EP2473412A1 - Device and method for detecting the actual position of at least one label transfer element of a labeling machine - Google Patents
Device and method for detecting the actual position of at least one label transfer element of a labeling machineInfo
- Publication number
- EP2473412A1 EP2473412A1 EP10737507A EP10737507A EP2473412A1 EP 2473412 A1 EP2473412 A1 EP 2473412A1 EP 10737507 A EP10737507 A EP 10737507A EP 10737507 A EP10737507 A EP 10737507A EP 2473412 A1 EP2473412 A1 EP 2473412A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- transfer element
- label transfer
- container
- actual position
- detection space
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010380 label transfer Methods 0.000 title claims abstract description 85
- 238000002372 labelling Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 62
- 230000002093 peripheral effect Effects 0.000 claims abstract description 22
- 238000011156 evaluation Methods 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 description 6
- 239000000853 adhesive Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000003292 glue Substances 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 230000014616 translation Effects 0.000 description 3
- 239000004831 Hot glue Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/40—Controls; Safety devices
Definitions
- the invention relates to a device according to the preamble of claim 1 and to a method according to the preamble of claim 17.
- Labeling machines in particular rotary labeling machines are well known from the prior art.
- the entire labeling station of the labeling machine i. the carrier with the gripper cylinder and the label box and the glue roller, for example, designed as a unit rotatable about the carrier axis. Due to the associated with the rotation displacement of the orbit of the gripper and pressing elements in the direction of the transport path of the objects, in particular to be labeled containers such as bottles, cans, Kartona- gene and the like, the different distances of the items to be labeled by the different article formats can be labeled Bridging areas of the labeling station.
- such a labeling machine for applying labels on peripheral surfaces of containers such as bottles, cans, cardboard, etc.
- which has a movement and transport plane for the container, an associated transfer area for applying the labels on the Container, a labeling station with label transfer and label stocking facilities.
- the label transfer takes place by means of a transfer device with adjusting devices in the form of a plurality of servomotors or motor variable length adjustment arms, the multivariate in a working space under free control of a freely selectable for label transfer Pivotainss are stored movable and adaptable.
- the orientation of the label transfer element with respect to the container to be labeled is of utmost importance.
- an optimal spatial orientation of the label transfer element with respect to the container to be labeled is such that, for example, the dispensing edge of the label transfer element is aligned almost completely parallel to the peripheral surface of the article to be labeled.
- the present invention seeks to provide a device and an associated method for detecting the actual position of a Etikettenübergabe- element, in particular with respect to a desired position, which allows reproducibility of already found, optimal position settings.
- a method for detecting the actual position of a label transfer element is the subject matter of patent claim 16.
- the essential aspect of the device according to the invention is to be seen in that the at least one label transfer element and the respective container to be labeled a three-dimensional detection space is assigned, which is spanned by a coordinate system with three coordinate axes, and that the at least one sensor unit for preferably non-contact detection the actual position of the label transfer element is formed with respect to the peripheral surface of the container in the three-dimensional detection space. Due to the detection of the actual position of the label transfer element by means of the sensor units according to the invention, it is possible with particular advantage to use mechanical components, in particular inclination and pivot devices, of lower precision.
- the settings of the adjustment mechanism can be saved electronically and used again as default settings. Permanent monitoring of the setting values is also possible, as a result of which incorrect operation is avoided. However, a fast and accurate reproducibility of settings already found is now particularly advantageously possible.
- the at least one label transfer element and the container to be labeled is assigned a common three-dimensional detection space, which is spanned by a coordinate system with three coordinate axes, and by means of at least one sensor unit and at least one with this in effect Connected control and evaluation unit, the actual position of the at least one label transfer element with respect to a peripheral surface of the container in the common three-dimensional detection space is preferably detected without contact.
- the actual position is given by position coordinates of the three-dimensional detection space, which detect the pivot angle and / or the inclination angle of an orthogonal axis of the label transfer element with respect to one of the coordinate axes of the three-dimensional detection space.
- the coordinate system can be formed, for example, by a Cartesian coordinate system with x, y and z axes, the position coordinates comprising the x, y and / or z coordinate of the actual position.
- at least one of the three coordinate axes of the three-dimensional detection space runs parallel to the axis of rotation of the container to be labeled.
- the at least one sensor unit is arranged at a distance from the label transfer element or connected directly to it.
- the at least one sensor unit can be formed by an electro-optical sensor unit, an electronic inclination sensor, an electronic ruler and / or an end position / zero point sensor.
- the at least one electro-optical sensor unit can be realized for example in the form of a camera system with downstream electronic image processing or a laser system for measurement / position determination.
- the at least one label transfer element is formed by a dispensing edge, a gripper cylinder with control or a vacuum drum and for rotatable arrangement of the container to be labeled about the axis of rotation or container longitudinal axis is preferably provided a turntable device.
- the label transfer element via mechanical and / or electromechanical adjusting means is rotatable and / or pivotable and / or linearly displaceable in the three-dimensional detection space stored.
- the label tenübergabe element be associated with at least one position detection means, which is detectable by the at least one sensor unit without contact.
- the at least one position detection means is formed by an example colored body having at least one pronounced body edge or a reference pattern surface.
- Fig. 1 is a schematic functional representation of a device according to the invention for detecting the actual position of a label transfer element
- FIG. 2 shows a schematic block diagram of an alternative embodiment of the sensor units provided for non-contact detection of the actual position in different views.
- FIG. 1 shows by way of example a schematic functional representation of the device 1 according to the invention for detecting the actual position P of at least one label transfer element 2 of a labeling machine with respect to a desired position, namely the peripheral surface 3 'of a container 3 to be labeled.
- Container 3 are any labelable packaging, especially containers, cans, bottles, but also other packaging, preferably but not necessarily at least at a portion of their mantle or peripheral surface 3 'are formed rotationally symmetrical to your container longitudinal axis.
- a label transfer element 2 is understood to be a mechanical component which transfers the label 4 to the container 3 to be labeled, precisely to the labeling point provided for this purpose.
- the label transfer element 2 can be formed by a dispensing edge ("self-adhesive labeling") or a gripper cylinder with modulation ("cold glue labeling") or a vacuum drum (“hot glue labeling").
- the orientation of the label transfer element 2 with respect to the peripheral surface 3' of the container to be labeled 3 or Its circumferential surface 3 'of utmost importance it is necessary that an optimal spatial orientation of the label transfer element 2 with respect to the peripheral surface 3 'of the object to be labeled is achieved in that, for example, the label transfer element 2 formed by a donor edge is almost completely parallel to the circumferential surface 3 to be labeled 'and is preferably aligned at right angles to the conveying direction FR of the container 3 in a movement and transport plane E.
- the labeling machine considered below is designed, for example, for transferring individual labels 4 to containers 3 such as bottles, cans and the like.
- containers 3 such as bottles, cans and the like.
- the invention is by no means limited to the named embodiment. but can of course also be used in differently designed for this labeling.
- the device 1 further comprises at least one sensor unit 5, 6 and at least one control and evaluation unit 7 operatively connected to the latter.
- a first and second sensor unit 5, 6 are provided, which in each case communicate with the control and Evaluation unit 7 are connected.
- a display unit 8 or a control panel 10 is connected, each having at least one display area.
- the control and evaluation unit 7 and / or the display unit 8 may in this case be part of the labeling machine or be provided spatially separate from it.
- the container 3 to be labeled is in each case arranged rotatably about a rotation axis DA in a movement and transport plane E, preferably by means of at least one turntable device.
- the axis of rotation DA coincides with the container longitudinal axis, which runs approximately perpendicular to the movement and transport plane E.
- the container 3 is rotationally symmetrical to the container longitudinal axis.
- the container 4 receiving turntable device To determine the rotational position of the container 4 receiving turntable device it is connected to the at least one control and evaluation unit 7, wherein the control of the drive of the turntable device about the axis of rotation DA preferably by means of the control and evaluation unit 7 takes place.
- the at least one label transfer element 2 and the respective container 3 to be labeled are arranged in a three-dimensional detection space, which is spanned by a coordinate system having three coordinate axes x, y, z.
- the term three-dimensional detection space is understood to mean a three-dimensional space which surrounds the label transfer element 2 and the container 2 currently to be labeled, ie forms a common three-dimensional detection space.
- the coordinate system is provided for identifying different positions in the three-dimensional detection space, by means of which translations in the three-dimensional detection space can be clearly defined.
- the coordinate system is formed by a Cartesian coordinate system which has an x-axis, a y-axis and a z-axis, each of which is perpendicular to one another.
- the label transfer element 2 is via mechanical and / or electromechanical adjusting means see (not shown in the figures) rotatably and / or pivotally and / or linearly displaceable in the three-dimensional detection space stored, which are either mechanically or manually operable. These can be formed, for example, by linear drives, screw drives or spindle drives.
- the label transfer element 2 is adjustable by a pivot angle ⁇ about an orthogonal axis OA, which determines the parallel attachment of the label 4 with respect to the peripheral surface 3 'of the container 3.
- an adjustability of the label transfer element 2 is provided by an inclination angle ⁇ , again with respect to the orthogonal axis OA, which specifies the parallel orientation of the label transfer point of the label transfer element 2 to the peripheral surface 3 'of the container 3.
- a correct adjustment of the inclination angle ß is required in particular for a wrinkle- and / or bubble-free labeling.
- the label transfer element 2 is designed to be linearly displaceable at least along two coordinate axes x, y of the Cartesian coordinate system, preferably along the x and y axes.
- the actual position of the label transfer element 2 by means of position coordinates in the common three-dimensional detection space clearly detected, the position coordinates, for example, by the swivel angle ⁇ , the inclination angle ß and the x, y and / or z coordinate of Cartesian coordinate system are given.
- the term actual position of the label transfer element 2 is thus understood to mean the orientation and arrangement of the label transfer element 2 in the three-dimensional acquisition space, specifically with reference to a reference point, for example.
- the reference point can be predetermined, for example, by the peripheral surface 3 'of the label transfer point to be labeled.
- the following coordinates can be detected individually or in any desired combination, specifically the x, y, z coordinates of at least one point of the label transfer element 2 in the three-dimensional detection space ("degrees of freedom of translation") and / or the x coordinates. , y, z coordinates of at least two points of the label transfer element 2 in the three-dimensional detection space and / or the orientation of at least one of the major axes of the label transfer element 2 in the three-dimensional detection space ("degrees of freedom of rotation").
- the at least one sensor unit 5, 6 is particularly advantageous for non-contact detection of the current position of the label transfer element 2 with respect to the peripheral surface 3 'of the container 3 based on the position coordinates formed in the three-dimensional detection space, preferably at least one sensor unit 5, 6 a Etikettenschreibgabe- Element 2 is assigned.
- At least one sensor unit 5, 6 is provided in the form of an electro-optical sensor unit, which is formed for example by a camera system with downstream, electronic image processing and / or by a laser system for measuring / position determination.
- a laser pointer fixedly connected to the labeling machine can be provided, which points to a Chains transfer element 2 arranged target is addressed.
- the evaluation of the laser light spot on the target can be done for example via a camera system, preferably a smart camera.
- the label transfer element 2 is recognized as such by means of the at least one sensor unit 2.
- the label transfer element 2 is assigned at least one position detection means 9, which is detectable by the at least one sensor unit 5, 6 without contact.
- the at least one position detection means 9 is preferably connected directly to the label transfer element 2.
- a position detecting means 9 for example, at least one particularly well recognizable element, for example a (colored) body with at least one pronounced body edge may be attached.
- the position detection means 9 may be formed by a reference pattern surface which is located on the outer surface of the label transfer element 2.
- the reference pattern surface has, for example, a symmetrical arrangement of lines which enable unambiguous detection by means of the at least one sensor unit 5, 6, for example a smart camera.
- the at least one sensor unit 5, 6 can also be arranged directly on the label transfer element 2, preferably at an unchangeable distance from the label transfer point or the dispensing edge.
- the at least one sensor unit 5, 6 is designed for the absolute or relative detection of the actual position P of the label transfer element 2 in the three-dimensional detection space, wherein the circumferential surface 3 'of the container 3 can serve as a reference point for a relative detection.
- linear scales are particularly preferably used.
- Such a sensor unit 5, 6 can be realized, for example, in the form of a single- or two-axis electronic tilt sensor 5 ', 6' via which pivoting and tilting of the label transfer element 2 or of the label transfer point relative to its orthogonal axis, preferably its Longitudinal axis is detected.
- the swivel angle ⁇ and the inclination angle ⁇ can be detected in the form of electronic position signals via the mentioned sensor units 5 ', 6', which can be evaluated to determine the actual position P.
- the at least one sensor unit 5, 6 may be realized in the form of a limit switch or zero point sensor, in which the label transfer element 2 is moved in a predetermined direction for detecting the actual position P until the label transfer element 2 triggers at least one end position or zero point pushbutton. As a result, at least one coordinate of the actual position P of the label transfer element 2 is detected.
- the position detection means 9 for example in the form of a symmetrical one, is initially formed via the at least one sensor unit 5 in the form of a smart camera with a special evaluation routine Detected arrangement of lines and then calculates the actual position P from it.
- the reference pattern surface is in this case part of the label transfer element 2.
- Per label transfer element 2 at least one intelligent sensor is provided in the labeling machine.
- the recognized reference pattern is compared with a stored pattern and the x, y, z coordinates or the swivel and tilt angles ⁇ , ⁇ are determined.
- the setpoint position S required for the selected format is jointly used on a control console or a human-machine interface 10 of the labeling machine on the basis of the position coordinates inclination and swivel angle ⁇ , ⁇ and the x, y, z coordinates with the actual position P displayed.
- the operator can now make the adjustment of the label transfer element 2 manually.
- the change in the actual position P is displayed here directly on the control console 10. If the actual position P and the indicated setpoint position S match, the labeling machine reports operational readiness.
- Particularly advantageous already existing positions for a given format which have proved to be advantageous to be restarted. For this purpose, these are stored in a memory unit of the control and evaluation unit 7.
- self-adhesive labels 4 are applied to the conical part of a container, for example to the conical part of a bottle 3.
- the obliquely arranged label 4 is first attached with its front edge to the bottle 3, and then by a superposition of rotation of the container about its axis of rotation DA, the movement of the container-carrying rotor of the labeling and the continuous donation movement completely on the container transfer.
- FIG. 2 is a schematic side view of the container 3 and the respectively associated label transfer element 2 in different views.
- the label transfer element 2 is formed by a dispensing edge whose actual position P in the three-dimensional detection space by means of a first and second sensor unit 5 ', 6' is detected, and that by means of the first sensor unit 5 ', the pivot angle ⁇ and detected by the second sensor unit 6 'of the inclination angle ß.
- the pivoting angle ⁇ determines the parallel attachment of the label 4 to the cylindrical body of the bottle 3 and the inclination angle ß the parallel orientation of the dispensing edge to be labeled bottle surface.
- the x and y coordinate is detected.
- the detection takes place in each case in the form of a variable electrical signal (eg data bus, analog or digital signal, binary information, etc.) as a function of the respective measured variable.
- a variable electrical signal eg data bus, analog or digital signal, binary information, etc.
- ß for example, a monitoring of the distance of the dispensing edge to the container 3 and the height position of the label 4 on the container 4 by means of electronic rulers is possible.
- the described sensor units 5, 5 ', 6, 6', 11, 12 each have a wide variety of detection accuracies, specifically inclination sensors having an accuracy of ⁇ 0.5 degrees, linear scales having an accuracy of ⁇ 5 ⁇ m and camera systems including the associated image processing Accuracy of ⁇ 1 pixel of the optical sensor, which leads to an accuracy of about ⁇ 0.2 mm with suitable design of the associated components.
- the respectively most accurate sensor units 5, 5 ', 6, 6', 11, 12 are provided for each detection task, whereby the required accuracy can be achieved in determining the actual position P of the label transfer element 2.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009038810A DE102009038810A1 (en) | 2009-08-31 | 2009-08-31 | Device and method for detecting the actual position of at least one label transfer element of a labeling machine |
PCT/EP2010/004412 WO2011023268A1 (en) | 2009-08-31 | 2010-07-20 | Device and method for detecting the actual position of at least one label transfer element of a labeling machine |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2473412A1 true EP2473412A1 (en) | 2012-07-11 |
EP2473412B1 EP2473412B1 (en) | 2016-04-27 |
Family
ID=42953792
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10737507.3A Active EP2473412B1 (en) | 2009-08-31 | 2010-07-20 | Device and method for detecting the actual position of at least one label transfer element of a labeling machine |
Country Status (4)
Country | Link |
---|---|
US (1) | US9969519B2 (en) |
EP (1) | EP2473412B1 (en) |
DE (1) | DE102009038810A1 (en) |
WO (1) | WO2011023268A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013217674A1 (en) | 2013-09-04 | 2015-03-05 | Krones Ag | Device for aligning components of a rotary machine |
DE202017101768U1 (en) | 2017-03-28 | 2018-06-29 | Krones Ag | Rotary machine for handling and in particular labeling of containers |
US11820021B2 (en) * | 2020-03-26 | 2023-11-21 | Motion Controls Robotics, Inc. | Automated case handling system |
DE102022122942A1 (en) | 2022-09-09 | 2024-03-14 | Khs Gmbh | Labeling station for a labeling machine for labeling containers |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE8703016U1 (en) * | 1986-04-05 | 1987-08-06 | Krones Ag Hermann Kronseder Maschinenfabrik, 8402 Neutraubling, De | |
US5731804A (en) * | 1995-01-18 | 1998-03-24 | Immersion Human Interface Corp. | Method and apparatus for providing high bandwidth, low noise mechanical I/O for computer systems |
GB9609379D0 (en) * | 1996-05-03 | 1996-07-10 | Willett Int Ltd | Mechanism and method |
DE19758799B4 (en) * | 1997-09-15 | 2008-03-27 | Krones Ag | Machine to attach material to bottles - has equipping station(s) and transporter(s) with separate synchronous motors fed from continuously variable frequency converter operating down to zero Hertz |
JP3554929B2 (en) * | 2000-05-09 | 2004-08-18 | 韓国科学技術院 | Swing-arm optical system for measuring 6-DOF motion of hard disk drive slider using multi-directional reflector |
ITBO20020550A1 (en) * | 2002-08-29 | 2004-02-29 | Azionaria Costruzioni Acma Spa | METHOD AND MACHINE FOR THE LABELING OF A SUCCESSION |
DE102004005994A1 (en) | 2004-02-06 | 2005-09-08 | Khs Maschinen- Und Anlagenbau Ag | Labeling machine with alignment device for modules |
-
2009
- 2009-08-31 DE DE102009038810A patent/DE102009038810A1/en not_active Withdrawn
-
2010
- 2010-07-20 WO PCT/EP2010/004412 patent/WO2011023268A1/en active Application Filing
- 2010-07-20 EP EP10737507.3A patent/EP2473412B1/en active Active
- 2010-07-20 US US13/321,616 patent/US9969519B2/en active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2011023268A1 * |
Also Published As
Publication number | Publication date |
---|---|
US9969519B2 (en) | 2018-05-15 |
EP2473412B1 (en) | 2016-04-27 |
US20120061000A1 (en) | 2012-03-15 |
DE102009038810A1 (en) | 2011-03-17 |
WO2011023268A1 (en) | 2011-03-03 |
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