Labelling machine with collaborative robot

Abstract

The present invention relates to a labelling machine with a collaborative robot designed to place one or more labels on the lateral sides of a stack formed by a plurality of cardboard sheets or cardboard boxes. In particular, the invention proposes a labelling machine provided with a collaborative robotic arm that automatically and almost simultaneously places two labels on different lateral sides of a stack of cardboard sheets or boxes.

Description

[0001] Labeling machine with collaborative robot

[0002] DESCRIPTIVE MEMORANDUM

[0003] OBJECT OF THE INVENTION

[0004] The present invention relates to a collaborative robot labeling machine, intended for placing one or more labels on the side edges of a stack formed by a plurality of cardboard sheets or cardboard boxes.

[0005] More specifically, the invention proposes the development of a labeling machine that is equipped with a collaborative robotic arm that allows the automated and almost simultaneous placement of two labels on different sides of a stack of cardboard sheets or boxes.

[0006] BACKGROUND OF THE INVENTION

[0007] In the packaging sector, facilities designed for the manufacture and shaping of cardboard sheets used in box making are well known. During the production process, these cardboard sheets or boxes are stacked vertically for subsequent storage or further handling.

[0008] In order to trace each stack and obtain information such as order number, customer name, sheet dimensions, etc., a label with production data is affixed. This label is typically applied manually by an operator. However, as mentioned, this process requires at least one dedicated operator, which also means that errors can occur during label placement or even imprecise placement, potentially causing the label to detach unintentionally and lose the associated information.

[0009] The above problem is satisfactorily solved by a known machine described in document no. ES 2926850. This document describes a labeling machine and procedure for placing a paper label on a stack of cardboard sheets, which is provided with a head supporting printing means for the labels and means for facilitating the placement of a single label in each work cycle of the labeling procedure by means of separation enabled to separate two overlapping sheets.

[0010] However, the labeling machine described in document ES 2926850 does not allow for the almost immediate placement of two labels on different sides of the same stack. If it is necessary to place two labels on different sides of the same stack, a rotating device must be implemented to allow the stack of sheets to be rotated so that the labeling machine can apply a second label in a subsequent operation.

[0011] The previous solution requires an additional investment for the rotating device, and the time required to place two labels increases substantially. This is because it involves first printing the label, then separating the cardboard sheets or boxes from the stack, and finally moving the label from the printing point to its placement on the stack. This cycle must be repeated to place a second label on the same stack, so it is clear that the time required to place two labels is considerable when these operations must be performed on a large number of cardboard stacks. Therefore, there is a need for an efficient and automated solution.

[0012] Furthermore, the applicant is not currently aware of an invention that has all the features described in this specification.

[0013] DESCRIPTION OF THE INVENTION

[0014] The present invention has been developed in order to provide a labeling machine that is configured as a novelty within the field of application and solves the aforementioned drawbacks, also providing other additional advantages that will be evident from the description that follows.

[0015] It is therefore an object of the present invention to provide a collaborative robot labeling machine, which is intended for placing two or more labeling sheets between two cardboard sheets or boxes of a stack and on equal or different sides of the same stack, essentially comprising the following parts: - printing means configured for printing labeling sheets;

[0016] - separation means configured to separate two overlapping cardboard sheets or boxes that form part of the stack so as to create a free space between the two cardboard sheets or boxes, provided for the placement of at least a portion of the labeling film; and

[0017] - stop means configured to come into contact with a lateral side of the stack provided with a stop plate movable by drive means, so that it is movable from a first folded position to an extended position, the printing means, separation means and stop means being managed by a control unit.

[0018] In particular, the invention is characterized by the fact that it includes a collaborative robotic arm managed by software that is in data communication with the control unit, provided at one end with a head that has clamping means enabled for clamping label sheets from the printing media and releasing said label sheets on at least one side of the stack of cardboard sheets or boxes.

[0019] Thanks to these features, a labeling machine is obtained that not only offers the advantage of allowing the automated placement of labels on a stack of cardboard sheets or boxes, but also allows two or more labels to be placed on different sides of the same stack almost immediately and without significantly increasing the space required to carry out this operation.

[0020] Furthermore, this configuration allows for the placement of one or more labels, depending on the needs, simply by issuing work commands to the software linked to the collaborative robotic arm. This eliminates the need for additional installation or dismantling of equipment to rotate the stack of sheets or cardboard boxes being handled. Thanks to the degrees of freedom offered by the collaborative robotic arm, it is possible to place the two labels on either side of the stack.

[0021] According to the invention, the labeling machine comprises a mobile platform enabled to be moved in height by means of motorized drive means, on which the printing means, separation means, and collaborative robotic arm are mounted. Preferably, the motorized drive means comprise a chain guide to which the mobile platform is attached, and motor means located at the top of the chain guide to drive a chain supported on a vertical guide.

[0022] In order to protect the components and systems that are part of the machine, it includes a frame comprising side walls that define an interior housing where the mobile platform and its motorized drive means are provided.

[0023] Preferably, the clamping means comprise a plurality of suction elements linked to a pneumatic air system to hold the labeling sheets under a suction effect.

[0024] Advantageously, the printhead comprises an L-shaped main plate, in which a front face defines two gripping regions for each of them to hold a labeling sheet, each of the gripping regions being provided with the clamping means.

[0025] According to another aspect of the invention, the printing means comprise a printer and a receiving area located at the exit of the labeling sheet present in the printer.

[0026] Preferably, the separation means comprise at least one blade movable in a horizontal plane, such that it is movable from a first folded position to an extended position.

[0027] In addition, the separation means may include guidance means to guide the movement of at least one blade.

[0028] Preferably, the separation means comprise a fork-shaped plate defining two wings spaced and parallel to each other, extending from each free end of the wings a blade with a wedge-shaped section to facilitate separation between sheets.

[0029] Preferably, the stopping means comprise a movable stop plate arranged in a vertical plane, such that a surface of the stop plate intended to face a stack of cardboard sheets or boxes has a textured surface. According to the invention, the actuating means forming part of the stopping means comprise a pneumatic cylinder-piston oriented in an inclined plane relative to the horizontal plane in which the stop plate extends.

[0030] The labeling machine described thus represents an innovative structure with structural and constitutive characteristics unknown until now for the purpose for which it is intended, reasons which together with its practical utility, give it sufficient grounds to obtain the exclusive privilege that is requested.

[0031] Other features and advantages of the labeling machine that is the subject of the present invention will become evident from the description of a preferred, but not exclusive, embodiment, which is illustrated by way of non-limiting example in the accompanying drawings, in which:

[0032] BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1.- It is a perspective view of an embodiment of the labeling machine according to the present invention;

[0034] Figure 2.- This is an enlarged perspective view of the labeling machine;

[0035] Figure 3.- It is a front elevation view of the labeling machine represented in figure 1;

[0036] Figure 4.- This is a perspective view of an embodiment of the collaborative robotic arm that is part of the labeling machine; and

[0037] Figure 5.- This is a perspective view of the head present on the collaborative robotic arm for handling labels.

[0038] DESCRIPTION OF A PREFERRED EMBODIMENT

[0039] In view of the aforementioned figures and in accordance with the numbering adopted, an example of a preferred embodiment of the invention can be observed, which comprises the parts and elements indicated and described in detail below.

[0040] Furthermore, the terms first, second, third, and similar terms in the description and claims are used to distinguish between similar elements and not necessarily to describe a sequential or chronological order. The terms may be interchanged in appropriate circumstances, and embodiments of the invention may operate in sequences other than those described or illustrated herein.

[0041] Furthermore, the terms superior, inferior, above, below and similar terms in the description and claims are used for descriptive purposes and not necessarily to describe relative positions.

[0042] As can be seen in Figures 1 and 2, an embodiment of the collaborative robot labeling machine, which is intended for placing two or more labeling sheets between two cardboard sheets or boxes of a stack and on equal or different sides of the same stack, comprises a frame (1) comprising side walls forming a generally rectangular prismatic body, defining an inner housing where the various motorized drive systems and means described below are provided.

[0043] The labeling machine has printing means configured for printing label sheets, which mainly comprise a printer (2) and a receiving area (3) located at the label sheet exit to subsequently pick up the label sheets to be placed in a stack. The receiving area (3) is oriented towards the front of the frame (1), which is open, i.e., without a separating element.

[0044] No further detail will be given in the description of the printer (2) since it can be any printer currently available on the market intended for printing labeling elements.

[0045] As shown in Figures 1 and 2, the frame (1) has on one side an access door (4) with a handle (5), which is intended for maintenance tasks of the printer (2), for example, for replacing paper rolls for label sheets.

[0046] Separation means are also provided that act in sync with the printing means, which are configured to separate two overlapping cardboard sheets or boxes that are part of the stack so as to create a free space between the two cardboard sheets or boxes, specially provided for the placement of at least a portion of the labeling sheet.

[0047] Such separating means may comprise a fork-shaped plate (6) movable in a horizontal plane, which can be moved from a first folded position to an extended position. This plate defines two front wings (60) that are spaced and parallel to each other, extending from each free end of the wings (60) a blade or termination (61) with a wedge-shaped cross-section.

[0048] These separation means also include guiding means, generally indicated by reference (11) in figure 2, which are enabled to guide the displacement of the fork-shaped plate (6).

[0049] The labeling machine features stop means configured to come into contact with a lateral side of the stack, provided with a stop plate movable by drive means, so that it is movable from a first folded position to an extended position.

[0050] More specifically, these stopping means comprise a stop plate (7) located at the front of the machine, which can be moved in a vertical plane, such that a surface of the stop plate (7) intended to be oriented towards a stack of sheets or cardboard boxes has a relief surface.

[0051] Referring now to the drive means present in the stop means, they comprise a pneumatic cylinder-piston (8) that is oriented in an inclined plane relative to the horizontal plane over which the stop plate extends.

[0052] The aforementioned printing means, separation means and stop means are managed by a control unit mounted on the same machine and protected by a housing (9).

[0053] To facilitate the placement of the two labeling sheets onto the same stack of cardboard sheets or similar material, the machine includes a collaborative robotic arm, generally designated by reference (10), which is managed by software that communicates data with the control unit. As can be seen in Figures 3 and 4, the collaborative robotic arm (10) mainly comprises a base (101), an articulated arm (102) rotatably coupled to the base (101) at its lower end, and a head (103) at one end of the articulated arm (102) equipped with clamping means for gripping labeling sheets from the printing equipment and releasing them from at least one side of the stack of cardboard sheets or boxes.

[0054] With regard to the head, which is generally indicated by reference (103), of the collaborative robotic arm (10), as can be seen in figure 4, it comprises an additional support arm (104) that is articulated at the top of the articulated arm (102) and a substantially L-shaped main plate (105), in which a front face defines two gripping regions (106) joined by an arched section (107) to hold each of them a labeling sheet, each of the gripping regions (106) being provided with clamping means to hold and subsequently release a corresponding labeling sheet.

[0055] The clamping means present in each gripping region (106) comprise a plurality of suction elements (108) (see Figure 5 for clarity) linked to a pressurized air pneumatic system (not shown) via connectors (109) to clamp the labeling sheets to be handled by the collaborative robot arm (10) under a suction effect (providing negative pressure on the suction elements). The pressure applied to the suction elements (108) can be managed by valves controlled by electrical signals emitted by the control unit that manages the collaborative robot arm (10).

[0056] Of course, the structure and configuration of the collaborative robotic arm can be of any known type. For this reason, the construction details of the collaborative robotic arm (10), such as the motors that control the movements of the various elements of the robotic arm and the electronic control system of the robotic arm, are neither described nor shown in this document, also because removing these details from the drawings makes them easier and more straightforward to understand.

[0057] In order to adapt to the height for positioning the labeling sheet, the machine has a mobile platform (12) enabled to be movable in height and with the help of motorized drive means (which are explained in more detail later), on whose mobile platform (12) are mounted the printing means, separation means and the collaborative robotic arm mentioned above.

[0058] Figure 3 shows how the platform is in a high position relative to ground level.

[0059] The motorized drive means for executing the movement of the platform comprise a chain guide, generally indicated by reference (13), where the mobile platform (12) is coupled, and an electric motor (14) located at the top of the chain guide (13) to drive a chain supported on a vertical guide.

[0060] The details, shapes, dimensions and other accessory elements used in the manufacture of the labeling machine of the invention may be conveniently replaced by others that do not depart from the scope defined by the claims included below.

[0061] List of reference numbers

[0062] 1 frame

[0063] 2 printers

[0064] 3 reception area

[0065] 4 access door

[0066] 5 handle

[0067] 6 fork-shaped plate

[0068] 7 Stop plate

[0069] 8 pneumatic cylinder-piston

[0070] 9 casing

[0071] 10 collaborative robotic arm

[0072] 101 base

[0073] 102 articulated arm

[0074] 103 head

[0075] 104 additional support arm

[0076] 105 main board

[0077] 106 gripping region

[0078] 107 arched section

[0079] 108 suction elements 109 connectors

[0080] 11 guidance methods

[0081] 12 mobile platform

[0082] 13 chain guide 14 electric motor

Claims

CLAIMS 1. A collaborative robot labeling machine, designed for placing two or more labeling sheets between two cardboard sheets or boxes in a stack, on the same or different sides of the same stack, comprising: - printing equipment configured to print label sheets; - separation means configured to separate two overlapping cardboard sheets or boxes that form part of the stack so as to create a free space between the two cardboard sheets or boxes, provided for the placement of at least a portion of the labeling film; and - stop means configured to come into contact with a lateral side of the stack, provided with a stop plate (7) movable by drive means, so that it is movable from a first folded position to an extended position, the printing means, separation means and stop means being managed by a control unit, characterized in that it includes a collaborative robotic arm (10) managed by software that is in data communication with the control unit, provided at one end with a head having clamping means enabled for clamping label sheets from the printing means and releasing said label sheets on at least one lateral side of the stack of sheets or cardboard boxes.

2. Labeling machine according to claim 1, characterized in that it comprises a mobile platform enabled to be movable in height by the presence of motorized drive means, on which mobile platform (12) are mounted the printing means, separation means and the collaborative robotic arm (10).

3. Labeling machine according to claim 2, characterized in that the motorized drive means comprise a chain guide to which the movable platform (12) is attached, and motor means located at the top of the chain guide (13) to drive a chain supported on a vertical guide.

4. Labeling machine according to claim 2, characterized in that it includes a frame (1) comprising side walls that define an inner housing where the mobile platform (12) and its motorized drive means are provided.

5. Labeling machine according to claim 1, characterized in that the clamping means comprise a plurality of suction elements linked to a pneumatic air system to clamp the labeling sheets under a negative pressure effect.

6. Labeling machine according to claims 1 and 5, characterized in that the head of the collaborative robotic arm (10) comprises an L-shaped main plate, in which a front face defines two gripping regions for each of them to hold a labeling sheet, each of the gripping regions being provided with the clamping means.

7. Labeling machine according to any of the preceding claims, characterized in that the printing means comprise a printer (2) and a receiving area located at the exit of the labeling sheet present in the printer (2).

8. Labeling machine according to any of the preceding claims, characterized in that the separation means comprise at least one blade movable in a horizontal plane, such that it is movable from a first folded position to an extended position.

9. Labeling machine according to claim 8, characterized in that the separation means include guiding means for guiding the movement of said at least one blade.

10. Labeling machine according to claim 8, characterized in that the separation means comprise a fork-shaped plate defining two wings spaced and parallel to each other, extending from each free end of the wings a blade with a wedge-shaped section.

11. Labeling machine according to any of the preceding claims, characterized in that the stop means comprise a movable stop plate (7) arranged in a vertical plane, such that a surface of the stop plate (7) intended to be oriented towards a stack of cardboard sheets or boxes has a relief surface.

12. Labeling machine according to claims 1 and 11, characterized in that the drive means comprise a pneumatic cylinder-piston that is oriented in an inclined plane with respect to the horizontal plane on which the stop plate (7) extends.

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