Cup stacking mechanism and cup stacking equipment

Abstract

The utility model provides a cup stacking mechanism and cup stacking equipment, the cup stacking mechanism comprises a mounting rack body, a bearing release driving mechanism, a bearing release assembly and a clamping assembly, the bearing release driving mechanism is arranged on the mounting rack body; the two bearing release assemblies are oppositely arranged on the mounting frame body in a spaced mode, and the two bearing release assemblies are connected with the bearing release driving mechanism; the two bearing releasing assemblies are driven by the bearing releasing driving mechanism to act, so that the two bearing releasing assemblies carry out bearing or releasing on the two sides of the bottom of the cup. The two clamping assemblies are oppositely arranged above the two bearing and releasing assemblies at intervals, a stacking space used for stacking cups is defined by the two clamping assemblies and the two bearing and releasing assemblies, and the clamping assemblies are provided with a plurality of deformable clamping parts arranged at intervals in the stacking length direction of the stacking space. A clamping opening used for limiting and clamping the cup edge of the cup on the side edge of the cup is formed between every two adjacent deformable clamping parts.

Description

Technical Field

[0001] This utility model relates to the field of cup manufacturing technology, and in particular to a cup stacking mechanism and cup stacking equipment. Background Technology

[0002] The production of disposable cups such as paper cups and plastic cups commonly employs stacking processes to improve efficiency, prevent deformation during transportation, and reduce packaging waste. Currently, cup stacking mainly relies on manual labor or semi-automated equipment, which suffers from low efficiency, insufficient stacking precision, and susceptibility to cup deformation or tipping due to uneven stress. In traditional stacking processes, manual operation requires frequent adjustments to the cup rim direction, edge alignment, and manual fixing, which is cumbersome and unstable. Especially during high-speed continuous operation, it is prone to cup jamming, missed stacking, or breakage, making it difficult to meet the needs of large-scale production.

[0003] Therefore, it is necessary to provide a cup stacking mechanism that allows cups to be stacked and is suitable for automated production, as well as a cup stacking device that can automatically stack cups with high stacking efficiency. Utility Model Content

[0004] The primary objective of this invention is to provide a cup stacking mechanism suitable for automated production, which allows for the stacking of cups.

[0005] The second objective of this invention is to provide a cup stacking device that can automatically stack cups with high stacking efficiency.

[0006] To achieve the aforementioned first objective, this utility model provides a cup stacking mechanism, including a mounting frame, a support and release drive mechanism, support and release components, and clamping components. The support and release drive mechanism is disposed on the mounting frame. Two support and release components are disposed opposite to each other and spaced apart on the mounting frame, and each support and release component is connected to the support and release drive mechanism. The support and release drive mechanism drives the two support and release components to move, so that the two support and release components support or release the cup on both sides of the bottom. Two clamping components are disposed opposite to each other and spaced apart above the two support and release components. A stacking space for stacking the cup is formed between the two clamping components and the two support and release components. The clamping components have a plurality of deformable clamping parts arranged at intervals along the stacking length direction of the stacking space. A clamping opening is formed between two adjacent deformable clamping parts for clamping and limiting the rim of the cup on the side.

[0007] Compared to existing technologies, this invention allows external components to transport cups one by one into the stacking space. The cups are supported by a support and release assembly. The outermost deformable gripping part of the clamping assembly first clamps the first cup through its gripping opening. As subsequent external components transport subsequent cups into the stacking space, the later cups push the earlier cups along the stacking length, allowing each deformable gripping part of the clamping assembly to sequentially clamp and position each cup, thus achieving cup stacking. Once the cups are stacked, the support and release drive mechanism activates the two support and release assemblies, causing them to release from the bottom sides of the cups, allowing the stacked cups to fall and be unloaded. Therefore, this cup stacking mechanism, through the coordinated action of the support and release assembly and the clamping assembly, enables automatic continuous stacking of cups without manual intervention. The external transport components only need to feed the cups one by one, and the mechanism can complete alignment, positioning, and stacking, significantly improving production efficiency. Secondly, the support and release drive mechanism can simultaneously remove the bottom support with a simple action, allowing the stacked cups to fall instantly. The unloading speed far exceeds traditional manual or step-by-step operations, making it suitable for high-speed production lines. Furthermore, the deformable gripping parts of the clamping components are distributed along the stacking direction, with each cup's rim individually clamped to prevent tilting or misalignment during stacking. Compared to traditional single grippers or fixed slots, this design can adapt to the dynamic displacement of stacked cups, ensuring neat stacking. Moreover, when subsequent cups push against the previous cup, the elastic deformation of the deformable gripping parts buffers the pressure, preventing cup deformation or damage from compression or impact, making it especially suitable for cups made of thin-walled or fragile materials.

[0008] Preferably, the support and release assembly includes a first support and release link and a second support and release link. The lower end of the first support and release link is rotatably connected to the mounting frame. The upper end of the first support and release link is rotatably connected to the lower end of the second support and release link to form a first support and release part. The upper end of the second support and release link is rotatably connected to the output end of the support and release drive mechanism. The support and release drive mechanism drives the second support and release link to rise and fall, thereby causing the first support and release link and the second support and release link to move, so that the first support and release part moves to support or release the cup.

[0009] Preferably, the support release assembly further includes a third support release link and a fourth support release link. The lower end of the third support release link is rotatably connected to the mounting frame coaxially with the lower end of the first support release link. The upper end of the third support release link is rotatably connected to the lower end of the fourth support release link to form a second support release part. The upper end of the fourth support release link is rotatably connected to the output end of the support release drive mechanism coaxially with the upper end of the second support release link. A plurality of the support release assemblies are arranged along a straight line. Each of the support and release components is arranged on the mounting frame, and a clamping component is provided above each of the support and release components. A stacking space is formed between two adjacent support and release components. The support and release drive mechanism drives the second support and release link and the fourth support and release link to move synchronously, so as to drive the first support and release link, the second support and release link, the third support and release link and the fourth support and release link to move synchronously and support or release the cup.

[0010] Preferably, the support and release drive mechanism includes a support and release lifting drive module and a support and release lifting frame. The support and release lifting drive module is disposed on the mounting frame. The output end of the support and release lifting drive module is connected to the support and release lifting frame and can drive the support and release lifting frame to lift. The upper end of the fourth support and release link is rotatably connected to the upper end of the second support and release link on the support and release lifting frame. The clamping assembly is fixed on the support and release lifting frame.

[0011] Preferably, the cup stacking mechanism further includes a first elastic paddle module. Two first elastic paddle modules are arranged opposite to each other and spaced apart in the stacking space, and the two first elastic paddle modules are located above the support and release component. The two first elastic paddle modules are used to elastically press against the left and right sides of the cup located in the stacking space. During the process of the cups moving and stacking along the stacking length direction of the stacking space, the cup edges of each cup sequentially squeeze and release the first elastic paddle modules to paddle the first elastic paddle modules.

[0012] Preferably, the cup stacking mechanism further includes a second elastic lever module. Two second elastic lever modules are disposed opposite to each other and spaced apart in the stacking space, and the two second elastic lever modules are located above the support and release component. The two second elastic lever modules are used to elastically press against the upper sides of the cup located in the stacking space to prevent the cup from tipping over when stacked.

[0013] To achieve the second objective mentioned above, this utility model provides a cup stacking device, including a frame, a cup feeding module, a cup handling robot, and the aforementioned cup stacking mechanism; the cup feeding module is disposed on the frame and is used to provide cups; the cup stacking mechanism is disposed on the frame; the cup handling robot is disposed between the cup feeding module and the cup stacking mechanism, and is used to sequentially transport the cups on the cup feeding module to the stacking space for stacking.

[0014] Compared with existing technologies, the cup stacking device of this invention, through the setting of a cup stacking mechanism, allows the cup handling robot to sequentially transport the cups from the cup loading module to the stacking space. The cups are supported by the support and release components. The outermost deformable clamping part of the clamping component first clamps the first cup through the clamping port 42. As subsequent cup handling robots transport subsequent cups to the stacking space, the later cups push the earlier cups along the stacking length direction of the stacking space, allowing each deformable clamping part of the clamping component to sequentially clamp and position each cup, thus achieving cup stacking. After the cups are stacked, the support and release drive mechanism drives the two support and release components to release them on both sides under the cups, causing the stacked cups to fall and be unloaded. Therefore, the cup stacking device of this invention, through the coordinated action of the support and release components and the clamping components, can achieve automatic continuous stacking of cups without manual intervention. The external handling components simply feed the cups one by one, and the mechanism completes alignment, positioning, and stacking, significantly improving production efficiency. Secondly, the support and release drive mechanism can simultaneously remove the bottom support with a simple action, allowing the stacked cups to fall instantly. The unloading speed far exceeds traditional manual or step-by-step operations, making it suitable for high-speed production lines. Furthermore, the deformable gripping parts of the clamping components are distributed along the stacking direction, with each cup's rim individually clamped to prevent tilting or misalignment during stacking. Compared to traditional single grippers or fixed slots, this design can adapt to the dynamic displacement of stacked cups, ensuring neat stacking. Moreover, when subsequent cups push against the previous cup, the elastic deformation of the deformable gripping parts buffers the pressure, preventing cup deformation or collision damage, making it especially suitable for thin-walled or fragile cups.

[0015] Preferably, the cup feeding module includes a cup circulating and rotating temporary storage mechanism, a cup feeding and conveying mechanism, a cup transfer and positioning mechanism, and a cup pushing mechanism; the cup circulating and rotating temporary storage mechanism is disposed on the frame, and has a plurality of storage positions for storing cups along its circulating rotation direction, with one side of the cup circulating and rotating temporary storage mechanism being configured as a feeding station; the cup circulating and rotating temporary storage mechanism can drive the cups to rotate in a circular manner, so that the cups move to the feeding station; the cup feeding and conveying mechanism is disposed on the frame and is connected to one of the storage positions. Position docking; the cup circulating and temporary storage mechanism rotates cyclically, causing the cup feeding and conveying mechanism to transport the cups to each of the storage positions; the cup transfer and positioning mechanism is set on the frame and located on one side of the loading station, and is used to transfer and position the cups; the cup pushing mechanism is set on the frame, and is used to push the cups located at the loading station to the cup transfer and positioning mechanism, so that the cup handling robot can transport the cups from the cup transfer and positioning mechanism to the stacking space.

[0016] Preferably, the cup rotation temporary storage mechanism includes a cup rotation drive module, a drive wheel, a driven wheel, a synchronous transmission component, and a cup clamping module. The cup rotation drive module is mounted on the frame, and its output end is connected to the drive wheel. The driven wheel is rotatably connected to the frame. The synchronous transmission component is wound around the drive wheel and the driven wheel. A plurality of cup clamping modules are sequentially arranged on the synchronous transmission component along its rotation direction. The storage position is formed on the cup clamping module.

[0017] Preferably, the cup stacking device further includes a feeding conveying mechanism, which is disposed on the frame and located below the cup stacking mechanism. The feeding conveying mechanism is used to receive the cups released by the support and release assembly and to convey the cups for feeding. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the cup stacking mechanism of this utility model.

[0019] Figure 2 This is a front view of the cup stacking mechanism of this utility model.

[0020] Figure 3 This is a structural diagram of the cup stacking mechanism of this utility model at one of the stacking spaces.

[0021] Figure 4 yes Figure 3 Enlarged view of point A in the middle.

[0022] Figure 5 This is a three-dimensional structural diagram of the first elastic lever module of the cup stacking mechanism of this utility model.

[0023] Figure 6 This is a three-dimensional structural diagram of the second elastic lever module of the cup stacking mechanism of this utility model.

[0024] Figure 7 This is a three-dimensional structural diagram of the cup stacking device of this utility model.

[0025] Figure 8 This is a three-dimensional structural diagram of the cup stacking device of this utility model after removing part of the frame.

[0026] Figure 9 This is a three-dimensional structural diagram of the cup feeding module of the cup stacking equipment of this utility model.

[0027] Figure 10 This is a partial structural diagram of the cup feeding module of the cup stacking equipment of this utility model. Detailed Implementation

[0028] To explain the technical content and structural features of this utility model in detail, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0029] Please see Figures 1 to 4 The cup stacking mechanism 100 of this utility model includes a mounting frame 1, a support and release drive mechanism 2, support and release components 3, and a clamping component 4. The support and release drive mechanism 2 is mounted on the mounting frame 1. Two support and release components 3 are arranged opposite to each other and spaced apart on the mounting frame 1, and the two support and release components 3 are respectively connected to the support and release drive mechanism 2. The support and release drive mechanism 2 drives the two support and release components 3 to move, so that the two support and release components 3 support the cup 300 on both sides of the bottom. Support or release; two clamping components 4 are arranged opposite to and spaced apart above two supporting and releasing components 3. A stacking space 101 for stacking cups 300 is provided between the two clamping components 4 and the two supporting and releasing components 3. The clamping components 4 are provided with a number of deformable clamping parts 41 arranged at intervals along the stacking length direction of the stacking space 101. A clamping opening 42 is formed between two adjacent deformable clamping parts 41 for clamping and limiting the cup rim 301 of the cup 300 on the side of the cup 300.

[0030] The external components can transport the cups 300 one by one to the stacking space 101, and the cups 300 are supported on the support and release components 3. The outermost deformable clamping part 41 of the clamping component 4 first clamps the first cup 300 through the clamping port 42. When the subsequent external components transport the subsequent cups 300 one by one to the stacking space 101, the subsequent cups 300 will push the previous cups 300 to move along the stacking length direction of the stacking space 101, so that each deformable clamping part 41 of the clamping component 4 clamps and positions each cup 300 in sequence, thereby realizing the stacking of the cups 300. After the cups 300 are stacked, the support and release drive mechanism 2 drives the two support and release components 3 to act, so that the two support and release components 3 release on both sides under the cups 300, thereby causing the stacked cups 300 to fall and realize unloading.

[0031] Please see Figures 1 to 4 In one embodiment, the support and release assembly 3 includes a first support and release link 31 and a second support and release link 32. The lower end of the first support and release link 31 is rotatably connected to the mounting frame 1, and the upper end of the first support and release link 31 is rotatably connected to the lower end of the second support and release link 32 to form a first support and release part. The upper end of the second support and release link 32 is rotatably connected to the output end of the support and release drive mechanism 2. The support and release drive mechanism 2 drives the second support and release link 32 to rise and fall, thereby driving the first support and release link 31 and the second support and release link 32 to move, so that the first support and release part moves to support or release the cup 300.

[0032] When the support and release drive mechanism 2 drives the second support and release link 32 to descend, it will cause the first support and release link 31 and the second support and release link 32 to rotate, making the included angle between the first support and release link 31 and the second support and release link 32 smaller, and the tilt angle of the first support and release link 31 relative to the horizontal plane smaller. This allows the first support and release part formed by the first support and release link 31 and the second support and release link 32 to support the cup 300. When the support and release drive mechanism 2 drives the second support and release link 32 to rise, it will cause the first support and release link 31 and the second support and release link 32 to rotate, making the included angle between the first support and release link 31 and the second support and release link 32 larger, and the tilt angle of the first support and release link 31 relative to the horizontal plane larger. This allows the first support and release part formed by the first support and release link 31 and the second support and release link 32 to release the cup 300, allowing the cup 300 to fall freely downwards.

[0033] Furthermore, in one embodiment, the support and release assembly 3 further includes a third support and release link 33 and a fourth support and release link 34. The lower end of the third support and release link 33 is rotatably connected to the mounting frame 1 coaxially with the lower end of the first support and release link 31. The upper end of the third support and release link 33 is rotatably connected to the lower end of the fourth support and release link 34 to form a second support and release part. The upper end of the fourth support and release link 34 is rotatably connected to the output end of the support and release drive mechanism 2 coaxially with the upper end of the second support and release link 32. A plurality of support and release assemblies are included. Components 3 are arranged along a straight line on the mounting frame 1. Each support and release component 3 is equipped with a clamping component 4 above it, and a stacking space 101 is formed between adjacent support and release components 3. The support and release drive mechanism 2 drives the second support and release link 32 and the fourth support and release link 34 to move synchronously, thereby causing the first support and release link 31, the second support and release link 32, the third support and release link 33 and the fourth support and release link 34 to move synchronously, so that the first support and release part and the second support and release part move synchronously to support or release the cup 300. The first support and release link 31, the second support and release link 32, the third support and release link 33 and the fourth support and release link 34 form a parallelogram link structure.

[0034] In two adjacent support and release components 3, the first support and release link 31 and the second support and release link 32 of one support and release component 3 are arranged opposite to the third support and release link 33 and the fourth support and release link 34 of the other support and release component 3. The first support and release part formed by the first support and release link 31 and the second support and release link 32 supports one side of the bottom of the cup 300, and the second support and release part formed by the third support and release link 33 and the fourth support and release link 34 supports the other side of the bottom of the cup 300. The support and release drive mechanism 2 drives the second support and release link 32 and the fourth support and release link 34 to move synchronously, so that the first support and release part and the second support and release part move synchronously to support or release the cup 300.

[0035] Please see Figures 1 to 4In one embodiment, the support and release drive mechanism 2 includes a support and release lifting drive module 21 and a support and release lifting frame 22. The support and release lifting drive module 21 is mounted on the mounting frame 1. The output end of the support and release lifting drive module 21 is connected to the support and release lifting frame 22 and can drive the support and release lifting frame 22 to rise and fall. The upper end of the fourth support and release connecting rod 34 is rotatably connected to the upper end of the second support and release connecting rod 32 on the support and release lifting frame 22 on an axial axis. The clamping assembly 4 is fixed on the support and release lifting frame 22. The support and release lifting drive module 21 can adopt the existing principle structure of motor or cylinder-driven lifting.

[0036] Please see Figures 1 to 5 In one embodiment, the cup stacking mechanism 100 of this utility model further includes a first elastic lever module 5. Two first elastic lever modules 5 are arranged opposite to each other and spaced apart in the stacking space 101, and the two first elastic lever modules 5 are located above the support and release component 3. The two first elastic lever modules 5 are used to elastically press against the left and right sides of the cups 300 located in the stacking space 101. During the process of the cups 300 moving and stacking along the stacking length direction of the stacking space 101, the cup edges 301 of each cup 300 sequentially press and release the first elastic lever modules 5 to actuate the first elastic lever modules 5. The first elastic lever module 5 can adopt a structure with a spring on a fixed base, or it can be based on this structure with a rotating block rotatably connected to the fixed base and a torsion spring between the rotating block and the fixed base, so that the rotating block can make elastic contact with the cups 300, but it is not limited thereto. By incorporating a first elastic lever module 5, the cups 300 are physically aligned during stacking. When a cup 300 contacts the first elastic lever module 5, its elastic restoring force applies a slight lateral force to the cup 300, helping to adjust its position and ensure a more orderly stacking, reducing misalignment. Simultaneously, the first elastic lever module 5 acts as a buffer. When a cup 300 is pushed into the stacking space 101, the elasticity of the first elastic lever module 5 reduces impact, preventing damage from rapid collisions.

[0037] Please see Figures 1 to 6In one embodiment, the cup stacking mechanism 100 of this utility model further includes a second elastic lever module 6. Two second elastic lever modules 6 are arranged opposite to each other and spaced apart within the stacking space 101, and are located above the support and release component 3. The two second elastic lever modules 6 are used to elastically press against the upper sides of the cups 300 located within the stacking space 101 to prevent the cups 300 from tipping over during stacking. During the process of the cups 300 moving and stacking along the stacking length direction of the stacking space 101, the cup edges 301 of each cup 300 sequentially press and release the second elastic lever modules 6, while the second elastic lever modules 6 apply elastic force to the upper sides of the cups 300, thereby preventing the cups 300 from tipping over during stacking.

[0038] Please see Figures 1 to 9 This utility model also provides a cup stacking device 200, which includes a frame 201, a cup feeding module 7, a cup handling robot 8, and a cup stacking mechanism 100 according to any of the above embodiments. The cup feeding module 7 is disposed on the frame 201 and is used to provide cups 300. The cup stacking mechanism 100 is disposed on the frame 201. The cup handling robot 8 is disposed between the cup feeding module 7 and the cup stacking mechanism 100 and is used to sequentially transport the cups 300 on the cup feeding module 7 to the stacking space 101 for stacking. The mounting frame 1 of the cup feeding module 7 is connected to the frame 201. In some optional embodiments, the mounting frame 1 may also be part of the frame 201.

[0039] Please see Figures 8 to 10 In one embodiment, the cup feeding module 7 includes a cup circulating rotation temporary storage mechanism 71, a cup feeding and conveying mechanism 72, a cup transfer and positioning mechanism 73, and a cup pushing mechanism 74. The cup circulating rotation temporary storage mechanism 71 is mounted on the frame 201, and has several storage positions for storing cups 300 along its circulating rotation direction. One side of the cup circulating rotation temporary storage mechanism 71 is set as a feeding station. The cup circulating rotation temporary storage mechanism 71 can drive the cups 300 to rotate cyclically, so that the cups 300 move to the feeding station. The cup feeding and conveying mechanism 72 is mounted on the frame 201 and is connected to the feeding station. One of the storage positions is connected; the cup circulation and temporary storage mechanism 71 rotates cyclically, so that the cup feeding and conveying mechanism 72 transports the cups 300 to each storage position; the cup transfer and positioning mechanism 73 is set on the frame 201 and located on one side of the loading station, and the cup transfer and positioning mechanism 73 is used to transfer and position the cups 300; the cup pushing mechanism 74 is set on the frame 201, and the cup pushing mechanism 74 is used to push the cups 300 located at the loading station to the cup transfer and positioning mechanism 73, so that the cup handling robot 8 can transport the cups 300 from the cup transfer and positioning mechanism 73 to the stacking space 101.

[0040] In one embodiment, the cup rotation temporary storage mechanism 71 includes a cup rotation drive module 711, a drive wheel 712, a driven wheel 713, a synchronous transmission member 714, and a cup clamping module 715. The cup rotation drive module 711 is mounted on the frame 201. The output end of the cup rotation drive module 711 is connected to the drive wheel 712. The driven wheel 713 is rotatably connected to the frame 201. The synchronous transmission member 714 is wound around the drive wheel 712 and the driven wheel 713. A plurality of cup clamping modules 715 are sequentially arranged on the synchronous transmission member 714 along the winding direction of the synchronous transmission member 714. The storage position is formed on the cup clamping module 715. The cup rotation drive module 711 drives the drive wheel 712, which in turn drives the synchronous transmission component 714 to rotate via the driven wheel 713. This causes each cup clamping module 715 connected to the synchronous transmission component 714 to rotate, thereby causing the storage positions of each cup clamping module 715 to sequentially connect with the cup feeding and conveying mechanism 72. Therefore, the cup feeding and conveying mechanism 72 can transport cups 300 to the storage positions of each cup clamping module 715. When a row of cup clamping modules 715 at the loading station is holding cups 300, the cup pushing mechanism 74 pushes the cups 300 onto the cup transfer and positioning mechanism 73, allowing the cup handling robot 8 to transport the cups 300 from the cup transfer and positioning mechanism 73 to the stacking space 101. The specific structure of the cup clamping module 715 can adopt existing clamping mechanisms, the structure and principle of which are well known to those skilled in the art.

[0041] In one embodiment, the cup transfer and positioning mechanism 73 includes a transfer platform 731 and transfer and positioning modules 732. The transfer platform 731 is mounted on the frame 201, and several transfer and positioning modules 732 are respectively mounted on the transfer platform 731. When the cup pushing mechanism 74 pushes the cup 300 to the cup transfer and positioning mechanism 73, the cup 300 can be supported on the transfer platform 731. At the same time, the transfer and positioning modules 732 are used to shape and position the cup 300, which is beneficial for the cup handling robot 8 to accurately transport the cup 300 from the cup transfer and positioning mechanism 73 to the stacking space 101.

[0042] In one embodiment, the cup pushing mechanism 74 includes a cup pushing lifting drive module, a cup pushing lateral movement drive module, and a cup pushing component. The lifting drive module is mounted on the frame 201, and the lateral movement drive module is mounted on top of the lifting drive module. The lateral movement drive module is connected to the cup pushing component. The lifting drive module and the lateral movement drive module drive the cup pushing component to rise and move laterally, so that the cup pushing component pushes the cups 300 held by a row of cup clamping modules 715 located at the loading station to the cup transfer and positioning mechanism 73. The transfer platform 731 supports the cups 300, and the transfer and positioning module 732 shapes and positions the cups 300. The lifting drive module and the lateral movement drive module can use existing linear displacement drive mechanisms, so they will not be described in detail here.

[0043] In one embodiment, the cup handling robot 8 can be a structure in which a motor drives a swing arm to rotate along the arc groove of the frame, thereby moving the suction cup module connected to the swing arm. This structure can achieve the effect of flipping the cup 300 being picked up by 90 degrees during the handling process, so that the cup 300 changes from being arranged in the vertical direction to being arranged in the horizontal direction, thereby allowing the cup 300 to be stacked in the stacking space 101 in the horizontal direction. However, this is not a limitation. For example, the cup handling robot 8 can also adopt existing four-axis robot or six-axis robot structures.

[0044] Please see Figure 8 In one embodiment, the cup stacking device 200 of this utility model further includes a feeding conveyor mechanism 9. The feeding conveyor mechanism 9 is disposed on the frame 201 and located below the cup stacking mechanism 100. The feeding conveyor mechanism 9 is used to receive the cups 300 released by the support and release assembly 3 and convey the cups 300 for feeding. The feeding conveyor mechanism 9 can adopt an existing conveyor belt structure, and multiple spacers are provided at intervals on the conveyor belt structure to separate the multiple stacked cups 300 that fall onto the conveyor belt structure.

[0045] Combination Figures 1 to 10 The specific working principle of the cup stacking device 200 of this utility model is as follows:

[0046] The cup-circulating temporary storage mechanism 71 rotates cyclically, causing each storage position to sequentially connect with the cup feeding and conveying mechanism 72. The cup feeding and conveying mechanism 72 then transports the cups 300 to the storage positions of each cup clamping module 715. When a row of cup clamping modules 715 at the loading station are all holding cups 300, the cup pushing mechanism 74 pushes the cups 300 at the loading station onto the cup transfer and positioning mechanism 73, allowing the cup handling robot 8 to transport the cups 300 from the cup transfer and positioning mechanism 73 to the stacking space 101. This cycle continues, allowing the cup handling robot 8 to continuously stack cups 300 in the stacking space 101. During the stacking process, cups 300 are supported on the support and release assembly 3. The outermost deformable clamping part 41 of the clamping assembly 4 first clamps the first cup 300 through the clamping port 42. When the cup handling robot 8 transports subsequent cups 300 one by one into the stacking space 101, the subsequent cups 300 push the preceding cups 300 to move along the stacking length direction of the stacking space 101, so that each deformable clamping part 41 of the clamping assembly 4 clamps and positions each cup 300 in turn, thereby realizing the stacking of cups 300. At the same time, during the stacking process, the cup edges 301 of each cup 300 sequentially squeeze and release the first elastic lever modules 5 on both sides to actuate the first elastic lever modules 5. The two second elastic lever modules 6 elastically press against the upper sides of the cups 300 located in the stacking space 101 to prevent the cups 300 from flipping over during stacking. After the cups 300 are stacked, the two support release components 3 are driven by the support release drive mechanism 2 to release on both sides of the bottom of the cups 300, so that the stacked cups 300 fall onto the unloading conveyor mechanism 9 to achieve unloading.

[0047] In summary, the cup stacking device 200 of this invention, through the coordinated action of the support and release component 3 and the clamping component 4, can achieve automatic continuous stacking of cups 300 without manual intervention. External handling components only need to feed the cups 300 one by one, and the mechanism can complete alignment, positioning, and stacking, significantly improving production efficiency. Furthermore, the support and release drive mechanism 2 can simultaneously remove the bottom support with a simple action, causing the stacked cups 300 to fall instantly, with a feeding speed far exceeding traditional manual or step-by-step operations, making it suitable for high-speed production line requirements. Furthermore, the deformable clamping part 41 of the clamping component 4 is distributed along the stacking direction, and the cup edge 301 of each cup 300 is limited by an independent clamping port 42 to avoid tilting or misalignment during stacking. Compared with traditional single clamps or fixed slots, this design can adapt to the dynamic displacement of the cups 300 when stacking, ensuring that the stacking is neat. Moreover, when the subsequent cup 300 pushes the previous cup, the elastic deformation of the deformable clamping part 41 can buffer the pressure and prevent the cup 300 from being deformed by squeezing or damaged by collision. It is especially suitable for cups 300 made of thin-walled or fragile materials.

[0048] The above-disclosed examples are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Therefore, any equivalent variations made in accordance with the claims of the present utility model shall fall within the scope of the present utility model.

Claims

1. A cup stacking mechanism, characterized in that, include: Mounting frame; A support and release drive mechanism is provided on the mounting frame; The two support and release components are arranged opposite to each other and spaced apart on the mounting frame. The two support and release components are respectively connected to the support and release drive mechanism. The support and release drive mechanism drives the two support and release components to move, so that the two support and release components support or release the cup on both sides of the bottom. The clamping assembly comprises two clamping assemblies arranged opposite to and spaced apart above the two supporting and releasing assemblies. A stacking space for stacking the cups is provided between the two clamping assemblies and the two supporting and releasing assemblies. The clamping assembly has a plurality of deformable clamping parts arranged at intervals along the stacking length direction of the stacking space. A clamping opening is formed between two adjacent deformable clamping parts for clamping and limiting the rim of the cup on the side of the cup.

2. The cup stacking mechanism according to claim 1, characterized in that, The support and release assembly includes a first support and release link and a second support and release link. The lower end of the first support and release link is rotatably connected to the mounting frame. The upper end of the first support and release link is rotatably connected to the lower end of the second support and release link to form a first support and release part. The upper end of the second support and release link is rotatably connected to the output end of the support and release drive mechanism. The support and release drive mechanism drives the second support and release link to rise and fall, thereby causing the first support and release link and the second support and release link to move, so that the first support and release part moves to support or release the cup.

3. The cup stacking mechanism according to claim 2, characterized in that, The support and release assembly further includes a third support and release link and a fourth support and release link. The lower end of the third support and release link is rotatably connected to the mounting frame coaxially with the lower end of the first support and release link. The upper end of the third support and release link is rotatably connected to the lower end of the fourth support and release link to form a second support and release part. The upper end of the fourth support and release link is rotatably connected to the output end of the support and release drive mechanism coaxially with the upper end of the second support and release link. A plurality of the support and release assemblies are arranged along a straight line. Placed on the mounting frame, each of the support and release components is provided with a corresponding clamping component above it, and a stacking space is formed between two adjacent support and release components; the support and release drive mechanism drives the second support and release link and the fourth support and release link to move synchronously, so as to drive the first support and release link, the second support and release link, the third support and release link and the fourth support and release link to move synchronously, so that the first support and release part and the second support and release part move synchronously to support or release the cup.

4. The cup stacking mechanism according to claim 3, characterized in that, The support and release drive mechanism includes a support and release lifting drive module and a support and release lifting frame. The support and release lifting drive module is mounted on the mounting frame. The output end of the support and release lifting drive module is connected to the support and release lifting frame and can drive the support and release lifting frame to lift. The upper end of the fourth support and release link is rotatably connected to the upper end of the second support and release link on the support and release lifting frame. The clamping assembly is fixed on the support and release lifting frame.

5. The cup stacking mechanism according to claim 1, characterized in that, It also includes a first elastic paddle module, with two first elastic paddle modules arranged opposite to each other and spaced apart in the stacking space, and the two first elastic paddle modules located above the support and release component. The two first elastic paddle modules are used to elastically press against the left and right sides of the cup located in the stacking space. During the process of the cups moving and stacking along the stacking length direction of the stacking space, the cup edges of each cup sequentially squeeze and release the first elastic paddle modules to paddle the first elastic paddle modules.

6. The cup stacking mechanism according to claim 1, characterized in that, It also includes a second elastic paddle module, two second elastic paddle modules are arranged opposite to each other and spaced apart in the stacking space, and the two second elastic paddle modules are located above the support and release component. The two second elastic paddle modules are used to elastically press against the upper sides of the cup located in the stacking space to prevent the cup from tipping over when stacked.

7. A cup stacking device, characterized in that, The device includes a frame, a cup feeding module, a cup handling robot, and a cup stacking mechanism as described in any one of claims 1-6; the cup feeding module is disposed on the frame and is used to provide cups; the cup stacking mechanism is disposed on the frame; the cup handling robot is disposed between the cup feeding module and the cup stacking mechanism and is used to sequentially transport the cups on the cup feeding module to the stacking space for stacking.

8. The cup stacking device according to claim 7, characterized in that, The cup feeding module includes a cup circulating and rotating temporary storage mechanism, a cup feeding and conveying mechanism, a cup transfer and positioning mechanism, and a cup pushing mechanism. The cup circulating and rotating temporary storage mechanism is mounted on the frame and has several storage positions for storing cups along its circulating rotation direction. One side of the cup circulating and rotating temporary storage mechanism is set as a feeding station. The cup circulating and rotating temporary storage mechanism can drive the cups to rotate, so that the cups move to the feeding station. The cup feeding and conveying mechanism is mounted on the frame and is aligned with one of the storage positions. The cups are then transported to their respective storage positions by the circulating cup storage mechanism. A cup transfer and positioning mechanism is mounted on the frame and located on one side of the loading station, used for transferring and positioning the cups. A cup pushing mechanism is mounted on the frame and used to push the cups located at the loading station to the cup transfer and positioning mechanism, allowing the cup handling robot to transport the cups from the cup transfer and positioning mechanism to the stacking space.

9. The cup stacking device according to claim 8, characterized in that, The cup rotation temporary storage mechanism includes a cup rotation drive module, a drive wheel, a driven wheel, a synchronous transmission component, and a cup clamping module. The cup rotation drive module is mounted on the frame, and its output end is connected to the drive wheel. The driven wheel is rotatably connected to the frame. The synchronous transmission component is wound around the drive wheel and the driven wheel. Several cup clamping modules are sequentially arranged on the synchronous transmission component along its rotation direction. The storage position is formed on the cup clamping module.

10. The cup stacking device according to claim 7, characterized in that, It also includes a feeding conveyor mechanism, which is disposed on the frame and located below the cup stacking mechanism. The feeding conveyor mechanism is used to receive the cup released by the support and release assembly and to feed the cup.

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