TECHNICAL FIELD

The disclosure relates generally to an applicator arrangement and a labelling machine movable arms arrangement in particular. In particular aspects, the disclosure relates to applicator arrangement that can carry one or several devices at one end including an applicator pad. The device of disclosure can be applied in industrial applications in general and print and apply system applications in particular.

BACKGROUND

In many production sites, such as those involving the handling of goods on pallets, it is common to use pallet labels to convey information about the identity and destination of the pallets. Typically, at least two identical labels are applied to two different sides of the pallet. This is done to ensure easy readability and redundancy, with the labels often placed on adjacent sides, although in some markets they may be placed on opposite sides.

In certain situations, the labels can be printed and applied automatically. This is often the case in production plants where large quantities of goods are produced, as well as in automated warehouses where pallets are received, stored, and shipped out. Particularly in the latter case, the shape and size of the pallets can vary, e.g., depending on the contents they hold, country, location they are packed and/or sent to, product size storage and transportation equipment, load capacity, etc.

Additionally, to prevent errors in the logistics process, it is often necessary to verify that the labels are printed with the correct information, are readable, and are applied in the correct location. Barcode readers are commonly used for this purpose, and in automated scenarios, the barcode reader is often integrated with the pallet label applicator, allowing verification to take place immediately after the label is applied.

Having inherently safe automated pallet labellers is advantageous, as it eliminates the need for additional safety equipment around them. This simplifies installation, operation, and saves space. The majority of automated pallet labellers utilize arms with linear movements to apply labels to different sides of the pallet. While these arms may not be strong in the forward/backward direction, they are typically rigid when pushed from the side. This poses a potential risk, as a person, such as an operator, could get caught between an extended arm and a moving, often heavy, pallet.

New products and solutions in this field are also expected to prioritize sustainability. Existing automated pallet label applicators often rely on compressed air to actuate the movement of the label applicator and/or create vacuum pressure to hold the label during transfer from the label printer to the pallet or application target. However, the infrastructure required to produce, and transport compressed air is often inefficient, primarily due to heat losses and air leakage.

Pallet labelling is commonly performed at low speeds, compared to “normal” labelling, with intervals of a minute or longer between pallets. However, in cases where multiple production or transportation lines converge into a single point before labelling, speed becomes a critical factor. In such instances, significant cost savings can be achieved by reducing the number of labellers, as long as the labeller remains reliable and does not become a bottleneck in the process.

A further challenge faced by automated label applicators is the reliable application of labels on uneven surfaces. Typically, a label is held in place by a label pad during the application process. To ensure adaptability to uneven surfaces, the label pad needs to be adjustable in three dimensions:

1 . Movement towards or away from the target.

2. Forward or backward leaning.

3. Clockwise or counter clockwise twisting.

The first type of adjustment is often accomplished by the movement of the label applicator itself, which can be either linear or circular. The second and third adjustments are commonly achieved using spring-loaded designs. An additional challenge for adjustable label pad designs arises when the pad is in a stable home position and not pressed against the application target. This home position is crucial to reliably feed the label onto the label pad.

Several existing solutions address the creation of a stable home position, such as:

- Surfaces being pressed against each other, sometimes with mechanical guidance, such as pins through holes, against a single surface.

Utilizing the rigidity of a spring to establish a natural home position.

SUMMARY

The intention of this disclosure is to provide an effective arrangement for displaying functional devices at one end in general and an automated label applicator in particular that combines a variety of advantages, including but not limited to:

Sustainable: The arrangement according to the disclosure does not need compressed air and it can consume a minimum amount of electric power. It may also consume a minimum amount of material when produced.

Flexible: the arrangement of the present disclosure according to one application area is able to apply labels on three different sides of a target at a range of positions.

Reliable. It should be able to verify the readability of all applied labels and it should operate reliably over time.

Economic: the arrangement according to the disclosure is easy to produce and maintain.

Safe: The movement of the various parts of the arrangement is safe.

Fast: The arrangement in operation is fast and can handle the fastest existing applications as well as acting as insurance against future throughput-bottlenecks.

Other advantages with the arrangement of the present disclosure may include:

Flexibility to handle one, two or three sides of an object (substantially rectangular or similar) or round surfaces with different label formats using the same label applicator pad;

Handle pallet width variations;

Handles pallet stop position variations;

Designed for use in temperature ranges -35°C to + 70°C in general and -25°C to + 50°C in particular;

Handles height variation/stacked pallets as option; Installable in sites with low ceilings.

Consequently, according to a first aspect, a label applicator arrangement comprising: a housing; at least three arms, which are interconnected and configured to be displaceable relative to each other; a label applicator pad connected to an outer end of the at least three interconnected arms; an actuator arranged in the housing; a power transmission operable between the actuator and the interconnected arms. The three arms are rotatably connected via a pivoting joint to the housing, and the power transmission comprises a hollow drive shaft, which extends through the housing co-axial with the pivoting joint of the interconnected arms and configured to accommodate a flexible conduit for electrical connection from the housing to the applicator pad.

According to a second aspect, a print and apply system comprising a label applicator arrangement as disclosed and a label printer comprising a printhead, a label supply is provided.

According to a third aspect, a label dispenser system comprising a label applicator arrangement as disclosed and a label dispenser is provided. According to some exemplary embodiments, the housing of the arrangement may be the housing for the label printer and/or label dispenser.

According to a fourth aspect, a controller at least comprising a processor and a memory configured to control a label applicator arrangement or systems as disclosed is provided.

According to a fifth aspect, a method of calibrating a label applicator arrangement by means of the controller is provided. The method comprising the steps of: controlling if a first arm connected to the housing is in a first or a second position by receiving information from a position sensor; moving the first arm towards an expected home position (0°); if the first arm is obstructed before the position sensor switches state, then the first arm is to be considered at its outer stop position due to a movement restriction being larger than 360°, then displacing the first arm in an opposite direction; when the position sensor switches state, indicating that the first arm is in its inner home position, setting a reference point for the first arm; moving the first arm to a position where a second arm, directly connected to the first arm has a free displacement range; moving the second arm in one defined direction until it reaches an outer stop position and setting a reference position for the second arm; with the first arm fixed, moving the second arm to a position where a third arm has free moving range; moving the third arm in one defined direction until it reaches an outer stop position and setting a reference position for the third arm; storing the positions for the at least three arms wherein at the point all at least three arms have a reference point and thus a known position.

According to sixth aspect, an arm assembly comprising: a housing; three interconnected arms and configured to be displaceable relative to each other; an actuator arranged in the housing; a power transmission operable between the actuator and the interconnected arms, wherein the three arms are rotatably connected via a pivoting joint to the housing, and the power transmission comprises a hollow drive shaft, which extends through the housing co-axial with the pivoting joint of the interconnected arms and configured to accommodate a flexible conduit for electrical connection from the housing to a device on an outer end of the at least three interconnected arms.

The present disclosure herein affords many advantages, of which a non-exhaustive list of examples follows.

Consequently, the arrangement is sustainable as:

No compressed air is needed. The arm movements driven by electrical motors and the labels are held by a fan powered through the single cable.

The arms contain no motors to drive the movements which enables them to be very light weight and hollow. They could for example be made using aluminum profiles saving much material compared to for example CNC-milling from a solid block.

The lightweight arms (such as Aluminum, composite material, or thin steel, etc.), containing no motors to drive the movement, allow for minimum power consumption needed to accelerate and decelerate the arm movements.

The arrangement is flexible as:

The combination of the at least three independently rotatable and actuatable arms can apply labels on three sides of the target at a broad range of positions.

The outer joint can for example hold a barcode reader to verify applied labels on a broad range of positions. The outer joint can be used to adapt to uneven surfaces and even round surfaces.

The arrangement is safe, as:

All movements can rotate and use low force, meaning the arms will move out of position if a person is trapped by any of the moving parts of the label applicator.

The arrangement is reliable, as:

The free moving outer arms can carry a barcode reader/verifying device to ensure that every applied label is readable.

The low strain cable routing paired with few wires, thanks to the absence of motors and sensors in the arms, minimizes the risk of failure over time.

The arrangement is economic, as:

The simplistic cable routing and low number of wires needed negates the need for robot type cabling. The low number of wires is thanks to the absence of both drive motors and position sensors in the arms.

By having all three drive motors fixed in the housing there is no need for special robot-type motors which saves cost.

Assembly and maintenance are easy thanks to the use of an easily accessible and replaceable standard type cable. The cable could for example be an Ethernet cable designed for twisting.

The arrangement is fast, as:

- The low moving mass, thanks to the absence of motors in the arms, allows for high application speeds.

The above aspects, accompanying claims, and/or examples disclosed herein above and later below may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art.

Additional features and advantages are disclosed in the following description, claims, and drawings, and in part will be readily apparent therefrom to those skilled in the art or recognized by practicing the disclosure as described herein. There are also disclosed herein control units, computer readable media, and computer program products associated with the above discussed technical benefits. BRIEF DESCRIPTION OF THE DRAWINGS

With reference to the appended drawings, below follows a more detailed description of aspects of the disclosure cited as examples. Reference is made to the attached drawings, wherein elements having the same reference number designation may represent like elements throughout.

Fig. 1 illustrates a schematic side view of an exemplary arrangement as described in the present disclosure;

Fig. 2 illustrates a schematic view of driving mechanisms of the arrangement according to Fig. 1 ;

Fig. 3 depicts a cut through an exemplary drive shaft utilized in the arrangement of Figs. 1 and 2;

Fig. 4 is a view from above of the arrangement of Fig. 1 in operation and operational limits;

Fig. 5 is a flow diagram illustrating exemplary calibration steps of the arrangement according to Fig. 1 ;

Figs. 6A and 6B illustrates views from one side and above of an exemplary print and apply system configurations comprising the arrangement of the present disclosure;

Fig. 7 depicts a view from above of an exemplary print and apply system in scanning operation;

Fig. 8 depicts a view from above of the exemplary print and apply system in label application operation;

Fig. 9 illustrates, in a side view, an exemplary applicator pad;

Fig. 10 illustrates, in a side view, a part of the exemplary applicator pad in Fig. 9; Fig. 1 1 illustrates an exemplary outer arm with parts removed and the applicator pad of Fig. 9, in a view from behind;

Fig. 12 is a block diagram illustrating an exemplary controller implementable in one or several embodiments of arrangement or systems as described herein.

DETAILED DESCRIPTION

The term “industrial printer”, also known as an “industrial-grade printer”, as used herein, may refer to a type of printer specifically designed for heavy-duty printing tasks in industrial environments. These types of printers are built to handle large volumes of printing, often with high-speed and precision, and are capable of printing on various materials such as paper, cardboard, labels, plastics, and metals. The industrial printers, as referred to herein, may commonly be used in sectors like manufacturing, logistics, packaging, and retail, where there is a need for efficient and reliable printing solutions. They are typically more robust and durable compared to standard office printers, as they are required to withstand harsher conditions and extended operation periods.

Depending on the specific application, industrial label printers may utilize different printing technologies. Some common types used in the exemplary systems of the disclosure may include:

Thermal Transfer Printers (TTP): These printers use heat to transfer ink from a ribbon onto the printing material, such as labels or tags. They are widely used for barcode printing and labeling applications.

Direct Thermal Printers (DTP): These printers use heat-sensitive paper that turns black when exposed to heat, creating the desired print. They are commonly used for printing receipts, shipping labels, or temporary labels.

Inkjet Printers: Industrial inkjet printers use inkjet technology to propel tiny droplets of ink onto the printing surface. They can print high-resolution images and are suitable for printing on various materials, including paper, plastics, and metals. Laser Printers: Industrial laser printers use laser technology to create the desired print. They are often used for high-speed and high-volume printing applications, such as printing documents or product packaging. Industrial printers may also incorporate additional features, such as advanced connectivity options, rugged enclosures, automatic label applicators, or integrated systems for data management and control. These features enhance their productivity, efficiency, and integration with other industrial processes.

The term “label”, as used herein, may include an information carrier media which can be made of several types of materials, depending on the specific requirements and application. Some common materials used for printer labels may for example include (but not limited to): paper, synthetic materials, cardstock, clear and transparent materials, thermal labels, and specialty materials.

The term “arm”, as used herein, may refer to a substantially oblong construction, which in some designs may comprise a connected portion.

In the following disclosure, references are made to “print and apply” applications, i.e. , applications in which a printer, especially a label printer and in particular an industrial label printer, prints on a label carried on a backing paper or liner and dispenses it to an applicator, which applies the label on a product. However, the applicator may likewise be in communication with a dispenser, dispensing preprinted labels.

The arrangement 100 according to one aspect of the present disclosure is illustrated in Fig. 1 from one side. The arrangement comprises:

- At least three swiveling/rotating interconnected arms: 110, 120 and 130;

- A main body or housing 140; here with a cover and parts removed exposing a number of components inside it.

- The housing 140 houses at least three stationary actuators 111 , 121 , 131. According to this example some or each comprising an electrical motor 111 , 121 , and 131 . This implies that no motors are located in or on the moving arms. Each of the motors is configured to drive each corresponding arm 110, 120 and 130; Three hollow shafts 113, 123 and 133 extend from the inside of the housing and are configured to operate each corresponding arm around a rotation center;

- A substantially flexible connector arrangement 150, exposed to twisting, extends through the rotation center 190 for the inner arm 110 and through the rotation center 191 for the outer arm 130. The hollow rotation centers are wide enough for the connector arrangement to pass through. In the following, the first arm 110 is referred to as the inner arm, the second arm 120 is referred to as the middle arm and the third arm 130 as the outer arm. The housing 140 is static and the three arms are rotatable and driven by each of the above-mentioned motors 111 , 121 , and 131.

The inner arm 110 is at one end portion rotatably attached to the housing through a pivoting joint. The inner arm motor 111 rotates/d rives the inner arm in relation to the housing through the inner arm drive shaft 113. The middle arm motor 121 rotates/drives the middle arm 120 in relation to the inner arm 110 through the middle arm drive shaft 123, which connects to the middle arm 120 through a transmission (not shown in Fig. 1 ) in the inner arm 110. The outer arm motor 131 rotates/drives the outer arm 130 in relation to the middle arm 120 through the outer arm drive shaft 133, which connects to the outer arm 130 through transmissions in the inner arm 110 and in the middle arm 120. As mentioned previously, all three arms’ drive shafts 113, 123, 133 are hollow, which allows for the connector arrangement 150 to extend through the inner most of the three drive shafts.

Substantially all parts or devices that need to be displaced or parts need to be operated, e.g., a labelling operation and may need an electrical connection are located at the free end of the outer arm 130.

In one exemplary embodiment, the devices at the end of the arm 130 may for example comprise a fan 161 , a label application pad 162, a scanner 163 or a vision camera, etc. The fan 161 is operationally connected to the label pad and to generate a suction airflow to hold a label on the label pad 162 and the scanner 163 may comprise a barcode reader. In one exemplary embodiment the devices connected to the outer arm may also include a gripper arrangement, magnet, printers (e.g., laser, inkjet), 3D-printer nozzle, or any other operational devices.

The devices on the outer arm 130 may be connected to a multi connector 141 of a controller or a control board 142 via the connector arrangement 150 that extends from the connector 141 in the housing 140 through the three hollow arm drive shafts 113, 123 and 133 close to the inner arm rotation centre 190, continuing through the outer arm rotation centre 191 , which also is hollow, to an outer connection point 165 in the outer arm 130. The arms are substantially tubular elements and can be made of one or several of Aluminum, composite material, thin steel, etc.

Fig. 2 illustrates an exemplary power transmission or driving mechanism of the arm arrangement 100, according to Fig. 1 . According to this example, each motor 111 , 121 and 131 is connected to a respective drive shaft 113, 123, and 133 by means of respective drive belts 114 ,124 and 134 at one first end section of the drive shaft. Each first end section is provided with a respective rotary mechanism, such as a drive wheel or a pulley 1131 , 1231 and 1331 . Each motor at the end of its drive shaft section may comprise a drive wheel.

The drive shafts 113, 123 and 133, as mentioned earlier, are tubular and concentric, whereby the shaft 133, drive shaft for outer arm 130, extends through drive shaft 113 and drive shaft 123, for middle arm 120, extends through drive shaft 133 for the outer arm 130. However, the order of the shafts extending through each other may be changed depending on the requirements and/or construction and/or applications.

The second end of the drive shaft 113 is fixed to the inner arm 110 via a pulley 1132 or similar and therethrough operates the movement of the inner arm 110.

The drive shafts 123 and 133 extend further into one end of the inner arm 110 that is connected to the housing 140 and comprise at the second end of each drive shaft 123 and 133 a corresponding pulley 1232 and 1332. The pulley 1232 of the drive shaft 123 connects via a drive belt 126 to a drive shaft 127 comprising a pulley 1271 at one end. The pulley 1332 of the drive shaft 133 connects via a drive belt 136 to a drive shaft 137 comprising a pulley 1371 at one end. The pulleys 1271 and 1371 are situated inside the inner arm 110 at the end opposite the end connected to the housing 140.

The second end of the drive shaft 127 is fixed to the middle arm 120 at one end connected to inner arm 110 and operates the middle arm 120.

The drive shaft 137 extends from inside the arm 110 further into one end of the middle arm 120 and comprises at the second end section of the drive shaft 137 a pulley 1372. The pulley 1372 of the drive shaft 137 connects via a drive belt 138 to a drive shaft 139 comprising a pulley 1391. The pulley 1391 is situated inside the middle arm 120 at the end opposite the end connected to the inner arm 110.

The second end of the drive shaft 127 is fixed to the middle arm 120 and controls the movement of the middle arm 120.

The drive shaft 139 is fixed to the outer arm 130 and operates the movement of the outer arm 130.

In some exemplary embodiments one or several of mentioned drive belts are timing belts or timing chains and one or several of the pulleys are cogwheels. In some exemplary embodiments, depending on the specific requirements of the application, one or several of the power transmission mechanism between a motor and drive shaft and/or between the drive shafts may be substituted with one or several of: chain and sprocket, gear drive, direct drive, rack and pinion drive, etc.

In some exemplary embodiments, the arms and shafts may be fixed to each other by means of screws or any suitable attachment means, e.g., direct connection, linkage mechanism, adapter plates or brackets, etc., depending on the specific requirements.

When assembling the arrangement, it is possible to obtain an effective assembly with good belt tension by following assembly steps:

In one exemplary embodiment, the middle arm motor 124 may be mount to a bracket but not mount to an upper ball bearing. Then the belt is thread. The bracket is positioned flush with the outer arm motor 131 bracket. Then the bracket can be moved to its correct position and screws or other attachment means are installed but not tightened.

An upper bearing is then installed, which provides a correct belt tension. Then the bearing lock ring is installed and the screws are tightened. This method provides a good tolerance for the belt tension. The upper bearing tolerance relative to the main bracket is handled by not having any centering pins for the upper motor bracket and having some play around the screws. The motor 131 for the outer arm is mounted on its bracket. The corresponding belt is mounted. The entire package is adjusted to a correct tension and the package is pushed down over the centering pins. Screws are installed.

The motor 111 for inner arm 110 is mounted and the wheel is tensioned on the bracket.

The bracket is lowered and the belt is assembled. The package is pulled to the correct tension and the package is pushed down over the centering pins and the screws are installed.

As illustrated in Fig. 2 and described the drive shafts 113, 123 and 133 are tubular and concentric (center line 190), allowing a channel for a connection arrangement 150 to extend through them. The connection arrangement 150 may comprise one or several of an electrical power cable, a data (bus) wire, an ethernet cable, or similar and at one end 151 connects to a control board 141. It may also comprise a duct for pneumatic or hydraulic connection for driving units on the outer arm 130. In some exemplary embodiments a combination of the electrical and pneumatic/hydraulic may also be used. At the other end, the connection arrangement 150 extends through the drive shaft 139 and connects directly or indirectly through intermediate connection means to devices 161 - 163 arranged at one end of the outer arm 130.

In operation, the shaft of the motor 111 of the inner arm 110 rotates and through the drive wheel of the motor 111 , the belt 114 is actuated rotating the pulley 1131 and consequently the shaft 113 is rotated. This rotation rotates the inner arm 110 in the direction of the rotation of the motor 111 and around the center axis of drive shaft 113. When the shaft of the motor 121 is actuated, the rotation is transferred to the drive shaft 123 via the belt 124 and pulley 1231 , and via pulley 1232 and belt 126 to pulley 1271 and shaft 127, which actuates and rotates the middle arm 120 around the center axis of drive shaft 127. In same way, when the motor 131 is started, the rotation is transferred to drive shaft 133 via the driving belt 134 and pulley 1331 , and via pulley 1332 and belt 136 to the pulley 1371 rotating the shaft 137, which drives the belt 138 and rotates the pulley 1391 and thus the shaft 139 which drives the outer arm 130 and rotates it around the center axis of drive shaft 139. In one exemplary embodiment, the outer arm may be provided with an additional motor on or incorporated inside of the arm for additional movement of the connected devices and may be controlled via electrical signals through the connector arrangement 150.

In one exemplary embodiment, the devices 161-163 connected to the outer arm may communicate with a controller (e.g., as described below) using electromagnetic signals (e.g., light, radio, or similar) and the connector arrangement may be used to provide the devices and optional controllers with electrical power.

In some exemplary embodiments, a control board may be arranged in communication with the outer arm 130, e.g., for controlling operation of the devices and/or driving an additional motor, for example for pad rotation, a label sensor or a movable tamp applicator.

To avoid exaggerated rotation that twists the connector arrangement the shafts may be provided with rotation restriction arrangements. Fig. 3 illustrates an exemplary rotation restriction, which is configured to limit the rotation of each drive shaft, e.g., drive shaft 113 to e.g., 370°. The ring 1133 is recessed into the belt pulley or pulley 1131. A pin 1134 is pushed into the main frame (shaft). A second pin 1135 is pushed into the belt pulley 1131. This creates a substantially 360° rotation limit/restriction.

Fig. 4 illustrates schematically the movement of the arms of the previously described arrangement 100 in an exemplary print and apply system 400. In addition to the arrangement 100, the system 400 comprises a printer 410. An object to be applied with marked labels is designated with 420. Fig. 4 illustrates different positions of the arms during the process of receiving a printed label (not shown) from the printer 410, moving the arms such that at least two sides of the object are applied with labels. Obviously, only one or several sides of the object can be applied with the label. In one embodiment, the system and the object can be displaceable relative to each other. In a production site, the system 400 may be stationary while the object 420 can be transported past the system 400, e.g., on a conveyer.

The object 420 may comprise a pallet stacked with one or several stacked goods, a package (of different size) or any other product to be marked. The printer 410 may comprise a label printer and especially an industrial label printer, e.g., comprising one of the previously listed types. The label printer may comprise a print unit that prints information on a substrate, such a label and feeds the label to a surface of a label application pad 162, attached to the end of the outer arm 130, as described above. The label normally has one side with an adhesive composition and one side (printed side) without adhesive composition.

When the label with its non-sticky side is fed onto the surface of the label applicator pad, it is retained on the surface using an attraction mechanism, such as vacuum or suction, e.g. using the fan 161 . The arms are then moved into a (predetermined) position and the applicator pad surface is brought in contact with the surface of the object and the label is attached to the object surface.

Clearly, in one exemplary embodiment, a label dispenser, which dispenses preprinted labels on the label applicator pad surface can be used instead of the label printer.

To control the movement of the arms, according to one example, the shaft 113 connected to the inner arm 110 may be provided with a position sensor 115 (Fig. 1 ) that can be active half a shaft and arm revolution (section A, between 0° to +180°) and inactive the other half (shaded section B, between 0° to -180°). The position sensor may have a transition point between active and inactive states close to a “home” position, which can be furthest away from where the arm 110 operates when it is active.

The sensor 115 may comprise one IR transmitter and one receiver used to detect in which 180° sector the inner arm is located. The sensor may also comprise an ultrasonic, capacitive type, magnetic sensor or any other suitable type of sensor. In the case of a magnetic or hall sensor, substantially half of the pully perimeter may be provided with magnetic material.

At a startup reference calibration procedure, the position of the inner arm 110 at one of the halves of the revolution is known. The arm 110 is then moved in the fastest direction that takes it to its “home” position. When it reaches its home position, the position sensor will change state and a reference point can be set for the inner arm. The inner arm 110 is moved to a known position where the middle arm 120 is free to move. The middle arm 120 is rotated until it reaches its corresponding sensor transition or rotation limitation stop, depending on a calibration reference solution, and its reference point is set. The middle arm 120 is then moved to a known position where the outer arm 130 is free to move.

The outer arm 130 is rotated until it reaches its corresponding sensor transition or rotation limitation stop, depending on a calibration reference solution, and its reference point is set.

At this point all three arms are calibrated and have a known position. It should be noted that according to this exemplary embodiment, only inner arm 110 utilizes a position sensor and the middle and outer arm use the relative positions of the inner arm and consequently need for additional position sensors for each arm is eliminated.

Additionally and consequently, the space needed for calibration when using this method is defined by a circle with a radius equal to the length of the inner arm 110. If the middle arm 120 is extended outside of this circle when the calibration starts, then the arm assembly will start retracting until it fits inside the circle. However, if the available space is limited due to an external object, for example, then the object will prevent the middle arm from starting outside of the circle in the first place.

Another advantageous result may be saving cables: When the movement of the inner arm is known, then the middle arm can be displaced in the opposite direction and thereby reducing the total twisting motion for the outer arm and thus the connector arrangement/cable.

A calibration process only based upon the end stops/motion restrictions on the inner arm and the middle arm may in the worst starting scenario result in the connector arrangement (150) being twisted the total maximum motion for the inner arm plus maximum motion for the middle arm. In this case, the method reduces the maximum torsion during calibration from 660° to 180°.

The calibration also increases the flexibility of the system. The calibration method according to the present disclosure ensures that the arm assembly starts moving into the circle but also away from the operative area. This means that if the method, for example, is used for pallet labeling the arm assembly will not risk hitting a moving pallet during calibration.

A calibration process, according to one exemplary process, may comprise the following steps as illustrated in the flow diagram of Fig. 5 and carried out by a controller which will be described later:

1 . Check the position of the inner arm 110 (e.g., to the left or to the right of the home position) by reading the position sensor 115;

2. Move the inner arm 110 towards the expected “home” position (0°), clockwise or counterclockwise depending on the position sensor 115 response. Retain the middle arm 120 and the outer arm 130 in stationary positions. This will cause minimum torsion movement on the connector arrangement.

3. If the inner arm 110 is obstructed before the position sensor switches state, then the inner arm has most likely reached its outer stop position due to the movement restriction being larger than 360°. In this case, start moving the inner arm 110 in the opposite direction. The position sensor 115 will then soon switch state verifying that the inner arm is in its outer most position.

4. When the position sensor switches state, indicating that the inner arm 110 is in its inner “home” position, then set a reference point for the inner arm 110.

5. Move the inner arm 110 to a position where the middle arm 120 is known to have free range to move.

6. Move the middle arm 120 in one defined direction until it reaches its outer stop position. Set reference position for the middle arm 120.

7. Now the inner arm 110 and the middle arm 120 have set references. With the inner arm fixed, move the middle arm 120 to a position where the outer arm 130 is known to have free range to move.

8. Move the outer arm 130 in one defined direction until it reaches its outer stop position. Set a reference position for the outer arm 130.

9. At this point all three arms have a reference point and thus a known position.

10. In case of a print and apply application, if no print position is set then allow manual movement of the applicator pad to a desired print position and store corresponding “print” positions for all three arms. Figs. 6A and 6B are aerial and side views, respectively, of an exemplary print and apply system 400 (Fig. 4) comprising an arm arrangement 100 according to the present disclosure. It is notable that Figs. 6A and 6B depict different positions for the arm arrangement 100. The system comprising the label printer 410 and the arm arrangement 100 are mounted on a stand 430, which can be fixed to a floor of a site through a platform 431 . A carrying structure or arm 432 at one end connected to the stand 430, is configured to carry the label printer 410 and the arm arrangement 100. Of course, in one exemplary embodiment several stands and arms can be utilized.

In Fig. 6A, the arm arrangement 100 is in an application position, wherein the applicator pad 162 at connected to outer arm 130 faces away from the printer 410. In Fig. 6B, the applicator pad 162 is facing the printer label feed.

Figs. 7 and 8 illustrate two exemplary functional states of the print and apply system 400 according to Fig 6A. In both drawings the same arms are illustrated in two different positions P1 and P2.

In Fig. 7, an exemplary application is illustrated in which a scanner 163 mounted to the outer arm 130 is used to scan and for example verify a label or scan information on the product, package (e.g., on a pallet) or object 420 using for example a laser scanner with rays 1631. The scanner is arranged behind the applicator pad and thus the outer arm 130 is rotated 180 degrees (as described previously) such that the pad 162 faces away from the package 220 and the scanner is directed towards the object 420.

In position P1 , the scanner 163 scans a surface of the object facing the system 400. In position P2, a surface of the object substantially perpendicular to system 400 side is scanned. The scanner can be relocated from position P1 to position P2 without the object being moved. For this, after completed assignment in P1 , the arms 110 and 120 can be retracted above each other and turned under the support arm 432, rotated and extended out to assume the position as in P2. Obviously, this saves space and make the system very efficient.

Fig. 8 depicts an exemplary application in which the applicator pad 162 mounted to the outer arm 130 is used to apply e.g., a label on the product, package (e.g., on a pallet) or an object 420. In position P1 , the pad 162 is configured to apply a label on a surface of the object facing the system 400. The label is received from the label printer 401 . The arm arrangement 100 of the present disclosure allows for a flexible application ability as the pad can be displaced horizontally (with respect to plane of the drawing) over the surface of the object 420 along the arrow A1 by allowing each arm 110, 120 and 130 to rotate synchronised such that the pad 162 is displaced horizontally. In position P2, a surface of the object is substantially perpendicular to system 400 side. The applicator pad 162 can be relocated from position P1 to position P2 without the object being moved. For this, after completed label application in P1 , the arms 110 and 120 can be retracted above each other and turned under the support arm 432, rotated and extended out to assume the position as in P2. Obviously, this saves space and makes the system efficient. The arm arrangement 100 of the present disclosure allows for a flexible application capability and large variation in possible label positions of the as the pad can be displaced vertically (with respect to plane of the drawing) over the surface of the object 420 along the arrow A2 by allowing each arm 110, 120 and 130 to rotate synchronised such that the pad 162 is displaced vertically.

The applicator of the disclosure can be used in temperature ranges -35°C to + 70°C in general and -25°C to + 50°C in particular as it does not include temperature sensitive parts and movement due to springs, monitored movements due to feedback from the motors.

The present disclosure may also provide a solution in automated label applicators for the reliable application of labels on uneven surfaces. In one exemplary embodiment, as illustrated in Figs. 9-11 , the label applicator pad 162 is provided with one axis of rotation. This can be achieved using plain bearings or ball bearings. Both the spring-loaded effect and the stable home position are facilitated by magnets 1621 and 1622. In this way a pulling effect is generated between the main frame 1624 and the hinged label pad 162. Bearings 1626 ensure that the two parts cannot come into contact with each other. Instead, there is one specific position where the pulling effect is the strongest, and this position is designated as the home position.

The pulling effect can be accomplished by two magnets 1621 and 1622 attracting each other or in alternative way by a combination of one magnet and one ferromagnetic component. The label pad's 162 movement is restricted in both directions from the home position to ensure that it is never too far away from the magnetic pulling effect, allowing it to return to the home position after a label is applied onto the target.

An applicator pad bracket 1625 is arranged behind the pad 162 and backing frame and can be made of plastic or aluminium with e.g., slots for stainless steel nuts for durability.

Thus, the arrangement according to this embodiment provides a labelling arrangement, wherein the label pad 162 is connected to the outer arm 130, as described previously, to move lean forward/backward and/or rotate clockwise/counter clockwise comprising one axis of rotation.

In some exemplary embodiments, the housing 140 may be the same housing as the printer or label dispenser integrating the arms with printer and dispenser.

Fig. 12 depicts an exemplary controller, labelled as 1200, which is responsible for controlling various components of the arrangement described earlier and carrying out tasks such as the calibration process. The controller 1200 comprises several elements, including a bus 1210, a processor 1230, a memory 1230, a read-only memory (ROM) 1240, a storage device 1250, an input device 1260, an output device 1270, and a communication interface 1280. The bus 1210 facilitates communication among these components. It can take various forms and connect to a memory bus (with or without a memory controller), a peripheral bus, and/or a local bus, utilizing different bus architectures. Additionally, the controller 1200 may incorporate one or more power supplies (not shown). It should be noted that the configuration of controller 1200 can vary and may include additional or different elements.

The processor 1230, which can be any type of processor or microprocessor, interprets and executes instructions. It encompasses a wide range of possibilities, such as a general-purpose processor, an application-specific processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or any programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described in this context. The processor 1230 may also contain computer executable code that governs the operation of the programmable device. Additionally, the processor 1230 may include logic capable of receiving and compiling instructions, interpreting different signals, and generating output to devices like speakers, displays, and more.

The memory 1230 stores information and instructions for execution by the processor 1230 and can be a random-access memory (RAM) or another type of dynamic storage device. It may also serve to temporarily store variables or intermediate information during the execution of instructions by the processor 1230. The memory 1230 can comprise one or more devices responsible for storing data and/or computer code needed to complete or facilitate the methods described herein. This memory may encompass database components, object code components, script components, or other information structures supporting the various activities discussed. The systems and methods described in this context can employ any distributed or local memory device. The memory may be communicably connected to the processor device, whether through a circuit or any other wired, wireless, or network connection, and may contain computer code for executing one or more processes described herein. It may include non-volatile memory 1240, such as read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), and volatile memory like random-access memory (RAM), or any other medium capable of carrying or storing program code in the form of machine-executable instructions or data structures, accessible by a computer or another machine equipped with a processor. The non-volatile memory 1240 can house the basic input/output system (BIOS), which includes the fundamental routines facilitating information transfer between elements within the controller.

The ROM 1240 may encompass a conventional ROM device or another static storage device that stores static information and instructions for the processor 1230. The storage device 1250 may involve a magnetic or optical disk along with its corresponding drive, or any other type of magnetic or optical recording medium and its corresponding drive for storing information and instructions. Additionally, the storage device 1250 can incorporate a flash memory device (e.g., electrically erasable programmable read-only memory (EEPROM)) for data and instruction storage.

Input device 1260 may include one or more conventional mechanisms that permit a user to input information to the controller 1200, such as a keyboard, a keypad, a directional pad, a mouse, a pen, voice recognition, a touchscreen and/or biometric mechanisms, etc. Output device 1270 may include one or more conventional mechanisms that output information to the user, including a display, a printer, one or more speakers, etc. Communication interface 1280 may include any transceiver-like mechanism that enables controller 1200 to communicate with other devices and/or systems. For example, communication interface 1280 may include a modem or an Ethernet interface to a LAN. Alternatively, or additionally, communication interface 1280 may include other mechanisms for communicating via a network, such as a wireless network. In some exemplary embodiments the communication interface may include a radio frequency (RF) transmitter and receiver and one or more antennas for transmitting and receiving RF data.

The controller 1200, consistent with the disclosure, provides a platform through which the various functions of the arm arrangement, stand alone or in combination with a printer, are controlled. The controller 1200 may also display relevant information associated with the label application status and the printer.

According to an exemplary implementation, controller 1200 may perform various processes in response to processor 1230 executing sequences of instructions contained in memory 1230. Such instructions may be read into memory 1230 from another computer-readable medium, such as storage device 1250, or from a separate device via communication interface 1280. It should be understood that a computer-readable medium may include one or more memory devices or carrier waves. Execution of the sequences of instructions contained in memory 1230 causes processor 1230 to perform the acts that have been described. In alternative embodiments, hard-wired circuitry may be used in place of or in combination with software instructions to implement aspects consistent with the invention. Thus, the disclosure is not limited to any specific combination of hardware circuitry and software.

The input device 1260 of the controller 1200 comprises conventional mechanisms that allow users to input information, such as a keyboard, keypad, directional pad, mouse, pen, voice recognition, touchscreen, biometric mechanisms, and more. On the other hand, the output device 1270 includes conventional mechanisms that provide information to the user, including a display, printer, speakers, and others. The communication interface 1280 facilitates communication between the controller 1200 and other devices or systems. It can involve transceiver-like mechanisms, such as a modem or an Ethernet interface for a LAN. Additionally, it may include other mechanisms for network communication, such as wireless networks. For example, the communication interface can incorporate a radio frequency (RF) transmitter and receiver, along with one or more antennas for transmitting and receiving RF data.

The controller 1200, as described in the disclosure, serves as a platform for controlling the various functions of the applicator, either independently or in conjunction with a printer. It also has the capability to display information related to the label application status and relevant printer information.

In an exemplary implementation, the controller 1200 performs different processes when the processor 1230 executes sequences of instructions stored in the memory 1230. These instructions can be read into the memory 1230 from another computer-readable medium, such as the storage device 1250, or from a separate device via the communication interface 1280. It's important to note that a computer-readable medium can consist of one or more memory devices or carrier waves. By executing the sequences of instructions stored in the memory 1230, the processor 1230 carries out the described actions. In alternative embodiments, hard-wired circuitry may be utilized instead of or in combination with software instructions to implement aspects consistent with the invention. Therefore, the disclosure is not limited to any specific combination of hardware circuitry and software.

The processor may be configured to output control signals to the previously described driving motors 111 , 121 and 131 and receive signal from the position sensor 115 through the communication interface 1280. The controller may also communicate with for example the label printer to synchronize the movements of the applicator pad 162 to receive labels to be applied. The controller may also communicate with production site controllers to adapt the speed of arm movements to the conveyer belts carrying products.

The memory 1230 may be used to store position data for arms, e.g., during and after calibration and under operation of the arrangement.

The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" when used herein specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It will be understood that, although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure.

Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe a relationship of one element to another element as illustrated in the Figures. It will be understood that these terms and those discussed above are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Software and web implementations of various embodiments of the present invention can be accomplished with standard programming techniques with rule-based logic and other logic to accomplish various database searching steps or processes, correlation steps or processes, comparison steps or processes and decision steps or processes. It should be noted that the words "component" and "module," as used herein and in the following claims, is intended to encompass implementations using one or more lines of software code, and/or hardware implementations, and/or equipment for receiving manual inputs.

It is to be understood that the present disclosure is not limited to the aspects described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims. In the drawings and specification, there have been disclosed aspects for purposes of illustration only and not for purposes of limitation, the scope of the inventive concepts being set forth in the following claims.