JP2020117291A - Labeling system - Google Patents

Abstract

To provide a labeling system which is small in size and which can suppress wrinkle and twist as much as possible and can paste a label neatly.SOLUTION: A labeling system has: a robot hand having a work-piece holding part that holds a work-piece, a label supplying device that separates a label from a mount and supplies the label, a suction surface that can hold the label by suction, and a pressing surface that presses the label placed on a sticking objective surface against the sticking objective surface; and a robot that moves the robot hand and attaches the label supplied from the label supplying device to the sticking objective surface of the work-piece held in the work-piece holding part.The robot can perform a placement process for attaching the label that is held onto the suction surface by suction by pressing it on the sticking objective surface to attach a part of the label to the sticking objective surface, and a pressing process that is executed after the placement process, for pushing the label against the sticking objective surface while moving the pressing surface along the sticking objective surface with the location where the label is pressed in the placement process as a reference point.SELECTED DRAWING: Figure 1

Description

Embodiments of the present invention relate to a labeling system.

2. Description of the Related Art Conventionally, there is a device that can automatically attach a label with product information and the like to the surface of a work having a curved surface such as a cylindrical container. However, the conventional structure is a large-scale structure in order to eliminate wrinkles and twists.

JP 2001-225820 A

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a label sticking system which is small in size and which can suppress wrinkles and twists as much as possible and can stick neatly.

(Claim 1)
A label sticking system according to a first aspect includes a work holding unit, a label supply device, a robot hand, and a robot. The work holding unit holds a work having a curved surface and using the curved surface as a label sticking target surface. The label supply device separates and supplies the label attached to the mount from the mount. The robot hand has a suction surface capable of suction-holding the label, and a pressing surface for pressing the label arranged on the sticking target surface against the sticking target surface. The robot moves the robot hand provided at the end of the hand and attaches the label supplied from the label supply device to the attachment target surface of the work held by the work holding unit.

Then, the robot can perform an arrangement step and a pressing step. The arranging step is a step of pressing the label sucked and held on the suction surface onto the sticking target surface to stick a part of the label to the sticking target surface. The pressing step is executed after the arranging step, and the label is pressed onto the sticking target surface while moving the pressing surface along the sticking target surface with the position where the label is pressed in the arranging step as a base point. It is a process.

According to this configuration, the robot performs the pressing step to apply the label while sequentially pushing out the air existing between the sticking target surface and the label from the base point toward the end of the label. Can be attached to the target surface. As a result, a gap is formed between the sticking target surface and the label, and the gap prevents the label from wrinkling or twisting. In this way, the robot of this configuration can stick to the sticking target surface while unfolding the wrinkles and twisting of the label, so that the wrinkles and twisting of the label stuck to the sticking target surface are suppressed as much as possible. As a result, the label can be neatly attached to the surface to be attached having a curved surface.

Further, the robot hand has a suction surface that can hold the label by suction and a pressing surface that presses the label against the sticking target surface. As a result, the steps of adsorbing and holding the label supplied from the label supply device and moving and arranging it to the sticking target surface, and pressing the label arranged on the sticking target surface to the sticking target surface are performed as follows. It can be done with two robot hands. Therefore, the size of the robot hand and the robot can be reduced, and the size of the entire label sticking system can be reduced. As described above, according to the present configuration, it is possible to provide a label sticking system which is small in size and which can suppress wrinkles and twists as much as possible and can stick neatly.

(Claim 2)
Here, in the label placed in the placement step, if the adhesion of the portion pasted to the sticking target surface in the placement step is weak, the label will peel off due to the friction between the pushing surface and the label when the pushing step is executed. There is a risk that problems such as misalignment or misalignment may occur. On the other hand, according to the label sticking system of the second aspect, in the arranging step, the robot swings the suction surface around the base point. According to this, the base point portion of the label is more firmly attached to the attachment target surface. Therefore, according to this, it is possible to suppress the inconvenience that the label is peeled from the sticking target surface or the position of the label is displaced during the process. As a result, wrinkles and twists on the label can be more reliably suppressed and the label can be attached more neatly.

(Claim 3)
According to the label sticking system of claim 3, in the pressing step, the robot causes the pressing surface to move from the base point to an end of the label in the circumferential direction of the workpiece which is closer to the base point. To the first end portion side that is a part, and then to the position beyond the first end portion and then in the opposite direction to a position beyond the second end portion that is the end portion farther from the base point. Then, the label is pressed against the sticking target surface over the entire label.

According to this, it is possible to shorten the moving distance of the pressing surface as compared with the case of first moving to the second end side and then to the first end side while pressing the entire label evenly by the pressing surface. it can. As a result, the time required for the pressing step can be shortened as much as possible, and the label can be attached efficiently and neatly in a short time.

(Claim 4)
The label sticking system according to claim 4 further includes a delivery step of delivering the label peeled from the mount in the label supply device to the robot. The label supply device supplies the label using a roll member obtained by sticking a plurality of the labels on a long-sized mount in a roll shape, and below the label peeled from the mount. Has a receiving portion located at. Then, in the transfer step, the robot moves the suction surface and presses the label onto the receiving portion in a state where the label is in contact with the suction surface, and then moves the robot away from the receiving portion. , Peel the label completely from the mount.

According to this, in the transfer process, the robot can surely suck the label onto the suction surface by pressing the label against the suction surface while keeping the label in contact with the suction surface. As a result, it is possible to suppress the inconvenience that the label comes off from the suction surface and drops when the label is moved from the label supply device to the work, and the label can be attached more reliably.

(Claim 5)
According to the label sticking system of claim 5, in the delivering step, the robot is configured to contact the label surface when the suction surface is brought close to the label and the suction surface is brought into contact with the label. To approach vertically. That is, in this case, among the components in the moving direction of the suction surface, the components in the label supply direction are sufficiently smaller than the components in the direction perpendicular to the label. Therefore, when the suction surface comes into contact with the label, it is possible to prevent the suction surface from slipping and deviating from the surface of the label as much as possible, and as a result, the label can be more securely suction-held.

Here, in general, a label attached to a mount has an adhesive layer on the surface of the mount. Therefore, if the component in the feed direction of the label is larger than the component in the direction perpendicular to the label among the components in the movement direction of the adsorption surface, the label will be absorbed when the adsorption surface comes into contact with the surface of the label and adsorbs the label. The label may be pulled in the horizontal direction, which may cause the adhesive layer of the label to slip on the mount. Then, the adhesive layer is rubbed against the mount and roughened, and as a result, the adhesive force of the adhesive layer may be reduced.

On the other hand, according to this configuration, in the transfer process, the component in the label supply direction among the components in the movement direction of the suction surface is sufficiently smaller than the component in the direction perpendicular to the label. Therefore, when the suction surface comes into contact with the label and sucks the label, it is possible to prevent the label from being pulled horizontally with respect to the mount and causing the adhesive layer of the label to skid on the mount. As a result, it is possible to minimize the problem that the adhesive layer of the label is roughened and its adhesive force is reduced, and as a result, the adhesive force of the label to the sticking target surface is reduced.

(Claim 6)
Here, when the label is completely peeled off from the backing paper while the suction surface holds the label, if the suction surface is moved vertically or horizontally with respect to the backing sheet, the resistance due to the adhesive force of the label is large. The label may come off the surface. Further, when the label is pulled in the horizontal direction with respect to the mount, the adhesive layer of the label may cause so-called skidding on the mount. Then, as described above, the adhesive layer is rubbed against the mount and roughened, and as a result, the adhesive force of the adhesive layer may be reduced.

Therefore, according to the label sticking system according to claim 6, in the delivery step, the robot causes the suction surface to suck and hold the label, and then the suction surface is directed to the label supply device in the label supply direction. The components are separated in the diagonal direction including the component directed to the side. According to this, the vertical and horizontal resistance to the mount can be made as small as possible, so that the label may come off the suction surface, or the adhesive layer may be roughened and the adhesive strength may be reduced. Can be suppressed as much as possible.

(Claim 7)
In the labeling system according to claim 7, the receiving portion is formed in a curved shape that bulges outward. According to this, in the delivery step, when the label is pressed against the receiving portion while being in contact with the suction surface, the area of the label that is pressed by the force from the receiving portion is made as small as possible. be able to. As a result, the adhesive layer provided on the mount side of the label is prevented from being unnecessarily pressed, so that it is possible to suppress the problem that the adhesive layer is roughened and its adhesive force is reduced as much as possible. it can.

(Claim 8)
In the labeling system according to claim 8, the suction surface is formed in a flat shape, and the pressing surface is formed in a curved shape that bulges outward. According to this, since the suction surface is formed in a planar shape, for example, when the suction surface is pressed against the receiving portion, it is possible to deform the suction surface together with the label along the receiving portion, thereby, The contact area between the suction surface and the label can be as large as possible. As a result, the label can be more securely suction-held on the suction surface.

Furthermore, since the pressing surface is formed in a curved shape that bulges outward, the pressing surface comes into line contact with the label. According to this, in the pressing step, when the pressing surface is moved while being pressed against the label, the air that has entered between the label and the sticking target surface can be pushed out more reliably. As a result, wrinkles and twists on the label can be more reliably suppressed, and the label can be attached neatly.

(Claim 9)
The label sticking system according to claim 9 WHEREIN: The said adsorption|suction surface is comprised by the member which has elasticity, and the said pressing surface is comprised by the member harder than the said adsorption|suction surface. According to this, since the suction surface is made of a member having elasticity, when the suction surface is pressed against the receiving portion or the like to suck and hold the label, the suction surface is deformed along the receiving portion. be able to. This ensures that the label is pressed against the entire suction surface, and as a result, the suction holding of the label by the suction surface can be made more reliable.

Further, since the pressing surface is composed of a member that is harder than the suction surface, when the pressing surface is moved while being pressed against the sticking target surface W, the pressing surface is unnecessarily deformed. This prevents the air that has entered between the label and the surface to be attached from being pushed out more reliably. As a result, wrinkles and twists on the label can be more reliably suppressed, and the label can be attached more neatly.

A conceptual diagram showing an example of a schematic configuration of a label sticking system according to an embodiment. A flowchart showing an example of control contents executed in the label sticking system according to one embodiment. The figure which shows the operation example of the label sticking system by one Embodiment (the 1). The figure which shows the operation example of the label sticking system by one Embodiment (the 2). The figure which shows the operation example of the label sticking system by one Embodiment (the 3). The figure which shows the operation example of the label sticking system by one Embodiment (the 4). The figure which shows the operation example of the label sticking system by one Embodiment (the 5). The figure which shows the operation example of the label sticking system by one Embodiment (the 6). The figure which shows the operation example of the label sticking system by one Embodiment (the 7). The figure which shows the operation example of the label sticking system by one Embodiment (the 8). The figure which shows the operation example of the label sticking system by one Embodiment (the 9). The figure which shows the operation example of the label sticking system by one Embodiment (the 10). The figure which shows the operation example of the label sticking system by one Embodiment (the 11). The figure which shows the operation example of the label sticking system by one Embodiment (the 12). The figure which shows the operation example of the label sticking system by one Embodiment (the 13). The figure which shows the operation example of the label sticking system by one Embodiment (the 14). The figure which shows the operation example of the label sticking system by one Embodiment (the 15). The figure which shows the operation example of the label sticking system by one Embodiment (the 16). The figure which shows the operation example of the label sticking system by one Embodiment (the 17). The figure which shows the operation example of the label sticking system by one Embodiment (the 18). The figure which shows the operation example of the label sticking system by one Embodiment (the 19).

A label sticking system 1 according to an embodiment will be described below with reference to the drawings.
First, the configuration of the label sticking system 1 will be described mainly with reference to FIGS. 1 and 3. The label sticking system 1 is for sticking a label on a curved surface such as the surface of a cylindrical container. In the label sticking system 1, the work 80 is a target for sticking a label, and the surface of the work 80 is a surface for sticking a label.

The label sticking system 1 includes a work holding unit 10, a label supply device 20, a robot 30, a robot hand 40, and a control device 50. The work holding unit 10 holds the work 80 in a state where the surface to which the work 80 is attached is exposed. In the case of the present embodiment, the work holding unit 10 holds the work 80 with the central axis O of the work 80 oriented horizontally and with the sticking target surface exposed upward. Although not shown in detail, the work holding unit 10 may have a mechanism for stopping the rotation of the work 80 arranged in the work holding unit 10 or a mechanism for fixing the work 80. Note that, in FIG. 3 and the like, the central axis O of the work 80 is oriented in the direction perpendicular to the paper surface. Further, in FIG. 3, a region on the surface of the work 80 to which the label is attached is indicated by a two-dot chain line W.

As shown in FIG. 3, the label supply device 20 uses the roll member 90 as a label supply source. The roll member 90 is formed by winding a long mount 91 with a plurality of labels 92 and winding the roll 92 into a roll. The label 92 is a sheet-shaped sealing member, and although not shown in detail, product information such as a bar code, a product name, and a product description is printed on the front surface of the sheet-shaped paper, and an adhesive is provided on the back surface. Layers are provided. The total length of one label 92 is shorter than the circumference of the work 80. The label supply device 20 peels the labels 92 one by one from the mount 91 and supplies them to the robot 30.

In the case of the present embodiment, the label supply device 20 pulls out the mount 91 before the label 92 is peeled from the roll member 90. Then, after feeding the mount 91 together with the label 92 from the left side to the right side of the paper of FIGS. 1 and 3, the label 92 is peeled off from the mount 91. In this case, the traveling direction of the label 92, that is, the right direction on the paper surface of FIGS. 1 and 3 is set as the supply direction of the label 92 in the label supply device 20. Further, the total length, that is, the length dimension of the label 92 means the length dimension in the supply direction of the label 92, that is, the substantially left-right direction of the paper surface of FIGS. 1 and 3. Further, the width dimension of the label 92 means a dimension in a direction perpendicular to the supply direction of the label 92, that is, a dimension in a direction perpendicular to the paper surface of FIGS. 1 and 3, in this case, a dimension along the central axis O of the work 80. ..

As shown in FIG. 3, the label supply device 20 has a hook portion 21, a regulation portion 22, a feeding portion 23, a receiving portion 24, and a label detection sensor 25. The hook portion 21 is configured to be rotatable in the shape of a cylindrical roller, and the mount 91 is hooked on the hook portion 21. The regulation unit 22 is configured to be rotatable, for example, in the shape of a cylindrical roller, and holds the label 92 immediately before being peeled from the mount 91 from above.

The feeding section 23 is connected to a motor (not shown) and is configured to be rotationally drivable. The feeding unit 23 winds the mount 91 after the label 92 has been peeled off, so that the mount 91 can be fed from the roll member 90 by one pitch, that is, by the entire length of one label 92. In this configuration, the feeding unit 23 rotationally drives in the traveling direction to feed the mount sheet 91, whereby the labels 92 are peeled from the mount sheet 91 one by one and supplied. In this case, the label 92 located at the leading end in the supply direction, that is, the label 92 peeled from the mount 91, is not completely peeled from the mount 91. That is, the portion between the hook portion 21 and the regulation portion 22 remains attached to the mount 91. Note that the mount 91 after the label 92 is peeled off is not limited to the configuration of being wound around the feeding unit 23 in the label supply device 20, and may be configured to be discharged to the outside of the label supply device 20.

The receiving portion 24 is provided on the front side in the supply direction with respect to the hook portion 21, and is provided at a position below the label 92 peeled from the mount 91. That is, the receiving portion 24 is located below the portion of the label 92 located at the leading end of the label 92 in the supply direction, which is separated from the mount 91. The receiving portion 24 is formed in a curved surface shape that bulges outward, that is, toward the label 92 side. When the label 92 peeled from the mount 91 hangs down due to gravity, the receiving portion 24 supports the hanging label 92 with its own weight on the curved surface of the receiving portion 24.

The label detection sensor 25 is provided at a position below the label 92 peeled from the mount 91. The label detection sensor 25 is, for example, a photoelectric sensor or the like, and detects the presence or absence of the label 92 peeled from the mount 91. As shown in FIG. 7, when the label 92 is completely peeled from the mount 91, the label detection sensor 25 detects that the label 92 is gone. Then, as shown in FIGS. 8 to 9, the label supply device 20 rotationally drives the feeding unit 23 to newly peel one label 92 from the mount 91. Note that the label 92 is completely peeled off from the mount 91, which means that the label 92 is not in contact with the mount 91.

The robot 30 is, for example, an articulated robot having a plurality of drive axes as shown in FIG. 1, and its hand 31 is on at least the plane direction of FIGS. 1 and 3, that is, the plane including the supply direction of the label supply device 20. It can be moved freely and can be rotated in the plane direction. In the case of the present embodiment, the robot 30 is small and lightweight, for example, so that one person can carry it alone, and is, for example, an articulated robot arm having six movable axes. In this case, the robot 30 is designed, for example, on the premise of cooperation with a person, and is designed so that the operating environment thereof does not require a safety fence. The robot 30 has, for example, a robot controller 301 built therein, and the total weight is set to about 4 kg and the transportable weight is set to about 500 g.

The robot 30 has a robot hand 40 provided on the hand 31, and sucks and holds the label 92 supplied from the label supply device 20 by the robot hand 40, and holds the work 80 held by the work holding unit 10. It can be attached to the attachment target surface W. The robot 30 is not limited to the articulated robot, as long as it can move and rotate on a plane including at least the supply direction of the label supply device 20, and may be, for example, an orthogonal robot.

As shown in FIG. 3, the robot hand 40 includes a base member 41, a block member 42, a suction member 43, and a pressing member 44. The base member 41 is made of, for example, a member having rigidity such as a metal or a hard resin, that is, a member having no elasticity, and is detachably attached to the hand 31 of the robot 30, for example.

The block member 42, the suction member 43, and the pressing member 44 are provided on the surface of the base member 41 opposite to the hand 31. The block member 42 is made of a member having rigidity, that is, a member having no elasticity, such as metal or hard resin. The block member 42 is configured, for example, in the shape of a long rectangular block, and has a large number of holes connected to the air pipe 61. The block member 42 may be integrated with the base member 41.

The suction member 43 is provided on the surface of the block member 42. The suction member 43 is configured in a long rectangular plate shape. In this case, the longitudinal direction of the suction member 43 is the depth direction of the paper surface of FIG. 3, that is, the direction perpendicular to the paper surface. The dimension of the suction member 43 in the longitudinal direction is set to be equal to or larger than the width dimension of the label 92.

The suction member 43 can suck and hold the label 92 separated from the mount 91. In the case of the present embodiment, the suction member 43 is connected to the air valve 62 and the vacuum generator 63 shown in FIG. 1 via the block member 42 and the air pipe 61. The vacuum generator 63 is a vacuum ejector, a vacuum blower, a vacuum pump, or the like, and generates a suction force. Then, the suction member 43 can suck and hold the label 92 by the suction force of the vacuum generator 63. In addition, the suction state of the suction member 43 can be switched by opening and closing the air valve 62.

A contact surface of the suction member 43 with the label 92 serves as a suction surface 431 that sucks and holds the label 92. In the case of this embodiment, the suction surface 431 is formed in a flat plane shape, for example. It should be noted that the suction surface 431 does not necessarily have to be planar, and may be configured to have, for example, a curved surface curved so as to bulge outward or a curved surface curved so as to be recessed inward. Further, the suction surface 431 does not necessarily have to be flat, and a groove or the like may be formed.

In addition, in the case of the present embodiment, the adsorption member 43 is configured by a porous member having elasticity and open cells, for example, a flexible member such as sponge. In this case, many small holes of the suction member 43 are connected to the holes of the block member 42. As a result, when the air valve 62 is opened while a compressor (not shown) is driven, a suction force is generated on the suction surface 431 of the suction member 43.

The pressing member 44 is provided separately from the block member 42 and the suction member 43. The pressing member 44 is a member for directly contacting the label 92 and pressing the label 92 against the sticking target surface W of the work 80. The contact surface of the pressing member 44 with the label 92 serves as a pressing surface 441 that presses the label 92 against the sticking target surface W. The pressing member 44 presses the label 92 arranged on the sticking target surface W against the sticking target surface W at the pressing surface 441.

In the case of the present embodiment, the pressing member 44 is formed of a cylindrical member, and thus the pressing surface 441 is formed in a curved surface shape that bulges outward of the pressing member 44. In this case, the pressing member 44 is rotatably provided on the base member 41. The pressing member 44 has a diameter smaller than the diameter of the work 80 and smaller than the width dimension of the suction member 43. It should be noted that the pressing member 44 may be, for example, non-rotatable, and may have a curved surface shape that bulges outward. Further, the longitudinal direction of the pressing member 44 is the depth direction of the paper surface of FIG. 1, that is, the direction perpendicular to the paper surface. The lengthwise dimension of the pressing member 44 is equal to or larger than the width dimension of the label 92 and is set to be the same as or approximately the same as the suction member 43.

The control device 50 is mainly composed of a microcomputer having a storage area 52 such as a CPU 51, a ROM, a RAM, and a rewritable flash memory, and controls the overall operation of the label sticking system 1. In the case of the present embodiment, the control device 50 controls driving of the robot 30 and the air valve 62. In this case, the robot controller 301 and the air valve 62 built in the robot 30 are electrically connected to the control device 50. Further, the storage area 52 stores a control program for driving and controlling the robot 30 and the air valve 62. Then, the control device 50 executes a control program in the CPU 51 to send a command of the robot 30 to the robot controller 301 to drive the robot 30, and control the opening/closing of the air valve 62 to suck the robot hand 40. Control the state.

Further, the label supply device 20 is not connected to the control device 50 and is independently driven with respect to the robot 30 and the air valve 62. The robot controller 301 does not necessarily have to be built in the robot 30, and may be provided outside the robot 30. Further, the robot controller 301 and the control device 50 may be integrated.

Next, the control content of the label sticking system 1 by the control device 50 will be described with reference to FIGS. In addition, in the case of the present embodiment, the label supply device 20 is configured to be driven independently without being controlled by the control device 50, but may be configured to act under the control of the control device 50. good.

When the control program is executed by the CPU 51, the control device 50 executes the process according to the flowchart shown in FIG. In the case of the present embodiment, the control device 50 executes the transfer process in steps S11 to S15, then executes the placement process in steps S16 to S21, and then executes the pressing process in steps S22 to S25.

The delivery step is a step of delivering the label 92 peeled from the mount 91 in the label supply device 20 to the robot 30. In the arranging step, the label 92, which has been transferred from the label supply device 20 to the robot 30 in the transfer step and suction-held on the suction surface 431, is pressed against the sticking target surface W of the work 80 to partially stick the label 92. This is a step of attaching to the surface W. The pressing step is a step of sequentially pressing the entire label 92 onto the sticking target surface W while moving the pressing surface 441 along the sticking target surface W with the position where the label 92 is pressed in the arranging step as a base point. In this case, the moving distance of the pressing surface 441 in the pressing step is set longer than the length dimension of the label 92 in the circumferential direction of the work 80.

Specifically, when the control device 50 starts the process (start) and executes the process of step S11, as shown in FIG. 4, the control device 50 drives and controls the robot 30 and the suction member provided on the robot hand 40. The suction surface 431 of 43 is moved to above the receiving portion 24 of the label supply device 20. Next, the control device 50 executes the process of step S12 to open the air valve 62, and thereby the suction force is generated on the suction surface 431. Next, the control device 50 executes the process of step S13, and as shown in FIG. 5, drives and controls the robot 30 to lower the suction surface 431, and the label 92 peeled off the suction surface 431 from the mount 91. Touch the top surface of.

Next, the control device 50 executes the process of step S14, and drives and controls the robot 30 to press the suction surface 431 against the receiving portion 24, as shown in FIG. As a result, the label 92 peeled from the mount 91 is adsorbed to the adsorption surface 431. In this case, the suction surface 431 sucks the rear end portion of the label 92, that is, the rear side portion with respect to the longitudinal center of the label 92 in the traveling direction. Further, since the suction member 43 is made of a material having elasticity and flexibility such as sponge, it deforms along the receiving portion 24 as shown in FIG. The pressing force of the suction surface 431 against the receiving portion 24 may be controlled by setting the target position for lowering the suction surface 431 to be lower than the receiving portion 24, or the reaction force from the suction surface 431 may be monitored. That is, it may be controlled by the torque acting on the robot 30.

Next, the control device 50 executes the process of step S15, and as shown in FIG. 7, drives and controls the robot 30 to move the suction surface 431 in an oblique direction including a component directed toward the supply direction side of the label 92, In this case, it is moved diagonally upward in the supply direction. In this case, the angle formed by the moving direction when the suction surface 431 moves away from the receiving portion 24 in step S15 with respect to the supply direction of the label 92 is the moving direction when the suction surface 431 approaches the receiving portion 24 in step S13. Smaller than the angle formed by. That is, as shown in FIGS. 4 to 5, the suction surface 431 before suction-holding the label 92 descends in the substantially vertical direction and approaches the receiving portion 24. On the other hand, as shown in FIGS. 6 to 7, the suction surface 431 after suction-holding the label 92 moves obliquely upward to the front side in the supply direction and moves away from the receiving portion 24 at an angle shallower than the vertical direction. .. In this case, the moving direction of the suction surface 431 is preferably about 45° with respect to the supply direction of the label 92.

As a result, the rear end portion of the label 92 that has been sucked on the suction surface 431 and that has not been peeled from the mount 91 is also peeled from the mount 91, and thus the label 92 is completely peeled from the mount 91. In this way, the label 92 peeled from the mount 91 in the label supply device 20 is delivered to the robot hand 40 attached to the robot 30.

Next, when the control device 50 executes the process of step S16, as shown in FIG. 8, the control device 50 drives and controls the robot 30 to move the suction surface 431 to above the work 80. At this time, the label supply device 20 detects that the label 92 is delivered to the robot 30 by the label detection sensor 25. Then, as shown in FIGS. 8 to 9, the label supply device 20 rotates the feeding unit 23 by the length of the label 92 and peels the next label 92 from the mount 91.

Next, when the control device 50 executes the process of step S17, as shown in FIG. 9, the control device 50 drives and controls the robot 30 to lower the suction surface 431. After that, the control device 50 executes the process of step S18 to drive and control the robot 30 to press the suction surface 431 against the sticking target surface W of the work 80. At this time, a portion where the label 92 contacts the sticking target surface W of the work 80 is set as a base point P. The base point P is a region having a certain width. Next, the control device 50 executes the process of step S19 and closes the air valve 62. As a result, the suction force generated on the suction surface 431 is released while the suction surface 431 is pressed against the sticking target surface W of the workpiece 80.

After that, the control device 50 executes the process of step S20, and as shown in FIGS. 11 to 13, drives and controls the robot 30 to swing the suction surface 431 with the base point P as a fulcrum. This swinging is performed at least one round trip or more. The swing angle is about several degrees with respect to the center O of the work 80.

Next, the control device 50 executes the process of step S21, and drives and controls the robot 30 to separate the suction surface 431 from the label 92 arranged on the sticking target surface W, as shown in FIG. As a result, only the base point P of the entire label 92 is attached to the attachment target surface W of the work 80, and the label 92 is arranged on the attachment target surface of the work 80.

Here, as shown in FIGS. 15 to 21, of the two ends in the circumferential direction of the work 80 in the label 92, the end closer to the base point P is the first end E1, and the end farther from the base point P. The part is referred to as a second end E2. After executing the processing of step S22, the control device 50 drives and controls the robot 30 to move the pressing surface 441 to a position where the pressing surface 441 contacts the base point P, as shown in FIG. Next, the control device 50 executes the process of step S23, and drives and controls the robot 30 to move the pressing surface 441 toward the first end E1 side as shown in FIGS. 15 to 16. .. At this time, the robot 30 presses the label 92 against the sticking target surface W of the work 80 by the pressing surface 441 and draws an arc along the sticking target surface W of the work 80 so that the pressing surface 441 draws an arc. It is moved to a position beyond the section E1.

Next, the control device 50 executes the process of step S24, drives and controls the robot 30, and moves the pressing surface 441 toward the second end E2 side, as shown in FIGS. 17 to 19. .. At this time, the robot 30 presses the label 92 against the sticking target surface W of the work 80 with the pressing surface 441, and draws an arc along the sticking target surface W of the work 80 so that the pressing surface 441 draws an arc. It is moved to a position beyond the section E2.

After that, the control device 50 executes the process of step S25 to drive and control the robot 30 to move the pressing surface 441 toward the first end E1 side again, as shown in FIG. At this time, the robot 30 presses the label 92 against the sticking target surface W of the work 80 by the pressing surface 441 and draws an arc along the sticking target surface W of the work 80 so that the work surface 80 is drawn. Move to a position that does not exceed the vertex T of. As a result, the label 92 is pressed down by the pressing surface 441 over the entire area of the label 92, so that the label 92 is firmly attached to the attachment target surface W of the work 80.

After that, the control device 50 executes the process of step S26, drives and controls the robot 30, and separates the pressing surface 441 from the label 92, as shown in FIG. This completes a series of controls (end).

According to the embodiment described above, the label sticking system 1 includes the work holding unit 10, the label supply device 20, the robot 30, and the robot hand 40. The work holding unit 10 holds a work 80 having a curved surface and using the curved surface as a label sticking target surface W. The label supply device 20 separates the label 92 attached to the mount 91 from the mount 91 and supplies the label 92. The robot hand 40 has a suction surface 431 that can suction-hold the label 92, and a pressing surface 441 that presses the label 92 arranged on the sticking target surface W against the sticking target surface W. The robot 30 moves the robot hand 40 provided at the hand 31 to attach the label 92 supplied from the label supply device 20 to the attachment target surface W of the workpiece 80 held by the workpiece holding unit 10.

Then, the robot 30 can execute the placement step and the pressing step. The placement step is a step of pressing the label 92 sucked and held on the suction surface 431 against the sticking target surface W to stick a part of the label 92 to the sticking target surface W. The pressing step is performed after the placement step, and is a step of pushing the label 92 against the sticking target surface W while moving the pushing surface 441 along the sticking target surface W with the location where the label 92 is pressed in the placement step as a base point. is there.

According to this configuration, the robot 30 performs the pressing process to sequentially push out the air existing between the sticking target surface W and the label 92 from the base point P toward the end of the label 92, and at the same time, the label 92 can be attached to the attachment target surface W. As a result, a gap is formed between the sticking target surface W and the label 92, and the gap prevents the label 92 from wrinkling or twisting. In this way, the robot 30 presses the label 92 placed on the sticking target surface W in the placement step while moving it along the label 92 in the pressing step, thereby sticking the label 92 while stretching wrinkles and twists. It can be attached to the surface W. As a result, it is possible to suppress wrinkles and twists in the label 92 attached to the sticking target surface W as much as possible, and as a result, it is possible to cleanly stick the label to the curved sticking target surface.

Further, the robot hand 40 has a suction surface 431 that can suction and hold the label 92, and a pressing surface 441 that presses the label 92 against the sticking target surface W. Thus, the process of placing the label 92 supplied from the label supply device 20 by suction and moving it to the sticking target surface W, that is, the transferring step and the arranging step, and the label 92 arranged on the sticking target surface W The process of pressing the surface W to be attached, that is, the pressing process can be performed by one robot hand 40. For this reason, the robot hand 40 and the robot 30 can be downsized, which in turn can downsize the entire label sticking system 1. As described above, according to the present configuration, it is possible to provide the label sticking system 1 which is small in size and which can suppress wrinkles and twists as much as possible and can stick neatly.

Here, in the label 92 arranged in the arranging step, when the portion adhered to the sticking target surface W in the arranging step, that is, the base point P has weak adhesion, the pressing surface 441 and the label 92 are executed when the pressing step is executed. There is a possibility that such a problem may occur that the base point P portion of the label 92 is peeled off or the position is displaced due to the friction with. On the other hand, according to the present embodiment, the robot 30 swings the suction surface 431 around the base point P in the placement step. According to this, the base point P portion of the label 92 is more firmly attached to the attachment target surface W. Therefore, according to this, the inconvenience that the label 92 is peeled off from the sticking target surface W or the position of the label 92 is displaced during the process can be suppressed. As a result, it is possible to more reliably suppress wrinkles and twists on the label 92, and to attach the label 92 more neatly.

Further, in the pressing step, the robot 30 moves the pressing surface 441 from the base point P to the first end portion E1 side which is one of the end portions E1 and E2 in the circumferential direction of the workpiece 80 on the label 92, which is closer to the base point P. Move to. After that, the robot 30 moves to the position beyond the second end E2 which is the end farther from the base point P in the opposite direction after passing the first end E1. As a result, the robot 30 presses the label 92 onto the sticking target surface W over the entire label 92.

According to this, the moving distance of the pressing surface 441 is greater than that in the case where the entire label 92 is pressed down by the pressing surface 441 evenly, and the label 92 is moved to the second end E2 side first and then to the first end E1 side. Can be shortened. As a result, the time required for the pressing step can be shortened as much as possible, and the label can be attached efficiently and neatly in a short time.

Further, the label sticking system 1 further includes a delivery step of delivering the label 92 peeled from the mount 91 in the label supply device 20 to the robot 30. The label supply device 20 supplies a label 92 using a roll member 90 formed by winding a long mount 91 with a plurality of labels 92 wound into a roll. Further, the label supply device 20 has a receiving portion 24 provided below the label 92 peeled from the mount 91. Then, in the delivery process, the robot 30 moves the suction surface 431 and presses the suction surface 431 to the receiving portion 24 with the label 92 in contact with the suction surface 431, and then moves the suction surface 431 in a direction away from the receiving portion 24. The label 92 is completely peeled off from the mount 91.

According to this, in the transfer process, the robot 30 can surely adsorb the label 92 to the suction surface 431 by pressing the label 92 against the suction surface 431 against the receiving portion 24. As a result, it is possible to suppress the inconvenience that the label 92 is detached from the suction surface 431 and dropped when the label 92 is moved from the label supply device 20 to the work 80, and the label 92 can be attached more reliably.

In the transfer process, the robot 30 moves the suction surface 431 closer to the label 92 and brings the suction surface 431 into contact with the label 92 in the direction perpendicular to the surface of the label 92. That is, in this case, the component of the movement direction of the suction surface 431 in the supply direction of the label 92 is sufficiently smaller than the component in the direction perpendicular to the label 92. Therefore, when the suction surface 431 comes into contact with the label 92, the suction surface 431 can be prevented from slipping and shifting from the surface of the label 92 as much as possible, and as a result, the label 92 can be more securely suction-held. You can

Here, the label 92 has an adhesive layer on the surface of the mount 91 side. Therefore, if the component in the supply direction of the label 92, in this case, the horizontal direction is larger than the component in the moving direction of the suction surface 431, which is perpendicular to the label 92, in this case, the component in the gravity direction, the suction surface 431 becomes When the label 92 comes into contact with the surface of the label 92 and adsorbs the label 92, the label 92 is pulled in the horizontal direction with respect to the mount 91, which may cause the adhesive layer of the label 92 to slip on the mount 91. There is a nature. Then, the adhesive layer is rubbed against the mount 91 to be roughened, and as a result, the adhesive force of the adhesive layer may be reduced.

On the other hand, according to the present embodiment, of the components in the moving direction of the suction surface 431, the components in the supply direction of the label 92 in this case, the components in the horizontal direction in this case are the components in the vertical direction with respect to the label 92, and in this case gravity. It is small enough for the direction component. Therefore, when the suction surface 431 comes into contact with the label 92 and sucks the label 92, the label 92 is pulled in the horizontal direction with respect to the mount 91, and the adhesive layer of the label 92 slips sideways with respect to the mount 91. It can be suppressed as much as possible. As a result, it is possible to minimize the problem that the adhesive layer of the label 92 is roughened and the adhesive force thereof is reduced, and as a result, the adhesive force of the label 92 to the sticking target surface W is reduced.

Here, when the label 92 is completely peeled off from the mount 91 while the label 92 is suction-held on the suction surface 431, when the suction surface 431 is moved vertically or horizontally with respect to the mount 91, the adhesive force of the label 92 is increased. Due to the large resistance of the label 92, the label 92 may be detached from the suction surface 431. Further, when the label 92 is pulled in the horizontal direction with respect to the mount 91, there is a possibility that the adhesive layer of the label 92 causes so-called sideslip with respect to the mount 91. Then, as described above, the adhesive layer is rubbed against the mount 91 to be roughened, and as a result, the adhesive force of the adhesive layer may be reduced.

Therefore, according to the present embodiment, in the transfer process, the robot 30 causes the suction surface 431 to hold the label 92 by suction, and then, the suction surface 431 is inclined including a component that moves toward the supply direction side of the label 92 in the label supply device 20. Direction, in this case, obliquely upward on the supply direction side. According to this, since the resistance in the vertical direction and the horizontal direction with respect to the mount 91 can be made as small as possible, the label 92 may be detached from the suction surface 431, or the adhesive layer may be roughened to lower the adhesive force. It is possible to suppress problems such as looseness as much as possible.

Further, in the present embodiment, the receiving portion 24 is formed in a curved surface shape that bulges outward. According to this, in the delivery process, when the label 92 is pressed against the receiving portion 24 while being in contact with the suction surface 431, the area of the label 92 that is pressed by the force from the receiving portion 24 is made as small as possible. be able to. As a result, the adhesive layer provided on the mount 91 side of the label 92 is prevented from being unnecessarily pressed, so that the problem that the adhesive layer is roughened and its adhesive force is reduced is suppressed as much as possible. be able to.

Further, in the label sticking system 1 of the present embodiment, the suction surface 431 is formed in a flat shape, and the pressing surface 441 is formed in a curved shape that bulges outward. According to this, since the suction surface 431 is formed in a planar shape, when the suction surface 431 is pressed against the receiving portion 24, the suction surface 431 can be deformed along with the label 92 along the receiving portion 24. As a result, the contact area between the suction surface 431 and the label 92 can be as large as possible. As a result, the label 92 can be more reliably suction-held by the suction surface 431.

Further, since the pressing surface 441 is formed in a curved shape that bulges outward, the pressing surface 441 comes into line contact with the label 92. According to this, in the pressing process, when the pressing surface 441 is moved while being pressed against the label 92, the air that has entered between the label 92 and the sticking target surface W can be pushed out more reliably. As a result, even with a small structure, it is possible to more reliably suppress wrinkles and twists of the label 92, and it is possible to attach the label 92 neatly.

Further, the suction surface 431 is made of a member having elasticity and flexibility such as sponge. On the other hand, the pressing surface 441 is made of a member that is harder than the suction surface 431, such as hard rubber. According to this, since the suction surface 431 is composed of a member having elasticity, when the suction surface 431 is pressed against the receiving portion 24 or the like to hold the label 92 by suction, the suction surface 431 is not received by the receiving portion. Can be deformed along. This ensures that the label 92 is pressed against the entire suction surface 431, and as a result, the suction holding of the label 92 by the suction surface 431 can be made more reliable.

Further, since the pressing surface 441 is made of a member harder than the suction surface 431, when the pressing surface 441 is moved while being pressed against the sticking target surface W, the pressing surface 441 is unnecessarily deformed. This prevents the air from entering between the label 92 and the sticking target surface W more reliably. As a result, even with a small structure, it is possible to more reliably suppress wrinkles and twists of the label 92, and it is possible to attach the label 92 more neatly.

In the above embodiment, the label sticking system 1 may include a plurality of robots 30, and the label 92 may be stuck by the cooperation of the plurality of robots 30.
The above-described embodiments are not limited to the above-mentioned embodiments and illustrated in the drawings, and can be appropriately modified without departing from the scope of the invention.

In the drawings, 1 is a labeling system, 10 is a work holding unit, 20 is a label supply device, 24 is a receiving unit, 30 is a robot, 31 is a hand, 40 is a robot hand, 431 is a suction surface, 441 is a pressing surface, 80 is a work, 90 is a roll member, 91 is a mount, and 92 is a label.

Claims (9)

A work holding unit which holds a work having a curved surface and having the curved surface as a target surface for sticking a label,
A label supply device that separates and supplies the label attached to the mount from the mount,
A robot hand having a suction surface capable of suction-holding the label, and a pressing surface for pressing the label arranged on the sticking target surface against the sticking target surface,
A robot that moves the robot hand provided at the end of the hand to attach the label supplied from the label supply device to the attachment target surface of the work held by the work holding unit,
The robot is
An arrangement step of pressing the label sucked and held on the suction surface to the sticking target surface to stick a part of the label to the sticking target surface,
A pressing step that is performed after the placing step and that pushes the label against the sticking target surface while moving the pushing surface along the sticking target surface with the position where the label is pressed in the placing step as a base point, Can be performed,
Labeling system. In the arrangement step, the robot swings the suction surface around the base point,
The labeling system according to claim 1. In the pressing step, the robot moves the pressing surface from the base point to a first end side, which is one of the two ends of the label in the circumferential direction of the work, which is closer to the base point, and then , The label is applied to the entire label by moving the label to the position beyond the second end which is the end farther from the base point in the opposite direction after passing the first end. Press on the surface to be attached,
The labeling system according to claim 1 or 2. Further comprising a delivery step of delivering the label peeled from the mount in the label supply device to the robot,
The label supply device supplies the label using a roll member in which a plurality of the labels are attached to a long mount and is wound in a roll, and the label is below the label peeled from the mount. Has a receiving portion located at
In the transfer step, the robot moves the suction surface and presses the label on the suction surface in a state where the label is in contact with the suction surface, and then moves the suction surface in a direction away from the reception portion. Completely remove the label from the mount,
The labeling system according to any one of claims 1 to 3. In the transfer step, the robot moves the suction surface closer to the label and brings the suction surface into contact with the label in the direction perpendicular to the surface of the label,
The labeling system according to claim 4. In the transfer step, the robot, after the suction surface holds the label by suction, separates the suction surface in an oblique direction including a component toward the supply direction side of the label in the label supply device,
The labeling system according to claim 4 or 5. The receiving portion is formed into a curved surface that bulges outward.
Labeling system according to any one of claims 4 to 6. The suction surface is formed in a flat shape,
The pressing surface is formed in a curved shape that bulges outward,
A labeling system according to any one of claims 1 to 7. The suction surface is composed of a member having elasticity,
The pressing surface is composed of a member harder than the suction surface,
The labeling system according to any one of claims 1 to 8.

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