• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Labeling machine with robotic arm that has a double label printing set, each one consisting of: a printer, a printhead; a roll holder equipped with an optical sensor, and a roll tensioner, in addition the machine comprises an anthropomorphic robotic arm, provided at its end with a double suction head for suction retention of the labels and its subsequent application on the palletised goods ; an optical sensor indicating the proximity of the end of the roll is placed on each roll holder plate. They are able to eliminate the dead times because the two heads are working so that if one of the two runs out of the consumable the other begins to work automatically, also, allows to place labels in any position of the pallet at very high speed, and be a system that allows an automatic change of batch or product. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2631138A1
    申请号:ES201630220
    申请日:2016-02-26
    公开日:2017-08-28
    发明作者:Jose Maria Lambea Crespo
    申请人:Labelmarket S L；LABELMARKET SL；
    IPC主号:
    专利说明:

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    LABELING MACHINE WITH ROBOTIZED ARM DESCRIPTION
    OBJECT OF THE INVENTION
    It is the object of the present invention, as the title of the invention establishes, a labeling machine or labeling equipment for palletized goods, also known as pallets, which employs a robotic arm for bonding labels on previously palletized goods, in which the labels could be previously printed or printed just before their application on the products, that is, it works with both preprinted labels and printed labels.
    Characterizes the present invention the special characteristics of each of the elements that it has and its joint arrangement, so that a pallet labeling device is achieved that allows the elimination of dead times or stops in the process of changing consumables and the ability to apply labels on pallets not completely regular on up to 3 sides with multiple labels
    Therefore, the present invention is circumscribed within the scope of the machines responsible for applying the labels on the products in an operation that is called labeling, and, particularly, on palletized goods, that is, grouped on a pallet of transport.
    BACKGROUND OF THE INVENTION
    In the process of labeling customers seek to label each and every one of the productive units, which can be of different types and sizes, in addition the productive capacity can be variable depending on the
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    Products, therefore, must be labeled with printed labels with the necessary information for each type of product and batch.
    In the process of labeling the dead or stop times due to changes in consumables (paper, tape), changes in label formats or changes in article formats, must be zero. The productive line cannot stop, where consumable changes can be quick and easy.
    On the other hand, the known labelers of the state of the art are limited in terms of the speed of application of the labels by the electromechanical characteristics of the application devices.
    It also happens that pallets with multiple products (with different products according to the height of the pallet) with the current means it is not possible to label all so that they are identified.
    Therefore, it is the object of the present invention to develop a machine that allows labeling of palletized goods that could be non-regular, regardless of their size and shape, that allows labeling of pallets with multiple products and where, in addition, dead times are reduced to zero, particularly, due to changes in consumables, which must be fast and simple, and all at an increased speed with respect to what exists in the state of the art, developing a machine like the one described below and is collected in its essentiality in the first claim.
    DESCRIPTION OF THE INVENTION
    The object of the present invention is a labeling machine or labeling equipment for palletized goods that allows the application of previously printed or printed labels at the time of production on goods.
    palletized, which could be non-regular, being the application up to three sides of the palletized market, in addition, it also allows the continuous application of labels without interruptions due to the end of consumables, as well as, the control of the position of the label at the maximum possible 5 speed and automatic change of lot or product.
    The labeling machine object of the invention comprises a double set for printing, each set comprising: a printer, a head, a roll holder provided with an optical sensor, and a roll tensioner.
    In addition, the machine comprises an anthropomorphic robotic arm, provided 10 at its end with a double suction head for retention by
    label aspiration and its subsequent application on the palletized market.
    On each roll holder there is an optical sensor indicating the proximity of the end of the roll, that is, it provides a roll end notice 15 when it reaches a certain dimension, thus warning operators that the operator should change the Roll in a certain number of labeling cycles.
    Each suction head has a suction plate that has 20 of a sensorized ford system that collects the labels and keeps them
    until they are applied, at which point they are ejected from the plate,
    the ford being sensed by a vacuum switch.
    The combined and simultaneous arrangement of, on the one hand, a robotic arm, and on the other hand, a double suction head on the final end of the robotic arm 25, produces a synergistic effect, since the robotic arm allows us to:
    - Eliminate dead times because the two heads are working so that if one of the two runs out of consumable the other begins to work automatically
    - place labels in any position of the pallet at very high speed,
    - Automatic batch or product exchange system
    In order to eliminate the dead times of changing the roll, it has two heads provided with two rolls in which it has been necessary to incorporate an end-of-roll detection system, by means of an optical sensor that constantly monitors its size.
    The placement of labels at high speed is achieved through the use of an anthropomorphic robotic arm that allows pallets with multiple products (different products according to the height of the pallet) can be labeled so that all products are identified.
    10 Automatic batch or product change allows different label formats to be applied to each pallet depending on the customer's productive programming requirements. The difference in pallets is increasing and the application surfaces may in some ways not be very flat. In order to achieve this objective of correctly applying the labels and ensuring that the label is placed at the end of the robotic arm, it has a double articulated suction head that adapts to the products. In addition, there is a reader that checks the barcode applied.
    The robotic arm also offers us the possibility of incorporating a double suction plate, in this way two labels 20 can be printed in order to be applied, thus optimizing the time in the trajectories of the applicator, since it is not necessary that the plate of aspiration return to the printer.
    In addition, the machine has an automatic system for regulating working heights so that the second head is at work height.
    Once one of the heads is waiting for a roll change, a bright and audible signal is activated that warns the operator of this situation.
    Thanks to the described features you get:
    - Label each and every one of the productive units.
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    - Be able to label individually the productive units of different types and sizes, containing different items at different heights.
    - Adapt the productive capacity that can be variable depending on the products.
    - Label with printed labels with the necessary information for each type of product and batch.
    - Elimination of dead or downtime due to changes in consumables (paper, ribbon), changes in label formats or changes in article formats, which must be zero. The productive line cannot stop.
    - Make consumable changes quickly and easily.
    - The user interface must be friendly and simple with different levels of users.
    EXPLANATION OF THE FIGURES
    To complement the description that is being made and in order to help a better understanding of the features of the invention, according to a preferred example of practical implementation thereof, a set of drawings is accompanied as an integral part of said description. where, with an illustrative and non-limiting nature, the following has been represented.
    In Figure 1, we can see a general representation of the pallet labeling equipment object of the invention.
    In Figure 2, we can see a detail of the double head arranged at the end of the robotic arm.
    PREFERRED EMBODIMENT OF THE INVENTION.
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    In view of the figures, a preferred embodiment of the proposed invention is described below.
    In figure 1 we can see a labeling machine comprising:
    - A first printing game consisting of:
    o A first printer (1)
    o A first head (6) in which the first printer is housed o A first roll holder plate (8) o A tensioner (7)
    - A second printing game consisting of:
    o A second printer (5)
    o A second head (9) in which the second printer is housed o A second plate holder (15) o A tensioner (13)
    - An anthropomorphic robotic arm (4) equipped with a double head
    The machine for its control and operation has a control console (10).
    The robotic arm (4) has at its end a double head (2) for applying the labels and mounted on a robot support piece (14) (figure 2), each head being provided with a suction plate (11) and an inductive sensor (3), also counting at the end of said robotic arm with a bar code reader (12), preferably arranged, but not limited to the two heads.
    The robotic arm or anthropomorphic arm (4), in a possible embodiment, has 6 degrees of freedom which allows you to put labels in any position of the pallet. It allows to label pallets of multiple products in different positions.
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    The pallets generally run along a roller path arranged in front of the labeller and each pallet is labeled at different stops depending on the faces on which it will be labeled.
    The stop positions of the pallets are sensed and marked according to the type of pale and form of labeling.
    The labels are printed on the first printer (1) and the second printer (5) and are collected by the suction plates (11) of the double head (2) of the robot. Each suction plate (11) has a sensorized ford system that collects the labels and maintains them until they are applied, at which point they are ejected from the plate.
    The ford is sensed by means of a vacuum switch, so if a label is not placed correctly on the plate or falls during its transport to the pallet, then the machine goes into error thus avoiding incorrect labeling.
    The first roll holder plate (8) has a first optical sensor (16) and the second roll holder plate (15) has a second optical sensor (17) that gives an end of roll warning when it reaches a certain dimension, warning thus the operators that the roll should be changed in a specific number of labeling cycles.
    In addition, the machine has an end-of-roll warning system thus stopping the machine and then showing the corresponding error. In the event that the machine has the Non-Stop system with two heads, at the time the roll is finished in a head, it will start printing the labels in the second printing group.
    This system of multiple heads could even be used to put several different types of labels. In this case, the automatic height adjustment system is done by the anthropomorphic arm itself.
    5 The head also has a system of paper tension sensors that guarantee the correct tension of the paper to ensure a correct feeding of the printer. These tensioners command a series of motors for unwinding and rewinding the paper.
    10 The positions of the arm and of the pallets are previously programmed in discrete positions of the pallet. The system is integrated with the client management system who is responsible for giving the necessary information by means of communications that will be labeled and the information to be included in the label.
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    Describing sufficiently the nature of the present invention, as well as the way of putting it into practice, it is stated that, within its essentiality, it may be carried out in other embodiments that differ in detail from that indicated by way of example. , and which will also reach the
    20 protection that is sought, provided that it does not alter, change or modify its fundamental principle.
    权利要求:
    Claims (4)
    [1]
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    1. - Labeling machine with robotic arm characterized in that it comprises
    - A first printing game consisting of:
    o A first printer (1)
    o A first head (6) in which the first printer is housed o A first roll holder plate (8) o A tensioner (7).
    - A second printing game consisting of:
    o A second printer (5)
    o A second head (9) in which the second printer is housed o A second plate holder (15) o A tensioner (13)
    - An anthropomorphic robotic arm (4) equipped with a double suction head (2) where each suction head has a suction plate (11) and an inductive sensor (3) arranged on the double head (2) of a reader barcode (12)
    [2]
    2. - Labeling machine with robotic arm according to claim 1 characterized in that the anthropomorphic robotic arm (4) has six degrees of freedom.
    [3]
    3. - Labeling machine with robotic arm according to any of the preceding claims characterized in that each suction plate (11) has a ford system sensed by means of a vacuum switch that collects the labels and maintains them until they are applied, at which time they are ejected of the plate.
    [4]
    4. Labeling machine with robotic arm according to any of the preceding claims characterized in that the first plate holder (8) has a
    First optical sensor (16) and the second roll holder plate (15) has a second optical sensor (17) that give an end of roll notice when it reaches a certain dimension
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    同族专利:
    公开号 | 公开日
    ES2631138B1|2018-06-05|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4927486A|1989-05-24|1990-05-22|Twinpak Inc.|System for applying labels to pallets movable along a conveyor line|
    WO1996034802A1|1995-05-01|1996-11-07|Johnson & Johnson Vision Products, Inc.|Apparatus and method for preparing printing labels|
    WO1996040560A2|1995-06-07|1996-12-19|Accu-Sort Systems, Inc.|Label applicator|
    US20040094253A1|2000-10-17|2004-05-20|Kolinahr Systems, Inc.|Pallet labeler system|
    EP1366995A1|2002-05-31|2003-12-03|Illinois Tool Works Inc.|Rewind control for label printer applicator|
    ES1071880U|2009-11-18|2010-04-22|Labelmarket, S.L.|Pallet labelling machine and pallet labelling method|ES2748905A1|2018-09-18|2020-03-18|Labelfactory S L|HIGH PRODUCTIVITY AND SAFETY PALLET LABELING EQUIPMENT |
    ES2753926A1|2018-10-10|2020-04-14|Labelfactory S L|PRINTING EQUIPMENT AND AUTOMATIC PALLET LABELING |
    US11084617B2|2019-03-28|2021-08-10|Xerox Corporation|Label application with release liner disposal|
    法律状态:
    2018-06-05| FG2A| Definitive protection|Ref document number: 2631138 Country of ref document: ES Kind code of ref document: B1 Effective date: 20180605 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201630220A|ES2631138B1|2016-02-26|2016-02-26|LABELING MACHINE WITH ROBOTIZED ARM|ES201630220A| ES2631138B1|2016-02-26|2016-02-26|LABELING MACHINE WITH ROBOTIZED ARM|
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