Apparatus and method for transferring containers
An apparatus for transferring a container from a first station to a second station of a container forming line is described herein. The apparatus includes a wheeled frame, a linear slide mounted to the wheeled frame, and an articulated robotic arm mounted to the linear slide and movable along the linear slide between the first station and the second station. The robotic arm includes an end effector operable to grip the container to remove the container from the first station. The wheeled frame is removably coupleable to the first station such that the apparatus is transportable to a different container forming line.
1. An apparatus for transferring a container from a first station to a second station of a container forming line, the apparatus comprising:
a wheeled frame;
a linear slide mounted to the wheeled frame; and
an articulated robotic arm mounted to the linear slide and movable along the linear slide between the first station and the second station, the robotic arm comprising an end effector operable to grip the container to remove the container from the first station;
wherein the wheeled frame is removably coupleable to the first station such that the apparatus is transportable to a different container forming line.
2. The apparatus of claim 1 further comprising a controller communicatively coupled to the robotic arm, the controller executing computer-executable instructions to cause the robotic arm to move the end effector along a predetermined path of motion.
3. The apparatus of claim 2 further comprising a user interface communicatively coupled to the controller, the user interface configured to receive user input identifying a sequence of positions for the end effector, wherein the controller is further configured to:
determine a second path of motion for the end effector based on the user-input sequence of positions; and
generate computer-executable instructions which, when executed by the controller, cause the robotic arm to move the end effector along the determined second path of motion.
4. The apparatus of claim 2 , wherein the controller is configured to execute the computer-executable instructions to cause the robotic arm to move the end effector in the predetermined path of motion in response to receiving a start signal from the first station.
5. The apparatus of claim 1 , wherein the wheeled frame comprises a dock configured to engage an alignment feature of the first station to align the apparatus with the first station.
6. The apparatus of claim 1 further comprising a driver operably coupled to the robotic arm and configured to move the robotic arm along the linear slide between the first station and the second station.
7. The apparatus of claim 1 , wherein the end effector comprises at least one clamp.
8. The apparatus of claim 7 , wherein the at least one clamp comprises a plurality of clamping areas for releasably clamping a plurality of containers with the end effector.
9. The apparatus of claim 7 , wherein the end effector further comprises at least one suction cup coupled in fluid communication with a vacuum source and positioned to releasably couple the container to the end effector.
10. The apparatus of claim 1 , wherein the wheeled frame comprises a plurality of caster wheels.
11. The apparatus of claim 1 , wherein the first station is a molding station, and the second station is a deflashing station.
12. A system for forming a container, the system comprising:
a first station;
a second station; and
a transfer apparatus for transferring the container from the first station to the second station, the transfer apparatus comprising:
a wheeled frame removably coupled to the first station;
a linear slide mounted to the wheeled frame; and
an articulated robotic arm mounted to the linear slide and movable along the linear slide between the first station and the second station, the robotic arm comprising an end effector operable to grip the container to remove the container from the first station.
13. The system of claim 12 , wherein the first station comprises an alignment feature, and wherein the frame comprises a dock configured to engage the alignment feature to align the transfer apparatus with the first station.
14. The system of claim 12 , wherein the first station is a molding station comprising a blow mold, and the second station is a deflashing station configured to remove flashing from the container.
15. The system of claim 14 further comprising a transfer conveyor positioned downstream from the deflashing station, the transfer conveyor configured to transport deflashed containers away from the deflashing station.
16. The system of claim 14 , wherein the blow mold is an extrusion blow mold configured to receive a parison and inject air into the parison to form the container.
17. The system of claim 12 , wherein the transfer apparatus further comprises a controller communicatively coupled to the robotic arm, the controller executing computer-executable instructions to cause the robotic arm to move the end effector along a predetermined path of motion.
18. The system of claim 17 , wherein the transfer apparatus further comprises a user interface communicatively coupled to the controller, the user interface configured to receive user input identifying a sequence of positions for the end effector, wherein the controller is further configured to:
determine a second path of motion for the end effector based on the user-input sequence of positions; and
generate computer-executable instructions which, when executed by the controller, cause the robotic arm to move the end effector along the determined second path of motion.
19. The system of claim 17 , wherein the controller is configured to execute the computer-executable instructions to cause the robotic arm to move the end effector along the predetermined path of motion in response to receiving a start signal from the first station.
20. The system of claim 12 , wherein the transfer apparatus further comprises a driver operably coupled to the robotic arm and configured to move the robotic arm along the linear slide between the first station and the second station.
21. The system of claim 12 , wherein the end effector comprises at least one clamp.
22. A method of assembling a container forming line including a first station and a second station, the method comprising:
providing a transfer apparatus including:
a linear slide mounted to a wheeled frame; and
an articulated robotic arm mounted to the linear slide and movable along the linear slide, the robotic arm including an end effector operable to grip a container to remove the container from the first station;
removably coupling the wheeled frame to the first station such that the robotic arm is movable along the linear slide between the first station and the second station; and
programming a controller communicatively coupled to the robotic arm to move the end effector along a path of motion, wherein programming the controller comprises inputting, using a user interface, a sequence of positions for the end effector, wherein the controller determines the path of motion based on the user-input sequence of positions and generates computer-executable instructions which, when executed by the controller, cause the robotic arm to move the end effector along the determined path of motion.