A new automatic method for demoulding plastic parts using an intelligent robotic system

Nowadays, there are many different industrial processes in which people spend several hours performing tedious and repetitive tasks. Furthermore, most of these processes involve the manipulation of dangerous materials or machinery, such as the toy manufacturing, where people handle ovens with high temperatures and make weary physical effort for a long period of time during the process. In this work, it is presented an automatic and innovative collaborative robotic system that is able to deal with the demoulding task during the manufacturing process of toy dolls. The intelligent robotic system is composed by an UR10e robot with a RealSense RGB-D camera integrated which detects the pieces in the mould using a developed vision-based algorithm and extracts them by means of a custom gripper located and the end of the robot. We introduce a pipeline to perform the demoulding task of different plastic pieces relying in the use of this intelligent robotic system. Finally, to validate this approach, the automatic method has been successfully implemented in a real toy factory providing a novel approach in this traditional manufacturing process. The paper describes the robotic system performance using different forces and velocities, obtaining a success rate of more than 90% in the experimental results.