CN112660484B - Coffee cup packing device - Google Patents
Coffee cup packing device Download PDFInfo
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- CN112660484B CN112660484B CN202011601445.7A CN202011601445A CN112660484B CN 112660484 B CN112660484 B CN 112660484B CN 202011601445 A CN202011601445 A CN 202011601445A CN 112660484 B CN112660484 B CN 112660484B
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Abstract
The invention discloses a coffee cup packing device, belonging to the technical field of automatic packing of coffee cups, comprising a kiln, wherein a coffee cup is inverted on a kiln conveying line, a first visual detection mechanism is used for detecting the position of the coffee cup on the kiln conveying line, an assembly conveying line is right opposite to the output end of the kiln, a second visual detection mechanism is used for detecting the circumferential position of a coffee cup flow guide port from the bottom, a carrying manipulator carries the coffee cup from the kiln, the coffee cup is detected by the second visual detection mechanism and then is arranged on the assembly conveying line by adjusting the angle, a clapboard carrying manipulator is arranged at the downstream of the carrying manipulator along the assembly conveying line, the clapboard carrying manipulator carries a clapboard from a clapboard feeding conveying line and carries the clapboard to be arranged in a coffee cup queue on the assembly conveying line, the carton transfer chain sets up the output at the equipment transfer chain, and the vanning manipulator is placed the carton of carton transfer chain from equipment transfer chain transport baffle and wherein coffee cup. The device can efficiently and automatically load the coffee cups with the diversion openings into the carton.
Description
Technical Field
The invention belongs to the technical field of automatic packaging of coffee cups, and particularly relates to a coffee cup boxing device with a flow guide opening.
Background
For the coffee cups with the diversion openings, in the process of filling the coffee cups into the carton, in order to prevent the coffee cups in the carton from colliding, grid units in the shape of a Chinese character jing are arranged in the carton, and the diversion openings of the coffee cups are arranged in a staggered mode, so that the diversion openings between the adjacent coffee cups are prevented from colliding with each other in the carrying process, the outer surfaces of the coffee cups are damaged, and the coffee cups are scrapped.
For the above coffee cup packing process, it is common to manually place the grid-shaped corrugated partition board in the carton, divide each layer of the containing space of the carton into a plurality of containing units, and manually place the cup mouths of the coffee cups in the carton in a staggered manner, i.e. place the coffee cups back to back in the carton.
Disclosure of Invention
The invention aims at the technical problem and provides a coffee cup packing device which can pack coffee cups with flow guide openings into partition plates of a paper box, wherein the partition plates in the coffee cups are arranged in a staggered mode.
The technical scheme adopted by the invention is as follows: a coffee cup packing device comprises a kiln, coffee cups are arranged on a kiln conveying line in an inverted mode, a first visual detection mechanism is located right above an output end of the kiln and used for detecting the positions of the coffee cups at the output end of the kiln, an assembly conveying line is right opposite to the output end of the kiln, a second visual detection mechanism is arranged at one end, close to the kiln, of the assembly conveying line and located on one side of the kiln, the second visual detection mechanism detects the circumferential position of a coffee cup flow guide opening from the bottom, a carrying manipulator is located above the output end of the kiln and the assembly conveying line and comprises a manipulator body and a carrying manipulator, the manipulator body is a four-degree-of-freedom parallel robot, the manipulator body drives the carrying manipulator to move along the X axis, the Y axis, the Z axis and the direction around the Z axis, the carrying manipulator carries the coffee cups from the kiln, the coffee cups and adjusts the angle after being detected by the second visual detection mechanism and places the coffee cups on the assembly conveying line, the baffle feed transfer chain sets up the one side at the equipment transfer chain, baffle transport manipulator sets up the top at baffle feed transfer chain and equipment transfer chain, baffle transport manipulator sets up the low reaches at transport manipulator along the equipment transfer chain, baffle transport manipulator inserts in the coffee cup queue on the equipment transfer chain from baffle feed transfer chain transport baffle, the carton transfer chain sets up the output at the equipment transfer chain, the case packer manipulator is located the top of equipment transfer chain output and carton transfer chain, the case packer manipulator is from the paper case of packing transfer chain transport baffle and wherein coffee cup placement carton transfer chain.
The coffee cup packaging machine further comprises a pressing mechanism, wherein the conveying mechanical arm, the partition conveying mechanical arm, the pressing mechanism and the boxing mechanical arm are sequentially arranged above the conveying mechanical arm along a movement line of the assembling conveying line, and the pressing mechanism is used for pressing the partition filled into the coffee cup from the outer side above the conveying mechanical arm to the inside of the coffee cup.
Further, hold-down mechanism is including compressing tightly the support, compresses tightly the support lower part and fixes the both sides of frame in the equipment transfer chain, and first straight moving cylinder is vertical to be installed on compressing tightly the support, and the clamp plate is located the below of first straight moving cylinder, and the jar pole of first straight moving cylinder stretches out the end and links firmly with the clamp plate, and four straight moving cylinder equipartitions of second are around the clamp plate, and the straight moving cylinder level of second sets up and sets up towards the clamp plate outside, and four splint are installed respectively and are stretched out the end at the jar pole of four straight moving cylinders of second.
Furthermore, the second visual detection mechanism comprises a second industrial camera, the bowl-shaped light source is arranged above the second industrial camera, the second industrial camera and the bowl-shaped light source are coaxially arranged, the second industrial camera detects the diversion opening of the inverted coffee cup from bottom to top, and the carrying manipulator drives the coffee cup to rotate around the Z axis to adjust the orientation of the diversion opening of the coffee cup.
Furthermore, the quantity of equipment transfer chain is three, and the direction of motion of three equipment transfer chain is the same with the direction that the coffee cup was transported to the kiln, and the width of kiln output is equalled approximately to the sum of the width of three equipment transfer chain, and the quantity of transport manipulator is the same with the quantity of equipment transfer chain, and the supporting second visual detection mechanism of one side of every equipment transfer chain, the supporting transport manipulator of every equipment transfer chain.
Further, the baffle transport manipulator includes two-dimensional rectangular coordinate robot and baffle tongs, and two-dimensional rectangular coordinate robot drives the baffle tongs and moves and vertical direction motion between baffle feed transfer chain and the equipment transfer chain, and the baffle tongs includes that connecting plate and at least one baffle snatch the unit, and the output at two-dimensional rectangular coordinate robot is fixed to the connecting plate, and the baffle snatchs the lower terminal surface of unit setting at the connecting plate.
Further, the case packer manipulator includes two-dimensional rectangular coordinate robot and case packing tongs, two-dimensional rectangular coordinate robot drives the case packing tongs and moves and follows vertical direction motion between equipment transfer chain output and carton transfer chain, the case packing tongs includes that at least one baffle clamping unit and a plurality of bottom of cup snatch the unit, the quantity that the unit was snatched to the bottom of cup is the same and the arrangement mode is the same with the quantity that holds the unit in the baffle, baffle clamping unit arranges and snatchs between the unit at the bottom of cup, baffle clamping unit can be adjusted along the height of vertical direction, when baffle clamping unit moved the top, baffle clamping unit lower part is higher than the height that the unit was snatched to the bottom of cup.
Further, still include the sandwich panel transfer chain, the sandwich panel transfer chain sets up the one side of keeping away from the equipment transfer chain at the carton transfer chain, and the vanning tongs includes that splint snatch the unit, and splint snatch the unit setting and snatch between the unit at the bottom of cup, and splint snatch the unit and can adjust along the height of vertical direction, and when splint snatch the unit and move the top, the height that highly is higher than the bottom of cup snatchs unit lower terminal surface of unit under the splint snatchs the unit.
Further, the carton transfer chain still includes positioning mechanism, and positioning mechanism is located one side of carton transfer chain and is located the below of vanning guiding mechanism, and positioning mechanism includes location cylinder and locating piece, and the location cylinder setting is in one side of carton transfer chain and with the direction of motion mutually perpendicular of carton transfer chain, the locating piece is installed on the jar pole of location cylinder, the location cylinder drives the locating piece and moves towards the carton transfer chain.
The beneficial effect of this scheme: (1) the grabbing position of the carrying manipulator is determined by detecting the bottom of the coffee cup in the kiln conveying line through the first visual detection mechanism, the position of a coffee cup diversion port clamped by the carrying manipulator along the circumferential direction of the coffee cup diversion port is detected by the second visual detection mechanism from the lower part, the carrying manipulator drives the coffee cup to rotate around the axis of the carrying manipulator according to the detection result of the second visual detection mechanism, the mouth of the coffee cup is placed downwards in a containing unit of the partition plate by the carrying manipulator, the coffee cup diversion port faces the inner side of the partition plate, so that the partition plate and the coffee cups in the partition plate are ensured to be aligned in a boxing or pressed mode, the execution mechanism is not in contact with the coffee cup diversion port, and damage to the coffee cup is prevented; (2) the plurality of assembling conveying lines are arranged between the carton conveying line and the kiln output end, the width of the kiln output end is fully utilized, the partition plate conveying manipulator spans between the partition plate feeding conveying line and the assembling conveying lines, the partition plate conveying manipulator provides partition plates for the assembling conveying lines, and the conveying efficiency of the partition plate conveying manipulator is fully exerted, so that the improvement of the boxing efficiency is guaranteed; (3) the integrated sandwich plate of vanning tongs absorbs unit, baffle tongs unit and bottom of cup tongs unit in the mechanical hand of vanning, absorbs unit, baffle tongs unit and can follow vertical direction motion to guarantee that the motion mutually noninterfere between sandwich plate absorbs unit, baffle tongs unit and the bottom of cup tongs unit, the integrated level of vanning tongs is high.
Drawings
FIG. 1 is a schematic top view of the apparatus of the present invention.
Fig. 2 is a schematic structural diagram of a first visual inspection mechanism in the device of the present invention.
Fig. 3 is a partial structural schematic diagram of a first visual inspection mechanism in the device of the present invention.
Fig. 4 is a schematic structural diagram of a second visual inspection mechanism in the device of the present invention.
FIG. 5 is a schematic diagram of a separator handling robot in the apparatus of the present invention.
Fig. 6 is an enlarged view of a portion of the structure of fig. 5.
Fig. 7 is a schematic structural diagram of a pressing mechanism in the device of the present invention.
Fig. 8 is a schematic diagram of a carton gripper in the apparatus of the present invention.
Fig. 9 is a schematic structural view of a magazine guide mechanism in the apparatus of the present invention.
FIG. 10 is a schematic view of the positioning mechanism of the device of the present invention.
In the figure: 1. a kiln; 2. carrying the mechanical arm; 3. a clapboard feeding and conveying line; 4. a separator handling manipulator; 401. a connecting plate; 402. a separator grabbing unit; 5. a boxing manipulator; 501. a clamp plate grabbing unit; 502. a partition clamping unit; 503. a cup bottom grabbing unit; 6. assembling a conveying line; 7. a sandwich plate conveying line; 8. a positioning mechanism; 801. positioning the air cylinder; 802. positioning blocks; 803. a feed screw nut portion; 804. adjusting a hand wheel; 805. a slide guide portion; 9. a hold-down mechanism; 901. a first straight-traveling cylinder; 902. pressing a plate; 903. a second straight cylinder; 904. a splint; 905. compressing the bracket; 10. a boxing guide mechanism; 1001. a support; 1002. a linear module; 1003. a slide rail slider portion; 1004. a guide frame; 11. a carton conveying line; 12. a first visual inspection mechanism; 1201. a light-shielding frame; 1202. a first industrial camera; 1203. a first light source; 1204. an adjustable light source mounting plate; 13. a second visual detection mechanism; 1301. a bowl-shaped light source; 1302. a second industrial camera.
Detailed Description
As shown in fig. 1-10, a coffee cup packing device comprises a kiln 1, a coffee cup is placed upside down on a kiln conveying line, namely the bottom of the coffee cup is upward, a coffee cup diversion opening is placed downwards on the kiln conveying line, a first visual detection mechanism 12 is positioned right above an output end of the kiln 1, an assembly conveying line 6 is right opposite to the output end of the kiln 1, a second visual detection mechanism 13 is arranged at one end of the assembly conveying line 6 close to the kiln 1 and positioned at one side of the kiln 1, the second visual detection mechanism 13 detects the circumferential position of the coffee cup diversion opening from the bottom, a carrying manipulator 2 is positioned above the kiln output end and the assembly conveying line 6, the carrying manipulator 2 comprises a manipulator body and a carrying manipulator handle, the manipulator body adopts a four-degree-of-freedom parallel robot, the manipulator body drives the carrying manipulator body to move along the directions of an X axis, a Y axis, a Z axis and a Z axis, the coffee cup is conveyed by the conveying mechanical arm 2 from the kiln conveying line to pass through the position above the second visual detection mechanism 13, the position of the coffee cup diversion port is detected by the second visual detection mechanism 13, according to the design of a coffee cup queue, the coffee cup is driven by the conveying mechanical arm 2 to rotate by a certain angle, the coffee cup diversion port is adjusted to face the inner side of the partition plate, the coffee cup is placed on the assembly conveying line 6 by the conveying mechanical arm 2, the partition plate feeding conveying line 3 is arranged at one side of the assembly conveying line 6, the partition plate conveying mechanical arm 4 is arranged above the partition plate feeding conveying line 3 and the assembly conveying line 6, the partition plate conveying mechanical arm 4 is arranged at the downstream of the conveying mechanical arm 2 along the assembly conveying line 6, the partition plate conveying mechanical arm 4 is inserted into the coffee cup queue on the assembly conveying line 6 from the partition plate feeding conveying line 3, and the carton conveying line 11 is arranged at the output end of the assembly conveying line 6, the boxing manipulator 5 is positioned above the output end of the assembling conveying line 6 and the carton conveying line 11, and the boxing manipulator 5 carries the partition plates and coffee cups placed in the carton from the assembling conveying line 6.
In this embodiment, the partition plate is formed by 4 sheet-shaped grid plates, the 4 grid plates are intersected to form 9 accommodating units arranged in a shape like a Chinese character 'jing', and the 9 accommodating units form an arrangement mode of 3 × 3, that is, each coffee queue is 9 coffee cups arranged in 3 × 3. As shown in FIG. 4, the coffee cup spouts in the rightmost row are oriented to the left side at a consistent angle, the coffee cup spouts in the middle row are oriented to the left side or the right side at a consistent angle, and the coffee cup spouts in the leftmost row are oriented to the right side at a consistent angle. The separator handling robot 4 handles the separators from the separator supply line 3 to be placed in the coffee cup queue, one coffee cup being placed in each separator containing unit.
As shown in fig. 7, the coffee cup packaging machine further comprises a pressing mechanism 9, wherein the conveying manipulator 2, the partition conveying manipulator 4, the pressing mechanism 9 and the boxing manipulator 5 are sequentially arranged above the assembling and conveying line 6 along a moving prevention line, and the pressing mechanism 9 is used for pressing the partition filled with the coffee cups from the upper outer side to the inner side of the partition.
Hold-down mechanism 9 is including compressing tightly support 905, compress tightly the both sides of support 905 lower part and fix the frame in the equipment transfer chain 6, first craspedodrome cylinder 901 is vertical to be installed on compressing tightly support 905, clamp plate 902 is located the below of first craspedodrome cylinder 901, the end that stretches out of the cylinder pole of first craspedodrome cylinder 901 links firmly with clamp plate 902, four second craspedodrome cylinders 903 horizontal equipartitions are around clamp plate 902, second craspedodrome cylinder 903 sets up towards the clamp plate 902 outside, the end that stretches out at the cylinder pole of four second craspedodrome cylinders 903 is installed respectively to four splint 904.
In the initial position, the first straight cylinder 901 drives the pressing plate 902 to be located at a high position, the first straight cylinder 901 drives the pressing plate 902 to move downwards, meanwhile, the second straight cylinder 903 drives the clamping plate 904 to move towards the outer side of the pressing plate 902, the lower surface of the pressing plate 902 is in contact with the upper surface of the partition plate, and the partition plate and the coffee cup therein are located in a rectangular space surrounded by the clamping plates 904 at the four sides. Because the coffee cup spout is disposed toward the inside of the baffle, the clamp plate 904 does not contact the coffee cup spout.
The first visual detection mechanism 12 comprises a shading frame 1201, a shading plate is enclosed around the shading frame 1201 and on the upper portion of the shading frame 1201, a first industrial camera 1201 and a first light source 1203 are installed inside the shading frame 1201, the first industrial camera 1201 is vertically installed on the shading frame 1201, the first industrial camera 1201 is arranged towards the kiln conveying line, the first industrial camera 1201 is used for detecting the specific position of a coffee cup on the kiln 1, and the carrying manipulator 2 determines the grabbing position of the coffee cup according to the detection result of the first visual detection mechanism 12. Preferably, the first light source 1203 selects a bar light source, so as to enlarge the illumination area, the adjustable light source mounting plate 1204 is mounted inside the shading frame 1201, two ends of the bar light source are respectively mounted on the adjustable light source mounting plate 1204, an arc-shaped through groove is formed in the adjustable light source mounting plate 1204, the mounting position of the bar light source on the arc-shaped through groove can be adjusted, and therefore the mounting angle of the bar light source relative to the shading frame 1201 is adjusted.
As shown in fig. 4, the second visual inspection mechanism 13 includes a second industrial camera 1302, the bowl-shaped light source 1301 is disposed above the second industrial camera 1302 with the bowl-shaped light source 1301 facing upward, the second industrial camera 1302 and the bowl-shaped light source 1301 are coaxially disposed, and the second industrial camera 1302 detects the diversion opening of the inverted coffee cup from bottom to top.
The carrying gripper adopts a sucker which is arranged on an output flange of the four-freedom-degree parallel robot, the sucker sucks the cup bottom of the coffee cup, the sucker is used for grabbing the coffee cup to adapt to the shape of the cup bottom of the coffee cup, and meanwhile, the sucker cannot damage the coffee cup.
In order to improve the efficiency of the installation, a plurality of assembly lines 6, preferably three in this embodiment, are arranged side by side at the output end of the kiln, the movement direction of the assembly lines 6 is the same as the direction of the kiln 1 for conveying coffee cups, and the sum of the widths of the assembly lines 6 is approximately equal to the width of the output end of the kiln. Correspondingly, the number of carrying manipulators 2 is three, the number of second visual inspection mechanisms 13 is three, one side of each assembling conveying line 6 is matched with one second visual inspection mechanism 13, and each assembling conveying line 6 is matched with one carrying manipulator 2. Baffle transport manipulator 4 spanes baffle feed transfer chain 3 and the setting of three equipment transfer chain 6, and baffle transport manipulator 4 is in proper order to be that three equipment transfer chain 6 transports the baffle.
As shown in fig. 5 and 6, the partition plate carrying manipulator 4 comprises a two-dimensional rectangular coordinate robot and a partition plate gripper, the two-dimensional rectangular coordinate robot drives the partition plate gripper to move along the partition plate feeding conveying line 3 and the assembling conveying line 6 and move in the vertical direction, the partition plate gripper comprises a connecting plate 401 and at least one partition plate gripping unit 402, the connecting plate 401 is fixed at the output end of the two-dimensional rectangular coordinate robot, the partition plate gripping unit 402 comprises a finger cylinder and a clamping jaw, the upper part of the finger cylinder is installed on the lower end face of the connecting plate 401, the finger cylinder is vertically arranged, and the clamping jaw is symmetrically installed at the output end of the finger cylinder. The finger cylinder drives the clamping jaw to grab the upper part of the partition plate. Preferably, the number of grabbing units is four, and four baffle grabbing units 402 are arranged on the lower end face of the connecting plate 401 in a rectangular mode, so that four-point grabbing is performed on the upper portion of the baffle, and the stability of baffle carrying is guaranteed.
As shown in fig. 1 and 8, the boxing manipulator 5 includes a two-dimensional rectangular coordinate robot and a boxing gripper, the two-dimensional rectangular coordinate robot drives the boxing gripper to move between the output end of the assembling conveyor line 6 and the carton conveyor line 11 and to move along the vertical direction, the boxing gripper includes at least one partition plate clamping unit 502 and a plurality of cup bottom grabbing units 503, the number of the cup bottom grabbing units 503 is the same as the number of the accommodating units in the partition plate, and the arrangement mode is the same, preferably, the number of the partition plate clamping units 502 is four, the four partition plate clamping units 502 are arranged in a rectangular shape, and the partition plate clamping units 502 are arranged between the plurality of cup bottom grabbing units 503.
As shown in fig. 8, the cup bottom grabbing unit 503 adopts a suction cup, the suction cup sucks the bottom of the coffee cup, the coffee cup cannot be damaged, the partition plate clamping unit 502 comprises a third straight-moving cylinder and a grabbing portion, the third straight-moving cylinder is vertically installed on a base plate of the boxing grabbing hand, the grabbing portion is installed at the output end of the third straight-moving cylinder, the third straight-moving cylinder drives the grabbing portion to vertically move, the third straight-moving cylinder drives the grabbing portion to move upwards, the height of the lower portion of the grabbing portion is higher than that of the cup bottom grabbing unit, and therefore it is guaranteed that the partition plate clamping unit 502 and the cup bottom grabbing unit 503 do not interfere with each other in movement.
For the multilayer carton, the multi-layer carton further comprises a sandwich plate conveying line 7, and the sandwich plate conveying line 7 is arranged on one side, away from the assembling conveying line 6, of the carton conveying line 11. The boxing gripper further comprises a clamping plate grabbing unit 501, the clamping plate grabbing unit 501 is arranged between the cup bottom grabbing units 503, the clamping plate grabbing unit 501 comprises a fourth straight cylinder and a clamping plate sucking disc, the fourth straight cylinder is vertically installed on a base plate of the boxing gripper, and the clamping plate sucking disc is installed at the output end of the fourth straight cylinder. When the fourth straight cylinder returns, the height of the lower end face of the clamping plate sucker is higher than that of the lower end face of the cup bottom sucking unit. Thereby ensuring that the movement of the clamp plate grasping unit 501, the spacer grasping unit 402 and the cup bottom grasping unit 503 does not interfere with each other.
The fourth straight cylinder stretches out to drive the splint sucking disc down, and the height of terminal surface is less than the bottom of cup and absorbs the unit lower part under the splint sucking disc, and two-dimentional rectangular coordinate robot drives the vanning tongs and is close to sandwich panel transfer chain 7, and the splint sucking disc is carried from the sandwich panel and is absorb the sandwich panel and place in carton transfer chain 11.
As shown in fig. 9 and 10, the boxing guide mechanism 10 is disposed above the carton conveying line 11, the boxing guide mechanism 10 includes four brackets 1001, the four brackets 1001 are disposed at two sides of the carton conveying line 11 in a rectangular shape, the linear module 1002 is mounted inside one of the brackets 1001, the rotating electrical machine is mounted at an output end of the linear module 1002, the inner sides of the other three brackets 1001 are all provided with the slide rail slider portion 1003, and four vertex angles of the guide frame 1004 are connected to the output end of the linear module 1002 and the output end of the slide rail slider portion 1003 respectively.
In order to adjust the positioning mechanism 8 conveniently, the carton conveying line adjusting device further comprises a transverse moving mechanism, the transverse moving mechanism is arranged along the moving direction of the carton conveying line 11, the positioning mechanism 8 is installed at the output end of the transverse moving mechanism, and the position of the positioning mechanism 8 is adjusted by the transverse moving mechanism along the moving direction of the carton conveying line 11.
As shown in fig. 10, the traverse mechanism includes a screw nut portion 803 and an adjusting hand wheel 804, the adjusting hand wheel 804 is rotated to drive a screw in the screw nut portion 803 to rotate through a bevel gear pair, the rotation of the screw is converted into the movement of a nut, the nut is fixedly connected with a cylinder mounting plate, and a positioning cylinder 801 is mounted on the upper end surface of the cylinder mounting plate. For the stability of the movement, the nut further comprises sliding guide parts 805, the sliding guide parts 805 are arranged on two sides of the nut in the sliding direction, and the sliding guide parts 805 are used for guiding the movement of the cylinder mounting plate and the components on the cylinder mounting plate, so that the directionality and the stability of the movement are ensured.
The device has the following action processes: first visual detection mechanism 12 detects the position of coffee cup on to the kiln transfer chain, carry 2 to carry coffee cups from the kiln transfer chain and place equipment transfer chain 6, during 3 transport baffles of baffle feed transfer chain were placed to the coffee cup queues that carry 2 ranges of manipulator to baffle carry manipulator 4, vanning manipulator 5 snatchs the coffee cup of baffle and places the carton of carton transfer chain 11, vanning manipulator 5 snatchs the mechanism sandwich panel from sandwich panel transfer chain 7 and places the carton of carton transfer chain 11, thereby separate into upper and lower two-layer accommodation space with the carton.
The invention and its embodiments have been described above schematically, without limitation, and the illustrations shown in the drawings are only one embodiment of the invention, and the actual construction may be varied in many ways. Without departing from the spirit of the invention, the invention also falls into the protection scope of the invention without creatively designing the similar structural mode and implementation example to the technical proposal.
Claims (9)
1. The coffee cup packing device is characterized by comprising a kiln (1), coffee cups are arranged on a kiln conveying line in an inverted mode, a first visual detection mechanism (12) is located right above the output end of the kiln (1), the first visual detection mechanism (12) is used for detecting the positions of the coffee cups at the output end of the kiln, an assembly conveying line (6) is right opposite to the output end of the kiln (1), a second visual detection mechanism (13) is arranged at one end, close to the kiln (1), of the assembly conveying line (6) and located on one side of the kiln (1), the second visual detection mechanism (13) detects the circumferential position of a coffee cup flow guide opening from the bottom, a carrying manipulator (2) is located above the kiln output end and the assembly conveying line (6), the carrying manipulator (2) comprises a manipulator body and a carrying manipulator hand, the manipulator body adopts a four-degree-of-freedom parallel robot, and the manipulator body drives the carrying hand to drive the carrying hand along an X axis, Y axis, Z axis and motion around Z axis direction, the angle of adjustment is placed on the equipment transfer chain (6) after the transportation manipulator (2) carries coffee cups from the kiln (1) and is detected by the second visual detection mechanism (13), the baffle feeding transfer chain (3) is arranged on one side of the equipment transfer chain (6), the baffle transportation manipulator (4) is arranged above the baffle feeding transfer chain (3) and the equipment transfer chain (6), the baffle transportation manipulator (4) is arranged at the downstream of the transportation manipulator (2) along the equipment transfer chain (6), the baffle transportation manipulator (4) carries the baffle from the baffle feeding transfer chain (3) and inserts into the coffee cup queue on the equipment transfer chain (6), the carton transfer chain (11) is arranged at the output end of the equipment transfer chain (6), the boxing manipulator (5) is arranged above the output end of the equipment transfer chain (6) and the carton (11), the boxing manipulator (5) carries the partition plates and the coffee cups therein from the assembling conveyor line (6) to the cartons of the carton conveyor line (11).
2. The coffee cup boxing apparatus according to claim 1, further comprising a pressing mechanism (9), wherein the carrying manipulator (2), the partition carrying manipulator (4), the pressing mechanism (9) and the boxing manipulator (5) are sequentially arranged above the assembly conveying line (6) along the movement line thereof, and the pressing mechanism (9) is used for pressing the partition loaded with the coffee cups from the upper outer side to the inner side thereof.
3. The coffee cup boxing device according to claim 2, wherein the pressing mechanism (9) comprises a pressing support (905), the lower part of the pressing support (905) is fixed on two sides of a rack in the assembly conveying line (6), a first straight cylinder (901) is vertically arranged on the pressing support (905), a pressing plate (902) is positioned below the first straight cylinder (901), the extending end of a cylinder rod of the first straight cylinder (901) is fixedly connected with the pressing plate (902), four second straight cylinders (903) are uniformly distributed around the pressing plate (902), the second straight cylinders (903) are horizontally arranged and are arranged towards the outer side of the pressing plate (902), and four clamping plates (904) are respectively arranged at the extending ends of the cylinder rods of the four second straight cylinders (903).
4. The coffee cup boxing apparatus according to claim 1, wherein the second visual detection mechanism (13), the second visual detection mechanism (13) comprises a second industrial camera (1302), the bowl-shaped light source (1301) is arranged above the second industrial camera (1302), the second industrial camera (1302) and the bowl-shaped light source (1301) are coaxially arranged, the second industrial camera (1302) detects the diversion opening of the inverted coffee cup from bottom to top, and the carrying manipulator (2) drives the coffee cup to rotate around the Z axis to adjust the orientation of the diversion opening of the coffee cup.
5. The coffee cup boxing apparatus according to claim 1, characterized in that the number of the assembly lines (6) is three, the three assembly lines (6) move in the same direction as the kiln (1) transports coffee cups, the sum of the widths of the three assembly lines (6) is approximately equal to the width of the output end of the kiln (1), the number of the carrying manipulators (2) is equal to the number of the assembly lines (6), one side of each assembly line (6) is provided with a second visual detection mechanism (13), and each assembly line (6) is provided with a carrying manipulator (2).
6. Coffee cup boxing apparatus according to claim 1 or 5, wherein the partition plate handling robot (4) comprises a two-dimensional rectangular coordinate robot and a partition plate gripper, the two-dimensional rectangular coordinate robot drives the partition plate gripper to move along the partition plate feeding conveyor line (3) and the assembling conveyor line (6) and to move in the vertical direction, the partition plate gripper comprises a connecting plate (401) and at least one partition plate gripping unit (402), the connecting plate (401) is fixed at the output end of the two-dimensional rectangular coordinate robot, and the partition plate gripping unit (402) is arranged at the lower end face of the connecting plate (401).
7. The coffee cup boxing apparatus as claimed in claim 1, wherein the boxing robot (5) comprises a two-dimensional rectangular coordinate robot and a boxing gripper, the two-dimensional rectangular coordinate robot drives the boxing gripper to move between the output end of the assembly conveying line (6) and the carton conveying line (11) and to move in a vertical direction, the boxing gripper comprises at least one clapboard clamping unit (502) and a plurality of cup bottom grabbing units (503), the number of the cup bottom grabbing units (503) is the same as that of the accommodating units in the partition board and the arrangement mode is the same, the separator clamping units (502) are arranged between the cup bottom grabbing units (503), the height of the partition clamping unit (502) in the vertical direction can be adjusted, when the partition clamping unit (502) moves to the uppermost, the lower part of the clapboard clamping unit (502) is higher than the height of the cup bottom grabbing unit (503).
8. The coffee cup boxing apparatus according to claim 7, further comprising a sandwich plate conveying line (7), wherein the sandwich plate conveying line (7) is arranged on one side of the carton conveying line (11) far away from the assembling conveying line (6), the boxing gripper comprises a clamping plate grabbing unit (501), the clamping plate grabbing unit (501) is arranged between the cup bottom grabbing units (503), the height of the clamping plate grabbing unit (501) in the vertical direction can be adjusted, and when the clamping plate grabbing unit (501) moves to the uppermost direction, the height of the lower end face of the clamping plate grabbing unit (501) is higher than that of the lower end face of the cup bottom grabbing unit (503).
9. The coffee cup boxing device according to claim 1, wherein the carton conveying line (11) further comprises a positioning mechanism (8), the positioning mechanism (8) is located on one side of the carton conveying line (11) and below the boxing guide mechanism (10), the positioning mechanism (8) comprises a positioning cylinder (801) and a positioning block (802), the positioning cylinder (801) is arranged on one side of the carton conveying line (11) and is perpendicular to the movement direction of the carton conveying line (11), the positioning block (802) is mounted on a cylinder rod of the positioning cylinder (801), and the positioning cylinder (801) drives the positioning block (802) to move towards the carton conveying line (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011601445.7A CN112660484B (en) | 2020-12-29 | 2020-12-29 | Coffee cup packing device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN113184313B (en) * | 2021-05-22 | 2023-06-02 | 江苏泗阳协力轻工机械有限公司 | Boxing assembly line |
| CN114408554B (en) * | 2021-12-10 | 2023-11-07 | 奉节县元龙水果种植专业合作社 | Planting cup recycling and stacking system |
| CN114985284B (en) * | 2022-05-05 | 2024-05-24 | 蓝思精密(泰州)有限公司 | Product detection machine and detection equipment |
| CN116101562B (en) * | 2023-04-04 | 2023-09-15 | 山东广玉源环保科技有限公司 | Full-automatic packaging all-in-one machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2521067B1 (en) * | 1982-02-10 | 1985-08-16 | Surepack | MACHINE FOR THE PREPARATION OF INTERMEDIATE ELEMENTS AND THEIR GUIDANCE TO THE SPACES PROVIDED BETWEEN OBJECTS TO BE PACKED IN A CASE; PACKAGING SO OBTAINED |
| US4962625A (en) * | 1988-11-18 | 1990-10-16 | Wayne Automation Corporation | Container packing machines |
| DE10359310A1 (en) * | 2003-12-17 | 2005-07-21 | Khs Maschinen- Und Anlagenbau Ag | Apparatus and method for producing container packaging |
| CN102556412B (en) * | 2010-12-22 | 2014-07-23 | 苏州澳昆智能机器人技术有限公司 | Integrated boxing system |
| FR2977241A1 (en) * | 2011-06-30 | 2013-01-04 | Sidel Participations | METHOD AND PRODUCT CURING MACHINE WITH INTERCALE (S) |
| CN105129151B (en) * | 2015-08-10 | 2017-06-30 | 福州广泰机械设备有限公司 | Robot recrater |
| CN207258082U (en) * | 2017-09-28 | 2018-04-20 | 东莞市思而行实业有限公司 | A kind of cup-shaped product conveys encasement all-in-one machine |
| CN108438391A (en) * | 2018-04-03 | 2018-08-24 | 安徽海思达机器人有限公司 | A kind of soap automation boxing apparatus |
| CN108657510B (en) * | 2018-05-16 | 2020-10-30 | 广州市永合祥自动化设备科技有限公司 | Boxing equipment for cupped objects |
| CN211108154U (en) * | 2019-11-15 | 2020-07-28 | 广州市裕轻机械制造有限公司 | Automatic bag all-in-one of putting of white spirit vanning |
| CN111216957B (en) * | 2020-01-18 | 2021-06-18 | 温州兄弟机械有限公司 | Automatic box filling machine |
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