An assembly mechanism for a coffee cup

Abstract

The present invention relates to the technical field of automated assembly equipment, and provides an assembly mechanism for coffee cups, including a first cup loading device. The output end of the first cup loading device is sequentially provided with a printing material loading device, a detection device, a second cup loading device, a pressing device, a material loading device, and a material unloading device in a straight line. The first cup loading device is used for loading the outer cups of coffee cups. The first cup loading device includes a first workbench, a first conveyor, a first six-axis robotic arm, a second conveyor, and a first fixture loading assembly. The first six-axis robotic arm is arranged on the first workbench, and two of the second conveyors are respectively arranged on both sides of the first six-axis robotic arm, and the first conveyor is arranged on one side of the first six-axis robotic arm, which improves the assembly efficiency of coffee cups and has good market application value.

Description

Technical Field

[0001] The present invention relates to the technical field of automated assembly equipment, and more specifically, to an assembly mechanism for coffee cups. Background Art

[0002] At present, instant coffee on the market, as one type of beverage, has been widely accepted by people. Such instant coffee beverage products are sold in beverage stores or supermarkets on the market. As the demand for coffee cups increases, more coffee cups need to be assembled to meet the existing and future demands. When assembling coffee cups manually, usually the printed sheet roll of the coffee cup is directly placed into the outer cup of the coffee cup manually, and then the inner cup of the coffee cup is placed into the printed sheet roll. After completion and splicing together, the connection between the outer cup and the inner cup is heated by a heating device to melt the polyethylene film at the connection between the cup bottom and the cup body to combine the two to form a coffee cup. Then, a straw is put in and the lid is covered. Manually, only one paper cup can be made at a time, and from feeding materials to splicing and assembly, all are done manually, resulting in low efficiency of this assembly method and inability to meet the market demand. Summary of the Invention

[0003] The problem solved by the present invention is that only one paper cup can be made manually at a time, and from feeding materials to splicing and assembly, all are done manually, resulting in low efficiency of this assembly method and inability to meet the market demand.

[0004] To solve the above problems, the present invention provides an assembly mechanism for coffee cups, including a first cup feeding device. The output end of the first cup feeding device is sequentially provided with a printing feeding device, a detection device, a second cup feeding device, a pressing device, a feeding device, and a discharging device in a straight line. The first cup feeding device is used for feeding the outer cup of the coffee cup. The first cup feeding device includes a first workbench, a first conveyor, a first six-axis robotic arm, a second conveyor, and a first jig feeding component. The first six-axis robotic arm is arranged on the first workbench, and two second conveyors are respectively arranged on both sides of the first six-axis robotic arm, and a first conveyor is arranged on one side of the first six-axis robotic arm.

[0005] Preferably, the printing and feeding device includes a first printing component and a second printing component, and the structures of the first printing component and the second printing component are the same; the first printing component includes a second workbench, a third conveyor, a printing separation component, a printing positioning component, a printing sheet shaping jig, a printing sheet gripping component, and an adhesive pasting component; the third conveyor is arranged on the second workbench, the printing positioning component is arranged on the other side of the third conveyor, the printing separation component is arranged on one side of the printing positioning component, and the printing separation component is used to separate a printing sheet from the printing sheet stack and convey it to the printing positioning component; the adhesive pasting component is arranged on one side of the printing positioning component and is used to paste double-sided tape on the side of the printing sheet; the printing sheet gripping component is arranged in the middle of the workbench, the printing sheet shaping jig is arranged on one side of the third conveyor, and the printing sheet gripping component is used to suck the printing sheet after the film is torn and move it to the printing sheet shaping jig; the third conveyor is used to convey the jig.

[0006] Preferably, the detection device includes a third workbench, a fourth conveyor, a second six-axis robot arm, and a third six-axis robot arm; the fourth conveyor is arranged on the third workbench, the second six-axis robot arm and the third six-axis robot arm are arranged horizontally in sequence on the side of the fourth conveyor, the third six-axis robot arm is used to shape the printing sheet on the jig to a preset position, and the second six-axis robot arm is used to perform visual inspection on the printing sheet.

[0007] Preferably, the second six-axis robot arm includes a robot arm body and a detection component; the detection component includes a detection support frame, an LED light source, and a CCD camera; one end of the detection support frame is connected to one end of the robot arm body, the CCD camera is embedded on one side of the detection support frame, and the LED light source is arranged at one end of the CCD camera and is fixedly connected to the detection support frame.

[0008] Preferably, the second cup feeding device is used to feed the inner cup of the coffee cup, and the second cup feeding device includes a fourth workbench, a fifth conveyor, a fourth six-axis robot arm, and a sixth conveyor; the fourth six-axis robot arm is arranged on the fourth workbench and is used to transfer the inner cup of the coffee cup, the sixth conveyor is arranged on both sides of the fourth six-axis robot arm respectively, the fifth conveyor is arranged on the side of the sixth conveyor, and the fifth conveyor is fixedly connected to the fourth workbench.

[0009] Preferably, the pressing device is used for ultrasonic welding of the tops of the outer cup and the inner cup, and the pressing device includes a fifth workbench, a seventh conveyor, and an ultrasonic welding machine; the seventh conveyor is arranged on the fifth workbench, the ultrasonic welding machine is arranged on the side of the seventh conveyor, and the ultrasonic welding machine is used to weld the outer cup and the inner cup.

[0010] Preferably, the feeding device includes a straw feeding assembly, a lid feeding assembly, and a cup lid assembling assembly; the straw feeding assembly is used for feeding straws, and the straw feeding assembly includes a sixth workbench, an eighth conveyor, a straw separating unit, and a fifth-six-axis robot arm; the eighth conveyor is arranged on the sixth workbench, the straw separating units are respectively arranged on the sides of both ends of the eighth conveyor, the straw separating unit is used for separating a stack of straws into individual straws, the fifth-six-axis robot arm is arranged in the middle of the two straw separating units, the fifth-six-axis robot arm is used for transferring the separated straws, and the bottom of the fifth-six-axis robot arm is fixedly connected to the sixth workbench.

[0011] Preferably, the fifth-six-axis robot arm includes a robot arm main body and a straw gripper; the straw gripper includes a straw support frame, a straw spring, a straw fixing plate, a straw cylinder, and a straw finger cylinder; the side of the straw support frame is fixedly connected to the working end of the robot arm main body, the straw cylinders are respectively arranged at both ends of the straw support frame, the working ends of the two straw cylinders are respectively slidably connected to the top of the straw fixing plate, a plurality of straw finger cylinders are respectively fixedly connected to the bottom of the straw fixing plate, and the two straw springs are respectively sleeved on the working ends of the straw cylinders.

[0012] Preferably, the lid feeding assembly has the same structure as the second cup feeding device; the cup lid assembling assembly is used for pressing the fed lid to a preset position, and the cup lid assembling assembly includes a seventh workbench, a ninth conveyor, a sixth-six-axis robot arm, and a seventh-six-axis robot arm; the sixth-six-axis robot arm and the seventh-six-axis robot arm are respectively arranged on the seventh workbench, and the ninth conveyor is arranged on the side of the seventh-six-axis robot arm.

[0013] Preferably, the discharging device is used for transferring the coffee cups offline, and the discharging device includes an eighth workbench, an eighth-six-axis robot arm, a tenth conveyor, and an eleventh conveyor; the eighth-six-axis robot arm is arranged on the eighth workbench, the tenth conveyor is arranged on the side of the eighth-six-axis robot arm, and the eleventh conveyor is respectively arranged on both sides of the eighth-six-axis robot arm

[0014] Compared with the prior art, in the present invention, the outer cup of the coffee cup is loaded by the first cup loading device and placed on the second fixture. The second fixture can be conveyed in a flowing water manner and can be transferred through the empty fixture elevator to achieve the effect of recycling the second fixture. After the outer cup is placed in the second fixture, it is conveyed to the printing loading device, and the printed sheet is rolled into a cylindrical shape that fits the outer cup and placed inside the outer cup. After completion, the second fixture is conveyed to the detection device for visual inspection of the outer cup and the printed sheet roll. After completion, it is conveyed to the second cup loading device to place the inner cup of the coffee cup inside the printed sheet roll, and then conveyed to the pressing device for ultrasonic welding of the inner cup and the outer cup. Then, it is conveyed to the loading device for assembly of the straw and the lid. After assembly, it is conveyed to the unloading device for transfer and offline, and each device in the whole process cooperates for assembly, thereby improving the assembly efficiency, enabling mass production, and meeting the market demand. Description of the Drawings

[0015] Figure 1 Schematic structural diagram of an assembly mechanism for a coffee cup of the present invention;

[0016] Figure 2 Schematic structural diagram of the first cup loading device according to an embodiment of the present invention;

[0017] Figure 3 Schematic structural diagram of the first printing assembly according to an embodiment of the present invention;

[0018] Figure 4 Schematic structural diagram of the detection device according to an embodiment of the present invention;

[0019] Figure 5 Schematic structural diagram of the detection assembly according to an embodiment of the present invention;

[0020] Figure 6 Schematic structural diagram of the second cup loading device according to an embodiment of the present invention;

[0021] Figure 7 Schematic structural diagram of the pressing device according to an embodiment of the present invention;

[0022] Figure 8 Schematic structural diagram of the straw loading assembly according to an embodiment of the present invention;

[0023] Figure 9 Schematic structural diagram of the straw gripper according to an embodiment of the present invention;

[0024] Figure 10 Schematic structural diagram of the cup lid assembly component according to an embodiment of the present invention;

[0025] Figure 11 Schematic structural diagram of the unloading device according to an embodiment of the present invention;

[0026] Figure 12Schematic diagram of the internal structure of the empty jig elevator according to an embodiment of the present invention;

[0027] Figure 13 Schematic diagram of the printing separation component, printing positioning component and glue pasting component according to an embodiment of the present invention;

[0028] Figure 14 Schematic diagram of the printing sheet shaping jig and the printing sheet grasping component according to an embodiment of the present invention.

[0029] Description of reference numerals: 1 - First cup feeding device; 2 - Printing feeding device; 3 - Detection device; 4 - Second cup feeding device; 5 - Pressing device; 6 - Feeding device; 7 - Discharging device; 11 - First workbench; 12 - First conveyor; 13 - First six-axis robotic arm; 14 - Second conveyor; 15 - First jig feeding assembly; 21 - Second workbench; 22 - Third conveyor; 23 - Printing separation component; 24 - Printing positioning component; 25 - Printing sheet shaping jig; 26 - Printing sheet grasping component; 27 - Glue pasting component; 31 - Third workbench; 32 - Fourth conveyor; 33 - Second six-axis robotic arm; 34 - Third six-axis robotic arm; 35 - Detection support frame; 36 - LED light source; 37 - CCD camera; 41 - Fourth workbench; 42 - Fifth conveyor; 43 - Fourth six-axis robotic arm; 44 - Sixth conveyor; 51 - Fifth workbench; 52 - Seventh conveyor; 53 - Ultrasonic welding machine; 61 - Sixth workbench; 62 - Eighth conveyor; 63 - Straw separation unit; 64 - Fifth six-axis robotic arm; 71 - Straw support frame; 72 - Straw spring; 73 - Straw fixing plate; 74 - Straw cylinder; 75 - Straw finger cylinder; 81 - Seventh workbench; 82 - Ninth conveyor; 83 - Sixth six-axis robotic arm; 84 - Seventh six-axis robotic arm; 91 - Eighth workbench; 92 - Eighth six-axis robotic arm; 93 - Tenth conveyor; 94 - Eleventh conveyor; 101 - Empty jig support frame; 102 - Empty jig linear slide; 103 - Empty jig linear guide rail; 104 - Empty jig fixing plate; 105 - Empty jig conveyor. Detailed implementation manners

[0030] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention is provided in conjunction with the accompanying drawings.

[0031] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "set", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the description of this specification, the descriptions with reference to terms such as "embodiment", "one embodiment", and "one implementation manner" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or implementation manner are included in at least one embodiment or implementation manner of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or implementation manner. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or implementation manners in a suitable manner.

[0034] To solve the above problems, as Figure 1 and Figure 2 shown, the present invention provides an assembly mechanism for a coffee cup, including a first cup loading device 1. The output end of the first cup loading device 1 is sequentially provided with a printing loading device 2, a detection device 3, a second cup loading device 4, a pressing device 5, a loading device 6, and a discharging device 7 in a straight line; the first cup loading device 1 is used for loading the outer cup of the coffee cup. The first cup loading device 1 includes a first workbench 11, a first conveyor 12, a first six-axis robotic arm 13, a second conveyor 14, and a first fixture loading assembly 15; the first six-axis robotic arm 13 is arranged on the first workbench 11, two second conveyors 14 are respectively arranged on both sides of the first six-axis robotic arm 13, and the first conveyor 12 is arranged on one side of the first six-axis robotic arm 13.

[0035] It should be noted that the first cup feeding device 1 is used to feed the outer cup of the coffee cup, then place the outer cup on the second fixture, and then convey the second fixture into the printing and feeding device 2. The printing and feeding device 2 shapes the printing sheet into a cylindrical shape and places it into the outer cup. Then, the second fixture is conveyed into the detection device 3. The detection device 3 is used to adjust the printing sheet in the outer cup to the preset position again. After visual inspection, the second fixture is conveyed into the second cup feeding device 4. The second cup feeding device 4 is used to feed the inner cup of the coffee cup, place the inner cup into the printing sheet, and then convey the second fixture into the pressing device 5. The pressing device 5 is used to ultrasonically weld the inner cup and the outer cup of the coffee cup. After completion, the second fixture is conveyed into the feeding device 6. The feeding device 6 is used to feed the straw, place the straw into the positioning hole in the second fixture, and then put the lid on the straw. After completion, the assembled straw and lid are placed into the inner cup for buckling. After all are completed, it is conveyed to the discharging device 7, and the discharging device 7 transfers the assembled coffee cup offline;

[0036] The first conveyor 12 on the first workbench 11 is used to convey the second fixture to the next printing and feeding device 2. The first six-axis robotic arm 13 transfers the outer cup conveyed by one of the second conveyors 14 to the second fixture. After taking the outer cup, the tray loaded with the outer cup is transferred to the other second conveyor 14 and conveyed to the next station;

[0037] There are multiple first fixture feeding components 15, which are respectively used to transport the trays loaded with raw materials and transport the trays after taking the raw materials back to the raw material warehouse. Each of the first fixture feeding components 15 includes an AGV carrier and a tray lifter. The tray lifter is arranged on the AGV carrier. The AGV carrier is used to transport the tray lifter to move between the finished product warehouse and the raw material warehouse. The multiple tray lifters are used to collect empty trays and load raw materials for feeding;

[0038] The first six-axis robotic arm 13 includes a six-axis robotic arm and a suction fixture. The suction fixture includes a suction cylinder and a support frame. One end of the support frame is fixedly connected to the working end of the six-axis robotic arm. The other end of the support frame is respectively provided with the suction cylinder. The bottom and the outside of the suction cylinder are provided with suction holes, which are used to suck the lid or insert into the cup body to suck up the cup.

[0039] In an embodiment of the present invention, as Figure 3As shown, the printing material feeding device 2 includes a first printing assembly and a second printing assembly, and the structures of the first printing assembly and the second printing assembly are the same; the first printing assembly includes a second workbench 21, a third conveyor 22, a printing separation component 23, a printing positioning component 24, a printing sheet shaping jig 25, a printing sheet gripping component 26, and an adhesive pasting component 27; the third conveyor 22 is arranged on the second workbench 21, the printing positioning component 24 is arranged on the other side of the third conveyor 22, the printing separation component 23 is arranged on one side of the printing positioning component 24, and the printing separation component 23 is used to separate a printing sheet from the printing sheet stack and convey it to the printing positioning component 24; the adhesive pasting component 27 is arranged on one side of the printing positioning component 24 and is used to paste a double-sided adhesive on the side of the printing sheet; the printing sheet gripping component 26 is arranged in the middle of the workbench, the printing sheet shaping jig 25 is arranged on one side of the third conveyor 22, and the printing sheet gripping component 26 is used to suck the printing sheet after the film is torn off and move it to the printing sheet shaping jig 25; the third conveyor 22 is used to convey the jig.

[0040] It should be noted that in order to improve the efficiency of printing material feeding and assembly, the printing material feeding device 2 is provided. The printing material feeding device 2 includes a first printing assembly and a second printing assembly, which are used to improve the efficiency of printing sheet feeding and assembly. The structures and functions of the first printing assembly and the second printing assembly are the same; the third conveyor 22 conveys the second jig to the working range of the printing sheet gripping component 26; the printing separation component 23 separates the printing sheet stack piece by piece and conveys it into the printing positioning component 24. The printing positioning component 24 positions the printing sheet at a preset position to avoid displacement of the printing sheet, so that the adhesive pasting component 27 does not displace when pasting the double-sided adhesive. After the film of the printing sheet is torn off, it is sucked by the printing sheet gripping component 26, moved to the cylinder on the printing sheet shaping jig 25, formed, and then placed into the outer cup on the second jig, and then conveyed to the detection device 3 by the third conveyor 22;

[0041] As Figure 13 As shown, the printing separation component 23 includes a printing separation support frame, a printing separation motor, a printing separation rubber wheel, and a printing separation roller; the printing separation support frame is located on the side of the adhesive pasting component 27 and is fixedly connected to the second workbench 21. A printing sheet stacking bin is arranged on one side of the printing separation support frame for placing multiple printing sheets. The printing separation motor is arranged at the bottom of the printing sheet stacking bin, and the working end of the printing separation motor is fixedly connected to the printing separation rubber wheel for driving a printing sheet to slide out of the printing sheet stacking bin. Two printing separation rollers are symmetrically and rotatably arranged at the outlet of the printing sheet stacking bin for driving the separated printing sheet to move into the printing positioning component 24. The two printing separation rollers are respectively connected to the working end of the printing separation motor through a synchronous belt for driving the two printing separation rollers to rotate;

[0042] As shown Figure 13 in the figure, the printing positioning component 24 includes a printing positioning support base, a printing positioning conveyor, and a printing positioning block; the printing positioning support base is located on the front side of the printing separation roller, and suction holes are formed at the top of the printing positioning support base for adsorbing printing sheets. The printing positioning conveyor is embedded in the top of the printing positioning support base and is used to convey the printing sheets to a preset position. The printing positioning block is arranged on the side of the printing positioning support base and on one side of the printing positioning conveyor. The printing positioning block facilitates positioning the printing sheets conveyed by the printing positioning conveyor, so that after the printing sheets move to the preset position, the suction holes adsorb the printing sheets;

[0043] As shown Figure 13 in the figure, the glue pasting component 27 includes a four-axis robotic arm and a glue pasting machine; the working end of the four-axis robotic arm is fixedly connected to the glue pasting machine and is used to drive the glue pasting machine to move, so that the glue pasting machine can be accurately pasted on the side of the printing sheet, so that the printing sheet can be adhesively connected end to end when folded into a cylinder;

[0044] As shown Figure 14 in the figure, the printing sheet shaping fixture 25 includes a shaping support frame and a cylinder; the shaping support frame is arranged on the side of the third conveyor 22, and the cylinder is symmetrically arranged at one end of the shaping support frame for shaping the printing sheet.

[0045] As shown Figure 14 in the figure, the printing sheet grasping component 26 includes a six-axis robotic arm second main body and a printing sheet grasping unit. One end of the printing sheet grasping unit is fixedly connected to the working end of the six-axis robotic arm. The printing sheet grasping area unit is used to suck and bend the printing sheet; the printing sheet grasping unit includes a grasping support frame, a grasping motor, and a bending plate; grasping arc-shaped grooves are respectively arranged at both ends of the grasping support frame for sleeving on the cylinder. The grasping motors are symmetrically arranged on the side of each grasping arc-shaped groove. Bending plates are rotatably arranged at both ends of each grasping arc-shaped groove. The working end of the grasping motor is connected to one end of the bending plate, so that the working end of each grasping motor drives the bending plate to flip; a grasping suction hole is formed at the bottom of the grasping support frame for adsorbing and positioning the printing sheet;

[0046] The grasping suction hole formed at the bottom of the grasping support frame can adsorb the printing sheet, then move to one side of the cylinder, the grasping arc-shaped groove is sleeved on the cylinder, so that the printing sheet is bent, and then the grasping motor drives the bending plate to flip, further bending the edge of the printing sheet, so as to make the printing sheet into a cylindrical shape, and the two sides of the printing sheet are adhesively connected to each other under the action of the double-sided adhesive.

[0047] In an embodiment of the present invention, as shown Figure 4As shown, the detection device 3 includes a third workbench 31, a fourth conveyor 32, a second six-axis robotic arm 33, and a third six-axis robotic arm 34; the fourth conveyor 32 is arranged on the third workbench 31, and the second six-axis robotic arm 33 and the third six-axis robotic arm 34 are arranged horizontally in sequence on the side of the fourth conveyor 32. The third six-axis robotic arm 34 is used to shape the printed sheet on the jig to a preset position, and the second six-axis robotic arm 33 is used to perform visual inspection on the printed sheet.

[0048] It should be noted that the fourth conveyor 32 on the third workbench 31 transports the second jig conveyed to the current position of the third six-axis robotic arm 34. The third six-axis robotic arm 34 drives the suction jig connected to the working end to insert into the preset position of the center of the printed sheet, so that the printed sheet is centered in the outer cup to reach the preset position. Then, the fourth conveyor 32 transports the second jig to the current position of the second six-axis robotic arm 33. Then, the second six-axis robotic arm 33 drives the detection component connected to the working end to move above the printed sheet for visual inspection.

[0049] In an embodiment of the present invention, as Figure 5 shown, the second six-axis robotic arm 33 includes a robotic arm body and a detection component; the detection component includes a detection support frame 35, an LED light source 36, and a CCD camera 37; one end of the detection support frame 35 is connected to one end of the robotic arm body, the CCD camera 37 is embedded on one side of the detection support frame 35, the LED light source 36 is arranged at one end of the CCD camera 37 and is fixedly connected to the detection support frame 35.

[0050] It should be noted that the detection support frame 35 provides support for the LED light source 36 and the CCD camera 37. The LED light source 36 provides sufficient light source for the CCD camera 37, so that the visual inspection of the CCD camera 37 is more accurate. The robotic arm body can drive the detection component to move horizontally, longitudinally, and up and down to perform visual inspection on the printed sheet and the outer cup.

[0051] In an embodiment of the present invention, as Figure 6 shown, the second cup feeding device 4 is used to feed the inner cup of the coffee cup. The second cup feeding device 4 includes a fourth workbench 41, a fifth conveyor 42, a fourth six-axis robotic arm 43, and a sixth conveyor 44; the fourth six-axis robotic arm 43 is arranged on the fourth workbench 41. The fourth six-axis robotic arm 43 is used to transfer the inner cup of the coffee cup. The sixth conveyor 44 is respectively arranged on both sides of the fourth six-axis robotic arm 43, and the fifth conveyor 42 is arranged on the side of the sixth conveyor 44. The fifth conveyor 42 is fixedly connected to the fourth workbench 41.

[0052] It should be noted that the sixth conveyor 44 includes two conveyors. One is used to convey the tray with the inner cup transported by the first jig loading component 15, and the other is used to convey the tray after the inner cup has been taken. Another first jig loading component 15 collects the tray after the inner cup has been taken into the tray elevator. After it is full, it is sent to the raw material warehouse to reload the inner cup into the tray again. The fifth conveyor 42 conveys the second jig to the current position of the fourth six-axis robotic arm 43. The fourth six-axis robotic arm 43 drives the suction jig at the working end to move to the tray to suck up the inner cup, and then moves above the second jig to place the inner cup into the reel of the printing sheet. Then the fifth conveyor 42 conveys the second jig to the pressing device 5 again.

[0053] In an embodiment of the present invention, as Figure 7 shown, the pressing device 5 is used for ultrasonic welding of the tops of the outer cup and the inner cup. The pressing device 5 includes a fifth workbench 51, a seventh conveyor 52, and an ultrasonic welding machine 53. The seventh conveyor 52 is arranged on the fifth workbench 51, and the ultrasonic welding machine 53 is arranged on the side of the seventh conveyor 52. The ultrasonic welding machine 53 is used to weld the outer cup and the inner cup.

[0054] It should be noted that the seventh conveyor 52 conveys the second jig to the current position of the ultrasonic welding machine 53. The ultrasonic welding machine 53 drives the welding head to descend and sleeve it on the inner cup and the outer cup, and welds the upper ends of the inner cup and the outer cup into one body. In order to improve the welding efficiency, multiple ultrasonic welding machines 53 are arranged on the fifth workbench 51 for the effect of welding multiple at the same time.

[0055] In an embodiment of the present invention, as Figure 8 shown, the feeding device 6 includes a straw feeding component, a lid feeding component, and a cup lid assembling component. The straw feeding component is used for feeding straws. The straw feeding component includes a sixth workbench 61, an eighth conveyor 62, a straw separating unit 63, and a fifth six-axis robotic arm 64. The eighth conveyor 62 is arranged on the sixth workbench 61. The straw separating units 63 are respectively arranged on the sides at both ends of the eighth conveyor 62. The straw separating unit 63 is used to separate one straw from the straw stack. The fifth six-axis robotic arm 64 is arranged in the middle of the two straw separating units 63. The fifth six-axis robotic arm 64 is used to transfer the separated straws. The bottom of the fifth six-axis robotic arm 64 is fixedly connected to the sixth workbench 61.

[0056] It should be noted that the eighth conveyor 62 conveys the transferred second jig to in front of the fifth and sixth axis robotic arm 64. The fifth and sixth axis robotic arm 64 drives the suction pipe gripper connected to the working end to grab the suction pipes separated by the suction pipe separation unit 63 one by one, and places each suction pipe into the preset suction pipe positioning holes on one side of the second jig. The suction pipe separation unit 63 is used to separate the suction pipe stack into individual pipes for the fifth and sixth axis robotic arm 64 to grab.

[0057] The suction pipe separation unit 63 includes a suction pipe conveyor, a positioning block, a suction pipe storage bin, a separation plate, and a suction pipe motor. The suction pipe conveyor is arranged on the sixth workbench 61 and is located on the side of the fifth and sixth axis robotic arm 64. The positioning blocks are symmetrically arranged at equal intervals on the conveyor belt in the suction pipe conveyor. A positioning groove is opened at the top of the positioning block for positioning and supporting the suction pipe. One end of each of the two separation plates is rotatably arranged at the outlet end of the suction pipe storage bin. The two suction pipe motors are respectively fixedly arranged on both sides of the suction pipe storage bin, and the working ends of the two suction pipe motors are respectively connected to one end of the two separation plates. A support plate is inclinedly arranged at the bottom of the suction pipe storage bin for placing multiple suction pipes.

[0058] The inclined support plate facilitates the suction pipes on the support plate to flow out onto the positioning block. The two suction pipe motors simultaneously drive the two separation plates to flip. Each flip allows only one suction pipe to flow out, and the flowing out suction pipe falls onto the positioning block. The suction pipe conveyor rotates the conveyor belt to drive the positioning block to move into the working range of the fifth and sixth axis robotic arm 64 for the fifth and sixth axis robotic arm 64 to grab and transfer.

[0059] In an embodiment of the present invention, as Figure 9 shown, the fifth and sixth axis robotic arm 64 includes a robotic arm main body and a suction pipe gripper. The suction pipe gripper includes a suction pipe support frame 71, a suction pipe spring 72, a suction pipe fixing plate 73, a suction pipe cylinder 74, and a suction pipe finger cylinder 75. The side of the suction pipe support frame 71 is fixedly connected to the working end of the robotic arm main body. The suction pipe cylinders 74 are respectively arranged at both ends of the suction pipe support frame 71. The working ends of the two suction pipe cylinders 74 are respectively slidably connected to the top of the suction pipe fixing plate 73. Multiple suction pipe finger cylinders 75 are respectively fixedly connected to the bottom of the suction pipe fixing plate 73. The two suction pipe springs 72 are respectively sleeved on the working ends of the suction pipe cylinders 74.

[0060] It should be noted that the straw support frame 71 supports two straw cylinders 74. The working ends of the two straw cylinders 74 are respectively slidably connected to the straw fixing plate 73 and are used to drive the straw fixing plate 73 to slide up and down. A plurality of straw finger cylinders 75 are respectively arranged at the bottom of the straw fixing plate 73. The plurality of straw finger cylinders 75 are used to grasp the straws on the positioning blocks. One ends of the two straw springs 72 are connected to the straw fixing plate 73, and the other ends are respectively sleeved on the working ends of the straw cylinders 74. When the working ends of the straw cylinders 74 drive the straw fixing plate 73, the two straw springs 72 can play a buffering role to avoid bending or flattening the straws without buffer protection.

[0061] In an embodiment of the present invention, as Figure 10 shown, the lid loading assembly and the second cup loading device 4 have the same structure; the cup lid assembly component is used to press the loaded lid to a preset position. The cup lid assembly component includes a seventh workbench 81, a ninth conveyor 82, a sixth six-axis robot arm 83 and a seventh six-axis robot arm 84; the sixth six-axis robot arm 83 and the seventh six-axis robot arm 84 are respectively arranged on the seventh workbench 81, and the ninth conveyor 82 is arranged on the side of the seventh six-axis robot arm 84.

[0062] It should be noted that the lid loading assembly and the second cup loading device 4 have the same structure. This loading assembly is used to transfer the lid to the straw on the second fixture, then put the combined lid and straw into the inner cup, and then convey the second fixture to the cup lid assembly component;

[0063] The ninth conveyor 82 conveys the second fixture to the front of the seventh six-axis robot arm 84. The seventh six-axis robot arm 84 drives the pressing fixture on its working end to make the lid snap onto the preset positions of the outer cup and the inner cup. In order to improve the efficiency of lid pressing, the sixth six-axis robot arm 83 is added. The sixth six-axis robot arm 83 and the seventh six-axis robot arm 84 have the same structure and the same working content;

[0064] The pressing fixture includes a pressing support frame and a suction cup. The suction cup is arranged at the lower end of the pressing support frame. A straw through hole is opened at the center of the suction cup. The top of the pressing support frame is fixedly connected to the working end of the seventh six-axis robot arm 84; the pressing support frame is driven by the working end to move. The suction cup arranged on the pressing support frame is used to contact the top of the lid. A straw through hole is opened at the center of the suction cup for the straw to pass through, which is convenient for the straw in the lid to pass through when the suction cup sucks the lid, so that the straw will not be bent when the suction cup presses the lid.

[0065] In an embodiment of the present invention, as Figure 11As shown, the blanking device 7 is used to transfer the coffee cups offline. The blanking device 7 includes an eighth workbench 91, an eighth six-axis robotic arm 92, a tenth conveyor 93, and an eleventh conveyor 94. The eighth six-axis robotic arm 92 is disposed on the upper surface of the eighth workbench 91. The tenth conveyor 93 is disposed on the side of the eighth six-axis robotic arm 92. The eleventh conveyor 94 is respectively disposed on both sides of the eighth six-axis robotic arm 92.

[0066] It should be noted that in order to transfer the assembled coffee cups offline, the blanking device 7 is provided. The tenth conveyor 93 transports the second jig to the front of the eighth six-axis robotic arm 92. The working end of the eighth six-axis robotic arm 92 drives to suck the jig, sucks up the coffee cup on the second jig and transfers it to the tray on the eleventh conveyor 94. Then the eleventh conveyor 94 transports the full tray to the first jig loading assembly 15 for collecting empty trays.

[0067] The first conveyor 12, the third conveyor 22, the fourth conveyor 32, the fifth conveyor 42, the seventh conveyor 52, the ninth conveyor 82, and the tenth conveyor 93. Each machine includes two conveyors. One conveyor is disposed on each workbench and is connected end to end for transporting the second jig to facilitate the assembly of coffee cups in a production line. The other is disposed inside the workbench and is connected end to end for returning the empty second jig to the first cup loading device 1 to achieve the effect of recycling. Empty jig elevators are respectively disposed on the sides of the first cup loading device 1 and the blanking device 7. One is used to receive the empty second jig and then descend to the conveyor inside the workbench, so that the empty second jig can flow back into the other empty jig elevator. The other empty jig elevator then raises the empty second jig and transports it into the first cup loading device 1.

[0068] Each of the empty jig elevators includes an empty jig frame, an empty jig support frame 101, an empty jig linear slide 102, an empty jig linear guide rail 103, an empty jig fixing plate 104, and an empty jig conveyor 105. As Figure 12 shown, the empty jig support frame 101 is disposed inside the empty jig frame and is fixedly connected to the inner wall of the empty jig frame. The two empty jig linear guide rails 103 are respectively fixedly disposed on the side surface of the empty jig support frame 101. The empty jig linear slide 102 is disposed on the empty jig support frame 101 between the two linear guide rails. The working end of the empty jig linear slide 102 is fixedly connected to the side surface of the empty jig fixing plate 104. The two ends of the empty jig fixing plate 104 are fixedly connected to the sliders of the two empty jig linear guide rails 103. The other side of the empty jig fixing plate 104 is fixedly connected to one side of the empty jig conveyor 105.

[0069] The working end of the empty fixture linear slide 102 drives the empty fixture fixing plate 104 to slide up and down. Two empty fixture linear guide rails 103 provide up-and-down sliding support. The up-and-down sliding of the empty fixture fixing plate 104 drives the empty fixture conveyor 105 to slide up and down. Thus, when the empty second fixture enters the empty fixture conveyor 105, the empty fixture linear slide 102 can drive the empty fixture conveyor 105 to rise or fall, enabling the second fixture to leave or enter the empty fixture conveyor 105, thereby achieving the purpose of transferring the second fixture.

[0070] It should be noted that although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. An assembly mechanism for a coffee cup, characterized in that, It includes a first cup feeding device (1). The output end of the first cup feeding device (1) is successively provided with a printing feeding device (2), a detection device (3), a second cup feeding device (4), a pressing device (5), a feeding device (6) and a discharging device (7) in a straight line. The first cup feeding device (1) is used for feeding the outer cups of coffee cups. The first cup feeding device (1) includes a first workbench (11), a first conveyor (12), a first six-axis robotic arm (13), a second conveyor (14) and a first fixture feeding assembly (15). The first six-axis robotic arm (13) is arranged on the first workbench (11). Two of the second conveyors (14) are respectively arranged on both sides of the first six-axis robotic arm (13), and the first conveyor (12) is arranged on one side of the first six-axis robotic arm (13). The second cup feeding device (4) is used for feeding the inner cups of coffee cups. The second cup feeding device (4) includes a fourth workbench (41), a fifth conveyor (42), a fourth six-axis robotic arm (43) and a sixth conveyor (44). The fourth six-axis robotic arm (43) is arranged on the fourth workbench (41). The fourth six-axis robotic arm (43) is used for transferring the inner cups of coffee cups. The sixth conveyors (44) are respectively arranged on both sides of the fourth six-axis robotic arm (43), and the fifth conveyor (42) is arranged on the side of the sixth conveyor (44). The fifth conveyor (42) is fixedly connected to the fourth workbench (41). The pressing device (5) is used for ultrasonic welding the tops of the outer cups and the inner cups. The pressing device (5) includes a fifth workbench (51), a seventh conveyor (52) and an ultrasonic welding machine (53). The seventh conveyor (52) is arranged on the fifth workbench (51), and the ultrasonic welding machine (53) is arranged on the side of the seventh conveyor (52). The ultrasonic welding machine (53) is used for welding the outer cups and the inner cups. The feeding device (6) includes a straw feeding assembly, a lid feeding assembly and a cup lid assembling assembly. The straw feeding assembly is used for feeding straws. The straw feeding assembly includes a sixth workbench (61), an eighth conveyor (62), a straw separating unit (63) and a fifth six-axis robotic arm (64). The eighth conveyor (62) is arranged on the sixth workbench (61). The straw separating units (63) are respectively arranged on the sides at both ends of the eighth conveyor (62). The straw separating unit (63) is used for separating the straw stacks into individual straws. The fifth six-axis robotic arm (64) is arranged between the two straw separating units (63). The fifth six-axis robotic arm (64) is used for transferring the separated straws. The bottom of the fifth six-axis robotic arm (64) is fixedly connected to the sixth workbench (61).

2. The assembly mechanism of a coffee cup according to claim 1, characterized in that, The printing material feeding device (2) includes a first printing component and a second printing component, and the structures of the first printing component and the second printing component are the same; the first printing component includes a second workbench (21), a third conveyor (22), a printing separation component (23), a printing positioning component (24), a printing sheet shaping jig (25), a printing sheet grasping component (26) and an adhesive pasting component (27); the third conveyor (22) is arranged on the second workbench (21), the printing positioning component (24) is arranged on the other side of the third conveyor (22), the printing separation component (23) is arranged on one side of the printing positioning component (24), and the printing separation component (23) is used to separate a printing sheet from the printing sheet stack and convey it to the printing positioning component (24); the adhesive pasting component (27) is arranged on one side of the printing positioning component (24) and is used to paste double-sided adhesive on the side of the printing sheet; the printing sheet grasping component (26) is arranged in the middle of the workbench, the printing sheet shaping jig (25) is arranged on one side of the third conveyor (22), and the printing sheet grasping component (26) is used to suck the printed sheet after the film is torn and move it to the printing sheet shaping jig (25); the third conveyor (22) is used to convey the jig.

3. The assembling mechanism of a coffee cup according to claim 1, characterized in that, The detection device (3) includes a third workbench (31), a fourth conveyor (32), a second six-axis robot arm (33) and a third six-axis robot arm (34); the fourth conveyor (32) is arranged on the third workbench (31), and the second six-axis robot arm (33) and the third six-axis robot arm (34) are arranged horizontally in sequence on the side of the fourth conveyor (32). The third six-axis robot arm (34) is used to shape the printing sheet on the jig to a preset position, and the second six-axis robot arm (33) is used to perform visual inspection on the printing sheet.

4. The assembling mechanism of a coffee cup according to claim 3, characterized in that, The second six-axis robot arm (33) includes a robot arm body and a detection component; the detection component includes a detection support frame (35), an LED light source (36) and a CCD camera (37); one end of the detection support frame (35) is connected to one end of the robot arm body, the CCD camera (37) is embedded on one side of the detection support frame (35), the LED light source (36) is arranged at one end of the CCD camera (37) and is fixedly connected to the detection support frame (35).

5. The assembly mechanism of a coffee cup according to claim 1, characterized in that, The fifth and sixth axis robotic arm (64) includes a robotic arm body and a straw gripper; the straw gripper includes a straw support frame (71), a straw spring (72), a straw fixing plate (73), a straw cylinder (74) and a straw finger cylinder (75); the side of the straw support frame (71) is fixedly connected to the working end of the robotic arm body, the straw cylinders (74) are respectively arranged at both ends of the straw support frame (71), the working ends of the two straw cylinders (74) are respectively slidably connected to the top of the straw fixing plate (73), a plurality of the straw finger cylinders (75) are respectively fixedly connected to the bottom of the straw fixing plate (73), and the two straw springs (72) are respectively sleeved on the working ends of the straw cylinders (74).

6. The assembly mechanism of a coffee cup according to claim 1, characterized in that, The structure of the lid loading assembly is the same as that of the second cup loading device (4); the cup lid assembling assembly is used to press the loaded lid to a preset position, and the cup lid assembling assembly includes a seventh workbench (81), a ninth conveyor (82), a sixth six-axis robotic arm (83) and a seventh six-axis robotic arm (84); the sixth six-axis robotic arm (83) and the seventh six-axis robotic arm (84) are respectively arranged on the seventh workbench (81), and the ninth conveyor (82) is arranged on the side of the seventh six-axis robotic arm (84).

7. The assembly mechanism of a coffee cup according to claim 1, characterized in that, The unloading device (7) is used to transfer the coffee cups offline, and the unloading device (7) includes an eighth workbench (91), an eighth six-axis robotic arm (92), a tenth conveyor (93) and an eleventh conveyor (94); the eighth six-axis robotic arm (92) is arranged on the eighth workbench (91), the tenth conveyor (93) is arranged on the side of the eighth six-axis robotic arm (92), and the eleventh conveyor (94) is respectively arranged on both sides of the eighth six-axis robotic arm (92).

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