JP2014210604A - Label sticking device and label sticking method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To certainly achieve sticking of a label in a height range in which an arm descends by inertia according to a height of a stuck part while simplifying and downsizing a structure of a label sticking device when sticking the label onto the stuck part by pressing the label from above by the arm descending by the inertia continuously after stopping descent of an arm holder.SOLUTION: A stop height at which descent of an arm holder 36 is stopped is set to be a height higher than a height of a stuck part G by a prescribed amount according to the height of the stuck part G. When the arm holder 36 has descended to the stop height, drive of a motor 41 is stopped so as to stop the descent of the arm holder 36.

Description

  The present invention relates to a label sticking apparatus and a label sticking method for pressing and sticking a label to an object to be stuck from above by lowering an arm.

  As a label sticking machine for sticking a label on the upper surface of a product, for example, a type disclosed in Patent Document 1 is known.

  As shown in FIGS. 10 (a) and 10 (b), this type of label sticking machine 200 includes a label suction unit 222 that holds a label on the lower surface by suction, and a label L1 that is held by the label suction unit 222. And a bar-shaped arm 225 that pushes the product downward and presses the product downward. The arm 225 is held by an arm holder 228 made of, for example, an aluminum block material via a coil spring 230. Specifically, the arm 225 is disposed so as to vertically penetrate the arm holding body 228, one end 230 a of the coil spring 230 is fixed to the upper end portion of the arm 225, and the other end 230 b is fixed to the arm holding body 228. The As a result, the arm 225 is supported by the upward biasing force of the coil spring 230. Further, a restriction member 232 is fixed to the arm 225, and the restriction member 232 interferes with the lower surface of the arm holding body 228, whereby the upward movement of the arm 225 with respect to the arm holding body 228 is restricted. .

  In this type of label applicator 200, when the arm holder 228 is lowered at a high speed by a drive mechanism such as an air cylinder, the arm holder 228 pushes the restriction member 232 downward, so that the arm holder 228 and The arm 225 descends at a high speed together with the regulating member 232. The lowering of the arm holder 228 by this drive mechanism is suddenly stopped when the predetermined height is reached, and after this stop, the arm 225 compresses the coil spring 230 against the urging force of the coil spring 230 by inertia. While descending. In this way, the label L1 adsorbed to the lower end of the arm 225 is pressed against and attached to the product within the height range in which the arm 225 descends due to inertia.

  According to this configuration, the label is placed on the upper surface of the product in accordance with the unevenness of the upper surface of the product or the error between the preset application height and the actual product height within the height range where the arm descends due to inertia. Can be pasted. In addition, since the arm descending speed due to inertia is gradually decelerated by the biasing force of the coil spring, the impact force applied to the product by the arm is suppressed, and the product can be protected.

  However, depending on the height of the product, the part to be pasted of the product may not fit within the height range in which the arm descends due to inertia. In this case, for example, as disclosed in Patent Document 2, a height adjustment mechanism that moves the entire label applicator up and down is provided, and the height of the label applicator is adjusted by the height adjustment mechanism so that the arm It becomes possible to affix a label on a to-be-adhered part in the height range which descend | falls by inertia.

Japanese Patent Laid-Open No. 5-112344 JP 2004-262520 A

  However, when the above-described height adjusting mechanism is mounted on the label applicator, there is a problem that the structure is complicated and the apparatus is enlarged.

  Therefore, the present invention simplifies the structure of the label affixing device when the label is affixed to the adherend by pressing down from above with the arm that descends due to inertia after stopping the descent of the arm holder. It is an object of the present invention to reliably realize label sticking in a height range in which the arm descends due to inertia according to the height of the part to be pasted while downsizing.

The label applicator according to the present invention is:
A label adsorbing section for adsorbing and holding the label on the lower surface;
An arm that pushes the label held by the label suction part from above and presses it against the adherend part below the label suction part;
An arm holding body that holds the arm by being connected to the arm via a biasing member that applies an upward biasing force to the arm;
Restriction means for restricting the upward movement of the arm relative to the arm holder;
A motor for lowering the arm holder;
Stop height setting means for setting a stop height for stopping the descent of the arm holding body by driving the motor to a height that is higher than the adherend portion by a predetermined amount according to the height of the adherend portion;
And a control means for controlling the motor so as to stop the lowering of the arm holder when the arm holder is lowered to the stop height.

  According to the label sticking device of the present invention, unlike the conventional device that lowers the arm holder by the air cylinder, the arm holder is lowered by the motor, so the arm holder is stopped at an arbitrary stop height. The motor can be controlled to This stop height is set to a predetermined amount higher than the adherend according to the height of the adherend, so it depends on the inertia of the arm at the height position corresponding to the height of the adherend. The descent can be started. Therefore, regardless of the height of the part to be pasted, it is possible to reliably realize label sticking in a height range in which the arm descends due to inertia. In addition, since it is possible to cope with variations in the height of the part to be pasted by controlling the motor in this way, the conventionally used height adjustment mechanism can be omitted, and the structure of the apparatus is simplified and miniaturized. Can be achieved.

  In the label sticking device according to the present invention, the control means, when stopping the rotation of the motor to stop the lowering of the arm holding body at the stop height, temporarily accelerates the rotation of the motor, and accelerates the acceleration. Immediately after, the rotation of the motor may be decelerated and stopped. In this case, since the lowering of the arm holding body is rapidly decelerated, the lowering due to the inertia of the arm can be surely started at the timing when the rapid deceleration is started. Therefore, it is possible to suppress variations in timing from when the motor starts decelerating until the arm starts descending due to inertia, compared to when the motor starts decelerating at a constant speed. . Therefore, the label affixing operation by the arm can be stabilized, and the label can be appropriately affixed at an accurate position with respect to the part to be affixed.

  In the label sticking device according to the present invention, when the rotation of the motor is temporarily accelerated and the rotation of the motor is decelerated immediately after the acceleration, the control means accelerates the motor while rotating the motor at a constant speed. May start. In this case, immediately before starting the acceleration and deceleration of the motor for rapidly decelerating the arm holder, the lowering operation of the arm can be stabilized by rotating the motor at a constant speed.

  The label sticking device according to the present invention may include a peak adjusting means for adjusting a value when the rotation speed of the motor is switched from the acceleration to the deceleration. In this case, with respect to the rotation speed of the motor when stopping the descent of the arm holder, the value (hereinafter referred to as “peak value”) when the motor rotation is once accelerated and then switched to deceleration is adjusted. It is possible to adjust the distance by which the arm descends due to inertia, that is, the amount by which the arm projects downward (hereinafter referred to as the “arm projection amount”) with reference to the time when the descending of the arm holder stops. The amount of protrusion of the arm is affected by the magnitude of the load that the arm receives from the bearing portion of the arm holder and the urging member, and the magnitude of these loads varies depending on individual differences in the labeling device and the usage environment. . Further, the required amount of arm protrusion varies depending on the height and type of the part to be pasted, the required processing speed, and the like. According to the present invention, by adjusting the amount of protrusion of the arm by the peak adjusting means, it is possible to realize suitable label attachment in accordance with the various conditions and requirements as described above.

  In the label sticking device according to the present invention, when the urging member is a coil spring, the control means stops the arm holding body at the stop height and then the arm is being lowered by inertia. The motor may be controlled to raise the arm holding body at the timing. In this case, since the arm holder is raised when the arm is lowered due to inertia, the compression of the coil spring is promoted, and the upward biasing force by the coil spring is increased. Therefore, the kinetic energy of the descending arm decreases, and the descending speed of the arm further decreases. Therefore, a label can be pressed with a relatively weak force by an arm that descends at a relatively low speed against an object to be prevented from being deformed, such as a side dish in a bag. It is possible to prevent the patch from being deformed or damaged.

The label sticking method according to the present invention includes:
A label adsorbing part that adsorbs and holds the label on the lower surface, an arm that pushes the label held on the label adsorbing part from above and presses it against the adherend below the label adsorbing part, and an upward attachment to the arm A label that attaches the label to the part to be pasted by using a label sticking device that is connected to the arm via a biasing member that applies a force to hold the arm. A sticking method,
An adsorption process for adsorbing a label on the lower surface of the label adsorption unit;
A driving step of lowering the arm holder together with the arm by driving a motor;
A stop height setting step for setting a stop height for stopping the descent of the arm holder to a height that is a predetermined amount higher than the height of the adherend according to the height of the adherend;
And a stopping step of stopping driving of the motor so as to stop the lowering of the arm holding body when the arm holding body is lowered to the stop height.

  According to the labeling method according to the present invention, unlike the conventional method of lowering the arm holding body by the air cylinder, the arm holding body is lowered by the motor, so the arm holding body is stopped at an arbitrary stop height. The motor can be controlled to This stop height is set to a predetermined amount higher than the adherend according to the height of the adherend, so it depends on the inertia of the arm at the height position corresponding to the height of the adherend. The descent can be started. Therefore, regardless of the height of the part to be pasted, it is possible to reliably realize label sticking in a height range in which the arm descends due to inertia. In addition, since it is possible to cope with variations in the height of the part to be pasted by controlling the motor in this way, the conventionally used height adjustment mechanism can be omitted, and the structure of the apparatus is simplified and miniaturized. Can be achieved.

  According to the present invention, since the arm holding body is lowered by the motor, the lowering of the arm holding body can be stopped at a height higher than the adherend by a predetermined amount by the control of the motor. For this reason, while omitting the height adjustment mechanism, the structure of the label applicator is simplified and miniaturized, and the label is applied in a height range in which the arm descends due to inertia depending on the height of the part to be applied. The attachment can be realized reliably.

It is a front view which shows the label sticking apparatus which concerns on one Embodiment of this invention. It is a side view of the label sticking apparatus shown in FIG. It is sectional drawing which looked at the internal structure of the label sticking machine from the front. It is a block diagram which shows the control system of the label sticking apparatus shown in FIG. It is a flowchart which shows an example of control operation of the label sticking machine shown in FIG. It is a figure for demonstrating operation | movement of the label sticking machine shown in FIG. It is a graph which shows the specific example of the command value of the rotational speed of the motor for a vertical motion. It is a graph which shows the relationship between the command value of the rotational speed of a vertical movement motor, and an actual measurement value. It is a graph which shows the example of the peak value of the rotational speed of the motor for a vertical motion. It is a figure for demonstrating operation | movement of the conventional label sticking machine.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

[Overall configuration of labeling device]
As shown in FIG.1 and FIG.2, the label sticking apparatus 1 which concerns on this embodiment is the label issuing machine 8 which issues the label L, and the goods G by using the label L issued by the label issuing machine 8 as a to-be-attached object. To perform a predetermined input operation and a predetermined display, a label affixing machine 10 for affixing on the upper surface of the paper, a conveyor 4 for conveying the product G so as to pass below the label issuing machine 8 and the label affixing machine 10 The operation display unit 12 is provided. The label sticking machine 10 is fixed to the side surface of the label issuing machine 8. Further, the label sticking device 1 may include a label sticking machine 16 for sticking underneath for sticking a label to the lower surface of the product G conveyed by the conveyor 4. Furthermore, the label sticking device 1 includes a rack 2 that supports the above-described components.

[Conveyor]
As shown in FIG. 1, the conveyor 4 is arrange | positioned so that the goods G may be moved from left to right seeing from the front side of the label sticking apparatus 1. Although the conveyor 4 is comprised with an endless belt, for example, in this invention, the specific structure of the conveyor 4 is not specifically limited. The conveyor 4 may be divided into an upstream conveyor and a downstream conveyor. In this case, the label can be applied from the lower side to the lower surface of the product G by the lower labeling machine 16 through the gap between the upstream conveyor and the downstream conveyor.

  A commodity passage sensor 110 is disposed in the vicinity of the conveyor 4. Whether the commodity passing sensor 110 has passed the predetermined position G on the conveyor 4 upstream of the labeling position by the upper and lower labeling machines 10 and 16 in the transport direction (direction F1 in the figure). Detect whether or not. Although the kind of goods passage sensor 110 is not limited, For example, the optical goods passage sensor 110 which has a light emission part and a light-receiving part is used.

[Label issuing machine]
As shown in FIG. 1, the label issuing machine 8 is configured to take up a label supply reel R around which a strip-like mount B to which a plurality of labels L are attached and a portion of the mount B from which the label L is peeled off. And a reel r. The label L supplied from the label supply reel R is peeled off from the mount B by a peeling plate (not shown), and then sent out from the label issuing port W in a posture where the printing surface is the upper surface. Regarding printing on the label L, printing may be performed on the label L between the label supply reel R and the label issuing port W by a label printer (not shown) mounted on the label issuing machine 8. Then, the mount B having the label L printed in advance may be set in the label issuing machine 8.

  The label issuing machine 8 is supported by the rack 2 from below. As shown in FIG. 2, the rack 2 is provided with a rail portion 18 extending in the depth direction (D2 direction in the drawing) of the label sticking apparatus 1 orthogonal to the transport direction (F1 direction in the drawing). The label issuing machine 8 can slide along the line 18. By sliding the label issuing machine 8 along the rail portion 18, the position of the label issuing machine 8 and the upper labeling machine 10 can be adjusted in the depth direction (D2 direction in the figure).

[Operation display section]
As shown in FIGS. 1 and 2, the operation display unit 12 includes a display panel 13 and a stroke key unit 14. The display panel 13 is constituted by a touch panel, for example. However, the display panel 13 is not necessarily a touch panel. When the display panel 13 is a touch panel, the operation display unit 12 does not necessarily have the stroke key unit 14.

[Labeling machine]
As shown in FIG. 3, the label pasting machine 10 for upper pasting includes a housing 40 fixed to the label issuing machine 8 and a label pasting mechanism 30 accommodated in the housing 40.

  A suction block 20 as a label suction portion is provided on the lower surface of the housing 40. The lower surface of the suction block 20 is a suction surface 21 a that sucks the label L supplied from the label issuing machine 8. The suction surface 21a is provided with a plurality of suction holes (not shown) communicating with a negative pressure supply source (not shown) via the air suction part 24, and negative pressure is supplied to the suction holes. Thus, the label L can be sucked to the suction surface 21a. The suction block 20 is provided with a through hole 23 that penetrates the suction block 20 in the vertical direction.

  The label sticking mechanism 30 pushes the label L held on the suction surface 21a of the suction block 20 from above and presses it against the upper surface of the product G below the suction block 20, for example, one arm 31 and the arm 31 upward. An arm holding body 36 that holds the arm 31 by being connected to the arm 31 via a coil spring 37 that applies an urging force. The label sticking mechanism 30 includes a vertical movement motor 41 that moves the arm holder 36 together with the arm 31 in the vertical direction, and a rotation motor 45 that rotates the arm 31 about the axis.

  The arm holder 36 is made of, for example, an aluminum block material, and thus the arm holder 36 can be reduced in weight. The arm holder 36 is provided with a through hole 36a that penetrates the arm holder 36 in the vertical direction.

  For example, a plate-like magnetic body 62 is fixed to the lower surface of the arm holder 36. The magnetic body 62 is provided with a through hole 62 a that penetrates the magnetic body 62 in the vertical direction so as to be continuous with the through hole 36 a of the arm holding body 36. As the material of the magnetic body 62, a ferromagnetic body is used. Specifically, for example, iron is used.

  In the present invention, the arm holder 36 may be made of a magnetic material, and the magnetic body 62 may be omitted. However, from the viewpoint of reducing the weight of the arm holder 36, aluminum is used as in the present embodiment. It is preferable to attach the magnetic body 62 to the arm holder 36 made of metal.

  The arm 31 is a hollow bar. For example, stainless steel is used as the material of the arm 31, thereby reducing the weight of the arm 31. The arm 31 is disposed so as to extend in the vertical direction through the through hole 36 a of the arm holding body 36 and the through hole 62 a of the magnetic body 62. The hollow portion of the arm 31 communicates with a negative pressure supply source (not shown) via a connection portion 35 attached to the upper end portion of the arm 31.

  A pressing portion 32 that presses the label L against the product G is provided at the lower end portion of the arm 31. The pressing part 32 is a cylindrical member that extends in the vertical direction. The hollow portion of the pressing portion 32 communicates with the hollow portion of the arm 31. The lower end portion of the pressing portion 32 is expanded in a trumpet shape. When the label attaching mechanism 30 is not in operation (standby state), the lower end portion of the pressing portion 32 is arranged so that the lower surface of the pressing portion 32 is arranged at the same height or slightly higher than the suction surface 21a. 20 through holes 23 are accommodated. A soft material is used as the material of the pressing portion 32, and specifically, for example, rubber is used. Thereby, the impact applied to the product G when the label L is pressed by the pressing unit 32 is reduced, and the product G is protected.

  A lower stopper 33 is provided at an intermediate portion of the arm 31. The lower stopper 33 is disposed below the arm holder 36 so as to function as a restricting portion that restricts the relative upward movement of the arm 31 with respect to the arm holder 36. The material of the lower stopper 33 is not particularly limited. For example, the same material as that of the arm 31 is used.

  Further, for example, a columnar magnet 60 is provided at the intermediate portion of the arm 31. The magnet 60 is fixed to the upper surface of the lower stopper 33. The upper surface of the magnet 60 is attracted to the arm holding body 72 through the magnetic body 62 due to the magnetic force acting between the magnet 60 and the magnetic body 62. The material of the magnet 60 is not limited, but a permanent magnet such as a neodymium magnet is used.

  Since the magnet 60 and the magnetic body 62 are attracted in this manner, when the arm 31 is held by the arm holding body 36, not only the upward biasing force by the coil spring 37 but also the magnetic body 62 attracts the magnet 60. The arm 31 is also held by the upward magnetic force. Therefore, even if the urging force by the coil spring 37 is reduced, the arm 31 can be suitably held by the arm holding body 36. As will be described later, when the magnet 60 is pulled away from the magnetic body 62 and the arm 31 descends due to inertia, the upward magnetic force that attracts the magnet 60 to the magnetic body 62 even if the upward biasing force by the coil spring 37 is reduced. Thus, the initial speed of the arm 31 can be effectively reduced. Therefore, by reducing the spring constant of the coil spring 37, the height range in which the arm 31 descends due to inertia can be expanded. Thereby, the label L can be affixed suitably with respect to the upper surface of the goods G of various heights in the expanded height range.

  Instead of using a magnet 60 that is separate from the lower stopper 33 as in the present embodiment, the lower stopper 33 itself may be made of a magnet. Also, a tape may be attached to at least one of the upper surface of the magnet 60 or the lower surface of the magnetic body 62, and the magnitude of the magnetic force acting between the magnet 60 and the magnetic body 62 is adjusted by the thickness of the tape. Also good. Thus, when a tape is interposed between the magnet 60 and the magnetic body 62, there is also an effect that the impact at the time of contact between the two is reduced. Furthermore, in the present invention, a magnet may be provided on the arm holding body 36 side, and a magnetic body may be provided on the arm 31 side.

  Further, an electromagnet may be used as the magnet 60 instead of the permanent magnet, and in this case, the magnitude of the magnetic force can be adjusted by changing the current flowing through the electromagnet. In this case, by adjusting the magnetic force of the electromagnet, the initial speed when the arm 31 descends due to inertia can be adjusted as will be described later. Thereby, according to the kind of goods G, by controlling to weaken the magnetic force of the electromagnet, the descending speed when the arm 31 is pressed against the goods G can be reduced, and the goods G can be effectively protected. By controlling so as to increase the magnetic force of the electromagnet, the descending speed when the arm 31 is pressed against the product G can be increased, and the accuracy of attaching the label L to the product G can be increased. However, it is preferable to use a permanent magnet as the magnet 60 from the viewpoint of weight reduction and space saving.

  An upper stopper 34 is provided at the upper end of the arm 31. The upper end of the coil spring 37 is fixed to the upper stopper 34, and the lower end of the coil spring 37 is fixed to the arm holder 36. Thus, the coil spring 37 is interposed between the upper stopper 34 and the arm holder 36 in a compressed state, so that an upward biasing force by the coil spring 37 acts on the arm 31. Yes.

  The output shaft of the vertical movement motor 41 is disposed along the horizontal direction. A driving pulley 42 is drivingly connected to the output shaft of the vertical movement motor 41. The driving pulley 42 is connected to a driven pulley 43 disposed below the driving pulley 42 via an endless belt 44. An arm holder 36 is fixed to the belt 44. As a result, the arm holder 36 moves in the vertical direction as the belt 44 moves by driving the vertical movement motor 41.

  The output shaft of the rotation motor 45 is arranged along the vertical direction. A driving pulley 47 is drivingly connected to the output shaft of the rotating motor 45. The driving pulley 47 is connected to the driven pulley 38 via an endless belt 47. The arm 31 penetrates the driven pulley 38 so as to be slidable in the vertical direction, and a ball bearing, for example, is interposed between the outer peripheral surface of the arm 31 and the inner peripheral surface of the through hole of the driven pulley 38. ing. When the driven pulley 38 is rotated by driving the rotation motor 45, the arm 31 is rotated around the axis in conjunction with the rotation.

  As the vertical movement motor 41 and the rotation motor 45, a stepping motor is preferably used. Thereby, the angular position and rotation amount of these motors 41 and 45 can be precisely controlled.

[Control system]
The control system of the label sticking device 1 will be described with reference to FIG.

  Various operations of the label sticking apparatus 1 are controlled by the control unit 100. The control unit 100 is provided with a storage unit 102 that stores various information necessary for the operation of the label sticking apparatus 1. In addition, although the control part 100 is attached to the rack 2 below the conveyor 4, for example (refer FIG. 1), the attachment position of the control part 100 is not limited.

  For example, information relating to the screen displayed on the operation display unit 12, a product master, a tray master, a label master, a cassette master, and the like are stored in the storage unit 102. Various information stored in the storage unit 102 can be changed, added, or deleted by an input operation on the operation display unit 12.

  A signal from the operation display unit 12 and a signal from the commodity passage sensor 110 are input to the control unit 100. Note that signals from various other sensors may be input to the control unit 100.

  Further, the control unit 100, based on information stored in the storage unit 102 and / or various input signals, the conveyor 4, the label issuing machine 8, the vertical movement motor 41 and the rotation motor 45 of the label sticking machine 10, In addition, a control signal is output to the operation display unit 12.

[Control action of labeling machine]
An example of the control operation of the label sticking machine 10 by the control unit 100 will be described with reference to the flowchart shown in FIG. 5 and FIGS.

  First, in step S1 of FIG. 5, various information stored in the storage unit 102 and information input from the commodity passage sensor 110 and the operation display unit 12 are read. Specific information read from the storage unit 102 or the operation display unit 12 includes, for example, the type of the product G, the height of the product G, the conveyance speed by the conveyor 4, the printing content of the label L, and the label L attached to the product G. The attaching position, the direction of attaching the label L, and the like can be mentioned.

  In subsequent step S2, various settings necessary for the operation of the label sticking machine 10 are performed based on the information read in step S1.

  Specifically, in step S2, for example, as the settings related to the operation of the arm 31, the timing for driving and stopping the vertical movement motor 41 and the rotation motor 45, the rotation speed and the rotation amount of these motors 41, 45, and the like are set. The Regarding the stop height at which the lowering of the arm holder 36 by the vertical movement motor 41 is stopped, in step S2, the arm is set at a height that is a predetermined amount higher than the upper surface of the product G in accordance with the height of the product G read in step S1. The timing for stopping the vertical movement motor 41 is set so that the holding body 36 is stopped.

  In the next step S3, it is determined whether or not the commodity passing sensor 110 detects the passage of the commodity G. When the passage of the product G is detected as a result of the determination in step S3, in step S4, the label L issued by the label issuing machine 8 is sucked and held on the suction surface 21a of the suction block 20 to which negative pressure is supplied. Thus, the label L is received by the label applicator 10 (see FIG. 6A). However, the label L may be sucked and held in advance on the suction surface 21a before the commodity passing sensor 110 detects the passage of the commodity G.

  In subsequent steps S5 and S6, the operation shown in FIG. 6B is executed at a timing when a predetermined time has elapsed after the commodity passage sensor 110 detects the passage of the commodity G.

  Specifically, in step S5, the supply of negative pressure to the suction surface 21a is stopped, and the vertical movement motor 41 is driven to lower the arm holder 36 at a high speed. When the arm holder 36 is lowered, the lower stopper 33 is pushed downward by the arm holder 36 via the magnet 60 and the magnetic body 62, so that the arm 31 is lowered together with the arm holder 36. Thereby, the pressing part 32 of the arm 31 protrudes below the suction surface 21a, and the label L is pulled away from the suction surface 21a and pushed down.

  At this time, negative pressure is supplied to the lower surface of the pressing portion 32, and the label L is pressed down while being sucked and held on the lower surface of the pressing portion 32. When the label L is pulled away from the suction surface 21a, in step S6, the rotation motor 45 is driven so as to rotate by the predetermined amount set in step S2, and the arm 31 is rotated downward by a predetermined angle around the axis. . As a result, the label L held on the lower surface of the pressing portion 32 rotates with the arm 31 until it reaches a predetermined direction.

  A control example of the rotational speed of the vertical movement motor 41 in step S5 is shown by reference sign p in FIG. 7A and reference signs p1 and p2 in FIG. 7B and FIG. 7C. FIG. 7A shows an example in which the height of the product G is relatively high (for example, 150 mm), and FIG. 7B shows that the height of the product G is higher than that in the case shown in FIG. An example in the case of low (for example, 69 mm) is shown, and FIG. 7C shows an example in which the height of the product G is lower than that in FIG. 7B (for example, 15 mm).

  In the example indicated by the symbol p in FIG. 7A, the rotational speed of the vertical movement motor 41 is kept constant for a predetermined time after being increased to a predetermined speed. In contrast, in the example shown in FIGS. 7B and 7C, the vertical movement motor 41 is larger than the speed indicated by the symbol p in FIG. 7A, as indicated by the symbol p1. After being rotated at a constant speed, as shown by reference numeral p2, it is decelerated so as to have substantially the same speed as reference sign p in FIG. Further, in the example of FIG. 7C in which the height of the commodity G is lower than the example shown in FIG. 7B, the rotation speed of the vertical movement motor 41 in the portion indicated by the reference sign p1 is controlled to be higher. The Thus, when the height of the product G is relatively low, by increasing the rotational speed of the portion indicated by the reference sign p1, the lower end of the arm 31 reaches the height of the upper surface of the product G. This increase in time can be suppressed.

  In step S7 of FIG. 5, it is determined whether or not the arm holder 36 has been lowered to the predetermined height set in step S2. As a result of the determination in step S7, when the arm holder 36 is lowered to a predetermined height, in step S8, the rotation of the vertical movement motor 41 is abruptly stopped, whereby the descent of the arm holder 36 is stopped. At this time, a downward inertia force acts on the arm 31. When the force for peeling off the magnet 60 from the magnetic body 62 generated by the inertial force is larger than the attractive force between the magnetic body 62 and the magnet 60, the magnet 60 is pulled away from the magnetic body 62. As a result, the arm 31 starts to descend due to inertia while further compressing the coil spring 37 against the upward magnetic force that the magnetic body 62 tries to attract the magnet 60 and the upward biasing force of the coil spring 37. To do.

  As described above, the control operations in steps S7 and S8 are to control the stop height of the arm holder 36 to a height higher than the height of the product G by the control of the motor 41. According to this configuration, the conventional height adjustment mechanism is omitted, unlike the conventional configuration in which the arm holder is lowered and stopped by the air cylinder after the height adjustment mechanism has adjusted the overall height of the label applicator 10. However, according to the height of the product G, the label L can be reliably attached in the height range in which the arm 31 descends due to inertia.

  The control pattern of the rotational speed when stopping the rotation of the vertical movement motor 41 in step S8 is a product as shown by reference numerals q and r in FIGS. 7 (a), 7 (b) and 7 (c). It is common regardless of the height of G. As shown in FIGS. 7 (a), 7 (b) and 7 (c), when the rotation of the vertical movement motor 41 is stopped, the rotational speed of the motor 41 is maintained at a constant value q Is accelerated once, and immediately after the acceleration, the vehicle is decelerated as indicated by symbol r.

  Thus, by temporarily accelerating the rotation of the vertical movement motor 41 and rapidly decelerating from the acceleration state, the command value output from the control unit 100 to the vertical movement motor 41 as shown in FIG. Similarly to C, the actual measured value M of the rotational speed of the vertical movement motor 41 is also accelerated at a substantially constant timing slightly delayed from when the command value C changes from acceleration to deceleration, as indicated by reference numeral z1. It is decelerated suddenly.

  On the other hand, as shown in FIG. 8B, the command value C is set so that the deceleration indicated by the symbol r is started from the state where the rotational speed of the motor 41 is constant as indicated by the symbol p. In the case of being controlled, as indicated by reference sign z2, the actual measurement value M starts to be gradually decelerated, and a rapid deceleration as shown in FIG. 8A cannot be realized.

  In the present embodiment, the rotation of the vertical movement motor 41 can be rapidly decelerated as indicated by reference numeral z <b> 1 in FIG. 8A. The descent due to inertia can be started. Therefore, as compared with the case shown in FIG. 8B, the variation in timing from when the motor 41 starts to decelerate until the arm 31 starts to descend due to inertia is suppressed. The attaching operation can be stabilized.

  Further, immediately before the acceleration / deceleration of the vertical movement motor 41 is started, the motor 41 is controlled to rotate at a constant speed, so that the lowering operation of the arm 31 can be stabilized.

  Further, as shown in FIG. 9, the distance by which the arm 31 descends due to inertia by adjusting the value (peak value P) when the command value C is switched from acceleration to deceleration with respect to the rotation speed of the vertical movement motor 41. That is, it is possible to adjust the amount by which the arm 31 protrudes downward (hereinafter referred to as “the amount of protrusion of the arm 31”) with reference to the time when the lowering of the arm holding body 31 is stopped. For example, when the peak value P is increased to the first value P1 as in the command value C1 shown in FIG. 9, the arm 31 can be pulled away from the arm holder 36 and the amount of protrusion of the arm 31 is increased. be able to. On the other hand, when the peak value P is decreased to the second value P2 as in the command value C2 shown in FIG. 9, the arm 31 is relatively gently separated from the arm holder 36, and the amount of protrusion of the arm 31 is reduced. The

  Such setting of the peak value P is performed in step S2 of FIG. 5 according to the type of the product G, the individual difference of the label sticking device 1, the use environment, and the like. For example, when the load received by the arm 31 from the arm holding body 36 or the bearing portion of the driven pulley 38 is relatively large, the peak value P is set to be relatively large, and the type of the product G is a bag of sugar beet bread, etc. When the prevention of deformation is particularly required, the peak value P is set to be relatively small. By adjusting the peak value P in this way, a suitable label L attaching operation can be realized in response to various conditions and requirements.

  Subsequently, in step S9 of FIG. 5, the vertical movement motor 41 is driven to rotate in the direction opposite to that in step S5 so as to raise the arm holder 36 at the timing when the arm 31 is being lowered due to inertia. Is done. Specifically, as indicated by reference numeral s in FIGS. 7A, 7B, and 7C, the rotation of the vertical movement motor 41 is stopped for a predetermined time, and then indicated by reference numeral t. Thus, the reverse rotation of the motor 41 is started. By this operation, when the arm holder 36 is raised while the arm 31 is being lowered due to inertia, the compression of the coil spring 37 is promoted, and the upward biasing force by the coil spring 37 is increased. Therefore, the kinetic energy of the descending arm 31 is decreased, and the descending speed of the arm 31 is further decreased. In addition, the amount of jumping out of the arm 31 is also reduced, thereby suppressing variation in the amount of popping out of the arm 31. Therefore, the sticking operation | movement of the label L can be stabilized, suppressing the impact force given to the goods G effectively.

  As shown in FIG. 6D, when the arm 31 is lowered due to inertia and the arm holder 36 is raised as described above, the label L held by the pressing portion 32 of the arm 31 is the product G. It is pressed against the top surface. Further, the negative pressure supply to the lower surface of the pressing portion 32 is stopped at a predetermined timing immediately before the label L is pressed against the upper surface of the product G. Thereby, the label L can be stuck on the upper surface of the product G. At this time, since the descending speed of the arm 31 is sufficiently reduced, the arm 31 is pressed against the product G with a relatively weak force, and deformation or damage of the product G can be prevented.

  In subsequent step S <b> 10, it is determined whether or not the arm 31 has started to rise away from the upper surface of the product G by the upward biasing force of the coil spring 37. This determination is made based on, for example, whether or not a predetermined time has elapsed since the descent of the arm holder 36 was stopped. As a result of the determination in step S10, when the raising of the arm 31 is started, in step S11, the rotation motor 45 is rotated by a predetermined amount in the direction opposite to that in step S6, which is the same as the standby state shown in FIG. The arm 31 is returned to the angular position. In parallel with this, the arm 31 is raised by continuing the raising of the arm holder 36 started in step S9. When the arm holder 36 is raised to the same height as the standby state shown in FIG. 6A, the rotation of the vertical movement motor 41 is stopped in step S12, and the lifting operation of the arm 31 is completed.

  While the present invention has been described with reference to the above-described embodiments, the present invention is not limited to the above-described embodiments.

  For example, in the above-described embodiment, the case where the magnetic force acting between the magnet 60 and the magnetic body 62 is used for the descending speed reducing means for reducing the initial speed when the arm 31 descends due to inertia has been described. In the invention, any lowering speed reducing means using a force other than the magnetic force (for example, an adhesive force, a frictional force, a suction force by negative pressure, or a biasing force of the ball plunger) may be provided, or the lowering speed reducing means. May be omitted.

DESCRIPTION OF SYMBOLS 1: Label sticking apparatus 2: Rack 4: Conveyor 8: Label issuing machine 10: Label sticking machine 12: Operation display part 20: Adsorption block (label adsorption part)
30: Label attaching mechanism 31: Arm 33: Lower stopper (regulating means)
36: Arm holder 37: Coil spring (biasing member)
41: Motor for vertical movement 45: Motor for rotation 52: Housing 60: Magnet 62: Magnetic body 100: Control unit (control means) (stop height setting means) (peak adjustment means)
102: Storage unit 110: Product passage sensor G: Product (attached part)
L: Label

Claims (6)

A label adsorbing section for adsorbing and holding the label on the lower surface;
An arm that pushes the label held by the label suction part from above and presses it against the adherend part below the label suction part;
An arm holding body that holds the arm by being connected to the arm via a biasing member that applies an upward biasing force to the arm;
Restriction means for restricting the upward movement of the arm relative to the arm holder;
A motor for lowering the arm holder;
Stop height setting means for setting a stop height for stopping the descent of the arm holding body by driving the motor to a height that is higher than the adherend portion by a predetermined amount according to the height of the adherend portion;
And a control means for controlling the motor so as to stop the lowering of the arm holder when the arm holder is lowered to the stop height.   The control means, when stopping the rotation of the motor to stop the lowering of the arm holding body at the stop height, temporarily accelerates the rotation of the motor and decelerates the rotation of the motor immediately after the acceleration. The label sticking device according to claim 1, wherein the label sticking device is stopped.   The label sticking device according to claim 2, wherein the control means starts the acceleration in a state where the motor is rotated at a constant speed.   The label sticking device according to claim 2 or 3, further comprising: a peak adjusting unit that adjusts a value when the motor speed is switched from the acceleration to the deceleration. The biasing member is a coil spring;
The control means controls the motor so that the arm holding body is raised at a timing while the arm is lowered due to inertia after the arm holding body is stopped at the stop height. The label sticking device according to claim 2 or 3. A label adsorbing part that adsorbs and holds the label on the lower surface, an arm that pushes the label held on the label adsorbing part from above and presses it against the adherend below the label adsorbing part, and an upward attachment to the arm A label that attaches the label to the part to be pasted by using a label sticking device that is connected to the arm via a biasing member that applies a force to hold the arm. A sticking method,
An adsorption process for adsorbing a label on the lower surface of the label adsorption unit;
A driving step of lowering the arm holder together with the arm by driving a motor;
A stop height setting step for setting a stop height for stopping the descent of the arm holder to a height that is a predetermined amount higher than the height of the adherend according to the height of the adherend;
A labeling method comprising: a stopping step of stopping driving of the motor so as to stop the descent of the arm holding body when the arm holding body is lowered to the stop height.

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