Automatic stacking and piling equipment for ice cup production

Abstract

The embodiment of the application provides an automatic stacking equipment for ice cup production, and relates to the technical field of stacking robots, which comprises a mechanical arm for stacking operation, a carrier plate connected to the mechanical arm, a mounting frame connected to the bottom of the carrier plate, suction cups equidistantly arranged at the bottom of the mounting frame, a vacuum system in communication with the suction cups for keeping the inside of the suction cups in a negative pressure state, and a plugging assembly arranged outside the mounting frame for plugging the gaps at the bottom of the suction cups on the outside, thereby improving the adsorption effect of the suction cups. When the width of the box is small and there is a gap between the suction cup and the box, the plugging assembly can plug the gap at the bottom of the suction cup, thereby greatly reducing the gap area at the bottom of the suction cup, enabling the suction cup to stably adsorb the box, and enabling the subsequent stacking to be more stably performed.

Description

Technical Field

[0001] This application relates to the field of palletizing robot technology, specifically to an automatic stacking and palletizing equipment for ice cup production. Background Technology

[0002] Ice cups are essential consumables in freshly made tea drinks, fast food chains, cold chain food, and supermarket retail. In recent years, with the rapid expansion of the consumer market, the industry has shown a trend towards large-scale, continuous, and high-speed production. A single automated ice cup production line can have a daily capacity of hundreds of thousands of units. The entire process—forming, printing, packaging, stacking, and warehousing—requires high coordination; any equipment malfunction or delay at any stage will directly affect the overall line's uptime. Finished ice cups are generally packaged in lightweight corrugated cardboard boxes. These boxes are characterized by various sizes, thin walls that are easily deformed, and limited load-bearing capacity, placing extremely high demands on the adsorption stability, box protection, size adaptability, and operational reliability of the downstream stacking and palletizing equipment.

[0003] Currently, ice cup manufacturers generally use universal vacuum suction cup palletizing equipment to handle and stack cartons. This equipment uses vacuum negative pressure as the suction force, forming a sealed negative pressure chamber between the vacuum suction cups and the material surface to achieve damage-free gripping, transfer, and stacking of regular packaged items such as cartons, boxes, and bags. The equipment uses a robotic arm or gantry as the motion actuator, combined with modular vacuum suction cup assemblies and a vacuum generation system as the core gripping unit, and works in conjunction with electrical and pneumatic control systems to complete automated operations. Its core working principle is as follows: a vacuum generator or vacuum pump quickly extracts air from the inside of the suction cup, creating a negative pressure environment in the inner cavity of the suction cup that is lower than the external atmospheric pressure. The atmospheric pressure is used to press the material tightly against the end face of the suction cup, achieving stable adsorption. After the material is transported to the designated stacking position, the system breaks the vacuum, the suction cup separates from the material, and a single stacking cycle is completed. Traditional vacuum suction cup stacking equipment often uses a fixed spacing and fixed arrangement design for the suction cup group, and the vacuum system is mostly a centralized air supply mode. It has advantages such as simple structure, fast response, and no damage to the material surface, and can meet the conventional stacking requirements of specific sizes and intact boxes.

[0004] However, in actual industrial continuous production, existing traditional vacuum palletizing equipment still has inherent technical defects in the operation of ice cup cartons, making it difficult to meet the production requirements of large-scale, high-precision, and high-stability ice cup production. The specific problems are as follows: Ice cup packaging involves various carton sizes, especially for smaller capacity ice cups which require narrower cartons. Existing equipment uses suction cups arranged at fixed intervals. When gripping narrow cartons, the outer suction cups are often partially attached to the top of the carton, with the other half suspended in the air. This suspended area cannot form a sealed vacuum chamber, allowing air to continuously seep in. This causes a rapid decrease in the vacuum level inside the suction cups and a significant reduction in suction force. During operation, this can lead to cartons falling off, stacking misalignment, and tipping over. In severe cases, it can cause ice cup breakage and production line shutdown, greatly reducing production stability. Furthermore, in continuous production, stopping the machine to replace suction cups for different sizes and batches of cartons wastes manpower and resources, significantly reducing production efficiency. Summary of the Invention

[0005] This application provides an automatic stacking and palletizing device for ice cup production, addressing the problem in existing ice cup packaging where various carton sizes exist, especially narrower cartons for smaller capacity ice cups. Existing devices use suction cups arranged at fixed intervals, resulting in a situation where, when gripping narrow cartons, the outer suction cups are half-attached to the top surface and half-exposed. This unexposed area cannot form a sealed vacuum chamber, allowing air to continuously seep in, causing a rapid decrease in the vacuum level inside the suction cups and a significant reduction in suction force. This leads to malfunctions such as cartons falling off, stacking misalignment, and tipping, and in severe cases, ice cup breakage and production line shutdown, greatly reducing production stability.

[0006] To achieve the above objectives, this application provides the following technical solution: An automated stacking and palletizing equipment for ice cup production includes: Robotic arms are used for palletizing operations; A carrier plate is attached to the robotic arm; Mounting bracket, connected to the bottom of the carrier plate; Suction cups are equidistantly arranged at the bottom of the mounting bracket; A vacuum system, connected to the suction cup, is used to create a negative pressure state inside the suction cup. A sealing component is disposed on the outside of the mounting bracket to seal the gap at the bottom of the outer suction cup, thereby improving the suction effect of the suction cup.

[0007] In any of the above technical solutions, the blocking component further includes: Long plates are symmetrically arranged on both sides of the mounting bracket; A sealing pad is attached to the top of the long plate; A drive assembly, disposed on the long plate, is used to drive the long plate to move until the sealing pad abuts against the bottom gap of the suction cup.

[0008] In any of the above technical solutions, the driving component further includes: A slide rail is connected to the outside of the bracket; An electric push rod is disposed below the slide rail, and the bottom of the electric push rod is connected to the long plate; A slider is slidably mounted inside the slide rail, and the slider is connected to the electric push rod; A cylinder is connected to the mounting bracket, and the cylinder rod of the cylinder is connected to the slider; A control component, mounted on the long plate, can drive the cylinder to stop moving after the long plate is in contact with the side of the box, and drive the electric push rod to shorten.

[0009] In any of the above technical solutions, the control component further includes: A slider is slidably disposed on the inner side of the long plate; The button is located inside the long plate; The controller, located on the long plate, can control the cylinder to stop moving and drive the electric push rod to shorten after the button is pressed.

[0010] In any of the above technical solutions, the long plate is further provided with a cavity inside, and suction holes communicating with the cavity are provided at equal intervals on the inner side of the long plate. A vacuum generating component that can remove the air inside the cavity is provided at the cavity.

[0011] In any of the above technical solutions, the vacuum generating component further includes: A vacuum generator is connected to the slide rail; A straw connects the vacuum generator to the cavity.

[0012] In any of the above technical solutions, the suction hole is further provided with a filter screen inside, and a vibration component that can drive the filter screen to vibrate continuously is provided outside the filter screen.

[0013] In any of the above technical solutions, the vibration component further includes: A stop block is attached to the inner wall of the suction hole; A ring seat is attached to the inner wall of the suction hole; An electromagnet is connected to the side of the ring seat near the filter screen; A spring connects the ring seat to the filter screen; The filter screen abuts against the stop block.

[0014] In any of the above technical solutions, the sealing pad is further described as a thin sheet of highly elastic silicone.

[0015] In any of the above technical solutions, the filter screen is made of iron, and the electromagnet, when energized, can overcome the elastic force of the spring and attract the filter screen away from the block.

[0016] The automatic stacking and palletizing equipment for ice cup production provided in this application embodiment has the following technical advantages compared to the prior art: This invention enables the sealing component to seal the gap at the bottom of the suction cup when there is a gap between the suction cup and the box, especially when dealing with narrow boxes. This significantly reduces the gap area at the bottom of the suction cup, allowing the suction cup to stably hold the box in place and making subsequent stacking more stable.

[0017] It should be understood that both the foregoing general description and the following detailed description are for illustrative purposes and do not necessarily limit the scope of this disclosure. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate the subject matter of this disclosure. Furthermore, the specification and drawings serve to explain the principles of this disclosure. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the specific embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application.

[0019] Figure 1 This is a schematic diagram of the structure of an automatic stacking and palletizing equipment for ice cup production according to an embodiment of the present disclosure; Figure 2 This is a schematic diagram of the structure of the mounting bracket according to an embodiment of the present disclosure. Figure One ; Figure 3 This is a schematic diagram of the structure of the mounting bracket according to an embodiment of the present disclosure. Figure Two ; Figure 4 This is a schematic diagram of the structure of the blocking component according to an embodiment of the present disclosure; Figure 5 This is a cross-sectional view of the long plate according to an embodiment of the present disclosure; Figure 6 Embodiments of this disclosure Figure 5 Enlarged structural diagram at point A in the middle; Icons: 1. Robotic arm; 2. Carrier plate; 3. Mounting bracket; 4. Suction cup; 5. Long plate; 6. Sealing pad; 7. Slide rail; 8. Electric push rod; 9. Slider; 10. Cylinder; 11. Slide bar; 12. Button; 13. Suction hole; 14. Cavity; 15. Vacuum generator; 16. Suction tube; 17. Filter screen; 18. Stop; 19. Ring seat; 20. Electromagnet; 21. Spring. Detailed Implementation

[0020] This invention discloses an automatic stacking and palletizing device for ice cup production, addressing the problem in existing ice cup packaging where various carton sizes exist, especially for small-capacity ice cups with narrower carton widths. Existing devices use suction cups arranged at fixed intervals, resulting in a situation where, when gripping narrow cartons, the outer suction cups are half-attached to the top surface of the carton and half-exposed. This unexposed area cannot form a sealed vacuum chamber, allowing air to continuously seep in through the gaps. This causes a rapid decrease in the vacuum level inside the suction cups and a significant reduction in suction force, leading to malfunctions such as cartons falling off, stacking misalignment, and tipping over. In severe cases, this can cause ice cup breakage, production line shutdown, and significantly reduce production stability.

[0021] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0022] Example 1: Please see Figures 1-4 An automatic stacking and palletizing equipment for ice cup production includes: a robotic arm 1, a carrier plate 2, a mounting frame 3, a suction cup 4, a vacuum system, and a sealing component; Robotic arm 1 is used for palletizing operations. It is a six-axis multi-joint industrial robotic arm with a rated load sufficient to handle entire cases of ice cups. Its repeatability is controlled within ±0.5mm. It can perform flexible movements throughout the entire process of carton gripping, spatial transfer, and stacking. The operating trajectory can be preset and edited through the control system to adapt to different stack types and placement requirements. Carrier plate 2 is connected to robotic arm 1. Specifically, carrier plate 2 is a high-strength aluminum alloy plate, bolted to the end effector of robotic arm 1. It has strong load-bearing capacity and is lightweight, reducing the load on robotic arm 1. Mounting frame 3 is connected to the bottom of carrier plate 2. Suction cups 4 are equidistantly connected to the bottom of mounting frame 3. A vacuum system is connected to suction cups 4 to create a negative pressure state inside the suction cups. Suction cups 4 are made of nitrile rubber vacuum suction cups, evenly distributed at equal intervals at the bottom of mounting frame 3, suitable for flat suction of the top surface of ice cup cartons. The number of suction cups 4 is set to 4-8 depending on the carton specifications. The vacuum system is the same as the vacuum system on the existing palletizing robot arm. The sealing component is set outside the mounting frame 3 to seal the empty space at the bottom of the outer suction cup 4 and improve the adsorption effect of the suction cup 4.

[0023] In use, the robotic arm 1 controls the carrier plate 2 to move the mounting bracket 3 and suction cup 4, so that the suction cup 4 comes into contact with the top of the box. With the help of the vacuum system, the suction cup 4 is in a negative pressure state, thereby adsorbing the top of the box. Then the robotic arm 1 moves the carrier plate 2, mounting bracket 3, suction cup 4 and the adsorbed box to the required area. The subsequent steps are the same as above, which can stack the boxes. When encountering a box with a small width, after the bottom of the outer suction cup 4 comes into contact with the top of the box, there is an area at the bottom of the outer suction cup 4 that does not contact the box, which creates a gap at the bottom of the suction cup 4, thus affecting the adsorption effect of the suction cup 4 on the box. Therefore, when the above situation occurs, the gap at the bottom of the outer suction cup 4 is sealed by the sealing component, which can greatly reduce the gap area at the bottom of the suction cup 4, so that the suction cup 4 can stably adsorb the box, and the subsequent stacking can be carried out more stably.

[0024] In one specific embodiment, the sealing assembly includes: a long plate 5, a sealing pad 6, and a driving assembly; The long plate 5 is symmetrically arranged on both sides of the mounting bracket 3, the sealing pad 6 is fixedly connected to the top of the long plate 5, and the driving component is arranged on the long plate 5 to drive the long plate 5 to move until the sealing pad 6 and the bottom gap of the suction cup 4 come into contact.

[0025] The drive component drives the long plate 5 to move with the sealing pad 6 until it comes into contact with the empty space at the bottom of the suction cup 4. At this time, the empty area at the bottom of the suction cup 4 can be sealed, greatly reducing the area of ​​the empty area.

[0026] In one specific embodiment, the drive assembly includes: a slide rail 7, an electric push rod 8, a slider 9, a cylinder 10, and a control assembly; The slide rail 7 is fixedly connected to the outside of the mounting bracket 3. The electric push rod 8 is located below the slide rail 7. The bottom of the telescopic end of the electric push rod 8 is fixedly connected to the long plate 5. The slider 9 is slidably installed inside the slide rail 7. The slider 9 is fixedly connected to the fixed end of the electric push rod 8. The cylinder 10 is fixedly connected to the mounting bracket 3. The cylinder rod of the cylinder 10 is fixedly connected to the slider 9. The control component is located on the long plate 5. After the long plate 5 is in contact with the side of the box, it can drive the cylinder 10 to stop moving and drive the electric push rod 8 to shorten.

[0027] The cylinder rod of cylinder 10 shortens, moving slider 9, electric push rod 8, long plate 5, and sealing pad 6 towards the box. When long plate 5 is in contact with the outside of the box, the control component controls cylinder 10 to stop moving and drives electric push rod 8 to shorten. Finally, when sealing pad 6 comes into contact with the bottom of suction cup 4, the control component controls electric push rod 8 to stop moving, thus completing the sealing of the gap at the bottom of suction cup 4.

[0028] The shortened distance of the electric push rod 8 can meet the requirement of the bottom of the sealing pad 6 and the suction cup 4 making contact.

[0029] In one specific implementation, the control components include: a slider 11, a button 12, and a controller (not shown in the figure); The slide bar 11 is slidably disposed on the inner side of the long plate 5. Specifically, a groove is provided on the side of the long plate 5 near the box, and the slide bar 11 is slidably disposed in the groove. The button 12 is fixedly installed on the inner wall of the groove of the long plate 5. The controller is disposed on the long plate 5 and can control the cylinder 10 to stop moving and drive the electric push rod 8 to shorten after the button 12 is pressed.

[0030] After the long plate 5, along with the slider 11, comes into contact with the side of the box, the slider 11 can no longer move. The long plate 5 continues to move, causing the button 12 to be squeezed and moved by the slider 11. When the button 12 is fully pressed, the long plate 5 is in contact with the side of the box. After the button 12 is pressed, it works with the control component to stop the cylinder 10 and drive the electric push rod 8 to shorten a certain distance before stopping. When the long plate 5 resets, the button 12 resets itself, causing the slider 11 to reset.

[0031] Example 2: Compared with Embodiment 1, the difference is that the interior of the long plate 5 is also provided with a cavity 14, and the inner side of the long plate 5 is provided with suction holes 13 that communicate with the cavity 14 at equal intervals. The cavity 14 is provided with a vacuum generating component that can remove the air inside it.

[0032] Because some boxes have dents on their sides, when the sealing pad 6 comes into contact with the bottom of the suction cup 4, the presence of these dents results in a large empty area at the bottom of the suction cup 4, affecting its suction ability. Therefore, when the sealing pad 6 comes into contact with the bottom of the suction cup 4, the vacuum generating component removes the air from the cavity 14, generating suction at the suction hole 13. The suction flattens the recessed cardboard area, repairing the recessed area and preventing it from affecting the suction cup 4's adsorption capacity, thus ensuring the adsorption effect.

[0033] In one specific embodiment, the vacuum generating assembly includes: a vacuum generator 15 and a suction tube 16; Vacuum generator 15 is connected to slide rail 7. Vacuum generator 15 is a jet-type vacuum generator in the prior art. It does not require motor drive, has low energy consumption, and does not generate heat. It is suitable for long-term operation. Suction tube 16 connects vacuum generator 15 to cavity 14. Suction tube 16 is a PU flexible vacuum tube with a pressure resistance value of ≥-100kPa to ensure stable negative pressure transmission.

[0034] The vacuum generator 15, in conjunction with the suction tube 16, can remove the air from the cavity 14, thereby generating suction at the suction hole 13. This suction hole 13 generates a negative pressure suction of -20 to -30 kPa, which flattens the recessed part of the carton side wall, thus smoothing out the recessed area of ​​the carton.

[0035] In one specific embodiment, a filter screen 17 is provided inside the suction hole 13, and a vibration component that can drive the filter screen 17 to vibrate continuously is provided outside the filter screen 17. The mesh number of the filter screen 17 is 80-100 mesh.

[0036] The filter 17 can filter the dust and impurities in the suction hole 13, preventing them from entering the cavity 14 and the suction hole 13 and causing blockage. After one stacking is completed, when the robotic arm 1 resets, the vibration component works, causing the filter 17 to vibrate continuously, shaking off the dust and impurities on its surface, so that the dust and impurities leave the filter 17, ensuring the filter 17 is unobstructed, thereby ensuring normal use in the future.

[0037] In one specific embodiment, the vibration assembly includes: a stop block 18, a ring seat 19, an electromagnet 20, and a spring 21; The stop block 18 is fixedly connected to the inner wall of the suction hole 13, the ring seat 19 is fixedly connected to the inner wall of the suction hole 13, the electromagnet 20 is fixedly connected to the side of the ring seat 19 near the filter screen 17, the spring 21 connects the ring seat 19 and the filter screen 17, and the filter screen 17 abuts against the stop block 18.

[0038] When the electromagnet 20 is energized, it becomes magnetic, attracting the filter screen 17 to move closer to the electromagnet 20, which compresses and deforms the spring 21. When the electromagnet 20 is de-energized, the spring 21 quickly returns to its original position, driving the filter screen 17 to collide with the stop block 18 and generate vibration, which shakes the dust and impurities on the surface of the filter screen 17 to the outside. By continuously energizing and de-energizing the electromagnet 20, the filter screen 17 can be cleaned in conjunction with the spring 21.

[0039] In one specific implementation, the sealing pad 6 is a thin sheet of highly elastic silicone with a thickness of 3-5mm. It flexibly fits the bottom of the suction cup 4, so that the sealing pad 6 makes slight contact and slightly deforms to seal. It is extremely soft and will only adapt to fit even if it slightly touches the suction cup 4, without pressing against the suction cup 4 in the opposite direction to cause dents or air leakage.

[0040] In one specific embodiment, the filter screen 17 is made of iron. When the electromagnet 20 is energized, it can overcome the elastic force of the spring 21 and attract the filter screen 17 away from the stop block 18, ensuring that the filter screen 17 can collide with the stop block 18 in the future.

[0041] Working principle: During use, the robotic arm 1 controls the carrier plate 2 to move the mounting bracket 3 and suction cup 4, so that the suction cup 4 comes into contact with the top of the box. With the help of the vacuum system, the suction cup 4 is in a negative pressure state, thereby adsorbing the top of the box. Then the robotic arm 1 moves the carrier plate 2, mounting bracket 3, suction cup 4 and the adsorbed box to the required area. The subsequent steps are the same as above, which can stack the boxes. When encountering a box with a small width, after the bottom of the outer suction cup 4 comes into contact with the top of the box, there is an area at the bottom of the outer suction cup 4 that does not contact the box, which creates a gap at the bottom of the suction cup 4, thus affecting the adsorption effect of the suction cup 4 on the box. Therefore, when the above situation occurs, the cylinder rod of the drive cylinder 10 shortens, causing the slider 9, electric push rod 8, long plate 5, and sealing pad 6 to move closer to the box. The slider 11 moves with the long plate 5 until it touches the side of the box. At this time, the slider 11 can no longer move, while the long plate 5 continues to move, causing the button 12 to be squeezed by the slider 11. When the button 12 is completely pressed, the long plate 5 is in contact with the side of the box. After the button 12 is pressed, the control component controls the cylinder 10 to stop moving and drives the electric push rod 8 to shorten a certain distance before stopping. Finally, when the sealing pad 6 touches the bottom of the suction cup 4, the gap at the bottom of the suction cup 4 is sealed, which greatly reduces the gap area at the bottom of the suction cup 4, allowing the suction cup 4 to stably adsorb the box during the operation time, making the subsequent stacking more stable. Because some boxes have dents on their sides, when the sealing pad 6 comes into contact with the bottom of the suction cup 4, the presence of these dents results in a large empty area at the bottom of the suction cup 4, affecting its suction ability. Therefore, when the sealing pad 6 comes into contact with the bottom of the suction cup 4, the vacuum generating component will remove the air from the cavity 14, thereby generating suction at the suction hole 13. The suction will flatten the recessed cardboard area, thus repairing the recessed area and preventing the recessed area from affecting the suction cup 4's adsorption capacity, ensuring the adsorption effect. After the dented area is repaired, the suction cups at point 4 will generate suction to adhere to the box. After completing one palletizing cycle, the robotic arm 1, carrying the carrier plate 2, mounting bracket 3, suction cup 4, and components inside the sealing assembly, resets. During the reset process, the electric push rod 8 and cylinder 10 also reset, ultimately achieving overall reset and preparing for the next palletizing cycle. The filter 17 filters dust and impurities from the suction hole 13, preventing them from entering the cavity 14 and causing blockages. After one stacking operation, when the robotic arm 1 resets, the electromagnet 20 is energized and becomes magnetic, attracting the filter 17 to move closer to the electromagnet 20, compressing and deforming the spring 21. When the electromagnet 20 is de-energized, the spring 21 quickly resets, driving the filter 17 to collide with the stop block 18 and vibrate, shaking the dust and impurities on the surface of the filter 17 to the outside. By continuously energizing and de-energizing the electromagnet 20, and finally working with the spring 21, the filter 17 can be cleaned, ensuring its unobstructed flow and thus guaranteeing normal use in the future.

[0042] in: The slide rail 7 uses a linear ball bearing guide, which has low sliding resistance and precise positioning. The slider 9 and the slide rail 7 are fitted with a clearance fit, ensuring smooth operation. The cylinder 10 is a miniature thin cylinder, which has a fast response speed and stable feeding. It is equipped with a throttle valve to achieve speed adjustment and avoid impact on the side wall of the carton during rapid feeding. The electric push rod 8 is a DC silent push rod with a telescopic stroke set to 25mm to ensure that the sealing pad 6 accurately reaches the bottom sealing position of the suction cup, without overtravel or misalignment.

[0043] The slider 11 in the control assembly is made of wear-resistant plastic and slides in conjunction with the inner groove of the long plate 5, with a sliding stroke of 5mm. The touch button 12 uses a miniature self-resetting contact switch, which is sensitive to triggering and has a long service life. The controller adopts a small PLC programmable logic controller with integrated input and output interfaces, which can realize automated control of signal reception, logic judgment and action execution. It is simple to debug and runs stably.

[0044] The internal cavity 14 of the long board 5 adopts a sealed welding process, which meets the airtightness standard. The suction holes 13 have a diameter of φ2.5mm and are evenly distributed with a spacing of 12mm to ensure that the suction force evenly covers the side wall of the carton.

[0045] Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this disclosure.

[0046] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0048] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0049] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An automatic stacking and palletizing equipment for ice cup production, characterized in that, include: Robotic arm (1) is used for palletizing operations; Carrier plate (2) is connected to the robotic arm (1); Mounting bracket (3) is connected to the bottom of the carrier plate (2); Suction cups (4) are equidistantly arranged at the bottom of the mounting bracket (3); A vacuum system, connected to the suction cup (4), is used to create a negative pressure inside the suction cup (4); The sealing component is located outside the mounting bracket (3) and is used to seal the empty space at the bottom of the outer suction cup (4) to improve the adsorption effect of the suction cup (4).

2. The automatic stacking and palletizing equipment for ice cup production according to claim 1, characterized in that, The blocking assembly includes: Long plates (5) are symmetrically arranged on both sides of the mounting bracket (3); A sealing pad (6) is attached to the top of the long plate (5); A driving component is disposed on the long plate (5) for driving the long plate (5) to move until the sealing pad (6) and the suction cup (4) come into contact at the bottom gap.

3. The automatic stacking and palletizing equipment for ice cup production according to claim 2, characterized in that, The driving component includes: The slide rail (7) is connected to the outside of the mounting bracket (3); An electric push rod (8) is disposed below the slide rail (7), and the bottom of the electric push rod (8) is connected to the long plate (5); The slider (9) is slidably installed inside the slide rail (7), and the slider (9) is connected to the electric push rod (8); A cylinder (10) is connected to the mounting bracket (3), and the cylinder rod of the cylinder (10) is connected to the slider (9); A control assembly, mounted on the long plate (5), is used to control the cylinder (10) and the electric push rod (8).

4. The automatic stacking and palletizing equipment for ice cup production according to claim 3, characterized in that, The control component includes: A slider (11) is slidably disposed on the inner side of the long plate (5); Button (12) is located inside the long plate (5); The controller, located on the long plate (5), can control the cylinder (10) to stop moving and drive the electric push rod (8) to shorten after the button (12) is pressed.

5. The automatic stacking and palletizing equipment for ice cup production according to claim 4, characterized in that, The long plate (5) has a cavity (14) inside. The long plate (5) has suction holes (13) that communicate with the cavity (14) at equal intervals on its inner side. The cavity (14) is provided with a vacuum generating component that can remove the air inside it.

6. The automatic stacking and palletizing equipment for ice cup production according to claim 5, characterized in that, The vacuum generating component includes: A vacuum generator (15) is connected to the slide rail (7); The suction tube (16) connects the vacuum generator (15) to the cavity (14).

7. The automatic stacking and palletizing equipment for ice cup production according to claim 6, characterized in that, The suction hole (13) is provided with a filter screen (17) inside, and a vibration component that can drive it to vibrate continuously is provided outside the filter screen (17).

8. The automatic stacking and palletizing equipment for ice cup production according to claim 7, characterized in that, The vibration component includes: A stop (18) is attached to the inner wall of the suction hole (13); The ring seat (19) is connected to the inner wall of the suction hole (13); An electromagnet (20) is connected to the side of the ring seat (19) near the filter screen (17); A spring (21) connects the ring seat (19) to the filter screen (17); In a static state, the filter (17) is in contact with the block (18).

9. The automatic stacking and palletizing equipment for ice cup production according to claim 8, characterized in that, The sealing pad (6) is specifically a thin sheet of highly elastic silicone.

10. The automatic stacking and palletizing equipment for ice cup production according to claim 9, characterized in that, The filter screen (17) is made of iron. When the electromagnet (20) is energized, it can overcome the elastic force of the spring (21) and attract the filter screen (17) away from the stop block (18).

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