Full-automatic license plate stamping device and using method

Abstract

The full-automatic license plate stamping device comprises a control system (9) and a frame (1), a mechanical arm (2) is arranged at the top of the frame (1), and a containing frame (3) and a stamping mechanism (4) are arranged in the frame (1); an upper die frame (5) and a lower die frame (6) are arranged in the stamping mechanism (4), and a translation mechanism is arranged on the stamping mechanism (4) and used for enabling the upper die frame (5) and the lower die frame (6) to move horizontally; the stamping mechanism (4), the translation mechanism and the manipulator (2) are all connected with a control system (9); the mechanical arm (2) comprises a Delta spider hand robot, a suction cup assembly (10) is arranged at the grabbing end of the Delta spider hand robot, the suction cup assembly (10) is connected with a vacuum pump through a first electromagnetic valve (7), and the control end of the first electromagnetic valve (7) is connected with a control system (9). The device has the advantages of being high in working efficiency, capable of reducing the labor intensity of workers and high in machining success rate.

Description

Technical Field

[0001] The invention belongs to the field of license plate stamping equipment, and in particular relates to a full-automatic license plate stamping device and a use method thereof. Background Art

[0002] The traditional device for making motor vehicle license plates includes a press and a mold, wherein the mold includes an upper mold frame and a lower mold frame. According to the license plate number, a group of convex molds are placed on the upper mold frame, and a group of concave molds are placed on the lower mold frame, or a group of concave molds are placed on the upper mold frame, and a group of convex molds are placed on the lower mold frame. Then the mold is placed in the press, and the concave mold and the convex mold interact with each other by pressure to punch out the number on the license plate. Since the mold is placed manually and the mold is a heavy steel plate, the workers' work efficiency is slow, resulting in low production efficiency of the existing device. In addition, manual arrangement of the mold is prone to errors, resulting in the scrapping of the punched license plate, that is, the processing success rate of the existing device is low. Summary of the invention

[0003] The purpose of the present invention is to provide a fully automatic license plate punching device and a method of using the same. The present invention has the advantages of high working efficiency, reduced labor intensity of workers and high processing success rate.

[0004] The technical solution of the present invention is as follows: the fully automatic license plate punching device comprises a control system and a frame, a manipulator is arranged on the top of the frame, and a placing frame and a punching mechanism are arranged inside the frame;

[0005] The punching mechanism is provided with an upper die frame and a lower die frame, and the punching mechanism is provided with a translation mechanism, which is used to make the upper die frame and the lower die frame move horizontally;

[0006] The stamping mechanism, translation mechanism and manipulator are all connected to the control system.

[0007] In the aforementioned fully automatic license plate punching device, the manipulator includes a Delta spider hand robot, a gripping end of the Delta spider hand robot is provided with a suction cup assembly, the suction cup assembly is connected to a vacuum pump via a first solenoid valve, and a control end of the first solenoid valve is connected to a control system.

[0008] In the aforementioned fully automatic license plate stamping device, the stamping mechanism includes a base connected to the frame, a top plate is provided above the base, a pillar is provided between the base and the top plate, a first hydraulic cylinder is provided on the base, the first hydraulic cylinder is connected to the control system through a second solenoid valve, a lifting plate is provided at the output end of the first hydraulic cylinder, a first guide column is provided between the lifting plate and the base, and two top blocks are provided on the top surface of the lifting plate.

[0009] In the aforementioned fully automatic license plate punching device, the translation mechanism includes a motor connected to the control system, the output end of the motor is provided with a screw located above the lifting plate, a nut is provided on the screw, a slide is provided above the nut, a second guide column is provided between the nut and the slide, a slide bar is provided at the bottom of both ends of the slide bar, two third guide columns are provided on the slide bar, the upper end of the third guide column passes through the slide bar and is inserted into the lower mold frame, and an extension rod fixed to the base is provided below the slide bar;

[0010] A lower die frame is arranged above the slide plate, a second hydraulic cylinder whose output end acts on the lower die frame is arranged on the slide plate, and the second hydraulic cylinder is connected to the control system through a third solenoid valve;

[0011] The upper mold frame is located above the lower mold frame, a first positioning pin is provided between the upper mold frame and the lower mold frame, horizontal support arms are provided at both ends of the bottom of the upper mold frame, positioning holes are provided at both ends of the upper mold frame, and a second positioning pin matching the positioning hole is provided at the front end of the support arm.

[0012] In the aforementioned fully automatic license plate punching device, the oil pipe of the second hydraulic cylinder passes through the inside of the slide plate.

[0013] In the aforementioned fully automatic license plate punching device, a groove matching the shape of the license plate is provided on the top surface of the lower die frame, and a rectangular character mold groove is provided on the bottom surface of the groove; and a rectangular character mold hole is provided on the upper die frame.

[0014] In the aforementioned fully automatic license plate punching device, the support arm is fixed to the base, a connecting rod is provided between the two extension rods, and the end of the screw rod is connected to the middle bearing of the connecting rod.

[0015] In the aforementioned fully automatic license plate punching device, the placement rack is provided with a license plate stacking position, multiple mold placement positions and a finished product placement position, the periphery of the license plate stacking position is provided with multiple positioning rods, and the mold placement position is provided with a third positioning pin.

[0016] The method for using the aforementioned fully automatic license plate punching device comprises the following steps:

[0017] a. Enter the license plate number to be stamped in the control system.

[0018] b. The control system moves the upper mold frame and the lower mold frame toward the side of the robot and staggers the upper mold frame and the lower mold frame in the top view direction.

[0019] c. The control system enables the robot to grab the corresponding set of fonts and place them on the lower mold frame.

[0020] d. The control system enables the robot to grab the license plate to the lower mold frame.

[0021] e. The control system moves the lower mold frame to the bottom of the upper mold frame.

[0022] f. The control system enables the robot to grab the corresponding set of molds and place them on the upper mold frame.

[0023] g. The control system returns the upper and lower mold frames to their original positions.

[0024] h. The control system makes the lifting plate rise, so that the mold on the upper mold frame contacts the top plate. The mold on the upper mold frame obtains downward pressure from the top plate to stamp the license plate and form the number on the license plate. i. The control system makes the lifting plate fall.

[0025] j. The control system moves the upper mold frame and the lower mold frame toward the side of the robot, and the upper mold frame remains above the lower mold frame.

[0026] k. The control system enables the robot to grab the mold on the upper mold frame and put it back to its original position.

[0027] 1. The control system makes the lower mold frame continue to move toward the side of the manipulator, so that the upper mold frame and the lower mold frame are staggered in the top view direction.

[0028] m. The control system enables the robot to remove the license plate from the lower mold frame.

[0029] n. The control system enables the robot to grab the font on the lower mold frame and put it back to its original position.

[0030] Compared with the prior art, the present invention has the following advantages:

[0031] 1) It can automatically punch license plates, which has high work efficiency and reduces the labor intensity of workers.

[0032] 2) Since the fonts are automatically arranged under the control system of the robot, it is not easy to make mistakes in the arrangement of the fonts, which makes the processing success rate of the license plate high.

[0033] 3) Through structural optimization of the stamping structure, on the basis of being able to provide stamping force for stamping license plates, the upper and lower mold frames can extend out of the stamping mechanism and be staggered upward when viewed from above, which is convenient for the robot to load and unload materials. At the same time, the upper and lower mold frames have high staying accuracy at each stop position node, which further improves the processing success rate of the license plate.

[0034] In summary, the present invention has the advantages of high working efficiency, reduced labor intensity of workers and high processing success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of the present invention.

[0036] Figure 2 It is a three-dimensional schematic diagram of the stamping mechanism.

[0037] Figure 3 It is a front view schematic diagram of the stamping mechanism.

[0038] Figure 4 It is a left view schematic diagram of the stamping mechanism.

[0039] Figure 5 It is a connection diagram of the nut and the slide plate.

[0040] Figure 6 Schematic diagram of the connection between the slide plate and the extension rod.

[0041] Figure 7 It is an exploded diagram of the upper mold frame and the lower mold frame.

[0042] Figure 8 It is a front view schematic diagram of the placement rack.

[0043] Fig. 9 It is a connection diagram of the control system.

[0044] The markings in the attached drawings are: 1-frame, 2-manipulator, 3-placing frame, 4-stamping mechanism, 5-upper mold frame, 6-lower mold frame, 7-first solenoid valve, 9-control system, 10-suction cup assembly, 11-base, 12-top plate, 13-pillar, 14-first hydraulic cylinder, 15-second solenoid valve, 16-lifting plate, 17-first guide column, 18-top block, 19-motor, 20-screw, 21-nut, 22-slide plate, 23 -Second guide column, 24-slide bar, 25-third guide column, 26-second hydraulic cylinder, 27-third solenoid valve, 28-first positioning pin, 29-second positioning pin, 30-groove, 31-die groove, 32-die hole, 33-connecting rod, 34-license plate stacking position, 35-die placement position, 36-positioning rod, 37-third positioning pin, 38-finished product placement position, 39-oil pipe, 40-support arm, 41 extension rod, 42-positioning hole. DETAILED DESCRIPTION

[0045] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0046] Example. Fully automatic license plate stamping device, such as Figure 1 As shown, it includes a control system 9 and a frame 1, a manipulator 2 is provided on the top of the frame 1, and a placement frame 3 and a stamping mechanism 4 are provided inside the frame 1; an upper mold frame 5 and a lower mold frame 6 are provided inside the stamping mechanism 4, and a translation mechanism is provided on the stamping mechanism 4, and the translation mechanism is used to move the upper mold frame 5 and the lower mold frame 6 horizontally; the stamping mechanism 4, the translation mechanism and the manipulator 2 are all connected to the control system 9.

[0047] The manipulator 2 includes a Delta spider hand robot, the gripping end of which can be raised and lowered and horizontally moved in all directions. The gripping end of the Delta spider hand robot is provided with a suction cup assembly 10 (existing accessory), which is connected to a vacuum pump via a first solenoid valve 7, and the control end of the first solenoid valve 7 is connected to a control system 9. The control system 9 is a supporting device of the Delta spider hand robot and can be equipped in one stop on the IGUS official website. The control system 9 generates suction on the suction cup assembly 10 when the first solenoid valve 7 is connected to the vacuum pump. The manipulator 2 is a conventional setting in the art.

[0048] like Figure 2 As shown, the stamping mechanism 4 includes a base 11 fixed to the frame 1, a top plate 12 is provided above the base 11, four pillars 13 are provided between the base 11 and the top plate 12, a first hydraulic cylinder 14 is provided on the base 11, the first hydraulic cylinder 14 is connected to the hydraulic station, the first hydraulic cylinder 14 is connected to the control system 9 through a second solenoid valve 15, a lifting plate 16 is provided at the output end of the first hydraulic cylinder 14, two first guide columns 17 are provided between the lifting plate 16 and the base 11, the first guide column 17 is fixed to the base 11, the upper end of the first guide column 17 is inserted into the lifting plate 16, the two first guide columns 17 are respectively located on both sides of the first hydraulic cylinder 14, and two top blocks 18 are provided on the top surface of the lifting plate 16.

[0049] The translation mechanism includes a motor 19 connected to the control system 9, and the motor 19 is a stepper motor, and the stepper motor is connected to the control system 9 through a driver. The housing of the motor 19 is fixed to the base 11, and the output end of the motor 19 is provided with a screw rod 20 located above the lifting plate 16, and a nut 21 is provided on the screw rod 20, and a slide plate 22 is provided above the nut 21, and two second guide pillars 23 are provided between the nut 21 and the slide plate 22, and the second guide pillars 23 are fixed to the nut 21, and the upper ends of the second guide pillars 23 are inserted into the slide plate 22.

[0050] The bottom of both ends of the slide plate 22 is provided with a slide bar 24, and two third guide pillars 25 are provided on the slide bar 24. The upper ends of the third guide pillars 25 pass through the slide plate 22 and are inserted into the lower mold frame 6. An extension rod 41 fixed to the base 11 is provided below the slide bar 24. The slide bar 24 is slidably connected to the extension rod 41 through a linear slider guide assembly. A connecting rod 33 is provided between the two extension rods 41, and the end of the screw rod 20 is connected to the middle bearing of the connecting rod 33.

[0051] The lower mold frame 6 is located above the skateboard 22. The skateboard 22 is provided with a second hydraulic cylinder 26 whose output end acts on the lower mold frame 6. The second hydraulic cylinder 26 is connected to the hydraulic station. When the second hydraulic cylinder 26 is extended, the telescopic end of the second hydraulic cylinder 26 is located above the skateboard 22. The oil pipe 39 of the second hydraulic cylinder 26 passes horizontally through the inside of the skateboard 22. The second hydraulic cylinder 26 is connected to the control system 9 through the third solenoid valve 27.

[0052] The upper mold frame 5 is located above the lower mold frame 6. A first positioning pin 28 is provided between the upper mold frame 5 and the lower mold frame 6. The first positioning pin 28 is fixed to the lower mold frame 6. The upper end of the first positioning pin 28 is inserted into the upper mold frame 5. Horizontal support arms 40 are provided at both ends of the bottom of the upper mold frame 5. Positioning holes 42 are provided at both ends of the upper mold frame 5. A second positioning pin 29 matching the positioning hole 42 is provided at the front end of the support arm 40.

[0053] The top surface of the lower mold frame 6 is provided with a groove 30 matching the shape of the license plate, and the bottom surface of the groove 30 is provided with a rectangular character mold groove 31; the upper mold frame 5 is provided with a rectangular character mold hole 32.

[0054] The placement rack 3 is provided with a license plate stacking position 34, a plurality of character mold placement positions 35 and a finished product placement position 38. A plurality of positioning rods 36 are provided on the periphery of the license plate stacking position 34. A plurality of license plates are stacked on the license plate stacking position 34, and the horizontal position of the license plates is limited by the positioning rods 36. A third positioning pin 37 is provided on the character mold placement position 35, and the upper end of the third positioning pin 37 is inserted into the corresponding character mold. Two third positioning pins 37 correspond to one character mold, and the horizontal position of the character mold is limited by the third positioning pin 37.

[0055] Working principle: In the initial state, the first hydraulic cylinder 14 and the second hydraulic cylinder 26 are in a retracted state. The coordinates of each font on the placement rack and the coordinates of each license plate are preset in the control system 9. The action process includes the following steps:

[0056] a. Enter the license plate number to be stamped in the control system 9, and the control system 9 performs the following actions through the built-in level:

[0057] b. The control system 9 extends the second hydraulic cylinder 26 through the third solenoid valve 27, and the second hydraulic cylinder 26 lifts up the lower mold frame 6, so that the lower mold frame 6 is separated from the third guide column 25, and the second guide column 23 remains inserted into the slide plate 22;

[0058] The control system 9 makes the motor 19 rotate forward, driving the screw 20 to rotate. The screw 20 drives the nut 21 to move toward one side of the manipulator 2. The nut 21 drives the lower mold frame 6 to move through the second guide column 23 until the positioning hole 42 is located above the corresponding second positioning pin 29; the spatial coordinates of the upper mold frame 5 in this state are pre-set in the control system 9.

[0059] The control system 9 contracts the second hydraulic cylinder 26 through the third solenoid valve 27, the lower mold frame 6 descends, the upper mold frame 5 descends synchronously, the upper mold frame 5 falls on the support arm 40, the second positioning pin 29 is inserted into the positioning hole 42, the position of the upper mold frame 5 on the support arm 40 is defined, and the lower mold frame 6 continues to descend until the first positioning pin 28 is separated from the upper mold frame 5, and the upper and lower mold frames are separated;

[0060] The control system 9 makes the motor 19 rotate forward, and the lower mold frame 6 moves a distance to one side of the manipulator 2 until the upper mold frame 5 and the lower mold frame 6 are offset in the top view direction. The spatial coordinates of the lower mold frame 6 in this state are pre-set in the control system 9.

[0061] c. The control system 9 enables the robot 2 to grab a corresponding group of convex character molds (with the convex surface of the molds facing upward) and place them on the lower mold frame 6, and a group of convex character molds are arranged in the mold groove 31.

[0062] d. The control system 9 enables the robot 2 to grab a license plate to the lower mold frame 6. The license plate is located in the groove 30 and above a set of convex character molds.

[0063] e. The control system 9 reverses the motor 19 until the lower mold frame 6 moves to the bottom of the upper mold frame 5. The control system 9 extends the second hydraulic cylinder 26 through the third solenoid valve 27, and the lower mold frame 6 rises until the first positioning pin 28 is reinserted into the upper mold frame 5, the upper and lower mold frames are closed, and the upper mold frame 5 rises to separate from the second positioning pin 29.

[0064] f. The control system 9 enables the robot 2 to grab a corresponding group of concave character molds (with the concave surface of the molds facing downward) and place them on the upper mold frame 5, and a group of concave character molds are arranged in the mold holes 32.

[0065] g. The control system 9 causes the motor 19 to reverse until the upper mold frame 5 and the lower mold frame 6 return to their original positions, that is, return to below the top plate 12. The control system 9 causes the second hydraulic cylinder 26 to contract, and the lower mold frame 6 falls on the top block 18.

[0066] h. The control system 9 extends the first hydraulic cylinder 14, which raises the lifting plate 16, so that the character mold on the upper mold frame 5 contacts the top plate 12. The character mold on the upper mold frame 5 obtains downward pressure from the top plate 12, punches the license plate, forms a number on the license plate, and obtains a finished license plate.

[0067] i. The control system 9 contracts the first hydraulic cylinder 14 and the lifting plate 16 is lowered.

[0068] j. The control system 9 extends the second hydraulic cylinder 26 through the third solenoid valve 27, and the second hydraulic cylinder 26 lifts up the lower mold frame 6, so that the lower mold frame 6 is separated from the third guide column 25, and the second guide column 23 remains inserted into the slide plate 22;

[0069] The control system 9 makes the motor 19 rotate forward, driving the screw 20 to rotate. The screw 20 drives the nut 21 to move toward one side of the manipulator 2. The nut 21 drives the lower mold frame 6 to move through the second guide column 23 until the positioning hole 42 is located above the corresponding second positioning pin 29.

[0070] k. The control system 9 enables the robot 2 to grab the character mold on the upper mold frame 5 and put it back to its original position.

[0071] 1. The control system 9 contracts the second hydraulic cylinder 26, the lower mold frame 6 descends, and the upper mold frame 5 descends synchronously. The upper mold frame 5 falls on the support arm 40, and the second positioning pin is inserted into the positioning hole 42. The position of the upper mold frame 5 is defined, and the lower mold frame 6 continues to descend until the first positioning pin 28 is separated from the upper mold frame 5.

[0072] The control system 9 makes the motor 19 rotate forward, and the lower mold frame 6 moves a distance to one side of the manipulator 2 until the upper mold frame 5 and the lower mold frame 6 are offset in the top view direction, and then the motor 19 stops rotating.

[0073] m. The control system 9 enables the manipulator 2 to remove the license plate from the lower mold frame 6 and place it in an empty position on the placement rack.

[0074] n. The control system 9 enables the robot 2 to grab the character mold on the lower mold frame 6 and put it back to its original position.

[0075] Take steps c to n as a cycle and continue punching the license plate.

[0076] The above control part belongs to the conventional technical means in this field. Those skilled in the art can describe the corresponding settings according to the above steps. The main innovation of the present invention lies in the use of a Delta spider hand robot to automatically pick up materials and automatically arrange the fonts according to the license plate number, thereby reducing the labor intensity of workers and improving work efficiency. In order to facilitate the Delta spider hand robot to pick up and place materials, a stamping mechanism is set up accordingly. The stamping mechanism has the advantage of precise positioning and can improve the success rate of processing.

Claims

1. Fully automatic license plate stamping device, characterized by: It comprises a control system (9) and a frame (1), wherein a manipulator (2) is arranged on the top of the frame (1), and a placement rack (3) and a punching mechanism (4) are arranged inside the frame (1); An upper die frame (5) and a lower die frame (6) are provided in the punching mechanism (4), and a translation mechanism is provided on the punching mechanism (4), and the translation mechanism is used to make the upper die frame (5) and the lower die frame (6) move horizontally; The punching mechanism (4), the translation mechanism and the manipulator (2) are all connected to a control system (9).

2. The fully automatic license plate punching device according to claim 1 is characterized in that: The manipulator (2) comprises a Delta spider hand robot, a gripping end of the Delta spider hand robot is provided with a suction cup assembly (10), the suction cup assembly (10) is connected to a vacuum pump via a first solenoid valve (7), and a control end of the first solenoid valve (7) is connected to a control system (9).

3. The fully automatic license plate punching device according to claim 1 is characterized in that: The punching mechanism (4) comprises a base (11) connected to a frame (1), a top plate (12) is arranged above the base (11), a support (13) is arranged between the base (11) and the top plate (12), a first hydraulic cylinder (14) is arranged on the base (11), the first hydraulic cylinder (14) is connected to a control system (9) via a second solenoid valve (15), a lifting plate (16) is arranged at the output end of the first hydraulic cylinder (14), a first guide column (17) is arranged between the lifting plate (16) and the base (11), and two top blocks (18) are arranged on the top surface of the lifting plate (16).

4. The fully automatic license plate punching device according to claim 3 is characterized in that: The translation mechanism comprises a motor (19) connected to a control system (9), a screw rod (20) located above the lifting plate (16) is provided at the output end of the motor (19), a nut (21) is provided on the screw rod (20), a slide plate (22) is provided above the nut (21), a second guide column (23) is provided between the nut (21) and the slide plate (22), a slide bar (24) is provided at the bottom of both ends of the slide plate (22), a third guide column (25) is provided on the slide bar (24), the upper end of the third guide column (25) passes through the slide plate (22) and is inserted into the lower mold frame (5), and an extension rod (41) fixed to the base (11) is provided below the slide bar (24); A lower die frame (6) is provided above the slide plate (22), and a second hydraulic cylinder (26) having an output end acting on the lower die frame (6) is provided on the slide plate (22), and the second hydraulic cylinder (26) is connected to the control system (9) via a third electromagnetic valve (27); The upper mold frame (5) is located above the lower mold frame (6), a first positioning pin (28) is provided between the upper mold frame (5) and the lower mold frame (6), horizontal support arms (40) are provided at both ends of the bottom of the upper mold frame (5), positioning holes (42) are provided at both ends of the upper mold frame (5), and a second positioning pin (29) matching the positioning hole is provided at the front end of the support arm (40).

5. The fully automatic license plate punching device according to claim 4 is characterized in that: The oil pipe of the second hydraulic cylinder (26) passes through the interior of the slide plate (22).

6. The fully automatic license plate punching device according to claim 1 is characterized in that: The top surface of the lower mold frame (6) is provided with a groove (30) matching the shape of the license plate, and the bottom surface of the groove (30) is provided with a rectangular character mold groove (31); the upper mold frame (5) is provided with a rectangular character mold hole (32).

7. The fully automatic license plate punching device according to claim 1 is characterized in that: A connecting rod (33) is provided between the two extension rods (41), and the end of the screw rod (20) is connected to the middle bearing of the connecting rod (33).

8. The fully automatic license plate punching device according to claim 1 is characterized in that: The placement rack (3) is provided with a license plate stacking position (34), a finished product placement position (38) and a plurality of character mold placement positions (35); a plurality of positioning rods (36) are provided on the periphery of the license plate stacking position (34); and a third positioning pin (37) is provided on the character mold placement position (35).

9. The method for using the fully automatic license plate punching device according to any one of claims 1 to 8, characterized in that: The following steps are included: a. Input the license plate number to be stamped in the control system (9). b. The control system (9) moves the upper mold frame (5) and the lower mold frame (6) toward one side of the robot and causes the upper mold frame (5) and the lower mold frame (6) to be offset in the top view direction. c. The control system (9) causes the robot (2) to grab a corresponding set of character molds and place them on the lower mold frame (6). d. The control system (9) enables the manipulator (2) to grab the license plate and place it on the lower mold frame (6). e. The control system (9) moves the lower mold frame (6) to the bottom of the upper mold frame (5). f. The control system (9) causes the robot (2) to grab a corresponding set of character molds and place them on the upper mold frame (5). g. The control system (9) returns the upper mold frame (5) and the lower mold frame (6) to their original positions. h. The control system (9) causes the lifting plate (16) to rise in height, so that the character mold on the upper mold frame (5) contacts the top plate (12). The character mold on the upper mold frame (5) receives downward pressure from the top plate (12), punches the license plate, and forms a number on the license plate. i. The control system (9) causes the lifting plate (16) to descend in height, j. The control system (9) moves the upper mold frame (5) and the lower mold frame (6) toward the side of the robot, and the upper mold frame (5) remains above the lower mold frame (6). k. The control system (9) causes the robot (2) to grab the character mold on the upper mold frame (5) and put it back to its original position.

1. The control system (9) causes the lower mold frame (6) to continue to move toward the side of the robot, so that the upper mold frame (5) and the lower mold frame (6) are offset in the top view direction. m. The control system (9) causes the manipulator (2) to remove the lower mold frame (6) and the upper license plate. n. The control system (9) enables the robot (2) to grab the character mold on the lower mold frame (6) and put it back to its original position.

Images