Automatic cup carrier device coordinated with a robot

Abstract

The utility model discloses a track and mechanical hand cooperation's automatic cup tray equipment, wherein track and mechanical hand cooperation's automatic cup tray equipment, include: frame, conveying device, arrangement component, tray transport device and cup mechanical hand, conveying device sets up in the frame, and conveying device is used for conveying cup body. Arrangement component sets up in the frame and is located one end of conveying device, and arrangement component is used for arranging and regularizing cup body, and tray transport device sets up in the frame, and tray transport device is used for transporting tray to predetermined position. Cup mechanical hand sets up in the frame, through track and each component cooperation movement, and utilize the adsorption of accessory adsorption cup body and load the cup body after arrangement to tray. The equipment replaces manual work through mechanical operation, realizes the automation from cup body conveying to the automatic loading of tray, effectively reduces manual contact to guarantee cup body cleanliness, and utilizes high accuracy mechanical positioning to improve loading stability and production efficiency, is applicable to the large -scale high -speed production.

Description

Technical Field

[0001] This utility model relates to the field of automated packaging technology, and in particular to an automated cup holder device that uses a track and a robotic arm in coordination. Background Technology

[0002] In the production and distribution processes of industries such as food, beverages, and daily necessities, the placement of cups, such as paper cups, plastic cups, and glass cups, into trays is an essential step. Currently, the process of placing cups into trays is still primarily manual. Operators must first manually arrange the scattered cups, then place them one by one or in groups into the corresponding workstations on the trays. After completion, the trays filled with cups are manually moved to the next process. Manual arrangement and loading are inefficient, highly dependent on the operator's skill level and physical condition, and difficult to adapt to the high-speed production demands. Furthermore, manually placed cups have poor positioning accuracy, insufficient stability when stacked, and are prone to tipping over and breaking during transportation, increasing labor costs and intensity while reducing production efficiency. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an automatic cup-filling device that utilizes a track and a robotic arm in coordination. This automatic cup-filling device has the advantages of high automation, convenient operation, and stable operation, effectively improving cup-filling efficiency, enhancing positioning accuracy, and reducing labor costs and labor intensity.

[0004] The automatic cup holder device according to this utility model, which coordinates a track and a robotic arm, includes: frame; A conveying device is provided on the frame, and the conveying device is used to convey the cup body; An arranging assembly is disposed on the frame and located at one end of the conveying device; the arranging assembly is used to arrange and organize the cups. A pallet transport device is provided on the frame, and the pallet transport device is used to transport the pallet to the predetermined cupping position; A cup-filling robot is mounted on the frame and is connected to an adsorption element. The cup-filling robot can move above the arrangement assembly and pick up the arranged cups through the adsorption element. The cup-filling robot loads the cups from the arrangement assembly onto the tray.

[0005] The automatic cup-filling device with track and robotic arm coordination described in this utility model has at least the following beneficial effects: This utility model integrates a conveying device, an arranging component, a tray transport device, and a cup-filling robotic arm into an automatic cup-filling device. This achieves automatic cup delivery by the conveying device, arrangement and regularization of the cups by the arranging component, and delivery of the tray to the predetermined position by the tray transport device. The cup-filling robotic arm then transfers the cups from the arranging component to the tray using an adsorption component. The entire process requires no manual handling, achieving fully automated operation. This reduces human contact to ensure cup cleanliness. Furthermore, the robotic arm uses high-precision positioning for stable loading, while saving significant labor costs, which is beneficial for meeting the demands of large-scale and automated high-speed production.

[0006] According to some embodiments of the present invention, an automatic cup holder device in which a track and a robotic arm work together, the arrangement component includes an arrangement member, a guide rail, and a first driving member. The arrangement member is slidably mounted on the guide rail and includes multiple arrangement slots. The first driving member drives the arrangement component to slide along the guide rail.

[0007] According to some embodiments of the present invention, an automatic cup holder device in which a track and a robotic arm work together, the arrangement groove includes a first arrangement groove and a second arrangement groove. The arrangement member has a first position and a second position. In the first position, the first arrangement groove is located at the end of the conveying device, and in the second position, the second arrangement groove is located at the end of the conveying device.

[0008] According to some embodiments of the present invention, an automatic cup-filling device in which a track and a robotic arm work together, the arrangement component includes an alignment member and a second driving member. There are two alignment members, which are slidably connected to both sides of the arrangement member. When a predetermined number of cups are loaded into both the first arrangement slot and the second arrangement slot, the second driving member drives the alignment members to move towards each other to abut against the cups, thereby aligning the cups.

[0009] According to some embodiments of the present invention, an automatic cup holder device that coordinates a track and a robotic arm includes a conveying device comprising two parallel support rods, with a conveying space between the two support rods for the cup to pass through.

[0010] According to some embodiments of the present invention, an automatic cup holder device that coordinates a track and a robotic arm includes a plurality of brushes, which are spaced apart along the length of the support rod within the conveying space.

[0011] According to some embodiments of the present invention, an automatic cup holder device that coordinates a track and a robotic arm includes a conveying device comprising multiple cleaning nozzles, the air outlets of which are arranged toward the moving path of the cup.

[0012] According to some embodiments of the present invention, an automatic cup-filling device in which a track and a robotic arm work together, the tray transport device includes a clamping component and a third driving component. The clamping component is slidably disposed on the frame and located on the transport path of the tray. The third driving component drives the clamping component to clamp and fix the tray.

[0013] According to some embodiments of the present invention, an automatic cup holder device with track and robotic arm working in coordination, the clamping component includes a fixing member and a limiting member. The limiting member is disposed on the top of the fixing member and has an arc-shaped surface adapted to the outer wall of the cup. The fixing member engages with the side of the tray, and the limiting member abuts against the outer peripheral wall of the cup loaded on the tray.

[0014] According to some embodiments of the present invention, an automatic cup-filling device in which a track and a robotic arm work together, the tray transport device includes a conveyor belt, a feeding component, and a pushing component. The feeding component is used to load the stacked trays, and the pushing component is disposed at the bottom of the feeding component, pushing the trays onto the conveyor belt.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of an automatic cup holder device with track and robotic arm working in coordination according to an embodiment of the present invention; Figure 2 for Figure 1 An enlarged view of A is shown; Figure 3 for Figure 1 An enlarged view of B is shown; Figure 4 This is a schematic diagram of the adsorption component of an automatic cup holder device in which the track and robotic arm work together, according to an embodiment of this utility model. Figure 5 This is a top view of an automatic cup-filling device with a track and robotic arm working in coordination, according to an embodiment of this utility model.

[0017] Explanation of icon numbers: 100 racks; Conveying device 200; support rod 210; brush 220; Arrangement assembly 300; Arrangement component 310; First arrangement groove 311; Second arrangement groove 312; Guide rail 320; Alignment component 330; Pallet transport device 400; clamping component 410; fixing component 420; limiting component 430; conveyor belt 440; unloading component 450; pushing component 460; 500 cup-filling robotic arm; 510 suction component; Cup body 600; Clean the blowpipe 700. Detailed Implementation

[0018] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0019] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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 utility model.

[0020] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0022] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. 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 may be combined in any suitable manner in one or more embodiments or examples.

[0023] In related technologies, the process of loading cups into trays is still mainly manual. Operators must first manually arrange the scattered cups, then place them one by one or in groups into the corresponding workstations on the tray. After completion, the trays filled with cups are manually moved to the next process. Manual arrangement and loading are inefficient, greatly affected by the operator's skill level and physical condition, and difficult to adapt to the high-speed production flow requirements. In addition, the positioning accuracy of manually placed cups is poor, and the stability after stacking is insufficient, making them prone to tipping over and breaking during transportation. This not only increases labor costs and labor intensity but also reduces production efficiency.

[0024] Therefore, such as Figures 1 to 5 As shown, this utility model presents an automatic cup-filling device that utilizes a track and a robotic arm in coordination. It includes a frame 100, a conveying device 200, an arranging assembly 300, a tray transport device 400, and a cup-filling robotic arm 500. The frame 100 serves as the basic support structure of the device, possessing good stability and load-bearing capacity. The conveying device 200 is mounted on the frame 100 and is used to convey cups 600. The arranging assembly 300 is mounted on the frame 100 and located at one end of the conveying device 200. The arranging assembly 300 is used to arrange and organize the cups 600. The tray transport device 400 is mounted on the frame 100 and is used to transport the tray to the designated cup-filling position. The cup-filling robotic arm 500 is mounted on the frame 100 and is connected to an adsorption element 510. The adsorption element 510 can adsorb the cups 600 and load them from the arranging assembly 300 onto the tray. This equipment can achieve fully automated operation without manual handling, which can reduce human contact to ensure the cleanliness of the cups to 600%. The robotic arm adopts high-precision positioning and stable loading, while saving labor costs, which is conducive to meeting the needs of large-scale and automated high-speed production.

[0025] In a further embodiment of this utility model, referring to Figure 1 , Figure 3 and Figure 5As shown, the conveying device 200 is mounted on the frame 100 and is responsible for automatically conveying the cup 600 from the upstream process to the arrangement station. The conveying device 200 connects to the conveyor belt in the upstream process, which pushes the cup 600 into the conveying device 200. The conveying device 200 includes two parallel support rods 210, which extend along the conveying direction of the cup 600, forming a channel for the cup 600 to pass through. The cup 600 includes a mouth and a bottom, and the diameter of the mouth is usually larger than that of the bottom, or the top of the cup 600 is provided with a flange. The cup 600 can be placed between the two support rods 210. When the cup 600 moves in the channel, both sides of the cup 600 contact the support rods 210 respectively, thereby being effectively guided and limited, preventing tilting or jamming during the conveying process. To further improve the conveying efficiency, multiple brushes 220 are installed on the support rod 210. These brushes 220 are spaced apart along the length of the support rod 210 within the channel. When the cup 600 passes by, the brushes 220 can brush its outer surface, removing dust or particles adhering to the cup wall and ensuring the cleanliness of the cup 600. In addition, the conveying device 200 includes multiple cleaning blowpipes 700. The air outlets of the cleaning blowpipes 700 are directly facing the moving path of the cup 600. By spraying airflow, the surface of the cup 600 is swept, removing some dust and impurities from its outer surface, which helps ensure the stability of the subsequent adsorption of the adsorption component 510. The automated operation of the conveying device 200 not only improves the efficiency of cup 600 conveying but also reduces manual operation, while cleaning the surface of the cup 600, providing a reliable guarantee for subsequent processes.

[0026] In a further embodiment of this utility model, referring to Figure 1 and Figure 3The arranging assembly 300 is located at the end of the conveying device 200 and is used to receive and arrange the conveyed cups 600, preparing them for gripping by the robotic arm according to a predetermined quantity and arrangement. The arranging assembly 300 mainly includes an arranging member 310, a guide rail 320, and a first driving member. The arranging member 310 is connected to the guide rail 320 via a slider and can reciprocate along the guide rail 320 under the drive of the first driving member. The arranging member 310 has multiple arranging slots, specifically including a first arranging slot 311 and a second arranging slot 312. The arranging member 310 can switch between a first position and a second position under the drive of the first driving member: when the arranging member 310 is in the first position, the first arranging slot 311 is aligned with the end of the conveying device 200 to receive the cups 600; when the arranging member 310 moves to the second position, the second arranging slot 312 is aligned with the end of the conveying device 200 to continue receiving cups, thereby realizing continuous operation of alternating cup receiving. Once the first arrangement slot 311 and the second arrangement slot 312 are filled with a predetermined number of cups 600, the suction member 510 suctions the cups 600 arranged in the arrangement member 310 onto the tray. It should be noted that in some applications, both the first arrangement slot 311 and the second arrangement slot 312 can accommodate three cups 600, and the tray has six slots for placing the cups 600. The slots on the tray correspond to the arrangement positions of the cups 600 in the arrangement member 310. When the cups 600 form a two-by-three arrangement, the cup-filling robot 500 drives the suction member 510 to suction and transfer the cups 600 onto the tray. The arrangement of the cups 600 can be changed by increasing the number of arrangement slots or adjusting their length to adapt to different usage requirements.

[0027] Furthermore, in some embodiments of this utility model, the arranging assembly 300 is further provided with alignment members 330 and a second driving member. There are two alignment members 330, which are respectively arranged on both sides of the arranging assembly 310 and can slide along the arranging assembly 310. The alignment members 330 are provided with multiple conical protrusions, which are spaced apart along the length direction of the arranging assembly 310. When a predetermined number of cups 600 are reached in a certain arranging groove, the second driving member pushes the two alignment members 330 toward the cups 600. The cups 600 are accommodated in the gap between two adjacent conical protrusions, so that the cups 600 are closely arranged and aligned in the groove, ensuring accurate positioning of the cups 600. The alignment members 330 not only improve the efficiency of cup arrangement, but also lay a solid foundation for the precise grasping of the robot arm, which is conducive to improving the accuracy and stability of the operation.

[0028] In some embodiments of this utility model, reference is made to Figure 1 , Figure 2 and Figure 5The pallet transport device 400 is mounted on the frame 100 and is responsible for transporting empty pallets one by one to the cup-filling station, and positioning and fixing the pallets during the cup-filling process. This device mainly includes a clamping component 410 and a third driving component. The clamping component 410 is slidably mounted on the frame 100 and located on one side of the pallet transport path. The third driving component can drive the clamping component 410 to move, clamping and fixing the side of the pallet to prevent displacement during the cup-filling process. The clamping component 410 consists of a fixing component 420 and a limiting component 430. The limiting component 430 is mounted on top of the fixing component 420, and its contact surface is arc-shaped, allowing it to fit well against the outer peripheral wall of the cup body 600. The fixing component 420 engages with the edge of the pallet, together forming a stable clamping and limiting effect. In addition, the pallet transport device 400 is also equipped with a conveyor belt 440, a feeding component 450, and a pushing component 460. The feeding component 450 is used to store stacked empty pallets, and the pushing component 460 is installed at the bottom of the feeding component 450, which can push out the bottom pallet and let it fall into the conveyor belt 440, which then transports the pallet to the predetermined cupping position. The automation of the pallet transport process not only greatly improves the efficiency of pallet supply, but also ensures the accurate relative position between the pallet and the cup 600 through the clamping component 410, further enhancing the overall stability after loading.

[0029] In a further embodiment of this utility model, the conveyor belt 440 includes a first conveyor belt and a second conveyor belt. The first conveyor belt is disposed on the side of the frame 100 facing the support frame, and the clamping component 410 is disposed above the first conveyor belt. The second conveyor belt is adjacent to the first conveyor belt. After the tray finishes loading the cup 600, the clamping component 410 releases the tray, and the tray is conveyed from the first conveyor belt to the second conveyor belt for subsequent processing operations. Through the connection and cooperation of the first and second conveyor belts, seamless transfer of the tray from the loading process to subsequent processes is achieved, improving the continuity of conveying and automation efficiency.

[0030] In some embodiments of this utility model, reference is made to Figure 1 and... Figure 4 The cup-filling robot 500 is positioned above the frame 100, with an adsorption component 510 at its end. This adsorption typically employs a vacuum suction cup or electromagnetic adsorption to reliably pick up the cups 600 without damaging their surface. The robot achieves precise positioning through a multi-axis motion system, picking up pre-arranged cups 600 from the arrangement slots of the arrangement component 300, transferring them to the tray, and placing each cup 600 one by one into the corresponding groove or station on the tray. The robot's motion trajectory and timing are uniformly scheduled by the control system, ensuring smooth and accurate cup picking, moving, and placing. By using the cup-filling robot 500, not only is the loading of cups 600 fully automated, but placement accuracy and consistency are also significantly improved, effectively avoiding misalignment or tipping that may occur during manual operation, thus enhancing packaging quality and production efficiency.

[0031] In some embodiments of this utility model, such as Figures 1 to 5 As shown, during the operation, the cup 600 is first smoothly conveyed to the arranging assembly 300 via the conveying device 200. The arranging assembly 300 continuously receives and arranges the cups 600 by alternately using the first arranging slot 311 and the second arranging slot 312, and aligns the cups 600 to ensure they are neatly positioned. Simultaneously, the pallet transport device 400 removes an empty pallet from the unloading component 450 and transports it to the cup-filling station via the conveyor belt 440, where it is secured by the clamping component 410. The cup-filling robot 500, according to system instructions, picks up the cups 600 from the arranging component 310 and accurately places them in the designated positions on the pallet. After completing the cup-filling operation, the robot returns to its standby position, and the pallet transport device 400 removes the fully loaded pallet and sends it to the next process. This cycle continues, achieving uninterrupted production. Throughout the entire process, the actions of each component are coordinated and closely linked, improving operational efficiency and automation levels. This invention organically combines multiple stages, including cup body 600 conveying, arranging, tray supply, and loading, to form a highly efficient and reliable automatic cup tray filling device. This equipment not only meets the demands of high-speed continuous production but also significantly reduces labor costs and intensity. Simultaneously, clean conveying and precise positioning ensure the cleanliness and packaging quality of the cup bodies 600, making it particularly suitable for large-scale, high-standard cup body 600 packaging applications in the food and beverage industries. Through the coordinated operation of its various functional modules, this invention achieves full-process automation, effectively solving the technical problems mentioned in the background section.

[0032] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. An automated cup-filling tray device that uses a track and a robotic arm in coordination, characterized in that, include: frame; A conveying device is provided on the frame, and the conveying device is used to convey the cup body; An arranging assembly is disposed on the frame and located at one end of the conveying device; the arranging assembly is used to arrange and organize the cups. A pallet transport device is provided on the frame, and the pallet transport device is used to transport the pallet to the predetermined cupping position; A cup-filling robot is mounted on the frame and is connected to an adsorption element. The cup-filling robot can move above the arrangement assembly and pick up the arranged cups through the adsorption element. The cup-filling robot loads the cups from the arrangement assembly onto the tray.

2. The automatic cup holder device with track and robotic arm coordination according to claim 1, characterized in that: The arrangement assembly includes an arrangement component, a guide rail, and a first driving component. The arrangement component is slidably mounted on the guide rail and includes multiple arrangement slots. The first driving component drives the arrangement assembly to slide along the guide rail.

3. The automatic cup-filling device with track and robotic arm coordination according to claim 2, characterized in that: The arrangement groove includes a first arrangement groove and a second arrangement groove. The arrangement member has a first position and a second position. In the first position, the first arrangement groove is located at the end of the conveying device. In the second position, the second arrangement groove is located at the end of the conveying device.

4. The automatic cup-filling device with track and robotic arm coordination according to claim 3, characterized in that: The arrangement assembly includes an alignment member and a second driving member. There are two alignment members, which are slidably connected to both sides of the arrangement assembly. When a predetermined number of cups are loaded into both the first and second arrangement slots, the second driving member drives the alignment members to move towards each other to abut against the cups, thereby aligning the cups.

5. The automatic cup holder device with track and robotic arm coordination according to claim 1, characterized in that: The conveying device includes two parallel support rods, with a conveying space formed between the two support rods for the cup to pass through.

6. The automatic cup-filling device with track and robotic arm coordination according to claim 5, characterized in that: The conveying device includes multiple brushes, which are spaced apart along the length of the support rod.

7. The automatic cup holder device with track and robotic arm coordination according to claim 1 or 6, characterized in that: The conveying device includes multiple cleaning nozzles, with the air outlets of the multiple cleaning nozzles arranged toward the moving path of the cup.

8. The automatic cup holder device with track and robotic arm coordination according to claim 1, characterized in that: The pallet transport device includes a clamping component and a third driving component. The clamping component is slidably disposed on the frame and located on the transport path of the pallet. The third driving component drives the clamping component to clamp and fix the pallet.

9. The automatic cup holder device with track and robotic arm coordination according to claim 8, characterized in that: The clamping component includes a fixing member and a limiting member. The limiting member is disposed on the top of the fixing member and has an arc-shaped surface adapted to the outer wall of the cup. The fixing member engages with the side of the tray, and the limiting member abuts against the outer peripheral wall of the cup loaded on the tray.

10. The automatic cup-filling device with track and robotic arm coordination according to claim 1, characterized in that: The pallet transport device includes a conveyor belt, a feeding component, and a pushing component. The feeding component is used to load the stacked pallets, and the pushing component is disposed at the bottom of the feeding component and pushes the pallets onto the conveyor belt.

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