Cup taking and stacking system of array type cup stacking machine

Abstract

A cup taking and stacking system of an array type cup stacking machine comprises a rack, a cup taking and placing mechanism and at least one stacking mechanism, the cup taking and placing mechanism and the stacking mechanism are installed on the rack, and the cup taking and placing system is characterized in that the stacking mechanism comprises a cup stacking device, and the cup taking and placing mechanism comprises a middle stable taking and placing unit and a cup taking device. Compared with the prior art, the cup taking device has the advantages that the cup taking device can well and automatically complete cup taking, cup placing and stacking work; the structure of a cup stacking device of the stacking mechanism can be matched with the cup taking and placing mechanism to complete stacking of the plastic containers, the stable horizontal moving structure enables the multiple stacking mechanisms to be arranged on the rack to relay to be matched with the cup taking and placing mechanism to work, and the height changing structure enables the cup stacking devices of the multiple stacking mechanisms to avoid from one another. The space occupied by all the stacking mechanisms is effectively saved; and the cup shaking mechanism can continuously shake the bottom of the cup stacking device, so that the stacked plastic containers can be better stacked, and the stacking quality problem is effectively avoided.

Description

Technical Field

[0001] The utility model relates to a cup taking and stacking system of an array type cup stacking machine. Background Art

[0002] At present, there are two types of plastic container cup making machines: one is the flip molded cup machine. After the air pressure thermoforming cup making machine automatically and quickly completes the shaping and punching, the lower mold body flips 90 degrees, and the cup bottom rod pushes the cup in the mold cavity out of the mold cavity to automatically stack and count the cups; however, the price of this equipment is particularly expensive, and due to the influence of the specifications and cavity distance of the lateral mold cavity, the dense stacked cups, and the influence of the stacked cup guide frame, it is impossible to spot check the product quality in time. The other is a thermoforming cup making machine whose lower mold body cannot be flipped. Its upper mold body is fixed, and the lower mold body is raised and lowered. When it is lowered into place, the mold is closed, shaped, punched and sheared, and the mold is opened. When the lower mold body is in place, the cup bottom rod pushes the cup out of the mold cavity, and the high-pressure gas blows the cup out of the mold body. This air pressure thermoforming cup making machine that cannot flip the mold has similar production efficiency and cup making quality as the flip molded cup machine, but the price is one twentieth of the flip molded cup machine. Its disadvantage is that it cannot complete automatic counting and automatic cup stacking. At the same time, this cup making machine opens the mold after forming, punching and shearing, the mold bottom pushes the container out of the mold cavity, and the air pressure blows the cup out of the mold body and scatters it to the cup inspection position, and then the cup is inspected manually.

[0003] In order to solve the above problems, the commonly used cup stacking machine for plastic containers usually uses a robot to take out all the plastic containers in the mold of the molding machine at the same time, and then stack them into a long plastic container pile, and then send them out for packaging, so as to obtain the plastic container packaging we often see on the market. However, the disadvantage of this cup stacking method is that the mold of the molding machine usually has a large number of plastic containers, which are arranged in an array (such as 5 rows and 6 columns, 8 rows and 9 columns, etc.), and the action end of the robot is usually set on one side of the frame. The cup holder needs to be connected to the action end of the robot through a long arm. Therefore, the cup holder is prone to shaking during operation, which affects the accuracy of the cup taking action and easily causes the plastic container to be skewed, fall off, or unable to be taken out.

[0004] For example, a counting and stacking machine disclosed in a Chinese patent document with publication number CN103086160A and name “Automatic High-speed Cup Picking Counting and Stacking Machine” has a cup picking rack connected to the action end of the manipulator through a long arm. Therefore, the cup picking rack is prone to shaking during operation, affecting the accuracy of the cup picking action, and easily causing the plastic containers to be skewed, dropped, or unable to be taken out. Moreover, the plastic containers are prone to misalignment during the stacking operation, so that the stacking fails completely, the plastic container is stuck on the cup mouth of the next plastic container, and the plastic container stack overturns. Moreover, the number and height of the plastic containers in the plastic container stack are greatly limited (i.e., the semi-finished plastic container stack). After being transferred to the packaging station, they need to be manually stacked and counted again to obtain a finished plastic container stack with a sufficient number of plastic containers before packaging. The work efficiency is low, so this technology cannot meet the needs of large-scale industrial production. Utility Model Content

[0005] The purpose of the utility model is to provide a cup picking and stacking system for an array type cup stacking machine, which can automatically pick up and stack plastic containers and has a good stacking effect. The technical solution adopted is as follows:

[0006] A cup stacking system for an array-type cup stacking machine comprises a frame, a cup picking and placing mechanism, and at least one stacking mechanism, wherein the cup picking and placing mechanism and the stacking mechanism are respectively mounted on the frame, and characterized in that: the stacking mechanism comprises a cup stacking device, the cup picking and placing mechanism comprises a middle stable picking and placing unit and a cup picking device, the middle stable picking and placing unit comprises a stable vertical lifting structure, a stable longitudinal telescopic structure, and a longitudinal telescopic slot, the stable vertical lifting structure comprises a lifting frame, a lifting frame driving mechanism, and two vertical rails, the two vertical rails are respectively mounted on the front and rear sides of the frame, the two sides of the lifting frame can be slidably mounted on the two vertical rails, the lifting frame driving mechanism respectively drives the two sides of the lifting frame to move along the two vertical rails, the longitudinal telescopic slot is mounted on the frame and can slide longitudinally along the frame, the stable longitudinal lifting structure comprises a lifting frame, a lifting frame driving mechanism, and two vertical rails, the two vertical rails are respectively mounted on the front and rear sides of the frame, the two sides of the lifting frame can be slidably mounted on the two vertical rails, the lifting frame driving mechanism respectively drives the two sides of the lifting frame to move along the two vertical rails, the longitudinal telescopic slot is mounted on the frame and can slide longitudinally along the frame, The telescopic structure drives the longitudinal telescopic groove to slide, and the middle part of the top surface of the cup-taking device is installed on the bottom surface of the longitudinal telescopic groove; the cup-taking and stacking structure also includes a cup-vibrating mechanism, which includes a support frame, a fourth servo motor, a driving wheel, a passive wheel, a transmission belt, a screw rod, a vibration frame, a nut, and a vibration plate. The support frame is installed on the frame, the vibration frame is installed on the support frame and can be vertically lifted and lowered, the vibration plate is installed on the top of the vibration frame and the vibration plate is located directly below the cup stacking device, the screw rod is installed on the vibration frame and the screw rod is vertically arranged, the nut is sleeved on the screw rod and the nut is rotatably mounted on the support frame, the passive wheel is installed on the outer surface of the nut, the fourth servo motor is installed on the support frame, the driving wheel is installed on the output shaft of the fourth servo motor, and the transmission belt is sleeved on the driving wheel and the passive wheel.

[0007] A preferred solution is that the lifting frame driving mechanism includes a first servo motor, a synchronous shaft, two first synchronous belts, two first driving pulleys, and two first passive pulleys. The synchronous shaft is installed on one side of the frame and extends laterally along the frame. The first servo motor is installed on the frame and the output shaft of the first servo motor is connected to one end of the synchronous shaft and drives the synchronous shaft to rotate. The two first driving pulleys are respectively installed at both ends of the synchronous shaft, and the two first passive pulleys are respectively installed on the frame and correspond to the two first driving pulleys one by one. The two first synchronous belts are respectively sleeved on two different first driving pulleys and the corresponding first passive pulleys, and the two first synchronous belts are respectively connected to both sides of the lifting frame.

[0008] A better solution is that the smooth longitudinal telescopic structure includes a driving seat, a second servo motor, a driving wheel, and at least one roller. The driving seat is installed on the lifting frame, the second servo motor is installed on the driving seat, the driving wheel is installed on the output shaft of the second servo motor, all rollers are installed on the bottom surface of the driving seat, the driving wheel is in rolling contact with all rollers, and all rollers are in rolling contact with the longitudinal telescopic grooves.

[0009] A preferred solution is that the cup stacking device includes a mounting plate, a bottom plate and a plurality of cup holder rods, the side of the mounting plate is mounted on the frame, both ends of all the cup holder rods are respectively connected to the mounting plate and the bottom plate, the mounting plate is provided with at least one cup stacking inlet groove, the bottom plate is provided with at least one cup stacking outlet groove, the number of the cup stacking inlet grooves and the cup stacking outlet grooves are the same and correspond one to one, a row of cup stacking rack groups are formed between the corresponding cup stacking inlet grooves and the cup stacking outlet grooves, and the cup stacking rack group includes a plurality of cup stacking racks.

[0010] A better solution is that the stacking mechanism also includes a smooth horizontal movement structure, which includes a mobile frame, a mobile frame driving mechanism, and at least one horizontal track. All horizontal tracks are installed on the front side or the rear side of the frame. The mobile frame can be slidably mounted on all horizontal tracks. The mobile frame driving mechanism drives the mobile frame to move along all horizontal tracks, and the cup stacking device is installed on the mobile frame.

[0011] A better solution is that the movable frame driving mechanism includes a third servo motor, a second synchronous belt, a second driving pulley, and a second passive pulley. The second driving pulley and the second passive pulley are respectively installed on the left and right sides of the frame. The second synchronous belt is sleeved on the second driving pulley and the second passive pulley, and the second synchronous belt is connected to the movable frame. The third servo motor is installed on the frame and the output shaft of the third servo motor is connected to the second driving pulley and drives the second driving pulley to rotate.

[0012] A better solution is that the cup picking device includes a cup picking rack and multiple vacuum suction cups respectively connected to an external vacuum pumping device, the cup picking rack is installed on the middle stable picking and placing unit, and the top ends of the connecting rods of all the vacuum suction cups are respectively installed on the cup picking rack.

[0013] Compared with the prior art, the utility model has the following beneficial effects: since the stable vertical lifting structure of the middle stable picking and placing unit can drive the stable longitudinal telescopic structure and the cup picking device to rise and fall steadily, quickly and accurately, and the stable longitudinal telescopic structure drives the longitudinal telescopic slot and the cup picking device to move steadily, quickly and accurately in the horizontal direction along the longitudinal direction of the frame, the cup picking device can automatically complete the work of extending into the molding machine and taking out all plastic containers from the mold of the molding machine, and then move to the top of the cup stacking device and drive all plastic containers to descend and put them into the cup stacking device for cup picking and cup stacking; the structure of the cup stacking device of the stacking mechanism can cooperate with the cup picking and placing mechanism to complete the stacking of plastic containers, the stable horizontal moving structure can drive the cup stacking device to move along the longitudinal direction of the frame steadily, quickly and accurately, so that multiple stacking mechanisms can be arranged on the frame to relay and work in cooperation with the cup picking and placing mechanism, and the height change structure enables the cup stacking devices of multiple stacking mechanisms to avoid each other, effectively saving the space occupied by all stacking mechanisms; the cup shaking mechanism can continuously shake the bottom of the cup stacking device, so that the stacked plastic containers can be better stacked, effectively avoiding the problem of stacking quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of an embodiment of the utility model;

[0015] Figure 2 yes Figure 1 An enlarged view of the cup placement mechanism and part of the frame of the illustrated embodiment;

[0016] Figure 3 yes Figure 2 A schematic diagram from another angle with part of the rack removed;

[0017] Figure 4 yes Figure 1 The stable longitudinal telescopic structure and the enlarged view of the longitudinal telescopic slot;

[0018] Figure 5 yes Figure 4 Schematic diagram from another angle;

[0019] Figure 6 yes Figure 5 A schematic diagram of a stable longitudinal telescopic structure and a lifting frame viewed from above;

[0020] Figure 7 yes Figure 6 An enlarged view of the stable longitudinal telescopic structure;

[0021] Figure 8 yes Figure 1 An enlarged view of the cup stacking device of the illustrated embodiment;

[0022] Fig. 9 yes Figure 8A bottom view schematic diagram of a cup stacking device;

[0023] Fig.10 It is a structural schematic diagram of an embodiment of the utility model;

[0024] Fig.11 yes Fig.10 An enlarged view of two stacking mechanisms of the illustrated embodiment;

[0025] Fig.12 yes Fig.11 Schematic diagram after removing part of the rack;

[0026] Fig.13 yes Fig.11 A schematic diagram of a stacking mechanism;

[0027] Fig.14 yes Fig.13 Schematic diagram after removing the cup stacking device;

[0028] Fig.15 yes Fig.14 A partial enlarged view from another angle;

[0029] Fig.16 yes Fig.14 An enlarged view of the mobile frame and height change structure;

[0030] Fig.17 yes Fig.10 A schematic diagram of the structure of the cup vibrating mechanism and part of the frame of the illustrated embodiment;

[0031] Fig.18 yes Fig.10 A bottom view of the cup vibrating mechanism of the illustrated embodiment;

[0032] Fig.19 yes Fig.10 An enlarged view of the vibrating cup mechanism of the illustrated embodiment with the vibrating plate removed. DETAILED DESCRIPTION

[0033] like Figure 1As shown, a cup stacking system of an array-type cup stacking machine in an embodiment of the present application comprises a frame 1, a cup picking and placing mechanism 2, and at least one stacking mechanism 3. The cup picking and placing mechanism 2 and the stacking mechanism 3 are respectively mounted on the frame 1. The stacking mechanism 3 comprises a cup stacking device 301. The cup picking and placing mechanism 2 comprises a middle stable picking and placing unit 201 and a cup picking device 202. The middle stable picking and placing unit 201 comprises a stable vertical lifting structure 2011, a stable longitudinal telescopic structure 2012, and a longitudinal telescopic slot 2013. The stable vertical lifting structure 2011 comprises a lifting frame 20111 and a lifting frame driving mechanism 2013. Structure 20112, two vertical rails 20113, the two vertical rails 20113 are respectively installed on the front and rear sides of the frame 1, the two sides of the lifting frame 20111 can be slidably mounted on the two vertical rails 20113, the lifting frame driving mechanism 20112 drives the two sides of the lifting frame 20111 to move along the two vertical rails 20113 respectively, the longitudinal telescopic groove 2013 is installed on the frame 1 and can slide longitudinally along the frame 1, the stable longitudinal telescopic structure 2012 drives the longitudinal telescopic groove 2013 to slide, and the middle part of the top surface of the cup taking device 202 is installed on the bottom surface of the longitudinal telescopic groove 2013. The smooth vertical lifting structure 2011 of the middle smooth picking and placing unit 201 drives the smooth longitudinal telescopic structure 2012 and the cup picking device 202 to rise and fall, and the smooth longitudinal telescopic structure 2012 drives the longitudinal telescopic slot 2013 and the cup picking device 202 to move horizontally along the longitudinal direction of the frame, so that the cup picking device 202 can be extended into the molding machine and take out all plastic containers from the mold of the molding machine, and then move to the top of the cup stacking device 301 and drive all plastic containers to descend and put them into the cup stacking device 301, and finally return to the original position, thus completing a complete process of picking up, placing and stacking cups.

[0034] In a preferred solution, the lifting frame driving mechanism 20112 includes a first servo motor 201121, a synchronous shaft 201122, two first synchronous belts 201123, two first active pulleys 201124, and two first passive pulleys 201125. The synchronous shaft 201122 is installed on one side of the frame 1 and extends along the lateral direction of the frame 1. The first servo motor 201121 is installed on the frame and the output shaft of the first servo motor 201121 is connected to the synchronous shaft 20112. 2 one end and drives the synchronous shaft 201122 to rotate, the two first active pulleys 201124 are respectively installed at both ends of the synchronous shaft 201122, the two first passive pulleys 201125 are respectively installed on the frame 1 and correspond to the two first active pulleys 201124 one by one, the two first synchronous belts 201123 are respectively sleeved on two different first active pulleys 201124 and the corresponding first passive pulleys 201125, and the two first synchronous belts 201123 are respectively connected to the two sides of the lifting frame 20111.

[0035] A preferred solution is that the smooth longitudinal telescopic structure 2012 includes a driving seat 20121, a second servo motor 20122, a driving wheel 20123, and two rollers 20124. The driving seat 20121 is installed on the lifting frame 20111, the second servo motor 20122 is installed on the driving seat 20121, the driving wheel 20123 is installed on the output shaft of the second servo motor 20122, all the rollers 20124 are installed on the bottom surface of the driving seat 20121, the driving wheel 20123 is in rolling contact with all the rollers 20124, and all the rollers 20124 are in rolling contact with the longitudinal telescopic slot 2013.

[0036] A preferred solution is that the cup stacking device 301 includes a mounting plate 3011, a bottom plate 3012 and a plurality of cup holder rods 3013, the mounting plate 3011 is mounted on the frame 1 at its side, both ends of all cup holder rods 3013 are respectively connected to the mounting plate 3011 and the bottom plate 3012, the mounting plate 3011 is provided with a plurality of cup stacking inlet grooves 30111, the bottom plate 3012 is provided with a plurality of cup stacking outlet grooves 30121, the number of the cup stacking inlet grooves 30111 and the cup stacking outlet grooves 30121 are the same and correspond one to one, a row of cup stacking rack groups 3014 are formed between the corresponding cup stacking inlet grooves 30111 and the cup stacking outlet grooves 30121, and the cup stacking rack groups 3014 include a plurality of cup stacking racks 30141.

[0037] like Figure 1 As shown, in one embodiment of the present application, the number of the stacking mechanism 3 is one.

[0038] like Fig.10 As shown, an embodiment of the present application, this embodiment is Figure 1 The difference between the embodiment of FIG. 1 and FIG. 2 is that the number of the stacking mechanisms 3 is two.

[0039] like Fig.10 As shown, in one embodiment of the present application, the stacking mechanism 3 also includes a smooth horizontal moving structure 302, the smooth horizontal moving structure 302 includes a moving frame 3021, a moving frame driving mechanism 3022, and two horizontal rails 3023, all horizontal rails 3023 are installed on the front side or the rear side of the frame 1, the moving frame 3021 can be slidably mounted on all horizontal rails 3023, the moving frame driving mechanism 3022 drives the moving frame 3021 to move along all horizontal rails 3023, and the cup stacking device 301 is installed on the moving frame 3021.

[0040] like Fig.14As shown, an embodiment of the present application, the movable frame driving mechanism 3022 includes a third servo motor 30221, a second synchronous belt 30222, a second active pulley 30223, and a second passive pulley 30224, the second active pulley 30223 and the second passive pulley 30224 are respectively installed on the left and right sides of the frame 1, the second synchronous belt 30222 is sleeved on the second active pulley 30223 and the second passive pulley 30224, and the second synchronous belt 30222 is connected to the movable frame 3021, the third servo motor 30221 is installed on the frame 1 and the output shaft of the third servo motor 30221 is connected to the second active pulley 30223 and drives the second active pulley 30223 to rotate.

[0041] like Figure 13-16 As shown, in one embodiment of the present application, the stacking mechanism 3 also includes a height conversion structure 303, the height conversion structure 303 has a lifting action end 3031 that can be vertically lifted and lowered, the height conversion structure 303 is installed on the movable frame 3021, and the cup stacking device 301 is installed on the lifting action end 3031.

[0042] like Figure 13-16 As shown, in one embodiment of the present application, the height change structure 303 is a cylinder, and the lifting action end 3031 is the piston shaft of the cylinder.

[0043] like Fig.15 , 16 As shown, in one embodiment of the present application, the cup stacking device 301 is further installed with two first vertical guide pillars 3015, and the movable frame 3021 is provided with two first vertical guide holes 30211. The first vertical guide pillars 3015 and the first vertical guide holes 30211 are the same in number and correspond one to one, and the bottom end of each first vertical guide pillar 3015 passes through the corresponding first vertical guide hole 30211 from top to bottom.

[0044] like Figure 5 As shown, in one embodiment of the present application, the cup picking device 202 includes a cup picking rack 2021 and a plurality of vacuum suction cups 2022 respectively connected to an external vacuum pumping device, the cup picking rack 2021 is mounted on the middle stable picking and placing unit 201, and the top ends of the connecting rods of all the vacuum suction cups 2022 are respectively mounted on the cup picking rack 2021.

[0045] like Figure 1 As shown, in one embodiment of the present application, the vacuum suction cups 2022 and the cup stacking racks 30141 are the same in number and correspond one to one.

[0046] like Figure 17-19As shown, in one embodiment of the present application, the cup stacking structure further includes a cup vibrating mechanism 4, which includes a support frame 401, a fourth servo motor 402, a driving wheel 403, a passive wheel 404, a transmission belt 405, a screw rod 406, a vibration frame 407, a nut 408, and a vibration plate 409. The support frame 401 is mounted on the frame 1, the vibration frame 407 is mounted on the support frame 401 and can be vertically lifted, and the vibration plate 409 is mounted on the top of the vibration frame 407 and the vibration plate 409 is mounted on the top of the vibration frame 407. 09 is located directly below the cup stacking device 301, the screw rod 406 is installed on the vibration frame 407 and the screw rod 406 is vertically arranged, the nut 408 is sleeved on the screw rod 406 and the nut 408 is rotatably installed on the support frame 401, the passive wheel 404 is installed on the outer surface of the nut 408, the fourth servo motor 402 is installed on the support frame 401, the driving wheel 403 is installed on the output shaft of the fourth servo motor 402, and the transmission belt 405 is sleeved on the driving wheel 403 and the passive wheel 404. The fourth servo motor 402 drives the driving wheel 403 to rotate, and the driving wheel 403 drives the passive wheel 404 to rotate through the transmission belt 405. The nut 408 rotates along with the passive wheel 404, thereby driving the screw rod 406 and the vibration frame 407 to rise and fall. The fourth servo motor 402 frequently changes the rotation direction, and the vibration frame 407 can be continuously raised and lowered. Every time the vibration frame 407 rises to the highest point, the vibration plate 409 will impact the bottom of the cup stacking device 301, so that the stacked plastic containers in the cup stacking device 301 vibrate and are better stacked together.

[0047] like Fig.19 As shown, in one embodiment of the present application, the vibration frame 407 includes a top vibration plate 4071, a bottom connecting plate 4072, and two second vertical guide columns 4073. The support frame 401 is provided with two second vertical guide holes 4011. The top ends of the two second vertical guide columns 4073 are respectively connected to the top vibration plate 4071, and the bottom ends of the two second vertical guide columns 4073 respectively pass through the two second vertical guide holes 4011 and are connected to the bottom connecting plate 4072.

[0048] like Fig.18 , 19 As shown, in one embodiment of the present application, the support frame 401 is provided with a plurality of horizontal guide holes 4012 , and a plurality of horizontal guide columns 101 are installed on the frame 1 . The number of the horizontal guide columns 101 and the horizontal guide holes 4012 are the same and correspond one to one, and each horizontal guide column 101 passes through the corresponding horizontal guide hole 4012 .

[0049] In one embodiment of the present application, the cup vibration mechanism 4 further includes a cylinder, a piston shaft of the cylinder is connected to the support frame 401 and the piston shaft of the cylinder is parallel to the horizontal guide column 101 .

[0050] In addition, it should be noted that the names of the various parts of the specific embodiments described in this specification may be different, and any equivalent or simple changes made based on the structure, features and principles described in the utility model patent concept are included in the protection scope of the utility model patent. The technical personnel of the technical field to which the utility model belongs can make various modifications or supplements to the specific embodiments described or replace them in a similar manner, as long as they do not deviate from the structure of the utility model or exceed the scope defined by the claims, they should all fall within the protection scope of the utility model.

Claims

1. A cup picking and stacking system of an array cup stacking machine, comprising a frame, a cup picking and placing mechanism, and at least one stacking mechanism, wherein the cup picking and placing mechanism and the stacking mechanism are respectively mounted on the frame, and characterized in that: The stacking mechanism includes a cup stacking device, and the cup picking and placing mechanism includes a middle stable picking and placing unit and a cup picking device. The middle stable picking and placing unit includes a stable vertical lifting structure, a stable longitudinal telescopic structure, and a longitudinal telescopic slot. The stable vertical lifting structure includes a lifting frame, a lifting frame driving mechanism, and two vertical rails. The two vertical rails are respectively installed on the front and rear sides of the frame. The two sides of the lifting frame can be slidably mounted on the two vertical rails. The lifting frame driving mechanism drives the two sides of the lifting frame to move along the two vertical rails respectively. The longitudinal telescopic slot is installed on the frame and can slide longitudinally along the frame. The stable longitudinal telescopic structure drives the longitudinal telescopic slot to slide. The middle of the top surface of the cup picking device is installed in the longitudinal telescopic slot. On the bottom surface; the cup taking and stacking structure also includes a cup shaking mechanism, which includes a support frame, a fourth servo motor, a driving wheel, a passive wheel, a transmission belt, a screw rod, a vibration frame, a nut, and a vibration plate. The support frame is installed on the frame, the vibration frame is installed on the support frame and can be vertically lifted and lowered, the vibration plate is installed on the top of the vibration frame and the vibration plate is located directly below the cup stacking device, the screw rod is installed on the vibration frame and the screw rod is vertically arranged, the nut is sleeved on the screw rod and the nut is rotatably mounted on the support frame, the passive wheel is installed on the outer surface of the nut, the fourth servo motor is installed on the support frame, the driving wheel is installed on the output shaft of the fourth servo motor, and the transmission belt is sleeved on the driving wheel and the passive wheel.

2. The cup taking and stacking system of the array type cup stacking machine according to claim 1, characterized in that: The lifting frame driving mechanism includes a first servo motor, a synchronous shaft, two first synchronous belts, two first driving pulleys, and two first passive pulleys. The synchronous shaft is installed on one side of the frame and extends laterally along the frame. The first servo motor is installed on the frame and the output shaft of the first servo motor is connected to one end of the synchronous shaft and drives the synchronous shaft to rotate. The two first driving pulleys are respectively installed at both ends of the synchronous shaft, and the two first passive pulleys are respectively installed on the frame and correspond to the two first driving pulleys one by one. The two first synchronous belts are respectively sleeved on two different first driving pulleys and the corresponding first passive pulleys, and the two first synchronous belts are respectively connected to both sides of the lifting frame.

3. The cup taking and stacking system of the array type cup stacking machine according to claim 1, characterized in that: The smooth longitudinal telescopic structure includes a driving seat, a second servo motor, a driving wheel, and at least one roller. The driving seat is installed on the lifting frame, the second servo motor is installed on the driving seat, the driving wheel is installed on the output shaft of the second servo motor, all rollers are installed on the bottom surface of the driving seat, the driving wheel is in rolling contact with all rollers, and all rollers are in rolling contact with the longitudinal telescopic grooves.

4. The cup taking and stacking system of the array type cup stacking machine according to claim 1, characterized in that: The cup stacking device comprises a mounting plate, a bottom plate and a plurality of cup holder rods, wherein the side of the mounting plate is mounted on a frame, and both ends of all the cup holder rods are respectively connected to the mounting plate and the bottom plate, the mounting plate is provided with at least one cup stacking inlet groove, and the bottom plate is provided with at least one cup stacking outlet groove, the number of the cup stacking inlet grooves and the cup stacking outlet grooves are the same and correspond to each other, and a row of cup stacking rack groups is formed between the corresponding cup stacking inlet grooves and the cup stacking outlet grooves, and the cup stacking rack group comprises a plurality of cup stacking racks.

5. The cup taking and stacking system of the array type cup stacking machine according to any one of claims 1 to 4, characterized in that: The stacking mechanism also includes a smooth horizontal movement structure, which includes a moving frame, a moving frame driving mechanism, and at least one horizontal track. All horizontal tracks are installed on the front side or the rear side of the frame. The moving frame can be slidably mounted on all horizontal tracks. The moving frame driving mechanism drives the moving frame to move along all horizontal tracks, and the cup stacking device is installed on the moving frame.

6. The cup taking and stacking system of the array type cup stacking machine according to claim 5, characterized in that: The movable frame driving mechanism includes a third servo motor, a second synchronous belt, a second driving pulley, and a second passive pulley. The second driving pulley and the second passive pulley are respectively installed on the left and right sides of the frame. The second synchronous belt is sleeved on the second driving pulley and the second passive pulley, and the second synchronous belt is connected to the movable frame. The third servo motor is installed on the frame and the output shaft of the third servo motor is connected to the second driving pulley and drives the second driving pulley to rotate.

7. The cup taking and stacking system of the array type cup stacking machine according to claim 5, characterized in that: The stacking mechanism also includes a height conversion structure, which has a lifting action end that can be lifted vertically. The height conversion structure is installed on the moving frame, and the cup stacking device is installed on the lifting action end.

8. The cup taking and stacking system of the array type cup stacking machine according to claim 1, characterized in that: The cup picking device comprises a cup picking rack and a plurality of vacuum suction cups respectively connected to an external vacuum pumping device; the cup picking rack is mounted on the middle stable picking and placing unit; and the top ends of the connecting rods of all the vacuum suction cups are respectively mounted on the cup picking rack.

9. The cup taking and stacking system of the array type cup stacking machine according to claim 1, characterized in that: The vibration frame includes a top vibration plate, a bottom connecting plate, and two second vertical guide columns. The support frame is provided with two second vertical guide holes. The top ends of the two second vertical guide columns are respectively connected to the top vibration plate, and the bottom ends of the two second vertical guide columns respectively pass through the two second vertical guide holes and are connected to the bottom connecting plate.

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