Pick-and-place device for cup lid production

Abstract

The invention discloses a pick-and-place device for cup lid production, which comprises a bracket, a conveying belt, a grabbing manipulator, a lifting rod, a pressing plate, a rotating plate, a meshing plate and a switching plate, the edge of the rotating plate is fixedly connected with a contact rod, the lifting rod is fixedly connected with a matching rod matched with the contact rod, the lifting rod is also fixedly connected with a maintaining rod, the rotating plate is provided with a movable groove, and the movable groove is fixedly connected with the rotating plate. After the rotating plate rotates to drive the grabbing mechanical arm to move to the highest point, the buffer rod makes contact with the maintaining rod and the bottom support maintaining rod, so that the lifting rod does not descend, the stability of the grabbing mechanical arm is guaranteed, the rotating plate continues rotating, the elastic compression piece is compressed, and when a cup cover is released, the cup cover is not prone to falling off. A slight and transient shaking process is provided, so that the cup cover can be conveniently released from the grabbing manipulator; and elastic balls are arranged at the non-clamping-tooth positions of the rotating plates and matched with the inserting columns, so that vertical small-distance shaking of the lifting rods is further promoted, and a grabbing mechanical arm can conveniently release the cup covers.

Description

Technical Field

[0001] The present invention relates to the technical field of cup lid production and conveying structures, and specifically to a picking and placing device for cup lid production. Background Art

[0002] During the production process of cup lids, to achieve automatic grasping, separation, and release of cup lids, traditional multi-stage telescopic guide rail structures are often used in cooperation with mechanical hands. Only the Z-axis vertical lifting is relied on. When separating and releasing, although the mechanical hand opens, the cup lid may get stuck on the mechanical hand, making it inconvenient to separate the cup lid from the mechanical hand.

[0003] Therefore, we propose a picking and placing device for cup lid production. Summary of the Invention

[0004] The purpose of the present invention is to provide a picking and placing device for cup lid production to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides a picking and placing device for cup lid production, including a bracket, a conveyor belt located on the bracket, and a plurality of grasping mechanical hands; It further includes a lifting rod and a pressing plate fixedly connected to the base of the grasping mechanical hand. The pressing plate is cooperated with the conveyor belt through rolling elements. A rotating plate is rotatably connected to the bracket. The rotating plate meshes with a meshing plate fixedly connected to the lifting rod. The top of the lifting rod is rotatably connected to a switching plate through a switching member. The switching plate is fixedly connected to the bases of the plurality of grasping mechanical hands; A contact rod is fixedly connected to the edge of the rotating plate. A cooperating rod cooperating with the contact rod is fixedly connected to the lifting rod. A maintaining rod is also fixedly connected to the lifting rod. An activity groove is formed on the rotating plate. An activity member cooperating with the maintaining rod is movably fitted in the activity groove.

[0006] Furthermore, a limiting rod inserted into the lifting rod is fixedly connected to the bracket. A plug post inserted into the lifting rod is movably inserted at the bottom of the meshing plate.

[0007] Furthermore, the rotating plate is an incomplete gear. The central axis of the rotating plate passes through the bracket and is fixedly connected to the driven wheel on the conveyor belt.

[0008] Furthermore, the activity member includes a buffer rod located in the activity groove. An arc rod fixedly connected to the activity groove is penetrated through the buffer rod. An elastic compression member located in the activity groove is hung between the buffer rod and the contact rod.

[0009] Furthermore, the activity groove is an inclined arc groove.

[0010] Furthermore, a sliding groove slidably fitted with the plug post is formed in the middle of the edge of the rotating plate. The plug post slides along the edge of the rotating plate.

[0011] Further, a T-shaped plate is fixedly connected to the end of the insertion post. A T-shaped groove is formed in the limiting rod, and an elastic plate which is in pressing and fixing contact with the inner wall of the T-shaped groove and is inclinedly distributed is arranged on the T-shaped plate.

[0012] Further, a rotating groove is formed in the T-shaped plate. The elastic plate is of an arc-shaped structure, and the elastic plate is rotationally connected to the T-shaped plate through a torsion spring rod.

[0013] Further, the rolling member includes a roller shaft which is in rolling cooperation with the surface of the conveyor belt. A plurality of limiting rings which are rotationally connected to the roller shaft are fixedly connected to the bottom end of the pressing plate.

[0014] Further, the switching member includes a fixing plate which is fixedly connected to the top of the lifting rod. An electric telescopic rod is rotationally connected to the fixing plate. The telescopic end of the electric telescopic rod is rotationally connected to a switching plate through a rotating shaft, and a counterweight block is installed at the end of the switching plate.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: After the rotating plate rotates to drive the grasping manipulator to move to the highest point, the buffer rod contacts the maintaining rod and the bottom supporting maintaining rod, so that the lifting rod does not descend, ensuring the stability of the grasping manipulator. When the rotating plate continues to rotate, the elastic compression member is compressed, so that when the cup lid is released, there is a slight and short jitter process, which is convenient for the cup lid to be released from the grasping manipulator; Elastic balls are arranged at the non-tooth positions of the rotating plate, and the elastic balls cooperate with the insertion posts, thereby further promoting the small-distance up-and-down jitter of the lifting rod and facilitating the grasping manipulator to release the cup lid. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the cooperation structure of the grasping manipulator, the pressing plate and the conveyor belt of the present invention; Figure 3 is a schematic diagram of the disassembled structure of the grasping manipulator, the pressing plate and the conveyor belt of the present invention; Figure 4 is a schematic diagram of the disassembled structure of the grasping manipulator and the pressing plate of the present invention; Figure 5 is a schematic diagram of the disassembled structure of the electric telescopic rod, the fixing plate, the switching plate and the lifting rod of the present invention; Figure 6 is a schematic diagram of the cooperation structure of the lifting rod and the rotating plate of the present invention; Figure 7 is a top view schematic diagram of the cooperation structure of the lifting rod and the rotating plate of the present invention; Figure 8 is a schematic diagram of the cooperation structure of the cooperation rod, the maintaining rod and the lifting rod of the present invention; Figure 9 Schematic cross-sectional structure diagram of the lifting rod and the rotating plate of the present invention; Figure 10 Schematic exploded structure diagram of the movable part and the rotating plate of the present invention; Figure 11 Schematic exploded structure diagram of the insertion post and the limiting rod of the present invention; Figure 12 Schematic cooperation structure diagram of the insertion post and the limiting rod of the present invention; Figure 13 Schematic cooperation structure diagram of the T-shaped plate and the limiting rod of the present invention; Figure 14 Schematic cooperation structure diagram of the T-shaped plate and the contact plate of the present invention.

[0017] In the figure: 1, bracket; 2, conveyor belt; 3, grasping manipulator; 4, lifting rod; 5, pressing plate; 6, rotating plate; 7, meshing plate; 8, switching plate; 9, contact rod; 10, cooperating rod; 11, maintaining rod; 12, movable groove; 13, limiting rod; 14, insertion post; 15, buffer rod; 16, arc rod; 17, elastic compression member; 18, sliding groove; 19, T-shaped plate; 20, T-shaped groove; 21, elastic plate; 22, rotating groove; 23, roller shaft; 24, limiting ring; 25, fixing plate; 26, electric telescopic rod; 27, counterweight. Specific embodiments

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to Figures 1 - 14 , the present invention provides a pick-and-place device for cup lid production, including a bracket 1, a conveyor belt 2 located on the bracket 1, and a plurality of grasping manipulators 3. A motor is fixedly connected to the bracket 1, and a driving wheel and a driven wheel are rotatably connected. The output shaft of the motor is fixedly connected to the center shaft of the driving wheel. The conveyor belt 2 is in rolling cooperation with both the driving wheel and the driven wheel, that is, driven by the motor, the driving wheel rotates self, so that the conveyor belt 2 is driven, and the driven wheel makes a cooperative self-rotation; The cup lids on the conveyor belt 2 move on the conveyor belt 2 (the cup lids move from the direction of the driving wheel to the direction of the driven wheel), so as to complete the transportation of the cup lids. When the cup lids move to the driven wheel, in this application, the cup lids are distributed at intervals on the conveyor belt 2, which is convenient for the grasping manipulator 3 to pick and place the cup lids in the same row. Then, the next row of cup lids moves with the conveyor belt 2 and enters below the grasping manipulator 3; The specific implementation methods are as follows: S1. In the initial state, the grasping manipulator 3 is open. The base of the grasping manipulator 3 is fixedly connected with a pressing plate 5. At the bottom end of the pressing plate 5, a plurality of limiting rings 24 rotatably connected to the roller shaft 23 are fixedly connected. The roller shaft 23 comes into contact with the driving conveyor belt 2 and rolls, so that the L-shaped pressing plate 5 first blocks the cup lids moving on the conveyor belt 2, making this group of cup lids pause, while the conveyor belt 2 continues to drive, without affecting the movement of the next group of cup lids. At this time, the cup lids restricted from moving are located below the grasping manipulator 3. Then, through the control of the computer system, the grasping manipulator 3 grasps and fixes the cup lids, thus completing the taking of the cup lids. Among them, it is worth noting that: the moving speed of the conveyor belt 2 is slow, ensuring that after the previous group of cup lids are taken and placed, the next group of cup lids enter below the grasping manipulator 3 to perform the taking and placing of the next group of cup lids. S2. Then, when the driven wheel continues to rotate, it drives the rotating plate 6 rotatably connected to the bracket 1 to rotate self at the original position. And the rotating plate 6 is an incomplete gear, and there is a smooth section on the incomplete gear. The meshing plate 7 is fixedly connected with the lifting rod 4. The bracket 1 is fixedly connected with a limiting rod 13, and the limiting rod 13 is in plug-in fit with the lifting rod 4. Under the action of the self-rotation of the rotating plate 6, the teeth on the rotating plate 6 come into contact with the meshing plate 7, making the meshing plate 7 and the lifting rod 4 move upward. The lifting rod 4 slides relative to the limiting rod 13, and the lifting rod 4 will not rotate at an angle relative to the limiting rod 13. The lifting rod 4 rises with the meshing plate 7 (tooth plate), thus driving the fixed plate 25 fixedly connected to the top of the lifting plate to rise. A motorized telescopic rod 26 is rotatably connected to the fixed plate 25. The telescopic end of the motorized telescopic rod 26 is rotatably connected to the switching plate 8 through a rotating shaft, so that the motorized telescopic rod 26, the switching plate 8 and the switching plate 8 move upward synchronously. Also, the switching plate 8 is fixedly connected to the bases of a plurality of grasping manipulators 3, thus making the grasping manipulators 3 rise. S3. When the grasping manipulator 3 moves to the highest position, the smooth section of the rotating plate 6 cooperates with the meshing plate 7, that is, the teeth on the rotating plate 6 are not meshed with the meshing plate 7. The meshing plate 7 should have descended, but since a maintaining rod 11 is also fixedly connected to the lifting rod 4, and an activity groove 12 is opened on the rotating plate 6. A buffer rod 15 is slidably fitted in the activity groove 12. An arc-shaped rod 16 fixedly connected to the activity groove 12 penetrates through the buffer rod 15. An elastic compression member 17 located in the activity groove 12 is hung between the buffer rod 15 and the contact rod 9. The buffer rod 15 contacts the maintaining rod 11 and supports the maintaining rod 11, so that the meshing plate 7 does not descend. The rotating plate 6 continues to rotate, the elastic compression member 17 is compressed, and the buffer rod 15 slides in the activity groove 12, making the maintaining rod 11, the meshing plate 7, the lifting plate and the grasping manipulator 3 maintain this position (the highest position). When the switching board 8 and the grasping manipulator 3 are in the highest position, under the control of the computer system, the electric telescopic rod 26 extends and then retracts (rotates more than 90 degrees and less than 180 degrees), so that the switching board 8 and the grasping manipulator 3 (the grasping manipulator 3 fixedly holds the cup lid) rotate, and the switching board 8 and the grasping manipulator 3 rotate, so that the switching board 8 and the grasping manipulator 3 are not located on the conveyor belt 2; Then, release the grasping manipulator 3, and place the cup lid on the grasping manipulator 3 into the next process, such as the collection process; It should be noted that when the buffer rod 15 supports the bottom of the support rod 11, with the cooperation of the elastic compression member 17, when releasing the cup lid, there is a slight and brief jitter process, which is convenient for the cup lid to be released from the grasping manipulator 3 (when releasing the cup lid, the insertion post 14 has entered the sliding groove 18).

[0020] Moreover, the bottom of the engaging plate 7 is movably inserted with an insertion post 14 that is inserted into the lifting rod 4, and a sliding groove 18 that is slidably matched with the insertion post 14 is formed in the middle of the edge of the rotating plate 6. The insertion post 14 slides along the edge of the rotating plate 6. At this time, the insertion post 14 does not slide with the sliding groove 18, and the insertion post 14 contacts the smooth section of the rotating plate, that is, the end of the insertion post 14 is in pressing fit with the non-tooth surface of the incomplete gear; The end of the insertion post 14 is fixedly connected with a T-shaped plate 19. A T-shaped groove 20 is formed on the limiting rod 13 (the width of the T-shaped plate 19 along the direction of the insertion post 14 is smaller than the width of the T-shaped groove 20 along the direction of the insertion post 14). An elastic plate 21 that is in pressing contact with the inner wall of the T-shaped groove 20 and is inclined is provided on the T-shaped plate 19. A rotating groove 22 is formed in the T-shaped plate 19. The elastic plate 21 is of an arc structure, and the elastic plate 21 is rotatably connected to the T-shaped plate 19 through a torsion spring rod; Under the extrusion of the smooth section of the rotating plate, the insertion post 14 moves towards the limiting rod 13, so that the T-shaped plate 19 horizontally moves along the T-shaped groove. The T-shaped plate 19 presses against the T-shaped groove 20. The contact surface between the T-shaped plate 19 and the T-shaped groove is a friction surface, so that the limiting rod 13 and the lifting rod 4 are kept in a fixed state with each other, avoiding the lifting rod 4 moving on the limiting rod 13 and causing the grasping manipulator 3 at the highest position to descend, and ensuring the stability of the cup lid release process; Moreover, during the process that the T-shaped plate 19 presses against the T-shaped groove 20, both ends of the elastic plate 21 cooperate with both sides of the T-shaped groove 20, further avoiding the sliding between the limiting rod 13 and the lifting rod 4.

[0021] S4. After the cup lid is released from the grasping manipulator 3, the electric telescopic rod 26 extends and retracts, causing the grasping manipulator 3 that has not grasped the cup lid to move above the conveyor belt 2. The rotating plate 6 rotates, the elastic compression member 17 compresses, the buffer rod 15 slides along the maintaining rod 11 and disengages from the maintaining rod 11. At the same time, the insertion post 14 enters the sliding groove 18, the T-shaped plate 19 does not contact the T-shaped groove, and the lifting rod 4, the engaging plate 7, and the grasping manipulator 3 all move downward. The pressing plate 5 presses against the conveyor belt 2 again, and the lifting rod 4 slides along the limiting rod 13; The mating rod 10 on the descending lifting rod 4 is placed on the contact rod 9 on the rotating rotating plate 6. On the one hand, it causes the rotating rotating plate 6 to engage with the engaging plate 7 again. On the other hand, it prevents the pressing plate 5 from moving downward excessively and touching the conveyor belt 2, causing damage to the conveyor belt 2; The lifting rod 4 is moved upward again to grasp and release the next group of cup lids.

[0022] Among them, a counterweight block 27 is installed at the end of the switching plate 8. By installing the fitting block, it is avoided that the switching plate 8, the grasping manipulator 3, and the cup lid are too heavy, resulting in unsmooth rotation of the switching plate 8.

[0023] Among them, the movable groove 12 is an inclined arc groove, so that as the elastic compression member 17 is squeezed, the buffer rod 15 can slide over the maintaining rod 11, and the movement of the buffer rod 15 is ensured by the arc rod 16.

[0024] It should be noted that regarding the positional relationship of the contact rod 9, the mating rod 10, the maintaining rod 11, and the buffer rod 15: Compared with the maintaining rod 11, the distance between the mating rod 10 and the lifting rod 4 is greater than the distance between the maintaining rod 11 and the lifting rod 4; The length of the buffer rod 15 is less than the length of the contact rod 9; So that when the buffer rod 15 makes a circular motion, it will not touch the mating rod 10. The buffer rod 15 can only contact the maintaining rod 11. Due to the meshing motion, the contact rod 9 will not contact the maintaining rod 11 either. When the contact rod 9 approaches the lifting rod 4, the maintaining rod 11 and the lifting rod 4 move downward, and the maintaining rod 11 moves downward beyond the contact rod 9 and will not touch the contact rod 9.

[0025] Furthermore, elastic balls can be provided at the non-tooth portion of the rotating plate 6. The elastic balls cooperate with the insertion posts 14, thereby further promoting the small up-and-down jitter of the lifting rod 4 and facilitating the release of the cup lid by the grasping manipulator 3.

[0026] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0027] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pick-and-place device for cup lid production, comprising: A support (1), a conveyor belt (2) located on the support (1), and a plurality of grasping manipulators (3); The invention is characterized in that it also comprises: a lifting rod (4) and a pressure plate (5) connected and fixed to the base of the grabbing manipulator (3), the pressure plate (5) cooperates with the conveyor belt (2) through a rolling member, a rotating plate (6) is rotatably connected to the bracket (1), the rotating plate (6) is meshed with an engaging plate (7) connected and fixed to the lifting rod (4), the top end of the lifting rod (4) is rotatably connected to a switching plate (8) through a switching member, and the switching plate (8) is connected and fixed to the bases of multiple grabbing manipulators (3); A contact rod (9) is fixedly connected to the edge of the rotating plate (6), a matching rod (10) matching with the contact rod (9) is fixedly connected to the lifting rod (4), a maintaining rod (11) is also fixedly connected to the lifting rod (4), and a movable groove (12) is provided on the rotating plate (6), and a movable part matching with the maintaining rod (11) is movably matched in the movable groove (12).

2. The cup lid production pick-up and placement device according to claim 1, characterized in that: A limiting rod (13) inserted into the lifting rod (4) is fixedly connected to the bracket (1), and a plug post (14) inserted into the lifting rod (4) is movably plugged into the bottom of the engagement plate (7).

3. The cup lid production pick-up and placement device according to claim 1, characterized in that: The rotating plate (6) is an incomplete gear, and the central axis of the rotating plate (6) passes through the bracket (1) and is connected and fixed to the driven wheel on the conveyor belt (2).

4. The cup lid production pick-up and placement device according to claim 1, characterized in that: The movable member comprises a buffer rod (15) located in the movable groove (12), the buffer rod (15) being provided with an arc-shaped rod (16) connected and fixed to the movable groove (12), and an elastic compression member (17) located in the movable groove (12) being hung between the buffer rod (15) and the contact rod (9).

5. The cup lid production pick-up and placement device according to claim 1, characterized in that: The movable groove (12) is an inclined arc-shaped groove.

6. The cup lid production pick-up and placement device according to claim 2, characterized in that: A sliding groove (18) that slidably cooperates with the insertion column (14) is provided in the middle of the edge of the rotating plate (6), and the insertion column (14) slides along the edge of the rotating plate (6).

7. The cup lid production pick-up and placement device according to claim 2, characterized in that: The end of the plug post (14) is fixedly connected to a T-shaped plate (19), the limiting rod (13) is provided with a T-shaped slot (20), and the T-shaped plate (19) is provided with an elastic plate (21) which is pressed and fixed against the inner wall of the T-shaped slot (20) and is distributed in an inclined manner.

8. The cup lid production pick-up and placement device according to claim 7, characterized in that: A rotation groove (22) is provided in the T-shaped plate (19); the elastic plate (21) is in an arc-shaped structure; the elastic plate (21) and the T-shaped plate (19) are rotationally connected via a torsion spring rod.

9. The cup lid production pick-up and placement device according to claim 1, characterized in that: The rolling element comprises a roller shaft (23) that rolls with the surface of the conveyor belt (2), and a plurality of limit rings (24) that are rotatably connected to the roller shaft (23) are fixedly connected to the bottom end of the pressure plate (5).

10. The cup lid production pick-up and placement device according to claim 1, characterized in that: The switching member comprises a fixed plate (25) connected and fixed to the top of the lifting rod (4); an electric telescopic rod (26) is rotatably connected to the fixed plate (25); the telescopic end of the electric telescopic rod (26) is rotatably connected to the switching plate (8) via a rotating shaft; and a counterweight (27) is installed at the end of the switching plate (8).

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