Utensil overturning, discharging and stacking equipment

Abstract

The utility model discloses utensil overturning, discharging and stacking equipment and relates to the technical field of utensil conveying and stacking equipment, a belt conveying module is used for conveying utensils, an overturning mechanism is arranged on a conveying path of the belt conveying module in series, a clamping output assembly is configured to be capable of clamping, fixing and conveying the utensils, and when the utensils enter the clamping output assembly, the overturning mechanism is arranged on the conveying path of the belt conveying module. The clamping output assembly directly outputs the vessels or outputs the vessels after being driven by the overturning driving assembly to overturn by 180 degrees. The visual identification unit comprises an industrial camera assembly, and when the vessels are conveyed to the tail end through the belt type conveying module, the industrial camera assembly collects vessel images; the stacking execution unit comprises a multi-axis truss mechanical arm and a vessel suction cup assembly, and the multi-axis truss mechanical arm drives the vessel suction cup assembly to grab vessels and stack the vessels to the stacking position based on the vessel image data. According to the device, the automatic process of vessel overturning, discharging and stacking is achieved, the production efficiency is improved, errors and losses caused by manual operation are reduced, and the device is further suitable for overturning and stacking work of various vessels.

Description

Technical Field

[0001] This application relates to the technical field of utensil conveying and palletizing equipment, specifically to a utensil flipping and unloading palletizing equipment. Background Technology

[0002] In traditional tableware production processes, the tableware produced from equipment (such as annealing furnaces) often requires manual processing. First, workers must move the tableware to a designated area to cool. This cooling process not only occupies a significant amount of space but also increases the risk of damage due to improper handling. After cooling, workers then manually arrange and stack the tableware, a labor-intensive and inefficient process. The speed of manual stacking cannot keep up with the output speed of the production equipment, resulting in a significant bottleneck in production efficiency. Different shapes and sizes of tableware require different handling methods during handling and stacking, which are difficult for workers to accurately control, further increasing the operational difficulty. Frequent contact with the tableware during manual handling makes it highly susceptible to breakage due to collisions or drops, leading to a higher defect rate and increased production costs. Furthermore, manual handling and stacking pose certain safety hazards, such as worker fatigue from repetitive labor or accidents when handling heavy tableware.

[0003] To address these issues, some manufacturers have attempted to introduce automated equipment, but existing equipment suffers from numerous shortcomings. Some devices can only operate on vessels of specific shapes and sizes, lacking versatility; others lack sufficient precision in gripping vessels during flipping and palletizing, easily leading to vessel displacement or damage; still others lack intelligent visual recognition systems, failing to accurately determine the position and status of vessels, thus affecting palletizing accuracy and efficiency. Therefore, there is an urgent need to develop automated equipment capable of automatically flipping, unloading, and palletizing, adapting to various vessel types, and possessing high precision and stability. Utility Model Content

[0004] The purpose of this application is to provide a vessel flipping, unloading, and palletizing device to solve the problems of high labor intensity, low efficiency, high breakage rate, poor versatility, and low precision of existing automated equipment in the manual handling of vessel flipping, unloading, and palletizing in the prior art, so as to realize the automation, intelligence, and high efficiency of subsequent processing in the vessel production process.

[0005] The technical solution adopted in this application is as follows:

[0006] A vessel flipping and palletizing device includes at least one conveyor flipping line, a vision recognition unit corresponding to each conveyor flipping line, and a palletizing execution unit. Each conveyor flipping line includes a belt conveyor module and a flipping mechanism. The belt conveyor module is used to transport vessels, and the flipping mechanism is connected in series on the conveying path of the belt conveyor module. The flipping mechanism includes a clamping output component and a flipping drive component. The clamping output component is configured to clamp, fix, and transport vessels. When a vessel enters the clamping output component, the clamping output component directly outputs the vessel or drives it to flip 180° before outputting it. The vision recognition unit includes an industrial camera component suspended above the end of the conveying path of the belt conveyor module. When the vessel is transported to the end by the belt conveyor module, the industrial camera component captures an image of the vessel. The palletizing execution unit includes a multi-axis gantry robot and a vessel suction cup component installed at the execution end of the multi-axis gantry robot. The multi-axis gantry robot drives the vessel suction cup component to grasp the vessel and palletize it to the palletizing position based on the vessel image data.

[0007] Preferably, the belt conveyor module has a segmented structure, including multiple belt conveyor mechanisms connected in sequence, and the flipping mechanism is installed in series between two adjacent belt conveyor mechanisms.

[0008] Preferably, the belt conveyor mechanism located at the end of the conveying path of the belt conveyor module includes: a support frame; a light-transmitting belt tensioned on the support frame and driven by a drive mechanism; and a backlight panel horizontally fixed to the inner side of the support frame, with the light-transmitting belt covering the backlight panel, and the vertical projection of the shooting area of ​​the industrial camera assembly located within the plane of the backlight panel.

[0009] Preferably, the clamping output assembly includes two clamping modules with adjustable vertical spacing, forming a vessel clamping space between the two clamping modules. Each clamping module includes a support frame, a conveyor belt assembly, and a conveyor drive source respectively mounted on the support frame. The conveyor drive source can drive the conveyor belt assembly to rotate in both directions, and the vessel is driven through the vessel clamping space by the operation of the conveyor belt assemblies of the two clamping modules. The flipping drive assembly includes a first servo motor and a gear transmission group. The clamping output assembly is mounted on the output end of the gear transmission group. The first servo motor drives the clamping output assembly to flip around a horizontal axis through the gear transmission group, so that the vertical positions of the two clamping modules are interchanged, realizing a 180° flip of the vessel.

[0010] Preferably, the visual recognition unit further includes: a column fixed to one side of the conveyor flipping line; and a horizontal brace, one end of which is connected to the column, and the other end which suspends the industrial camera directly above the end of the conveying path of the belt conveyor module.

[0011] Preferably, the multi-axis truss robot includes: an X-axis truss spanning above all conveyor and flipping lines; a Y-axis moving module movably connected to the X-axis truss; a first Z-axis moving module movably connected to the end of the Y-axis moving module, and the vessel suction cup assembly mounted on the end of the first Z-axis moving module.

[0012] Preferably, the vessel flipping and palletizing equipment includes two conveying and flipping lines, and two multi-axis truss robots are correspondingly provided, with the X-axis truss of the two multi-axis truss robots sharing a common integrated structure.

[0013] Preferably, the palletizing position is provided with at least one utensil tray and a partition tray located on one side of the utensil tray; the palletizing execution unit further includes a partition transport mechanism, which includes: a cantilever movably connected to the X-axis truss and located between two Y-axis moving modules; a second Z-axis moving module fixed to the cantilever; and a partition suction cup assembly installed at the end of the second Z-axis moving module for picking up partitions on the partition tray and transporting them to the utensil tray.

[0014] Preferably, the partition suction cup assembly includes: a fixed frame fixed to the end of the second Z-axis moving module; and a first vacuum suction cup fixed to the bottom surface of the fixed frame.

[0015] Preferably, the vessel suction cup assembly includes: a mounting plate fixed to the end of the first Z-axis moving module; a rotating platform rotatably mounted on the mounting plate; a second vacuum suction cup mounted on the rotating platform; and a second servo motor fixed to the mounting plate, the output shaft of which is connected to the rotating platform for driving the second vacuum suction cup to rotate around a vertical axis via the rotating platform.

[0016] The above technical solutions can achieve at least the following technical effects:

[0017] 1. The vessel flipping, unloading, and palletizing equipment of this application comprises a conveyor flipping line, a vision recognition unit, and a palletizing execution unit. The conveyor flipping line realizes the transmission and flipping of vessels, while the vision recognition unit acquires images through an industrial camera, providing data support to the palletizing execution unit, enabling the palletizing execution unit to accurately grasp and palletize vessels. Overall, it realizes an automated process of vessel flipping, unloading, and palletizing, improving production efficiency, reducing errors and losses caused by manual operation, and is suitable for flipping and palletizing various types of vessels.

[0018] 2. The belt conveyor module adopts a segmented structure, with the flipping mechanism installed between adjacent belt conveyors. This structure facilitates modular design and maintenance of the conveyor line, allowing for flexible adjustment of the conveyor line length, the position of the flipping mechanism, and the connection method between adjacent belt conveyors according to actual production needs, enhancing the versatility and scalability of the device. The light-transmitting belt and backlight design of the end belt conveyor, combined with the industrial camera assembly, improves the quality of images captured by the industrial camera, providing clearer information on the position and status of the containers. This further enhances the accuracy of the palletizing execution unit in grasping containers, reduces the failure rate, and ensures smooth palletizing operations.

[0019] 3. The adjustable clamping module and conveying drive source design of the clamping output component can adapt to vessels of different sizes, expanding the applicability of the device; the flipping drive component achieves 180° flipping through the first servo motor and gear transmission group, which has a simple and reliable structure, high flipping accuracy, ensures the stability of the vessel during the flipping process, and reduces damage to the vessel caused by flipping.

[0020] 4. The column and horizontal brace structure of the vision recognition unit can stably support the industrial camera assembly, ensuring the stability of the industrial camera when acquiring images, avoiding inaccurate image acquisition due to shaking, and providing more accurate image data for the palletizing execution unit.

[0021] 5. The X-axis gantry, Y-axis moving module, and first Z-axis moving module of the multi-axis gantry robot work collaboratively, enabling the vessel suction cup assembly to move flexibly in three-dimensional space. This allows for the gripping and stacking of vessels at different positions, improving stacking efficiency and flexibility, and meeting the needs of various stacking layouts. The design of two conveyor flipping lines and a shared integrated X-axis gantry structure improves production efficiency while saving equipment space and reducing equipment costs. Furthermore, the shared X-axis gantry enhances the coordination of the two multi-axis gantry robots, facilitating overall control and management. The design of vessel trays and partition trays at the stacking positions, along with the partition handling mechanism, enables automatic partition placement during stacking, allowing for layered vessel placement, reducing wear and collisions during stacking and storage, and improving storage safety and quality. The fixed frame and first vacuum suction cup structure of the partition suction cup assembly stably pick up and transport partitions, ensuring stability during partition handling and accurate placement of partitions on the vessel trays, thus improving the efficiency and accuracy of partition placement. The rotating platform and second servo motor design of the utensil suction cup assembly enable the second vacuum suction cup to rotate around the vertical axis. When gripping utensils, the suction cup angle can be adjusted according to actual needs, improving the gripping adaptability to utensils of different shapes and placement orientations, and further improving the gripping success rate and palletizing quality. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0023] Figure 1 This is a schematic diagram of the structure of the vessel flipping, unloading, and palletizing equipment provided in the embodiments of this application. Figure 1 ;

[0024] Figure 2 This is a schematic diagram of the structure of the vessel flipping, unloading, and palletizing equipment provided in the embodiments of this application. Figure 2 ;

[0025] Figure 3 This is a schematic diagram of the structure of the two conveyor flipping lines provided in the embodiments of this application;

[0026] Figure 4 This is a schematic diagram of the structure of the flipping mechanism provided in the embodiments of this application;

[0027] Figure 5 This is an isometric view of the clamping output component provided in the embodiments of this application;

[0028] Figure 6 This is a schematic diagram of the structure of the flip drive assembly provided in the embodiments of this application;

[0029] Figure 7 The front view of the clamping output component provided in the embodiments of this application. Figure 1 ;

[0030] Figure 8 The front view of the clamping output component provided in the embodiments of this application. Figure 2 ;

[0031] Figure 9 This is a schematic diagram of the structure of the visual recognition unit provided in the embodiments of this application;

[0032] Figure 10 This is a schematic diagram of the structure of the palletizing execution unit provided in the embodiments of this application;

[0033] Figure 11 for Figure 10 Enlarged view of point A in the middle;

[0034] Figure 12 for Figure 10 Enlarged view at point B in the middle;

[0035] Figure 13 This is a schematic diagram of the structure of the partition suction cup assembly provided in the embodiments of this application;

[0036] Figure 14 This is a schematic diagram of the structure of the vessel suction cup assembly provided in the embodiments of this application.

[0037] List of components and reference numerals:

[0038] 1 Conveyor flipping line, 11 Belt conveyor module, 111 Belt conveyor mechanism, 1111 Support frame, 1112 Transparent belt, 1113 Backlight panel, 12 Flipping mechanism, 121 Clamping output assembly, 1211 Clamping module, 12111 Support frame, 12112 Conveyor belt assembly, 12113 Conveyor drive source, 12114 Telescopic cylinder, 12115 Pallet, 122 Flipping drive assembly, 1221 First servo motor, 1222 Gear transmission group;

[0039] 2 visual recognition units, 21 industrial camera assembly, 22 uprights, 23 horizontal braces;

[0040] 3 Palletizing execution unit, 31 Multi-axis gantry robot, 311 X-axis gantry, 312 Y-axis moving module, 313 First Z-axis moving module, 32 Utensil suction cup assembly, 321 Mounting plate, 322 Rotary platform, 323 Second vacuum suction cup, 324 Second servo motor, 33 Partition handling mechanism, 331 Cantilever, 332 Second Z-axis moving module, 333 Partition suction cup assembly, 3331 Fixed frame, 3332 First vacuum suction cup;

[0041] 4. Dish tray;

[0042] 5-partitioned tray;

[0043] 6 partitions. Detailed Implementation

[0044] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.

[0045] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0046] Furthermore, it should be understood in the description of this application that the terms "upper," "lower," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," "lateral," and "longitudinal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0047] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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, an electrical connection, or a communication 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 application according to the specific circumstances.

[0048] In this application, unless otherwise expressly specified and limited, the "above" or "below" of the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," 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 this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0049] In the embodiments of this application, reference is made to Figures 1 to 14 As shown, this application addresses the problems of low efficiency, high breakage rate, and difficulty in handling glass tableware due to its varied shapes, by providing a utensil flipping and unloading palletizing device. For ease of explanation and understanding, the following descriptions are based on the illustrated product structure. Of course, those skilled in the art will understand that the above structure is merely a specific example and illustrative illustration, and does not constitute a specific limitation on the technical solution provided in this application.

[0050] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 9 and Figure 10As shown, the vessel flipping and palletizing equipment includes at least one conveyor flipping line 1, a vision recognition unit 2 corresponding to each conveyor flipping line 1, and a palletizing execution unit 3. Each conveyor flipping line 1 includes a belt conveyor module 11 and a flipping mechanism 12. The belt conveyor module 11 is used to transport vessels, and the flipping mechanism 12 is connected in series on the conveying path of the belt conveyor module 11. The flipping mechanism 12 includes a clamping output component 121 and a flipping drive component 122. The clamping output component 121 is configured to clamp, fix, and transport vessels. When a vessel enters the clamping output component 121, the clamping output component... The unit 121 outputs the vessel directly or drives it to rotate 180° via the flip drive assembly 122 before outputting it; the vision recognition unit 2 includes an industrial camera assembly 21 suspended above the end of the conveying path of the belt conveyor module 11. When the vessel is transported to the end via the belt conveyor module 11, the industrial camera assembly 21 captures the image of the vessel; the palletizing execution unit 3 includes a multi-axis gantry robot 31 and a vessel suction cup assembly 32 installed at the execution end of the multi-axis gantry robot 31. The multi-axis gantry robot 31 drives the vessel suction cup assembly 32 to grab the vessel and palletize it to the palletizing position based on the image data of the vessel.

[0051] In this device, the combination of conveyor flipping line 1, visual recognition unit 2, and palletizing execution unit 3 enables automated processing of container conveying, flipping, and palletizing. Among them, the belt conveyor module 11 of the conveyor flipping line 1 solves the efficiency problem of manual handling. The clamping output component 121 of the flipping mechanism 12 can be adapted to clamp the vessel and prevent it from slipping when grasping by clamping and fixing it. The flipping drive component 122 can flip the vessel 180° as needed, solving the tediousness of manual placement of the vessel in both directions. Moreover, the flipping process is stable and reduces displacement or collision caused by inertia. The 180° flipping as needed means that sometimes the vessel stacking posture is both upright (e.g., the vessel opening is facing up) and inverted (e.g., the vessel opening is facing down). Taking the vessel entering the belt conveyor module 11 as an example, when it needs to be stacked in an upright posture, the vessel can be directly output through the clamping output component 121 without flipping. However, when it needs to be stacked in an inverted posture, the upright vessel needs to be flipped 180° by the flipping drive component 122 while being clamped and fixed by the clamping output component 121. The industrial camera component 21 of the vision recognition unit 2 accurately captures the position and status of the tableware, ensuring that the multi-axis gantry robot 31 and the utensil suction cup component 32 of the palletizing execution unit 3 can operate accurately, avoiding the blindness of manual grasping and reducing the breakage rate. In actual use, glass tableware flowing out of the annealing furnace directly enters the conveyor-turning line 1 automatically or is transferred manually before entering the conveyor-turning line 1. After automated conveying, turning, and recognition, it is palletized, which greatly improves production efficiency and is especially suitable for high-intensity production scenarios.

[0052] As a preferred embodiment of this application, such as Figure 3As shown, the belt conveyor module 11 has a segmented structure, comprising multiple belt conveyor mechanisms 111 connected in sequence, with a flipping mechanism 12 installed in series between two adjacent belt conveyor mechanisms 111. Addressing the difficulty of adapting traditional equipment to different production scenarios, the segmented structure of the belt conveyor module 11 (each belt conveyor mechanism 111 forming a segment) and the series installation of the flipping mechanism 12 allow for flexible adjustment of the conveying path length and flipping position. For example, when an inspection step needs to be added to the production line, an inspection module can be inserted between adjacent belt conveyor mechanisms 111 without overall equipment modification; if the size of glass tableware increases, the spacing between each conveyor segment can be adjusted to accommodate it. This modular design overcomes the limitations of traditional fixed conveyor lines, enabling rapid response to changes in production needs and reducing equipment modification costs. Furthermore, depending on site conditions, an appropriate number of belt conveyor mechanisms 111 can be selected for combination, and the connection direction of adjacent belt conveyor mechanisms 111 can be adjusted to change the structural shape of the belt conveyor module 11, adapting to site conditions.

[0053] In a preferred embodiment, such as Figure 3 As shown, the belt conveyor mechanism 111 located at the end of the conveying path of the belt conveyor module 11 includes a support frame 1111, a light-transmitting belt 1112, and a backlight panel 1113 (because the field of view of the backlight panel 1113 is blocked by the light-transmitting belt 1112, Figure 3The location of the backlight panel 1113 is indicated by a dotted line. A light-transmitting belt 1112 is tensioned on the support frame 1111 and driven by a drive mechanism. For example, the light-transmitting belt 1112 can be a white light-transmitting belt, tensioned by rollers pivoting on the support frame 1111. The drive mechanism can be a motor. The backlight panel 1113 is horizontally fixed inside the support frame 1111, and the light-transmitting belt 1112 covers the backlight panel 1113. The vertical projection of the shooting area of ​​the industrial camera assembly 21 is located within the plane of the backlight panel 1113. Since the backlight panel 1113 is a light-emitting structure with an LED light source, its upward-emitting light penetrates the light-transmitting belt 1112. Part of the light is blocked by the tableware, highlighting the outline of the tableware (especially for transparent materials such as glass) and reducing reflections and shadows. For example, when shooting a glass plate, the light from the backlight panel 1113 passes through the belt, making the edge of the plate clearly visible and avoiding positional recognition errors caused by reflections or shadows. The industrial camera assembly 21 captures images of the vessel, obtaining information such as its position, posture, and shape. The assembly transmits the image data (e.g., pixel coordinates, grayscale values) to the control system (e.g., a PLC or industrial computer). The control system processes the image using machine vision algorithms (e.g., edge detection, template matching, dimensional measurement), locates the center point coordinates of the vessel, determines its specific position on the conveyor flipping line 1, and plans the motion path for the multi-axis gantry robot 31, determining its trajectory from its current position to the vessel's gripping point. Regarding other belt conveyor mechanisms 111, since they are not within the shooting area of ​​the industrial camera assembly 21, they are not required to have a light-transmitting belt 1112 and a backlight panel 1113; a traditional rubber belt or other suitable structure is sufficient. The support frame 1111 of each belt conveyor mechanism 111 can be a profile frame. Baffles are provided on both sides of the conveying direction and at the tail end of the support frame 1111 at the end of the conveying path to protect the vessel during transport and prevent it from falling off.

[0054] As a preferred embodiment of this application, such as Figure 4 , Figure 5 and Figure 6As shown, the clamping output assembly 121 includes two clamping modules 1211 with adjustable vertical spacing, forming a vessel clamping space between the two clamping modules 1211. Each clamping module 1211 includes a support frame 12111 and a conveyor belt assembly 12112 and a conveyor drive source 12113 (such as a motor and a reducer) respectively mounted on the support frame 12111. The conveyor drive source 12113 can drive the conveyor belt assembly 12112 to rotate in both directions. The vessel is driven through the conveyor belt assembly 12112 of the two clamping modules 1211 to pass through the vessel clamping space. The flipping drive assembly 122 includes a first servo motor 1221 and a gear transmission group 1222. The clamping output assembly 121 is mounted on the output end of the gear transmission group 1222. The first servo motor 1221 drives the clamping output assembly 121 to flip around the horizontal axis through the gear transmission group 1222, so that the vertical positions of the two clamping modules 1211 are interchanged, realizing a 180° flip of the vessel. To address the issue of glass tableware having varying shapes and being easily damaged during flipping, the adjustable vertical spacing of the clamping output component 121 allows the clamping modules 1211 to adapt to tableware of different heights (such as shallow plates and deep bowls). The forward and reverse rotation of the conveyor belt component 12112 ensures smooth entry and exit of the tableware, avoiding the squeezing of the tableware by rigid clamping. This application does not limit the method of adjusting the vertical spacing between the two clamping modules 1211. For example, a rotating shaft capable of forward and reverse rotation can be set at the output end of the gear transmission group 1222. The shaft has reverse threads at both ends, each engaging with a connecting block. Each connecting block is connected to one clamping module 1211. The forward and reverse rotation of the shaft allows the two clamping modules 1211 to move synchronously closer or further apart. The first servo motor 1221 of the flipping drive component 122, in conjunction with the gear transmission group 1222, can precisely control a 180° flipping angle, and the flipping process is uniform and stable, solving the problem of tableware displacement caused by inertia in traditional flipping equipment. In actual use, whether it is a flat glass plate or a curved glass bowl, it can be stably clamped and accurately flipped, greatly reducing the breakage rate during the flipping process.

[0055] To further prevent the vessel from falling off during inversion, such as Figure 5 As shown, a stopping mechanism can also be installed on the support frame 12111 of each clamping module 1211. The stopping mechanism includes a telescopic cylinder 12114 and a tray 12115, and the telescopic cylinder 12114 drives the tray 12115 to extend into or away from the vessel clamping space. Figure 7 As shown, after the vessel is fully inserted into the clamping space along arrow N1, when it is necessary to flip the vessel, the telescopic cylinder 12114 drives the tray 12115 to extend into the clamping space, blocking the vessel from continuing to move and preventing the vessel from slipping during the flipping process. The conveying drive source 12113 of the two clamping modules 1211 is in a stopped state. Then the first servo motor 1221 starts and drives the gear transmission group 1222 to drive the clamping output component 121 to flip synchronously around the horizontal axis. Figure 7 The diagram shows that the clamping output component 121 needs to be rotated counterclockwise along arrow N2 (to ensure that the tray 12115 can hold the vessel). Figure 8 The image shows the state of the clamping output component 121 after it has been rotated 180°. The upper and lower clamping modules 1211 have swapped positions, and the vessel has been flipped. At this point, the telescopic cylinder 12114 drives the tray 12115 to retract, moving it away from the clamping space. The conveying drive source 12113 of the two clamping modules 12111 is activated, causing the conveyor belt assembly 12112 to rotate in the opposite direction, carrying the flipped vessel along... Figure 8 The direction indicated by the middle arrow N3 smoothly outputs from the clamping space to the rear belt conveyor mechanism 111. In addition, in other embodiments, the flipping mechanism 12 can also be connected to a lifting mechanism (such as a motor-driven lead screw and nut kinematic pair, a lifting cylinder, etc.), which drives the flipping mechanism 12 to rise and fall, thereby adapting the clamping space to belt conveyors 111 of different heights, enhancing the versatility and adaptability of the device, and expanding its application range.

[0056] As a preferred embodiment of this application, such as Figure 9 As shown, the visual recognition unit 2 also includes a column 22 and a horizontal brace 23. The column 22 is fixed to one side of the conveyor flipping line 1; one end of the horizontal brace 23 is connected to the column 22, and the other end suspends the industrial camera directly above the end of the conveying path of the belt conveyor module 11 (directly above the backlight panel 1113). The column 22 and the horizontal brace 23 of the visual recognition unit 2 provide stable support for the industrial camera. Specifically, the column 22 can be fixed to the ground with fasteners such as anchor bolts to improve stability.

[0057] As a preferred embodiment of this application, such as Figure 10 and Figure 11As shown, the multi-axis gantry robot 31 includes an X-axis gantry 311, a Y-axis moving module 312, and a first Z-axis moving module 313. The X-axis gantry 311 spans above all conveyor and flipping lines 1. The Y-axis moving module 312 is movably connected to the X-axis gantry 311. The first Z-axis moving module 313 is movably connected to the end of the Y-axis moving module 312, and the utensil suction cup assembly 32 is installed at the end of the first Z-axis moving module 313. Addressing the difficulty of precisely controlling the placement of items during manual palletizing, the multi-axis gantry robot 31 utilizes the coordinated movement of its X, Y, and Z axes, enabling the utensil suction cup assembly 32 to move flexibly in three-dimensional space. For example, when palletizing 4×4 arranged glass tableware, the multi-axis gantry robot 31 can precisely adjust its position according to preset coordinates, ensuring consistent spacing between each piece of tableware and avoiding the unevenness of manual palletizing. In practical use, the improved palletizing regularity not only saves storage space but also prevents collapse and damage caused by tilted stacking. Specifically, the X-axis truss 311, the Y-axis moving module 312, and the first Z-axis moving module 313 can be selected from various proven and mature solutions in existing industrial fields. For example, the X-axis truss 311 can use high-precision aluminum profiles or cast iron beams as the main structure, and be equipped with linear guides to achieve smooth sliding of the Y-axis moving module 312 along the X-axis. The drive for the Y-axis moving module 312 to move along the X-axis truss 311 can be a servo motor driven in conjunction with a ball screw drive; the Y-axis moving module 312 can be a linear slide module, and the drive for the first Z-axis moving module 313 to move along the Y-axis moving module 312 can be a stepper motor in conjunction with a trapezoidal screw; the first Z-axis moving module 313 can be a ball screw slide or a synchronous belt lifting module.

[0058] As a preferred embodiment of this implementation, such as Figures 1 to 3 as well as Figure 10 and Figure 12 As shown, the glassware flipping and palletizing equipment includes two conveyor flipping lines 1, and correspondingly equipped with two multi-axis gantry robots 31. The X-axis gantry 311 of the two multi-axis gantry robots 31 is a shared integrated structure. Addressing the issue of insufficient efficiency of a single conveyor line under high-intensity production, the two conveyor flipping lines 1 operate in parallel, capable of handling two different types of glassware simultaneously. The shared X-axis gantry 311 reduces the space occupied by the equipment and facilitates unified control of the palletizing rhythm of the two conveyor flipping lines 1. For example, the production line can process glass bowls and glass plates simultaneously; the left gantry robot is responsible for palletizing bowls, and the right gantry robot is responsible for palletizing plates, without interference. Furthermore, the input ends of the two conveyor flipping lines 1 can be arranged adjacently for convenient loading (e.g., one worker can load materials onto both conveyor flipping lines 1 simultaneously). In actual use, production efficiency is doubled, and the equipment layout is more compact, suitable for scenarios with limited workshop space. The two conveyor flipping lines 1 can adopt the same shape or a different design. Figure 3The different shapes shown (different numbers and connection directions of belt conveyor mechanisms 111) are adapted to the on-site production environment and conditions. The ends of the two conveyor turning lines 1 can be arranged close to the two ends of the X-axis truss 311 respectively, increasing the distance between them, and reserving sufficient range for the two sets of Y-axis moving modules 312 to move along the X-axis, avoiding interference.

[0059] Furthermore, such as Figure 2 and Figure 12 As shown, the palletizing position is provided with at least one utensil tray 4 and a partition tray 5 located on one side of the utensil tray 4; the palletizing execution unit 3 also includes a partition conveying mechanism 33, which includes a cantilever 331, a second Z-axis moving module 332 and a partition suction cup assembly 333. The cantilever 331 is movably connected to the X-axis truss 311 (so that the cantilever 331 can move along the X-axis) and is located between two Y-axis moving modules 312. The second Z-axis moving module 332 is fixed on the cantilever 331. The partition suction cup assembly 333 is installed at the end of the second Z-axis moving module 332 for picking up the partition 6 on the partition tray 5 and conveying it to the utensil tray 4. Figure 2 The diagram shows a dish tray 4 on each side of the end of each conveyor flipping line 1, and a partition tray 5 for placing partitions 6 at the middle position near the X-axis truss 311. These dish trays 4 and partition trays 5 are arranged along the length direction (X-axis direction) of the X-axis truss 311. For example, after each layer of 4×4 tableware is stacked on the dish tray 4, the partition suction cup assembly 333 immediately removes the partition 6 from the partition tray 5 and accurately covers the tableware layer, avoiding offset or forgetting during manual placement. In actual use, the isolation effect of the partition 6 effectively prevents friction and scratches between layers of tableware, and the automated operation saves labor and improves the continuity of stacking. Specifically, the cantilever 331 can be moved and connected to the X-axis truss 311 using existing mature technologies, such as motor drive and screw and nut transmission, motor drive and gear and rack transmission, etc. The second Z-axis moving module 332 can also adopt the same structure as the first Z-axis moving module 313.

[0060] Furthermore, such as Figure 13 As shown, the partition suction cup assembly 333 includes a fixed frame 3331 and a first vacuum suction cup 3332. The fixed frame 3331 is fixed to the end of the second Z-axis moving module 332; the first vacuum suction cup 3332 is fixed to the bottom surface of the fixed frame 3331. Preferably, the first vacuum suction cup 3332 includes multiple sponge suction cups fixed at intervals to the bottom surface of the fixed frame 3331. The suction force of the first vacuum suction cup 3332 can be controlled by a vacuum generator to smoothly adsorb the partition 6, avoiding wrinkles or detachment during gripping.

[0061] As a preferred embodiment of this implementation, such as Figure 14As shown, the utensil suction cup assembly 32 includes a mounting plate 321, a rotating platform 322, a second vacuum suction cup 323, and a second servo motor 324. The mounting plate 321 is fixed to the end of the first Z-axis moving module 313. The rotating platform 322 is rotatably mounted on the mounting plate 321. The second vacuum suction cup 323 is mounted on the rotating platform 322. The second servo motor 324 is fixed to the mounting plate 321, and its output shaft is connected to the rotating platform 322, used to drive the second vacuum suction cup 323 to rotate around the vertical axis. The second vacuum suction cup 323 can control its suction force through a vacuum generator, vacuum pump, etc., to stably adsorb the utensil. Addressing the issue that utensils sometimes need to change orientation during stacking, the rotating platform 322 of the utensil suction cup assembly 32, driven by the second servo motor 324, can drive the second vacuum suction cup 323 to rotate around the vertical axis, adjusting the utensil stacking angle. For example, when the patterns on the glass plates need to face the same direction, the robotic arm can finely adjust the angle through the rotating platform 322 after grasping the plates to ensure that the patterns are neat and consistent after stacking.

[0062] In practical applications, taking glass tableware production as an example, after the glass tableware flows out of the annealing furnace, it is directly placed on the belt conveyor module 11 of the conveyor flipping line 1. The belt conveyor mechanism 111 in the segmented structure of the belt conveyor module 11 is connected in sequence to smoothly transport the glass tableware. When the glassware is transferred to the two clamping modules 1211 of the flipping mechanism 12, if the glassware needs to be flipped, it is stopped by the tray 12115 of the stopping mechanism. At this time, the first servo motor 1221 starts and drives the clamping output component 121 to rotate 180° around the horizontal axis through the gear transmission group 1222, so that the glassware is flipped and then conveyed out by the conveyor belt assembly 12112 of the clamping module 1211. If the glassware does not need to be flipped, the clamping output component 121 directly conveys it out. The glassware, whether flipped or not, continues to be transferred to the end via the belt conveyor module 11. At this time, the industrial camera component 21 of the vision recognition unit 2, with the assistance of the backlight 1113, captures the image of the glassware and transmits the image data to the control system. The control system controls the multi-axis gantry robot 31 of the palletizing execution unit 3 to move according to the image data. The X-axis gantry 311, Y-axis moving module 312, and first Z-axis moving module 313 of the multi-axis gantry robot 31 move in tandem, causing the utensil suction cup assembly 32, mounted at the end of the first Z-axis moving module 313, to move above the glassware. The second vacuum suction cup 323 of the utensil suction cup assembly 32 picks up the glassware. If the suction angle needs to be adjusted, the second servo motor 324 can drive the rotating platform 322 to rotate the second vacuum suction cup 323. The multi-axis gantry robot 31 then stacks the glassware onto the utensil tray 4 at the stacking position. During the stacking process, once one layer of glassware is stacked, the partition conveying mechanism 33 begins to operate. The cantilever 331 moves along the X-axis truss 311 to above the partition tray 5. The second Z-axis moving module 332 descends, and the first vacuum suction cup 3332 of the partition suction cup assembly 333 picks up the partition 6. After that, the second Z-axis moving module 332 rises, and then the cantilever 331 continues to move along the X-axis truss 311, moving the partition suction cup assembly 333 to above the dish tray 4 where the partition 6 needs to be placed. The first vacuum suction cup 3332 then releases the partition 6 onto the dish tray 4. The partition 6 is placed on the already stacked layer of glass tableware, completing the separation of one layer of glass tableware. The stacking operation continues until the specified stacking height is reached. If the device is equipped with two conveyor turnover lines 1, the two conveyor turnover lines 1 can work simultaneously, improving production efficiency.

[0063] The vessel flipping, unloading, and palletizing equipment of this application automates the vessel flipping, unloading, and palletizing process, greatly reducing the labor intensity of workers and minimizing errors and losses caused by manual operation. The industrial camera component 21 of the vision recognition unit 2 acquires vessel images, providing precise data support to the palletizing execution unit 3, improving the accuracy of gripping and palletizing, and ensuring the quality and efficiency of palletizing. The segmented structure of the belt conveyor module 11 and the reasonable arrangement of the flipping mechanism 12 facilitate equipment maintenance and adjustment, improving the versatility and scalability of the device. The design of the clamping output component 121 and the flipping drive component 122 can adapt to vessels of different sizes, and the flipping process is stable and reliable, reducing the breakage rate of the vessels. The multi-axis coordinated motion of the multi-axis gantry manipulator 31 enables the vessel suction cup component 32 to flexibly grip and palletize vessels, meeting the needs of different palletizing layouts. The design of the partition handling mechanism 33 and related suction cup components enables automatic placement of the partition 6, allowing for layered pallet palletizing on the vessel tray 4.

[0064] For any parts not mentioned in this application, existing technologies may be used or referenced.

[0065] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0066] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A container flipping, unloading, and stacking device, characterized in that, It includes at least one conveyor turnover line, a vision recognition unit corresponding to each conveyor turnover line, and a palletizing execution unit; Each of the conveyor-turning lines includes a belt conveyor module and a turning mechanism. The belt conveyor module is used to transport the vessel. The turning mechanism is connected in series on the conveying path of the belt conveyor module. The turning mechanism includes a clamping output component and a turning drive component. The clamping output component is configured to clamp, fix, and transport the vessel. When the vessel enters the clamping output component, the clamping output component outputs the vessel directly or drives it to turn 180° and then outputs it. The visual recognition unit includes an industrial camera assembly suspended above the end of the conveying path of the belt conveyor module. When the vessel is transported to the end via the belt conveyor module, the industrial camera assembly captures an image of the vessel. The palletizing execution unit includes a multi-axis truss robot and a vessel suction cup assembly installed at the execution end of the multi-axis truss robot. The multi-axis truss robot drives the vessel suction cup assembly to grab the vessel and stack it to the palletizing position based on the vessel image data.

2. The vessel flipping, unloading, and palletizing equipment according to claim 1, characterized in that, The belt conveyor module has a segmented structure, including multiple belt conveyor mechanisms connected in sequence, and the flipping mechanism is installed in series between two adjacent belt conveyor mechanisms.

3. The vessel flipping, unloading, and palletizing equipment according to claim 2, characterized in that, The belt conveyor mechanism located at the end of the conveying path of the belt conveyor module includes: Support frame; A light-transmitting belt is tensioned on the support frame and driven by a drive mechanism. A backlight panel is horizontally fixed inside the support frame, and a light-transmitting belt covers the backlight panel. The shooting area of ​​the industrial camera assembly is vertically projected within the plane of the backlight panel.

4. The vessel flipping, unloading, and palletizing equipment according to claim 1, characterized in that, The clamping output component includes two clamping modules with adjustable vertical spacing, forming a vessel clamping space between the two clamping modules. Each clamping module includes a support frame and a conveyor belt assembly and a conveyor drive source respectively mounted on the support frame. The conveyor drive source can drive the conveyor belt assembly to rotate in both directions. The operation of the conveyor belt assembly of the two clamping modules drives the vessel to pass through the vessel clamping space. The flipping drive assembly includes a first servo motor and a gear transmission group. The clamping output assembly is installed at the output end of the gear transmission group. The first servo motor drives the clamping output assembly to flip around the horizontal axis through the gear transmission group, so that the two clamping modules can interchange their vertical positions, thereby achieving a 180° flip of the vessel.

5. The vessel flipping, unloading, and palletizing equipment according to claim 1, characterized in that, The visual recognition unit further includes: The column is fixed to one side of the conveyor turning line; A horizontal brace is provided, with one end connected to the column and the other end suspending the industrial camera directly above the end of the conveyor path of the belt conveyor module.

6. The vessel flipping, unloading, and palletizing equipment according to claim 1, characterized in that, The multi-axis gantry robot includes: The X-axis truss is spanned above all the conveyor turnover lines; The Y-axis moving module is movably connected to the X-axis truss; A first Z-axis moving module is movably connected to the end of the Y-axis moving module, and the vessel suction cup assembly is mounted on the end of the first Z-axis moving module.

7. The vessel flipping, unloading, and palletizing equipment according to claim 6, characterized in that, The vessel flipping, unloading, and palletizing equipment includes two conveying and flipping lines, and two multi-axis truss robots are correspondingly set up. The X-axis truss of the two multi-axis truss robots is a shared integrated structure.

8. The vessel flipping, unloading, and palletizing equipment according to claim 7, characterized in that, The stacking position is provided with at least one utensil tray and a partition tray located on one side of the utensil tray; The palletizing unit further includes a partition transport mechanism, which includes: The cantilever is movably connected to the X-axis truss and is located between two Y-axis moving modules; The second Z-axis moving module is fixed on the cantilever. The partition suction cup assembly is installed at the end of the second Z-axis moving module and is used to pick up the partitions on the partition tray and transport them to the vessel tray.

9. The vessel flipping, unloading, and palletizing equipment according to claim 8, characterized in that, The partition suction cup assembly includes: A fixed frame is attached to the end of the second Z-axis moving module. The first vacuum suction cup is fixed to the bottom surface of the fixed frame.

10. The vessel flipping, unloading, and palletizing equipment according to claim 6, characterized in that, The vessel suction cup assembly includes: Mounting plate, fixed to the end of the first Z-axis moving module; A rotating platform is rotatably mounted on the mounting plate; A second vacuum suction cup is installed on the rotating platform; The second servo motor is fixed to the mounting plate, and the output shaft of the second servo motor is connected to the rotating platform, which drives the second vacuum suction cup to rotate around the vertical axis through the rotating platform.

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