JP3107112B2 - Label sticking or peeling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for attaching or detaching labels, and more particularly to an apparatus for attaching or detaching labels at a predetermined position.

[0002]

2. Description of the Related Art For example, a CCD used in a video camera
The seal glass is attached to the light receiving surface of the light emitting device. If such a sealing glass is supplied to the assembling process in a state of being exposed, the surface of the sealing glass is damaged. Therefore, in order to protect the surface of such a seal glass and to protect it from dust, dirt, and the like, a label for protection is previously attached to the surface of the seal glass of the CCD.

Further, on such a label, information specific to the component is described so as to reach the outer surface side. That is, information is described by printing or engraving. Therefore, the label is used not only as a means for protecting the seal glass but also as a means for transmitting information, and is paired with the work, that is, the CCD, as a pair of information until a later process.

[0004]

In the past, in order to attach a label to the surface of the sealing glass of the CCD, it has conventionally been performed manually. That is, it relied on the work using the fingers of the worker. Also, such labels are ultimately peeled off the surface of the sealing glass,
Such stripping work has also been performed manually.

However, if the sticker label is manually applied or peeled off, dust or dirt on the skin adheres to the seal glass, which causes a deterioration in the quality of the CCD. Also, with the miniaturization of the video camera, the size of the CCD, the seal glass, and the label stuck thereon have become extremely small. In addition, since the glue is adhered to the label, the efficiency of the operation is remarkably reduced with the miniaturization, and the operation is difficult.

SUMMARY OF THE INVENTION The present invention has been made in view of such problems, and an apparatus for automatically attaching labels to a predetermined position without relying on humans or for peeling off labels from a predetermined position. It is intended to provide.

[0007]

According to a first aspect of the present invention, there is provided an apparatus for attaching labels to a predetermined position or peeling off the labels from a predetermined position, the suction device comprising a vacuum suction head for suctioning the surface of the labels. Means, and wherein the suction means has a pair of upper and lower clamp claws for gripping a grasped portion connected to the labels, wherein the pair of clamp claws is at least one of the other clamp claws. Relative to the other clamp claws, the clamp claws move in a direction away from the other clamp claws, and move over while grasping the grasped portion connected to the labels. A label sticking or peeling device, wherein the one clamp claw later moves in a direction approaching the other clamp claw to clamp a gripped portion of the label from both sides thereof. It relates.

According to a second aspect of the present invention, in the first aspect, the upper clamp pawl of the pair of clamp pawls has substantially the same height as the suction surface of the suction means, and the gripped portion of the labels or the like is provided. The lower clamp claw is bent in an L-shape on the tip side, and the gripped portion is clamped from below at the bent portion. The present invention relates to a label sticking or peeling device.

According to a third aspect of the present invention, in the label of the first aspect, the suction means comprises a suction pad of a solid sponge, and is attached so as to face a suction port. It relates to a sticking or peeling device.

In a fourth aspect based on the first aspect,
The present invention relates to a label sticking or peeling device, wherein the suction pad is formed of an O-ring and is attached to an opening end of a suction port.

[0011]

[0012]

According to the first aspect of the invention, the labels are sucked by the suction means comprising a vacuum suction head, and the gripped portions of the labels are held from both sides by a pair of upper and lower clamp claws provided on the suction means. Clamping is performed, and in such a state, labels are stuck at predetermined positions, or the stuck labels are peeled off.

According to the second aspect of the present invention, the gripped portion continuously provided on the side of the labels is received by the upper fixed claw at substantially the same height as the suction surface of the suction means, and has an L-shape. The lower clamp claw bent at a predetermined angle clamps from below.

According to the third aspect of the present invention, the labels and the like which are gripped by the pair of upper and lower clamp claws of the gripped portion continuously provided on the side are sucked by the suction pad made of a solid type sponge.

According to the fourth aspect of the present invention, the labels which are gripped by the pair of upper and lower clamp claws of the gripped portion provided on the side are attached to face the opening end of the suction port. It becomes absorbed by the O-ring.

[0016]

[0017]

FIG. 1 shows a robot hand constituting an apparatus for attaching or removing labels according to an embodiment of the present invention. The robot hand has a frame 10 having a substantially rectangular parallelepiped shape. The upper end of the frame 10 is mounted at a predetermined position by a mounting rod 11. An air cylinder 12 is provided in the frame 10. The piston rod 13 of the air cylinder 12 projects below the frame 10, and a suction head 14 is attached to a tip end of the piston rod 13.

The suction head 14 is provided with a suction port 18 for vacuum suction, and is opened downward. A pad 19 is attached so as to face the suction port 18. The pad 19 is made of a solid sponge. An upper fixed claw 20 is fixed to a side portion of the suction head 14 and extends downward to substantially the same length as the lower surface of the pad 19. On the side of the upper fixed claw 20, a lower movable claw 21 whose tip is bent in an L-shape is arranged.

The lower movable claw 21 is supported by a slider 24. The slider 24 is slidably supported by a connecting member 25. The connecting member 25 is fixed to the tip of the piston rod 13. The connecting member 25 holds an air cylinder 26. The piston rod 27 of the air cylinder 26 is connected to the lower movable claw 2.
1 is slid up and down.

FIG. 4 shows the structure of the distal end of such a robot hand. A fixed claw 20 and a movable claw 21 are arranged on the side of the suction head 14, respectively. A suction pad 19 is attached to a portion facing the suction port 18, and the label 30 is vacuum-suctioned through the pad 19 by the vacuum suction port 18.

On the other hand, the work composed of the CCD 33 is set on a receiving table 34. A sealing glass 35 is adhesively fixed to the upper part of the body of the CCD 33 formed of ceramic, and a label 3 for protection is provided on the surface thereof.
0 is attached.

CCD 3 with Protect Travel 30 attached
The shape of 3 is as shown in FIG. 2 or FIG.
The shape of the label 30 may be a substantially rectangular label 30 as shown in FIG. 2 or a protruding piece 32 on the side as shown in FIG.
May be a convex protect travel which is continuously provided, and is cut in advance in each shape. In addition, glue for adhesion is attached to the back surface of these labels 30.

As shown in FIG. 3, the label 30 has a CC
Auxiliary label 3 displaying information for defect correction of D35
6 is affixed as needed. Correction ROM
A similar information label is attached also to the CCD 33 to provide pairing information.

In the case of the label 30 shown in FIG. 2, the portion having the length of the protruding length c on the side surface side constitutes the gripped portion 31. That is, in this label 30, a ×
The rectangular part of b constitutes the attaching part, and c ×
The strip-shaped portion of “a” becomes the non-grip portion 31, and the gripping position is determined so as to clamp the position of approximately a / 2 from the end of the gripped portion 31. The thickness of the label 30 is constant between 35 and 70 μm, and a rigid material is selected. In particular, a material having both spring properties is effective.

In the case of the label 30 shown in FIG. 3, the overall shape is convex, and the axb portion constitutes the sticking portion. On the other hand, the c × d portion is the gripper 3
2. Therefore, the gripped portion 3 composed of this protruding piece
2 is clamped by a pair of upper and lower claws 20, 21.

Next, the peeling or sticking operation by the robot hand having the above configuration will be described. The upper fixed claw 2 which is the tip of the hand shown in FIG.
0, the lower movable claw 21 and the suction head 14
As shown in FIG. At this time, the lower movable claw 21 is kept open.

The pad 19 attached to the tip of the suction head 14 is lowered to the clamp preparation position shown in FIG. At the same time, the pair of upper and lower claws 20 and 21 also descends until the pad 19 comes into contact with the upper surface of the label 30, and the gripped portion 31 of the label 30 moves between the upper fixed nail 20 and the lower movable claw 21. Of the label 30 by using the spring property of the gripped portion 31 itself. At this time, the lower end of the upper fixed claw 20 is located at a position corresponding to the upper surface of the label 30.

In the state shown in FIG. 5, the upper surface of the label 30 is sucked and sucked by performing vacuum suction through the pad 19 through the suction port 18 of the suction head 14. Then, as shown in FIG. 6, the lower movable claw 21 is moved upward by the air cylinder 26, and
The label 30 is clamped at the shoulder.

When the gripped portion 31 of the label 30 is clamped by the pair of upper and lower claws 20 and 21 in this way, the entire robot hand is raised by the air cylinder 12 and
The label 30 is peeled off. At this time, the label 30 is suctioned and settled on the lower surface of the suction head 14. At the same time, the lower movable claw 21 may be opened, but here, the clamped state is maintained until the next sticking.

The reason why the peeled label 30 is adsorbed on the lower surface of the suction pad 19 and the plane is settled is that the peeled label 30 is maintained in a shape that can be easily pasted so that the peeled label 30 is returned to another position. is there.

In the case of attaching or returning the label 30 instead of peeling it off, the operation reverse to the above-mentioned operation is performed. That is, as shown in FIG. 6, the label 30 is attached to the surface of the seal glass 35 of the CCD 33,
Thereafter, as shown in FIG. 5, the pair of upper and lower claws 20 and 21 are released, and the suction by the suction head 14 is released. Thereafter, as shown in FIG. 4, the robot hand is raised as a whole to release the label 30.

The lower surface of the label 30 and the sealing glass 3
5 is coated with glue, and the label 30 is pressed and attached to the surface of the seal glass 35 on average by utilizing the compression elasticity of the suction pad 19 attached to the tip of the suction head 14. Will be.

FIGS. 8 and 9 show a modified device. This device is a suction pad 1 on the tip side of the suction head 14.
9 is replaced with an O-ring 42. That is, a ring-shaped protrusion 40 is formed at the distal end of the suction head 14, and a holding groove 41 is formed on the outer peripheral side of the protrusion 40, and the O-ring 42 is attached to the holding groove 41. Has become.

As described above, an O-ring 42 is used in place of the suction pad 19 made of a solid sponge.
By sealing the surface of the label 30 with the ring 42, the label 3 is sucked in vacuum by the suction head 14.
0 can be peeled or pasted.

FIGS. 10 and 11 show another modification. In this modification, a cut label 46 is pasted on a release paper 47 at a predetermined interval, and such a release paper 47 is supplied by a supply reel 48 and a guide roller 49 as shown in FIG. Then, when the suction head 14 sucks the cut label 46 from the release paper 47 on the receiving table 34, only the release paper 47 is taken up by the take-up reel 50.

According to such a configuration, the winding tape,
After cutting into a belt-like shape such as a seal, the portion having the shape can be peeled off, and the cut label 46 thus peeled off is pasted on the surface of the seal glass 35 of the CCD 33 as a protocol. It becomes possible.

As described above, according to the present embodiment, the label 30
A pair of upper and lower claws 20, 21 is formed by gripping the parts to be gripped 31, 32 formed on the side of the label 30 for sticking and peeling.
The present invention relates to a robot hand in which the label 30 which has been clamped and peeled off by the suction pad 19 is sucked and settled by the suction pad 19. Further, the label 30 to be affixed or peeled by such a robot hand has gripped portions 31 and 32 which are clamped by a pair of upper and lower clamp claws 20 and 21 on a part thereof. Therefore, the label 30 can be peeled off by being clamped by the pair of clamp claws 20 and 21 of the robot hand, settled and held by the suction pad 19, and again attached to a predetermined place.

By applying such a robot hand to automation of work in a clean room, it becomes possible to affix the label 30 on the seal glass 35 of the CCD 33 while minimizing the generation of dust and dirt.

Further, such a device can sufficiently cope with a case where the size of the label 30 to be affixed is reduced by using a robot hand which is reduced in size according to the shape. Conventionally, a hand for attaching a label has been devised, but has a great feature in that peeling can be performed simultaneously.

[0040]

According to a first aspect of the present invention, there is provided an apparatus for attaching labels to predetermined positions or peeling off labels from predetermined positions,
A suction means comprising a vacuum suction head for sucking the surface of the labels, and the suction means has a pair of upper and lower clamp claws for gripping a gripped portion connected to the labels; The pawl is such that at least one clamp pawl is movable relative to the other clamp pawl, and one clamp pawl moves in a direction away from the other clamp pawl and is connected to the labels. The clamped part is moved over while being deformed, and thereafter, one clamp claw moves in a direction approaching the other clamp claw to clamp the gripped part of the labels from both sides.

Accordingly, the labels are sucked and held by the suction means comprising the vacuum suction head, and the gripped portions of the labels are clamped from both sides by a pair of upper and lower clamp claws. Therefore, it is possible to automatically stick or peel labels while being sucked by the sucking means and being clamped by the pair of clamp claws, thereby achieving automatic sticking and peeling of labels.

According to a second aspect of the present invention, the upper clamp pawl of the pair of clamp pawls is constituted by a fixed pawl for receiving a gripped portion of labels at substantially the same height as the suction surface of the suction means. The lower clamp claw is bent at the tip end into an L-shape, and clamps the gripped portion from below at the bent portion.

Accordingly, in a state where the upper surface of the gripped portion of the labels is received by the upper fixed claw, the clamp claws clamp the gripped portion from below, and the labels are stuck or peeled off. The gripped portion is stably clamped in a state where the objects are sucked by the suction means.

According to the third aspect of the present invention, since the suction means is constituted by a suction pad of a solid type sponge and is mounted so as to face the suction port, the solid type is suctioned through the suction port to perform vacuum suction. Labels are stably adsorbed and peeled off by a suction pad made of sponge,
Alternatively, re-sticking can be performed using the compression elasticity of the solid type sponge.

According to the fourth aspect of the present invention, since the suction pad is formed of the O-ring and is attached to the opening end of the suction port, the gap between the suction pad and the labels is formed by the O-ring. Sealed, it is possible to reliably suck and hold.

[0046]

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view of a robot hand according to one embodiment of the present invention.

FIG. 2 is a perspective view showing a relationship between a label and a CCD to which the label is attached.

FIG. 3 is an external perspective view showing a relationship between a label having another shape and a CCD.

FIG. 4 is a vertical sectional view of a main part showing a lowering operation of the suction head.

FIG. 5 is a vertical sectional view of a main part when the suction head is at a lowered position.

FIG. 6 is a longitudinal sectional view of a main part in a state where vacuum suction is performed at a lowered position.

FIG. 7 is a vertical cross-sectional view of a main part in a state where the suction head is raised.

FIG. 8 is a longitudinal sectional view of a main part of a robot hand according to a modified example.

FIG. 9 is a vertical sectional view of a main part showing the raising operation.

FIG. 10 is an external perspective view of a release paper to which a cut label of another modification is adhered.

FIG. 11 is a vertical sectional view of a main part showing an operation of peeling from a cut label.

DESCRIPTION OF SYMBOLS 10 Frame 11 Mounting rod 12 Air cylinder 13 Piston rod 14 Suction head 18 Suction port 19 Pad 20 Upper fixed claw 21 Lower movable claw 24 Slider 25 Connecting member 26 Air cylinder 27 Piston rod 30 Label 31 Gripped portion 32 gripped portion (projection piece) 33 CCD 34 receiving stand 35 seal glass 36 auxiliary label 40 ring-shaped projection 41 holding groove 42 O-ring 46 cut label 47 release paper 48 supply reel 49 guide roller 50 take-up reel

──────────────────────────────────────────────────の Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B65C 9/26

Claims (4)

(57) [Claims] 1. An apparatus for sticking labels at a predetermined position or peeling labels from a predetermined position, comprising suction means comprising a vacuum suction head for sucking the surface of the labels, and wherein said suction means is a label. And a pair of upper and lower clamp claws for gripping a grasped portion continuously provided with at least one of the clamp claws. Then, one clamp claw moves in a direction away from the other clamp claw to get over the deformed grasped part connected to the labels, and thereafter, the one clamp claw is moved to the other clamp claw. A label sticking or peeling device characterized by moving in a direction approaching a clamp claw to clamp a gripped portion of the label from both sides thereof. 2. An upper clamp pawl of said pair of clamp pawls is constituted by a fixed pawl for receiving a gripped portion of said labels at substantially the same height as a suction surface of said suction means. 2. The sticking or peeling of labels according to claim 1, wherein the lower clamp claw is bent at the tip end side into an L-shape, and the bent portion is clamped from the lower side at the bent portion. apparatus. 3. The label sticking or peeling device according to claim 1, wherein said suction means is constituted by a suction pad of a solid sponge, and is attached so as to face a suction port. 4. The label sticking or peeling device according to claim 1, wherein the suction pad is formed of an O-ring, and is attached so as to face an opening end of the suction port.