• 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:
    Robotic system and method for the labeling in mold and processing of injection parts. The system comprises: - a support structure (2); - at least one robotic element (3, 30) for placing labels and removing containers, mounted in a guided manner on an intermediate structural member (6) of the support structure (2) to move, automatically, linearly according to X, Y, Z axes to adopt, automatically and configurably, different spatial positions according to the axes X, Y, Z; - an arm (4) robotic label manipulator, mounted in a guided manner on a first end structural member (12) of the support structure (2); and - a robotic arm (5) collector and unloader of already labeled containers, mounted in a guided manner on a second structural end member (14) of the support structure (2). The method comprises using the robotic system of the present invention.
    公开号:ES2669846A1
    申请号:ES201631529
    申请日:2016-11-29
    公开日:2018-05-29
    发明作者:Sebastián CANO RECHE
    申请人:Iml Robotics Solutions S L；
    IPC主号:
    专利说明:

    ROBOTIC SYSTEM AND METHOD FOR LABELING IN MOLD AND PROCESSEDINJECTION PARTS
    The present invention relates, according to a first aspect, to a robotic system for the labeling in mold and processing of injection parts, which allows to operate with a high speed, shortening and optimizing the work cycles, as well as a great adaptability to different Mold labeling applications.
    A second aspect of the invention concerns a method for labeling in mold and processing of injection parts, which comprises using the robotic system of the first aspect.
    15 Background of the invention
    Different robotic systems for mold labeling and processing of injection parts, such as lateral robotic systems, are known. These systems are characterized in that the robotic element for label placement and extraction of
    20 packages included in the system move laterally along the Y axis and comprise at least one effector that moves along the X axis.
    This type of lateral robotic systems, which meet the characteristics defined in the preamble of claim 1 of the present invention, although they work with a very high
    25 speed, they have the disadvantage that the robotic element moves in a single direction so that the number of movements and positions that said arm can adopt is reduced. The fact that the robotic element moves in only one direction means that the configuration and parameterization of the latter have to be divided into two phases, one for the robotic element and another for the effector.
    Robotic systems equipped with lateral robotic elements sometimes have trouble acquiring the desired position by having two completely independent displacements that normally only run separately: either displacement in one direction or displacement in another direction, but not both at the same time . Examples of said robotic systems are described in documents W02006 / 050956A2, W02016 / 024898A1
    and EP0137588A1.
    On the other hand, there is another class of robotic systems for mold labeling andInjection parts processing, known as Cartesian robotic systems, whichallow to perform a spatial movement in three axes in a completely configurable way5 in speed and precision, although at a lower speed than lateral robotic systems.
    It seems necessary to offer an alternative to the state of the art that covers the gaps found therein, providing a robotic system that allows combining the versatility of the Cartesian type with the speed of the lateral type.
    Description of the invention
    The object of the present invention is to provide a robotic system that resolves the aforementioned drawbacks and presents the advantages that will be described below.
    In accordance with this objective, according to a first aspect, the present invention refers to a robotic system for mold labeling and injection parts processing.
    The robotic system comprises a support structure as a bench. In the
    20 said bench is fixed an intermediate structural member (comprised of the support structure) on which at least one robotic element for label placement and removal of packages, included in the robotic system of the present invention, is mounted guided and that it moves automatically and linearly along a Y axis. The displacement is made between a first position and a second position, and vice versa.
    In the first position at least one effector of the robotic element for label placement and removal of containers is placed in an intermediate space between a female half-mold, to place at least one label inside, and a half-mold male carrier of at least one container already labeled and produced by injection, to extract it
    30 of it. In the second position the effector is far from the intermediate space between the female half-mold and the male half-mold.
    Likewise, the robotic system for mold labeling and processing of injection parts of the present invention comprises a robotic label manipulator arm, mounted in a guided manner on a first structural end member of the support structure for movement, together with a effector the same, automatically, vertically according to a

    Z axis. The displacement is carried out between a label collection position and a label delivery position to at least the aforementioned effector of the robotic element for label placement and removal of containers. The offset is also performed in reverse, that is, between the label delivery position and the label collection position.
    The robotic system for in-mold labeling and processing of injection parts proposed by the present invention also comprises a robotic arm for collecting and unloading of already labeled containers, guided mounted on a second structural end member of the support structure for moving, together with an effector thereof, automatically and vertically along a Z axis. The second end structural member is separated from the first end by the intermediate structural member. The vertical displacement of the robotic arm for collecting and unloading of already labeled containers is carried out between a position for collecting the already labeled container from at least the aforementioned effector of the robotic element for label placement and removal of containers, and a position for unloading the container. container collected on a collection stand. The displacement is also performed in reverse, that is, between the unloading position of the package or containers collected and the collection position of the already labeled container.
    The elements of the robotic system of the first aspect of the present invention described so far are already known in the state of the art.
    Unlike robotic systems for mold labeling and processing of injection parts known in the state of the art, in that proposed by the first aspect of the present invention, characteristically, at least one robotic element for placement of Labels and extraction of containers is mounted in a guided way on the intermediate structural member of the support structure to move automatically, linearly also along an X axis and along a Z axis, to adopt, automatically and configurably, different positions spatial according to the X, Y, Z axes, in which the effector of the robotic element for label placement and extraction of containers is placed, alternatively and according to a work cycle, in the following different positions:
    - next to the label manipulator robotic arm effector when it is in said label delivery position, to receive the label or labels delivered by it;
    - inside the female semi-mold, to perform the aforementioned placement of a label or

    tags inside;
    - adjacent to the male half-mold, to perform the aforementioned extraction of the already labeled container; Y
    - next to the effector of the robotic arm for collecting and unloading containers when it is in the aforementioned position of collecting the already labeled container, to deliver the already labeled container or containers extracted from the male half-mold.
    10 According to an embodiment, said robotic label manipulator arm can only move vertically, along the Z axis, with respect to the support structure.
    According to an example of embodiment, the effector of the robotic arm pick-up and unloader of
    15 already labeled containers are assembled in an articulated manner to rotate with respect to the robotic arm pick-up and unloading of containers. The rotation is carried out automatically, around a Y axis between the position of container collection already labeled and a position of pre-discharge prior to the unloading situation which is attainable by vertical displacement according to the Z axis by the robotic arm pickup and unloader
    20 containers already labeled.
    Likewise, for one embodiment, the effector of the robotic arm collecting and unloading of already labeled containers can only move vertically along the Z axis, with respect to the support structure, and rotatably, around the Y axis, also
    25 with respect to the support structure.
    According to an exemplary embodiment, the robotic element for label placement and container extraction comprises a single robotic arm.
    According to an implementation of said exemplary embodiment, said single robotic arm comprises a single effector that is configured and arranged to sequentially remove the already labeled container from the male half-mold, and place a label or tags on the inside of the female semi-mold, or vice versa. The extraction of the already labeled container from the male half-mold is carried out by means of a first
    The member of the single effector and the placement of the label or tags inside the female half-mold is done by a second member of the single effector.
    For an alternative implementation, the single robotic arm comprises a first effector configured and arranged to perform the extraction of the already labeled container or packages from the male half-mold, and a second effector configured and arranged to perform the placement
    5 of a label or tags inside the female semi-mold.
    According to a variant of said alternative implementation, said first and second effectors are mounted on the single robotic arm so that they are displaceable along the Y axis independently of each other.
    10 According to another embodiment, alternative to the previous one, the robotic element for label placement and container extraction comprises a first robotic arm for label placement and a second robotic arm for container extraction, each with Less an effector. The first robotic arm for label placement and the
    15 second robotic arm for the extraction of packages are mounted in parallel and in a guided manner on the intermediate structural member of the support structure, to move automatically, linearly along said X, Y, Z axes, and independently of each other. .
    A second aspect of the present invention concerns a method for labeling in mold and processing of injection parts, which comprises using the robotic system of the first aspect for carrying out the following steps:
    - collect at least one label with the effector of said robotic arm manipulator of
    25 labels, and move it, carrying at least one collected label, automatically, vertically along a Z axis, between a label collection position and a label delivery position;
    - move the robotic element for label placement and removal of containers, from
    30 automatically, linearly along the X, Y, Z axes, until the effector of the same is located next to the effector of the robotic arm of the label manipulator, and once there, deliver the label or labels carried by the effector of the robotic arm manipulator of labels to the effector of the robotic element for label placement and container extraction;
    35-move the robotic element for label placement and extraction of containers, automatically, linearly along the X, Y, Z axes, to place at least one effector of the robotic element for label placement and container extraction:
    inside the female half-mold, and once there, place the label or labels carried by the effector inside; adjacent to the male half-mold, to perform the extraction of a container or
    5 containers already labeled arranged on the male half-mold; Y
    - move the robotic pick-up and unloading arm of already labeled containers, at least vertically along the Z axis, to place at least one effector thereof in an already labeled container collection position;
    10 -shift the robotic element for label placement and extraction of containers, automatically, linearly along the X, Y, Z axes, until placing the effector of the robotic element for label placement and removal of containers, which carries the container or already labeled containers, next to the effector of the robotic arm for collecting and unloading containers, and once there, deliver the labeled container or containers extracted from the male half-mold; Y
    - move the robotic pick-up and unloading arm of already labeled containers, at least vertically along the Z axis, to place at least said effector thereof in an unloading position, and once there unload from it the container or containers collected on
    20 a collection stand.
    Brief Description of the Figures
    For a better understanding of how much has been exposed, some drawings are attached in which,
    25 schematically and only by way of non-limiting example, a practical case of embodiment is represented.
    Figure 1 is a perspective view of the robotic system proposed by the first aspect of the present invention, for an exemplary embodiment.
    Figure 2 is a front elevational view of the robotic system proposed by the first aspect of the present invention, for the same embodiment of Figure 1.
    Figure 3 is a front elevation view of the robotic system proposed by the first aspect 35 of the present invention, which differs from that of Figure 2 in that it illustrates an operative position

    different.
    Figure 4 is a side elevational view of the robotic system proposed by the first aspect of the present invention, for the same embodiment of the previous Figures.
    Figure 5 is a side elevational view of the robotic system proposed by the first aspect of the present invention, which differs from that of Figure 4 in that it illustrates a different operating position.
    Figure 6 is a perspective view of the robotic system proposed by the first aspect of the invention, for an alternative embodiment to that illustrated in the previous figures.
    Figure 7 is a side elevational view of the robotic system proposed by the first aspect of the invention for the same embodiment of Figure 6.
    Description of a preferred embodiment
    A preferred embodiment of the robotic system proposed by the first aspect of the present invention is described below, with reference to Figures 1 to 5.
    The present invention, as illustrated in Figures 1 to 5, proposes a robotic system 1 for mold labeling and processing of injection parts, such as food containers, paint containers or other types of containers. The robotic system object of the invention comprises a support structure 2, which is made of metallic materials or
    25 strong enough to support the elements that make up the robotic system
    one.
    Likewise, the robotic system 1 comprises at least one robotic element for label placement and removal of packages which, for the illustrated embodiment example,
    30 comprises a first robotic arm 3 for the placement of labels and a second robotic arm 30 for the extraction of packages, each with an effector 3a, 30a, and which are mounted in parallel and guided on an intermediate structural member 6 arranged in the support structure 2 to move, automatically, linearly along X, Y, Z axes, independently of each other, by means of corresponding servo motors.
    The linear displacement along the Y axis of both robotic arms 3.30 for the placement of 10

    Labels and extraction of containers is carried out, for example, by means of guides that allow such displacement automatically and linearly along a Y axis between two positions illustrated in Figures 4 and 5. A first position in which the effectors 3a, 30a of The robotic arms 3,30 are placed in an intermediate space between a female half-mold (not illustrated), so that the effector 3a places a label 9 inside it, and a male half-mold (not illustrated) carrying a container (not illustrated) already labeled and produced by injection, so that the effector 30a removes it from it, and a second position in which the effectors 3a, 30a are removed from the intermediate space. The displacement of robotic arms 3,30 for label placement and removal of containers also occurs between the second position and the first position. Said displacements are carried out, for example, by the action of at least one previously configured and parametrized servomotor so as to allow linear displacements along the Y axis required by the robotic arms 3,30.
    As can be seen in Figures 2 and 3, the robotic system 1 also comprises a robotic label manipulator arm 4. The robotic arm 4 manipulator of labels is mounted so that it can be guided on a first structural member 12 end located in the support structure 2 so that it can be moved. The displacement of said robotic arm 4 with the label manipulator is carried out, for example, by means of guides that allow an automatic and vertical movement along a Z axis, between two positions. The displacement of the robotic arm 4 with the label manipulator is accompanied in conjunction with the displacement of at least one effector 13 located therein. The displacement positions are composed of a first label collection position 9 and a second label delivery position 9. In the label delivery position 9, at least one label 9 is delivered to the effector 3a of the first robotic arm 3 for label placement and container extraction. The movement of the robotic arm 4 with the label manipulator is also carried out between the second delivery position of the label 9 and the first position of the label collection 9. Such displacements are carried out, for example, by the action of at least one previously configured servomotor and parameterized in a way that allows the displacements required by the robotic arm 4 label manipulator.
    Also illustrated in Figures 2 and 3, the robotic system 1 comprises a robotic arm 5 collector and unloader of already labeled containers. The robotic arm 5 collector and unloader of already labeled containers is mounted so that it can be guided on a second end structural member 14. The second end structural member 14 is

    located in the support structure 2, separated from the first structural member 12 end by the intermediate structural member 6. The robotic arm 5 collector and unloader of already labeled containers moves automatically and vertically along a Z axis between two positions. The displacement of the robotic arm 5 manipulator of labels is accompanied in conjunction with the displacement of at least one effector 15 located therein. The displacement positions are made up of a first container collection position already labeled and a second container unloading position. In the position of collecting the already labeled container, said action is performed with the effector 30a of the second robotic arm 30 for label placement and removal of containers. With respect to the second unloading position of the package, said unloading is carried out on a collection support, such as a transport belt (not illustrated), generally stacking it on other already labeled containers. The movement of the robotic arm 5 collector and unloader of already labeled containers is also carried out between the second position of unloading of the container and the first position of collection of the already labeled container. Said displacements are carried out, for example, by the action of at least one previously configured and parameterized servomotor so as to allow the displacements required by the robotic arm 5 container pick-up and unloader.
    As indicated above, robotic arms 3.30 for label placement and removal of containers are independently movable so that each of them can adopt, automatically and in a configurable manner by means of corresponding servo motors, different spatial positions according to the X, Y, Z axes, in which the effectors 3a, 30a thereof are alternately placed according to a duty cycle in the positions indicated below.
    The different positions in which the effector 3a is located are:
    - next to the effector 13 of the robotic arm 4 label manipulator, when it is in the position of label delivery 9, to receive the label 9 delivered by the robotic arm 4 label manipulator;
    - inside the female semi-mold, to place a label 9 inside.
    As regards the effector 30a, the different positions in which it is placed are:

    - adjacent to the male half-mold, to perform the extraction of the already labeled container; Y
    - next to the effector 15 of the robotic arm 5 container pick-up and unloader when it is in said container collection position already labeled, to deliver the labeled container extracted from the male half-mold.
    According to the same embodiment, the effector 15 of the robotic arm 5 collector and unloader of already labeled containers is mounted thereon in an articulated manner to rotate around a Y axis, automatically by means of a servo motor configured and parameterized for this purpose. The rotation occurs between the container collection position already labeled (as illustrated in Figures 2 and 3) and a pre-discharge position prior to the unloading situation which is attainable by vertical displacement along the Z axis by part of the robotic arm 5 collector and unloader of already labeled containers.
    In an alternative embodiment, the robotic element for label placement and removal of packages comprises a single robotic arm 50 which, for a first variant as illustrated in Figures 6 and 7, comprises a single effector 51, 52 configured and arranged to perform sequentially the extraction of the already labeled container from the male half-mold, by means of a first member 51 of the single effector 51, 52, and the placement of a label inside the female half-mold, by a second member 52 of the single effector 51, 52, or vice versa. Alternatively (embodiment not illustrated), for a second variant, the single robotic arm comprises a first effector configured and arranged to perform the removal of the already labeled container from the male half-mold, and a second effector configured and arranged to place a label 9 inside the female semi-mold. The first and second effectors are mounted on the single robotic arm so that they are displaced along the Y axis independently of each other.
    The operation of an embodiment of robotic system 1 of the first aspect of the present invention is described below.
    The robotic system 1 works cyclically. In a first position the robotic arm 4 manipulator of labels is in the vicinity of a support that for the embodiment illustrated in the attached Figures is a bed of labels 20, which serves as a support element of the labels 9 that are stacked and arranged cut, ready to be grabbed by the effector 13. The aforementioned label bank 20 has two trays that are automatically changed from one another to be able to be manually replenished when they run out.

    The gripping of said labels is carried out, for example, by a vacuum effect or by electromagnetism, so that once the suction or electric current is no longer applied, said element is free.
    Once the tag or labels 9 are held by the robotic arm 4 label manipulator, said robotic arm 4 label manipulator moves vertically along the Z axis until reaching the desired height (as illustrated in Figure 2).
    In an alternative embodiment said arm moves along the X and Z axis, so that said label bank 20 can be placed in a certain position with respect to the X axis allowing the arrangement of several rows of labels on said label bank. In another alternative embodiment the tag bank 20 is moved on the X axis by a pneumatic system.
    At the same time that the robotic arm 4 label manipulator moves vertically along the Z axis, and so that the cycle is completed in the shortest possible time, the first robotic arm 3 for label placement and removal of containers, moves by combination of the X, Y, Z axes, positioning the first robotic arm 3 for label placement and removal of containers with the effector 3a under the robotic arm 4 label manipulator, the label or labels 9 being placed above the effector 3a of the first arm robotics 3 for label placement and removal of containers (as illustrated in Figure 3).
    In said position, the effector 13 of the robotic arm 4 label manipulator releases the tag or labels 9 by dropping them on the effector 3a, so that said effector 3a, becomes operational by grasping the tag or labels 9, for example with the help of the creation of vacuum or by electrostatic fixing.
    Once the label or labels 9 are released by the effector 13, the first robotic arm 3 for label placement and removal of containers is moved to the next position carrying the label or labels 9 in its effector 3a, and the robotic arm 4 Label manipulator moves along the Z axis to grab a new label 9 that will be part of the next production cycle.
    Simultaneously, the first robotic arm 3 for label placement and removal of packages moves along the axes X, Y, Z to the inside of the mold (not illustrated), when it is open, as illustrated in Figure 5. The effector 3a of the first robotic arm 3 for

    The placement of labels and extraction of containers is positioned so that the labels 9 are inserted into the female half-mold and fixed to the inner contour thereof by electrostatic fixation.
    Subsequently, the first robotic arm 3 for label placement and container extraction is moved to an area where it does not interfere when the male half-mold is inserted into the female half-mold to produce an injection container with the label or labels 9 previously inserted (as illustrated in Figure 4). Specifically, effector 3a of the first robotic arm 3 for label placement and removal of containers begins a new cycle, being placed near the vicinity of the effector 13 of the robotic arm 4 label manipulator to receive a label released by it.
    Once the production process of an injection container by the male semi-mold and female half-mold is finished, the male half-mold and the female half-mold are separated, releasing the male half-mold at least one already labeled container ( not illustrated). At that time the second robotic arm 30 for label placement and removal of containers moves along the X, Y, Z axes to the intermediate zone between both semi-molds (as illustrated in Figure 5), and towards the semi - male mold, so that the effector 30a picks up the already labeled container or containers carried by the male half-mold.
    Once the extraction of the male semi-mold container is finished, the second robotic arm 30 for label placement and container extraction moves along the X, Y, Z axes until it reaches the area of effect of effector 15 of the robotic arm 5 picker and unloader of already labeled containers (as illustrated in figure 3),
    Next, the effector 15 of the robotic arm 5 collector and unloader of already labeled containers, collects the containers held by the effector 30a of the second robotic arm 30 for label placement and removal of containers.
    Once said already labeled containers are held by the effector 15 of the robotic arm 5 collector and unloading of already labeled containers, the effector 15 of the robotic arm collecting and unloading of already labeled containers performs a rotation according to the Y axis and then the robotic arm 5 collector and unloader of already labeled containers moves along the Z axis by depositing the already labeled containers on a collection support (not shown) where the already labeled containers are released and subsequently processed.
    Subsequently the robotic arm 5 collector and unloader of already labeled containers is
    moves along the Z axis and effector 15 of the robolic arm 5 pick-up and discharger of
    already labeled containers make a turn along the axis and, to position itself again in itsinitial position to contact again the effector 30a of the second robotic arm 30,5 to pick up the already labeled containers of the new cycle.
    Although reference has been made to a specific embodiment of the invention, it is apparent to one skilled in the art that the described machine is susceptible to numerous variations and modifications, and that all the mentioned details can be substituted.
    10 for other technically equivalent ones, without departing from the scope of protection defined by the appended claims.
    权利要求:
    Claims (7)
    [1]
    1.-Robotic system (1) for mold labeling and injection parts processing, which includes:
    - a support structure (2);
    - at least one robotic element (3.30) for label placement and removal of containers, guided mounted on an intermediate structural member (6) of the support structure (2) 10 to move, automatically, linearly according to a Y axis between a first position in which at least one effector (3a, 30a) of said robotic element (3.30) is placed in an intermediate space between a female half-mold, to place at least one label (9) in its interior, and a male half-mold carrying at least one container already labeled and produced by injection, to extract it, and a second position in the
    15 that said effector (3a, 30a) is far from said intermediate space, and vice versa;
    - a robotic label manipulator arm (4), mounted in a guided manner on a first structural member (12) end of the support structure (2) to move, automatically, vertically along a Z axis, and with it at least an effector (13) thereof, between
    20 a label collection position (9) and a label delivery position (9) to said effector (3a, 30a) of said robotic element for label placement and removal of packages, which is at least one, and vice versa; Y
    - a robotic arm (5) collector and unloader of already labeled containers, mounted on
    25 guided on a second structural member (14) end of the support structure (2), separated from said first end by said intermediate structural member (6), to move, automatically, vertically along a Z axis, and with it to at least one effector (15) thereof, between a container collection position already labeled from the effector (3a, 30a) of the robotic element (3.30) for label placement and removal of
    30 packages, which is at least one, and an unloading position of the package collected on a collection stand, and vice versa;
    characterized in that said robotic element (3.30) for label placement and removal of containers, which is at least one, is mounted in a guided manner on the intermediate structural member (6) of the support structure (2) to move , automatically, linearly also along an X axis and along a Z axis, to adopt,
    automatically and in a configurable way, different spatial positions according to the X, Y, Z axes, in which the effector (3a, 30a) of the same is located, alternatively, according to a duty cycle:
    5 - next to the effector (13) of the robotic arm (4) label manipulator when it is foundin said label delivery position (9), to receive at least one label (9) deliveredfor this one;
    - inside the female half-mold, to make said placement of at least one label 10 (9) inside;
    - adjacent to the male half-mold, to perform said extraction of said at least one already labeled container; Y
    15-next to the effector (15) of the robotic arm (5) container pick-up and unloader when it is in said position of collecting the already labeled container, to deliver the labeled container extracted from the male half-mold.
    [2]
    2. Robotic system (1) according to claim 1, wherein said robotic arm (4)
    20 the label manipulator can only move vertically, along said Z axis, with respect to the support structure (2).
    [3]
    3. Robotic system (1) according to any one of the preceding claims, wherein the effector (15) of the robotic arm (5) container pick-up and unloader
    25 labeled is mounted thereon in an articulated manner to rotate, automatically, around a Y axis between said container pick-up position already labeled and a pre-discharge position that is prior to said unloading situation which can be achieved by said vertical displacement along the Z axis by the robotic arm (5) collector and unloader of already labeled containers.
    [4]
    4. Robotic system (1) according to claim 3, wherein the effector (15) of the robotic arm (5) collector and unloader of already labeled containers can only move, with respect to the support structure (2) , vertically, along the Z axis, and rotatably, around said Y axis.
    [5]
    5. Robotic system (1) according to any one of the preceding claims, in
    that said robotic element (3.30) for label placement and removal of containers, which is at least one, comprises a single robotic arm.
    [6]
    6. Robotic system (1) according to claim 5, wherein said single arm
    Robotics (50) comprises a single effector (51, 52) configured and arranged to performsequentially the extraction of the already labeled container of the male half-mold, by means of afirst member (51) of the single effector (51,52), and the placement of a label insideof the female half-mold, by means of a second member (52) of the single effector (51, 52), orvice versa.
    7. Robotic system (1) according to claim 5, wherein said single robotic arm comprises a first effector configured and arranged to perform the extraction of the already labeled container from the male half-mold, and a second effector configured and arranged to place at least one label (9) inside the female half-mold.
    8. The robotic system (1) according to claim 7, wherein said first and second effectors are mounted on the single robotic arm so that they are biased along the Y axis independently of each other.
    The robotic system (1) according to any one of the preceding claims, wherein said robotic element (3,30) for label placement and removal of containers, which is at least one, comprises a first robotic arm (3) for the placement of labels and a second robotic arm (30) for the extraction of containers, each with at least one effector (3a, 30a), and which are mounted in parallel and guided on the member (6 )
    25 structural intermediate of the support structure (2) to move, automatically, linearly along said X, Y, Z axes, independently of each other.
    [10]
    10. Method for labeling in mold and processing of injection parts, which comprises using the robotic system (1) according to any one of the preceding claims for the
    30 performing the following steps:
    - collecting at least one label (9) with the effector (13) of said robotic arm (4) label manipulator, and moving it, carrying said label (9) collected, automatically, vertically along a Z axis, between a position tag collection and a position of
    35 label delivery (9); -shift the robotic element (3.30) for label placement and removal of containers, automatically, linearly along the X, Y, Z axes, until the effector (3a, 30a) is located next to the effector (13) of the robotic arm (4) label manipulator, and once there deliver the at least one label (9) carried by the effector (13) of the robotic arm (4)
    5 label manipulator to the effector (3rd, 30th) of the robotic element (3.30) for placement oflabels and packaging extraction;
    - move the robotic element (3.30) for label placement and removal of containers, automatically, linearly along the X, Y, Z axes, until placing the effector (3a, 30a) of the same, which is at least one :
    inside the female semi-mold, and once there make the placement of the at least one label (9) carried by the effector inside;
    15 adjacent to the male half-mold, to carry out the extraction of at least one already labeled container disposed on the male half-mold; Y
    - move the robotic arm (5) collector and unloader of already labeled containers, at least vertically along the Z axis, until placing at least one effector (15) thereof in a position for collecting the already labeled container;
    - move the robotic element (3.30) for label placement and removal of containers, automatically, linearly along the X, Y, Z axes, until placing the effector (3a, 30a) thereof, which carries the already labeled container , next to the effector (15) of the robotic arm (5)
    25 container picker and unloader, and once there deliver the at least one labeled container extracted from the male half-mold; Y
    - move the robotic arm (5) collector and unloader of already labeled containers, at least vertically along the Z axis, until placing at least said effector (15) thereof in a discharge position, and once there unloading from it the at least one container collected on a collection stand.
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    同族专利:
    公开号 | 公开日
    ES2669846B1|2018-11-27|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO2002036320A1|2000-11-03|2002-05-10|Polymac B.V.|Device for placing a label in a mould|
    EP1745911A1|2005-07-21|2007-01-24|Star Seiki Co., Ltd.|Method and apparatus for supplying label to pseudo-core in in-mold labeling system|
    WO2007091290A1|2006-02-08|2007-08-16|Sytrama Srl|Improved process for in mould labelling of plastic material products, providing continuous customised labels, and apparatus thereof|
    WO2016024898A1|2014-08-11|2016-02-18|Hl Invention Ab|Label handling system in an in mould labelling machine|
    法律状态:
    2018-11-27| FG2A| Definitive protection|Ref document number: 2669846 Country of ref document: ES Kind code of ref document: B1 Effective date: 20181127 |
    2020-05-04| PC2A| Transfer of patent|Owner name: SOLUTIONS COMERCIAL UNIT, S.L. Effective date: 20200427 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201631529A|ES2669846B1|2016-11-29|2016-11-29|ROBOTIC SYSTEM AND METHOD FOR LABELING IN MOLD AND PROCESSING OF INJECTION PARTS|ES201631529A| ES2669846B1|2016-11-29|2016-11-29|ROBOTIC SYSTEM AND METHOD FOR LABELING IN MOLD AND PROCESSING OF INJECTION PARTS|
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