JP2019189245A - Electronic tag pasting device and its method - Google Patents

Abstract

To provide an electronic tag pasting method which makes possible to write different information on individual electric tags and paste them on multiple objects.SOLUTION: When an object 50, on which an electronic tag 10 to be pasted, is carried on an object conveyor 30, a robot 40 receives the electronic tag 10 with an adhesive part from an electronic tab supplying device 20 and pastes it on the object 50 being carried on the object conveyor 30. An optical reading device 70 reads identification information displayed outside of the object 50 on the object conveyor 30, which is located on the upper-stream side of the possible pasting area by the robot 40 on the object conveyor 30, and a controlling part 90 retrieves write information from a memory part 80, preliminary related to the identification information regarding the identification information and the object 50. A reader writer 60 writes the write information on the electronic tag 10 before it is pasted on the object 50.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an electronic tag sticking apparatus having an adhesive portion and a method thereof.

  As is well known, an electronic tag (also referred to as an RF tag, IC tag, RF label, etc.) includes an IC chip and an antenna connected to the IC chip in order to perform storage and reading of information in a non-contact manner by short-range wireless communication. It is what you have. In addition, in general, an electronic tag has an adhesive surface on the back surface for attaching to an object. RFID (Radio frequency identification) uses such an electronic tag to automatically write individual information on an object to the electronic tag and read individual information on the object stored in the electronic tag by wireless communication. System.

  Various studies and proposals have been made on electronic tags, and some of them are realized, and some are not realized. For example, electronic tags are expected to be applied to individual product management as an alternative to optically readable tags such as barcodes, but are used in retail businesses where unit prices are low, such as convenience stores. Has not been realized in Japan. The main reason for this is that the unit price of the electronic tag is high, but there are problems with reading accuracy (interruption of radio waves due to water and metal product containers contained in the product contents) and the attachment of the electronic tag to individual products. The incompleteness of technology is also a drag on the spread.

  Among these, with regard to the technology for attaching electronic tags to individual products, certain information (for example, manufacturing information, truck loading information, inventory information, sales information, loss information, delivery information, expiration date information, A technique for attaching an electronic tag in which (consumption information) is written has been proposed (see, for example, Patent Documents 1 to 4).

  However, source tagging (manufacturers attach electronic tags to products) is performed on almost all products in order to achieve individual product management using a method of attaching electronic tags with certain information written. It takes a lot of time to improve the environment.

  Even if it becomes possible, the technique of attaching an electronic tag in which certain information is written cannot respond to a request for attaching an original electronic tag on the retail store side and writing original information. That is, when an electronic tag is affixed at a retail store, it is necessary to affix an electronic tag on which information is individually written for products of different types (size, packaging, etc.), quantities, etc. However, it is unrealistic to perform this manually, and the present situation is that an apparatus for automatically performing this is not provided. Of course, it is needless to say that there is a demand similar to that of a retail store as long as it is a manufacturer of a small quantity and a variety of products other than the retail store.

JP-A-2005-104521 JP 2007-091246 A JP 2007-091298 A JP 2008-046661 A JP 2008-62965 A

  Then, the main subject of this invention is providing the technique which sticks the electronic tag which wrote the information separately with respect to multiple types of sticking target object.

<First aspect>
An electronic tag supply device for sequentially supplying electronic tags having adhesive portions;
An object conveyor for conveying an object to be attached to the electronic tag;
A robot that receives an electronic tag supplied from the electronic tag supply device and affixes it to an object conveyed on the object conveyor;
In an electronic tag pasting device comprising:
A reader / writer that writes information on the object to an electronic tag that is in the process of being pasted on the object;
A storage unit in which identification information of the object and writing information related to the object are associated and stored;
A control unit that reads out writing information about an object conveyed on the object conveyor from the storage unit, and writes the information to an electronic tag in a process until being attached to the object by the reader / writer;
An electronic tag pasting device comprising:

(Function and effect)
In this electronic tag pasting device, writing is performed on the electronic tag that is in the process of being pasted on the target in the device, so an electronic tag in which information is individually written on a plurality of types of target is pasted. can do. For example, when affixing electronic tags at retail stores, workers place in-stock items of different types (size, packaging, etc.), quantities, etc. (small quantities, multiple varieties) on the object conveyor and write information individually. You can attach an electronic tag.

<Second aspect>
Optical reading that optically reads identification information displayed on the appearance of the object conveyed on the object conveyor provided on the object conveyor upstream of the robot's pasting range. Equipped with equipment,
When the control unit reads the identification information by the optical reading device, the control unit reads out the write information corresponding to the identification information from the storage unit and pastes it to the object by the reader / writer. Write on electronic tags,
The electronic tag sticking device of the first aspect.

(Function and effect)
In this electronic tag pasting device, the control unit automatically recognizes the object sequentially based on the reading result of the optical reading device, and writes the corresponding write information associated in advance to the electronic tag. Even if they are placed on the object conveyor in any order and at any interval, an electronic tag in which appropriate information is automatically written can be pasted. For example, when affixing electronic tags at retail stores, in-conveyed items can be handled sequentially without the worker being aware of the order or interval of incoming products of different types (sizes, packaging, etc.), quantities, etc. By simply placing the electronic tag on the product, it is possible to attach an electronic tag in which information is individually written to the product.

<Third Aspect>
An input device for selecting an object stored in the storage unit;
The control unit reads out writing information about the object selected by the input device from the storage unit, and sequentially changes the writing information until a new object is selected by the input device. Write to the electronic tag,
The electronic tag sticking device of the first aspect.

(Function and effect)
According to this apparatus, since the same object can be processed in succession by selecting an object using an input device by an operator, a certain amount of objects are processed. If so, information can be written and pasted on the electronic tag sufficiently efficiently. Further, compared to the case of automatically recognizing a product, the control is simplified and there is no possibility of erroneous recognition.

<Fourth aspect>
The control unit controls the robot and causes the robot to receive the electronic tag supplied from the electronic tag supply device, and then brings the electronic tag close to the reader / writer and performs the writing. , To be attached to the object,
The electronic tag sticking device according to any one of the first to third aspects.

(Function and effect)
Thus, by writing information to the electronic tag immediately before pasting, useless writing can be suppressed, and efficient information writing and pasting can be performed.

<Fifth aspect>
The robot is a robot having four or more degrees of freedom including movement in the rotation direction about the X axis direction, the Y axis direction, the Z axis direction, and the Z axis.
In the object conveyor, the image pickup apparatus is provided on the upstream side of the robot's pastable range, and images the object conveyed on the object conveyor,
The storage unit stores the identification information, writing information related to the object corresponding to the identification information, and a designated pasting position in the object corresponding to the identification information in association with each other.
The control unit detects the position of the object based on imaging information obtained by the imaging device, reads write information about the object from the storage unit, writes the electronic tag, and A designated sticking position is read out, and based on the designated sticking position and the position of the object, the robot is caused to stick the electronic tag to the designated sticking position on the object conveyed on the object conveyor. Yes,
The electronic tag supply device includes a conveyor having an endless moving part that is folded back at the end and returns to the starting end, and a label sending part that supplies the electronic tag to the conveyor and attaches the adhesive part to the moving part. Have
The end effector of the robot is a suction unit that holds the electronic tag by suction,
The robot is configured to adsorb the electronic tag attached to the moving unit by the adsorbing unit, peel the electronic tag from the moving unit by the movement of the adsorbing unit, and then attach the electronic tag to the object. Yes,
After adsorbing the adsorbing part on the label attached to the moving part on the front side of the folding start position of the moving part at the end of the conveyor,
The adsorbing part is moved together with the moving part while adsorbing the label until the folding start position, and the moving part is moved in the tangential direction of the moving direction of the moving part while adsorbing the label after the folding start position. By moving at the same speed, the label peeled off from the moving part by folding the moving part is transferred to the suction part.
The electronic tag sticking device according to any one of the first to fourth aspects.

(Function and effect)
In this electronic tag sticking apparatus, a robot having four or more degrees of freedom can be used to stick the electronic tag to a designated sticking position (including direction). Therefore, depending on the object, the electronic tag can be affixed to a position where it is difficult to affect the product or where communication quality is unlikely to deteriorate. In addition, even if an operator places an object irregularly on the conveyor without being aware of the position (including direction) of the object on the conveyor, an electronic tag should be attached to the designated application position of the object. Can do.

  Further, when an electronic tag having an adhesive portion is held by a robot, it is desirable to use an end effector of the robot as an adsorption portion and adsorb the surface opposite to the adhesion portion. In this case, in order for the electronic tag supply device to move the electronic tag to within the receiving range of the robot, it is preferable that the label having the adhesive portion is attached to the moving portion of the conveyor and conveyed as in this aspect.

  However, in order to reliably transfer the label affixed on the moving part of the conveyor to the suction part of the robot, a strong suction force or a mechanism that assists peeling is required. When the electronic tag is delivered to the robot's suction portion, if the electronic tag is attracted to the suction position, it cannot be pasted to the designated sticking position.

  On the other hand, in this aspect, the suction part of the robot is moved in the tangential direction of the movement direction of the moving part at the same speed as the moving part while the electronic tag is sucked after the folding start position of the moving part of the conveyor. As a result, the peeling force acting on the electronic tag due to the folding of the moving part is mainly used, and the force due to the separation of the adsorption part from the moving part is hardly used, and the electronic tag is held by the adsorption part from the moving part. Can be peeled off. Therefore, although it is a very simple mechanism, it is possible to reliably transfer the electronic tag with a smaller adsorption force, and the attachment position of the electronic tag is difficult to shift.

<Sixth aspect>
In the process of transporting the object to be attached to the electronic tag by the object conveyor, the robot receives the electronic tag having the adhesive portion from the electronic tag supply device and affixes it to the object to be conveyed on the object conveyor. In the method of attaching an electronic tag,
Write to the electronic tag in the process until it is pasted to the object, the writing information related to the object corresponding to the identification information, which is associated with the identification information in advance.
A method of attaching an electronic tag, characterized in that

(Function and effect)
The same effects as the first aspect are achieved.

  According to the present invention, advantages such as being able to affix an electronic tag in which information is individually written to a plurality of types of affixing objects are provided.

It is a front view which shows the sticking apparatus of an electronic tag schematically. It is a side view which shows roughly the sticking apparatus of an electronic tag. It is a front view which shows the example of an electronic tag supply apparatus. It is a top view which shows the principal part of an electronic tag supply apparatus. It is a perspective view which shows the principal part of an electronic tag supply apparatus. It is a top view which shows the change of the electronic tag in an electronic tag supply apparatus. It is a side view which shows the change of an electronic tag. It is a top view which shows the change of the electronic tag in an electronic tag supply apparatus. It is a top view which shows the change of the electronic tag in an electronic tag supply apparatus. It is (a) top view which shows the example of an electronic tag, (b) side view, (c) bottom view. It is (a) top view, (b) side view, (c) bottom view which shows the example of the electronic tag after bending. It is a perspective view which shows the target object which stuck the electronic tag. It is a perspective view which shows the delivery part of an electronic tag. It is a front view which shows the delivery part of an electronic tag. It is a side view which shows reception of an electronic tag, (b) writing of information, and (c) sticking to a target object. It is a side view which shows roughly the sticking apparatus of an electronic tag. It is a side view which shows roughly the sticking apparatus of an electronic tag. It is a side view which shows roughly the sticking apparatus of an electronic tag. It is a side view which shows roughly the sticking apparatus of an electronic tag.

  Hereinafter, an example of an electronic tag attaching apparatus will be described. FIG.1 and FIG.2 has shown an example of the sticking apparatus of an electronic tag. The electronic tag attaching apparatus 1 includes an electronic tag supply apparatus 20 that sequentially supplies electronic tags 10 having an adhesive surface 11, an object conveyor 30 that conveys an object 50 to which the electronic tag 10 is attached, and an electronic tag. The robot 40 receives the electronic tag 10 supplied from the supply device 20 and affixes it to the object 50 conveyed on the object conveyor 30.

<Object conveyor>
As the object conveyor 30, any known conveyor can be used as long as the object 50 can be conveyed. For example, a belt conveyor or a plate conveyor whose upper surface is a loading surface can be suitably used. It is preferable that the object conveyor 30 has a loading surface wider than the object 50 because, for example, an operator can load a variety of objects 50 having different sizes without being aware of the position and orientation. Of course, the object conveyor 30 may have a constant type and stacking position (including direction) of the object 50. Moreover, the loading of the object 50 on the object conveyor 30 can be performed mechanically.

<Electronic tag supply device>
As shown in FIG. 12, in the electronic tag 10, it is desirable that at least a part of the antenna is separated from the pasting target object 50 in order to prevent deterioration in communication quality. As shown in FIG. 10, when the back surface of the electronic tag 10 is an adhesive surface 11, one solution is to fold a portion 10 </ b> F including the antenna 10 a of the electronic tag 10 and adhere to the adhesive surface 11. An adhesive disabling portion 12 in which the surfaces 11 are bonded together and a residual adhesive portion 13 where the adhesive surface 11 is exposed are formed, and the adhesive surface 11 of the residual adhesive portion 13 is applied to the object 50 as shown in FIG. It is to be. The electronic tag supply device 20 of this example has a function of performing this bending. The electronic tag supply device 20 of this example is not particularly limited by the structure of the electronic tag 10 to be bent, and a known electronic tag 10 can be used as appropriate.

  For example, the example shown in FIG. 10 is a passive type electronic tag 10 having an IC chip 10i as an inlet 10a, 10i and an antenna 10a connected thereto, and is one of the typical electronic tags 10. In the case of such an electronic tag 10, it is not preferable to bend it at a position passing through the inlets 10a and 10i. Therefore, in such an electronic tag 10, a portion that is adjacent to the portion having the inlets 10a and 10i and overlaps at least a part of the antenna 10a when folded back to the inlets 10a and 10i side, It is desirable to provide a folding position 10p between the portion having 10i.

  The shape of the electronic tag 10 is generally rectangular with a corner as shown in the illustrated example. In the case of such an electronic tag 10, a folded portion 10F that does not have the inlets 10a and 10i is provided at one end in the longitudinal direction, and the inlets 10a and 10i are provided on the opposite side, and the boundary between these is the folding position 10p. it can.

  2-6 has shown the example of the electronic tag supply apparatus 20 (bending apparatus) which forms the electronic tag 10 bent as mentioned above. In other words, the electronic tag supply device 20 is adjacent to the first belt conveyor 21 having the endless first belt 21B and next to the first belt conveyor 21, and reduces the interval between the first belt 21B and the first belt 21B. And a second belt conveyor 22 having an endless second belt 22 </ b> B that moves while moving. In order to move the second belt 22B together with the first belt 21B, the first belt 21B and the second belt 22B can be driven synchronously and at the same speed by a common driving source (not shown) or individual driving sources. . The first belt 21B and the second belt 22B move at least to a folding completion position P2 that is a predetermined distance away from the folding start position P1.

  Further, the electronic tag supply device 20 is configured such that the folding position 10p of the electronic tag 10 is parallel to the moving direction of the first belt 21B between the first belt 21B and the second belt 22B at the folding start position P1. An electronic tag sending unit 23 is provided for attaching the electronic tag 10 across the first belt 21B and the second belt 22B. The electronic tag sending unit 23 is not particularly limited, and any known supply mechanism can be adopted. The electronic tag sending unit 23 in the illustrated example is used by attaching an electronic tag roll 23R. The electronic tag roll 23R is obtained by winding a continuous strip-shaped electronic tag sheet 15 in a roll shape, and the electronic tag sheet 15 is repeatedly attached to the continuous direction of the continuous strip-shaped release sheet 16 at a predetermined interval. 10. The electronic tag roll 23R is rotatably supported on a rotation shaft (not shown).

  The electronic tag sending unit 23 includes a peeling plate 23P having tips close to the upper surfaces of the first belt 21B and the second belt 22B, and a winding shaft 23W that winds the continuous strip-like peeling sheet 16. Yes. The winding shaft 23W is rotated by a stepping motor (not shown). The electronic tag sheet 15 is fed from the electronic tag roll 23R and then folded back at an acute angle at the tip of the peeling plate 23P. Here, at the front end of the peeling plate 23P, the rigid electronic tag 10 is naturally peeled off from the peeling sheet 16, and is pushed onto the first conveyor and the second conveyor to be stuck on the first conveyor and the second conveyor. Attached. The release sheet 16 remaining after the electronic tag 10 is peeled is wound around the winding shaft 23W.

  As shown in FIGS. 5 and 6, the electronic tag 10 supplied to the first belt 21B and the second belt 22B by the electronic tag sending unit 23 is attached to the first belt 21B and the second belt 22B by the adhesive surface 11 on the back side. Since they are stuck, they move together with the first belt 21B and the second belt 22B from the folding start position P1 toward the folding completion position P2. At this time, the first belt 21B and the second belt 22B move together (that is, at the same time and at the same speed), and the distance between them decreases toward the folding completion position P2. For this reason, the electronic tag 10 attached across the first belt 21B and the second belt 22B is reduced in distance between the first belt 21B and the second belt 22B from the folding start position P1 toward the folding completion position P2. The electronic tag 10 is deformed so as to release the force applied to the portion located between the first belt 21B and the second belt 22B. That is, a portion of the electronic tag 10 located between the first belt 21B and the second belt 22B rises away from the first belt 21B and the second belt 22B, and bends at a folding position 10p in the uplift portion 10u. Then, both sides of the folding position 10p are pasted together. As a result, at the folding completion position P2, as shown in FIG. 7C, the bonded portions on both sides of the folding position 10p in the electronic tag 10 become the non-adhesive portions 12, and the first belt 21B and the electronic tag 10 The folded electronic tag 10 in which a part or all of the portion adhered to at least one of the second belt 22B becomes the remaining adhesive portion 13 can be obtained. Changes in the shape of the electronic tag are shown in FIG. The electronic tags 10 (a) to 10 (d) shown in FIGS. 7 (a) to 7 (d) have the same signs as the electronic tags 10 (a) to 10 (d) shown in FIG. . As described above, in the electronic tag supply device 20, the electronic tag 10 supplied from the electronic tag sending unit 23 is merely attached to the first belt conveyor 21 and the second belt conveyor 22 and conveyed in a single state. Further, it is possible to bend along the predetermined folding position 10p without requiring a complicated mechanism such as a suction mechanism for holding the electronic tag 10.

  As can be easily understood from the above description, the electronic tag supply device 20 fails to bend when the adhesive surface 11 of the electronic tag 10 is peeled off from the first belt 21B and the second belt 22B. For this reason, it is preferable that a pressing roller 24 that presses the electronic tag 10 against the first belt 21B and the second belt 22B is provided between the folding start position P1 and the folding completion position P2. Although the pressing roller 24 in the illustrated example is a pair of rollers that sandwich the first belt 21B and the second belt 22B, respectively, the pressing roller 24 may be a roller disposed only on the first belt 21B and the second belt 22B. Good. By providing such a pressing roller 24, the electronic tag 10 supplied from the electronic tag sending unit 23 can be firmly attached to the first belt 21B and the second belt 22B. The pressing roller 24 can be provided at one place or a plurality of places in the transport direction of the electronic tag 10, and is particularly preferably provided at least in the vicinity of the electronic tag sending section 23. In addition, the main pressing roller 24 is preferably provided on both the first belt 21B and the second belt 22B, but may be provided only on the one on which the adhesion tends to be weakened.

  In the electronic tag supply device 20, even if the force applied to the electronic tag 10 is only the force applied by reducing the distance between the first belt 21B and the second belt 22B, the first belt 21B and the second belt 22B in the electronic tag 10 are used. The portion located between the two belts tends to move up in the direction away from the first belt 21B and the second belt 22B. Therefore, in this electronic tag supply apparatus 20, it is difficult to cause a situation in which the folding direction is opposite to the front and back at the folding start position P1. However, there is a possibility that it may be accidentally or reversely folded (how to be folded between the first belt 21B and the second belt 22B). Therefore, even in such a case, in order to enable normal folding, a portion of the electronic tag 10 located between the first belt 21B and the second belt 22B is moved in a predetermined upward direction (first It is desirable to include a reverse folding preventing means 25 that lifts the belt in a direction away from the first belt 21B and the second belt 22B, not in a direction between the belt 21B and the second belt 22B. The reverse folding preventing means is not particularly limited, but as shown in the example, unless the electronic tag 10 is folded backward, it enters between the portions on both sides of the folding position 10p on the adhesive surface 11 side of the protruding portion 10u. In addition, it is preferable to provide a fixed body such as a plate that does not contact the adhesive surface 11 but is in contact with the RFID tag 10 when it is folded backward and pushed back in the normal upward direction. It is also preferable to provide a rotating body such as a roller that rotates together with the electronic tag 10 instead of such a fixed body. Further, as another reverse folding preventing means 25, it is also preferable to inject air in the direction of rising from the back side of the electronic tag 10. As in these examples, as long as the electronic tag 10 is not reversely folded, it does not contact the adhesive surface 11 of the electronic tag 10, or even when the electronic tag 10 is reversely folded, it does not contact the electronic tag 10. Even if reverse folding occurs, it is preferable to suppress the conveyance inhibition of the electronic tag 10.

  Further, in the electronic tag supply device 20, the electronic tag 10 is bent at the folding position 10p in the rising portion 10u by the force applied by the reduction in the distance between the first belt 21B and the second belt 22B, and both sides of the folding position 10p are The adhesive surfaces 11 are bonded together. Although this bonding does not immediately cause a problem even if it becomes somewhat insufficient, it is desirable that the bonding be performed firmly over a wider range. Therefore, as shown in the drawing, it is preferable that a pair of pressure rollers 26 are provided between the folding start position P1 and the folding completion position P2 to press the protruding portion 10u in the thickness direction. Although it is desirable that the pressure roller 26 presses almost the entire protruding portion 10u, it is also possible to press only the tip of the protruding portion 10u or only a portion other than the tip. In particular, the pressure roller 26 presses at least the tip portion of the rising portion 10u, whereby the bending at the folding position 10p and the bonding of both sides of the folding position 10p can be performed more reliably and firmly. it can.

  In addition, in the electronic tag supply device 20, in order to stabilize the folding position 10p of the electronic tag 10, as shown in FIGS. 6 and 10, easy folding processing 10m is applied to the folding position 10p of the electronic tag 10 in advance. It is preferable that The easy bending process 10m is not particularly limited, and a known process such as a perforation process or an embossing process along the folding position 10p can be employed. In addition to or instead of this, it is preferable that the cut portions 10c are formed at least at the end portion on the downstream side in the transport direction at the folding position 10p of the electronic tag 10, particularly preferably at both end portions. As described above, when the electronic tag 10 is easily bent 10 m, the folding position 10p is determined, the bending of the protruding portion 10u at the folding position 10p, and the bonding of both sides of the folding position 10p more reliably and more securely. Can be done firmly.

  In the electronic tag 10 obtained by the electronic tag supply device 20, the remaining adhesive portion 13 adhered to the first belt 21B with the adhesive disabling portion 12 interposed therebetween, and the remaining adhesive portion 13 adhered to the second belt 22B. And are formed. Therefore, the electronic tag 10 can be attached to the object 50 by using both of these residual adhesive portions 13 (that is, in the state of FIG. 7C), and the smaller residual adhesive portion. 13 may be affixed to the other remaining adhesive portion 13 to be a part of the non-adhesive portion 12 (that is, the state shown in FIGS. 7E and 11).

  In the former case, as shown in FIG. 8, the end of the movement range of the first belt 21B and the second belt 22B can be a folding completion position P2. In addition, the folding position 10p of the electronic tag 10 is positioned approximately at the center between the first belt 21B and the second belt 22B in the orthogonal direction XD in that the protruding portion 10u is not easily tilted in the orthogonal direction XD during the formation process. However, it may be shifted to the first belt 21B side or the second belt 22B side. In this example, both the remaining adhesive portion 13 that adheres to the first belt 21B and the remaining adhesive portion 13 that adheres to the second belt 22B may have a wide width (dimension in the orthogonal direction). The two belts 22B can be reliably adhered to each other, and the electronic tag 10 can be prevented from being peeled off from the first belt 21B and the second belt 22B by a reaction force at the time of bending.

  However, when the bent electronic tag 10 is peeled off from the state where it is adhered to both the first belt 21B and the second belt 22B and is attached to the object 50, the adhesive area of the electronic tag 10 is large, so that peeling becomes difficult. There is a fear. Therefore, in order to facilitate peeling of the folded electronic tag 10, as shown in FIGS. 3 to 5, the end of the moving range of the second belt 22B is set to the folding completion position P2, and the movement of the first belt 21B is performed. The end of the range is positioned before the end of the moving range of the second belt 22B, and the electronic tag 10 attached to the first belt 21B and the second belt 22B is moved together with the first belt 21B and the second belt 22B. In the process of moving together with the first belt 21B and before the end of the moving range of the second belt 22B after reaching the end of the moving range of the second belt 22B, the second belt 22B is removed, and thus the second belt 22B is peeled off. The electronic tag 10 is preferably held only by the first belt 21B.

  In this case, since the electronic tag 10 has a certain degree of rigidity, the electronic tag 10 peeled off from the second belt 22B and held only by the first belt 21B is adhered as shown in FIG. 6 and FIG. 7 (d). The disabling portion 12 falls to the second belt 22B side (the second belt 22B does not exist). Therefore, as shown in FIGS. 7 (e) and 11, after peeling off from the second belt 22B, the smaller residual adhesive portion 13 (the residual adhesive portion 13 adhered to the second belt 22B in the illustrated example). Is attached to the other residual adhesive portion 13 to form a part of the non-adhesive portion 12, and the residual adhesive portion 13 remaining thereon (most of the residual adhesive portion 13 adhered to the first belt 21B in the illustrated example) As shown in FIG. 12, it can be attached to the object 50. In this case, as shown in the example, the adhesive disabling portion 12 that has fallen to the second belt 22B side is disposed in the thickness direction between the end of the moving range of the first belt 21B and the end of the moving range of the second belt 22B. When the pair of finishing rollers 27 to be pressed are provided, the adhesion surface 11 can be more reliably and more firmly bonded to the non-adhesive portion 12.

  However, if the remaining adhesive portion 13 adhered to the second belt 22B reaches and adheres to the side surface or the back surface of the first belt 21B, it may be difficult to peel the electronic tag 10 from the first belt 21B thereafter. is there. That is, in the process of folding the electronic tag 10 by the first belt 21B and the second belt 22B, the folding position 10p is less likely to fall in the orthogonal direction, and the folding position 10p is the first belt 21B and the second belt in the orthogonal direction. It is preferable that the two belts 22B are located approximately at the center. However, in this case, in order to make the width of the one remaining adhesive portion 13 as small as possible at the folding completion position P2, as shown in FIG. 6, the tip of the electronic tag 10 on the second belt 22B side is in the second belt 22B. Even if the electronic tag 10 is supplied to the first belt 21B and the second belt 22B so as to be positioned at the end portion on the first belt 21B side, the interval D1 in the orthogonal direction XD between the folding position 10p and the first belt 21B remains. The distance D2 in the orthogonal direction XD between the folding position 10p and the tip of the electronic tag 10 on the second belt 22B side is shorter. In such an arrangement, as described above, the moving range of the first belt 21B is extended from the second belt 22B, and the electronic tag 10 is peeled off from the second belt 22B using the movement of the first belt 21B. When the adhesive disabling part 12 falls, as shown in FIG. 7 (d), the residual adhesive part 13 that adheres to the second belt 22B reaches and adheres to the side surface and the back surface of the first belt 21B. There is a possibility that the subsequent peeling of the electronic tag 10 from the first belt 21B may be difficult.

  Therefore, as in the example illustrated in FIGS. 3 to 5, the tip of the electronic tag 10 on the second belt 22 </ b> B side is positioned at the end of the second belt 22 </ b> B on the first belt 21 </ b> B side. At the same time, between the end of the moving range of the second belt 22B and the end of the moving range of the first belt 21B, the sticking disabling portion 12 that has fallen or tends to fall to the second belt 22B side is caused. It is one preferable mode to provide the rising means 28 that makes the angle θ (see FIG. 7 (e)) formed by the remaining adhesive portion 13 adhered to 21B and the non-adhesive portion 12 less than 180 degrees.

  As the start-up means 28, the first belt 21 </ b> B only passes through the passage 12 of the non-adhesive portion 12 of the electronic tag 10 from the lower side to the upper side of the attachment surface of the electronic tag 10 of the first belt 21 </ b> B as it goes downstream. It is possible to employ a plate (not shown) or a roller (not shown) that has an inclined surface located on the surface of the electronic tag 10 and pushes it up against the back surface of the non-adhesive portion 12 of the electronic tag 10. Further, as the other starting means 28, it is also preferable to inject air in the starting direction from the back side of the non-adhesive portion 12 of the electronic tag 10.

  When such a start-up means 28 is provided, before or after the non-adhesive portion 12 falls and contacts the first belt 21B, the residual adhesive portion 13 and the non-adhesive portion 12 adhered to the first belt 21B are formed. The angle θ can be raised to less than 180 degrees. As a result, even if the remaining adhesive portion 13 that adheres to the second belt 22B does not reach the first belt 21B or reaches and adheres, it is peeled off. The Therefore, it is not difficult to peel off the electronic tag 10 from the first belt 21B. In the case where the finishing roller 27 is provided, it is desirable that the finishing roller 27 is provided between the end of the moving range of the second belt 22B and the rising means 28 as shown in the example of the drawing.

  Of course, as shown in FIG. 9, in the electronic tag sending unit 23, the interval D1 in the orthogonal direction XD between the folding position 10p and the first belt 21B is the folding position 10p and the tip of the electronic tag 10 on the second belt 22B side. The electronic tag 10 may be supplied to the first belt 21B and the second belt 22B so as to be longer than the interval D2 in the orthogonal direction XD. In this case, even if the non-adhesive portion 12 falls, it does not contact the first belt 21B.

  In the illustrated example, the surface of the first belt 21B attached to the electronic tag 10 and the surface of the second belt 22B attached to the electronic tag 10 are substantially the same plane, but may have an angle.

  The means for moving the electronic tag 10 includes at least a first moving part that moves to a folding completion position P2 that is a predetermined distance away from the bending start position P1, and an orthogonal that is orthogonal to the moving direction of the first moving part with respect to the first moving part. As long as it has a second moving part that moves adjacent to the direction XD, at least from the folding start position P1 to the folding completion position P2, with the first moving part and with a reduced distance to the first moving part. It is not limited to a belt conveyor having an endless belt (corresponding to a moving part) that moves to the center. For example, a plate conveyor can be used instead of the belt conveyor of the illustrated example. In addition, the moving unit to which the electronic tag 10 is attached may simply reciprocate between the folding start position P1 and the bending completion position P2, and the moving unit to which the electronic tag 10 is attached may be changed to the bending start position P1 and the bending start position P1. It may pass through the folding completion position P2 and rotate.

  In the electronic tag supply device 20, a continuous process of supplying the next electronic tag 10 from the electronic tag sending unit 23 to the first belt 21 </ b> B and the second belt 22 </ b> B before the bending of one electronic tag 10 is completed. Alternatively, after the folding of one electronic tag 10 is completed, or after the folding of the electronic tag 10 is peeled off from the first belt 21B and the second belt 22B, the electronic tag is sent from the electronic tag sending unit 23 to the next. It is good also as a batch process which supplies the electronic tag 10 of this to the 1st belt 21B and the 2nd belt 22B.

  The folded electronic tag 10 may be manually peeled off from the first belt 21B or the like by an operator and attached to the object 50. However, from the viewpoint of automation, the electronic tag 10 is transferred to an application machine such as the robot 40 and transferred to the object 50. It is desirable to stick. Then, the example of the sticking apparatus 1 of the electronic tag 10 and the example of the delivery mechanism of the electronic tag 10 are demonstrated next.

<Handling of electronic tags to robots>
The robot 40 is not particularly limited as long as it receives the electronic tag 10 supplied from the electronic tag supply device 20 and affixes it to the object 50 conveyed on the object conveyor 30. The suction unit 41 that holds an object by sucking air as an effector, and the electronic tag 10 attached on the first belt 21B of the first belt conveyor 21 is sucked by the suction unit 41, and the movement of the suction unit 41 Thus, it is preferable that the electronic tag 10 is peeled off from the belt and then attached to the object 50. The suction portion 41 in the illustrated example is a tubular body having a rubber cup attached to the tip, but is not limited to this, and a known structure / material can be adopted.

  As shown in FIG. 13A, the delivery of the electronic tag 10 to the robot 40 having the adsorption unit 41 is performed by adsorbing the robot 40 to the surface of the electronic tag 10 affixed on the first belt 21B of the first belt conveyor 21. The electronic tag 10 can also be peeled off from the belt by raising the suction part 41 in a state where the part 41 is sucked (see, for example, JP-A-2008-62965). However, when the electronic tag 10 adhered on the belt is peeled off due to the upward movement of the suction part 41, there is a possibility that the delivery is uncertain.

  Therefore, as shown in FIG. 13B and FIG. 14, the robot 40 is attached to the first belt 21 </ b> B before the folding start position P <b> 3 of the first belt 21 </ b> B at the end of the first belt conveyor 21 by the drive control of the robot 40. After adsorbing the adsorbing portion 41 to the attached electronic tag 10, the adsorbing portion 41 is moved together with the first belt 21B while adsorbing the electronic tag 10 until the folding start position P3, and after the folding start position P3, the electronic tag is moved. By moving the first belt 21B in the tangential direction TD of the moving direction MD at the same speed as that of the first belt 21B, the electronic tag 10 peeled off from the first belt 21B by the return of the first belt 21B is sucked. A delivery mechanism for delivering to the unit 41 is proposed. In this case, the peeling portion acting on the electronic tag 10 by the folding of the first belt 21B is mainly used, and the force generated when the suction portion 41 is separated from the first belt 21B is hardly used. 10 and can be peeled from the belt. Therefore, the electronic tag 10 can be reliably delivered with a smaller suction force while having a very simple mechanism.

  In a state where the suction part 41 is attracted to the electronic tag 10, since the suction part 41, the electronic tag 10, and the first belt 21B are integrated, the moving direction of the first belt 21B without driving the suction part 41 by a driving source. It is also possible to move the suction portion 41 by using the moving force of the first belt 21B. However, in order to enable a more reliable operation, the suction unit 41 is moved together with the first belt 21B while the electronic tag 10 is adsorbed to the folding start position P3 by driving the robot 40, and after the folding start position P3. It is preferable to move the electronic tag 10 in the tangential direction TD of the moving direction MD of the first belt 21B while adsorbing the electronic tag 10.

  The first belt 21B and the electronic tag 10 attached to the first belt 21B are preferably stopped when the suction portion 41 is sucked by the electronic tag 10, but the first belt 21B is not stopped without stopping the first belt 21B. The adsorbing portion 41 may be adsorbed to the electronic tag 10 that moves together.

  On the other hand, when the electronic tag 10 is attached to the first belt 21B and conveyed as in the above-described electronic tag supply device 20, the conveyance fails if the electronic tag 10 is peeled off from the first belt 21B. For this reason, in the above-mentioned electronic tag supply device 20, it is preferable that a pressing roller 24 that presses the electronic tag 10 against the first belt 21B is provided between the start end and the end of the first belt conveyor 21. However, in this case, it is difficult for the electronic tag 10 to be peeled off from the first belt 21B during delivery to the suction portion 41. Therefore, this delivery mechanism is particularly significant in such a case.

  As long as the delivery mechanism delivers the electronic tag 10 having the adhesive surface 11 to the endless moving part and conveys it to the adsorbing part 41 movably supported, the bending mechanism as described above is used. It is not limited to the electronic tag supply apparatus 20 which has this, For example, it can also deliver to the adsorption | suction part 41 from the conveyor which conveys the electronic tag 10 without bending. Further, in the present delivery mechanism, as long as the suction part 41 is supported so as to be movable, the support device may not be the robot 40 but may be a movable part that moves at a constant cycle. Further, the adsorbing part 41 of the present delivery mechanism does not attach the electronic tag 10 to the final object to be attached 50 such as a product, but a transfer device such as another conveyor, a temporary attachment table, It can also be attached to the suction part.

<Writing information on electronic tags and sticking to objects>
Information to be written on the electronic tag 10 is not particularly limited. For example, if the electronic tag 10 is attached to a product, the product name, manufacturing information, truck loading information, inventory information, sales information, loss information, delivery information, expiration date information , Consumption information etc. can be written.

  Information can be written to the electronic tag 10 outside the sticking apparatus 1 or inside the sticking apparatus 1. When writing information to the electronic tag 10 outside the sticking device 1, information is written at the manufacturing stage of the electronic tag 10, and the electronic tag roll 23 </ b> R including the written electronic tag 10 is used in the sticking device 1. In addition, after the electronic tag 10 on which information is not written by the pasting device 1 is pasted on the object 50, the worker is placed outside the pasting device 1 by another automatic writing device or by a portable writing device. Information can be written on the electronic tag 10 attached to the object 50.

  However, these methods require two times of pasting work and writing work. In addition, these methods are suitable for writing certain information for certain products. For example, in retail stores, etc., the types (size, packaging, etc.), quantity, etc. vary (small quantities, many types). It is not suitable for attaching the electronic tag 10 in which information is individually written to the product.

  Therefore, it is preferable to write information to the electronic tag 10 in the sticking device 1 of the electronic tag 10. For example, as shown in FIG. 1 and FIG. 2, a reader / writer 60 that writes writing information related to the object 50 to the electronic tag 10 is installed between the electronic tag supply device 20 and the object conveyor 30. As shown in FIG. 15 (a), the electronic tag 10 supplied from the electronic tag supply device 20 is received, and as shown in FIG. 15 (b), the electronic tag 10 is moved to a writable position by the reader / writer 60. The reader / writer 60 writes information on the object 50 to the electronic tag 10 during this period, and then the robot 40 moves the electronic tag 10 from the reader / writer 60 as shown in FIG. It can move to the object 50 and can be attached to the object 50.

  In addition, as shown in FIG. 16, the reader / writer 60 can be integrated with the suction unit 41 to enable writing to the electronic tag 10 sucked by the suction unit 41. In this case, after the electronic tag 10 is adsorbed to the adsorbing portion 41, the electronic tag 10 is in an appropriate stage from when the adsorbing portion 41 is pasted to the object 50 (the adsorbing portion 41 may be stopped in addition to the movement of the adsorbing portion 41). Information can be written to the tag 10.

  Also, as shown in FIGS. 17 and 18, a reader / writer 60 can be installed in the transport path of the electronic tag 10 in the electronic tag supply device 20, and information can be written to the electronic tag 10 before delivery to the robot 40. . In the example shown in FIG. 17, the reader / writer 60 is provided at a position facing the electronic tag 10 to be sent out next in the electronic tag sending unit 23, and the example shown in FIG. 18 shows the electronic tag 10 up to the delivery position. This is an example in which the first belt conveyor 21 to be conveyed is provided at a position facing the electronic tag 10.

  These write information to the electronic tag 10 that is in the process of being attached to the object 50 in the attaching device 1 of the electronic tag 10, but the electronic tag is applied to the object 50 flowing on the object conveyor 30. After affixing 10, information can be written to the electronic tag 10 by the reader / writer 60 facing the electronic tag 10 of the object 50. For example, as shown in FIG. 19, the first robot 40 </ b> A for attaching the electronic tag 10 delivered from the electronic tag supply device 20 to the object 50 on the object conveyor 30 and the electronic tag on the object conveyor 30. The reader / writer 60 can be brought close to the object 50 to which 10 is attached, and a second robot 40B for writing information can be provided.

  Depending on the installation position of the reader / writer 60, the unwritten electronic tag 10 to be written next may be located near the electronic tag 10 to be written. For example, in the example shown in FIG. 2, the position of the reader / writer 60 and the delivery position of the electronic tag 10 of the electronic tag supply device 20 are close to each other. If the next electronic tag 10 is prepared at a position where it can be delivered, a so-called collision (communication by two or more electronic tags 10 occurs simultaneously in the electromagnetic field of one reader / writer 60, resulting in an error. Or the communication target tag recognized by the reader / writer 60 is not the electronic tag 10 adsorbed by the robot 40 but an electronic device prepared to be a subsequent writing target. There is a risk of becoming a tag 10. This is because a plurality of electronic tags 10 exist in the communicable range of the reader / writer 60. Therefore, as shown in FIGS. 1 and 2, a shield 61 (mask) that shields at least between the reader / writer 60 and the electronic tag 10 not to be written is provided, and the communication direction of the reader / writer 60 is set to a predetermined writing position ( In the illustrated example, it is preferable to limit to the reader / writer 60). The shield 61 can be formed using a material such as a metal plate that shields radio waves. The shape of the shield 61 is not particularly limited. For example, the shield 61 has a hole between the reader / writer 60 and a predetermined writing position. A plate or foil having no holes around the writing position can be used.

  The robot 40 only needs to have at least two horizontal degrees of freedom and two or more degrees of freedom capable of vertical movement. For example, when the position of the object 50 on the object conveyor 30 is irregular. In order to cope with this, the robot 40 having a degree of freedom of 4 or more is suitable so that the movement in the X-axis direction, the Y-axis direction, the Z-axis direction, and the rotation direction around the Z-axis is possible. As the robot 40, not only the parallel link robot 40 shown in the figure but also a known industrial robot such as a vertical articulated robot, a horizontal articulated robot, an orthogonal robot, or the like can be used.

  Moreover, it is also preferable that the electronic tag 10 on which information is individually written can be automatically attached to a plurality of types of attachment objects 50 by the attachment device 1 of the electronic tag 10. Specifically, as shown in FIG. 1, the identification information displayed on the appearance of the object 50 conveyed on the object conveyor 30 on the object conveyor 30 upstream of the pastable range of the robot 40. An optical reader 70 is provided. In addition, when the identification information and the writing information related to the object 50 corresponding thereto are stored in association with each other, and the identification information is read by the optical reader 70, the writing information corresponding to the identification information is stored. A control unit 90 is provided that reads from the storage unit 80 and writes to the electronic tag 10 that is in the process of being attached to the object 50 by the reader / writer 60. As a result, the control unit 90 can automatically automatically recognize the object 50 based on the reading result of the optical reader 70 and write the corresponding writing information associated in advance with the electronic tag 10, so that a plurality of types of objects can be obtained. Even if the objects 50 are placed on the object conveyor 30 in any order and at any interval, the electronic tag 10 in which appropriate information is automatically written can be pasted. For example, when the electronic tag 10 is attached at a retail store, incoming goods of different types (size, packaging, etc.), quantities, etc. (small quantity, multiple varieties) are sequentially targeted without the worker being aware of the order or interval. The electronic tag 10 in which information is individually written can be attached to the product (target object 50) simply by placing it on the conveyor 30.

  When the electronic tag 10 on which information is individually written is automatically attached to a plurality of types of attachment objects 50 by the attaching device 1 of the electronic tag 10, the control unit 90 is identified by the optical reading device 70. When the information is read, the robot 40 is controlled so that the robot 40 receives the electronic tag 10 supplied from the electronic tag supply device 20 and then writes the electronic tag 10 close to the reader / writer 60. After that, it is preferable that the object 50 is stuck. Thus, by writing information to the electronic tag 10 immediately before pasting, useless writing can be suppressed, and efficient information writing and pasting can be performed.

  The optical reader 70 can be appropriately determined according to the identification information of the object 50. For example, when a barcode or a two-dimensional code is used as the identification information of the object 50, a code reader can be used. An imaging device such as a CCD camera can be used when the identification information of the object 50 is a character such as a shape, color, pattern, product name, or the like that appears on the exterior. In the latter case, the optical reader 70 transmits the imaging information as it is to the control unit 90, and the control unit 90 can execute the image recognition program to recognize the identification information from the imaging information. The control unit 90 can use a known industrial control device such as a personal computer. The storage unit 80 may be a storage device such as a hard disk built in or externally attached to the control unit 90, or may be a network access storage, a cloud storage, or the like connected via a local network or the Internet.

  As another example, an input device 81 that selects an object 50 stored in the storage unit 80 is provided, and the control unit 90 reads out write information regarding the object 50 selected by the input device 81 from the storage unit 80. Also, it is proposed that the writing information is sequentially written to the electronic tag 10 without changing until a new object 50 is selected by the input device 81. In this case, since a plurality of the same objects 50 can be processed in succession by selecting an object 50 using the input device 81 by an operator, a certain amount of objects 50 are processed. In this case, it is possible to write and paste information on the electronic tag 10 sufficiently efficiently (semi-automatic). Moreover, compared with the case where goods are automatically recognized, control becomes simple and there is no possibility of erroneous recognition of the object 50. The input device 81 can be a keyboard, a mouse, or a dedicated switch. In order for the worker to select the target object 50, a display device 82 for displaying information for identifying the target object 50 stored in the storage unit 80 (for example, identification information of the target object 50 such as a product name) is provided. It is also preferable. In this case, a touch panel in which the input device 81 and the display device 82 are integrated is provided, and selection information for the target object 50 is input by touching information for specifying the target object 50 displayed on the display device 82. Particularly preferred. Although not shown, a mobile terminal such as a smartphone having the display device 82 and the input device 81 can be connected to the control unit 90 via the network, near field communication, or wired communication. The display device 82 and the input device 81 of the portable terminal can be used to select the object 50.

  In these examples, it is preferable to use the robot 40 having four or more degrees of freedom as shown in the illustrated example, and attach the electronic tag 10 to the designated application position (including the orientation) of the object 50. Thereby, according to the target object 50, the electronic tag 10 can be affixed to a position where it is difficult to affect the product or a position where communication quality is unlikely to deteriorate. Even if the worker places the target object 50 irregularly on the target object conveyor 30 without being aware of the position (including direction) of the target object 50 on the object object conveyor 30, the designation of the object object 50 is performed. The electronic tag 10 can be affixed to the affixing position.

  Specifically, in the object conveyor 30, an image pickup device that picks up an image of the object conveyed on the object conveyor 30 upstream of the range where the robot 40 can be pasted (also used as the optical reading device 70 described above). The storage unit 80 stores the identification information, the writing information related to the object 50 corresponding to the identification information, and the designated pasting position on the object 50 corresponding to the identification information in association with each other. Then, the control unit 90 detects the identification information and orientation of the object 50 based on the imaging information obtained by the imaging device, reads out writing information corresponding to the identification information from the storage unit 80, and writes the information to the electronic tag 10. At the same time, the designated pasting position on the object 50 corresponding to the identification information is read out, and the electronic tag 10 is transported on the object conveyor 30 to the robot 40 based on the designated pasting position and the direction of the object 50. The object 50 is pasted at a designated pasting position. Of the positional information of the target object 50 on the target conveyor 30, the position coordinates in the transport direction can be calculated based on the imaging timing by the imaging device and the transport speed of the target conveyor 30. The position coordinates in the direction orthogonal to the direction and the direction can be obtained by image recognition from the imaging information by the imaging device. Therefore, the control unit 90 obtains the position information of the target object 50 at appropriate intervals and compares the target information with the preset range where the robot 40 can be pasted. Sometimes, the electronic tag 10 can be affixed at a designated affixing position on the object 50.

  In addition, in order to attach the electronic tag 10 to the designated application position of the object 50 in this manner, it is assumed that the electronic tag supply device 20 is surely delivered to the robot 40. It is desirable to adopt.

<Others>
The electronic tag supply device is not limited to the above example as long as the electronic tag having the adhesive portion can be sequentially supplied to the robot, and any known supply device can be employed. Similarly, the delivery mechanism of the electronic tag to the robot is not limited to the above example, and any known mechanism can be adopted.

  The present invention can be used to attach an electronic tag having an adhesive portion to an object such as a product.

  DESCRIPTION OF SYMBOLS 1 ... Sticking apparatus, 10 ... Electronic tag, 10a, 10i ... Inlet, 10a ... Antenna, 10c ... Notch part, 10i ... IC chip, 10m ... Easy folding processing, 10p ... Folding position, 10u ... Close-up part, 11 ... Adhesion Surface 12, Adhesion-immobilized part 13, Residual adhesive part 15, Electronic tag sheet 16, Release sheet 20, Electronic tag feeder, 21 First belt conveyor, 21 B First belt, 22 Second Belt conveyor, 22B ... second belt, 23 ... electronic tag delivery unit, 23P ... peeling plate, 23R ... electronic tag roll, 23W ... winding shaft, 24 ... pressing roller, 25 ... reverse folding prevention means, 26 ... pressure roller, 27 ... Finishing roller, 28 ... Start-up means, 30 ... Object conveyor, 40 ... Robot, 41 ... Suction unit, 50 ... Object, 60 ... Reader / writer, 6 DESCRIPTION OF SYMBOLS ... Shield, 70 ... Optical reader, 80 ... Memory | storage part, 81 ... Input device, 82 ... Display apparatus, 90 ... Control part, P1 ... Bending start position, P2 ... Bending completion position, P3 ... Folding start position, XD ... orthogonal direction, TD ... tangential direction.

Claims (6)

An electronic tag supply device for sequentially supplying electronic tags having adhesive portions;
An object conveyor for conveying an object to be attached to the electronic tag;
A robot that receives an electronic tag supplied from the electronic tag supply device and affixes it to an object conveyed on the object conveyor;
In an electronic tag pasting device comprising:
A reader / writer that writes information on the object to an electronic tag that is in the process of being pasted on the object;
A storage unit in which identification information of the object and writing information related to the object are associated and stored;
A controller that reads out writing information about an object conveyed on the object conveyor from the storage unit and writes the information to an electronic tag in a process until being attached to the object by the reader / writer;
An electronic tag pasting device comprising: Optical reading that optically reads identification information displayed on the appearance of the object conveyed on the object conveyor provided on the object conveyor upstream of the robot's pasting range. Equipped with equipment,
When the control unit reads the identification information by the optical reading device, the control unit reads out the write information corresponding to the identification information from the storage unit and pastes it to the object by the reader / writer. Write on electronic tags,
The electronic tag sticking device according to claim 1. An input device for selecting an object stored in the storage unit;
The control unit reads out writing information about the object selected by the input device from the storage unit, and sequentially changes the writing information until a new object is selected by the input device. Write to the electronic tag,
The electronic tag sticking device according to claim 1. The control unit controls the robot and causes the robot to receive the electronic tag supplied from the electronic tag supply device, and then brings the electronic tag close to the reader / writer and performs the writing. , To be attached to the object,
The electronic tag sticking apparatus according to any one of claims 1 to 3. The robot is a robot having four or more degrees of freedom including movement in the rotation direction around the X axis direction, the Y axis direction, the Z axis direction, and the Z axis.
In the object conveyor, the image pickup apparatus is provided on the upstream side of the robot's pastable range, and images the object conveyed on the object conveyor,
The storage unit stores the identification information, writing information related to the object corresponding to the identification information, and a designated pasting position in the object corresponding to the identification information in association with each other.
The control unit detects the position of the object based on imaging information obtained by the imaging device, reads write information about the object from the storage unit, writes the electronic tag, and A designated sticking position is read out, and based on the designated sticking position and the position of the object, the robot is caused to stick the electronic tag to the designated sticking position on the object conveyed on the object conveyor. Yes,
The electronic tag supply device includes a conveyor having an endless moving part that is folded back at the end and returns to the starting end, and a label sending part that supplies the electronic tag to the conveyor and attaches the adhesive part to the moving part. Have
The end effector of the robot is a suction unit that holds the electronic tag by suction,
The robot is configured to adsorb the electronic tag attached to the moving unit by the adsorbing unit, peel the electronic tag from the moving unit by the movement of the adsorbing unit, and then attach the electronic tag to the object. Yes,
After adsorbing the adsorbing part on the label attached to the moving part on the front side of the folding start position of the moving part at the end of the conveyor,
The adsorbing part is moved together with the moving part while adsorbing the label until the folding start position, and the moving part is moved in the tangential direction of the moving direction of the moving part while adsorbing the label after the folding start position. By moving at the same speed, the label peeled off from the moving part by folding the moving part is transferred to the suction part.
The electronic tag sticking device according to any one of claims 1 to 4. In the process of transporting the object to be attached to the electronic tag by the object conveyor, the robot receives the electronic tag having the adhesive portion from the electronic tag supply device and affixes it to the object to be conveyed on the object conveyor. In the method of attaching an electronic tag,
In the object conveyor, the identification information displayed on the appearance of the object conveyed on the object conveyor provided on the upstream side of the range where the robot can be pasted is optically read, and the identification information Write information related to the object corresponding to the identification information in advance to the electronic tag in the process until being attached to the object,
A method of attaching an electronic tag, characterized in that

Images