Manipulator transfer device for paper cup forming machine

Abstract

The utility model discloses a manipulator transfer device for a paper cup forming machine, which comprises a driving device and a transfer mechanism, the driving device comprises a guide rail fixed at a damage detection position of the forming machine, and the guide rail is provided with a matched driving piece; a cup body identified as a damaged paper cup is positioned through the driving equipment, then the paper cup is wrapped through up-down displacement, the air bag is subjected to air injection expansion through the air pump, wrapping and clamping of the paper cup are completed, the damaged paper cup is marked through the marking mechanism, and then picking operation is completed. And the workload of manually sorting the damaged paper cups is reduced, so that the production efficiency is higher.

Description

Technical Field

[0001] The utility model belongs to the field of paper cup forming equipment, and in particular relates to a manipulator transfer device for a paper cup forming machine. Background Art

[0002] A paper cup is a paper container made by mechanically processing and gluing paper (white cardboard) made from chemical wood pulp. It has a cup-shaped appearance. Paper cups for frozen foods are wax-coated and can hold ice cream, jam, butter, and more. Paper cups for hot drinks are plastic-coated and can withstand temperatures above 90°C and even hold boiling water. Paper cups are safe, hygienic, lightweight, and convenient, making them suitable for use in public places, hotels, and restaurants. They are disposable.

[0003] During the paper cup forming stage, cups that do not meet the specifications need to be rejected to reduce the impact on the subsequent finished product rate. However, it is not easy to manually remove damaged cups during the rapid production process. Most of the time, they are manually inspected before stacking and packaging. However, during stacking, the stacking method causes some parts to be blocked, making it inconvenient to observe the damaged parts. Therefore, a device that uses sensors to detect damage has been developed, and the damaged paper cups are removed at the same time after detection. Utility Model Content

[0004] In view of the above defects, the utility model provides a robot transfer device for a paper cup forming machine, comprising a driving device and a transfer mechanism, wherein the driving device comprises a guide rail fixed to a damage detection position of the forming machine, and a corresponding driving member is installed on the guide rail;

[0005] The transfer mechanism includes a positioning ring connected to the driving member, the outer ring of the positioning ring is hinged with an embracing mechanism, the embracing mechanism includes outward expansion plates distributed at equal distances, each of the outward expansion plates is hinged to the outer ring of the positioning ring by a hinge, a matching air bag is fixed on the dark side of each outward expansion plate, and each two adjacent outward expansion plates are connected by a set of tension springs, a placement rack is installed at the driving member, an air pump is installed at the placement rack, the output end of the air pump is connected to a shunt pipe, and each output end of the shunt pipe is connected to the air valve of each air bag through an air injection pipe;

[0006] The outer ring of the positioning ring is also fixed with a limit bearing, a driving rod is installed inside the limit bearing, the bottom end of the driving rod is fixed with a marking structure for marking broken paper cups, the top of the driving rod is fixed with a linkage gear, and a bidirectional motor is installed on the top of the positioning ring, and the output end of the bidirectional motor is fixed with a driving gear meshing with the linkage gear.

[0007] Furthermore, a accommodating cavity is provided inside the airbag body, and an inner support plate is placed inside the accommodating cavity. The length of the inner support plate is not greater than one-third of the length of the outer plate, and the top end of the inner support plate passes through the accommodating cavity through the connecting plate and is fixed to the bottom end of the positioning ring.

[0008] Furthermore, the accommodating cavity divides the airbag body into an outer cavity and an inner cavity. After the airbag body is expanded, it tends to be trapezoidal, and its inclined surface is located in the outer cavity.

[0009] Furthermore, a side of the inner support plate close to the inner cavity is fixed with equally spaced limiting cross bars, and an inner wall of the accommodating cavity is provided with limiting grooves that are engaged with the limiting cross bars.

[0010] Furthermore, the number of the outward expansion plates is three, and the three outward expansion plates form a frustum.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] First, the cup body that has been identified as a damaged paper cup is positioned by the driving device, and then the paper cup is wrapped by moving up and down. The air bag is inflated by the air pump to complete the wrapping and clamping of the paper cup. After the damaged paper cup is marked by the marking mechanism, the picking operation is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional diagram of the present utility model.

[0014] Figure 2 It is a structural diagram of the embracing mechanism in the present utility model.

[0015] In the figure: 1. Guide rail; 2. Driving part; 3. Positioning ring; 4. Air pump; 5. Encircling mechanism; 51. Outward expansion plate; 52. Airbag body; 53. Inner support plate; 54. Connecting plate; 55. Limiting cross bar; 56. Accommodating chamber; 57. Air valve; 6. Marking structure; 7. Bidirectional motor; 8. Driving rod; 9. Linkage gear; 10. Air injection pipe; 11. Tension spring. DETAILED DESCRIPTION

[0016] To facilitate understanding of the present invention, the following description of the present invention is more comprehensive, with reference to the accompanying drawings. The drawings illustrate embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present invention.

[0017] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "disposed" should be understood in a broad sense. For example, they may refer to fixed connection or disposition, detachable connection or disposition, or integral connection or disposition. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0018] Example

[0019] like Figure 1-2 As shown, this embodiment provides a robotic transfer device for a paper cup forming machine, including a drive device and a transfer mechanism. The drive device includes a guide rail 1 (mounted on its top) fixed to the damage detection position of the forming machine. A corresponding drive member 2 is installed on the guide rail 1. The drive member 2 is an electric slider that slides horizontally on the guide rail 1. At the same time, an electric telescopic rod is installed at the bottom of the electric slider for vertical movement. It should be noted that the drive device also includes a positioning system for locating the position of the broken paper cup. The positioning system can be a camera vision system, a sensor detection unit, etc. The camera vision system can detect the integrity of the paper cup through image recognition technology. The sensor can be a light source sensor, a light source, etc. that detects through light refraction. They will not be described in detail here. Using computer vision algorithms, the camera can analyze the shape and other features of the broken paper cup to determine its position; LiDAR: LiDAR can obtain distance information by measuring the time of reflected light, thereby creating a three-dimensional map of the environment. LiDAR can be used to detect the position and shape of plants, providing high-precision positioning data for automatic pickers. At the same time, the electric telescopic rod can be replaced with a more precise robotic arm, which can achieve multi-directional movement on the X, Y, and Z axes. It can be selected and used as needed, so I will not go into details here.

[0020] The transfer mechanism includes a positioning ring 3 connected to the driving member 2 (i.e., the electric telescopic rod). The outer ring of the positioning ring 3 is hinged with an embracing mechanism 5. The embracing mechanism 5 includes outward expansion plates 51 distributed at equal distances. The number of outward expansion plates 51 is most suitable to be three. The three outward expansion plates 51 form a frustum, that is, a shape with a wide bottom and a narrow top, which is used to ensure that there is enough space when it is lowered and placed on the outside of the damaged paper cup.

[0021] Each outward expansion plate 51 is hinged to the outer ring of the positioning ring 3 by a hinge, and a corresponding air bag 52 is fixed on the dark side of each outward expansion plate 51. Each adjacent outward expansion plate 51 is connected by a group of tension springs 11. The tension springs 11 are used to ensure the connection effect between each outward expansion plate 51, and also have the function of rebound and reset. A placement rack is installed at the driving member 2, and an air pump 4 is installed at the placement rack. The output end of the air pump 4 is connected to a shunt pipe, and each output end of the shunt pipe is connected to the air valve 57 at each air bag 52 through the air injection pipe 10. It should be noted that the air injection amount of the air pump 4 is quantitative air injection (its air injection amount should be adapted to the air bag 52), and the air pump 4 should be a two-way air pump, which has both an air injection function (to inflate the air bag 52) and a deflation function (to deflate and restore the air bag 52). At the same time, the air valve 57 should be located at the top of the outer cavity, that is, the outer cavity is first injected when injecting air;

[0022] Specifically, an accommodating chamber 56 is provided inside the airbag body 52, and the accommodating chamber 56 divides the airbag body 52 into an outer chamber and an inner chamber. After the airbag body 52 is expanded, it tends to be trapezoidal, and its inclined surface is located in the outer chamber. An inner support plate 53 is placed inside the accommodating chamber 56. The length of the inner support plate 53 is not more than one-third of the length of the outer expansion plate 51, and the top end of the inner support plate 53 passes through the accommodating chamber 56 through the connecting plate 54 and is fixed to the bottom end of the positioning ring 3. It will not affect the movement of the outer expansion plate 51 pushed by the expansion of the airbag 52, and it also has the function of fixing and limiting the top end of the airbag body 52 to prevent the airbag body 52 from shifting. The inner support plate 53 is fixed with equidistantly distributed limiting cross bars 55 on the side close to the inner chamber, and the inner wall of the accommodating chamber 56 is provided with limiting grooves that are engaged with the limiting cross bars 55. By adding raised patterns, the friction between the inner support plate 53 and the broken paper cup can be increased to ensure the stability of lifting.

[0023] The outer ring of the positioning ring 3 is also fixed with a limit bearing, and a driving rod 8 is installed inside the limit bearing. The bottom end of the driving rod 8 is fixed with a marking structure 6 for marking broken paper cups. It should be noted that in order to collect and destroy broken paper cups, the marking structure 6 in this embodiment is a scimitar, which is rotated to cut the broken paper cups into larger pieces, which is convenient for subsequent observation and destruction marking. The marking structure 6 can also be changed to a marking structure such as a dye pen, which can be selected according to actual conditions.

[0024] A linkage gear 9 is fixed to the top of the driving rod 8, and a bidirectional motor 7 is installed on the top of the positioning ring 3. The output end of the bidirectional motor 7 is fixed with a driving gear that is meshed with the linkage gear 9. The driving gear drives the linkage gear 9 to rotate, so that the driving rod 8 drives the marking structure 6 to rotate to complete the cutting. The marking structure 6 is a sickle crescent shape, and its initial position should be outside the positioning ring 3, and the rotation period of the bidirectional motor 7 should be 180°.

[0025] It should be noted that the airbag body 52 is made of neoprene, which is an elastic material with good wear resistance and oil resistance. It can effectively expand and quickly return to its original shape after being deflated.

[0026] The present embodiment describes a robotic transfer device for a paper cup forming machine. After positioning the broken paper cup, the driving device moves the embracing mechanism 5 to the top of the broken paper cup and then moves it downward for sleeve installation. During this process, the air pump 4 performs air injection work and inflates the three air bags 52 through the three air injection pipes 10 to expand them. First, the outer cavity is expanded and then the hinged expansion plate 51 is driven to rotate outward to increase the sleeve range of the bottom. Then, the inner cavity of the air bag 52 contacts the broken paper cup and flexibly clamps it. After clamping, the bidirectional motor 7 rotates forward to drive the marking structure 6 to complete the marking of the broken paper cup. At this time, the driving device drives the embracing mechanism 5 to move upward and moves the clamped broken paper cup to the collection area. The air pump 4 performs air deflation work and the air bag 52 gradually returns to its original state and becomes deflated. The broken paper cup that has lost its clamping force falls to the collection area.

[0027] It should be noted that the structure described in the present invention can be implemented in a variety of different forms and is not limited to the described embodiments. Any equivalent transformations made by ordinary technicians in this field using the contents of the description and drawings of the present invention, or directly or indirectly applied to other related technical fields, such as the loading and unloading of other items, are included in the scope of protection of the present invention.

Claims

1. A robot transfer device for a paper cup forming machine, comprising a drive device and a transfer mechanism, characterized in that: The driving device includes a guide rail fixed to the damage detection position of the molding machine, and a matching driving member is installed on the guide rail; The transfer mechanism includes a positioning ring connected to the driving member, the outer ring of the positioning ring is hinged with an embracing mechanism, the embracing mechanism includes outward expansion plates distributed at equal distances, each of the outward expansion plates is hinged to the outer ring of the positioning ring by a hinge, a matching air bag is fixed on the dark side of each outward expansion plate, and each two adjacent outward expansion plates are connected by a set of tension springs, a placement rack is installed at the driving member, an air pump is installed at the placement rack, the output end of the air pump is connected to a shunt pipe, and each output end of the shunt pipe is connected to the air valve of each air bag through an air injection pipe; The outer ring of the positioning ring is also fixed with a limit bearing, a driving rod is installed inside the limit bearing, the bottom end of the driving rod is fixed with a marking structure for marking broken paper cups, the top of the driving rod is fixed with a linkage gear, and a bidirectional motor is installed on the top of the positioning ring, and the output end of the bidirectional motor is fixed with a driving gear meshing with the linkage gear.

2. The robot transfer device for a paper cup forming machine according to claim 1, characterized in that: The airbag body is provided with a accommodating cavity inside which an inner support plate is placed. The length of the inner support plate is no more than one third of the length of the outer plate, and the top end of the inner support plate passes through the accommodating cavity through a connecting plate and is fixed to the bottom end of the positioning ring.

3. The robot transfer device for a paper cup forming machine according to claim 2, characterized in that: The accommodating cavity divides the airbag body into an outer cavity and an inner cavity. After the airbag body is expanded, it tends to be trapezoidal, and its inclined surface is located in the outer cavity.

4. The robot transfer device for a paper cup forming machine according to claim 3, characterized in that: Limiting cross bars distributed at equal distances are fixed on one side of the inner support plate close to the inner cavity, and limiting grooves engaged with the limiting cross bars are provided on the inner wall of the accommodating cavity.

5. The robot transfer device for a paper cup forming machine according to claim 1, characterized in that: The number of the outward expansion plates is three, and the three outward expansion plates form a frustum.

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