is usually defined by the user, e.g. 13 mm from a certain physical characteristic of a label or carrier tape, for example from an edge, a hole, a marking, etc.
• the label tape then moves 13 mm after passing through the predetermined position and remains after this 13 mm, and this distance from 13 mm, label after label is kept unchanged.
• the object is achieved by the subject matter of claim 10.
• Such an arrangement enables - by the exact specification of the distance to go - a very precise labeling even if the fluctuations in production, change in air humidity, etc. Label division varies somewhat.
• the exact adherence to a remaining path during labeling has the following advantages in particular: a) The accuracy of the movement sequence is decisively increased. b) The reproducibility of the movement is very good. c) So-called division errors of the label tape only play a subordinate role, since they can be largely suppressed by suitable selection of the specified measuring point. d) The position of a label at the end of a movement process can be set very easily by changing the distance to go. e) A labeling device, a label printer or the like can in many cases be set to a different label format without having to change the position of the label sensor used. f) Labels missing on the label tape can be "skipped", ie the machine continues to run despite the missing information and is not switched off by the error.
• this object is achieved by the subject matter of claim 22.
• Such a method enables very fast and precise labeling, changes in the labeling speed being possible without changing the precision of the labeling.
• a corresponding arrangement is the subject of claim 32.
• the shape of the movement profile is automatically adapted when the labeling speed is changed, and consequently precise labeling is always obtained, regardless of whether this takes place slowly or quickly.
• a very compact and powerful labeling device is obtained according to a further aspect of the invention by the subject matter of claim 57. In many cases, this saves additional control cabinets etc. and consequently has low costs for assembly and, if necessary, changes to a labeling device. In addition, cleaning is made easier and compliance with higher electrical protection classes is possible without increased expenditure, which makes it possible to use such labeling devices in refineries and other potentially explosive facilities.
• Such a drive and a method according to the invention can also be used for other purposes, e.g. For the fast and precise drive of turntables for filling drinks or for labeling bottles.
• 1 is a plan view of a conventional label tape
• FIG. 2 is a side view of the label tape of FIG. 1, seen in the direction of arrow II of FIG. 1,
• FIG. 3 shows a labeling device according to a preferred embodiment of the invention, which is connected to a dispensing or detaching edge to form a functional unit
• 4 is an overview circuit diagram of a labeling device according to the invention
• FIG. 5 shows a schematic representation of a labeling device in the state before the start of a labeling process
• FIG. 6 is an illustration of the labeling device according to FIG. 5 in the course of a labeling process and at the point at which a remaining distance is entered into the position controller,
• FIG. 7 is an illustration of the labeling device of FIGS. 5 and 6 after the labeling process has been completed
• FIG. 8 shows a schematic representation of the processes involved in dispensing a label from a label strip, which is shown in FIG. 8 below,
• FIG. 9 is a representation analogous to FIG. 8, which shows the area calculation using a simple example
• FIG. 10 shows a representation analogous to FIG. 9, but for a higher labeling speed with the same label tape as in FIG. 9,
• FIG. 11 shows a representation analogous to FIGS. 9 and 10, but for a low labeling speed, likewise with the same label tape as in FIGS. 9 and 10,
• FIG. 15 shows a representation analogous to FIG. 13, in which the individual components of the controller 218 are graphically highlighted in order to facilitate understanding,
• FIG. 16 shows a representation analogous to FIG. 3, but with a printer 280 arranged on the table 42, with which the labels 26 are printed before they are dispensed at the dispensing edge 30,
• 17 is a sectional view taken along the line XVII-XVII of FIG. 3, 18 is a view seen in the direction of arrow XVIII of FIG. 17,
• 20 is a diagram for explaining the function of a preferred embodiment of the position controller used.
• Fig. 1 shows a top view of a label tape 20
• Fig. 2 shows this tape in side view.
• the dimensions in the height direction are shown extremely exaggerated to enable a better understanding of the invention.
• the label tape 20 has in Fig. 2 below a carrier tape 22, usually made of paper, which is provided on its upper side in Fig. 2 with a adhesive layer 24, usually made of silicone.
• Self-adhesive labels 26 are glued to the layer 24 by means of a pressure-sensitive adhesive layer 25.
• These have a label length EL, which can be between a few millimeters and hundreds of millimeters. It is obvious that labeling performance can be higher with short labels than with long labels.
• the direction of movement of the label band 20 is designated 29, and the front label edges in the direction of movement are 27. Since the label band 20 and the carrier tape 22 - apart from the presence or absence of labels 26 - are identical, the expression "the band 20 / 22 "used.
• the detached label can also be applied directly to an object P to be labeled (FIG. 3), as is known to the person skilled in the art.
• FIG. 3 shows a preferred embodiment of a labeling device 40 according to the invention.
• This has a table 42 with the dispensing edge 30.
• the dispensing edge 30 can also be movable if necessary, cf. European patent 0.248.375 HERMA GmbH.
• the label tape 20 is drawn over this table 42 in the manner shown to the dispensing edge 30 and deflected there.
• the foremost label 26 is detached from the carrier tape 22 in each working cycle and, for example, taken over by a suction plate (not shown) or dispensed directly in the so-called bypass to an object P passing by, which is to be labeled.
• the suction plate is used to transfer the sucked label to a fixed object, e.g. a can, a cardboard box, or the like.
• a label sensor 44 On the table 42 there is a label sensor 44, the function of which is when, for example, during the movement of the label tape 20 a leading edge 27 (FIG. 2) of a label 26 runs past the sensor 44 to generate a signal which triggers an interrupt, the function of which is described below in FIG. 12.
• This can be any suitable sensor, e.g. an optical sensor, or an electrically or mechanically operating sensor, as is known to the person skilled in the art.
• a labeling unit 46 is attached to the table 42.
• the labeling unit 46 can be connected directly to the network via a power cable 48 and does not require any further control cabinets or the like, which greatly simplifies installation and use.
• a supply roll 52 with label tape 20 is rotatably articulated on the device 46 via a support arm 50 indicated by dashed lines.
• the latter is guided by the supply roller 52 via a deflection roller 54 and a pendulum arm 56.
• the latter has a guide surface 58 with a low curvature, and it has the function of absorbing shocks in the label tape 20, which are unavoidable because of the high achievable tape speeds of over 100 m / min.
• shocks, and the elastic properties of the carrier tape 22 complicate control processes because they are transient phenomena.
• the unwinding roll 52 can also be driven by an electric motor (not shown), the speed of which is controlled by the position of the pendulum arm 56. This simplifies the regulation.
• a loop can also be provided between the supply roll 52 and a tape brake 60, where the label tape, for example by means of a Vacuum, and by means of an optical loop query, is kept at a predetermined length so that it is fed to the band brake 60 with a constant tension.
• This solution is particularly suitable for belt speeds that are greater than 80 m / min.
• Corresponding "loop pre-rollers" are offered by HERMA GmbH.
• the label tape 20 runs from the pendulum arm 56, 58 to a tape brake 60, the function of which is to maintain the tape 20 in a tensioned state between this brake 60 and the release edge 30 and up to the transport roller 62.
• the band brake 60 generally acts as damping for the control system used. From the brake 60, the label tape 20 runs over the table 42 to the release edge 30, where the labels 26 are removed one after the other in operation, and the carrier tape 22 (without the labels 26) runs under the table 42 to a transport roller 62, which of the Motor 80 is driven via a transmission 83 (FIG. 17).
• the carrier belt 22 is pressed against the transport roller 62 by a pressure roller 64 in order to transmit all movements of the transport roller 62 to the carrier belt 22.
• the carrier tape 22 runs to a pendulum lever 66, which serves to compensate for impacts in the carrier tape 22, and from the pendulum lever 66 it continues to a carrier tape winding roller 68, which in turn is attached to the device 46 via a carrier arm 70 and together forms a compact unit with it.
• the take-up reel 68 can be driven by a separate motor, which is not shown.
• a product recognition sensor 72 which is connected to the device 46 via a line 74 and which supplies a start pulse when a product P moves past this sensor 72, is used to detect a product to be labeled. This start pulse then triggers a labeling process, as is known to the person skilled in the art.
• Fig. 4 shows a preferred embodiment for the basic structure of the electrical part of the labeling device 46.
• This uses a three-strand, electronically commutated internal rotor motor 80, which is coupled to an encoder 82 for generating position signals. From these position signals, e.g. 10,000 impulses can be derived.
• the motor 80 drives the roller 62 of FIG. 3 via a gear 83, which is shown in FIGS. 17 and 18.
• One revolution of the motor 80 corresponds approximately to a transport path of the belt 22 of 50 mm in the exemplary embodiment.
• the motor 80 has a commutation control 84, here with an IGBT output stage 86, which is also shown in FIG. 19, driver stages 88 and a control via Optocoupler 90 to provide electrical isolation from the low voltage part. This is necessary because the motor 80 preferably works with a relatively high operating voltage (rectified voltage of the local AC or three-phase network).
• the commutation is controlled in the usual way via Hall sensors (not shown) which are built into the encoder 82.
• a PWM signal is supplied to the commutation controller 84 in a known manner via a line 91, in particular for current limitation.
• the motor 80 is supplied with energy from an AC or three-phase network 92. To avoid EMC interference, this is done via a line filter and distribution board 94. This has fuses 96, chokes (inductors) 98 and capacitors 100 as usual.
• a DC link 106 is connected to the output 102 of the board 94 via a rectifier arrangement 104 connected to which smoothing capacitors 108 and a short-circuit detector 110 are assigned.
• the DC intermediate circuit 106 feeds the motor 8O via the output stage 86 (in the form of a three-phase full bridge, which is often also referred to as an inverter - “PWM inverter”).
• the voltage across it depends on the voltage on the network 92, which e.g. can be between 85 and 265 V AC, or in a DC voltage range from 120 to 375 V.
• the voltage on the motor 80 is dependent on a PWM signal which is generated by a DSP 116 and is supplied via a line 91.
• the current in two of the three phases of the motor 80 is detected via current transformers 112, 114, amplified to a desired level via two operational amplifiers 113, 115, and fed to the arrangement 116 for digital signal processing, preferably a 16-bit digital signal processor (DSP ), e.g. of type 2407, in which a motor control and a single-axis positioning system are integrated.
• DSP digital signal processor
• the output pulses of the encoder 82 are also fed to the DSP 116 via an RS 485 module 118 and a CPLD element 120, which enables position and speed control.
• the CPLD element 120 (complex programmable logic device) is used here to decode the serial signals from the encoder 82.
• the two current transformers 112, 114 also make it possible to regulate and limit the current, which means that the motor 80 is started up with a starting ramp of predetermined slope 31 also enables a braking operation with a predetermined ramp steepness 32, that is to say a predetermined braking torque.
• the DSP 116 supplies the signals for the commutation control 84, as well as the PWM signals on the, via a symbolically represented common connection (bus) 93 Line 91.
• the DSP 116 is located on its own board 124, on which there is also an I / O interface 126, a sensor 128 for temperature detection on the board 124, an EEPROM 130 for storing a (possibly changeable) program, a RAM 132 as Buffer for arithmetic operations, and a reset IC 134 are located.
• the latter serves to supply the reset input of the DSP 116 with a defined signal level when the power supply is switched on and off, thereby ensuring safe booting (starting) and shutting down the DSP 116.
• a communication module 136 which serves for the connection between the DSP 116 and the outside world. This is connected to the DSP 116 via the I / O interface 126. It has a QEP interface 138 for connection to an external master encoder 140, which e.g. in the labeling of bottles controls both the movement of the bottles and the synchronous operation of the labeling device 46 at the same time.
• a master encoder 140 is used to synchronize the speed of the products P with the speed of the labels 26, no fixed value is used by the potentiometer, but the speed is specified by this encoder.
• the start sensor 72 has a dead time which leads to different positioning of the labels 26 when the speed of the product P changes. To avoid this, a start compensation of this dead time is calculated in the form of a path on the basis of a dead time to be entered and the current speed of the products P. This also works if there are several start signals and these have to be processed one after the other due to a long start delay. A corresponding compensation is then calculated for each of these start signals so that the labels 26 are always applied to the products P at the same location.
• the master encoder 140 preferably uses two tracks A and B, which are supplied to the profile generator 220 as input variables.
• a signal for the direction of rotation of the motor 80 can be calculated in a known manner from the sequence of these pulses.
• a "gear ratio" parameter is generated, which can be positive or negative.
• a reference variable for the position control is generated from the frequency of the pulses, the information about the direction of rotation, and the parameter "gear ratio", which reference variable is usually not constant, but changes during operation.
• the reference size can be positive or negative for the following reason: There are labeling devices in which the table 42 protrudes to the left, as shown in FIG. 3, so that the label band 20 must be transported to the left. However, there are also labeling devices in which the table 44 protrudes to the right and consequently the label band 20 has to be transported to the right. This is indicated by the sign (+ or -) of the reference size.
• the pulses coming in from the product recognition sensor 72 are blocked in order to prevent the label tape 20 from being driven in the wrong direction.
• the block 136 has an analog interface 142 to which the potentiometers 144, 145, 147 can be connected, with which the user can set the speed of the labeling, the distance to go (overrun) S2 (FIGS. 5 to 7) and a start delay or can fine-tune.
• These potentiometers are shown in FIGS. 3 and 16.
• the module 136 also has a serial RS 232 interface 146 for connection to a PC 148, an output interface 15O for connection to actuators (in particular pneumatic cylinders) 152, and an input interface 154 for connection to sensor elements 156, e.g. for specifying the direction, temperature detection or the like.
• a serial digital connection (not shown) to other devices of the same or similar type can also be provided, if this is desired.
• a module 160 serves to supply power to the electronics.
• the components which are surrounded by a dash-dotted line 164, form the connection of the motor 80 to the outside.
• the components that are outlined with a dash-dotted line 168 represent the actual drive plus control.
• additional peripheral units for example a keyboard or a display, can be connected to component 136 in order to be able to set desired functions manually.
• the motor 80 is operated with a four-quadrant controller since it has to be braked actively during a labeling process, but the possibility of reverse running, which is inherent in a four-quadrant controller, is suppressed, since a reverse run must not occur with a labeling drive. (This would release the tension in the label tape and significantly disrupt the control processes.)
• the motor 80 is arranged in a tubular component 300, which is fastened to a housing wall 302 by means of screws 304, which also serve to fasten the motor 80.
• the component 300 is preferably an extruded profile made of aluminum, and it is on its left side in Fig. 19 by a solid cover 306 made of metal, e.g. Aluminum, closed, which is fastened to the part 30 0 by means of screws 305 (FIG. 19).
• the cover 306 is a cast part and serves as a heat sink and heat sink for a power module 81, which contains the output stage 86 and the intermediate circuit rectifier 104. 19 shows further details.
• the component 300 partly emits its heat to the housing wall 302, which also forms part of the (passive) cooling system.
• the motor 80 in which a lot of heat is generated due to the high peak currents, also emits this to the part 300 and the housing wall 302. Naturally, the use of active cooling is not excluded.
• the part 300 and its cover 306 together form a type of cover cap 307, also referred to as a "scoop", which receives the motor 80 and the essential part of its electronics.
• the Hutze 307 not only acts as a dustproof container for these parts, but also as a heat sink, which enables an extremely compact design because external control cabinets can usually be omitted. This also simplifies installation because you only have to set up device 46 and connect it to network 92. It also facilitates explosion protection and protection against moisture, e.g. against cleaning fluid from high-pressure cleaners.
• This design is advantageous because it is possible to encapsulate the entire labeling device 46 in a liquid-tight manner, so that it can e.g. can be cleaned with a pressure washer.
• a pressure washer For industries where there is a risk of explosion, e.g. In refineries in hot countries, such devices are preferably made dustproof to reduce the risk of explosion, and this is made possible very easily by the invention.
• 5 to 7 show, in a highly schematic representation, processes when dispensing a label 26v onto a sucker 170, which in this variant serves to transfer the dispensed label to a stationary product P after dispensing, e.g. on a box, packaging or the like.
• the label tape 20 is at rest on the table 42.
• the label sensor 44 is located on the label 26v at a point A which is at a distance S2 from the front edge 27 of the label 26v.
• the label 26h After dispensing the label 26v, the label 26h must be under the label sensor 44, cf. Fig. 7, wherein this lies at a point A 1 on the label 26h, which is also at a distance S2 from the front edge 27 of the label 26h.
• the position A ' should therefore correspond as exactly as possible to the position A, as is immediately understood by the person skilled in the art.
• the label band 20 is transported in the direction of the arrow 29, the front label 26v with its (in most cases) non-adhesive upper side 26u being pushed onto the suction device 170 and being sucked in by the latter.
• the front edge 27 of the rear label 26h reaches the label sensor 44 (cf. FIG. 6) and triggers an interrupt in the DSP 116 via this.
• this interrupt therefore defines exactly a certain position of the front edge 27, and if you want to control the movement sequence in such a way that the motor 80 is stopped exactly when the label 26h has reached the label sensor 44 in its position A ', cf. Fig. 7, must between the front edge 27 and this point A 'is the same distance S2 after each labeling operation, as shown in FIG. 7.
• new target information S2 is therefore loaded into the computer 116.
• This new target information is more precise than the target information TW entered in the position according to FIG. 5, because TW is constantly subject to small fluctuations, which would lead to the positions A, A 1 , etc. moving over time to other positions on the labels 26 " would "wander", ie the label would be moved.
• the measurement at the label edge 27 offers special advantages, but that in many cases other types of measurement are also possible.
• printed labels e.g. an optical mark can be provided at a certain point on the label, which is scanned during operation and then leads to the interrupt described, in which the value S2 is loaded, or a hole can be punched into the label band 20 and an interrupt can be triggered at this hole , Etc.
• Another advantage is that the user can vary the route S2. This value defines the position of the points A, A 'on the labels 26 very precisely, i.e. you can change this position as desired by changing S2, which automatically changes the position of the donated labels.
• the labels 26 are manually pulled off the carrier tape 22 over a length of approximately 1 m, and the tape is inserted into the labeling device.
• the type of label whose data is stored (or can be stored) in a format memory of the labeler is usually entered beforehand in the labeler, in order to enable easy conversion to other labels.
• the following are stored, sorted according to product groups: speed Vsoil, overrun (remaining distance) S2soll, and start delay, and when using the master encoder 140 for speed detection, the gear ratio (electronic gear).
• the command is given manually that the motor 80 is running, and this runs until the first label 26 reaches the sensor 44, and is braked to zero after having traveled the path S2.
• Labeling can now be carried out, since the data on label length etc. are saved.
• Label length EL and label spacing SB are preferably also continuously determined during operation and, if necessary, automatically corrected.
• a button 99 (FIGS. 3 and 16) is provided on the labeling device for manual control of these processes, which button is referred to as the “pre-dispensing button”.
• a new route S2 is also automatically specified, and this can also be varied somewhat by the user. This makes it possible to mount the label sensor 44 at a specific point on the table 42 and then, when a label tape with other labels is inserted, to readjust the machine simply by adjusting the length S2, that is to say an electrical variable. It is therefore often not necessary to mechanically adjust the label sensor 44 if other types of labels are to be used.
• the labeling device can continue to work even if a label 26 is missing on the label tape 20 because then no interrupt is generated by the sensor 44, but the computer in it Case works with the size TW, whereby the label tape 20 is stopped in any case near the positions A, A '.
• a second tape is adhered to a first tape by means of a self-adhesive tape, and this self-adhesive tape increases the thickness of the label assembly due to its presence and can therefore lead to incorrect measurements.
• the distance between the leading edge of two labels is 42 mm, it must be ensured that the label tape is stopped every 42 mm, even at an adhesive point where two tapes are connected, so that all labels are correctly printed in a printer and no labels to be labeled Object leaves the labeling system without a printed label.
• FIG. 8 explains the invention on the basis of a diagram, in which, for simplification and as a donkey bridge, the illustration is to be thought such that the label band 20 stands still and the label sensor 44 follows in the direction of an arrow 29 ′ from the left, namely a starting position A. moved right to a measuring position M and then to a target position A '.
• the measuring position M preferably corresponds to the front edge 27 of the label 26h, although, as already explained, other variants are also possible.
• the representation according to FIG. 8 is a special representation for movement sequences and deviates greatly from the usual.
• the positions A, M and A 1 thus represent certain points which the sensor 44 reaches during its - imaginary - movement from left to right, and on the other hand they represent the times on the time axis at which the sensor 44 these points A, M and A 'reached in its movement.
• Area 179 is the component of path S2soll that can be set by the operator of the device. The operator can only change this part.
• a subsequent area 181 represents a reserve in the event that the Labeling speed is increased, cf. Fig. 10.
• a surface 185 adjoins the surface 181 on the right. To the right of the area 185 is the area F184 under the ramp 184. The area under the ramp 176 is designated F176.
• the path S2soll corresponds to the area which is graphically highlighted in FIG. 8, that is to say the sum of the areas 179, 181, 185 and F184, and when the speed Vsoii changes, the boundaries of these areas have to be removed from the DSP 116 be redefined so that their total remains constant.
• Profile S f (t), i.e. profile of the position setpoint over the time axis.
• a command can e.g. read: "At the end of the next 100 zs, the label tape should have reached the 13.2 mm position.”
• the target position Z in the profile generator 220 which represents a variable, is corrected, so that the position controller 273 then receives correspondingly corrected values, as already described in detail.
• the ramps 176, 184 are generally preferably accelerated executed, ie their slope preferably remains essentially independent of the labeling speed. How this is preferably done is described below in FIG. 20.
• the increase in the speed V begins with a predetermined slope 31, namely as the driving curve is stored in the profile generator PG 220 (FIG. 13).
• a predetermined slope 31 namely as the driving curve is stored in the profile generator PG 220 (FIG. 13).
• an increase in engine speed to 3000 rpm required in one embodiment, an angle of rotation of approximately 66 ° corresponding to a movement of the band 20/22 by approximately 8 mm.
• the speed V increases until a speed Vsoii is reached which can be specified by the user via an actuator, which is symbolized by an arrow 178.
• the speed Vsoii determines the working speed of the labeler. You can e.g. B. are between 80 and 160 m / min. A value of 120 m / min corresponds to 2 m / s, and then per second about 10 to 30 labeling operations take place.
• the label sensor 44 After passing through the path S1 (measured by means of the output signals of the encoder 82), the label sensor 44 arrives in the measuring position M, namely to the front edge 27 of the label 26h, and the passing through this front edge 27 causes a measurement interrupt at the point / time M. At this point, the processor DSP 116 has reached a counter reading S1actual corresponding to the path S1 actually traveled.
• the value S2sol ⁇ predetermined by the user is added to this counter reading S1act, which can also be referred to as the remaining distance or overrun.
• the value Z S1 is + S2soll ... (4) is then used as the new target value Z (setpoint for the path to point A ').
• the target position Z is thus with the engine running 80 redefined during the interrupt at the measuring point M (front edge 27 of the label 26h).
• this procedure significantly increases labeling accuracy.
• This method ensures that the distance S2 of the point A from the front edge 27 of the front label 26v largely coincides with the distance S2soil of the point A 'from the front edge 27 of the rear label 26h, ie the points A, A "" do not "wander", but maintain the distance S2 set by the user from the front edge 27 of the respective label 26.
• This "readjustment” can largely compensate for the disturbing factors that occur when the labeling device runs.
• 9 to 11 serve to explain the automatic adaptation of the profile by the profile generator 220 when the target speed Vset is changed.
• FIG. 9 is a representation analogous to FIG. 8. If the angles 31 and 32 are equal in magnitude, that is to say the rising edge 176 has the same slope in magnitude as the falling edge 184, the area F184 (under the edge 184 ) the area F146 (under the flank 146) to a rectangle, as symbolically represented by an arrow 183, and overall in this simplified example, together with the rectangular area F180 (below the section 180) a rectangle with the height Vsoll and the length T, the length T being the time between leaving point A and reaching point 182, the value of which is denoted by 182 'on the time axis.
• This area corresponds to the dimension TW of FIG. 2, that is to say the distance between the front edges 27 of two successive labels 26.
• T TW / V should have elapsed, i.e. time 182 'has been reached.
• Fig. 10 the drive is set to a maximum speed Vmax, i.e. the rising edge 176 and the falling edge 184 are longer than in FIG. 9.
• Vmax i.e. the rising edge 176 and the falling edge 184 are longer than in FIG. 9.
• the switch is made to brakes, for example, with slope 32.
• FIG 11 shows the analog case in which the drive is set to the minimum speed Vmin.
• the profile generator 220 thus receives the following variables: The label distance TW, expressed as the target variable Z.
• the profile generator 220 uses these variables to calculate the profile which of the set speed Vsoll corresponds, the quantity T being calculated prognostically in the manner described.
• the size T is usually only a fraction of a second because e.g. 30 labeling processes run per second. This depends on the set speed Vsoll, since fewer labels are processed per second at low speed.
• FIG. 12 shows a flow chart for the execution of the routine CORR.Z (target correction) S200, which controls the speed profile of the motor 80.
• step S202 it is checked whether there is a start signal from sensor 72 (FIG. 3). If not (N), the routine loops back to the beginning. If yes (Y), the routine goes to step S204.
• the values generated by the profile generator 220 are based on stored value tables, and the profile generator uses them to calculate the motion profile.
• the value Z in S204 corresponds to the sum (EL + SB) for the label tape 20 used. (If necessary, it is also possible to work with a multiple of (EL + SB) if there is no printer on the labeler 46).
• the target variables Z from steps S204 and S208 are completely the same, but in practice small differences are unavoidable. If the values match, the profile generator 220 does not have to be corrected, of course.
• the program then goes to S210, where it is checked whether the target position Z has been reached.
• step S208 If the answer in S206 is always no, for example because a label 26 is missing on the carrier tape 22 and consequently the label sensor 44 cannot find a measuring point M and cannot trigger an interrupt, the correction of the value Z does not take place in step S208 and the routine goes from S206 directly to S21O, ie it continues to work with the target variable Z from S204 and also checks in S210 whether Z has been reached. If no, the routine goes back to S206 here. If yes, go back to S202 and there will be one new start signal awaited.
• the label tape 20 is nevertheless stopped approximately at point A, provided that the target variable Z was set to the sum (EL + SB) in accordance with equation (1) in S2O4. This is particularly important when the individual labels 26 are printed in the labeling device, as shown in FIG. 16, since in many cases the carrier tape 22 has to stand still for printing. If a label is missing, the stationary carrier tape 22 is printed in this case.
• routine S200 can contain plausibility checks, e.g. as described for the value S2soil.
• Fig. 13 shows the associated control arrangement 218.
• 220 denotes the profile generator PG, which generates a speed profile after receipt of data 222 (start command, inclines 31, 32, TW, Vsoll, etc.), such as e.g. shown and explained in Fig. 8.
• the PG 220 is thus supplied with a target position Z, which at the start can correspond to the value TW according to equation (1), or possibly also a multiple of TW, provided that no printer 280 (FIG. 16) is provided.
• the PG 220 At its output 221, the PG 220 generates a setpoint path Ssoll, which is fed to a PI position controller S-CTL 226 via a setpoint / actual value comparator 224.
• the value Sist is also fed to a computing element 230.
• the encoder 82 in this example has a total of six outputs, which are denoted by A, A /, B, B /, X and XI. These are connected to a logic switching element 227, and their signals are evaluated there and processed into logic signals A1, B1 and X1, which in turn are fed to a converter 229, which uses this to generate a rotary position signal ⁇ jst at an output 231, which generates the rotary position of the motor 80 indicates. This signal is required for the generation of a space vector.
• the information from three Hall sensors is transmitted as a serial signal on the X-channel, which shows the instantaneous position of the permanent-magnet rotor in the motor 80 even when it is at a standstill.
• the motor 80 runs as a so-called sinus motor, that is to say as a three-phase motor with sinusoidal stator currents.
• sinusoidal currents cannot be generated immediately after switching on, since they are a Assume very exact detection of the rotor position, which is not possible when the rotor is at a standstill.
• rough information about the rotor position is available via the X-channel, so that the motor 80 can start in a mode of operation as a collectorless motor 80, for which rough position information about the rotor is sufficient.
• the motor 80 rotates sufficiently fast, it is switched over to operation as a sinus motor, because the rotor position can then be measured with a very fine resolution.
• the signals A1 and B1 are fed to a QEP unit 233, which is integrated in the DSP 116.
• This increases the resolution of the encoder 82 by a factor of 4, that is, if the encoder 82 z. B. delivers 2,500 pulses per revolution, you get a number of 10,000 pulses per revolution at the output of the QEP unit 233. This gives a higher resolution and consequently a higher accuracy of the system. Naturally, a lower accuracy will also suffice in some cases.
• a speed signal njst in is thus obtained at the output of the QEP unit 233
• the pulses 83 are integrated in an integrating element (counter) 228, so that a path signal Sjst is obtained at its output 237 which corresponds to the path covered by the label tape 20.
• the signals A and A / are generated by a first signal track, the signals B and B / by a signal track offset by 90 ° el.
• the speed signal njst is, as shown in Fig. 14, by differentiating the
• Edge of the signals A /, B / generated.
• the signal A1 corresponds to the signal A and the signal B1 corresponds to the signal B.
• the phase shift between the signals A and B results in the direction of rotation of the motor 80, as is known to the person skilled in the art.
• a setpoint nsoii for the speed of the motor 80 is obtained. This is compared in a comparator 234 with the actual speed nist, which is supplied from the output 235 to the QEP unit 233.
• the element 244 receives its input signal from a differentiating element 270, which serves to differentiate the desired positions delivered by the profile generator 220 at its output 223, i.e. to form a speed setpoint dSsoll / dt, and this value becomes multiplied in element 244 by an empirically determined predetermined factor and fed to adder 240 as an input variable.
• the element 242 receives its input signal from a differentiating element 271, which serves to differentiate the speed setpoint calculated in the element 270 again according to time, i.e. to calculate a setpoint for the acceleration, and this setpoint acceleration is in the Link 242 multiplied by an empirically determined predetermined factor and then also supplied to adder 240 as an input variable.
• the link 242 thus multiplies the size obtained from the links 270, 271 and supplies it to the link 240.
• the end of the horizontal region 180 (FIG. 8), that is to say the point in time 182 ′, is calculated predictively as described.
• the predictive calculations as are preferably used in the invention, lead to an increase in the dynamics of the system, i.e. they enable very good positioning and repeat accuracy at high labeling speeds.
• the output signal of the element 240 is fed to a limiter 250, and the manipulated variable at the output of the limiter 250 serves as the current setpoint isoli for the q-axis.
• the motor 80 which is also referred to as a synchronous machine with permanent magnetic excitation (PMSM), works with a field-oriented control (vector control), the field-forming current (“excitation current”) and the torque-forming current being regulated separately.
• a field-oriented control is based on the fact that the current components to be decoupled are impressed into the motor 80 by separate current control loops.
• d component also called longitudinal component or field-forming component
• q component also called transverse component
• the output variable isoli at the output of the limiter 250 can be used as a setpoint for the transverse component. It is compared in a comparator 266 with a quantity lq, and the result of the comparison is fed to a PI current controller 268.
• the motor 80 Since the motor 80 has a permanent magnetic rotor, the magnetic flux of which is constant, the value 0 is predetermined by a transmitter 246 for the d component and is fed to a comparator 258, the negative input of which is supplied with a value for the current Id.
• the motor 80 is therefore regulated here in such a way that the d component has the value 0.
• the motor 80 has three phases u, v, w in its stator winding, and it has a permanent magnet inner rotor (not shown).
• the motor 80 When starting, the motor 80 is controlled as a brushless motor by Hall sensors (or alternatively: according to the sensorless principle), and after starting it runs as a three-phase synchronous motor with approximately sinusoidal currents.
• the inverter 86 already described in the form of a three-phase full bridge, e.g. with IGBT transistors or other controllable semiconductors.
• the bridge 86 is controlled via the optocouplers 90 and the gate drivers 88, cf. Fig. 4.
• the currents lu and lv in two of the three feed lines u, v, w of the motor 80 are detected via the two current transformers 112, 114 and converted into digital signals in the DSP 116 in an AD converter provided there. Then they are fed to a uvw-dq coordinate converter 256, as is the signal ⁇ ist from the converter 229.
• the converter 256 uses this to generate the already mentioned d-axis current component Id and the q-axis current component Iq for the d and the q-axis, which serve as feedback quantities for the two current controllers 260 and 268.
• the d-axis current component Id is supplied with a negative sign to the summing element 258, the positive input of which is supplied with the value 0.
• the output signal of the element 258 is fed to the digital PI current controller 260, at the output of which a signal Ud is obtained, namely a setpoint for the d-axis voltage Ud, which is fed to a dq-uvw coordinate converter 262, which is also called " Space vector modulator "or" Space Vector Generator "is called.
• the output signal isoli of the limiter 250 is fed to the positive input of the summing element 266, the negative input of which is fed to the output signal Iq of the converter 256.
• the output signal of the comparator 266 is fed to a PI current controller 268, at the output of which a setpoint for the q-axis voltage Uq is obtained.
• This value Uq is also fed to the dq-uvw coordinate converter 262, to which the rotor position signal ⁇ ist is also fed and which generates three signals Uu, Uv, Uw from these input signals for controlling the module 86, which feeds the motor 80, so that in the motor 80 a rotating field is generated.
• the modules 86, 256, 260, 262, 268 are hardware or software modules that are familiar to the person skilled in the art of electrical drives. These are used, for example, in servo controls for steering motor vehicles and in frequency converters. In the exemplary embodiment, they are part of the DSP 116.
• the intermediate circuit line 106 (FIG. 4), which leads to the module 86, there is a measuring resistor (not shown). This enables a short-circuit detection and an earth-fault detection in the element 110 to protect the module 86.
• the component 110 switches off the drivers 88 and sends a corresponding signal to the DSP 116.
• the current regulator which directly influences the sinusoidal currents lu, lv, lw in the motor 80, is designated by 269.
• the current controller 269 is part of a speed controller 271, on which, as shown, the setpoint acceleration from link 242 and the setpoint speed nsoil from link 244 act directly.
• 273 denotes a position controller to which a setpoint value Ssoil for the position of the label strip 20 is fed directly from the profile generator 220 and which causes the motor 80 to come to a standstill exactly at the desired point A '.
• the link 230 is triggered by the label sensor 44. If this generates a signal at a label edge 27 (point M of FIG. 8), this causes a measurement interrupt, and the value S2soll is added at this point according to equation (2) to the reached value S1act and used as the new target variable Z. , as already described in detail, so that the points A, A 'do not "wander", that is to say the labels 26 are not "shifted", and high labeling accuracy is obtained.
• FIG. 16 shows a labeler 46 analogous to that shown in FIG. 3, but with a printer 280 of a known type installed on the table 42. Therefore, the (adjustable) table 42 is extended and the printer 280 is - as an example - between the label sensor 44 and the dispensing edge 30.
• the same or equivalent parts as in Fig. 3 are denoted by the same reference numerals as there and are not described again.
• the program can be modified when the printer 280 is connected in such a way that the size Z can only be set to [EL + SB] by the user. This can be done through a corresponding input mask, in which the type of labeling, label length and label spacing must be entered by the user and the target size Z is set according to these inputs after their plausibility has been checked. If a label 26 is missing at one point on the carrier tape 22, the label tape 20 still stops, the carrier tape 22 is printed by the printer 280, and then a new transport and possibly a new printing of the carrier tape takes place if a second label is also missing.
• the arrangement shown in FIG. 16 has the advantage that the labels 26 are printed very precisely because the "readjustment” or “synchronization” takes place at the measuring point M near the printer 280. This avoids rejects, and the invention is equally suitable, for example, for applications where it is only a question of printing labels 26 which are arranged on a carrier tape 20 one after the other inline with a very good fit and high speed.
• FIG. 18 shows the housing part 302 of the device 46 of FIG. 3 from the rear (with the rear wall removed), that is to say seen in the direction of the arrow XVIII of FIG. 17.
• the housing part 302 has two openings 320, 322 for mounting it machine can be used. 17 also shows the location of processor 116 in part 300.
• FIG. 18 shows the motor 80 and its shaft 324, on which a pulley 326 (e.g. 14 teeth) for a toothed belt 328 is attached.
• the latter goes via a tension roller 330 to a pulley 332 (e.g. 32 teeth) which drives the roller 62 (Figs. 3 and 16).
• a pulley 326 e.g. 14 teeth
• a pulley 332 e.g. 32 teeth
• one revolution of the roller 62 corresponds to 32/14 revolutions of the motor shaft 324.
• Various boards are arranged in the housing part 302, e.g. the board 94 for the EMC filter, and three further boards 336, 338, 340 with electronic components.
• a side adjustment wheel 344 makes it possible to change the position of the label sensor 44.
• FIG 19 shows an enlarged sectional illustration of the free end of the scoop 307.
• the inverter 86 and the rectifier 104 are manufactured as a finished module 81, for example by the EUPEC company.
• Inverter 86 has, for example, six IGBT transistors.
• This module 81 lies with an end face 87, on which thermal paste 89 is provided, with prestress against an inner wall 85 of the cover 306, so that the heat from the module 81 passes into the cover 306 and from there into the tubular part 300, as symbolically indicated by arrows 18.
• an O-ring 303 is provided in a continuous groove 301 in order to connect the parts 300, 306 in a liquid-tight manner, which is particularly important because of the cleaning with a high-pressure cleaner, as is the case in many Operated used.
• the cover 306 is fastened to the tubular part 300 by means of screws 305.
• the part 300 is also attached to the housing 302 in a liquid-tight manner.
• a sheet 307 is provided in the interior of the tubular part 300 and approximately perpendicular to its longitudinal axis. This is provided with pins 309 which engage in recesses 311 of the module 86, 104 in the manner shown.
• the plate 307 with its pins 309 is supported by springs 311 with a force of e.g. 150 N pressed in the direction of the cover 306 and, via its pins 309, presses the module 81 against the inner wall 85 of the cover 306 in order to achieve a low heat transfer resistance there.
• the cover 306 is particularly thick in the area of the module 86, 104, it has a sufficiently large heat capacity at this point so that local overheating can be reliably avoided even when the labeling device is under heavy load.
• the lower screw 305 is formed in two parts. As shown, its inner part 305i serves to guide the sheet metal 307 and the printed circuit board 84, both of which are provided with corresponding recesses for this purpose.
• Fig. 20 explains the principle of operation of the position controller 273 used.
• the vertical axis shows the path S traveled by the label tape 20.
• the horizontal axis shows the time t, a labeling cycle e.g. B. may take 12 ms.
• the label tape 20 must strictly adhere to a prescribed movement pattern, because otherwise correct labeling of products passing by (“in the by-pass”) would not be possible, ie it must be a very “stiff” position controller that works exactly within a prescribed time the setpoint speed V so n is reached and this setpoint speed is maintained exactly, ie with very good synchronism, even during a prescribed period of time.
• This compliance with a predetermined movement pattern is achieved in that the controller 218 preferably continuously in the position control mode during the labeling is operated, the values of setpoint acceleration and setpoint speed additionally having a strong effect at the corner points 177, 182 (FIG. 8) of the profile, because these values change abruptly there.
• the specified profile is "traversed" in a dense sequence of commands, the selected controller configuration with a subordinate speed controller and subordinate current controller ensuring that the movement follows the predefined pattern very well.
• the signals from the PI controller 226 constantly effect position control, so that the belt speed zero is reached at point A '.
• Such a digital position controller therefore makes it possible very well to implement a predefined path profile and - indirectly - a predefined speed profile without overshoot occurring.
• the size of the steps .DELTA.t that the controller uses, i.e. the so-called cycle time, is normally the shortest in the current controller 269, since the motor current can change the fastest.
• the time period T (cf. FIGS. 9 to 11) can have the value TW / V so n. This corresponds to the example in FIGS. 9 to 11.
• the time period T can have a different value, as explained in detail in FIGS. 9 to 11.
• a new value Z is used instead of TW, and in this case a new value can be used for T.
• T Z / Vsoil ... (8) result if TW does not agree with Z, and provided that the example according to FIGS. 9 to 11 is used. In this case, the time 182 'is also recalculated.
• the reference numerals 176, 180 and 184 in FIG. 20 refer to the corresponding sections of the illustration according to FIG. 8 and are intended to facilitate the comparison between the illustrations of FIGS. 8 and 20.
• part of the motion profile could be generated by a speed controller.

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