In-mold labeling material collection and transfer robot and in-mold labeling and telescopic material receiving equipment group

Abstract

The present invention discloses an in-mold labeling material collection and conveying robot and an in-mold labeling and telescopic material receiving equipment group. The equipment group includes a cup making machine, an in-mold labeling material collection and conveying robot, a label transfer and conveying device and a material collection and conveying robot. The cup making mold of the cup making machine includes an upper mold and a lower mold, so that the present invention can realize the material collection of the product through the lifting mold of the upper mold while opening the mold. The in-mold labeling material collection and conveying robot is provided with a material collection and unloading component corresponding to the lifting mold. When entering to place the label, the material is also received from the lifting mold. When the material collection and unloading robot is in place, the product is immediately taken away. Compared with the prior art, the action flow of the present invention is simpler and the production efficiency is higher. The in-mold labeling material collection and conveying robot of the present invention has only two actions of translation entry and translation exit, and does not require a lifting device. It can greatly reduce the load weight and create conditions for increasing the translation speed. At the same time, the production efficiency is greatly improved, and the benefits are increased.

Description

Technical Field

[0001] The invention relates to the technical field of equipment related to preparing plastic containers such as plastic cups, bowls and lids, and in particular to an in-mold labeling material taking and conveying robot and an in-mold labeling and telescopic material receiving equipment group. Background Art

[0002] Disposable plastic tableware for daily use, such as disposable cups, bowls, plates, lids, boxes and other products, are mainly produced in two ways in the prior art. The first is injection molding. Although injection molding can fully utilize the raw materials without corners and saves money, it has the disadvantages of expensive molds, long mold processing and debugging cycles, and is prone to losing the opportunity to seize the market. Moreover, the number and speed of each mold cannot be compared with the sheet air pressure thermoforming cup making machine. The second is to use a sheet thermoforming machine to punch out the mold. In this case, the product has a solid color and no pattern, and the grade is relatively low. Even if the product is printed on a curved surface, the clarity and texture of the image cannot be compared with the injection mold labeling. Therefore, the applicant of the present invention develops an in-mold labeling production line to achieve the affixing of rich image-rich labels while producing and preparing products, which greatly improves the aesthetics of the product and increases the added value of the product. However, the traditional cup-making stacking conveyor robot requires six actions per mold. When in-mold labeling is performed, the production line needs to add an in-mold labeling material collection and conveying robot. The in-mold labeling material collection and conveying robot must first wait for the unloading robot to descend to make room, and then the in-mold labeling material collection and conveying robot must perform four actions: translation entry, descending to place the label, ascending, and translation exit. Therefore, even the in-mold labeling material collection and conveying robot connected to the traditional flip mold requires nine actions to complete the production of one mold product, while connecting the upper and lower pressing thermoforming cup-making machines requires eleven actions to complete the task. The efficiency is relatively low due to the large number of actions.

[0003] Therefore, in view of the problems existing in the prior art, there is an urgent need to provide a cup-making and conveying technology that can utilize the existing cup-making machines to ensure low investment costs, low mold modification costs and short mold making cycles, which is conducive to seizing the initiative, increasing product added value and streamlining production line operations and high work efficiency. Summary of the invention

[0004] The purpose of the present invention is to avoid the shortcomings of the prior art and provide an in-mold labeling material transfer robot that can utilize the existing cup making machine to ensure low investment cost, low mold modification cost and short mold making cycle, which is beneficial to seize the initiative, increase product added value and facilitate streamlined production line operations and high work efficiency.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] Provided is an in-mold labeling material picking and conveying robot, which is provided with a plurality of groups of parallel-arranged punch row spacing and telescopic groups, each group of punch row spacing and telescopic groups comprises a single-row and multi-row support plate and a labeling punch installed below the front end of the single-row and multi-row support plate, a picking and unloading assembly is installed on the upper part of the front end of the single-row and multi-row support plate, a picking and unloading suction cup is installed on the upper part of the picking and unloading assembly, and the picking and unloading suction cup is connected to a positive and negative air pressure generating device through an air nozzle.

[0007] Preferably, it also includes a manipulator support, a support seat, a translation drive device, a row spacing telescopic drive and a row spacing telescopic drive, the support seat is installed on the manipulator support and is driven by the translation drive device to translate the support seat, a front row spacing sliding fixed support frame and a rear row spacing sliding fixed support frame are installed at the bottom of the support seat, a plurality of single-row and multi-row sliding support frames are arranged between the front row spacing sliding fixed support frame and the rear row spacing sliding fixed support frame, and the plurality of single-row and multi-row sliding support frames are slidably arranged at the bottom of the support seat through single-row and multi-row telescopic rails and sliders;

[0008] The punch row spacing telescopic group includes a single-row and multi-row support plate, a multi-row slide rail and a multi-row punch assembly, and the multi-row slide rail is fixed to the bottom of the single-row and multi-row support plate;

[0009] One row of the punch assemblies has a fixed row spacing and can slide telescopically, and the other punch assemblies have a row spacing and a row spacing that can slide telescopically. The punch assemblies with a fixed row spacing and a telescopic sliding spacing are provided with a fixed seat, which is fixed on a single-row multi-row support plate, and a punch fixing seat is fixed on the fixed seat, and a labeling punch is installed on the punch fixing seat;

[0010] The row spacing telescopic punch assembly includes a labeling punch, a punch mounting seat, a row spacing slider and a push-pull connecting plate. The punch is mounted on the punch mounting seat. The upper end of the punch mounting seat is fixedly connected with a row spacing slider. The row spacing slider is slidably arranged on the multi-row sliding rail. The punch mounting seat is connected to the push-pull connecting plate. The rear end of the push-pull connecting plate is installed with a row spacing telescopic connecting seat. The row spacing telescopic slider is fixed above the row spacing telescopic connecting seat. The row spacing telescopic slider corresponds to the single-row multi-row telescopic rail slidably arranged at the bottom of the single-row multi-row sliding support frame.

[0011] A front row telescopic slider and a rear row telescopic slider are fixedly connected to the upper part of the single-row multi-row support plate. The front row telescopic slider is slidably arranged on the track at the bottom of the front row sliding fixed support frame, and the rear row telescopic slider is slidably arranged on the rear row sliding fixed support frame.

[0012] Preferably, both the punch fixing seat and the punch mounting seat are provided with air pipe and electric wire through holes.

[0013] Preferably, the row spacing and line spacing telescopic punch assembly can be arranged in multiple groups.

[0014] Preferably, multiple single-row and multi-row support plates are connected by a clamping ring assembly, and a row spacing telescopic drive drives one or more of the single-row and multi-row support plates to move; multiple single-row and multi-row sliding support frames are connected by a clamping ring assembly, and a row spacing telescopic drive drives multiple single-row and multi-row sliding support frames to telescopically move.

[0015] Another object of the present invention is to avoid the shortcomings of the prior art and provide an in-mold labeling material collection and conveying robot that can utilize the existing cup making machine to ensure low investment cost, low mold modification cost and short molding cycle, which is beneficial to seize the initiative, increase product added value and is beneficial to streamlining the production line movement and high work efficiency.

[0016] The purpose of the present invention is achieved through the following technical solutions:

[0017] Provided is an in-mold labeling material picking and conveying robot, which is provided with a plurality of sets of parallelly arranged punch row spacing and telescopic groups, each set of punch row spacing and telescopic groups comprises a single-row and multi-row support plate and a labeling punch installed below the front end of the single-row and multi-row support plate, a picking and unloading assembly is installed on the upper part of the front end of the single-row and multi-row support plate, a picking and unloading suction cup is installed on the upper part of the picking and unloading assembly, and the picking and unloading suction cup is connected to a positive and negative air pressure generating device through an air nozzle.

[0018] Preferably, it also includes a manipulator support, a support seat, a translation drive device, a row spacing telescopic drive and a row spacing telescopic drive, the support seat is installed on the manipulator support and is driven by the translation drive device to translate the support seat, a front row spacing sliding fixed support frame and a rear row spacing sliding fixed support frame are installed at the bottom of the support seat, a plurality of single-row and multi-row sliding support frames are arranged between the front row spacing sliding fixed support frame and the rear row spacing sliding fixed support frame, and the plurality of single-row and multi-row sliding support frames are slidably arranged at the bottom of the support seat through single-row and multi-row telescopic rails and sliders;

[0019] The punch row spacing telescopic group includes a single-row and multi-row support plate, a multi-row slide rail and a multi-row punch assembly, and the multi-row slide rail is fixed to the bottom of the single-row and multi-row support plate;

[0020] One row of the punch assemblies has a fixed row spacing and can slide and retract, and the other punch assemblies are configured as punch assemblies with a fixed row spacing and can slide and retract. The punch assemblies with a fixed row spacing and can slide and retract are provided with a fixing seat, which is fixed on a single-row multi-row support plate, and a punch fixing seat is fixed on the fixing seat, and a punch is installed on the punch fixing seat;

[0021] The row spacing telescopic punch assembly includes a punch, a punch mounting seat, a row spacing slider and a push-pull connecting plate. The punch is mounted on the punch mounting seat. The upper end of the punch mounting seat is fixedly connected with a row spacing slider. The row spacing slider is slidably arranged on the multi-row sliding rail. The punch mounting seat is connected to the push-pull connecting plate. The rear end of the push-pull connecting plate is installed with a row spacing telescopic connecting seat. The row spacing telescopic slider is fixed above the row spacing telescopic connecting seat. The row spacing telescopic slider corresponds to the single-row multi-row telescopic rail slidably arranged at the bottom of the single-row multi-row sliding support frame.

[0022] A front row telescopic slider and a rear row telescopic slider are fixedly connected to the upper part of the single-row multi-row support plate. The front row telescopic slider is slidably arranged on the track at the bottom of the front row sliding fixed support frame, and the rear row telescopic slider is slidably arranged on the track at the bottom of the rear row sliding fixed support frame.

[0023] Preferably, both the punch fixing seat and the punch mounting seat are provided with air pipe and electric wire through holes.

[0024] Preferably, the row spacing and line spacing telescopic punch assembly can be arranged in multiple groups.

[0025] Preferably, multiple single-row and multi-row support plates are connected by a clamping ring assembly, and a row spacing telescopic drive drives one or more of the single-row and multi-row support plates to move; multiple single-row and multi-row sliding support frames are connected by a clamping ring assembly, and a row spacing telescopic drive drives multiple single-row and multi-row sliding support frames to telescopically move.

[0026] Another object of the present invention is to avoid the deficiencies in the prior art and provide an in-mold labeling and telescopic material receiving equipment group that can utilize the existing cup making machine to ensure low investment cost, low mold modification cost and short molding cycle, which is beneficial to seize the initiative, increase product added value and facilitate streamlined production line operations and high work efficiency.

[0027] Another object of the present invention is achieved by the following technical solutions:

[0028] Provided is an in-mold labeling and telescopic material receiving equipment group, comprising a cup making machine, an in-mold labeling material taking and conveying robot according to any one of claims 1 to 4, and a multifunctional material taking and conveying stacking robot, wherein the cup making mold of the cup making machine comprises an upper mold and a lower mold, and the upper mold is provided with a plurality of lifting molds corresponding to the molding mold cavity of the lower mold, and the lifting mold is provided with an independently lifting cup making lifting built-in material taking and unloading device, and the cup making lifting built-in material taking and unloading device is provided with a suction cup lifting rod, an airway is provided in the suction cup lifting rod, and a suction cup is installed at the lower end of the airway, and the upper end of the airway is connected to a positive and negative pressure generating device through an air nozzle;

[0029] When the lower mold descends, the lifting rod, suction cup and lower mold descend to the specified position synchronously. After the suction cup sucks the product tightly with negative pressure, it rises to the unloading station to wait before the in-mold labeling material taking and conveying robot reaches the cup-making mold; when the in-mold labeling material taking and conveying robot enters the mold body to receive the material, the suction cup of the lifting built-in cup-making lifting and unloading device descends to transfer the product to the cup-making lifting and unloading device of the in-mold labeling material taking and conveying robot. At the same time, the lower mold rises to receive the label from the labeling convex mold of the in-mold labeling material taking and conveying robot;

[0030] After the in-mold labeling material picking and conveying robot unloads the label and receives the material and then exits, the multifunctional material picking, conveying and stacking robot receives the product from the picking and unloading component of the in-mold labeling material picking and conveying robot and moves to the unloading station.

[0031] When the in-mold labeling material picking and conveying robot enters the cup-making mold to place labels and pick up materials, the multiple groups of labeling convex mold units of the in-mold labeling material picking and conveying robot shrink, and the picking and unloading suction cups on the multiple groups of labeling convex mold units correspond to the multiple pulling molds of the upper mold to receive materials; the shrinking in-mold labeling material picking and conveying robot exits the cup-making mold, the in-mold labeling material picking and conveying robot unfolds, and the picking and unloading suction cups of the multiple groups of picking and unloading components correspond to the picking and conveying parts of the lateral picking and conveying robot to transfer materials, and the multiple labeling convex molds correspond to the label transfer device to transfer materials.

[0032] Preferably, the cup-making lifting built-in unloading device is provided with a lifting rod, an air passage is provided in the suction cup lifting rod, a suction cup is installed at the lower end of the air passage, and the upper end of the air passage is connected to the air source or air pump through an air nozzle;

[0033] The upper mold also includes a lifting rod connecting plate, a suction cup lifting rod connecting plate, a lifting drive device and a suction cup lifting drive device. The lifting rod is installed on the lifting rod connecting plate and the lifting rod connecting plate is driven to lift and lower by the lifting drive device; the suction cup lifting rod is installed on the suction cup lifting rod connecting plate and the suction cup lifting rod connecting plate is driven to lift and lower by the suction cup lifting drive device.

[0034] Preferably, the multifunctional material taking, conveying and stacking manipulator comprises a translation support frame, a translation drive device, a lifting support seat, a lifting drive device and a lifting support plate, the lifting support seat is installed with the translation support frame and driven to translate by the translation drive device, the lifting drive device is installed on the lifting support seat and drives the lifting support plate to lift, the lifting support plate is installed with a translation sliding mounting plate through a sliding pair, and the palm plate for taking and unloading cups is detachably mounted on the translation sliding mounting plate;

[0035] When the in-mold labeling material taking and conveying robot translates and resets, the multifunctional material taking and stacking conveying robot continuously completes translation, descends to take materials, rises to translate outward to the unloading lifting and translation station without rubbing the bottom of the product, descends to unload materials, rises, and finally translates synchronously to the material receiving standby station to wait before the multifunctional in-mold labeling material taking and conveying robot reaches the unloading station.

[0036] Preferably, an AB unit telescopic alternating stacking conveying device is further provided, the AB unit telescopic alternating stacking conveying device comprises a bracket and two stacking units, the stacking units comprise a plurality of material receiving brackets, a telescopic support member, a telescopic slide rail and a telescopic driving device, the upper portion of the material receiving bracket is provided with at least one material receiving opening for stacking cup materials, the bottom of the material receiving bracket is fixedly connected with a slide block, the slide block is slidably arranged on the telescopic slide rail, and the telescopic slide rail is installed on the telescopic support member;

[0037] The multiple material receiving brackets of each splicing unit are arranged side by side, and the multiple material receiving brackets can be assembled into a whole. Two adjacent material receiving brackets are connected by a clamping ring assembly, and the telescopic driving device drives the side material receiving bracket to move along the direction of the telescopic support.

[0038] Preferably, it also includes a label transfer conveyor device, and the cup making machine is used to produce and shape the sheet material; the in-mold labeling material taking and conveying robot is used to take the label from the label transfer conveyor device, put it into the cup making mold of the cup making machine and take out the product.

[0039] Preferably, all components of the in-mold labeling material taking and conveying equipment group are controlled by a PLC control system to operate in coordination.

[0040] Beneficial effects of the present invention:

[0041] The front end upper part of the single-row and multi-row support plate of the in-mold labeling conveying robot of the present invention is equipped with a picking and unloading assembly, and the upper part of the picking and unloading assembly is equipped with a picking and unloading suction cup, which can cooperate with the built-in picking and unloading device of the cup-making and lifting upper mold of the cup-making machine to convey the product supported by the previous mold while putting down the label. There is no need to add another picking robot to reduce equipment cost, and the action and waiting time are shortened, and the work efficiency is higher.

[0042] The in-mold labeling material picking and conveying equipment group of the present invention includes a cup making machine, an in-mold labeling material picking and conveying robot, a label transfer conveying device and a material picking and conveying robot. The cup making mold of the cup making machine includes an upper mold and a lower mold, wherein the upper mold is provided with a plurality of lifting molds corresponding to the molding mold cavity of the lower mold, and a suction cup is installed at the bottom of the lifting mold, and the suction cup is connected to the positive and negative pressure generating device; correspondingly, the in-mold labeling material picking and conveying robot is provided with a material picking and unloading assembly, and a material picking and unloading suction cup is installed on the upper part of the material picking and unloading assembly, and the material picking and unloading suction cup is connected to the pipeline of the positive and negative pressure generating device, and the material picking and unloading suction cups on the multiple groups of labeling male mold units are arranged corresponding to the multiple lifting molds of the upper mold; the material picking and conveying robot is provided with a plurality of material picking and unloading assemblies corresponding to the multiple material picking and unloading assemblies of the in-mold labeling material picking and conveying robot. The advantages over the prior art are:

[0043] (1) The present invention utilizes a suction cup lifting drive device to enable the lifting rod to extend the lifting die alone to contact the product generated by the lower die and suck the material when the cup-making die is opened, and to transfer the product generated in the previous die to the material removal and unloading suction cup of the in-mold labeling material removal and conveying robot when the in-mold labeling material removal and conveying robot enters the lower die to place the label. Compared with the prior art, there is no need to set up an in-mold labeling material removal and conveying robot specifically for taking out the product generated in the molding cavity and then transferring it to the material removal and conveying robot, so that the in-mold labeling material removal and conveying robot does not need to wait for the time for the in-mold labeling material removal and conveying robot to take out the material, so that the in-mold labeling material removal and conveying robot is changed from the previous six actions to four actions, that is, after the in-mold labeling material removal and conveying robot enters, the lower die rises, and the in-mold labeling material removal and conveying robot unloads the label, which streamlines the equipment action, simplifies the process, and effectively improves the work efficiency.

[0044] (2) In the operation method of the present invention, the in-mold labeling material picking and conveying robot only has two actions: translation entry and translation exit. There is no need to lift the in-mold labeling material picking and conveying robot, and the lower mold can be used to achieve the docking and labeling of the two by using the action of the lower mold that originally needs to rise. Since the in-mold labeling material picking and conveying robot does not need to lift and lower, the load weight can be greatly reduced, creating conditions for increasing the translation speed.

[0045] (3) Since the present invention can combine the label with the product at one time when the product is formed, the efficiency is high and the product appearance is exquisite, which greatly improves the added value of the product and increases the benefits.

[0046] (4) Since the speed of the cup-making mold modification involved in the present invention is much faster than the speed of injection mold manufacturing, and the original mold can be used, and the cost of the cup-making mold is much lower than that of the injection mold, the present invention can enable the prepared products to quickly seize the market by virtue of the short manufacturing cycle and low cost, so as to regain the market share of sheet thermoforming machines in disposable plastic tableware and increase market share.

[0047] (5) The cost of the present invention is much lower than that of the injection mold, which is conducive to enterprises to quickly produce new products and enrich product varieties. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The present invention is further described with reference to the accompanying drawings, but the contents in the accompanying drawings do not constitute any limitation to the present invention.

[0049] Figure 1 It is a structural schematic diagram of an embodiment of an in-mold labeling and telescopic material splicing equipment group.

[0050] Figure 2 It is a lateral structural schematic diagram of an embodiment of an in-mold labeling and telescopic material splicing equipment group.

[0051] Figure 3 The present invention is a structural schematic diagram of an embodiment of an in-mold labeling material taking and conveying robot.

[0052] Figure 4 It is a schematic structural diagram from another angle of an embodiment of an in-mold labeling material picking and conveying robot.

[0053] Figure 5 The present invention is a schematic structural diagram of a material taking and unloading component of an embodiment of an in-mold labeling material taking and conveying robot.

[0054] Figure 6 It is another perspective structural schematic diagram of an embodiment of an in-mold labeling material picking and conveying robot.

[0055] Figure 7 The present invention is a schematic diagram of a group of labeling male mold units of an embodiment of an in-mold labeling material picking and conveying robot.

[0056] Figure 8 It is a schematic diagram of an in-mold labeling material taking and conveying robot entering a cup making machine to place labels and take materials at the same time according to an embodiment of the present invention.

[0057] Fig. 9 The diagram is a schematic diagram of an upper mold of a cup-making machine equipped with a cup-making, pulling and built-in unloading device according to an embodiment.

[0058] Fig.10 It is a partial schematic diagram of an upper mold of a cup-making machine equipped with a cup-making lifting and built-in unloading device according to an embodiment.

[0059] Fig.11 The diagram is a schematic diagram of a cup-making, lifting and built-in unloading device of a cup-making machine according to an embodiment.

[0060] Fig.12 The present invention is a schematic diagram of a cup-making and pulling built-in unloading device of a cup-making machine installed on a pulling die in one embodiment.

[0061] Fig.13 Schematic diagram of another embodiment of a cup making machine upper mold equipped with a cup making lifting and built-in unloading device

[0062] Fig.14 It is a schematic diagram of a multifunctional material taking, conveying and stacking robot of an embodiment of an in-mold labeling and telescopic material receiving equipment group.

[0063] Fig.15 It is a schematic diagram of a multifunctional material taking, conveying and stacking robot of another embodiment of the in-mold labeling and telescopic material receiving equipment group.

[0064] Fig.16 It is a schematic diagram of a label transfer conveying device of an embodiment of an in-mold labeling and telescopic splicing equipment group.

[0065] Fig.17 It is a schematic diagram of a label transfer conveying device of another embodiment of the in-mold labeling and telescopic splicing equipment group.

[0066] exist Figures 1 to 16 Included are:

[0067] 1. Cup making machine:

[0068] 1-1 upper die, 1-2 lower die, 1-4 lifting die, 1-41 lifting rod,

[0069] 1-42 unloading device, 1-43 lifting rod, 1-44 suction cup, 1-45 airway, 1-46 air nozzle, 1-47 airway connector;

[0070] 1-5 lifting rod connecting plate, 1-6 lifting rod connecting plate, 1-7 sleeve,

[0071] 1-8 lifting drive device, 1-81 cross arm, 1-82 lifting connecting rod,

[0072] 1-91 motor, 1-92 shaft, 1-93 gear, 1-94 rack,

[0073] 2. In-mold labeling material transfer robot:

[0074] 2-1 single-row and multi-row support plate, 2-2 labeling punch, 2-3 unloading assembly, 2-31 unloading suction cup, 2-32 suction nozzle, 2-4 manipulator bracket, 2-5 support seat, 2-61 front row spacing sliding fixed support frame, 2-62 rear row spacing sliding fixed support frame, 2-63 single-row and multi-row sliding support frame, 2-7 fixed seat, 2-8 punch fixed seat, 2-9 punch mounting seat, 2-10 row spacing slider, 2-11 multi-row sliding rail, 2-12 push-pull connecting plate, 2-13 row spacing telescopic connecting seat, 2-14 row spacing telescopic slider, 2-15 single-row and multi-row telescopic rail, 2-16 front row spacing telescopic slider, 2-17 rear row spacing telescopic slider, 2-18 air pipe and wire through hole, 2-19 clamping ring assembly, 2-20 row spacing telescopic drive;

[0075] 2-21 motor, 2-22 rack, 2-23 rack support guide rail, 2-24 slider.

[0076] 3. Multifunctional material conveying and stacking manipulator:

[0077] 3-1 suction cup, 3-2 connecting rod, 3-3 palm plate, 3-4 secondary translation and sliding mounting plate, 3-5 sliding pair, 3-6 secondary lifting support plate, 3-7 translation and lifting support seat, 3-8 lifting drive device, 3-9 secondary translation drive device, 3-11 primary translation drive device.

[0078] 4 label transfer device; 5 product; 6 label warehouse device; 7 label transfer robot. DETAILED DESCRIPTION

[0079] The present invention will be further described with reference to the following examples. Example 1

[0080] See also Figures 1 to 6 The in-mold labeling material taking and conveying robot 2 of this embodiment includes a robot support 2-4, a support seat 2-5, a translation drive device, a line spacing telescopic drive and a row spacing telescopic drive. A fixed line spacing support is installed at the bottom of the support seat 2-5. The support seat 2-5 is installed on the robot support 2-4 and driven by the translation drive device 2-41 to translate the support seat 2-5. A front line spacing sliding fixed support frame 2-61 and a rear line spacing sliding fixed support frame 2-62 are installed at the bottom of the support seat 2-5. A plurality of single-row and multi-row sliding support frames 2-63 are arranged between the front line spacing sliding fixed support frame 2-61 and the rear line spacing sliding fixed support frame 2-62. The plurality of single-row and multi-row sliding support frames 2-63 are slidably arranged at the bottom of the support seat 2-5 through a single-row and multi-row telescopic rail 2-15 and a slider. At the same time, the in-mold labeling material picking and conveying robot 2 is provided with multiple groups of parallel arranged punch row spacing and telescopic groups, each group of punch row spacing and telescopic groups includes a single-row and multi-row support plate 2-1, multiple rows of slide rails 2-11 and multiple rows of punch assemblies, and the upper part of the front end of the single-row and multi-row support plate 2-1 is provided with a picking and unloading assembly 2-3, and the upper part of the picking and unloading assembly 2-3 is provided with a picking and unloading suction cup 2-31, and the picking and unloading suction cup 2-31 is connected to a positive and negative air pressure generating device or an air source through an air nozzle. The positive and negative pressure generating device refers to a gas device that can generate positive or negative pressure, such as an air pump, etc. The positive and negative pressure generating device is an existing equipment, and those skilled in the art should be able to understand and implement it.

[0081] The multi-row sliding rails 2-11 of this embodiment are fixed to the bottom of the single-row multi-row support plate 2-1, and each group of convex mold row spacing and row spacing telescopic groups can be installed with different numbers of convex mold assemblies as needed. When the number of rows of convex mold assemblies is more than two rows, one row of convex mold assemblies has a fixed row spacing and can slide and telescope, and the row spacing and row spacing of the remaining convex mold assemblies can slide and telescope. Among them, the convex mold assembly with a fixed row spacing and a sliding and telescopic spacing is provided with a fixing seat 2-7, and the fixing seat 2-7 is fixed to the single-row multi-row support plate 2-1, and the fixing seat 2-7 is fixed with a convex mold fixing seat 2-8, and the convex mold fixing seat 2-8 is installed with a convex mold. The row spacing and line spacing telescopic punch assembly includes a punch 2-2, a punch mounting seat 2-9, a row spacing slider and a push-pull connecting plate 2-12, the punch is mounted on the punch mounting seat 2-9, the row spacing slider is fixedly connected to the upper end of the punch mounting seat 2-9, the row spacing slider is slidably arranged on the multi-row sliding rail 2-11, the punch mounting seat 2-9 is connected to the push-pull connecting plate 2-12, the rear end of the push-pull connecting plate 2-12 is mounted with a row spacing and line spacing telescopic connecting seat 2-13, the row spacing and line spacing telescopic connecting seat 2-13 is fixed above the row spacing and line spacing telescopic connecting seat 2-13, the row spacing and line spacing telescopic connecting seat 2-14 corresponds to the single-row and multi-row telescopic rail 2-15 slidably arranged at the bottom of the single-row and multi-row sliding support frame 2-63; in this embodiment, the punch fixing seat 2-8 and the punch mounting seat 2-9 are both provided with air pipe and wire through holes 2-18. In order to realize the lateral movement of the single-row and multi-row sliding support plates and adjust the row spacing, the upper part of the single-row and multi-row support plates 2-1 is fixedly connected with a front row spacing telescopic slider 2-16 and a rear row spacing telescopic slider 2-17. The front row spacing telescopic slider 2-16 is slidably arranged on the track at the bottom of the front row spacing sliding fixed support frame 2-61, and the rear row spacing telescopic slider 2-17 is slidably arranged on the track at the bottom of the rear row spacing sliding fixed support frame 2-62.

[0082] Multiple single-row and multiple-row support plates 2-1 are connected by a snap ring assembly, which includes multiple pairs of snap rings and limit posts. One end of the snap ring is fixed to the single-row and multiple-row support plate on one side, and the other end of the snap ring is provided with a limit groove. The limit post is fixed to the single-row and multiple-row support plate on the other side and passes through the limit groove of the snap ring (the snap ring assembly can refer to the snap ring in the prior art with publication number CN110217455A). The row spacing telescopic drive drives one or more of the single-row and multiple-row support plates 2-1 to move to adjust the row spacing. In this embodiment, the row spacing telescopic drive 2-25 is a bidirectional lead screw, and two lead screw nuts are respectively connected to the single-row and multiple-row support plates 2-1 located on the two outer sides through connecting parts. When the bidirectional lead screw rotates, the two lead screw nuts drive the single-row and multiple-row support plates 2-1 on the two outer sides to move toward or away from each other, and the single-row and multiple-row support plates 2-1 on the two outer sides are connected and transmitted to each other through the snap ring assembly. Multiple single-row and multi-line sliding support frames 2-63 are connected by a clamping ring assembly 2-19. Similarly, the row spacing telescopic drive 2-20 drives multiple single-row and multi-line sliding support frames 2-63 to telescopically move to adjust the row spacing. It should be noted that the row spacing telescopic drive and the line spacing telescopic drive can also use conventional drive devices, such as cylinders, motors and transmission components, lead screws or electric push rods. Through the above scheme, the labeling punch 2-2 can be moved longitudinally and transversely to achieve the expansion or contraction of the punch array composed of multiple labeling punches 2-2.

[0083] See also Figures 7 to 14 The in-mold labeling material taking and conveying equipment group of this embodiment includes a cup making machine 1, an in-mold labeling material taking and conveying robot 2, a material taking and conveying robot 2 and a label transfer device 4. The cup making machine 1 is used to produce and shape the sheet material into cups; the in-mold labeling material taking and conveying robot 2 is used to take the label from the label transfer conveying device 4 and put it into the cup making mold of the cup making machine 1 and take out the product; the material taking and conveying robot 3 is used to take the material from the in-mold labeling material taking and conveying robot 2 for conveying.

[0084] In this example, the cup-making mold of the cup-making machine 1 includes an upper mold 1-1 and a lower mold 1-2. The upper mold 1-1 is provided with a plurality of lifting molds 1-4 corresponding to the molding cavity of the lower mold 1-2. The lifting rod 1-41 is installed on the lifting rod connecting plate 1-5 and the lifting rod connecting plate 1-5 is lifted and lowered by a lifting driving device 1-8. The lifting driving device 1-8 can be a cylinder, a screw lifter, an electric push rod, an electric lead screw or a linear motor, etc., as long as it can drive the lifting rod connecting plate 1-5 to lift and lower. The output end of the lifting driving device 1-8 is connected to a cross arm 1-81 and drives the cross arm to lift and lower. The cross arm 1-81 is provided with a lifting connecting rod 1-82. The lifting connecting rod 1-82 is fixedly connected to the lifting rod connecting plate 1-5, thereby realizing the simultaneous lifting and lowering of multiple lifting rods 1-41.

[0085] The pulling die 1-4 is built with an independently lifting and unloading device 1-41, and the unloading device 1-41 is provided with a lifting rod 1-43. The lifting rod 1-43 is installed on the lifting rod connecting plate 1-6, and the lifting rod connecting plate 1-6 is driven to lift by a suction cup lifting drive device. The suction cup lifting drive device includes a motor 1-91, a rotating shaft 1-92, a gear 1-93 and a rack 1-94. The motor 1-91 drives the rotating shaft 1-92 to rotate, the gear 1-93 is installed on the rotating shaft 1-92 and meshes with the rack 1-94 for transmission, and the lower end of the rack 1-94 is connected to the lifting rod connecting plate 1-6 so that multiple lifting rods 1-43 can be lifted and lowered at the same time. An air channel 1-45 is provided in the lifting rod 1-43, and a suction cup 1-44 is installed at the lower end of the air channel 1-45. The upper end of the air channel 1-45 is connected to the positive and negative pressure generating device through the air nozzle 1-46; the unloading device 1-41 is used to take materials from the lower mold 1-2. When the mold is opened to take materials, the lower mold and the unloading device 1-41 descend at the same time, and the descending speed of the suction cup of the unloading device 1-41 is faster than the descending speed of the lower mold. When both of them descend to the position preset by the numerical control system, the cup bottom device at the bottom of the lower mold lifts the product. At the same time, the unloading device 1-41 sucks the cup tightly with negative pressure and stops descending while the lower mold continues to descend to the position. At this time, the cup (product) is separated from the lower mold 1 and is sucked by the suction cup 1-44 of the unloading device 1-41. The present invention realizes the function of taking a cup from the mold cavity of the lower mold while opening the mold. Compared with the prior art, not only does it not need to configure equipment to take materials from the mold cavity, but it also reduces the action steps of taking materials by special equipment, and the production efficiency is greatly improved. It should also be noted that the lower mold and its top cup bottom device are existing technologies, and there is no need to elaborate on their structure and working principle here.

[0086] When the in-mold labeling material picking and conveying robot 2 enters the cup-making mold to place labels and pick up materials, the in-mold labeling material picking and conveying robot 2 contracts to make the picking and unloading suction cups 2-31 on the multiple groups of labeling convex mold units correspond to the picking and unloading devices 1-42 of the pulling mold 1-4 to receive the materials, and at the same time, multiple labeling convex molds 2-2 can correspond to the molding cavity of the lower mold 1-2 to put down labels.

[0087] The in-mold labeling material picking and conveying robot 2 exits the cup-making mold after completing material receiving and unloading. After the in-mold labeling material picking and conveying robot exits the cup-making mold, the in-mold labeling material picking and conveying robot 2 has been unfolded so that the multiple groups of picking and unloading suction cups 2-31 of the picking and unloading components 2-3 correspond to the picking and conveying components of the picking and conveying robot 3 to transfer materials, and multiple label convex molds correspond to the label transfer device 4 to transfer materials, thereby realizing the synchronous transfer of materials and absorption of labels.

[0088] See also Fig.14In this embodiment, the multifunctional loading and unloading manipulator includes a primary translation support frame 3-10, a primary translation drive device, a lifting and translation support seat 3-7, a lifting drive device 3-8 and a secondary lifting and translation support plate 3-6. The lifting and translation support seat 3-7 is installed with the primary translation support frame 3-10 and driven to translate by the primary translation drive device. The lifting drive device 3-8 is installed on the lifting and translation support seat 3-7 and drives the secondary lifting and translation support plate 3-6 to lift and lower. The secondary lifting and translation support plate 3-6 is installed with a secondary translation sliding mounting plate 3-4 through a sliding pair 3-5. The sliding pair 3-5 of this embodiment is a guide rail with a slider. The secondary translation sliding mounting plate 3-4 is driven to translate by the secondary translation drive device 3-9. The palm plate 3-3 is detachably installed on the secondary translation sliding mounting plate 3-4. The palm plate 3-3 is installed with multiple sets of material collection and conveying components. Each set of material taking and conveying components includes a suction cup 3-1, a connecting rod 3-2 and an air nozzle. An air passage is provided inside the connecting rod 3-2, and the air passage connects the suction cup 3-1 and the air nozzle. The air nozzle is connected to the pipeline of the positive and negative pressure generating device. An air valve is provided between all the air nozzles and the positive and negative pressure generating device, and the positive and negative pressure generating device is a positive and negative pressure generating device that can achieve positive and negative pressure, such as an air pump. Since the positive and negative pressure generating device is a prior art that can be directly purchased from the market, its working principle and structure will not be described in detail here.

[0089] The translation drive device of this embodiment is composed of a motor, a transmission shaft, a synchronous wheel and a synchronous belt group. The installation method is the existing technology and will not be repeated here. The lifting drive device includes a motor, a gear and a rack. The gear is installed on the rotating shaft of the motor. The gear and the rack are meshed and transmitted. The lower part of the rack is fixed to the secondary lifting and translation support plate. Using a motor, a gear and a rack as a lifting drive can achieve multiple rises or falls at any height within the formation, and the operation is stable and the load-bearing effect is good.

[0090] The label transfer device of this embodiment is the existing technology (refer to the publication number CN109664488A). At the same time, this production line can also be equipped with a label bin device 6 and a label conveying robot 7 (the label bin device and the label conveying robot are the existing technology, and their structures and working principles are not described in detail here). The front part of the label bin device is set as a label transfer station, and the label conveying robot is used to absorb the label from the label bin device at the label transfer station and transfer it to the label transfer conveying device. The label transfer conveying device moves to the label transfer conveying station after absorbing the label at the label transfer station. Example 2

[0091] The main technical scheme of this embodiment is basically the same as that of Embodiment 1. For features not explained in this embodiment, the explanations in Embodiment 1 are adopted and will not be repeated here. Fig.13In this embodiment, the lifting drive device includes a motor 1-84, a gear, a lifting rack 1-85, a rack supporting guide rail 1-86 and a slider 1-87. The slider 1-87 is fixed to the bracket 1-88, the rack supporting guide rail 1-86 is slidably arranged on the slider 1-87, the lifting rack 1-85 is installed on the rack supporting guide rail 1-86 and the lower end is connected to the cross arm 1-81, the motor drives the gear to rotate, and the gear meshes with the lifting rack for transmission. Example 3

[0092] The main technical scheme of this embodiment is basically the same as that of Embodiment 1. For features not explained in this embodiment, the explanation in Embodiment 1 is adopted and will not be repeated here. In this embodiment, the row spacing telescopic drive of the in-mold labeling material taking and conveying robot is composed of a motor, a transmission assembly and a bidirectional screw rod. The single-row and multi-row support plates of the two sets of labeling male mold units are respectively connected to the nuts at both ends of the bidirectional screw rod, and the bidirectional screw rod is driven to rotate by the motor. Example 4

[0093] The main technical scheme of this embodiment is basically the same as that of Embodiment 1. For features not explained in this embodiment, the explanations in Embodiment 1 are adopted and will not be repeated here. Fig.15 The lifting drive device of the multifunctional material-retrieving, conveying and stacking robot is composed of a motor, a transmission wheel and a transmission belt.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the claims. A person skilled in the art should understand and modify or replace the technical solutions of the present invention with equivalents by referring to the preferred embodiments, but the technical solutions of the present invention are substantially the same and within the scope of protection.

Claims

1. In-mold labeling material collection and conveying robot, characterized by: It includes a manipulator support, a support seat, a translation drive device, a row spacing telescopic drive and a row spacing telescopic drive, and multiple groups of parallel arranged punch row spacing telescopic groups, each group of punch row spacing telescopic groups includes a single-row and multi-row support plate and a labeling punch installed below the front end of the single-row and multi-row support plate, a loading and unloading assembly is installed on the upper part of the front end of the single-row and multi-row support plate, a loading and unloading suction cup is installed on the upper part of the loading and unloading assembly, and an air nozzle is installed on the loading and unloading suction cup; the support seat is installed on the manipulator support and driven to translate by the translation drive device, a front row spacing sliding fixed support frame and a rear row spacing sliding fixed support frame are installed at the bottom of the support seat, a plurality of single-row and multi-row sliding support frames are arranged between the front row spacing sliding fixed support frame and the rear row spacing sliding fixed support frame, and the plurality of single-row and multi-row sliding support frames are slid to the bottom of the support seat through single-row and multi-row telescopic rails and sliders; The punch row spacing telescopic group includes a single-row and multi-row support plate, a multi-row slide rail and a multi-row punch assembly, and the multi-row slide rail is fixed to the bottom of the single-row and multi-row support plate; One row of the punch assemblies has a fixed row spacing and can slide telescopically, and the remaining punch assemblies are configured as row spacing and row spacing telescopic punch assemblies with both row spacing and row spacing being telescopic and sliding, and the punch assemblies with fixed row spacing and row spacing being telescopic and sliding are provided with a fixed seat, which is fixed on a single-row multi-row support plate, and a punch fixing seat is fixed on the fixing seat, and a labeling punch is installed on the punch fixing seat; The row spacing telescopic punch assembly includes a labeling punch, a punch mounting seat, a row spacing slider and a push-pull connecting plate. The punch is mounted on the punch mounting seat. The upper end of the punch mounting seat is fixedly connected with a row spacing slider. The row spacing slider is slidably arranged on the multi-row sliding rails. The punch mounting seat is connected to the push-pull connecting plate. The rear end of the push-pull connecting plate is installed with a row spacing telescopic connecting seat. The row spacing telescopic slider is fixed above the row spacing telescopic connecting seat. The row spacing telescopic slider corresponds to the single-row multi-row telescopic rail slidably arranged at the bottom of the single-row multi-row sliding support frame. A front row telescopic slider and a rear row telescopic slider are fixedly connected to the upper part of the single row multi-row support plate. The front row telescopic slider is slidably arranged on the track at the bottom of the front row sliding fixed support frame, and the rear row telescopic slider is slidably arranged on the rear row sliding fixed support frame. The row spacing and line spacing telescopic punch assembly can be arranged into multiple groups.

2. The in-mold labeling material taking and conveying robot according to claim 1 is characterized in that: The punch fixing seat and the punch mounting seat are both provided with air pipe and electric wire through holes.

3. The in-mold labeling material taking and conveying robot according to claim 1 is characterized in that: Multiple single-row and multi-row support plates are connected by a clamping ring assembly, and a row spacing telescopic drive drives one or more of the single-row and multi-row support plates to move; multiple single-row and multi-row sliding support frames are connected by a clamping ring assembly, and a row spacing telescopic drive drives multiple single-row and multi-row sliding support frames to telescopically move.

4. In-mold labeling and telescopic material receiving equipment group, characterized by: It comprises a cup-making machine, an in-mold labeling material-taking and conveying robot and a multifunctional material-taking, conveying and stacking robot as claimed in any one of claims 1 to 3, wherein the cup-making mold of the cup-making machine comprises an upper mold and a lower mold, the upper mold is provided with a plurality of lifting molds corresponding to the molding mold cavity of the lower mold, the lifting mold is provided with an independently lifting cup-making lifting built-in material-taking and unloading device, the cup-making lifting built-in material-taking and unloading device is provided with a suction cup lifting rod, an airway is provided in the suction cup lifting rod and a suction cup is installed at the lower end of the airway, and the upper end of the airway is connected to a positive and negative pressure generating device through an air nozzle; When the lower mold descends, the lifting rod, suction cup and lower mold descend to the specified position synchronously. After the suction cup sucks the product tightly with negative pressure, it rises to the unloading station to wait before the in-mold labeling material taking and conveying robot reaches the cup-making mold; when the in-mold labeling material taking and conveying robot enters the mold body to receive the material, the suction cup of the lifting built-in cup-making lifting and unloading device descends to transfer the product to the cup-making lifting and unloading device of the in-mold labeling material taking and conveying robot. At the same time, the lower mold rises to receive the label from the labeling convex mold of the in-mold labeling material taking and conveying robot; After the in-mold labeling material picking and conveying robot unloads the label and receives the material and then exits, the multifunctional material picking, conveying and stacking robot receives the product from the picking and unloading component of the in-mold labeling material picking and conveying robot and moves to the unloading station.

5. The in-mold labeling and telescopic material receiving equipment set according to claim 4, characterized in that: When the in-mold labeling material taking and conveying robot enters the cup-making mold to place labels and take materials, the multiple groups of labeling convex mold units of the in-mold labeling material taking and conveying robot shrink, and the material taking and unloading suction cups on the multiple groups of labeling convex mold units correspond to the multiple pulling molds of the upper mold to receive the materials; The in-mold labeling material picking and conveying robot retracts and exits the cup-making mold, and the in-mold labeling material picking and conveying robot unfolds. The material picking and unloading suction cups of multiple sets of material picking and unloading components correspond to the material picking and conveying parts of the lateral material picking and conveying robot to transfer materials, and multiple labeling convex molds correspond to the label transfer device to transfer materials.

6. The in-mold labeling and telescopic material receiving equipment set according to claim 4, characterized in that: The cup-making lifting built-in unloading device is provided with a lifting rod, an air passage is provided in the suction cup lifting rod, a suction cup is installed at the lower end of the air passage, and the upper end of the air passage is connected to an air source or an air pump through an air nozzle; The upper mold also includes a lifting rod connecting plate, a suction cup lifting rod connecting plate, a lifting drive device and a suction cup lifting drive device. The lifting rod is installed on the lifting rod connecting plate and the lifting rod connecting plate is driven to lift and lower by the lifting drive device; the suction cup lifting rod is installed on the suction cup lifting rod connecting plate and the suction cup lifting rod connecting plate is driven to lift and lower by the suction cup lifting drive device.

7. The in-mold labeling and telescopic material splicing equipment set according to claim 4, characterized in that: The multifunctional material taking, conveying and stacking manipulator comprises a translation support frame, a translation driving device, a lifting support seat, a lifting driving device and a lifting support plate, the lifting support seat is installed with the translation support frame and driven to translate by the translation driving device, the lifting driving device is installed on the lifting support seat and drives the lifting support plate to lift, the lifting support plate is installed with a translation sliding mounting plate through a sliding pair, and a palm plate for taking and unloading cups is detachably mounted on the translation sliding mounting plate; When the in-mold labeling material taking and conveying robot translates and resets, the multifunctional material taking and stacking conveying robot continuously completes translation, descends to take materials, rises to translate outward to the unloading lifting and translation station without rubbing the bottom of the product, descends to unload materials, rises, and finally translates synchronously to the material receiving standby station to wait before the multifunctional in-mold labeling material taking and conveying robot reaches the unloading station.

8. The in-mold labeling and telescopic material splicing equipment set according to claim 4, characterized in that: An AB unit telescopic alternating stacking and conveying device is also provided, which includes a bracket and two stacking units, wherein the stacking units include a plurality of material receiving brackets, a telescopic support member, a telescopic slide rail and a telescopic driving device, wherein the upper portion of the material receiving bracket is provided with at least one material receiving opening for stacking cup materials, and the bottom of the material receiving bracket is fixedly connected with a slide block, which is slidably arranged on the telescopic slide rail, and the telescopic slide rail is installed on the telescopic support member; The multiple material receiving brackets of each splicing unit are arranged side by side, and the multiple material receiving brackets can be assembled into a whole. Two adjacent material receiving brackets are connected by a clamping ring assembly, and the telescopic driving device drives the side material receiving bracket to move along the direction of the telescopic support.

9. The in-mold labeling and telescopic material receiving equipment set according to claim 4, characterized in that: It also includes a label transfer conveyor device, and the cup making machine is used to produce and shape the sheet material; the in-mold labeling material taking and conveying robot is used to take the label from the label transfer conveyor device, put it into the cup making mold of the cup making machine and take out the product.

10. The in-mold labeling and telescopic material splicing equipment set according to claim 4, characterized in that: All components of the in-mold labeling material collection and conveying equipment group are controlled and operated in coordination by the PLC control system.

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