A cup unloading mechanism

Abstract

The application discloses a cup unloading mechanism, which comprises a transfer unit, a transfer seat, a direction adjusting unit and a grabbing unit. The transfer unit is connected with the transfer seat to drive the transfer seat to move between a feeding line and a cup holder conveying line. The transfer seat is provided with a plurality of grabbing units. The direction adjusting unit is installed on the transfer seat to drive at least part of the grabbing units to rotate and adjust the direction, so that the direction of the product grabbed by the grabbing unit is aligned with the direction of the cup placing groove on the cup holder conveyed on the cup holder conveying line. The cup unloading mechanism can drive at least part of the grabbing units to rotate and adjust the direction of the product, so that the products with different directions on the filling line can be accurately placed into the cup placing groove of the cup holder, and the industry pain point that the general cup unloading equipment in the prior art cannot adapt to the unloading and loading of special-shaped cups (such as triangular cups) is solved.

Description

Technical Field

[0001] This application relates to the technical field of automated packaging equipment, and more particularly to a cup unloading mechanism. Background Technology

[0002] With the rapid development of the food industry, the market demand for products such as cup-packaged yogurt, jelly, and sauces continues to grow, placing increasingly higher demands on the automation level and production efficiency of filling production lines. In the filling production line, the cup unloading and tray loading process is a key link connecting the filling and sealing process with the subsequent boxing process, and its performance directly affects the capacity and product quality of the entire production line.

[0003] Currently, there are two main methods for unloading cups in the industry: The first is direct drop, where cups, after filling and sealing, fall directly from the outlet onto the conveyor line below. This method is simple in structure and low in cost, but the impact between the cup and the conveyor line during unloading can easily cause cup deformation and seal damage. Furthermore, it lacks any positioning capability, resulting in cups being arranged haphazardly on the conveyor line and unable to directly connect to the subsequent automatic packing equipment. The second method is the robotic suction cup method, where a robotic arm drives a suction cup assembly to pick up cups from the filling line and then move them horizontally onto the conveyor line. Compared to the direct drop method, this method reduces cup wear and improves positioning accuracy, but it can only achieve horizontal movement of the cups and cannot adjust their orientation.

[0004] The two cup unloading methods mentioned above are only suitable for regular cup shapes such as round and square. In recent years, in order to improve product recognition, increase packaging space utilization, and reduce waste of sealing film material at the edges, more and more companies have begun to use irregularly shaped cups (such as triangular cups, pentagonal cups, hexagonal cups, etc.) for product packaging. Taking an equilateral triangular cup as an example, by using a staggered arrangement of the pointed corners facing each other on the filling positioning tray, the number of cups per unit area can be increased by about 20%, while significantly reducing material waste in the sealing process.

[0005] However, the application of irregularly shaped cups has brought new technical challenges to the cup unloading and tray loading process: on the one hand, in order to achieve a compact arrangement, the irregularly shaped cups are oriented differently on the filling positioning tray (e.g., the odd-numbered and even-numbered columns of triangular cups have opposite pointed corners); on the other hand, the cup trays used for downstream conveying and boxing have fixed orientation requirements for their cup placement slots, and in order to further improve space utilization, most cup trays adopt a double-slot or multi-slot reverse design (e.g., two triangular cup placement slots with opposite pointed corners are set on one cup tray).

[0006] In existing technologies, ordinary robotic suction cup unloading devices cannot adjust the orientation of cups, making it impossible to accurately place irregularly shaped cups with varying orientations into the cup holder slots on the filling line. This results in a high failure rate, chaotic cup arrangement, and even cup compression and blockage, severely impacting the normal operation of the production line. Therefore, the industry urgently needs a cup unloading and traying device that can efficiently and accurately adjust the cup orientation, while also being simple in structure, low in cost, and reliable in operation, to solve the industry pain point of high-speed automated unloading and traying of irregularly shaped cups. Summary of the Invention

[0007] The purpose of this invention is to provide a cup unloading mechanism that can solve the above-mentioned problems existing in related technologies.

[0008] To achieve the above objectives, this application adopts the following technical solution: A cup unloading mechanism includes a transfer unit, a transfer seat, a direction adjustment unit, and a gripping unit. The transfer unit is connected to the transfer seat to drive the transfer seat to move between the incoming material conveyor line and the cup holder conveyor line. The transfer seat is provided with a plurality of gripping units. The direction adjustment unit is mounted on the transfer seat to drive at least some of the gripping units to rotate and adjust their direction, so that the orientation of the product gripped by the gripping unit is aligned with the orientation of the cup placement groove on the cup holder conveyed on the cup holder conveyor line.

[0009] Optionally, the gripping unit, which is connected to the direction adjustment unit, includes a mounting plate and a gripping execution module, a rotating connector, and a push rod, which are respectively mounted on the mounting plate. The gripping execution module is used to grip the product. The rotating connector is rotatably mounted on the transfer seat. The push rod is eccentrically positioned relative to the rotating connector. The direction adjustment unit pushes the push rod by outputting a linear driving force, so that the push rod drives the gripping unit to rotate around the rotating connector to adjust its direction.

[0010] Optionally, the direction adjustment unit includes a drive module and a push plate. The drive module is connected to the push plate to drive the push plate to reciprocate along a fixed straight line. The push plate is provided with an adjustment elongated hole. The length direction of the adjustment elongated hole is set at an angle to the movement direction of the push plate. The push rod is connected in series with the adjustment elongated hole. The push rod can slide and rotate relative to the push plate along the adjustment elongated hole, so that the push plate can push the push rod to rotate around the rotating connector through its own linear motion.

[0011] Optionally, the same rotating plate is provided with multiple adjustment holes, and the push rods of multiple gripping units are connected in series to the adjustment holes on the same rotating plate, so that the same rotating plate can simultaneously drive multiple gripping units to rotate and adjust their angles.

[0012] Optionally, the cup holder is provided with one or more pairs of cup slots, each pair of cup slots including two cup slots; in the cup unloading mechanism, in the two gripping units corresponding to the same pair of cup slots, the two push rods are connected in series to the same adjustment elongated hole, and the push plate movably pushes the two gripping units to rotate in opposite directions, so that the products gripped by the two gripping units are simultaneously aligned with the corresponding pair of cup slots on the cup holder.

[0013] Optionally, the transfer seat includes a main seat plate and an adapter plate connected together. The adapter plate is connected to the transfer unit. The direction adjustment unit is disposed on the side of the main seat plate near the adapter plate, and the gripping unit is disposed on the side of the main seat plate away from the adapter plate.

[0014] Optionally, the adapter includes an adapter plate and an adapter foot. The adapter plate connects to the transfer unit, and the adapter foot connects the adapter plate and the main base plate. The push-rotate plate is arranged parallel to the main base plate, and the push-rotate plate is provided with a hollow hole for avoiding the adapter foot, so that one push-rotate plate can cover and connect all the push rods.

[0015] Optionally, the direction adjustment unit further includes a guide module, which includes a guide rod and a guide sleeve. The guide rod is fixed to the transfer seat, and the guide sleeve is fixedly connected to the push plate. The guide rod and the guide sleeve slide together to guide the linear movement of the push plate.

[0016] Optionally, the gripping unit further includes a dispensing air tube and a suction cup assembly. The rotating connector has an internal ventilation hole. The dispensing air tube and the suction cup assembly are respectively connected to the rotating connector on two opposite sides of the transfer seat. The dispensing air tube and the suction cup assembly are connected through the ventilation hole.

[0017] Optionally, the gripping unit includes a suction cup assembly and a limiting frame. The limiting frame includes a support column and a limiting plate. The end of the support column away from the limiting plate is connected to the mounting plate, forming an accommodating space for accommodating the suction cup assembly between the limiting plate and the mounting plate. The limiting plate is provided with a suction cup hole communicating with the accommodating space. The opening of the suction cup assembly passes through the suction cup hole and is fixed to the limiting plate.

[0018] The beneficial effects of this application are as follows: This invention provides an integrated direction adjustment unit in the cup unloading mechanism, which can flexibly drive at least part of the gripping unit to rotate and adjust the orientation of the product, thereby accurately placing products with different orientations on the filling line into the cup slots of the cup holder. This fundamentally solves the industry pain point that ordinary cup unloading equipment in the prior art cannot adapt to the unloading and traying of irregularly shaped cups (such as triangular cups). The equipment has a simple overall structure, clear control logic, and stable and reliable operation. It can realize high-speed continuous production of the cup unloading and traying line, greatly improve the automation level and production efficiency of the filling production line, and effectively reduce the manufacturing cost and subsequent maintenance cost of the equipment. It can be widely used in cup product packaging production lines in multiple industries such as food, medicine, and daily chemicals. Attached Figure Description

[0019] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the cup unloading and tray loading device described in the embodiments of this application; Figure 2 for Figure 1 Enlarged view of section A in the middle; Figure 3 This is a schematic diagram of the cup unloading mechanism in the embodiment of this application picking up materials on the incoming material conveyor line; Figure 4 This is a schematic diagram of the cup unloading mechanism described in the embodiments of this application; Figure 5 This is an exploded view of the cup-unloading mechanism described in the embodiments of this application; Figure 6 This is a schematic diagram of the adapter socket described in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the direction adjustment unit described in the embodiment of this application; Figure 8 This is a schematic diagram of the structure of the grasping unit described in the embodiments of this application; Figure 9 This is a schematic diagram of the cup holder conveyor line described in the embodiments of this application; Figure 10 This is a schematic diagram showing the unloading mechanism of the cup holder conveying mechanism unloading material in the embodiment of this application; Figure 11 for Figure 10 Enlarged view of a local structure in the middle; Figure 12 This is a schematic diagram of the cup holder structure described in an embodiment of this application; Figure 13 This is a top view of the cup holder described in the embodiment of this application; Figure 14This is a schematic diagram showing the gripping unit of the cup unloading mechanism described in this application embodiment in the state of the positioning hole on the matching incoming material conveyor line; Figure 15 for Figure 14 Enlarged view of section B; Figure 16 This is a schematic diagram showing the gripping unit of the cup unloading mechanism described in this application embodiment in the state of the positioning hole on the matching incoming material conveyor line; Figure 17 for Figure 16 Enlarged view of section C.

[0021] In the picture: 10. Cup unloading mechanism; 11. Transfer unit; 12. Transfer seat; 121. Main seat plate; 122. Adapter seat; 1221. Adapter plate; 1222. Adapter foot; 13. Gripping unit; 1311. Rotating connector; 1312. Limiting frame; 13121. Limiting plate; 13122. Support column; 1313. Suction cup assembly; 1314. Air distribution pipe; 1315. Mounting plate; 1316. Push rod; 14. Direction adjustment unit; 41. Push plate; 1411. Adjustment elongated hole; 1412. Hollow hole; 142. Drive module; 143. Guide module; 1431. Guide sleeve; 1432. Guide rod; 20. Incoming material conveyor line; 21. Positioning tray; 211. Positioning hole; 30. Cup holder conveyor line; 31. Push screw rod; 32. Power motor; 33. Transmission assembly; 34. Track; 40. Equipment frame; 5. Product; 6. Cup holder; 61. Cup placement slot. Detailed Implementation

[0022] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] With the rapid development of the food industry, the market demand for products such as cup-packaged yogurt, jelly, and sauces continues to grow, placing increasingly higher demands on the automation level and production efficiency of filling production lines. In the filling production line, the cup unloading and tray loading process is a key link connecting the filling and sealing process with the subsequent boxing process, and its performance directly affects the capacity and product quality of the entire production line.

[0026] Currently, there are two main methods for unloading cups in the industry: The first is direct drop, where cups, after filling and sealing, fall directly from the outlet onto the conveyor line below. This method is simple in structure and low in cost, but the impact between the cup and the conveyor line during unloading can easily cause cup deformation and seal damage. Furthermore, it lacks any positioning capability, resulting in cups being arranged haphazardly on the conveyor line and unable to directly connect to the subsequent automatic packing equipment. The second method is the robotic suction cup method, where a robotic arm drives a suction cup assembly to pick up cups from the filling line and then move them horizontally onto the conveyor line. Compared to the direct drop method, this method reduces cup wear and improves positioning accuracy, but it can only achieve horizontal movement of the cups and cannot adjust their orientation.

[0027] The two cup unloading methods mentioned above are only suitable for regular cup shapes such as round and square. In recent years, in order to improve product recognition, increase packaging space utilization, and reduce waste of sealing film material at the edges, more and more companies have begun to use irregularly shaped cups (such as triangular cups, pentagonal cups, hexagonal cups, etc.) for product packaging. Taking an equilateral triangular cup as an example, by using a staggered arrangement of the pointed corners facing each other on the filling positioning tray, the number of cups per unit area can be increased by about 20%, while significantly reducing material waste in the sealing process.

[0028] However, the application of irregularly shaped cups has brought new technical challenges to the cup unloading and tray loading process: on the one hand, in order to achieve a compact arrangement, the irregularly shaped cups are oriented differently on the filling positioning tray (e.g., the odd-numbered and even-numbered columns of triangular cups have opposite pointed corners); on the other hand, the cup trays used for downstream conveying and boxing have fixed orientation requirements for their cup placement slots, and in order to further improve space utilization, most cup trays adopt a double-slot or multi-slot reverse design (e.g., two triangular cup placement slots with opposite pointed corners are set on one cup tray).

[0029] In existing technologies, ordinary robotic suction cup unloading devices cannot adjust the orientation of cups, making it impossible to accurately place irregularly shaped cups with varying orientations into the cup holder slots on the filling line. This results in a high failure rate, chaotic cup arrangement, and even cup compression and blockage, severely impacting the normal operation of the production line. Therefore, the industry urgently needs a cup unloading and traying device that can efficiently and accurately adjust the cup orientation, while also being simple in structure, low in cost, and reliable in operation, to solve the industry pain point of high-speed automated unloading and traying of irregularly shaped cups.

[0030] To overcome the above technical problems, such as Figures 1-4 As shown, this application embodiment provides a cup unloading mechanism 10, including a transfer unit 11, a transfer seat 12, a direction adjustment unit 14, and a gripping unit 13. The transfer unit 11 is connected to the transfer seat 12 to drive the transfer seat 12 to move between the incoming material conveying line 20 and the cup holder conveying line 30. The transfer seat 12 is provided with a plurality of gripping units 13. The direction adjustment unit 14 is mounted on the transfer seat 12 to drive at least some of the gripping units 13 to rotate and adjust their direction, so that the orientation of the product 5 gripped by the gripping unit 13 is aligned with the orientation of the cup placement groove 61 on the cup holder 6 conveyed on the cup holder conveying line 30.

[0031] The cup unloading mechanism in this embodiment is applied in a cup unloading and tray loading device. For ease of understanding, refer to... Figure 1 and Figure 2 The following explanation, based on the layout and configuration of the unloading mechanism in the unloading and traying equipment, describes the unloading and traying equipment using the unloading mechanism 10 of this embodiment. It includes an incoming material conveyor line 20 and a tray conveyor line 30. The incoming material conveyor line 20 conveys the product 5 to be trayed; the tray conveyor line 30 conveys the trays 6. Specifically, the incoming material conveyor line 20 conveys the product 5 (such as triangular cup yogurt, pentagonal cup jelly, hexagonal cup sauce, etc.) after filling and sealing; the tray conveyor line 30 conveys the trays 6 to hold the product 5; the unloading mechanism 10 is mounted above the incoming material conveyor line 20 and the tray conveyor line 30, and is used to grab the product 5 from the incoming material conveyor line 20 and transfer it to the tray 6 on the tray conveyor line 30. Figure 1 To enable the various devices to work together, a machine frame 40 is provided at the end of the material conveyor line 20. The cup unloading mechanism 10 is installed in the machine frame 40, so that the cup unloading mechanism 10 can move and operate above the material conveyor line 20 and the cup holder conveyor line 30.

[0032] The incoming material conveyor line 20 adopts a chain or belt continuous conveying structure, with multiple positioning trays 21 arranged sequentially along the conveying direction fixedly connected to its surface. Each positioning tray 21 has multiple positioning holes 211 that perfectly match the outline of the product 5. Before entering the filling process, the product 5 is pre-positioned in the positioning holes 211. Through the synchronous rotation of the positioning trays 21, the product 5 is sequentially conveyed to the filling station, the sealing station, and the final unloading station. In practical applications, to improve production efficiency and material utilization, refer to... Figure 3 The positioning holes 211 are usually arranged in a staggered manner. For example, the positioning holes 211 of the equilateral triangular cup are arranged in an odd-numbered column with the even-numbered columns facing each other. This can increase the product capacity per unit area by 15%-25% and at the same time greatly reduce the waste of corner materials in the sealing process.

[0033] The cup holder conveyor line 30 is used to convey cup holders 6 with a fixed cup-holding groove 61 facing the same direction. Each cup holder 6 has at least one cup-holding groove 61 for accommodating a product 5. The cup holder conveyor line 30 can adopt various forms such as belt conveyor, chain conveyor, or screw positioning conveyor. It can continuously convey empty cup holders 6 at fixed intervals and a stable speed to the unloading station, and after loading, convey cup holders 6 carrying products 5 to subsequent processes such as boxing and palletizing. In high-speed production scenarios, the cup holder conveyor line 30 preferably adopts a screw positioning conveyor structure. Two synchronously rotating screws in opposite directions achieve precise spacing and constant speed conveying of the cup holders 6, ensuring accurate alignment of the product 5 with the cup-holding groove 61 during unloading.

[0034] The cup unloading mechanism 10 is the cup unloading and tray loading execution mechanism of this equipment, including a transfer unit 11, a transfer seat 12, a direction adjustment unit 14, and multiple gripping units 13. The transfer unit 11 is fixedly installed on the equipment frame 40, and its motion execution end is fixedly connected to the transfer seat 12. It is used to drive the transfer seat 12 to perform high-speed, high-precision three-dimensional spatial movement between the cup suction station above the incoming material conveyor line 20 and the cup unloading station above the cup tray conveyor line 30. The transfer unit 11 can be selected from various types such as spider robot (parallel robot), Cartesian coordinate robot, and multi-joint industrial robot according to production speed and precision requirements. Among them, the spider robot is characterized by its high movement speed and high repeatability.

[0035] The transfer seat 12 is a rigid plate or frame structure, serving as a common mounting carrier for the orientation adjustment unit 14 and the gripping unit 13. Multiple gripping units 13 are rotatably mounted on the transfer seat 12 via rotating connectors such as bearings, and each gripping unit 13 can independently grip one product 5. The gripping units 13 can employ various gripping methods such as vacuum suction cups or pneumatic grippers. For cup-shaped products 5, vacuum suction cups are widely used due to their fast gripping speed and lack of damage to the product surface. The orientation adjustment unit 14 is mounted on the upper surface or inside the transfer seat 12 and is drively connected to at least some of the gripping units 13. It drives these gripping units 13 to rotate around their own vertical axis, thereby adjusting the horizontal orientation of the product 5 gripped by the gripping unit 13.

[0036] The complete working process of the cup unloading and tray loading device provided in this application embodiment is as follows: First, after the product 5 has been filled and sealed, it is continuously conveyed along the infeed conveyor line 20 to the cup suction station via the positioning tray 21. Upon arrival, a sensor sends a signal to briefly stop or slow down the infeed conveyor line 20. Simultaneously, the empty cup tray 6 is conveyed along the cup tray conveyor line 30 to the unloading station. The transfer unit 11 drives the transfer seat 12 to move quickly above the cup suction station, aligning the multiple gripping units 13 on the transfer seat 12 with the multiple products 5 on the positioning tray 21. Then, all gripping units 13 operate simultaneously, firmly gripping the corresponding products 5. Next, the orientation adjustment unit 14 drives at least some of the gripping units 13 to rotate around their own axis by a certain angle according to a preset program, adjusting the orientation of the products 5 gripped by these gripping units 13, so that the final orientation of all products 5 is completely aligned with the orientation of the corresponding cup slots 61 on the cup tray 6. The transfer unit 11 drives the transfer seat 12 to move quickly above the unloading station, aligning the adjusted product 5 with the cup slots 61 on the cup tray 6. Finally, the gripping unit 13 releases product 5, accurately and smoothly placing it into the cup slot 61 of the cup holder 6, completing one cup unloading and tray loading operation. After loading, the cup holder 6 is conveyed to the next process via the cup holder conveyor line 30, while the transfer unit 11 drives the transfer seat 12 back to the cup suction station, ready for the next cycle. During the process of releasing product 5, the gripping unit 13 is configured according to the number of products 5 gripped by the cup unloading mechanism 10 and the number of cup slots 61 in the cup holder 6, for example, referring to... Figure 11Each cup holder 6 contains only one row of cup slots 61, but each cup unloading mechanism 10 can grab three rows of products 5 at a time. Therefore, the cup unloading mechanism 10 needs to repeat the movement and place the products 5 three times for each time it grabs a product 5. That is, first, the first row of products 5 is aligned with the cup holder 6 on the cup holder conveyor line 30 and then placed down. The cup holder 6 with products 5 is moved out, and the new cup holder 6 is moved under the cup unloading gripper. The cup unloading gripper is raised and moved horizontally so that the second row of products 5 is aligned with the new cup holder 6 and placed down. This process is repeated three times to load three rows of products 5. After completion, the mechanism returns to the cup suction station.

[0037] It should be noted that the statement "driving at least some of the gripping units 13 to rotate and adjust their direction" in this application covers a variety of practical application scenarios: when the orientation of all products 5 on the incoming conveyor line 20 is inconsistent with the orientation of the cup holder 6 in the cup slot 61, the direction adjustment unit 14 drives all gripping units 13 to rotate and adjust synchronously; when the orientation of some products 5 is already consistent with the orientation of the cup holder 6 in the cup slot 61, the direction adjustment unit 14 only drives the remaining gripping units 13 with inconsistent orientations to rotate and adjust. This flexible design allows the device to adapt to various complex product 5 arrangements and cup holder 6 designs, exhibiting strong versatility.

[0038] In some preferred embodiments of this application, the direction adjustment unit 14 can employ various driving methods to achieve the rotational adjustment of the gripping unit 13. For example, a single cylinder can drive the rotary plate 141 to achieve synchronous rotation of multiple gripping units 13 through a waist hole-push rod 1316 cooperation structure; a servo motor can be used to achieve independent or group rotation of multiple gripping units 13 through a gear transmission mechanism; multiple micro rotary motors can be used to drive each gripping unit 13 to rotate independently, etc. Those skilled in the art can select appropriate driving methods according to actual production needs, cost budgets, and accuracy requirements, all of which fall within the protection scope of this application.

[0039] In summary, by integrating a direction adjustment unit 14 into the cup unloading mechanism 10, this embodiment of the application can flexibly drive at least part of the gripping unit 13 to rotate and adjust the orientation of the product 5, thereby accurately placing products 5 with different orientations on the filling line into the cup slots 61 of the cup holder 6. This fundamentally solves the industry pain point that ordinary cup unloading equipment in the prior art cannot adapt to the unloading and traying of irregularly shaped cups (such as triangular cups). The equipment has a simple overall structure, clear control logic, and stable and reliable operation. It can realize high-speed continuous production of the cup unloading and traying line, greatly improve the automation level and production efficiency of the filling production line, and effectively reduce the manufacturing cost and subsequent maintenance cost of the equipment. It can be widely used in the cup-packaged product 5 packaging production lines of multiple industries such as food, pharmaceuticals, and daily chemicals.

[0040] In one embodiment, reference is made to Figure 4 and Figure 8The gripping unit 13, which is connected to the direction adjustment unit 14, includes a mounting plate 1315 and a gripping execution module, a rotating connector 1311, and a push rod 1316 respectively mounted on the mounting plate 1315. The gripping execution module is used to grip the product 5. The rotating connector 1311 is rotatably mounted on the transfer seat 12. The push rod 1316 is eccentrically set relative to the rotating connector 1311. The direction adjustment unit 14 pushes the push rod 1316 to move by outputting a linear driving force, so that the push rod 1316 drives the gripping unit 13 to rotate and adjust its direction around the rotating connector 1311.

[0041] Specifically, the gripping unit 13 uses the mounting plate 1315 as the basic supporting component, and the gripping execution module, the rotating connector 1311, and the push rod 1316 are all fixedly mounted on the mounting plate 1315. The gripping execution module is used to grip and release the product 5; the rotating connector 1311 serves as the rotation fulcrum of the entire gripping unit 13, with one end rotatably mounted on the transfer seat 12 and the other end fixedly connected to the mounting plate 1315, allowing the entire gripping unit 13 to rotate freely around the axis of the rotating connector 1311. The push rod 1316 is eccentrically positioned relative to the axis of the rotating connector 1311, meaning there is a certain horizontal distance between the central axis of the push rod 1316 and the central axis of the rotating connector 1311. The linear driving force output by the direction adjustment unit 14 acts directly on the push rod 1316. Due to the eccentric arrangement of the push rod 1316, the linear driving force will generate a torque around the axis of the rotating connector 1311, thereby pushing the push rod 1316 to drive the mounting plate 1315 and the entire gripping unit 13 to rotate around the axis of the rotating connector 1311, thus completing the adjustment of the orientation of the product 5. By pre-setting the eccentricity of the push rod 1316 and the linear stroke of the direction adjustment unit 14, the rotation angle of the gripping unit 13 can be precisely controlled so that it is completely matched with the orientation of the cup holder 6 cup slot 61.

[0042] This embodiment uses an eccentric push rod 1316 in conjunction with a linear drive force transmission method, eliminating the need for a separate rotary motor or complex gear transmission mechanism for each gripping unit 13. The overall structure is simple and compact, with low manufacturing cost. Furthermore, multiple gripping units 13 can be driven by the same direction adjustment unit 14, resulting in excellent rotational synchronization. The control logic is simple, the operation is stable and reliable, and maintenance is convenient. This effectively improves the operating efficiency and service life of the cup unloading and tray loading equipment, making it particularly suitable for the application needs of high-speed automated production lines.

[0043] In one embodiment, reference is made to Figure 7The direction adjustment unit 14 includes a drive module 142 and a push plate 141. The drive module 142 is connected to the push plate 141 to drive the push plate 141 to reciprocate along a fixed straight line. The push plate 141 is provided with an adjustment elongated hole 1411. The length direction of the adjustment elongated hole 1411 is set at an angle to the movement direction of the push plate 141. The push rod 1316 is connected in series with the adjustment elongated hole 1411. The push rod 1316 can slide and rotate relative to the push plate 141 along the adjustment elongated hole 1411, so that the push plate 141 can push the push rod 1316 to rotate around the rotating connector 1311 through its own linear motion.

[0044] Specifically, the direction adjustment unit 14 mainly includes a drive module 142 and a push plate 141. The drive module 142 serves as a power source and is fixedly installed on the transfer seat 12. Its output end is rigidly connected to the push plate 141, and it can output a stable linear reciprocating driving force to drive the push plate 141 to reciprocate along a preset fixed linear direction. The drive module 142 can be a cylinder, a hydraulic cylinder, a motor with a screw and nut transmission structure, or a motor with a gear and rack transmission structure. The push plate 141 is a rigid flat plate component with at least one adjusting elongated hole 1411 penetrating the plate surface. The length direction of the adjusting elongated hole 1411 is set at a preset angle with the movement direction of the push plate 141 itself. The eccentric push rod 1316 on the gripping unit 13 passes through the adjusting elongated hole 1411. The push rod 1316 and the adjusting elongated hole 1411 are in clearance fit, so that the push rod 1316 can slide freely relative to the push plate 141 along the length direction of the adjusting elongated hole 1411, and can also rotate freely relative to the push plate 141 around its own axis.

[0045] When the drive module 142 drives the push plate 141 to move linearly, the inner wall of the adjusting elongated hole 1411 applies a lateral force to the push rod 1316 passing through it. This force can be decomposed into two mutually perpendicular components: one component is along the length of the adjusting elongated hole 1411, causing the push rod 1316 to slide relative to the adjusting elongated hole 1411; the other component is perpendicular to the length of the adjusting elongated hole 1411. Since the push rod 1316 is eccentrically positioned relative to the rotating connector 1311, this perpendicular component generates a torque about the axis of the rotating connector 1311, thereby pushing the push rod 1316 to drive the entire gripping unit 13 to rotate about the axis of the rotating connector 1311. By pre-designing the angle between the adjusting elongated hole 1411 and the direction of movement of the push plate 141, as well as the linear stroke of the push plate 141, the rotation angle of the gripping unit 13 can be precisely controlled to meet the orientation matching requirements of different cup holders 6 and cup slots 61.

[0046] This embodiment adopts a purely mechanical transmission structure with a push plate 141 and an adjustment elongated hole 1411, which does not require a complex electrical control system and multiple power source configurations. The overall structure is extremely simple and compact, and the manufacturing cost is low. The transmission process is backlash-free, the response speed is fast, and the rotation angle control accuracy is high. Moreover, multiple adjustment elongated holes 1411 can be opened on the same push plate 141 to drive multiple gripping units 13 to rotate synchronously at the same time. The synchronization is excellent, the control logic is simple, the operation is stable and reliable, and the maintenance cost is extremely low.

[0047] In one embodiment, a plurality of adjustment elongated holes 1411 are provided on the same push-rotating plate 141, and the push rods 1316 of the plurality of gripping units 13 are connected in series to the adjustment elongated holes 1411 on the same push-rotating plate 141, so that the same push-rotating plate 141 can simultaneously drive the plurality of gripping units 13 to rotate and adjust their angles.

[0048] Specifically, multiple independent adjustment elongated holes 1411 are formed on the same rotating plate 141. The length of all adjustment elongated holes 1411 and the angle between them and the direction of movement of the rotating plate 141 are completely consistent. The arrangement of each adjustment elongated hole 1411 on the rotating plate 141 corresponds one-to-one with the installation position of multiple gripping units 13 on the transfer seat 12. The eccentric push rod 1316 of each gripping unit 13 is inserted into a corresponding adjustment elongated hole 1411. The push rod 1316 and the adjustment elongated hole 1411 maintain a clearance fit and can slide and rotate relative to each other.

[0049] When the drive module 142 drives the push plate 141 to reciprocate linearly in a fixed direction, the inner walls of all the adjustment holes 1411 on the push plate 141 will simultaneously apply equal and consistent lateral forces to their respective push rods 1316. Since the parameters of all the adjustment holes 1411 are exactly the same, the magnitude and duration of the torque on each push rod 1316 are exactly the same, thereby driving all the corresponding gripping units 13 to rotate synchronously around their own rotating connectors 1311 with the same angular velocity and rotation angle. For example, for the cup unloading gripper corresponding to the 6-column 4-row positioning tray 21, 12 adjustment holes 1411 can be opened on a push plate 141, and the synchronous orientation adjustment of 12 triangular cups can be completed simultaneously by driving the push plate 141 with only a single cylinder.

[0050] This embodiment integrates multiple adjustment elongated holes 1411 on the same push plate 141, realizing the synchronous drive of multiple gripping units 13 by a single power source, completely avoiding the problems of poor synchronization, complex control, and high failure rate of multi-power source solutions; at the same time, it greatly reduces the number of power components and transmission components, making the overall structure simpler and more compact, effectively reducing the overall weight of the cup unloading gripper, and is particularly suitable for the stringent requirements of the spider robot for end load; and the rotation angle of all gripping units 13 is uniformly controlled by the linear stroke of the push plate 141, making debugging and maintenance extremely simple, with extremely high operational stability, and fully meeting the continuous operation requirements of high-speed production lines.

[0051] In one embodiment, the cup holder 6 is provided with one or more pairs of cup slots 61, and each pair of cup slots 61 includes two cup slots 61; in the cup unloading mechanism 10, in the two gripping units 13 corresponding to the same pair of cup slots 61, the two push rods 1316 are connected in series to the same adjusting elongated hole 1411, and the push plate 141 movably pushes the two gripping units 13 to rotate in opposite directions, so that the products 5 gripped by the two gripping units 13 are simultaneously aligned with the corresponding pair of cup slots 61 on the cup holder 6.

[0052] Reference Figures 14-17 , Figure 14 The image shows the gripping unit 13 aligned with the positioning hole 211 on the positioning tray 21. Figure 15 The directions of the movement trends of the push plate 141 and the rotation trend of the gripping unit 13, as indicated in the diagram, refer to the movement trends of the push plate 141 when it needs to push the gripping unit 13 to rotate and align with the cup slot 61 on the cup holder 6, i.e., when it moves to... Figure 16 The indicated direction of motion. Conversely, Figure 16 The image shows the gripping unit 13 in alignment with the cup holder 61 on the cup holder 6. Figure 17 The directions of the movement trend of the push plate 141 and the rotation trend of the gripping unit 13 indicated in the figure refer to the movement trend of the push plate 141 when it needs to push the gripping unit 13 to rotate and align with the positioning hole 211 on the positioning tray 21, that is, when it moves to... Figure 14 The direction of motion required in the state shown.

[0053] Specifically, the cup holder 6 adapted in this embodiment is provided with one or more pairs of cup slots 61. Each pair of cup slots 61 includes two cup slots 61 facing opposite directions. This design can further improve the space utilization and packing efficiency of the cup holder 6. Correspondingly, in the cup unloading mechanism 10, the two gripping units 13 that need to be placed into the same pair of cup slots 61 at the same time are specially arranged: the rotating connectors 1311 of the two gripping units 13 are located on the same side of the long axis of the adjusting long hole 1411, and along the direction parallel to the long axis of the adjusting long hole 1411, the eccentric push rods 1316 of the two gripping units 13 are exactly located between the two rotating connectors 1311, and the two push rods 1316 are connected in series in the same adjusting long hole 1411.

[0054] When the drive module 142 drives the push plate 141 to move linearly along the direction perpendicular to the long axis of the adjustment hole 1411, the inner wall of the adjustment hole 1411 will simultaneously apply a lateral force in the same direction to the two push rods 1316. Since the two push rods 1316 are located inside the two rotating connectors 1311 respectively, the torque generated by this lateral force on the two rotating connectors 1311 is exactly opposite in direction, thereby pushing the two gripping units 13 to rotate synchronously in opposite directions with the same angular velocity. Taking the double-slot reverse cup holder 6 of the equilateral triangular cup as an example, originally a single gripping unit 13 needed to rotate 60° to match the orientation of the two cups. With this solution, the two gripping units 13 only need to rotate 30° in opposite directions to simultaneously align with the corresponding cup slots 61, and the total adjustment stroke is shortened by half.

[0055] This embodiment achieves synchronous reverse rotation of the two gripping units 13 by sharing an adjustment elongated hole 1411, which significantly shortens the linear travel of the drive module 142 and reduces the activity space required by the direction adjustment unit 14, making the overall structure of the cup unloading gripper more compact and lightweight. At the same time, the rotation of the two gripping units 13 is forced to be synchronized by the same mechanical structure, eliminating the error of electronic synchronization, resulting in higher tray alignment accuracy and faster response speed, which can further improve the operational stability and production efficiency of the high-speed production line.

[0056] In one embodiment, reference is made to Figure 4 The transfer seat 12 includes a main seat plate 121 and an adapter seat 122 connected together. The adapter seat 122 is connected to the transfer unit 11. The direction adjustment unit 14 is disposed on the side of the main seat plate 121 close to the adapter seat 122. The gripping unit 13 is disposed on the side of the main seat plate 121 away from the adapter seat 122.

[0057] The adapter 122 serves as the connection interface with the transfer unit 11. Its upper end is rigidly connected to the motion execution end of the transfer unit 11, and its lower end is fixedly connected to the upper surface of the main base plate 121, which is used to transmit the power of the transfer unit 11 to the entire transfer base 12. The main base plate 121 is a horizontally set rigid plate, which serves as the installation reference for all functional components. The core mechanism is arranged in an upper and lower layer manner: the direction adjustment unit 14 (including the drive module 142, the push plate 141, the guide assembly, etc.) is installed as a whole on the upper side of the main base plate 121 near the adapter 122, while all gripping units 13 are rotatably installed on the lower side of the main base plate 121 away from the adapter 122 through the rotating connector 1311.

[0058] This layered layout design completely separates the power transmission part and the end effector part into two independent spaces on the main base plate 121, fundamentally avoiding mechanical interference between the direction adjustment unit 14 and the gripping unit 13 and product 5 during movement. Simultaneously, the transmission path of the direction adjustment unit 14 acts directly downwards on the push rod 1316 of the gripping unit 13, resulting in a short transmission link without additional steering, thus achieving higher power transmission efficiency. During assembly and maintenance, technicians can directly adjust, inspect, and replace the direction adjustment unit 14 from above the main base plate 121 without disassembling the gripping unit 13 assembly below; while maintenance of the gripping unit 13 can be performed independently from below the main base plate 121 without interference. Furthermore, the main base plate 121, as an intermediate support structure, provides rigid support for both upper and lower components, effectively improving the overall structural strength of the transfer seat 12, reducing vibration and deformation during high-speed movement, and further ensuring the accuracy of gripping and rotational adjustment.

[0059] This embodiment achieves independent arrangement of the power system and the execution system through the layered modular layout of the transfer seat 12, which not only avoids mutual interference between components and optimizes the space utilization of the equipment, but also significantly improves the efficiency of assembly, debugging and subsequent maintenance. At the same time, it enhances the overall rigidity of the transfer seat 12, reduces the vibration amplitude during high-speed movement, and provides a reliable structural guarantee for the long-term stable and high-precision operation of the equipment.

[0060] In one embodiment, combined with Figures 5-7 The adapter 122 includes an adapter plate 1221 and an adapter foot 1222. The adapter plate 1221 is connected to the transfer unit 11, and the adapter foot 1222 is connected to the adapter plate 1221 and the main base plate 121. The push-rotate plate 141 is arranged parallel to the main base plate 121. The push-rotate plate 141 is provided with a hollow hole 1412 for avoiding the adapter foot 1222, so that one push-rotate plate 141 can cover and connect all the push rods 1316.

[0061] The adapter 122 adopts a frame structure. The adapter plate 1221 is a horizontal rigid plate, and its upper end is fixedly connected to the motion execution end of the transfer unit 11, serving as the connection interface between the entire transfer base 12 and the transfer unit 11. The adapter feet 1222 are evenly distributed on the lower surface of the adapter plate 1221, with their upper ends fixedly connected to the adapter plate 1221 and their lower ends fixedly connected to the upper surface of the main base plate 121, thereby forming an overhead space between the adapter plate 1221 and the main base plate 121 for the push-rotate plate 141 to move. The push-rotate plate 141 is arranged parallel to the upper surface of the main base plate 121, located in the overhead space between the adapter plate 1221 and the main base plate 121, and its size covers the installation positions of all the push rods 1316 of the gripping unit 13. On the push plate 141, at positions corresponding to each adapter foot 1222, there are hollow holes 1412 with a size larger than the cross-section of the adapter foot 1222. The adapter foot 1222 passes through the corresponding hollow hole 1412, so that when the push plate 141 makes a linear reciprocating motion in a fixed direction, the inner wall of the hollow hole 1412 will not contact or interfere with the adapter foot 1222, thereby ensuring that the push plate 141 can move freely throughout the entire stroke range, while covering the eccentric push rod 1316 connecting all gripping units 13.

[0062] This design retains the advantages of the frame-type adapter 122, such as high structural strength and stable connection, while avoiding the obstruction of the movement path of the push plate 141 by the adapter feet 1222. Compared to the solution of dividing the push plate 141 into multiple small parts and driving them separately, this embodiment uses an integral push plate 141 with a hollowed-out clearance hole design, requiring only one drive module 142 to drive all gripping units 13 to rotate synchronously, significantly reducing the number of power components, simplifying the control logic, and completely eliminating synchronization errors between multiple push plates 141. In addition, the integral push plate 141 has better structural rigidity and less deformation during high-speed movement, which can further improve the control accuracy of the rotation angle; during assembly and maintenance, the push plate 141 can be disassembled and assembled as a whole component without the need to disassemble multiple sub-components, significantly improving the efficiency of production assembly and subsequent maintenance.

[0063] In one embodiment, reference is made to Figure 4 and Figure 5 The direction adjustment unit 14 further includes a guide module 143, which includes a guide rod 1432 and a guide sleeve 1431. The guide rod 1432 is fixed to the transfer seat 12, and the guide sleeve 1431 is fixedly connected to the push plate 141. The guide rod 1432 and the guide sleeve 1431 slide together to guide the linear movement of the push plate 141.

[0064] Typically, at least two sets of guide modules 143 are symmetrically arranged on both sides of the push plate 141 to ensure uniform force distribution and stable guidance. The guide rod 1432 is arranged horizontally along the preset movement direction of the push plate 141, and its two ends are firmly installed on the upper surface of the main base plate 121 through the fixing seat. The guide sleeve 1431 is fixedly connected to the top of the push plate 141, and the guide rod 1432 passes through the inner hole of the guide sleeve 1431. The two are in a high-precision clearance fit, which allows the guide sleeve 1431 to slide freely along the axial direction of the guide rod 1432, while strictly limiting the displacement of the push plate 141 in the direction perpendicular to the movement direction.

[0065] This embodiment significantly improves the accuracy and stability of the linear motion of the push plate 141 by adding a guide module 143 that cooperates with the guide sleeve 1432 and the guide rod 1432. It ensures the consistency and synchronization of the rotation angles of multiple gripping units 13, effectively reduces the failure rate and maintenance cost of the equipment, and provides a reliable technical guarantee for the long-term high-speed and stable operation of the cup unloading and tray loading equipment.

[0066] In one embodiment, the gripping unit 13 further includes a distribution air pipe 1314 and a suction cup assembly 1313. The rotating connector 1311 has a vent hole inside. The distribution air pipe 1314 and the suction cup assembly 1313 are respectively connected to the rotating connector 1311 on two opposite sides of the transfer seat 12. The distribution air pipe 1314 and the suction cup assembly 1313 are connected through the vent hole.

[0067] Specifically, the gripping unit 13 grips the product 5 using vacuum adsorption. Its air path system consists of three parts connected in series: a distribution air pipe 1314, a rotating connector 1311, and a suction cup assembly 1313. The rotating connector 1311 has a hollow structure with an axial ventilation hole extending along its rotation axis inside, which penetrates both the upper and lower end faces of the rotating connector 1311. Combined with the layered layout of the transfer seat 12, the distribution air pipe 1314 is located on the upper side of the main seat plate 121 and is sealed to the upper end of the rotating connector 1311; the suction cup assembly 1313 is located on the lower side of the main seat plate 121 and is sealed to the lower end of the rotating connector 1311. Thus, the distribution air pipe 1314 and the suction cup assembly 1313 form a continuous and sealed air path through the axial ventilation hole inside the rotating connector 1311.

[0068] When the gripping unit 13 rotates around the axis of the rotating connector 1311, the suction cup assembly 1313 rotates synchronously with the rotating connector 1311. The air passage remains connected through the internal axial vent, completely preventing the external air pipe from becoming entangled, twisted, or pulled during rotation. This embodiment integrates the air passage inside the rotating connector 1311, eliminating the risk of air pipe entanglement in the rotating gripping unit 13, ensuring stable vacuum pressure during rotation, and effectively reducing the incidence of malfunctions such as cup drop and leakage. Simultaneously, it simplifies the equipment's pipeline layout, improves the reliability and ease of maintenance, and extends the service life of the air passage system.

[0069] In one embodiment, reference is made to Figure 8 The gripping unit 13 includes a suction cup assembly 1313 and a limiting frame 1312. The limiting frame 1312 includes a support column 13122 and a limiting plate 13121. The end of the support column 13122 away from the limiting plate 13121 is connected to the mounting plate 1315, forming an accommodating space between the limiting plate 13121 and the mounting plate 1315 to accommodate the suction cup assembly 1313. The limiting plate 13121 is provided with a suction cup hole communicating with the accommodating space. The opening of the suction cup assembly 1313 passes through the suction cup hole and is fixed to the limiting plate 13121.

[0070] Specifically, the gripping unit 13 has an additional independent limiting frame 1312 below the mounting plate 1315. The limiting frame 1312 consists of multiple vertical support columns 13122 and a horizontal limiting plate 13121. Multiple support columns 13122 are evenly distributed around the suction cup assembly 1313. Their upper ends are fixedly connected to the lower surface of the mounting plate 1315, and their lower ends are fixedly connected to the upper surface of the limiting plate 13121, thereby forming an accommodating space between the mounting plate 1315 and the limiting plate 13121. The suction cup assembly 1313 is entirely accommodated inside this accommodating space. The limiting plate 13121 has suction cup holes corresponding to the position of the suction cup assembly 1313. The suction cup opening of the suction cup assembly 1313 extends downward from the suction cup hole and is fixedly connected to the limiting plate 13121, so that the suction surface of the suction cup slightly protrudes from the lower surface of the limiting plate 13121, ensuring full contact with the top surface of the product 5.

[0071] When the gripping unit 13 performs the suction action, the suction surface of the suction cup first contacts the top surface of the product 5, firmly lifting the product 5 through vacuum suction. At this time, the lower surface of the limiting plate 13121 will tightly adhere to the edge of the top surface of the product 5, forming multi-point rigid support. During the subsequent high-speed movement of the transfer unit 11 driving the transfer seat 12 and the rotation adjustment of the gripping unit 13 driven by the direction adjustment unit 14 to adjust the orientation, even if a large acceleration or centrifugal force is generated, the product 5 will be firmly restrained by the limiting plate 13121, and will not tilt, deflect, or move up and down, always maintaining a fixed relative position with the gripping unit 13. The shape of the lower surface of the limiting plate 13121 can be customized according to the top surface contour of the product 5. For example, for the triangular cup product 5, the limiting plate 13121 can be designed as a triangle matching the shape of the cup opening, further increasing the contact area and improving the limiting effect. Meanwhile, the accommodating space completely encloses the main body of the suction cup assembly 1313, which can effectively prevent the suction cup from colliding with surrounding mechanisms during movement and prevent the suction cup from being damaged or leaking air.

[0072] This embodiment, by adding a limiting frame 1312 structure, not only effectively protects the vulnerable suction cup assembly 1313 and extends its service life, but also fundamentally eliminates the shaking problem of product 5 during high-speed handling and rotation, ensuring the accuracy of product 5 orientation adjustment and mounting accuracy; the overall structure is simple and compact, easy to install and debug, and can perfectly cooperate with the aforementioned rotation adjustment mechanism, further improving the operational stability and reliability of the equipment under high-speed conditions.

[0073] On the other hand, refer to Figure 1 This application also provides a cup unloading and tray loading device, including a material conveying line 20, a cup tray conveying line 30, and a cup unloading mechanism 10 of any of the above embodiments.

[0074] Similarly, the cup unloading and tray loading device in this embodiment can actively adjust the product orientation during the cup unloading process, so that the product can be accurately aligned with the cup placement groove 61 on the cup tray 6.

[0075] In one embodiment, reference is made to Figure 1 Let the conveying direction of the incoming material conveyor line 20 be the first direction, and the horizontal direction perpendicular to the first direction be the second direction, wherein: Two sets of cup unloading mechanisms 10 are provided above the material conveying line 20 and spaced apart along the first direction.

[0076] Specifically, the conveying direction of the incoming material conveyor line 20 is defined as the first direction, and the horizontal direction perpendicular to the first direction is defined as the second direction. Two sets of cup unloading mechanisms 10 are installed above the incoming material conveyor line 20 at a certain distance along the first direction. The two sets of cup unloading mechanisms 10 have identical structures and are each independently equipped with a transfer unit 11, a transfer seat 12, a direction adjustment unit 14, and a gripping unit 13. This layout is specifically adapted to the grouping orientation arrangement of irregularly shaped cups on the positioning tray 21: in order to improve space utilization, the positioning holes 211 on the positioning tray 21 are usually divided into multiple columns along the second direction, where all positioning holes 211 in the odd-numbered columns face the same direction, and all positioning holes 211 in the even-numbered columns face the same direction but opposite to that in the odd-numbered columns.

[0077] In actual operation, the positioning tray 21, loaded with products 5, is first conveyed along the first direction to directly below the first set of cup unloading mechanisms 10. The first set of cup unloading mechanisms 10 grabs all odd-numbered columns of products 5 on the positioning tray 21, adjusts their orientation, and then transfers them to the corresponding cup holder conveyor line 30. Subsequently, the positioning tray 21 continues to be conveyed forward along the first direction to directly below the second set of cup unloading mechanisms 10. The second set of cup unloading mechanisms 10 grabs all remaining even-numbered columns of products 5 on the positioning tray 21, adjusts their orientation, and then transfers them to the corresponding cup holder conveyor line 30. The two sets of cup unloading mechanisms 10 work independently and do not interfere with each other. Moreover, all products 5 processed by each set of cup unloading mechanisms 10 have the same orientation. Therefore, the orientation adjustment unit 14 of each set of cup unloading mechanisms 10 only needs to drive all gripping units 13 to rotate synchronously by the same fixed angle to complete the orientation matching, without needing to set different rotation parameters for different gripping units 13.

[0078] This embodiment uses a series layout of dual cup unloading mechanisms 10 to split the whole plate product 5, which originally required a single mechanism to process twice, into two parallel processes. This not only significantly improves the overall cup unloading capacity of the equipment, but also significantly simplifies the structural design and control logic of the single cup unloading mechanism 10. It avoids problems such as poor synchronization and complex structure caused by the need for a single mechanism to drive different gripping units 13 to rotate at different angles, and further improves the stability and reliability of the equipment operation.

[0079] In one embodiment, combined with Figure 3 The material conveying line 20 includes a plurality of positioning trays 21 laid along the first direction. The positioning trays 21 are used to fix and transport the product 5. The positioning trays 21 are provided with a plurality of positioning holes 211 arranged along the second direction and adapted to the shape of the product 5. The two cup unloading mechanisms 10 are respectively provided with multiple rows of gripping units 13. The gripping units 13 of one cup unloading mechanism 10 correspond to the odd-numbered rows of positioning holes 211 on the positioning tray 21, and the gripping units 13 of the other cup unloading mechanism 10 correspond to the even-numbered rows of positioning holes 211 on the positioning tray 21.

[0080] Specifically, the surface of the material conveyor line 20 is fixedly connected with multiple positioning trays 21 laid sequentially along a first direction. Each positioning tray 21 has multiple rows of positioning holes 211 evenly arranged along a second direction. The inner contour of the positioning holes 211 is perfectly matched with the outer contour of the product 5 to be conveyed, which can firmly fix the product 5 on the tray and prevent displacement or rotation during the conveying process. In order to maximize the product 5 capacity per unit area and reduce the waste of sealing film material at the corners, the positioning holes 211 on the positioning trays 21 are arranged in a staggered, angled manner, that is, all odd-numbered columns of positioning holes 211 face the same direction, all even-numbered columns of positioning holes 211 also face the same direction, and the direction of the even-numbered columns of positioning holes 211 is opposite to that of the odd-numbered columns.

[0081] Correspondingly, the gripping units 13 of the two sets of cup unloading mechanisms 10 adopt a differentiated layout: the transfer seat 12 of the first set of cup unloading mechanisms 10 is provided with multiple rows of gripping units 13, the number of rows, the spacing between rows and the number of gripping units 13 in each row are completely consistent with the parameters of the odd-numbered rows of positioning holes 211 on the positioning tray 21, and each gripping unit 13 corresponds exactly to one odd-numbered row of positioning holes 211; the transfer seat 12 of the second set of cup unloading mechanisms 10 is provided with multiple rows of gripping units 13 that are completely matched with the parameters of the even-numbered rows of positioning holes 211 on the positioning tray 21, and each gripping unit 13 corresponds exactly to one even-numbered row of positioning holes 211.

[0082] In actual operation, when the positioning tray 21, loaded with products 5, is conveyed to the area below the first set of cup unloading mechanisms 10, all the gripping units 13 of the first set of cup unloading mechanisms 10 descend simultaneously to accurately grip all the products 5 in the odd-numbered rows of positioning holes 211. After the first set of cup unloading mechanisms 10 completes its gripping and leaves, the positioning tray 21 continues to be conveyed forward to the area below the second set of cup unloading mechanisms 10. All the gripping units 13 of the second set of cup unloading mechanisms 10 descend simultaneously to accurately grip all the remaining products 5 in the even-numbered rows of positioning holes 211. Since all the products 5 gripped by each set of cup unloading mechanisms 10 have the same orientation, the direction adjustment unit 14 of each set of cup unloading mechanisms 10 only needs to drive all the gripping units 13 to rotate synchronously by a fixed angle to make the orientation of all the products 5 completely aligned with the cup slots 61 of the corresponding cup holders 6.

[0083] This embodiment achieves precise batch gripping of the entire board of products 5 by corresponding the gripping units 13 of the two sets of cup unloading mechanisms 10 one-to-one with the odd-numbered and even-numbered positioning holes 211 on the positioning tray 21. This avoids the complex requirement of driving different gripping units 13 to rotate at different angles when a single set of cup unloading mechanisms 10 processes products 5 with different orientations at the same time. The direction adjustment unit 14 of each set of cup unloading mechanisms 10 only needs to perform a synchronous rotation action at a single angle. The control logic is extremely simple, and the rotation synchronization and accuracy are higher. At the same time, it further simplifies the mechanical structure of the cup unloading gripper, reducing the manufacturing cost and failure rate of the equipment.

[0084] In one embodiment, along the second direction, cup holder conveyor lines 30 are respectively provided on both sides of the incoming material conveyor line 20, and the two sets of cup holder conveyor lines 30 are respectively configured to cooperate with the two sets of cup unloading mechanisms 10.

[0085] Along a second direction perpendicular to the incoming material conveying direction, two independently operating cup holder conveyor lines 30 are set on the left and right sides of the incoming material conveyor line 20. The conveying direction of the two cup holder conveyor lines 30 can be flexibly set to be parallel or perpendicular to the first direction according to the factory layout. Among them, the left cup holder conveyor line 30, which is closer to the first set of cup unloading mechanisms 10, is specifically for receiving the odd-numbered rows of products 5 grasped by the first set of cup unloading mechanisms 10, and the right cup holder conveyor line 30, which is closer to the second set of cup unloading mechanisms 10, is specifically for receiving the even-numbered rows of products 5 grasped by the second set of cup unloading mechanisms 10. Each of the two cup holder conveyor lines 30 is equipped with an independent drive system, positioning system, and control system, which can operate synchronously at the same speed, or the operating parameters can be adjusted individually according to actual production needs.

[0086] In actual operation, after the first set of unloading mechanisms 10 completes the gripping and orientation adjustment of the odd-numbered product 5, the transfer unit 11 directly drives the transfer seat 12 to move laterally along the second direction to the cup holder conveyor line 30 on the same side, accurately placing the product 5 into the cup holder 6. After loading, it immediately returns to the cup suction station to prepare for the next gripping. Almost simultaneously, after the second set of unloading mechanisms 10 completes the gripping and orientation adjustment of the even-numbered product 5, it also moves laterally along the second direction to the cup holder conveyor line 30 on the other side to complete the loading operation. The movement paths of the two sets of unloading mechanisms 10 are completely independent and do not interfere with each other. The movement distance of the loading operation is greatly shortened, and the cycle time is significantly reduced.

[0087] In one embodiment, reference is made to Figures 9-11 Each set of cup holder conveyor lines 30 includes two parallel pusher screws 31 and a track 34 disposed between the two pusher screws 31. The two pusher screws 31 rotate at a fixed distance and speed to push the cup holder 6 to move on the track 34.

[0088] Each cup holder conveyor line 30 employs a screw-positioning conveyor structure, primarily composed of two parallel push screws 31 and a horizontal track 34 positioned between them. The axes of the two push screws 31 are parallel to each other and lie on the same horizontal plane. Their surfaces are machined with continuous spiral grooves, the cross-sectional shape of which matches the side profile of the cup holder 6. The spacing between the spiral grooves is exactly the same as the width of a single cup holder 6. The upper surface of the track 34 is slightly lower than the bottom of the spiral grooves, supporting the bottom of the cup holder 6 to prevent it from tilting or falling during conveying. The two push screws 31 are driven by the same drive system, enabling them to rotate synchronously in opposite directions at the same speed.

[0089] In actual operation, the empty cup holder 6 enters from the feed end of the screw assembly. The two edges of the cup holder 6 are respectively engaged in the corresponding spiral grooves of the two push screws 31. When the push screws 31 rotate synchronously in opposite directions, the inner inclined surfaces of the spiral grooves apply a forward thrust to the cup holder 6, propelling it smoothly forward along the track 34. Since the spacing of the spiral grooves is fixed, all cup holders 6 maintain a precise and equal spacing during conveying, avoiding the common problems of cup holder 6 offset and uneven spacing found in ordinary belt conveyors. Simultaneously, by controlling the rotational speed of the push screws 31, the conveying speed of the cup holder 6 can be precisely adjusted to perfectly match the unloading speed of the unloading mechanism 10, achieving dynamic synchronous unloading. This eliminates the need for frequent start-ups and shutdowns of the conveyor line, significantly improving production efficiency.

[0090] This embodiment adopts a conveying structure with double push screws 31, which can achieve high-precision fixed-distance and fixed-speed conveying of cup holder 6, ensuring that the cup placement groove 61 of cup holder 6 is always precisely aligned with the gripping unit 13 of cup unloading mechanism 10, effectively reducing the failure rate of cup placement; the conveying process is smooth and impact-free, with low operating noise, low equipment wear, and long service life; the structure is simple and compact, and maintenance is convenient.

[0091] In one embodiment, reference is made to Figure 9 The cup holder conveyor line 30 includes a power motor 32 and a transmission assembly 33. The transmission assembly 33 includes multiple synchronous pulleys and a synchronous belt. The power motor 32 is connected to the synchronous pulleys. Two push screws 31 are respectively connected to the synchronous pulleys to drive the two push screws 31 to rotate synchronously in opposite directions.

[0092] Specifically, the power system of the cup holder conveyor line 30 mainly consists of a power motor 32 and a transmission assembly 33. The transmission assembly 33 includes multiple synchronous pulleys and a matching synchronous belt. The power motor 32 serves as the main power source, and its output shaft is fixedly connected to the driving synchronous pulley. The input ends of the two push screws 31 are respectively fixedly connected to driven synchronous pulleys. By reasonably arranging the relative positions of the synchronous pulleys and the winding direction of the synchronous belt, the rotational power output by the power motor 32 can be transmitted to the two push screws 31 simultaneously after being driven by the synchronous belt, so that the two push screws 31 obtain rotational torques of equal magnitude and opposite direction.

[0093] When the power motor 32 starts, it drives the active synchronous pulley to rotate, which in turn drives each driven synchronous pulley to rotate synchronously via the synchronous belt. Because the synchronous belt and synchronous pulleys are driven by toothed meshing, there is no relative slippage, thus ensuring a precise transmission ratio and keeping the rotational speeds of the two push screws 31 completely consistent. Simultaneously, through the special winding design of the synchronous belt or the addition of an intermediate reversing synchronous pulley, the rotation directions of the two driven synchronous pulleys can be reversed, thereby achieving synchronous counter-rotation of the two push screws 31. This ensures that the thrust on both sides of the cup holder 6 is equal in magnitude and consistent in direction, preventing the cup holder 6 from tilting, shifting, or jamming during transport. Compared to gear drives, which require precision machining and regular lubrication, and chain drives, which are prone to wear and elongation leading to decreased accuracy, synchronous belt drives offer significant advantages such as smooth operation, low noise, no lubrication required, and low maintenance costs, making them particularly suitable for the clean production environment requirements of the food packaging industry.

[0094] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, 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 application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0095] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0096] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0097] The technical principles of this application have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this application without inventive effort, and these embodiments will all fall within the scope of protection of this application.

Claims

1. A cup unloading mechanism, characterized in that, The system includes a transfer unit (11), a transfer seat (12), a direction adjustment unit (14), and a gripping unit (13). The transfer unit (11) is connected to the transfer seat (12) to drive the transfer seat (12) to move between the incoming material conveying line (20) and the cup holder conveying line (30). The transfer seat (12) is provided with a plurality of gripping units (13). The direction adjustment unit (14) is mounted on the transfer seat (12) to drive at least some of the gripping units (13) to rotate and adjust their direction, so that the orientation of the product (5) gripped by the gripping unit (13) is aligned with the orientation of the cup slot (61) on the cup holder (6) conveyed on the cup holder conveying line (30).

2. The cup unloading mechanism according to claim 1, characterized in that, The gripping unit (13) connected to the direction adjustment unit (14) includes a mounting plate (1315) and a gripping execution module, a rotating connector (1311) and a push rod (1316) respectively mounted on the mounting plate (1315). The gripping execution module is used to grip the product (5). The rotating connector (1311) is rotatably mounted on the transfer seat (12). The push rod (1316) is eccentrically set relative to the rotating connector (1311). The direction adjustment unit (14) pushes the push rod (1316) to move by outputting a linear driving force, so that the push rod (1316) drives the gripping unit (13) to rotate around the rotating connector (1311) to adjust its direction.

3. The cup unloading mechanism according to claim 2, characterized in that, The direction adjustment unit (14) includes a drive module (142) and a push plate (141). The drive module (142) is connected to the push plate (141) to drive the push plate (141) to reciprocate along a fixed straight line. The push plate (141) is provided with an adjustment elongated hole (1411). The length direction of the adjustment elongated hole (1411) is set at an angle to the movement direction of the push plate (141). The push rod (1316) is connected in series with the adjustment elongated hole (1411). The push rod (1316) can slide and rotate relative to the push plate (141) along the adjustment elongated hole (1411), so that the push plate (141) can push the push rod (1316) to rotate around the rotating connector (1311) through its own linear motion.

4. The cup unloading mechanism according to claim 3, characterized in that, Multiple adjustment holes (1411) are provided on the same push plate (141), and the push rods (1316) of multiple gripping units (13) are connected in series to the adjustment holes (1411) on the same push plate (141), so that the same push plate (141) can simultaneously drive multiple gripping units (13) to rotate and adjust their angles.

5. The cup unloading mechanism according to claim 3, characterized in that, The cup holder (6) is provided with one or more pairs of cup slots (61), each pair of cup slots (61) includes two cup slots (61); in the cup unloading mechanism (10), in the two gripping units (13) corresponding to the same pair of cup slots (61), the two push rods (1316) are connected in series to the same adjustment elongated hole (1411), and the push plate (141) actively pushes the two gripping units (13) to rotate in opposite directions, so that the products (5) gripped by the two gripping units (13) are simultaneously aligned with the corresponding pair of cup slots (61) on the cup holder (6).

6. The cup unloading mechanism according to claim 3, characterized in that, The transfer seat (12) includes a main seat plate (121) and a connecting seat (122) connected together. The connecting seat (122) is connected to the transfer unit (11). The direction adjustment unit (14) is disposed on the side of the main seat plate (121) close to the connecting seat (122). The gripping unit (13) is disposed on the side of the main seat plate (121) away from the connecting seat (122).

7. The cup unloading mechanism according to claim 6, characterized in that, The adapter (122) includes an adapter plate (1221) and an adapter foot (1222). The adapter plate (1221) is connected to the transfer unit (11), and the adapter foot (1222) is connected to the adapter plate (1221) and the main base plate (121). The push-rotate plate (141) is arranged parallel to the main base plate (121). The push-rotate plate (141) is provided with a hollow hole (1412) for avoiding the adapter foot (1222), so that one push-rotate plate (141) can cover and connect all the push rods (1316).

8. The cup unloading mechanism according to claim 3, characterized in that, The direction adjustment unit (14) further includes a guide module (143), which includes a guide rod (1432) and a guide sleeve (1431). The guide rod (1432) is fixed to the transfer seat (12), and the guide sleeve (1431) is fixedly connected to the push plate (141). The guide rod (1432) and the guide sleeve (1431) slide together to guide the linear movement of the push plate (141).

9. The cup unloading mechanism according to claim 2, characterized in that, The gripping unit (13) further includes a distribution air pipe (1314) and a suction cup assembly (1313). The rotating connector (1311) is provided with a vent hole. The distribution air pipe (1314) and the suction cup assembly (1313) are respectively connected to the rotating connector (1311) on two opposite sides of the transfer seat (12). The distribution air pipe (1314) and the suction cup assembly (1313) are connected through the vent hole.

10. The cup unloading mechanism according to claim 2, characterized in that, The gripping unit (13) includes a suction cup assembly (1313) and a limiting frame (1312). The limiting frame (1312) includes a support column (13122) and a limiting plate (13121). The end of the support column (13122) away from the limiting plate (13121) is connected to the mounting plate (1315). An accommodating space for accommodating the suction cup assembly (1313) is formed between the limiting plate (13121) and the mounting plate (1315). The limiting plate (13121) is provided with a suction cup hole communicating with the accommodating space. The opening of the suction cup assembly (1313) passes through the suction cup hole and is fixed to the limiting plate (13121).

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