JP2004244078A - Label attaching apparatus, label sucking method, and label sucking apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a label attaching apparatus, a label sucking method, and a label sucking apparatus, which improve a label suction efficiency. <P>SOLUTION: The label attaching apparatus 100 has an attaching head 20 fitted on a robot 14 moving between a label peeling apparatus 200 and a starter 4, which is an object to which a label 1 is attached. The attaching head 20 comprises a holder 30 fitted on a flange 15 of the robot 14, a suction pad 21 which holds the label 1 on a suction surface by a sucking force of intake air generated by a vacuum unit, and a press part which is formed inside the holder 30 and supports the suction pad 21, using a spring, via a rod and a steel ball in a swingable manner. The label 1 is sucked to be held while being pressed by the press part, and is attached to the object as the suction pad 21 is kept in contact with the contact surface of the holder 30. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a label attaching apparatus, a label adsorbing method, and an apparatus for attaching a label to a product having a surface such as a flat surface or a curved surface in a process of assembling parts or the like.
[0002]
[Prior art]
For example, in a manufacturing process such as assembling a starter, an operation in which an automatically controlled robot attaches new parts to main parts sequentially transferred by a conveyor is automated. When the product manufactured in this manner is shipped, a label on which information such as the date of manufacture of the product and the product number is written is attached to the surface.
[0003]
For example, when a starter is considered as this product, a label is attached to a predetermined position on a curved surface portion that is the outer periphery of the yoke or a flat side surface portion of the case. Conventionally, a label sticking device has been known as a device for automating such a sticking operation of a label (for example, see Patent Literature 1 and Patent Literature 2). In this label sticking apparatus, a label is suction-held on a head portion (suction pad) using negative pressure generated by a vacuum device. A plurality of elastic bodies or springs are provided on the back surface (the side opposite to the label suction surface) of the head portion, and the head portion is pressed against the sticking surface when the label is stuck.
[0004]
[Patent Document 1]
JP-A-10-167240 (page 3-7, FIG. 1-9)
[Patent Document 2]
JP-A-6-80611 (page 3-5, FIG. 4-5)
[0005]
[Problems to be solved by the invention]
By the way, in the label sticking apparatuses disclosed in Patent Documents 1 and 2 described above, when there is a clearance (gap) between the label and the head portion when the label is sucked, the negative pressure generated in the head portion is attenuated. Therefore, the suction operation may fail, and there is a problem that the label adsorption efficiency is reduced. For example, considering the case where a label is continuously attached to a tape-shaped peeling backing sheet and then peeled off one sheet at a time and adsorbed to a head portion, the height of the backing sheet may not be constant, The distance between the label and the head also varies. Alternatively, the head may be slightly inclined. In addition, since an elastic body or a spring is disposed on the back of the head, the clearance between the head and the label can be forcibly reduced to zero by strongly contacting the head with the label. However, if the label surface is strongly pressed in this way, the label cannot be peeled from the release liner.
[0006]
The present invention has been made in view of such a point, and an object of the present invention is to provide a label sticking apparatus, a label adsorbing method, and an apparatus capable of improving the label adsorbing efficiency.
[0007]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the label sticking apparatus of the present invention has a label sticking head attached to a moving means for moving between a label peeling apparatus and a label sticking object, and the label sticking apparatus has a label sticking head. The head is provided with a holder attached to the attaching portion of the moving means, an adsorption pad for holding the label on the adsorption surface by the suction force of the suction air generated by the vacuum device, and a rod-shaped member and a sphere provided in the holder by a spring. And a pressing portion that swingably supports the suction pad via the pressing portion. The pressing portion presses and holds the label by suction, and the label can be attached while the suction pad is in contact with the contact surface of the holder. Is being done. As described above, the suction pad is swingably supported by the pressing portion having the spring, the bar-shaped member, and the sphere, so that when the label is sucked, there is a clearance to the label surface, or the label surface is slightly inclined. Even if it does, it becomes possible to press the suction pad uniformly on the label surface, and it is possible to eliminate the suction error and improve the label suction efficiency. In addition, since the suction pad is in contact with the contact surface of the holder during label application, the label adsorbed by the suction pad can be reliably pressed against the object to be applied, thereby eliminating an application error.
[0008]
In the above-described label sticking head, it is desirable that the suction pad does not contact the contact surface of the holder when the label is sucked. Thus, the floating state of the suction pad can be ensured, and the suction pad can be reliably pressed onto the entire surface of the label.
[0009]
Further, the suction pad described above has a plurality of air suction holes divided into front and rear two systems along the label peeling direction, and different vacuum devices are connected to the air suction holes of each divided system. Is desirable. Thus, at the time of label suction, only one of the air suction holes is closed by the label along the label feeding direction, and the label can be reliably sucked into the suction pad. For example, even if the label is difficult to peel off from the backing sheet due to changes in the adhesive, etc., the air suction hole on the front side in the label feed direction can be reliably closed with the label, and the label can be reliably absorbed. Can be done.
[0010]
Further, the above-described holder is rotatably supported by a bracket interposed between the holder and the bracket, and it is desirable that the angle of the holder is changed at the time of sticking and at the time of sticking the label. This makes it possible to attach the label to an object to be attached having a label attaching surface having an arbitrary angle.
[0011]
In the holder described above, a suction pad is attached to one end side and a holding pad made of an elastic body is attached to the other end side, and after the label is attached to the object to be attached by the suction pad, the label is attached with the holding pad. It is desirable to press the later label.
[0012]
Further, the label suction method of the present invention suctions a label peeled by a label peeling device onto a suction surface of a suction pad by a suction force of suction air generated by a vacuum device. The label is adsorbed by setting the clearance to zero. As a result, it is possible to prevent the negative pressure of the suction pad from attenuating, and it is possible to eliminate a suction error and improve a label suction efficiency.
[0013]
In addition, the clearance between the label and the suction surface of the suction pad is reduced to zero by the swinging support of the suction pad via the rod and the ball by the spring by the pressing portion having the spring, the rod-shaped member, and the sphere. It is desirable to do. As described above, the suction pad is swingably supported by the pressing portion having the spring, the bar-shaped member, and the sphere, so that when the label is sucked, there is a clearance to the label surface, or the label surface is slightly inclined. Even if it does, it becomes possible to press the suction pad uniformly on the label surface, and it is possible to prevent the occurrence of a suction error.
[0014]
Further, the label sticking device of the present invention is a device for adsorbing a label on an adsorbing surface by an adsorbing force of suction air generated by vacuum equipment, and a stick-shaped member and a sphere are formed by an adsorbing pad having an adsorbing surface and a spring. And a pressing portion that swingably supports the suction pad via the pressing portion, and holds the label while pressing the label with the pressing portion. As described above, the suction pad is swingably supported by the pressing portion having the spring, the bar-shaped member, and the sphere, so that when the label is sucked, there is a clearance to the label surface, or the label surface is slightly inclined. Even if it does, it becomes possible to press the suction pad uniformly on the label surface, and it is possible to prevent the occurrence of a suction error.
[0015]
Further, the suction pad described above has a plurality of air suction holes divided into front and rear two systems along the label peeling direction, and different vacuum devices are connected to the air suction holes of each divided system. Is desirable. Thus, at the time of label suction, only one of the air suction holes is closed by the label along the label feeding direction, and the label can be reliably sucked into the suction pad.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a label sticking apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a diagram illustrating a structure of a label sticking apparatus according to an embodiment. The label sticking apparatus 100 shown in FIG. 1 includes a base 10, a sticking head 20, a robot 14, a column 110, and a guide unit 112. The base 10 is a pedestal on which the label sticking device 100, the label peeling device 200, the conveyor 8 and the like are placed, and these devices are fixed at predetermined positions on the base 10. The sticking head 20 sucks and holds the labels 1 separated one by one by the label peeling device 200. The robot 14 has a sticking head 20 attached to a flange 15 provided at the end thereof, and moves the sticking head 20 between the label peeling device 200 and the starter 4 on the conveyor 8. A plurality of columns 110 are erected on the base 10, and a guide portion 112 is placed on an upper portion thereof in a horizontal direction. The robot 14 is set to be movable along the guide portion 112. For example, by rotating the drive motor 114, the robot 14 moves from the label peeling device 200 along the guide portion 112 in the direction of the conveyor 8 or in the opposite direction. Further, the robot 14 is provided with a cylinder 116, and by driving the cylinder 116, a rod 118 attached to the inside thereof so as to be able to reciprocate in one direction is oriented in a direction perpendicular to the base. It is designed to be put in and out. A flange 15 to which the attaching head 20 is attached is fixed to a lower end of the rod 118.
[0017]
FIG. 2 is an external perspective view of the starter 4 as a workpiece to which the label 1 is to be attached. FIG. 3 is a side view of the starter 4. As shown in these figures, the starter 4 includes a cylindrical yoke 5 included in the motor unit, and a case 6 that covers the switch unit. By using the label sticking apparatus 100 of the present embodiment, the label 1 is stuck on the outer periphery of the yoke 5 as a curved surface portion or on the side surface of the case 6 as a flat surface portion.
[0018]
The starter 4 is transported from a previous station (for example, an inspection process) by using the conveyor 8. As shown in FIG. 1, a pallet 7 is placed on the conveyor 8, and the position of the starter 4 is regulated on the pallet 7. When the pallet 7 is moved from the previous station to the attaching station by the conveyor 8, the pallet 7 is positioned by the positioning unit 9 provided on the conveyor 8, and the attaching operation described later is performed, and the label 1 is moved to the starter 4 on the pallet 7. Affixed at a predetermined position.
[0019]
The label peeling device 200 includes a cartridge 12 filled with the label continuum 3 and a magazine 11 in which the cartridge 12 is set.
FIG. 4 is a perspective view of the label continuous body 3. FIG. 5 is an external view of the label peeling device 200. As shown in FIG. 4, the label continuous body 3 is formed by winding a peeling backing sheet 2 on which a plurality of labels 1 are attached at predetermined intervals with the label 1 inside, and the V-shaped backing sheet of the cartridge 12. It is placed in the storage unit. The release liner 2 pulled out of the label continuum 3 is guided to the release section 17 of the cartridge 12. The peeling section 17 has an acute edge 13, and the label 1 arriving at the edge 13 is peeled off from the peeling board 2 by pressing and pulling out the peeling board 2 folded at the edge 13 by the drive unit 16. It has become. As shown in FIG. 5, a large number of sets of the cartridges 12 and the magazines 11 described above are arranged in accordance with the type of the label 1 to be affixed. Variations in parts constituting the cartridge 12 and the magazine 11 cause variations in the height of the label 1 to be peeled.
[0020]
Next, details of the attaching head 20 mounted on the flange 15 at the lower end of the robot 14 will be described. The sticking head 20 is for holding the labels 1 taken out one by one from the peeling backing sheet 2 in the peeling section 17 of the cartridge 12 by air suction and sticking the labels 1 to a predetermined position of the starter 4.
[0021]
FIG. 6 is a partial cross-sectional view showing the detailed structure of the attaching head 20. FIG. 7 is a view as seen from the direction A shown in FIG. At the lower part of the flange 15, a sticking head 20 including a holder 30 and a suction pad 21 attached to the lower part is mounted. The mounting surface of the flange 15 and a reference surface 30b provided at the tip of the holder 30 are set to be parallel to each other, and the reference surface 30b and the end surface (upper surface) 21b of the suction pad 21 face each other. The suction pad 21 is attached to the holder 30. Further, since the suction pad 21 holds the label 1 in close contact with the suction surface 21a, which is the lower surface, by suction of air, the suction surface 21a is set to have a flat and smooth surface roughness.
[0022]
At the center of the reference surface 30b of the holder 30, a stepped concave portion 30c is formed. The recess 30c is for accommodating the spring 26, the rod 25, and the steel ball 24. A pressing portion 27 is formed by the spring 26, the rod 25, and the steel ball 24. In the pressing portion 27, the suction pad 21 is resiliently and resiliently mounted on the holder 30 by the spring 26 via the rod 25 and the steel ball 24. When the suction pad 21 is suspended from the holder 30, there is a predetermined gap between the end surface 21 b above the suction pad 21 and the reference surface 30 b of the holder 30, and the suction surface 21 a below the suction pad 21 is changed to the suction surface of the label 1. The suction pad 21 has a floating structure in which the entire suction pad 21 is lifted up when pressed to 1a.
[0023]
At the time of attaching the label 1, the end surface 21b, which is the upper surface of the suction head 21, comes into contact with the reference surface 30b of the holder 30. At this time, the suction surface 21a of the suction head 21 is parallel to the reference surface 30b. .
The suction surface 21a of the suction pad 21 is provided with a plurality of air suction holes 23a on the front side in the label peeling direction. These air suction holes 23a are connected to air piping holes 22a formed in the side surface of the suction pad 21. Similarly, the suction surface 21a of the suction pad 21 is provided with a plurality of air inlet holes 23b on the rear side in the label peeling direction. These air suction holes 23b are connected to air piping holes 22b formed on the side surface of the suction pad 21. A vacuum device (not shown) is connected to each of the air piping holes 22a and 22b by one system.
[0024]
The above-described robot 14 corresponds to the moving means, the flange 15 corresponds to a mounting portion of the moving means, the rod 25 corresponds to a rod-shaped member, and the steel ball 24 corresponds to a sphere.
The label sticking apparatus 100 of the present embodiment and the label peeling apparatus 200 and the like arranged around the label sticking apparatus have such a structure. Next, the operation of the label sticking apparatus 100 will be described.
[0025]
First, the conveyor 8 is controlled by a control device (not shown), and the pallet 7 on which the starter 4 is mounted is transported from the previous station and stopped at the sticking station. Thereafter, the pallet 7 is positioned using the positioning unit 9 to prepare for pasting to the starter 4. On the other hand, the control device reads out the product information mounted on the pallet 7 and gives the robot 14 pattern information indicating the label 1 to be affixed and the location where the label 1 is to be affixed. Based on this pattern information, the robot 14 takes out only one label 1 from the predetermined cartridge 12 set on the base 10 and pastes it at a predetermined position on the starter 4.
[0026]
After the pick-up operation and the sticking operation of the label 1 described below, the positioning operation of the pallet 7 by the positioning unit 9 is released, the pallet 7 is transported from the sticking station to the subsequent station by the conveyor 8, and the positioning of the pallet 7 is returned. Thus, one cycle of operation is completed.
[0027]
Label 1 removal operation
First, the control device activates the robot 14, moves the attaching head 20 from the origin position to the space above the peeling section 17 of the cartridge 12 corresponding to the label 1 to be attached, and then descends. At this time, the pressing head 27 stops the attaching head 20 at a position where the suction pad 21 slightly rises within the range of the floating amount. When the label 1 comes into contact with the suction surface 21a in this manner, the suction pad 21 contracts the spring 26 via the steel ball 24 and the rod 25, so that the suction pad 21 is resiliently and elastically provided. The suction surface 21a of the suction pad 21 is pressed so as to uniformly and closely adhere to the suction surface 1a of the label 1. FIG. 8 is a diagram showing a state in which the label 1 is uniformly pressed on the suction surface 21a of the suction head 21.
[0028]
Next, when the valves of the vacuum equipment (not shown) separately connected to the two air piping holes 22a and 22b provided on the suction pad 21 are simultaneously opened, the label 1 is closed by the suction surface 1a. The inside of the air suction holes 23a and 23b becomes negative pressure, and the label 1 is sucked to the suction surface 21a.
[0029]
Next, when the leading end of the release liner 2 is pressed by the advance of the drive unit 16 and the feed roller is rotated by driving the motor of the drive unit 16, the release liner 2 is fed out by a fixed amount. At the same time, in parallel with the feed operation of the peeling board 2, the robot 14 is activated to cause the sticking head 20 to follow the feeding operation of the peeling board 2, and move to the point where the removal of the label 1 is completed.
[0030]
Then, when the peeling backing sheet 2 is folded back at the edge 13, as shown in FIG. 8, only one peeled label 1 is held in a state of being sucked by the suction pad 21, and the robot 14 stops, and When the driving of the motor of the drive unit 16 is stopped by a signal from a timer or the like, the fixed amount feeding of the release board 2 is completed.
[0031]
In this manner, a series of operations for taking out the label 1 from the label peeling device 200 are performed.
Sticking operation of label 1
At the removal completion point where the removal of the label 1 is completed, as shown in FIG. 8, the label 1 is held with the suction surface 21a of the suction head 21 facing downward.
[0032]
Next, the control device activates the robot 14, moves the suction head 21 at the take-out completion point to a position above the starter 4 to which the label 1 is to be attached, lowers the flange 15, and moves the suction head 21 to the lower position. When the vacuum pressure in the suction pad 21 is terminated by simultaneously closing the valves of the vacuum equipment, the suction of the label 1 is released. At the same time, the label 1 is pressed to a predetermined position on the starter 4 so that the label 1 is attached.
[0033]
At this time, since the end surface 21b of the suction pad 21 abuts on the reference surface 30b of the holder 30, the end surface 21b of the suction pad 21 is always parallel to the mounting surface of the flange 15, and the label 1 It can be attached to a predetermined position.
[0034]
As described above, according to the label sticking apparatus 100 of the present embodiment, only one necessary type of label 1 is taken out from the peeling section 17 of the cartridge 12 by the moving operation of the robot 14 having the sticking head 20 attached thereto. Since the series of operations up to pasting at the predetermined position can be performed fully automatically, the mass production efficiency is extremely high without relying on the manual pasting operation. In addition, it is possible to prevent human error such as mistaken attachment of the label 1 and wrong attachment position.
[0035]
Further, in the sticking head 20 of the present embodiment, as shown in FIG. 6, since the suction pad 21 has a floating structure by the pressing portion 27, when the label 1 is suctioned to the suction pad 21, the elasticity of the spring 26 is used. The label 1 is pressed toward the cartridge 12 by the suction pad 21, and the label 1 is sucked to the suction pad 21 in a state where the clearance between the suction surface 21 a of the suction pad 21 and the suction surface 1 a of the label 1 is eliminated. Since it is possible, the adsorption efficiency is extremely good. In particular, since the suction pad 21 is supported by the spring 26 via the rod 25 and the steel ball 24, the entire suction pad 21 can swing around the steel ball 24 as a fulcrum, and the suction surface 21 a is pressed against the label 1. Sometimes, the label surface can be pressed uniformly.
[0036]
By using the sticking head 20, a suction error due to a shortage of suction force as shown in FIG. 10, which occurs when the negative pressure of the suction pad 21 is attenuated due to an increase in the clearance X as shown in FIG. In addition, it is possible to eliminate a peeling error of the label 1 caused by the peeling mount 2 floating from the cartridge 12.
[0037]
Further, since the sticking head 20 of the present embodiment has a structure in which the spring 26 is contracted via the steel ball 24 and the rod 25 and the suction pad 21 is centered, the axis of the suction pad 21 is inclined. By pressing the label 1 toward the cartridge 12 with the suction pad 21, the label 1 can be suctioned in a state where the clearance X is eliminated. By using the sticking head 20, even if the suction surface 1a of the label 1 is slightly inclined forward, backward, left and right due to a variation between the cartridges 12 as shown in FIG. The label 1 can be affixed to a predetermined position of the starter 4 while maintaining a constant posture without causing a peeling error.
[0038]
Further, as shown in FIG. 8, the sticking head 20 of this embodiment applies an appropriate tension force to the peeling backing sheet 2 by pressing the label 1 toward the cartridge 12 with the suction pad 21 as shown in FIG. It is possible to perform the operation of feeding the peeling backing sheet 2 while adsorbing the label 1. By using such a sticking head 20, a smooth feeding operation of the release liner 2 can be performed, and the peeling error of the label 1 caused by the insufficient tension force of the release liner 2, which was a problem in the related art, is eliminated. be able to.
[0039]
Further, in the conventional suction pad 21, the air piping hole 22 is connected to the vacuum equipment by only one system, and when the label 1 is hardly peeled off from the peeling backing sheet 2 due to the influence of the adhesive or the like, FIG. As shown in the drawing, the label 1 was sent while being adhered to the release liner 2, and a large gap sometimes occurred between the suction surface 21 a of the suction pad 21 and the suction surface 1 a of the label 1. Then, the negative pressure in the suction pad 21 generated by the vacuum device is attenuated, and the suction failure and the peeling failure of the label 1 frequently occur. When the label 1 is stuck to the starter 4 while maintaining this state, the sticking position shift Y of the label 1 as shown in FIG. 3 has occurred. However, in the sticking head 20 of the present embodiment, as shown in FIG. 6, since the air piping holes 22a and 22b of the suction pad 21 are of two systems, either one of the air suction holes 23a or 23b is not provided. When the label 1 is closed, the label 1 can be reliably sucked to the suction surface 21a.
[0040]
That is, when the label 1 is hardly peeled off during the peeling of the label 1, the air suction hole 23 b on the rear side is unlikely to be in a negative pressure state, but the air suction hole 23 a on the front side is separated by the label 1. Since the label 1 is closed and the front side of the label 1 can be completely sucked and held on the suction pad 21, the label 1 can be stably peeled from the peeling backing sheet 2. Therefore, as shown in FIG. 9, the rear side of the peeled label 1 is suction-guided to the suction surface 21 a by the negative pressure of the other air suction hole 23 b and can be reliably held on the suction pad 21. .
[0041]
As described above, by using the suction pad 21 in which the air piping holes 22a and 22b are provided in two systems, even if the label 1 is hard to be peeled off due to a change in the adhesive or the like, the label 1 may be sucked or peeled off. In addition, since the label 1 can be taken out from the predetermined take-out position (the suction position of the suction pad 21) without being displaced, it is possible to eliminate the positional displacement defect of the sticking. Become.
[0042]
In the pasting head 20 of the present embodiment, the label 1 is accurately pasted to the predetermined position of the starter 4 by a simple operation of moving the robot 14 above the predetermined position of the starter 4 and lowering the flange 15. be able to. This eliminates the need for a dedicated labeling head and a labeling device for each different type of label 1 and eliminates the problem of an increase in the installation area of the labeling device, so that it can be easily incorporated into an assembly line.
[0043]
By the way, in the above-described embodiment, the label pasting apparatus 100 in the case of pasting the label 1 on the upper surface of the starter 4 using the pasting head 20 whose suction surface 21a of the suction pad 21 is set downward has been described. The label 1 may be attached to a surface (for example, a side surface) other than the upper surface of the starter 4 placed on the label 7.
[0044]
FIG. 12 is a diagram illustrating a structure of a label sticking apparatus according to a modification. A label sticking apparatus 100A shown in FIG. 12 includes a base 10, a sticking head 20A, a robot 14, a support 110, and a guide 112. In the label pasting apparatus 100A, the same components as those of the label pasting apparatus 100 shown in FIG. 1 are used except for the configuration of the pasting head 20A, and detailed description thereof will be omitted.
[0045]
FIG. 13 is a partial cross-sectional view showing a detailed structure of a sticking head 20A used in the label sticking apparatus 100A of the modified example shown in FIG. FIG. 14 is a side view of the pasting head 20A shown in FIG. In the pasting head 20A shown in these figures, an L-shaped bracket 32 is fixed to the flange 15, and the holder 30 is rotatably supported on the bracket 32 by a shaft 34. An actuator 33 for rotating and driving a shaft 34 is attached to the other end of the bracket 32.
[0046]
At one end of the holder 30, a pressing portion 27 having basically the same configuration as that shown in FIG. 6 is attached. A holding pad 31 made of an elastic member such as rubber is attached to the other end of the holder 30 on the opposite side with respect to the shaft 34, and the holder 33 is rotated by driving an actuator 33 to rotate the shaft 34. The positions of the pressing portion 27 and the holding pad 31 provided at both ends of the unit 30 can be switched.
[0047]
FIG. 15 is a diagram showing an outline of an operation of attaching the label 1 to the side surface of the starter 4 using the attaching head 20A shown in FIGS.
When sticking the label 1 to the side surface of the yoke 5 of the starter 4, first, as shown in FIG. 14, the suction pad 21 of the sticking head 20A is stopped at the lowest point, and the edge of the peeling section 17 of the label peeling device 200 is stopped. At 13, the label 1 is taken out by the suction pad 21, and is held at a takeout completion point while being held.
[0048]
Next, the robot 14 is started, and the robot 14 is moved to the vicinity of the sticking position of the starter 4, and at least immediately before the sticking is performed, the actuator 33 is driven so that the suction surface of the suction pad 21 of the sticking head 20 </ b> A becomes the starter 4. The holder 30 is rotated so as to be parallel to the sticking surface of. Thus, the suction pad 21 of the bonding head 20A can be positioned substantially perpendicular to the flange surface.
[0049]
Next, the robot 14 is activated, and the label 1 is pressed to the predetermined position on the flat side surface of the case 6 of the starter 4 by the suction surface 21a of the suction pad 21 to perform sticking. Alternatively, the label 1 is pressed to a predetermined position on the curved surface portion of the outer periphery of the yoke 5 of the starter 4 with the suction surface 21a of the suction pad 21 to perform the attachment.
[0050]
FIG. 16 is a plan view showing a state in which the label 1 is attached to the flat portion of the case 6 of the starter 4 or the curved surface portion of the yoke 5. At the time of sticking, the end face 21b of the suction pad 21 abuts on the reference surface 30b of the holder 30, and the label 1 is always kept in a fixed position centered on the axis of the suction pad 21 with respect to the mounting surface of the flange 15. Can be stably stuck to a predetermined position of the starter 4.
[0051]
Also, depending on the state of the surface of the case 6 and the yoke 5 of the starter 4, the label 1 after affixation may easily float. In this case, the holder 30 is rotated by 180 °, and a pressing operation is performed in which the resilient pressing pad 31 attached to the opposite side of the suction pad 21 presses the easily floatable portion of the label 1 after being attached, thereby performing the label operation. 1 can be eliminated. FIG. 17 is a diagram showing an outline of a pressing operation performed after the label 1 attaching operation.
[0052]
In particular, since the end surface 21b of the suction pad 21 is flat, when the label 1 is attached to the curved surface portion on the outer periphery of the yoke 5, only the central portion of the label 1 can be attached. Even in such a case, as shown in FIG. 17, after the sticking operation, the pressing operation of pressing the floating portions at both ends of the label 1 with the pressing pad 31 having elasticity is performed, so that the entire label 1 is formed. Lift can be eliminated.
[0053]
After the sticking or pressing operation of the label 1 is completed in this way, the robot 14 is moved to the origin position, and the actuator 33 is driven so that the end surface 21b of the suction head 21 is parallel to the mounting surface of the flange 15. A series of operations is completed by rotating the shutter to stop the operation.
[0054]
As described above, by using the sticking head 20A shown in FIG. 14, the sticking head 20A from which the label 1 has been taken out is moved from the downward posture to the sticking head 20A almost perpendicular to the flange surface of the robot 14 as shown in FIG. Since it is possible to rotate to the posture, the label 1 can be attached to the side surface when the starter 4 is placed vertically without using a six-axis robot.
[0055]
Further, the end face 21b of the suction pad 21 holding the label 1 is pressed against the case 6 of the starter 4 by moving the robot 14 using the sticking head 20A, so that the end face 21b of the suction pad 21 contacts the reference surface 30b. Touch Thereby, the label 1 can be stuck at a predetermined position on the flat portion of the case 6 while maintaining the posture in which the end surface 21b is substantially perpendicular to the mounting surface of the flange 15.
[0056]
Further, in the case where the label 1 attached to the flat portion of the case 6 is easy to float, as shown in FIG. 17, a portion of the label 1 easy to float after the attachment can be pressed by the press pad 31. Therefore, the part where the label 1 is easily floated can be securely attached to the flat part of the case 6.
[0057]
When the label 1 is to be attached to a predetermined position on the curved surface of the outer periphery of the yoke 5 of the starter 4, the robot 14 is moved to press the suction pad 21 to a predetermined position on the outer periphery of the yoke 5 as shown in FIG. The flat label 1 can be attached to the outer periphery of the yoke 5 with the end surface 21b of the suction pad 21 kept substantially perpendicular to the mounting surface of the flange 15. Then, as shown in FIG. 17, by gradually pressing the floating portion of the label 1 from the central region of the outer periphery of the yoke 5 to the peripheral portion thereof by the pressing pad 31, the label 1 is not wrinkled. It can be securely attached to the outer periphery.
[0058]
As described above, by using the pasting head 20A of the present embodiment, a dedicated label pasting head can be used even if the label 1 or the pasting portion has a flat or curved surface with various specifications. In addition, it is possible to perform the sticking with one sticking head 20A according to the variations of the label 1 and the member to be stuck.
[0059]
Note that the present invention is not limited to the above embodiment, and various modifications can be made within the scope of the present invention. For example, in the above-described embodiment, the starter 4 is considered as an object to which the label 1 is attached, but other products may be used. Further, when the label 1 is applied to a predetermined position of the starter 4, the case where the label 1 is applied to a horizontal or vertical application surface has been described, but the application surface may be inclined at an angle other than these. In this case, the label 1 may be attached by adjusting the inclination angle of the holder 30 shown in FIG.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a structure of a label sticking apparatus according to an embodiment.
FIG. 2 is an external perspective view of a starter as a workpiece to which a label is to be attached.
FIG. 3 is a side view of a starter as a workpiece to which a label is attached.
FIG. 4 is a perspective view of a continuous label body.
FIG. 5 is an external view of a label peeling device.
FIG. 6 is a partial cross-sectional view showing a detailed structure of a pasting head.
FIG. 7 is a view as seen from an arrow A direction shown in FIG. 6;
FIG. 8 is a diagram illustrating a state in which the label is uniformly pressed on the suction surface of the suction head.
FIG. 9 is a diagram illustrating a state in which the label peeled from the peeling backing sheet is sucked to the suction pad.
FIG. 10 is a diagram showing a conventional label peeling state.
FIG. 11 is a diagram showing a conventional label peeling state.
FIG. 12 is a diagram illustrating a structure of a label sticking apparatus according to a modified example.
FIG. 13 is a partial cross-sectional view showing a detailed structure of a sticking head used in the label sticking device of the modified example shown in FIG.
FIG. 14 is a side view of the pasting head shown in FIG.
15 is a diagram showing an outline of an operation of attaching a label to a side surface of a starter using the attaching head shown in FIGS. 13 and 14. FIG.
FIG. 16 is a plan view showing a state where a label is attached to a flat portion of the case of the starter or a curved surface portion of the yoke.
FIG. 17 is a diagram showing an outline of a pressing operation performed after the label 1 attaching operation.
[Explanation of symbols]
1 label
2 Peeling mount
4 Starter
8 Conveyor
10 bases
12 cartridges
14 Robot
15 Flange
20, 20A sticking head
21 Suction pad
23a Air intake hole
23b Air suction hole
24 steel ball
25 rod
26 Spring
27 Pressing part
30 holder
31 Presser pad
32 bracket
33 Actuator
100, 100A label sticking device
200 Label peeling device

Claims (9)

A label pasting apparatus having a label pasting head attached to a moving means that moves between a label peeling apparatus and a label pasting target,
The label pasting head,
A holder attached to an attachment portion of the moving means,
A suction pad for holding the label on a suction surface by a suction force of suction air generated by a vacuum device;
A pressing portion provided in the holder, for swingably supporting the suction pad via a rod-shaped member and a sphere by a spring;
A label sticking device, wherein the label is stuck while holding the label while being pressed by the pressing portion, and the label is stuck while the suction pad is in contact with the contact surface of the holder. . In claim 1,
The label sticking device is characterized in that the label sticking head does not abut the suction pad on the contact surface of the holder when the label is sucked. In claim 1 or 2,
The suction pad has a plurality of air suction holes divided into front and rear two systems along a label peeling direction, and different vacuum devices are connected to the air suction holes of each of the divided systems. A label sticking device characterized by the above-mentioned. In any one of claims 1 to 3,
The holder is rotatably supported by a bracket interposed between the holder and the bracket, and the angle of the holder is changed at each of the time of sucking and attaching the label. Label sticking device. In claim 4,
In the holder, the suction pad is attached to one end side, and a holding pad made of an elastic body is attached to the other end side, respectively.
A label sticking apparatus, wherein after sticking the label to the sticking object by the suction pad, the label after sticking is pressed by the press pad. A label adsorbing method of adsorbing a label peeled by a label peeling device on a suction surface of a suction pad by a suction force of suction air generated by a vacuum device,
A label suction method, wherein the label is suctioned by setting a clearance between the label and a suction surface of the suction pad to zero. In claim 6,
By pressing the suction pad via the rod and the sphere by the spring so as to swing freely by a pressing portion having a spring, a rod-shaped member and a sphere, the label and the suction surface of the suction pad are separated. A label adsorption method characterized in that the clearance is reduced to zero. A label adsorption device that adsorbs a label on an adsorption surface by an adsorption force of suction air generated by a vacuum device,
A suction pad on which the suction surface is formed,
A pressing portion that swingably supports the suction pad via a rod-shaped member and a sphere by a spring;
Wherein the label is held by suction while being pressed by the pressing portion. In claim 8,
The suction pad has a plurality of air suction holes divided into front and rear two systems along a label peeling direction, and different vacuum devices are connected to the air suction holes of each of the divided systems. A label suction device characterized by the above-mentioned.

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