WO2024134003A1 - Self-adjusting, automatic demoulding machine - Google Patents

Self-adjusting, automatic demoulding machine Download PDF

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Publication number
WO2024134003A1
WO2024134003A1 PCT/ES2023/070777 ES2023070777W WO2024134003A1 WO 2024134003 A1 WO2024134003 A1 WO 2024134003A1 ES 2023070777 W ES2023070777 W ES 2023070777W WO 2024134003 A1 WO2024134003 A1 WO 2024134003A1
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WIPO (PCT)
Prior art keywords
molds
manipulator
cage
demolding
mold
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PCT/ES2023/070777
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Spanish (es)
French (fr)
Inventor
Joan Molist Oliva
Original Assignee
Signals In Motion, S.L.
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Application filed by Signals In Motion, S.L. filed Critical Signals In Motion, S.L.
Publication of WO2024134003A1 publication Critical patent/WO2024134003A1/en

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  • the present invention falls within the field of machinery for the food industry, specifically machinery for demolding food products.
  • multi-mold cages In order to make processes more efficient, molds are frequently grouped in so-called multi-mold cages, where the molds are integrated into trays located on guides at several vertical levels in a supporting structure.
  • multi-mold cages There are various types of cages depending on the type of food to be treated, varying the dimensions of molds, guides and structures, the number of floors and molds per floor, etc.
  • manufacturers of multi-mold cages with different specifications are different specifications.
  • the cages are frequently subjected to high temperatures first and then immersed in pools of cooling water. He does that it is difficult to incorporate identification systems resistant to these processes, so identification must be carried out once the cooking and cooling process has finished, with the aggravating factor that the metals of the cages and molds present high degrees of humidity and water particles. on their surfaces.
  • the machinery currently on the market is made up of different disaggregated modules, so that they take up a lot of space in the facilities, space that could be used for other functions.
  • the object of the present invention is to obtain an automatic self-adjusting demolding machine capable of demolding the food stuffed in the molds of an open multi-mold cage, to later separate the empty molds from the food and integrate it into a possible preparation chain, and that can automatically adapt to the different types and sizes of multi-mold cages, compactly grouping all the necessary functions in a small space.
  • the automatic self-adjusting demolding machine object of the present invention is formed by at least one manipulator and an elevator, located adjacent to the multi-mold cage that contains a series of molds, the manipulator performing the demolding of each mold located in each level or floor of the cage and being transported vertically by the elevator to each of said levels or floors.
  • the manipulator integrates elements to perform functions of checking cage and mold measurements, removing molds from the cage, counting molds, fixing molds in the manipulator, demoulding of food and lateral evacuation of molds and food, as well as a supporting structure. in a parallelepiped shape where the set of items.
  • a series of optical sensors are located on the face of the manipulator in correspondence with the adjacent face of the multi-mold cage, performing a scan of said cage as the manipulator moves vertically using the elevator.
  • the verified measurements are: i) Situation dimensions: alignment, parallelism and distance from the cage to the machine.
  • the manipulator In order to extract the molds from each level of the cage, the manipulator is equipped with two linear actuators with claws that grab the mold and drag it into the manipulator through the movement of said actuators. At the bottom of the manipulator there is a horizontal table formed by a series of main rollers in a transverse position, on which the extracted mold rests.
  • the manipulator is also equipped with another optical sensor that moves horizontally using linear actuators, also measuring the separation distance between figures once the mold is placed on the manipulator table. Once the demolding process is complete, the sensor performs a second scan to ensure that the table is completely empty.
  • each group is made up of two cylinders tires and a crossbar.
  • the manipulator incorporates a substructure that contains different crossbars with suction cups and is supported by four pneumatic cylinders that allow linear vertical movement. Once the molds are secured, the substructure lowers to the corresponding height and the suction cups suck up the food. The substructure then moves upwards again with the food attached.
  • the empty molds are evacuated through a lateral face of the manipulator using an extractor blade, consisting of a panel that moves transversely using other linear actuators.
  • the manipulator incorporates roller guides whose axes are located perpendicular to the axes of the main rollers, said roller guides being retracted below the plane of the table in the demolding process and rising. above said plane to allow the movement of the empty molds pushed by the shovel.
  • the substructure with the suction cups lowers and deposits the food on the roller guides.
  • the extractor blade moves to its initial position, pushing the food which in turn moves above said roller guides until it is expelled from the opposite side to where the molds are evacuated.
  • the machine incorporates an electronic controller that controls the process by receiving signals from the sensors and activating the actuators, as well as recording the data of the operations carried out, with the count of molds, foods and typologies carried out to manage the traceability of the product.
  • the controller also incorporates acoustic and light signals to warn operators when the automatic process has finished, and the cage is empty and released to be removed and replaced with a new one.
  • Said controller is connected to the Internet through a loT interface, so that it is possible to remotely access the machine for diagnosis, carrying out maintenance operations and collecting data. In this way, maintenance and after-sales actions can be specified individually for each machine and adapted to each user.
  • the machine is capable of self-identifying, autonomously, the type of multi-mold cage and measurements that must be processed and, once the identifications have been made, the machine decides the coordinates to apply in the different movement instructions, so that it is capable of adapting to successfully demold the different products.
  • step 8 o Return to step 2 o , positioning yourself on the next level until all the levels of the cage are unmolded.
  • Figure 1 shows a side view of a preferred embodiment of the automatic self-adjusting demolding machine object of the present invention and object of the present invention.
  • Figure 2 shows an isometric view of a preferred embodiment of a multi-mold cage of the automatic self-adjusting demolding machine that is the object of the present invention.
  • Figure 3 shows an isometric view of a preferred embodiment of the manipulator of the automatic self-adjusting demolding machine object of the present invention.
  • Figure 4 shows an elevation view of a preferred embodiment of the manipulator of the automatic self-adjusting demolding machine that is the object of the present invention.
  • Figure 5 shows a side view of a preferred embodiment of the manipulator of the automatic self-adjusting demolding machine object of the present invention.
  • Figure 6 shows a plan view of a preferred embodiment of the manipulator of the automatic self-adjusting demolding machine that is the object of the present invention.
  • the automatic self-adjusting demolding machine object of the present invention is formed by at least one manipulator (1) and an elevator (2), located adjacent to the multi-mold cage (3) that contains a series of molds (4), the manipulator (1) performing the demolding of each mold (4) located on each level (5) or floor of the cage (3) and being transported vertically by the elevator (2) to each one of said levels (5) or floors.
  • the manipulator (1) integrates elements to perform functions of checking cage measurements (3) and molds (4), extracting molds (4) from the cage (3), counting molds (4), fixing molds (4 ) in the manipulator (1), demoulding of food and lateral evacuation of molds (4) and food, as well as a parallelepiped-shaped supporting structure (20) where the set of elements are mounted.
  • a series of optical sensors (24) are located on the face (6) of the manipulator (1) in correspondence with the adjacent face of the multi-mold cage (3), performing a scan of said cage. (3) when the manipulator (1) moves vertically using the elevator (2).
  • the verified measurements are: i) Situation dimensions: alignment, parallelism and distance from the cage (3) to the machine.
  • the manipulator (1) In order to extract the molds (4) from each level (5) of the cage (3), the manipulator (1) is equipped with two linear actuators (7) with claws (23) that grip the mold (4) and They drag it into the manipulator (1) through the movement of said actuators (7). At the bottom of the manipulator (1) there is a horizontal table (8) formed by a series of main rollers (9) in a transverse position, on which the extracted mold (4) rests.
  • the manipulator (1) is also equipped with another optical sensor that moves horizontally using linear actuators, also measuring the separation distance between figures once the mold (4) is placed on the table (8). ) of the manipulator. Once the demolding process is complete, the sensor performs a second scan to ensure that the table (8) has been completely empty.
  • each clamping group (12, 13) is formed by two pneumatic cylinders (21) and a crossbar (22).
  • the manipulator (1) incorporates a substructure (14) that contains different crossbars (15) with suction cups (16) and is supported by four pneumatic cylinders (17) that allow linear vertical movement. Once the molds (4) are secured, the substructure (14) lowers to the corresponding height and the suction cups (16) suck the food. Next, the substructure (14) moves upward again with the food attached.
  • the empty molds (4) are evacuated through a lateral face (10) of the manipulator (1) by means of an extractor blade (18), consisting of a panel that moves transversely by means of other linear actuators.
  • the manipulator (1) incorporates roller guides (19) whose axes are located perpendicular to the axes of the main rollers (9), said roller guides (19) being retracted. ) below the plane of the table (8) in the demolding process and rising above said plane to allow the movement of the empty molds (4) pushed by the shovel (18).
  • the substructure (14) with the suction cups (16) lowers and deposits the food on the roller guides (19).
  • the extractor blade (18) moves to its initial position, pushing the food which in turn moves above said roller guides (19) until it is expelled through the opposite side face (11) from where the molds are evacuated. (4).
  • the machine incorporates an electronic controller that controls the process by receiving signals from the sensors and activating the actuators, as well as recording the data of the operations carried out, with the count of molds, foods and typologies carried out to manage the traceability of the product.
  • the controller also incorporates acoustic and light signals to warn operators when the automatic process has ended, and the cage (3) is empty and released to be removed and replaced with a new one.
  • Said controller is connected to the Internet through a loT interface, so that it is possible to remotely access the machine for diagnosis, carrying out maintenance operations and collecting data. In this way, maintenance actions and after-sales can be specified unitarily for each machine and adapted to each user.
  • the machine is capable of self-identifying, autonomously, the type of multi-mold cage and measurements that it must process and, once the identifications have been made, the machine decides the coordinates to apply in the different movement instructions, so that It is capable of being adapted to successfully demold different products.
  • step 8 o Return to step 2 o , positioning yourself on the next level until all the levels of the cage are unmolded (3).

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Abstract

The invention relates to a self-adjusting, automatic demoulding machine, formed by a manipulator (1) and a lift conveyor (2), located in a position adjacent to a multi-mould cage (3) containing a series of moulds (4), wherein the manipulator (1) performs the demoulding of each mould (4), and it is transported vertically by the lift conveyor (2) to each of the levels (5), with said manipulator (1) having integrated elements for carrying out functions such as checking the measurements of the cage (3) and moulds (4), removing moulds (4) from the cage (3), counting moulds (4), securing moulds (4) in the manipulator (1), demoulding foods and laterally removing moulds (4) and foods; and the manipulator includes a supporting structure (20) where these elements are placed, with a number of optical sensors (24) being positioned in the face (6) of the manipulator (1), with the function of scanning the cage (3), for checking the measurements of the cage and moulds.

Description

DESCRIPCIÓN DESCRIPTION
MÁQUINA AUTOMÁTICA DE DESMOLDEO AUTOAJUSTABLE AUTOMATIC SELF-ADJUSTABLE DEMOLDING MACHINE
Objeto de la invención Object of the invention
La presente invención se inscribe dentro del campo de la maquinaria para la industria alimentaria, en concreto la maquinaria para el desmoldeo de productos alimentarios. The present invention falls within the field of machinery for the food industry, specifically machinery for demolding food products.
Antecedentes de la invención Background of the invention
Dentro de los procesos productivos de la industria alimentaria, como puede ser la industria cárnica, existen productos semielaborados que se sitúan en moldes para la realización de determinados procesos, como la cocción o el horneado. Una vez finalizado dicho proceso, los productos han de extraerse de los moldes para continuar el proceso productivo, en lo que se denomina proceso de desmoldeo o desmoldeado. Within the production processes of the food industry, such as the meat industry, there are semi-finished products that are placed in molds to carry out certain processes, such as cooking or baking. Once this process is completed, the products must be removed from the molds to continue the production process, in what is called the demolding or demolding process.
La automatización del proceso productivo ha conllevado también la necesidad de automatizar el proceso de desmoldeo, por lo que se ha desarrollado maquinaria automática con dicha finalidad. The automation of the production process has also led to the need to automate the demolding process, which is why automatic machinery has been developed for this purpose.
A fin de hacer más eficientes los procesos, los moldes se agrupan con frecuencia en las llamadas jaulas multimolde, donde los moldes se integran en bandejas situadas sobre unas guías en varios niveles verticales en una estructura portante. Existen diversas tipologías de jaula según sea el tipo de alimento a tratar, vahando las dimensiones de moldes, guías y estructuras, el número de pisos y de moldes por piso, etc. Además, existen diferentes fabricantes de jaulas multimolde con diferentes especificaciones. In order to make processes more efficient, molds are frequently grouped in so-called multi-mold cages, where the molds are integrated into trays located on guides at several vertical levels in a supporting structure. There are various types of cages depending on the type of food to be treated, varying the dimensions of molds, guides and structures, the number of floors and molds per floor, etc. In addition, there are different manufacturers of multi-mold cages with different specifications.
Las máquinas de desmoldeo actualmente presentes en el mercado para su uso con jaulas multimolde no se adaptan con facilidad a los diversos tamaños y tipologías de jaula, debiendo identificarse a priori el tipo de jaula a fin de ajustar manualmente la operación de la máquina dentro de su rango de uso. The demolding machines currently on the market for use with multi-mold cages do not easily adapt to the various sizes and types of cage, and the type of cage must be identified a priori in order to manually adjust the operation of the machine within its range of use.
Durante los procesos de cocción y enfriado, las jaulas son sometidas con frecuencia a altas temperaturas primero y posteriormente a inmersión en piscinas de agua refrigerante. Ello hace que sea difícil incorporar sistemas de identificación resistentes a dichos procesos, con lo cual la identificación debe realizarse una vez ha finalizado el proceso de cocción y enfriado, con el agravante que los metales de las jaulas y moldes presentan altos grados de humedad y partículas de agua en sus superficies. During the cooking and cooling processes, the cages are frequently subjected to high temperatures first and then immersed in pools of cooling water. He does that it is difficult to incorporate identification systems resistant to these processes, so identification must be carried out once the cooking and cooling process has finished, with the aggravating factor that the metals of the cages and molds present high degrees of humidity and water particles. on their surfaces.
Por otra parte, la maquinara actualmente en el mercado está formada por distintos módulos desagregados, de forma que ocupan mucho espacio en las instalaciones, espacio que podría estar destinado a otras funciones. On the other hand, the machinery currently on the market is made up of different disaggregated modules, so that they take up a lot of space in the facilities, space that could be used for other functions.
Existe por ello una necesidad no cubierta en el mercado de máquinas de desmoldeo automáticas capaces de desmoldar los alimentos embutidos en los moldes de una jaula multimolde abierta, para más tarde separar los moldes vacíos de los alimentos e integrarse en una posible cadena de preparación, y que puedan adaptarse automáticamente a las distintas tipologías y tamaños de jaulas multimolde, agrupando de forma compacta todas las funciones necesarias en un espacio reducido. There is therefore an unmet need in the market for automatic demoulding machines capable of demoulding the food stuffed in the molds of an open multi-mold cage, to later separate the empty molds from the food and integrate them into a possible preparation chain, and that can automatically adapt to the different types and sizes of multi-mold cages, compactly grouping all the necessary functions in a small space.
Descripción de la invención Description of the invention
El objeto de la presente invención es la obtención de una máquina automática de desmoldeo autoajustable capaz de desmoldar los alimentos embutidos en los moldes de una jaula multimolde abierta, para más tarde separar los moldes vacíos de los alimentos e integrarse en una posible cadena de preparación, y que puede adaptarse automáticamente a las distintas tipologías y tamaños de jaulas multimolde, agrupando de forma compacta todas las funciones necesarias en un espacio reducido. The object of the present invention is to obtain an automatic self-adjusting demolding machine capable of demolding the food stuffed in the molds of an open multi-mold cage, to later separate the empty molds from the food and integrate it into a possible preparation chain, and that can automatically adapt to the different types and sizes of multi-mold cages, compactly grouping all the necessary functions in a small space.
La máquina automática de desmoldeo autoajustable objeto de la presente invención está formada, al menos, por un manipulador y un elevador, situados en posición adyacente a la jaula multimolde que contiene una serie de moldes, realizando el manipulador el desmoldeo de cada molde situado en cada nivel o piso de la jaula y siendo transportado verticalmente por el elevador a cada uno de dichos niveles o pisos. The automatic self-adjusting demolding machine object of the present invention is formed by at least one manipulator and an elevator, located adjacent to the multi-mold cage that contains a series of molds, the manipulator performing the demolding of each mold located in each level or floor of the cage and being transported vertically by the elevator to each of said levels or floors.
El manipulador integra elementos para realizar funciones de comprobación de medidas de jaula y moldes, extracción de moldes de la jaula, contaje de moldes, fijación de moldes en el manipulador, desmoldeo de alimentos y evacuación lateral de moldes y alimentos, así como una estructura portante de forma paralepipédica donde van montados el conjunto de elementos. The manipulator integrates elements to perform functions of checking cage and mold measurements, removing molds from the cage, counting molds, fixing molds in the manipulator, demoulding of food and lateral evacuation of molds and food, as well as a supporting structure. in a parallelepiped shape where the set of items.
Para la comprobación de medidas de jaula y moldes, una serie de sensores ópticos se sitúan en la cara del manipulador en correspondencia con la cara adyacente de la jaula multimolde, realizando un escaneo de dicha jaula al desplazarse el manipulador verticalmente mediante el elevador. Las medidas comprobadas son: i) Cotas de situación: alineación, paralelismo y distancia de la jaula a la máquina. To check cage and mold measurements, a series of optical sensors are located on the face of the manipulator in correspondence with the adjacent face of the multi-mold cage, performing a scan of said cage as the manipulator moves vertically using the elevator. The verified measurements are: i) Situation dimensions: alignment, parallelism and distance from the cage to the machine.
¡i) Altura entre el suelo y el primer nivel de moldes. iii) Altura de los moldes. iv) Altura de cada nivel. v) Ancho del interior de la jaula multimolde. vi) Posición correcta de la jaula respecto al manipulador. vii) Profundidad de la pared frontal de los moldes. viii) Profundidad de la solapa de agarre de los moldes. ix) Conteo del número de niveles. i) Height between the ground and the first level of molds. iii) Height of the molds. iv) Height of each level. v) Width of the interior of the multi-mold cage. vi) Correct position of the cage with respect to the manipulator. vii) Depth of the front wall of the molds. viii) Depth of the gripping flap of the molds. ix) Counting the number of levels.
A fin de extraer los moldes de cada nivel de la jaula, el manipulador está dotado de dos actuadores lineales con unas garras que agarran el molde y lo arrastran al interior del manipulador mediante el movimiento de dichos actuadores. En la parte inferior del manipulador se sitúa una mesa horizontal formada por una serie de rodillos principales en posición transversal, sobre la que se apoya el molde extraído. In order to extract the molds from each level of the cage, the manipulator is equipped with two linear actuators with claws that grab the mold and drag it into the manipulator through the movement of said actuators. At the bottom of the manipulator there is a horizontal table formed by a series of main rollers in a transverse position, on which the extracted mold rests.
Para el contaje de moldes, el manipulador está dotado también de otro sensor óptico que se desplaza horizontalmente mediante actuadores lineales, midiendo además la distancia de separación entre figuras una vez situado el molde en la mesa del manipulador. Una vez finalizado el proceso de desmoldeo, el sensor realiza un segundo barrido para asegurar que la mesa ha quedado completamente vacía. To count molds, the manipulator is also equipped with another optical sensor that moves horizontally using linear actuators, also measuring the separation distance between figures once the mold is placed on the manipulator table. Once the demolding process is complete, the sensor performs a second scan to ensure that the table is completely empty.
A fin de asegurar la posición de los moldes en la mesa durante el proceso de desmoldeo, éstos son presionados mediante dos grupos de sujeción, uno anterior y otro posterior. El grupo anterior aplica una presión vertical directamente sobre la solapa frontal de los moldes, que siempre se encontrará en la misma posición. El grupo posterior aplica la presión en la solapa trasera del molde y puede desplazarse longitudinalmente para adaptarse a las distintas longitudes de los moldes, primero desplazándose hasta encontrar la posición correcta y asegurando después el molde al presionar. Cada grupo está formado por dos cilindros neumáticos y un travesaño. In order to ensure the position of the molds on the table during the demoulding process, they are pressed by two clamping groups, one anterior and one posterior. The previous group applies vertical pressure directly on the front flap of the molds, which will always be in the same position. The rear group applies pressure to the rear flap of the mold and can move longitudinally to adapt to the different lengths of the molds, first moving until the correct position is found and then securing the mold by pressing. Each group is made up of two cylinders tires and a crossbar.
Para realizar el desmoldeo el manipulador incorpora una subestructura que contiene distintos travesaños con ventosas y está soportada por cuatro cilindros neumáticos que permiten un desplazamiento vertical lineal. Una vez los moldes están asegurados, la subestructura baja hasta la altura correspondiente y las ventosas succionan el alimento. A continuación, la subestructura vuelve a desplazarse hacia arriba con el alimento sujeto. To perform demolding, the manipulator incorporates a substructure that contains different crossbars with suction cups and is supported by four pneumatic cylinders that allow linear vertical movement. Once the molds are secured, the substructure lowers to the corresponding height and the suction cups suck up the food. The substructure then moves upwards again with the food attached.
Los moldes vacíos se evacúan por una cara lateral del manipulador mediante una pala extractora, consistente en un panel que se desplaza transversalmente mediante otros actuadores lineales. A fin de facilitar el desplazamiento de los moldes, el manipulador incorpora unas guías de rodillos cuyos ejes están situados perpendicularmente a los ejes de los rodillos principales, estando retraídas dichas guías de rodillos por debajo del plano de la mesa en el proceso de desmoldeo y elevándose por encima de dicho plano para permitir el desplazamiento de los moldes vacíos empujados por la pala. The empty molds are evacuated through a lateral face of the manipulator using an extractor blade, consisting of a panel that moves transversely using other linear actuators. In order to facilitate the movement of the molds, the manipulator incorporates roller guides whose axes are located perpendicular to the axes of the main rollers, said roller guides being retracted below the plane of the table in the demolding process and rising. above said plane to allow the movement of the empty molds pushed by the shovel.
Una vez evacuados los moldes, la subestructura con las ventosas baja y deposita el alimento sobre las guías de rodillos. La pala extractora se desplaza a su posición inicial, empujando el alimento que a su vez se desplaza por encima de dichas guías de rodillos hasta ser expulsado por la cara lateral opuesta a por donde se evacúan los moldes. Once the molds have been evacuated, the substructure with the suction cups lowers and deposits the food on the roller guides. The extractor blade moves to its initial position, pushing the food which in turn moves above said roller guides until it is expelled from the opposite side to where the molds are evacuated.
La máquina incorpora un controlador electrónico que controla el proceso recibiendo las señales de los sensores y activando los actuadores, así como registrando los datos de las operaciones realizadas, con el conteo de moldes, alimentos y tipologías realizadas para gestionar la trazabilidad del producto. El controlador también incorpora señales acústicas y luminosas a fin de advertir a los operarios cuando ha finalizado el proceso automático, y la jaula está vacía y liberada para ser extraída y sustituida por una nueva. The machine incorporates an electronic controller that controls the process by receiving signals from the sensors and activating the actuators, as well as recording the data of the operations carried out, with the count of molds, foods and typologies carried out to manage the traceability of the product. The controller also incorporates acoustic and light signals to warn operators when the automatic process has finished, and the cage is empty and released to be removed and replaced with a new one.
Dicho controlador está conectado a internet mediante un interfaz loT, de forma que es posible acceder remotamente a la máquina para el diagnóstico, la realización de operaciones de mantenimiento y la recogida de datos. De este modo, las actuaciones de mantenimiento y posventa pueden especificarse de forma unitaria para cada máquina y adaptarse a cada usuario. Said controller is connected to the Internet through a loT interface, so that it is possible to remotely access the machine for diagnosis, carrying out maintenance operations and collecting data. In this way, maintenance and after-sales actions can be specified individually for each machine and adapted to each user.
Gracias a todo ello, la máquina es capaz de autoidentificar, de forma autónoma, el tipo de jaula multimolde y medidas que debe procesar y, una vez realizadas las identificaciones, la máquina decide las coordenadas aplicar en las diferentes instrucciones de movimientos, de manera que es capaz de adatarse para desmoldear con éxito los diferentes productos. Thanks to all this, the machine is capable of self-identifying, autonomously, the type of multi-mold cage and measurements that must be processed and, once the identifications have been made, the machine decides the coordinates to apply in the different movement instructions, so that it is capable of adapting to successfully demold the different products.
Conformada por los distintos elementos descritos, el proceso de desmoldeo realizado por la máquina sigue los siguientes pasos: Made up of the different elements described, the demolding process carried out by the machine follows the following steps:
1o Comprobación de medidas de la jaula. 1 o Checking cage measurements.
2o Posicionamiento del manipulador en el nivel de la jaula a desmoldar mediante el elevador. 2 o Positioning of the manipulator at the level of the cage to be demoulded using the elevator.
3o Extracción de moldes de la jaula. 3 o Extraction of molds from the cage.
4o Contaje de moldes. 4th Mold count.
5o Fijación de moldes en el manipulador. 5 o Fixing molds on the manipulator.
6o Desmoldado de alimento. 6 o Unmolding of food.
7o Extracción lateral de moldes y alimento. 7 o Lateral extraction of molds and food.
8o Vuelta al paso 2o, posicionándose en el siguiente nivel hasta desmoldar todos los niveles de la jaula. 8 o Return to step 2 o , positioning yourself on the next level until all the levels of the cage are unmolded.
9o Una vez desmoldados todos los niveles, la máquina se desactiva por completo y señala la finalización del proceso para poder proceder al desmoldado de una nueva jaula. 9 o Once all the levels have been demoulded, the machine is completely deactivated and signals the end of the process so that a new cage can be demoulded.
A lo largo de la descripción y de las reivindicaciones, la palabra «comprende» y sus vahantes no pretenden excluir otras características técnicas, componentes, aditivos o pasos. Para los expertos en la materia, otros objetos, ventajas y características de la invención se desprenderán en parte de la invención y en parte de la práctica de la invención. Los siguientes ejemplos y dibujos se proporcionan a modo de ilustración y no se pretende que restrinjan la presente invención. Además, la invención cubre todas las posibles combinaciones de realizaciones particulares y preferidas aquí indicadas. Throughout the description and claims, the word "comprises" and its meanings are not intended to exclude other technical characteristics, components, additives or steps. For those skilled in the art, other objects, advantages and features of the invention will emerge partly from the invention and partly from the practice of the invention. The following examples and drawings are provided by way of illustration and are not intended to restrict the present invention. Furthermore, the invention covers all possible combinations of particular and preferred embodiments indicated herein.
Breve descripción de las figuras Brief description of the figures
Para complementar la descripción que se está realizando y con objeto de ayudar a una mejor comprensión de las características de la invención, se acompaña como parte integrante de dicha descripción, un juego de dibujos en donde con carácter ilustrativo y no limitativo, se ha representado lo siguiente: To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, a set of drawings is attached as an integral part of said description, where, with an illustrative and non-limiting nature, the following has been represented. following:
La Figura 1 muestra una vista lateral de una realización preferente de la máquina automática de desmoldeo autoajustable objeto de la presente invención objeto de la presente invención. La Figura 2 muestra una vista ¡sométrica de una realización preferente de una jaula multimolde de la máquina automática de desmoldeo autoajustable objeto de la presente invención. Figure 1 shows a side view of a preferred embodiment of the automatic self-adjusting demolding machine object of the present invention and object of the present invention. Figure 2 shows an isometric view of a preferred embodiment of a multi-mold cage of the automatic self-adjusting demolding machine that is the object of the present invention.
La Figura 3 muestra una vista isométrica de una realización preferente del manipulador de la máquina automática de desmoldeo autoajustable objeto de la presente invención. Figure 3 shows an isometric view of a preferred embodiment of the manipulator of the automatic self-adjusting demolding machine object of the present invention.
La Figura 4 muestra una vista en alzado de una realización preferente del manipulador de la máquina automática de desmoldeo autoajustable objeto de la presente invención. Figure 4 shows an elevation view of a preferred embodiment of the manipulator of the automatic self-adjusting demolding machine that is the object of the present invention.
La Figura 5 muestra una vista lateral de una realización preferente del manipulador de la máquina automática de desmoldeo autoajustable objeto de la presente invención. Figure 5 shows a side view of a preferred embodiment of the manipulator of the automatic self-adjusting demolding machine object of the present invention.
La Figura 6 muestra una vista en planta de una realización preferente del manipulador de la máquina automática de desmoldeo autoajustable objeto de la presente invención. Figure 6 shows a plan view of a preferred embodiment of the manipulator of the automatic self-adjusting demolding machine that is the object of the present invention.
Exposición de un modo detallado de realización de la invención Exposition of a detailed embodiment of the invention
Empleando la numeración adoptada en las Figuras 1 a 6 del presente documento para identificar los elementos que componen la máquina automática de desmoldeo autoajustable objeto de la presente invención, se procede a la descripción de dichos elementos para una realización preferente de la invención. Using the numbering adopted in Figures 1 to 6 of this document to identify the elements that make up the automatic self-adjusting demolding machine object of the present invention, we proceed to the description of said elements for a preferred embodiment of the invention.
En una realización preferente de la invención, la máquina automática de desmoldeo autoajustable objeto de la presente invención está formada, al menos, por un manipulador (1) y un elevador (2), situados en posición adyacente a la jaula multimolde (3) que contiene una serie de moldes (4), realizando el manipulador (1) el desmoldeo de cada molde (4) situado en cada nivel (5) o piso de la jaula (3) y siendo transportado verticalmente por el elevador (2) a cada uno de dichos niveles (5) o pisos. In a preferred embodiment of the invention, the automatic self-adjusting demolding machine object of the present invention is formed by at least one manipulator (1) and an elevator (2), located adjacent to the multi-mold cage (3) that contains a series of molds (4), the manipulator (1) performing the demolding of each mold (4) located on each level (5) or floor of the cage (3) and being transported vertically by the elevator (2) to each one of said levels (5) or floors.
El manipulador (1) integra elementos para realizar funciones de comprobación de medidas de jaula (3) y moldes (4), extracción de moldes (4) de la jaula (3), contaje de moldes (4), fijación de moldes (4) en el manipulador (1), desmoldeo de alimentos y evacuación lateral de moldes (4) y alimentos, así como una estructura portante (20) de forma paralepipédica donde van montados el conjunto de elementos. Para la comprobación de medidas de jaula y moldes una serie de sensores ópticos (24) se sitúan en la cara (6) del manipulador (1) en correspondencia con la cara adyacente de la jaula multimolde (3), realizando un escaneo de dicha jaula (3) al desplazarse el manipulador (1) verticalmente mediante el elevador (2). Las medidas comprobadas son: i) Cotas de situación: alineación, paralelismo y distancia de la jaula (3) a la máquina.The manipulator (1) integrates elements to perform functions of checking cage measurements (3) and molds (4), extracting molds (4) from the cage (3), counting molds (4), fixing molds (4 ) in the manipulator (1), demoulding of food and lateral evacuation of molds (4) and food, as well as a parallelepiped-shaped supporting structure (20) where the set of elements are mounted. To check cage and mold measurements, a series of optical sensors (24) are located on the face (6) of the manipulator (1) in correspondence with the adjacent face of the multi-mold cage (3), performing a scan of said cage. (3) when the manipulator (1) moves vertically using the elevator (2). The verified measurements are: i) Situation dimensions: alignment, parallelism and distance from the cage (3) to the machine.
¡i) Altura entre el suelo y el primer nivel de moldes (4). iii) Altura de los moldes (4). iv) Altura de cada nivel (5). v) Ancho del interior de la jaula multimolde (3). vi) Posición correcta de la jaula (3) respecto al manipulador (1). vii) Profundidad de la pared frontal de los moldes (4). viii) Profundidad de la solapa de agarre de los moldes (4). ix) Conteo del número de niveles (5). i) Height between the ground and the first level of molds (4). iii) Height of the molds (4). iv) Height of each level (5). v) Width of the interior of the multi-mold cage (3). vi) Correct position of the cage (3) with respect to the manipulator (1). vii) Depth of the front wall of the molds (4). viii) Depth of the gripping flap of the molds (4). ix) Counting the number of levels (5).
A fin de extraer los moldes (4) de cada nivel (5) de la jaula (3), el manipulador (1) está dotado de dos actuadores lineales (7) con unas garras (23) que agarran el molde (4) y lo arrastran al interior del manipulador (1) mediante el movimiento de dichos actuadores (7). En la parte inferior del manipulador (1) se sitúa una mesa horizontal (8) formada por una serie de rodillos principales (9) en posición transversal, sobre la que se apoya el molde (4) extraído. In order to extract the molds (4) from each level (5) of the cage (3), the manipulator (1) is equipped with two linear actuators (7) with claws (23) that grip the mold (4) and They drag it into the manipulator (1) through the movement of said actuators (7). At the bottom of the manipulator (1) there is a horizontal table (8) formed by a series of main rollers (9) in a transverse position, on which the extracted mold (4) rests.
Para el contaje de moldes (4), el manipulador (1) está dotado también de otro sensor óptico que se desplaza horizontalmente mediante actuadores lineales, midiendo además la distancia de separación entre figuras una vez situado el molde (4) en la mesa (8) del manipulador. Una vez finalizado el proceso de desmoldeo, el sensor realiza un segundo barrido para asegurar que la mesa (8) ha quedado completamente vacía. For counting molds (4), the manipulator (1) is also equipped with another optical sensor that moves horizontally using linear actuators, also measuring the separation distance between figures once the mold (4) is placed on the table (8). ) of the manipulator. Once the demolding process is complete, the sensor performs a second scan to ensure that the table (8) has been completely empty.
A fin de asegurar la posición de los moldes (4) en la mesa (8) durante el proceso de desmoldeo, éstos son presionados mediante dos grupos de sujeción (12, 13), uno anterior (12) y otro posterior (13). El grupo anterior (12) aplica una presión vertical directamente sobre la solapa frontal de los moldes (4), que siempre se encontrará en la misma posición. El grupo posterior (13) aplica la presión en la solapa trasera del molde (4) y puede desplazarse longitudinalmente para adaptarse a las distintas longitudes de los moldes, primero desplazándose hasta encontrar la posición correcta y asegurando después el molde (4) al presionar. Cada grupo de sujeción (12, 13) está formado por dos cilindros neumáticos (21) y un travesaño (22). In order to ensure the position of the molds (4) on the table (8) during the demolding process, they are pressed by two clamping groups (12, 13), one anterior (12) and one posterior (13). The previous group (12) applies vertical pressure directly on the front flap of the molds (4), which will always be in the same position. The rear group (13) applies pressure to the rear flap of the mold (4) and can move longitudinally to adapt to the different lengths of the molds, first moving until it finds the correct position and then securing the mold (4) to the press. Each clamping group (12, 13) is formed by two pneumatic cylinders (21) and a crossbar (22).
Para realizar el desmoldeo el manipulador (1) incorpora una subestructura (14) que contiene distintos travesaños (15) con ventosas (16) y está soportada por cuatro cilindros neumáticos (17) que permiten un desplazamiento vertical lineal. Una vez los moldes (4) están asegurados, la subestructura (14) baja hasta la altura correspondiente y las ventosas (16) succionan el alimento. A continuación, la subestructura (14) vuelve a desplazarse hacia arriba con el alimento sujeto. To carry out the demolding, the manipulator (1) incorporates a substructure (14) that contains different crossbars (15) with suction cups (16) and is supported by four pneumatic cylinders (17) that allow linear vertical movement. Once the molds (4) are secured, the substructure (14) lowers to the corresponding height and the suction cups (16) suck the food. Next, the substructure (14) moves upward again with the food attached.
Los moldes (4) vacíos se evacúan por una cara lateral (10) del manipulador (1) mediante una pala extractora (18), consistente en un panel que se desplaza transversalmente mediante otros actuadores lineales. A fin de facilitar el desplazamiento de los moldes (4), el manipulador (1) incorpora unas guías de rodillos (19) cuyos ejes están situados perpendicularmente a los ejes de los rodillos principales (9), estando retraídas dichas guías de rodillos (19) por debajo del plano de la mesa (8) en el proceso de desmoldeo y elevándose por encima de dicho plano para permitir el desplazamiento de los moldes (4) vacíos empujados por la pala (18). The empty molds (4) are evacuated through a lateral face (10) of the manipulator (1) by means of an extractor blade (18), consisting of a panel that moves transversely by means of other linear actuators. In order to facilitate the movement of the molds (4), the manipulator (1) incorporates roller guides (19) whose axes are located perpendicular to the axes of the main rollers (9), said roller guides (19) being retracted. ) below the plane of the table (8) in the demolding process and rising above said plane to allow the movement of the empty molds (4) pushed by the shovel (18).
Una vez evacuados los moldes (4), la subestructura (14) con las ventosas (16) baja y deposita el alimento sobre las guías de rodillos (19). La pala extractora (18) se desplaza a su posición inicial, empujando el alimento que a su vez se desplaza por encima de dichas guías de rodillos (19) hasta ser expulsado por la cara lateral opuesta (11) a por donde se evacúan los moldes (4). Once the molds (4) have been evacuated, the substructure (14) with the suction cups (16) lowers and deposits the food on the roller guides (19). The extractor blade (18) moves to its initial position, pushing the food which in turn moves above said roller guides (19) until it is expelled through the opposite side face (11) from where the molds are evacuated. (4).
La máquina incorpora un controlador electrónico que controla el proceso recibiendo las señales de los sensores y activando los actuadores, así como registrando los datos de las operaciones realizadas, con el conteo de moldes, alimentos y tipologías realizadas para gestionar la trazabilidad del producto. El controlador también incorpora señales acústicas y luminosas a fin de advertir a los operarios cuando ha finalizado el proceso automático, y la jaula (3) está vacía y liberada para ser extraída y sustituida por una nueva. The machine incorporates an electronic controller that controls the process by receiving signals from the sensors and activating the actuators, as well as recording the data of the operations carried out, with the count of molds, foods and typologies carried out to manage the traceability of the product. The controller also incorporates acoustic and light signals to warn operators when the automatic process has ended, and the cage (3) is empty and released to be removed and replaced with a new one.
Dicho controlador está conectado a internet mediante un interfaz loT, de forma que es posible acceder remotamente a la máquina para el diagnóstico, la realización de operaciones de mantenimiento y la recogida de datos. De este modo, las actuaciones de mantenimiento y posventa pueden especificarse de forma unitaria para cada máquina y adaptarse a cada usuario. Said controller is connected to the Internet through a loT interface, so that it is possible to remotely access the machine for diagnosis, carrying out maintenance operations and collecting data. In this way, maintenance actions and after-sales can be specified unitarily for each machine and adapted to each user.
Gracias a todo ello, la máquina es capaz de autoidentificar, de forma autónoma, el tipo de jaula multimolde y medidas que debe procesar y, una vez realizadas las identificaciones, la máquina decide las coordenadas aplicar en las diferentes instrucciones de movimientos, de manera que es capaz de adatarse para desmoldear con éxito los diferentes productos. Thanks to all this, the machine is capable of self-identifying, autonomously, the type of multi-mold cage and measurements that it must process and, once the identifications have been made, the machine decides the coordinates to apply in the different movement instructions, so that It is capable of being adapted to successfully demold different products.
Conformada por los distintos elementos descritos, el proceso de desmoldeo realizado por la máquina sigue los siguientes pasos: Made up of the different elements described, the demolding process carried out by the machine follows the following steps:
1o Comprobación de medidas de la jaula (3). 1 o Checking cage measurements (3).
2o Posicionamiento del manipulador (1) en el nivel (5) de la jaula (3) a desmoldar mediante el elevador (2). 2 o Positioning of the manipulator (1) on the level (5) of the cage (3) to be removed from the mold using the elevator (2).
3o Extracción de moldes (4) de la jaula (3). 3 o Extraction of molds (4) from the cage (3).
4o Contaje de moldes (4). 4 o Mold count (4).
5o Fijación de moldes (4) en el manipulador (1). 5 o Fixing molds (4) on the manipulator (1).
6o Desmoldado de alimento. 6 o Unmolding of food.
7o Extracción lateral de moldes (4) y alimento. 7 o Lateral extraction of molds (4) and food.
8o Vuelta al paso 2o, posicionándose en el siguiente nivel hasta desmoldar todos los niveles de la jaula (3). 8 o Return to step 2 o , positioning yourself on the next level until all the levels of the cage are unmolded (3).
9o Una vez desmoldados todos los niveles, la máquina se desactiva por completo y señala la finalización del proceso para poder proceder al desmoldado de una nueva jaula. 9 o Once all the levels have been demoulded, the machine is completely deactivated and signals the end of the process so that a new cage can be demoulded.

Claims

REIVINDICACIONES
1. Máquina automática de desmoldeo autoajustable formada por un manipulador (1) y un elevador (2), situados en posición adyacente a la jaula multimolde (3) que contiene una serie de moldes (4), caracterizada por que el manipulador (1), para realizar el desmoldeo de cada molde (4) situado en cada nivel (5) o piso de la jaula (3), es transportado verticalmente por el elevador (2) a cada uno de dichos niveles (5) o pisos, integrando dicho manipulador (1) elementos para realizar funciones de comprobación de medidas de jaula (3) y moldes (4), extracción de moldes (4) de la jaula (3), contaje de moldes (4), fijación de moldes (4) en el manipulador (1), desmoldeo de alimentos y evacuación lateral de moldes (4) y alimentos, así como una estructura portante (20) de forma paralepipédica donde van montados el conjunto de elementos, situándose para la comprobación de medidas de jaula y moldes una serie de sensores ópticos (24) en la cara (6) del manipulador (1) en correspondencia con la cara adyacente de la jaula multimolde (3), que tienen la función de escanear dicha jaula (3) al desplazarse el manipulador (1) verticalmente mediante el elevador (2). 1. Automatic self-adjusting demolding machine formed by a manipulator (1) and an elevator (2), located adjacent to the multi-mold cage (3) that contains a series of molds (4), characterized in that the manipulator (1) , to carry out the demolding of each mold (4) located on each level (5) or floor of the cage (3), it is transported vertically by the elevator (2) to each of said levels (5) or floors, integrating said manipulator (1) elements to perform functions of checking cage measurements (3) and molds (4), extracting molds (4) from the cage (3), counting molds (4), fixing molds (4) in the manipulator (1), food demoulding and lateral evacuation of molds (4) and food, as well as a parallelepiped-shaped supporting structure (20) where the set of elements are mounted, being positioned to check the cage and mold measurements. series of optical sensors (24) on the face (6) of the manipulator (1) in correspondence with the adjacent face of the multi-mold cage (3), which have the function of scanning said cage (3) when the manipulator (1) moves. vertically using the elevator (2).
2. Máquina automática de desmoldeo autoajustable según la reivindicación 1 donde a fin de extraer los moldes (4) de cada nivel (5) de la jaula (3), el manipulador (1) está dotado de dos actuadores lineales (7) con unas garras (23) que sirven para agarrar el molde (4) y arrastrarlo al interior del manipulador (1) mediante el movimiento de dichos actuadores (7), situándose en la parte inferior del manipulador (1) una mesa horizontal (8) formada por una serie de rodillos principales (9) en posición transversal, sobre la que se apoya el molde (4) extraído. 2. Automatic self-adjusting demolding machine according to claim 1 wherein in order to extract the molds (4) from each level (5) of the cage (3), the manipulator (1) is equipped with two linear actuators (7) with claws (23) that serve to grab the mold (4) and drag it into the manipulator (1) by means of the movement of said actuators (7), a horizontal table (8) formed by being located at the bottom of the manipulator (1). a series of main rollers (9) in a transverse position, on which the extracted mold (4) rests.
3. Máquina automática de desmoldeo autoajustable según la reivindicación 2 donde para el contaje de moldes (4), el manipulador (1) está dotado también de otro sensor óptico que se desplaza horizontalmente mediante actuadores lineales, y tiene la función de medir la distancia de separación entre figuras cuando el molde (4) está situado en la mesa (8) del manipulador y, a la finalización del proceso de desmoldeo, dicho sensor tiene también la función de realizar un segundo barrido para asegurar que la mesa (8) ha quedado completamente vacía. 3. Automatic self-adjusting demolding machine according to claim 2 wherein for counting molds (4), the manipulator (1) is also equipped with another optical sensor that moves horizontally using linear actuators, and has the function of measuring the distance of separation between figures when the mold (4) is located on the table (8) of the manipulator and, at the end of the demolding process, said sensor also has the function of performing a second sweep to ensure that the table (8) has been left completely empty.
4. Máquina automática de desmoldeo autoajustable según la reivindicación 2 donde a fin de asegurar la posición de los moldes (4) en la mesa (8) durante el proceso de desmoldeo, está dotada de dos grupos de sujeción (12, 13), uno anterior (12) y otro posterior (13) que sirven para presionar sobre dichos moldes (4), aplicando el grupo anterior (12) una presión vertical directamente sobre la solapa frontal de los moldes (4), que siempre se encontrará en la misma posición, y aplicando el grupo posterior (13) presión en la solapa trasera del molde (4), pudiendo desplazarse longitudinalmente para adaptarse a las distintas longitudes de los moldes mediante un desplazamiento hasta encontrar la posición correcta, y asegurando así el molde (4) al presionar. 4. Automatic self-adjusting demolding machine according to claim 2 wherein in order to ensure the position of the molds (4) on the table (8) during the demolding process, It is equipped with two clamping groups (12, 13), one anterior (12) and another posterior (13) that serve to press on said molds (4), the anterior group (12) applying vertical pressure directly on the front flap. of the molds (4), which will always be in the same position, and the rear group (13) applying pressure to the rear flap of the mold (4), being able to move longitudinally to adapt to the different lengths of the molds by means of a displacement until the correct position is found, thus securing the mold (4) when pressing.
5. Máquina automática de desmoldeo autoajustable según la reivindicación 4 donde cada grupo de sujeción (12, 13) está formado por dos cilindros neumáticos (21) y un travesaño (22). 5. Automatic self-adjusting demolding machine according to claim 4 wherein each clamping group (12, 13) is formed by two pneumatic cylinders (21) and a crossbar (22).
6. Máquina automática de desmoldeo autoajustable según la reivindicación 2 donde para realizar el desmoldeo el manipulador (1) incorpora una subestructura (14) que contiene distintos travesaños (15) con ventosas (16) y está soportada por cuatro cilindros neumáticos (17) que permiten un desplazamiento vertical lineal y, si los moldes (4) están asegurados, hacen que la subestructura (14) baje hasta la altura correspondiente y las ventosas (16) succionen el alimento, haciendo también desplazarse la subestructura (14) hacia arriba con el alimento sujeto. 6. Automatic self-adjusting demolding machine according to claim 2 wherein to perform the demolding, the manipulator (1) incorporates a substructure (14) that contains different crossbars (15) with suction cups (16) and is supported by four pneumatic cylinders (17) that They allow a linear vertical displacement and, if the molds (4) are secured, they cause the substructure (14) to lower to the corresponding height and the suction cups (16) suck the food, also causing the substructure (14) to move upwards with the subject food.
7. Máquina automática de desmoldeo autoajustable según la reivindicación 2 donde incorpora una pala extractora (18) que permite evacuar los moldes (4) vacíos por una cara lateral (10) del manipulador (1), consistiendo dicha pala (18) en un panel que puede desplazarse transversalmente mediante otros actuadores lineales y, a fin de facilitar el desplazamiento de los moldes (4), el manipulador (1) incorpora unas guías de rodillos (19) cuyos ejes están situados perpendicularmente a los ejes de los rodillos principales (9), pudiendo retraerse dichas guías de rodillos (19) por debajo del plano de la mesa (8) en el proceso de desmoldeo para elevarse por encima de dicho plano para permitir el desplazamiento de los moldes (4) vacíos empujados por la pala (18). 7. Automatic self-adjusting demolding machine according to claim 2 where it incorporates an extractor blade (18) that allows empty molds (4) to be evacuated through a side face (10) of the manipulator (1), said blade (18) consisting of a panel which can be moved transversely by means of other linear actuators and, in order to facilitate the movement of the molds (4), the manipulator (1) incorporates roller guides (19) whose axes are located perpendicular to the axes of the main rollers (9 ), said roller guides (19) can be retracted below the plane of the table (8) in the demolding process to rise above said plane to allow the movement of the empty molds (4) pushed by the shovel (18). ).
8. Máquina automática de desmoldeo autoajustable según las reivindicaciones 6 y 7 donde la subestructura (14) con las ventosas (16) puede bajar y depositar el alimento sobre las guías de rodillos (19) una vez evacuados los moldes (4), pudiendo desplazarse la pala extractora (18) a su posición inicial para empujar el alimento, que a su vez puede desplazarse por encima de dichas guías de rodillos (19) hasta ser expulsado por la cara lateral opuesta (11) a por donde se evacúan los moldes (4). 8. Automatic self-adjusting demolding machine according to claims 6 and 7 where the substructure (14) with the suction cups (16) can lower and deposit the food on the roller guides (19) once the molds (4) have been evacuated, and can be moved. the extractor blade (18) to its initial position to push the food, which in turn can move above said roller guides (19) until it is expelled from the opposite side face (11) from where the molds are evacuated ( 4).
9. Máquina automática de desmoldeo autoajustable según la reivindicación 1 donde incorpora un controlador electrónico que controla el proceso recibiendo las señales de los sensores y activando los actuadores, así como registrando los datos de las operaciones realizadas, con el conteo de moldes, alimentos y tipologías realizadas para gestionar la trazabilidad del producto. 9. Automatic self-adjusting demolding machine according to claim 1 where it incorporates an electronic controller that controls the process by receiving signals from the sensors and activating the actuators, as well as recording the data of the operations carried out, with the counting of molds, foods and typologies. carried out to manage product traceability.
10. Máquina automática de desmoldeo autoajustable según la reivindicación 9 donde el controlador también incorpora señales acústicas y luminosas a fin de advertir a los operarios cuando ha finalizado el proceso automático, y la jaula multimolde (3) está vacía y liberada para ser extraída y sustituida por una nueva. 10. Automatic self-adjusting demolding machine according to claim 9 wherein the controller also incorporates acoustic and light signals in order to warn the operators when the automatic process has ended, and the multi-mold cage (3) is empty and released to be removed and replaced. for a new one.
11. Máquina automática de desmoldeo autoajustable según la reivindicación 9 donde dicho controlador está conectado a internet mediante un interfaz loT, de forma que es posible acceder remotamente a la máquina para el diagnóstico, la realización de operaciones de mantenimiento y la recogida de datos. 11. Automatic self-adjusting demolding machine according to claim 9 wherein said controller is connected to the Internet through a loT interface, so that it is possible to remotely access the machine for diagnosis, carrying out maintenance operations and collecting data.
PCT/ES2023/070777 2022-12-23 2023-12-22 Self-adjusting, automatic demoulding machine WO2024134003A1 (en)

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ES202232162U ES1304348Y (en) 2022-12-23 2022-12-23 AUTOMATIC SELF-ADJUSTABLE DEMOLDING MACHINE
ESU202232162 2022-12-23

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PCT/ES2023/070777 WO2024134003A1 (en) 2022-12-23 2023-12-22 Self-adjusting, automatic demoulding machine

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ES1304348Y (en) 2024-02-14
ES1304348U (en) 2023-11-24

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