JP2013014337A - Label affixing device and label affixing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To properly pressedly bond a label and to suppress the displacement of the label when affixing the label.SOLUTION: A label affixing device is arranged slidably to a lifting base ascending and descending in a vertical direction by a lifting driving unit and has a shaft member in which an attracting head part is arranged in a lower end side. Further, the device has a biasing means biasing the shaft member to the lower side of the lifting base and an arm member mounted on the lifting base part and having a peeling pawl in the lower end part. The arm member can regulate the movement of the shaft member in a vertical direction. The position of the lower end face of the attracting head part is positioned in the lower side more than the distal end part of the peeling pawl with the biasing member not operating. The arm member moves to the shaft member and interposes the distal end part of the peeling pawl in the lower side of the attracting head part to peel the label. Further, the arm member moves to the shaft member and regulates the vertical movement of the shaft member when pressedly bonding and affixing the label.

Description

  The present invention relates to a label sticking apparatus and a label sticking method.

  Conventionally, various label peeling methods for peeling a label attached on a mount from the mount have been proposed. For example, there is a label peeling method in which peeling claws are positioned at both ends of the label, the peeling claws are pushed between the label and the backing sheet, both ends of the label are sandwiched between the peeling claws and the suction plate, and the suction plate is raised upward. Known (Patent Document 1).

Japanese Patent Publication No. 7-84214

  However, when the label is sandwiched between the peeling claw and the suction plate and the label is peeled off, the following problems may occur if the label is put on another place as it is. For example, when a convex part exists around the sticking location of a label, it is assumed that a peeling nail contacts a convex part. Specifically, when a component is arranged in a convex shape around the label location, the peeling claw may come into contact with the component. When the peeling claw comes into contact with the component, it becomes difficult to make the label adhere to the pasted portion. In order to attach a label while exhibiting sufficient adhesive force, it is necessary to press the label, but it is assumed that the label cannot be pressed properly when the peeling claw comes into contact with a convex portion such as a component.

  Furthermore, if the peeling claw is to be pulled out while the label is in contact with the application location, there is a concern that the release claw will drag the label and the label will be displaced from the application location.

  Then, the label sticking apparatus of this specification indication makes it a subject to press-fit a label appropriately at the time of sticking, and control shift of a label.

  The label sticking device disclosed in the present specification includes an elevating base portion that is moved up and down by an elevating drive device, and a shaft member that is provided slidably with respect to the elevating base portion and that has a suction head portion provided on the lower end side. An urging member for urging the shaft member downward with respect to the elevating base portion, an arm member mounted on the elevating base portion and having a peeling claw at a lower end, and the arm member A drive device that moves toward the shaft member, and the position of the lower end surface of the suction head portion is located below the tip of the peeling claw in a state where the biasing member does not act. Features.

  When the label is applied, the lower end surface of the suction head portion is positioned below the tip end portion of the peeling claw, so that the peeling claw can be prevented from contacting the periphery of the label applying location. Also, the vertical movement of the shaft member provided with the suction head part that sucks and holds the label to be attached can be regulated by the drive device, and when the elevating base part is lowered, it is firmly attached to the label A load can be applied and crimped. Moreover, since the peeling claw is not pulled out at the pasting location, the label shift is suppressed.

  According to the label sticking apparatus and the label sticking method disclosed in the present specification, it is possible to appropriately press the label at the time of sticking the label and suppress the deviation of the label.

FIG. 1 is a block diagram of the label sticking device of the embodiment. FIG. 2 is an explanatory diagram illustrating an outline of a hand unit included in the label sticking device of the embodiment. FIG. 3 is an exploded view of the hand unit shown in FIG. 4A and 4B are explanatory views showing the operation of the arm member driving device incorporated in the hand unit. FIG. 5 is an explanatory diagram illustrating an example of a label attached by the label attaching apparatus of the embodiment. FIG. 6 is a flowchart illustrating an example of the operation of the label sticking device of the embodiment. FIGS. 7A to 7G are explanatory diagrams showing, in a time series, steps in which the label sticking device of the embodiment peels off the label on the mount. FIGS. 8A to 8C are explanatory diagrams showing, in a time series, steps in which the label sticking apparatus of the embodiment sticks labels on parts.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, in the drawings, the dimensions, ratios, and the like of each part may not be shown so as to completely match the actual ones.

  FIG. 1 is a block diagram of a label sticking device 1 of the embodiment. FIG. 2 is an explanatory diagram showing an outline of the hand unit 10 provided in the label sticking device 1. FIG. 3 is an exploded view of the hand unit 10 shown in FIG. 4A and 4B are explanatory views showing the operation of the drive device 17 of the arm member 15a incorporated in the hand unit 10. FIG. In the present specification, the vertical direction is set to the direction shown in FIG. In the hand unit 10 shown in FIG. 2, the spring member 40, which is an example of an urging member, is not compressed and is in a state where the urging force is not exerted (a state where the urging member does not act). .

  The label sticking device 1 includes a hand unit 10 and a robot unit 30. The hand unit 10 includes an elevating base unit 11. The elevating base unit 11 can be moved up and down by the elevating drive device 31 provided in the robot unit 30. The elevating base unit 11 includes a guide cylinder 12. A shaft member 13 is slidably supported on the guide cylinder 12. The shaft member 13 is slidably provided with respect to the elevating base portion 11 by being supported by the guide tube 12. On the lower end side of the shaft member 13, a suction head portion 14 is provided. Further, the shaft member 13 includes a flange portion 13a. The suction head unit 14 is provided with a tube attachment port 14a. A suction device 50 is connected to the suction head unit 14 via a tube 51 attached to the tube attachment port 14a.

  The label sticking device 1 includes a spring member 40. The spring member 40 urges the shaft member 13 against the lifting base portion 11 in the downward direction of the lifting base portion 11, that is, downward. Specifically, the spring member 40 is disposed between the horizontal frame member 11 a and the flange portion 13 a included in the elevating base portion 11. Thereby, the spring member 40 can urge the shaft member 13 downward with respect to the lift base portion 11.

  An arm member 15 a having a peeling claw 16 at the lower end is mounted on the elevating base portion 11. Specifically, the arm member 15 a is mounted on the lift base portion 11 via a driving device 17 attached to the lift base portion 11. The arm member 15a has a peeling claw 16 at its lower end. The tip 16a of the peeling claw 16 is processed into a taper shape. The driving device 17 is electrically connected to the control unit 60. The control unit 60 is also electrically connected to the suction device 50 and the robot unit 30.

  Here, the drive device 17 will be described in detail with reference to FIGS. The driving device 17 includes a hollow cylindrical body 17a and includes a compressed air introduction port 17b for introducing compressed air therein. The driving device 17 includes opening / closing blocks 18a and 18b at the lower end. The open / close blocks 18a and 18b are arranged to face each other. The open / close blocks 18a and 18b are connected by a connecting spring 19 disposed in a spring chamber 17c provided inside the cylindrical body 17a. The space inside the spring chamber 17c is isolated from its surroundings. A part of each of the open / close blocks 18a and 18b is exposed in the spring chamber 17c, and is installed in the spring chamber 17c so as to be able to appear and retract. As shown in FIG. 4A, the connecting spring 19 exerts an urging force that separates the open / close blocks 18a and 18b. As shown in FIG. 4B, when compressed air is introduced into the cylindrical body 17a, the open / close blocks 18a and 18b respectively compress the connecting spring 19 by the pressure of the compressed air, and the spring chamber 17c. Moves inward and closes. When the compressed air is discharged from the cylindrical body 17a and the pressure inside the cylindrical body 17a is lowered, the open / close blocks 18a and 18b are pushed back to the outside of the spring chamber 17c by the urging force of the connecting spring 19.

  The arm member 15a provided with the peeling claw 16 is attached to such an opening / closing block 18a by screws. An arm member 15b is attached to the opening / closing block 18b that forms a pair with the opening / closing block 18a. The arm members 15a and 15b arranged to face each other can approach the shaft member 13 as will be described in detail later, and sandwich the shaft member 13 to restrict the vertical movement of the shaft member 13.

  In addition, the label sticking apparatus 1 should just be equipped with the peeling nail | claw 16 in either one of the arm members 15a and 15b. Moreover, the label sticking apparatus 1 can also be set as the structure which abolished any one of the arm members 15a and 15b, and was equipped with the peeling nail | claw 16 in the remaining arm member.

  Referring to FIG. 2, in the label sticking device 1, the position of the lower end surface 14 b of the suction head unit 14 is the tip of the peeling claw 16 in a state where the spring member 40 is not compressed and exerts no urging force. It is located below 16a. That is, the position of the lower end surface 14b of the suction head portion 14 is located below the tip portion 16a of the peeling claw 16 in a state where the suction head portion 14 has not moved relatively upward. In addition, when the spring member 40 is not compressed from the initial state, the shaft member 13 is in the most lowered state with respect to the elevating base portion 11.

  The control unit 40 operates the drive device 17 when the shaft member 13 is compressed and the spring member 40 moves upward while increasing the biasing force when the label is peeled off. Thereby, the control unit 40 moves the arm members 15 a and 15 b toward the shaft member 13 and inserts the tip end portion 16 a of the peeling claw 16 into the lower side of the suction head portion 14. Further, the control unit 40 operates the driving device 17 when the lower end surface 14b of the suction head unit 14 is positioned below the front end portion 16a of the peeling claw 16 during label sticking. Thereby, arm member 15a, 15b is moved toward the shaft member 13, and the movement of the up-down direction of the shaft member 13 is controlled. Specifically, the flange portion 13a included in the shaft member 13 is sandwiched between the arm members 15a and 15b, and the vertical movement of the shaft member 13 is restricted. As a result, the relative position between the shaft member 13 and the lift base portion 11 is fixed. By fixing the relative position of the shaft member 13 and the elevating base portion 11, the contraction action of the spring member 40 is also suppressed, and the shuff member 13 and the elevating base portion are integrated as if the collar is also a rigid body. Works. Note that a lock mechanism using a pin member or the like may be employed to restrict the vertical movement of the shaft member 13. For example, a pin member may be provided on the arm member 15a or 15b, and this pin member may be engaged with an engagement hole or the like provided on the shaft member 13.

  The label peeled off and pasted by the label sticking apparatus 1 described above will be described with reference to FIG. The label sticking device 1 can peel off the labels arranged on the mount and stick them to the sticking place. For example, as shown in FIG. 5, the label sticking apparatus 1 can peel off labels 81 arranged in four directions on a mount 80 from the mount 80 and stick them to a target location. The label 81 is arranged with no gap between other adjacent labels 81. That is, the sides of the label 81 are in close contact with each other. When the label 81 is peeled from the mount 80, the label sticking device 1 can exert a force that is equal to or greater than the force obtained by adding the adhesive force between the mount 80 and the label 81 and the force for separating adjacent labels. Necessary. In response to such a request, the label sticking apparatus 1 according to the embodiment can obtain the peeling action by the peeling claw 16 in addition to the suction action by the suction head unit 14, and can peel the label 81 from the mount 80. .

  Next, peeling and sticking of the label 81 by the label sticking apparatus 1 will be described with reference to FIGS. FIG. 6 is a flowchart showing an example of the operation of the label sticking apparatus 1. FIGS. 7A to 7G are explanatory diagrams showing, in a time series, steps in which the label sticking device 1 of the embodiment peels the label 81 on the mount 80. FIGS. 8A to 8C are explanatory diagrams showing, in a time series, steps in which the label sticking apparatus of the embodiment sticks the label 81 on the component 91b.

  The label sticking device 1 operates according to a command from the control unit 60. First, the initial state of the label sticking apparatus 1 before starting a series of label peeling and sticking operations will be described. In the initial state of the label sticking device 1, the shaft member 13 is biased in the downward direction by the spring member 40. Thereby, the lower end surface 14b of the suction head part 14 is in a state positioned below the front end part 16a of the peeling claw 16 provided on the arm member 15a. Compressed air is not introduced into the driving device 17, and the arm members 15a and 15b are in an open state. Thereby, the movement of the shaft member 13 in the vertical direction is not restricted, and the shaft member 13 is slidable with respect to the guide tube 12.

  In step S1, the horizontal movement device 32 of the robot unit 30 moves the elevating base unit 11 (hand unit 10) in the initial state above the peeling target label 81 as shown in FIG.

  Next, in step S2, as shown in FIG. 7B, the elevating base portion 11 is lowered until the suction head portion 14 comes into contact with the peeling target label 81. The elevating base unit 11 is lowered by the elevating drive device 31 of the robot unit 30. In step S3, the elevating base portion 11 is lowered until the tip end portion 16a of the peeling claw 16 contacts the mount 80 as shown in FIG. 7C. In other words, the elevating base portion 11 is lowered, and the suction head portion 14 is pressed against the peeling target label 81 while compressing the spring member 40. At this time, the shaft member 13 rises relative to the lift base portion 11 while compressing the spring member 40.

  In step S4, suction by the suction device 40 is started. That is, the suction head unit 14 starts suction of the separation target label 81. The suction start by the suction head unit 14 may be at another timing. For example, you may start at the timing before the process in step S3.

  In step S5 performed subsequent to step S4, the arm member 15a is moved toward the shaft member 13. That is, the arm member 15a provided on the elevating base portion 11 is brought close to the shaft member 13 by the driving device 17, and the distal end portion 16a of the peeling claw 16 provided on the arm member 15a is adsorbed as shown in FIG. Insert under head portion 14. In short, the tip 16a of the peeling claw 16 is inserted into the adhesive layer between the mount 80 and the label 81. At this time, the shaft member 13 can be freely moved up and down. That is, the spring member 40 can be compressed and moved upward. For this reason, when the front-end | tip part 16a of the peeling nail | claw 16 enters into the lower side of the adsorption | suction head part 14, the peeling nail | claw 16 can lift the shaft member 13 integrated with the adsorption | suction head part 14 upwards. Thereby, the force applied from the side of the label by the peeling claw 16 can be appropriately released, the label 81 can be prevented from becoming wrinkles, and the adhesive layer can also be prevented from being damaged.

  In step S6 performed subsequent to step S5, the elevating base unit 11 (hand unit 10) is raised by the elevating drive device 31 of the robot unit 30. Thereby, the label 81 to be peeled is peeled, and the peeled label 81 is held between the lower end surface 14b of the suction head unit 14 and the peeling claw 16. Since the peeling claw 16 is inserted into the adhesive layer while adsorbing the label 81 by the adsorption head unit 14, the label 81 can be easily separated from the mount 80. After the label 81 is peeled from the mount 80, the elevating base portion 11 is predetermined with the label 81 held between the lower end surface 14b of the suction head portion 14 and the peeling claw 16, as shown in FIG. Further up to the position of.

  In step S7, the arm member 15a is opened. That is, the arm member 15 a is separated from the shaft member 13. As a result, the suction head portion 14 urged downward by the spring member 40 is lowered as shown in FIG. At this time, the label 81 is sucked and held by the suction head unit 14. And the front-end | tip part 16a of the peeling nail | claw 16 is located above the label 81 hold | maintained. At this time, the elevating base portion 11 is raised to a predetermined position, and a space is secured below the suction head portion 14 that sucks the label 81. For this reason, the peeling claw 16 can be separated from the label 81 smoothly. As a result, the peeling claw 16 does not drag the label, and the position of the label 81 is suppressed from shifting.

  In step S8, the arm member 15a is moved again toward the shaft member 13. When the arm member 15 a is moved, compressed air is introduced into the driving device 17. For this reason, when the arm member 15a operates, the arm member 15b operates similarly. Thus, the shaft member 13 is clamped by the arm members 15a and 15b operating simultaneously. The arm members 15a and 15b sandwich the flange portion 13a as shown in FIG. As described above, the arm members 15a and 15b sandwich the flange portion 13a to restrict the vertical movement of the shaft member 13. As a result, the relative position between the shaft member 13 and the lift base portion 11 is fixed. By fixing the relative position of the shaft member 13 and the elevating base portion 11, the contraction action of the spring member 40 is also suppressed, and the shuff member 13 and the elevating base portion are integrated as if the collar is also a rigid body. Works.

  In step S9, the raising / lowering base part 11 is moved above a sticking location by the horizontal movement apparatus 32 with which the robot part 30 is provided. In this embodiment, the label 81 is attached to the upper surface of the component 91b among the components 91a, 91b, 91c arranged on the substrate 90 as shown in FIG.

  In addition, the order in which step S8 and step S9 are performed is not ask | required, You may perform these measures simultaneously. Further, the measures in step S9, that is, the measures in steps S7 and S8 may be performed while the lifting base 11 is being moved.

  In step S10, the suction head unit 14 is pressed onto the component 91b that is the pasting location. That is, the elevating base portion 11 is lowered in a state in which the vertical movement of the shaft member 13 is restricted, and the label 81 held by the suction head portion 14 is pressed against the place where the label 81 is applied. The tip 16a of the peeling claw 16 is located above the label 81 as shown in FIG. For this reason, the peeling nail | claw 16 does not contact the surrounding components 91a and 91c. That is, the peeling claw 16 does not interfere with labeling. Further, the suction head unit 14 is pressed against the component 91b integrally with the elevating base unit 11. For this reason, the force by the raising / lowering drive apparatus 31 is efficiently transmitted to the label 81 via the raising / lowering base part 11, the shaft member 13, and the adsorption | suction head part 14, and the label 81 is crimped | bonded. That is, since the pressing force due to the contraction of the spring member 40 is not absorbed, the label 81 is strongly pressed onto the component 91b and pressed.

  In step S11, the suction by the suction device 40 is stopped. That is, the suction of the suction head unit is stopped. And in step S12, the raising / lowering base part 11 is raised as shown in FIG.8 (C). The label 81 peeling and pasting process is thus completed.

  The features of the label applicator 1 described above are summarized as follows.

  First, when the peeling claw 16 is inserted between the mount 80 and the label 81, the shaft member 13 rises while compressing the spring member 40, so that the suction head portion 14 can escape appropriately. As a result, the peeling claw 16 easily enters between the mount 80 and the label 81, and the label 81 is easily peeled off.

  When affixing the label 81, the peeling claw 16 is retracted above the label 81 adsorbed by the adsorption head unit 14, so that the affixing operation is easy even when the affixed portion and its periphery are narrow. Become.

  Since the peeling claw 16 is detached from the label 81 before the label 81 comes into contact with the affixed portion, the displacement of the label 81 due to the movement operation of the peeling claw 16 can be suppressed.

  Since the shaft member 13 including the suction head portion 14 is fixed to the elevating base portion 11 when the label 81 is attached, the label 81 can be strongly pressed.

  Since there is one drive device mounted on the hand unit 10, it is advantageous in terms of cost reduction and weight reduction of the device. In addition, the arm member 15a that operates the peeling claw 16 restricts the vertical movement of the shaft member 13, thereby realizing a compact configuration.

  The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific embodiments, and various modifications, within the scope of the gist of the present invention described in the claims, It can be changed.

DESCRIPTION OF SYMBOLS 1 Label sticking apparatus 10 Hand unit 11 Elevating base part 12 Guide cylinder 13 Shaft member 13a Ridge part 14 Adsorption head part 15a, 15b Arm member 16 Peeling claw 17 Drive apparatus 18a, 18b Opening / closing block 30 Robot part 31 Elevating drive apparatus 32 Horizontal Moving device 40 Spring member 50 Suction device 60 Control unit

Claims (3)

An elevating base that is moved up and down by an elevating drive; and
A shaft member provided slidably with respect to the elevating base portion, and a suction head portion provided on the lower end side;
An urging member for urging the shaft member downward with respect to the elevating base part;
An arm member mounted on the elevating base and having a peeling claw at the lower end;
A drive device that moves the arm member toward the shaft member, and the position of the lower end surface of the suction head portion is lower than the tip end portion of the peeling claw when the biasing member does not act It is located in the label sticking apparatus characterized by the above-mentioned.   The driving is performed when the lifting base portion is further lowered from the state in which the suction head portion is in contact with the peeling target label at the time of label peeling and the shaft member is moved upward relative to the lifting base portion. The device is operated to move the arm member toward the shaft member, the tip of the peeling claw is inserted below the suction head, and the lower end surface of the suction head is attached to the peeling claw at the time of label sticking. A control unit that operates the drive device when the state is located below the distal end to move the arm member toward the shaft member and restricts the vertical movement of the shaft member; The label affixing device according to claim 1, wherein the device is a label affixing device. A lowering base portion having a shaft member having a suction head portion at the lower end portion is slidably lowered, and the suction head portion is peeled off while increasing the biasing force of the biasing member biasing the shaft member downward. Pressing to
A step of sucking the label to be peeled off by the suction head portion;
A step of causing an arm member provided on the lifting base portion to approach the shaft member, and inserting a tip end portion of the peeling claw provided on the arm member below the suction head portion;
Raising the elevating base part, peeling off the peeling target label, and holding the peeled label between the lower end surface of the suction head part and the peeling claw;
Raising the elevating base part with a label held between the lower end surface of the suction head part and the peeling claw; and
Separating the arm member from the shaft member and lowering the suction head portion biased downward by the biasing member;
Allowing the arm member to approach the shaft member and restricting the vertical movement of the shaft member;
A step of moving the elevating base portion above a labeling location;
A step of lowering the elevating base portion in a state in which the vertical movement of the shaft member is restricted, and pressing a label held by the suction head portion against a label application location;
Stopping suction of the suction head part;
Raising the elevating base part;
A labeling method including:

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