• 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:
    Pallet labeling equipment for high productivity and safety. Equipment for labeling pallets comprising a lower and an upper structure, the latter housing two printing sets each formed by a printing head and a printer, each printing set being rotatable with respect to a vertical axis by the action of a turning mechanism and head lock, also housing a robotic arm (8) provided with three degrees of freedom and movable along a guide system, where the arm inside the equipment is protected from being accessible and the access doors Inside are security doors operated by two manual buttons that must be pressed by different hands. A team of high production and productivity is achieved, where downtime is reduced, ergonomics and operator safety are improved, and the stresses of the robotic arm are improved thanks to the guidance system. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2748905A1
    申请号:ES201830897
    申请日:2018-09-18
    公开日:2020-03-18
    发明作者:Crespo Jose Maria Lambea
    申请人:Labelfactory S L；
    IPC主号:
    专利说明:

    [0001]
    [0002]
    [0003]
    [0004] OBJECT OF THE INVENTION
    [0005]
    [0006] It is an 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 uses a robotic arm to stick labels on previously palletized goods, in which the labels could be previously printed or printed just before application on the products, that is, it works with both pre-printed and printed labels.
    [0007]
    [0008] The present invention is characterized by the special design of the elements used in the design of the equipment as well as the joint and combined arrangement so that a team of high productions and high productivity is achieved, where in addition all consumable replacement operations are carried out in a reduced time and safely for the operator.
    [0009]
    [0010] Therefore, the present invention is within the scope of the machines responsible for applying the labels on the products, in an operation called labeling, and particularly on palletized goods, that is, grouped on a transport pallet. .
    [0011]
    [0012] BACKGROUND OF THE INVENTION
    [0013] In the labeling process, customers seek to be able to label each and every one of the production units, which may be of different types and sizes, and the production capacity may be variable depending on the products, therefore it must be labeled with printed labels with the necessary information for each type of product and batch.
    [0014]
    [0015] Currently, this type of production is solved with traditional application systems which:
    [0016] • They are not robust and reliable enough
    [0017] • The application is carried out by means of unreliable systems with mobile arms applying by means of pneumatically actuated turns.
    [0018] • Hardly adaptable to the customer lines where they must be integrated.
    [0019] • Today's systems require numerous maintenance resources with high downtime and low productivity.
    [0020] • High consumption of compressed air, expensive and requiring a continuous supply for its use.
    [0021] • Not suitable for high productions in 24-hour working conditions.
    [0022]
    [0023] In the labeling process, downtime or downtime due to changes in consumables (paper, tape), changes in label formats or changes in article formats must be zero. The production line cannot stop, where consumable changes can be quick and easy.
    [0024]
    [0025] Other important aspect is safety in maintenance operations, especially replacement of consumables, given the importance of downtime in the replacement of consumables, these operations must be carried out with the maximum speed, and must be carried out as safely as possible .
    [0026]
    [0027] It also happens that the displacement means used in the robotic arms subject the guides to bending forces and vibrations causing the guides or the arms to end up fracturing, in addition also the Accuracies achieved in positioning are likely to be improved.
    [0028]
    [0029] On the other hand, the known labellers 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.
    [0030]
    [0031] Therefore, it is the object of the present invention to overcome the drawbacks noted for lack of safety in handling, difficulties in accessing consumables, generation of bending stresses and vibrations in the guides and robotic arm, in addition to seeking an improvement in final productivity, consequently developing a team like the one described below and is reflected in its essentiality in the first claim.
    [0032]
    [0033] DESCRIPTION OF THE INVENTION
    [0034] The object of the invention is a pallet labeling equipment that has high productivity and safety.
    [0035]
    [0036] The equipment includes a structure made of protected, folded and welded steel that provide great weight and rigidity to the equipment. Weight necessary to counteract the inertias caused by the rapid movements of the arm.
    [0037]
    [0038] The structure has a lower and an upper part. The upper part has a rectangular prismatic shape, where two facing side faces have security doors to access the interior where two printing sets are housed, each consisting of a print head and a printer, each set being A print capable of being rotated with respect to a vertical axis, the security doors only open by means of the simultaneous actuation of two push buttons, each pressed with one hand.
    [0039] Also inside is a robotic arm equipped with an applicator and equipped with three degrees of freedom in charge of capturing the labels printed by the printing sets, and which moves along a guide system that allows continuous support, more stable without being subjected to flexing and avoiding vibrations, which results in a more precise application of the labels.
    [0040]
    [0041] The device can perform a complete cycle with two-sided labeling in 8 seconds, (with label preparation and without counting the pallet positioning time that will depend on the customer's line).
    [0042]
    [0043] The application of labels on the robotic arm has a suction cup that has a sensorized vacuum system as well as a blower to ensure the correct placement of labels on the pallets.
    [0044]
    [0045] The team integrates two barcode readers:
    [0046] • One at the bottom of the suction plate, which will check that a label with a readable barcode has been placed.
    [0047] • Another one at the bottom of the printer at the exit of the labels, which checks that the barcode is correct before being applied.
    [0048]
    [0049] In the lower structure of the machine there are two cabinets: one to include an external signal terminal block and the other for different uses (manual desktop printer for pico pallets, UPS ...)
    [0050]
    [0051] The equipment object of the invention achieves:
    [0052] - A Guiding System in which the arm has continuous and linear support, which results in better support, greater speed and positioning precision.
    [0053] - A more ergonomic and safe equipment by limiting access to the machine area with moving parts, increasing operator safety.
    [0054] - A team that facilitates the replacement of consumables (paper rolls with labels to print, and the ink of the printers) reducing the downtime for replacement of consumables.
    [0055]
    [0056] The machine has two printing sets so that a second head starts printing the moment the first one stops. For this, the servo-motorized arm must be able to fetch the label from the head that has a consumable.
    [0057]
    [0058] The stop of the first spindle must take place in an orderly manner so that the second spindle does not stop labeling any pallet, and vice versa.
    [0059] The conditions for which a head stops and the one applied must start in the second can be by:
    [0060] • Consumable change
    [0061] • Head error
    [0062] • Technical stop.
    [0063]
    [0064] In order to make an orderly stop we must anticipate the end of the roll. For this we will have a series of sensors that will detect when the roll is finished and another one to know when the roll has finished. The change of head must be able to be produced also under demand of the operator. In this way, the stop must also be ordered, ending the cycle and starting the next, taking the label from the second head.
    [0065]
    [0066] Once we have stopped the head, we must reduce consumable change times as much as possible.
    [0067] Changing the label roll can take an experienced operator on the order of 3-4 minutes.
    [0068]
    [0069] As we see this is not the problem that would justify the investment. This system is justified in minimizing consumable search times when this is not available relatively close to the equipment. And also when a printhead failure occurs.
    [0070]
    [0071] The proposed guidance system seeks to avoid flexing that would appear in the bi-supported cylindrical guides for linear recirculating ball bearings.
    [0072]
    [0073] The guiding system uses linear guides and recirculating ball bearings supported on its entire base, so the base plate has a high flatness, therefore the starting material for said plate will be rectified ST52 hot-rolled steel.
    [0074]
    [0075] For this we must ensure the flatness of the motherboard so that
    [0076] Unless otherwise indicated, all technical and scientific elements used herein have the meaning that is ordinarily understood by a person skilled in the art to which this invention belongs. Similar or equivalent procedures and materials to those described in the specification may be used in the practice of the present invention.
    [0077]
    [0078] Throughout the description and claims, the word "comprises" and its variants are not intended to exclude other technical characteristics, additives, components or steps. For those skilled in the art, other objects, advantages and characteristics of the invention will appear in part of the description and part of the practice of the invention.
    [0079]
    [0080] EXPLANATION OF THE FIGURES
    [0081]
    [0082] To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical embodiment thereof, a set of drawings is included as an integral part of said description. where illustrative and not limiting, the following has been represented.
    [0083] In figure 1, a general representation of the equipment is shown, showing the main components
    [0084]
    [0085] Figure 2 shows the previous equipment with the robotized arm displaced.
    [0086]
    [0087] Figures 3 and 4 show details of the machine where barcode readers are located.
    [0088]
    [0089] Figure 5 shows a detail of one of the sides of the equipment where a print head can be seen together with its printer and a means of turning and locking the head.
    [0090]
    [0091] Figure 6 shows the turning and locking mechanism of the head.
    [0092]
    [0093] Figure 7 shows a print head along with its rotated printer.
    [0094]
    [0095] Figure 8 shows the guiding means of the robotic arm.
    [0096]
    [0097] Figure 9 shows in detail the three degrees of freedom that the robotic arm has.
    [0098]
    [0099] PREFERRED EMBODIMENT OF THE INVENTION.
    [0100]
    [0101] In view of the figures, a preferred embodiment of the proposed invention is described below.
    [0102]
    [0103] In figure 1 we can see that the equipment object of the invention comprises:
    [0104] - A lower structure (1) that serves as support for the rest of the equipment and for housing the equipment's control and actuation means.
    [0105] - An upper structure (2) assembled and attached to the lower structure (1) provided on two of its opposite faces with security doors (16) on another side of a control cabinet (7) and on the lateral side opposite that of the control cabinet (7) with an opening for the exit of a robotic arm (8). The upper structure houses inside: o a robotic arm (8) (figure 2) movable along a guide system (6) where the robotic arm (8) is provided with a label applicator (5) by means of aspiration .
    [0106] o Two printing sets where each one includes: a printing head (3) where the rolls of labels to be printed are arranged, and a printer (4)
    [0107] Where the printing assemblies are rotatable with respect to a vertical axis protruding from the side walls through the security doors (17).
    [0108]
    [0109] In figure 2 it can be seen how the robotized arm (8) emerges from one side of the upper structure (2), which is provided at its end with an applicator (5) consisting of a sensorized vacuum system as well as a blower for ensure the correct placement of labels on the pallets.
    [0110]
    [0111] Figures 3 and 4 show details of the equipment where it is shown that two barcode readers are integrated:
    [0112] • A first barcode reader (9) at the bottom of the applicator suction plate (5), which will check that a label with a readable barcode has been placed.
    [0113] • A second barcode reader (10) placed at the bottom of the printer (4) at the exit of the labels, which checks that the barcode is correct before being applied.
    [0114] Figure 5 shows a part of the side of the equipment where the security door is open, and inside is a first set of printing formed by a print head (3), which as previously mentioned serves to place the label holder roll to print and collect the roll without labels, below it is observed how the robotic arm (8) is protected by a polycarbonate window (11) that prevents access to the moving parts of the machine, above the head of printing (3) there is arranged a mechanism for turning and locking (13) the print head (3), which is shown in more detail in figure 6 and which comprises at least one motor (14) in charge of releasing and performing the rotation of the entire printing set (head (3) plus the printer (4)).
    [0115]
    [0116] In order to improve safety and prevent access of an operator's hands inside the mobile parts of the equipment, it has security doors (17) that can only be operated when simultaneously pressing buttons (12) that They will be far enough apart that both hands must be used.
    [0117]
    [0118] In figure 7 it can be seen how the print assembly formed by the print head (3) and the printer (4) rotate with respect to a vertical axis in order to facilitate the replacement of consumables.
    [0119]
    [0120] In Figures 8 and 9 you can see the guiding system used for the movements of the robotic arm (8) and which comprises a guide (15) of the arm on which the arm moves and therefore placed under the arm so it offers continuous support throughout its length, then it has two parallel lateral guides (16) through which the ends of the arm guide (15) run.
    [0121]
    [0122] In figure 9, in addition to the robotic arm guide system (8), the degrees of freedom of the arm (8) can be seen, the first degree of freedom being the movement along the arm guide (15) according to the "Y" axis, other degree of freedom is the movement along the "X" axis by movement of the arm guide (15) along the parallel lateral guides (16) and finally, the third degree of freedom is the "Z" turn of the applicator (5 ) with respect to a vertical axis.
    [0123]
    [0124] Sufficiently described the nature of the present invention, as well as the way to put it into practice, it is stated that, within its essentiality, it may be practiced in other embodiments that differ in detail from that indicated by way of example. , and to which it will also achieve the protection that is sought, provided that it does not alter, change or modify its fundamental principle.
    权利要求:
    Claims (7)
    [1]
    1.- High productivity and safety pallet labeling equipment characterized in that it comprises:
    - A lower structure (1) that serves as support for the rest of the equipment and for housing the equipment's control and actuation means.
    - An upper structure (2) assembled and attached to the lower structure (1) provided on two of its opposite faces with security doors (16) on another side of a control cabinet (7) and on the lateral side opposite that of the control cabinet (7) with an opening for the exit of a robotic arm (8). The upper structure houses inside: o a robotic arm (8) (figure 2) movable along a guide system (6) where the robotic arm (8) is provided with a label applicator (5) by means of aspiration .
    o Two printing sets where each one includes: a printing head (3) where the rolls of labels to be printed are arranged, and a printer (4)
    Where the printing assemblies are rotatable with respect to a vertical axis protruding from the side walls through the security doors (17).
    [2]
    2.- High productivity and security pallet labeling equipment according to claim 1, characterized in that the equipment comprises two barcode readers:
    • A first barcode reader (9) at the bottom of the applicator suction plate (5), which will check that a label with a readable barcode has been placed.
    • A second barcode reader (10) placed at the bottom of the printer (4) at the exit of the labels, which checks that the barcode is correct before being applied.
    [3]
    3. - High productivity and safety pallet labeling equipment according to claim 1 or 2, characterized in that the robotic arm (8) is protected by a polycarbonate window (11) that prevents access to the moving parts of the machine, for Above the print head (3) there is arranged a turning and locking mechanism (13) of the print head (3)
    [4]
    4. - High productivity and safety pallet labeling equipment according to claim 3, characterized in that the rotation and locking mechanism (13) of the print head (3) comprises at least one motor (14) in charge of releasing and performing the rotation. of the entire printing set (head (3) plus the printer (4)).
    [5]
    5. - High productivity and security pallet labeling equipment according to any of the previous claims, characterized in that the security doors (16) are associated with two buttons (12) that allow the doors to open when they are pressed simultaneously, which are the far enough apart that both hands must be used.
    [6]
    6. - High productivity and safety pallet labeling equipment according to any of the preceding claims, characterized in that the guiding system used for the movements of the robotic arm (8) comprises an arm guide (15) on which the arm moves. and therefore placed under the arm and two parallel lateral guides (16) through which the ends of the arm guide (15) run.
    [7]
    7. - High productivity and safety pallet labeling equipment according to claim 6, characterized in that the robotic arm (8) has three degrees of freedom of the arm (8), the first degree of freedom being the movement along the guide of the arm (15) along the "Y" axis, another degree of freedom is the movement along the "X" axis by movement of the guide of the arm (15) to along the parallel lateral guides (16) and finally, the third degree of freedom the "Z" turn of the applicator (5) with respect to a vertical axis.
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    同族专利:
    公开号 | 公开日
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4077187A|1977-02-14|1978-03-07|Paxton Jerre Hale|Cold co-cycling bag closure imprinting and bag closing machine|
    US5342461A|1992-04-14|1994-08-30|Imtec, Inc.|High speed continuous conveyor printer/applicator|
    US6182730B1|1997-04-11|2001-02-06|Grand Rapids Label Company|Label cutting apparatus|
    WO2011064417A1|2009-11-18|2011-06-03|Labelmarket, S.L.|Pallet labelling machine and pallet labelling method|
    US20140305076A1|2011-10-28|2014-10-16|Krones Aktiengesellschaft|Container treatment system and handling device|
    ES2631138A1|2016-02-26|2017-08-28|Labelmarket, S.L.|Label with robotized arm |EP3954617A1|2020-08-13|2022-02-16|ID Technology LLC|Overhead label print and apply system|
    法律状态:
    2020-03-18| BA2A| Patent application published|Ref document number: 2748905 Country of ref document: ES Kind code of ref document: A1 Effective date: 20200318 |
    2022-01-11| FG2A| Definitive protection|Ref document number: 2748905 Country of ref document: ES Kind code of ref document: B2 Effective date: 20220111 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201830897A|ES2748905B2|2018-09-18|2018-09-18|HIGH PRODUCTIVITY AND SECURITY PALLET LABELING EQUIPMENT|ES201830897A| ES2748905B2|2018-09-18|2018-09-18|HIGH PRODUCTIVITY AND SECURITY PALLET LABELING EQUIPMENT|
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