A vertical foam product molding machine and molding method

Abstract

The present invention discloses an upright foam product shaping processing machine with an automatic punching function, comprising a machine body, a workbench, a power system and a control system. The workbench comprises a shaping workbench (4), an intermediate workbench (3) and a punching workbench (2). The center lines of the three workbench are on the same vertical line. A shaping mold is installed at a working position formed between the shaping workbench (4) and the intermediate workbench (3) for shaping a sheet (13); a punching die is installed at a working position formed between the punching workbench (2) and the intermediate workbench (3) for punching a semi-finished product after being shaped into a finished product. A manipulator is also included for moving the semi-finished product between the two working positions. The device of the present invention can complete the production of a finished product by using the actions used in the previous production of a semi-finished product, thereby reducing a separate punching process and saving labor costs.

Description

Technical Field

[0001] The invention relates to the field of product shaping and processing, and in particular to an upright foaming product shaping and processing machine with an automatic punching function and a shaping and processing method using the machine. Background Art

[0002] The vertical foam product shaping machine with automatic punching refers to mechanical equipment used to shape foam sheet materials into foam products, such as foam plastics, EVA, or sponges and other foam products that can be shaped. Its main function is shaping and automatic punching. It can shape the pre-foamed and shaped sheet according to the shape of the mold and automatically punch it, automatically separate the excess burrs, and obtain the finished product, reducing working time and labor costs.

[0003] Most of the existing upright foam product shaping processing machines use the following structure and method to prepare products: a machine body, two upper and lower worktables, a power system at the bottom, a working position is formed between the upper and lower worktables, and a shaping mold is installed. When working, the power system applies pressure to the lower worktable upward, maintains the pressure for a preset time, and then returns to its original position. The mold installed above the working position applies pressure to the foamed plastic, EVA or sponge product or other shaping material sheets entering the mold for a period of time to shape them. When the pressure holding time is up, the semi-finished product is taken out manually after shaping, and then the semi-finished product is taken to the punch press and the excess burrs are punched out and separated with a punch to obtain the finished product. The above-mentioned processing machine requires two working processes, which wastes manpower, time, and increases costs. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a mechanical device that can effectively reduce the labor cost and time cost of molding and processing foamed products and a method for molding and processing using the mechanical device.

[0005] The present invention discloses an upright foam product shaping and processing machine with an automatic punching function, comprising a machine body, a workbench, a power system and a control system, and is characterized in that the workbench forms two working positions, on which a shaping mold and a punching die are respectively installed for shaping and punching, and further comprises a manipulator for moving semi-finished products between the two working positions.

[0006] Among them, the workbench includes a shaping workbench, an intermediate workbench and a punching workbench. The center lines of the three workbenches are on the same vertical line. The working position formed between the shaping workbench and the intermediate workbench is installed with a shaping mold for shaping the sheet; the working position formed between the punching workbench and the intermediate workbench is installed with a punching die for punching the shaped semi-finished products into finished products.

[0007] Among them, the punching workbench is fixedly installed on the machine body and cannot be moved; the intermediate workbench is installed on the machine body and is driven up and down by the intermediate workbench moving device; the shaping workbench is connected to the power system and is driven up and down by the power system.

[0008] The robot includes a horizontal moving part, an up-and-down moving part and a grasping part, wherein the horizontal moving part drives the grasping part to enter or move out of the working position, and the up-and-down moving part drives the grasping part to move up and down to move the semi-finished product from the shaping position to the punching position.

[0009] Among them, the horizontal moving part includes a load-bearing beam and a horizontal moving device, the horizontal moving device is installed on the load-bearing beam, driving the up-down moving part and the grabbing part to move horizontally; the up-down moving part includes a vertical beam and an up-down moving device, the vertical beam is installed on the load-bearing beam through the horizontal moving device, so that the vertical beam can move horizontally along the load-bearing beam, and the up-down moving device can move up and down along the vertical beam; the grabbing part includes a cross beam, a cantilever, a gripper and a demoulding drive device, the cross beam is installed on the up-down moving device through the demoulding drive device, cantilevers are connected at both ends of the cross beam, and a gripper that can be opened and closed is installed on the cantilever, wherein the installation position of the cantilever at both ends of the cross beam can be adjusted, and the position of the gripper on the cantilever can also be adjusted, and the demoulding drive device can drive the cross beam and the cantilever to move up and down along the up-down moving device.

[0010] Among them, the horizontal moving device, the up and down moving device and the demoulding drive device adopt a cylinder and slide rail structure, and the intermediate workbench moving device adopts a cylinder and slide rail structure, a hydraulic structure or a mold lock and sliding part structure. When the cylinder and slide rail structure is adopted, the intermediate workbench is installed on the machine body through the boom, and the intermediate workbench moving device is installed on the boom, driving the intermediate workbench to move up and down along the boom; when the hydraulic structure is adopted, the intermediate workbench moving device is installed on the machine body, and the intermediate workbench is driven up and down by the hydraulic structure; when the mold lock and sliding part structure is adopted, the upward movement of the intermediate workbench is driven by the shaping workbench located below it, and it is locked by the mold lock when it is pushed into place. When the intermediate workbench needs to move downward, the mold lock is unlocked, and it is driven downward by gravity.

[0011] Among them, the control system is connected to the power system and the manipulator through connecting lines, and is used to control the actions of the power system and the manipulator; the gripper of the manipulator is one or more power structures that can be opened and closed, and is controlled by the control system. When it moves to a specified position, it opens or clamps according to the set actions, grasps or releases the semi-finished product; when the machine suddenly loses power, the control system controls all power systems to remain in the position when the power is cut off.

[0012] The present invention also discloses a method for shaping a foamed product using the above machine, comprising:

[0013] The sheet is placed at the shaping position where the shaping die is installed, and the semi-finished product after the last shaping is placed at the punching position of the punching die;

[0014] Perform shaping and blanking at the same time;

[0015] Move the semi-finished products that have been finalized to the position where they are waiting for punching;

[0016] Remove the finished part and the rough edges.

[0017] The method for shaping a foamed product of the present invention specifically comprises the following steps:

[0018] 1) Place the foaming material sheet between the upper and lower molds of the shaping mold, and the robot grasps the semi-finished product after the last shaping and is in the position waiting for punching;

[0019] 2) The manipulator moves the semi-finished product that has been shaped last time to the punching position between the punching table and the intermediate table, and drives the intermediate table to move so that the punching die locks the semi-finished product that has been shaped;

[0020] 3) The shaping table moves toward the middle table. After the upper and lower dies of the shaping mold are closed, the shaping table continues to move, driving the middle table to move toward the punching table, so that the punching die moves to punch out the burrs of the semi-finished product after shaping to obtain the finished product;

[0021] 4) The mold is maintained under pressure. The manipulator drives the gripper to move to the molding and pressure holding position. The gripper grabs the semi-finished product being molded and waits for the molding and pressure holding time to reach the set value.

[0022] 5) The holding time of the shaping mold reaches the set value, the shaping workbench moves away from the middle workbench, and the shaping mold opens; the gripper grabs the semi-finished product and separates it from the lower mold;

[0023] 6) After the lower mold of the shaping mold moves into place, the manipulator drives the shaped semi-finished product to separate from the upper mold;

[0024] 7) The robot drives the finalized semi-finished product to move upward to the blanking position, waiting for the next cycle;

[0025] 8) The middle workbench moves away from the punching workbench, and the punching die opens;

[0026] 9) After the punching die is opened into place, take away the punched product and burrs, completing a working cycle.

[0027] Among them, during the first working cycle, there is no finished product between the punching workbench and the intermediate workbench, the punching die is in an open state, there is no finalized semi-finished product on the gripper, but the gripper is still in a gripping state.

[0028] The equipment of the present invention is provided with a shaping position and a punching position at the same time. The semi-finished product that has been shaped can be automatically taken to the punching work position through a robot. The operator only needs to take the pre-foamed sheet to the shaping work position, and then take out the finished product and the rough edges from the punching work position. The finished product can be made by the same action as that used to make the semi-finished product, thereby reducing the separate punching process and saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 : Front view of the processing machine;

[0030] Figure 2 : Top view of processing machine;

[0031] Figure 3 : Top view of the manipulator;

[0032] Figure 4 : Front view of the manipulator;

[0033] Figure 5 , schematic diagram of the semi-finished product after finalization;

[0034] Figure 6 : Front view when ready to start working;

[0035] Figure 7 : Schematic diagram of placing sheets and semi-finished products;

[0036] Figure 8 : Schematic diagram of finalizing blanking;

[0037] Fig. 9 : Schematic diagram of mold opening;

[0038] Fig.10 : Schematic diagram of semi-finished product moving to the upper working position.

[0039] Figures 11A-11L :Simplified diagram of the working process.

[0040] Description of reference numerals:

[0041] 1-machine body; 2-upper workbench;

[0042] 3-middle workbench; 4-lower workbench;

[0043] 5-Power system; 6-Manipulator;

[0044] 7-control system; 8-connecting wire;

[0045] 9- horizontal moving device; 10- shaping upper die;

[0046] 11-molding lower die; 12-punching die;

[0047] 13-sheet; 14. semi-finished product;

[0048] 15-intermediate workbench moving device; 16-finished product;

[0049] 17. Burr; 18- Grip;

[0050] 19-cantilever; 20-beam;

[0051] 21- load-bearing beam; 22 up and down moving device;

[0052] 23-- demoulding drive device; 24-- vertical beam;

[0053] 25 - Grasping position; 26 - Crane arm. DETAILED DESCRIPTION

[0054] The present invention is further described below through specific implementation methods in conjunction with the accompanying drawings. The accompanying drawings are schematic diagrams describing the structure and working process. In order to better reflect the present application, some components and structures in the accompanying drawings are omitted, and these omissions should not be regarded as limitations and influences on the accompanying drawings.

[0055] Embodiment 1

[0056] Reference Figures 1 to 10 , a vertical foam product shaping processing machine with automatic punching function, comprising a machine body 1, an upper workbench 2, a middle workbench 3, a lower workbench 4, a power system 5, a manipulator 6 and a control system 7. The shaping mold and the punching die can be installed on the workbench at the same time.

[0057] The machine body 1 is a vertical metal frame that can connect the power system 5 and three workbenches 2, 3, 4, as well as the manipulator 6 and the control system 7 into a whole. The power system 5 is installed in the machine body 1 and is controlled by the control system to drive the lower workbench to apply pressure to the middle workbench. The shaping mold is a mold used to shape the cavity of the foamed product and to match the shape of the finished product. The punching die is a punching knife used to punch out the semi-finished product and separate the finished product from the burr.

[0058] The working surfaces of all three workbenches are sheet metal.

[0059] The power system 5 is installed at the lower part of the machine body 1, and the lower workbench 4 and the power system 5 are connected together. The power system 5 can drive the lower workbench 4 to move up and down. The middle workbench 3 is located between the upper workbench 2 and the lower workbench 4. The upper ends of the two suspension arms 26 are fixed to the upper part of the machine body 1, and the two ends of the middle workbench 3 are installed at the lower part of the two suspension arms 26 through the middle workbench moving device 15, so that the middle workbench 3 can move up and down. The upper workbench 2 is installed on the upper part of the machine body 1 and is fixed and cannot move. It can withstand the pressure transmitted from the middle workbench 3. The control system 7 is connected to the power system 5 and the manipulator 6 through the connecting line 8, and is used to control the actions of the power system 5 and the manipulator 6.

[0060] like Figure 3 , 4 As shown, the manipulator 6 includes a load-bearing beam 21, a vertical beam 24, a horizontal beam 20, a cantilever 19, a gripper 18, a horizontal moving device 9, an up-and-down moving device 22, and a demoulding drive device 23, wherein the load-bearing beam 21 is installed on the top of the machine body 1, and the vertical beam 24 is installed on the load-bearing beam 21 through the horizontal moving device 9, so that the vertical beam 24 can move horizontally along the load-bearing beam 21; the up-and-down moving device 22 is installed on the vertical beam 24 and can move up and down along the vertical beam 24, and the horizontal beam 20 is installed on the up-and-down moving device 22 through the demoulding drive device 23, and the two ends of the horizontal beam 20 are connected to the cantilever 19, and the gripper 18 that can be opened and closed is installed on the cantilever 19. The demoulding drive device 23 can drive the horizontal beam 20 and the cantilever 19 to move up and down along the up-and-down moving device 22. The installation position of the cantilever 19 at both ends of the beam 20 can be adjusted, and the position of the gripper 18 on the cantilever 19 can also be adjusted. The combination of these two adjustments can adjust the up and down, front and back, left and right positions between the gripper 18 and the semi-finished product 14. The gripper is one or more power structures that can be opened and closed, and is controlled by the control system 7. When it moves to a specified position, it opens or clamps, grasps or releases the product according to the set action. The gripper can choose a structure that can rotate 90 degrees or a structure that can rotate 360 ​​degrees.

[0061] The workbench moving device 15, the horizontal moving device 9, the up-and-down moving device 22 and the demoulding driving device 23 can adopt a cylinder and a slide rail structure. When the machine suddenly loses power, the control system controls all the power systems. The moving devices can remain in the position when the power is off.

[0062] The upper mold 10 and the lower mold 11 of the shaping mold are installed on the middle workbench 3 and the lower workbench 4, and are located at the lower working position between the middle workbench 3 and the lower workbench 4. A grabbing position 25 is reserved on the shaping mold, so that the gripper 18 can freely move in and out when the shaping mold is closing and shaping, and grab the semi-finished product being shaped.

[0063] The punching die 12 is installed on the upper workbench 2 and the middle workbench 3, and is located at the upper work position between the middle workbench 3 and the upper workbench 2. The punching die 12 is provided with a position that enables the gripper 18 to move in and out when the punching die 12 is closed.

[0064] The following is combined with Figures 11A-11L , describing the working process of the processing machine of the present invention.

[0065] like Figure 6 , Fig.11A As shown, in the power-off shutdown state, the lower workbench 4 and the middle workbench 3 are at the lowest position of their travel, the vertical beam 24 of the manipulator is at the position closest to the workbench, and the cantilever 19 is inserted between the upper workbench 2 and the middle workbench 3.

[0066] like Fig. 11B As shown, after the machine is powered on, the horizontal moving device 9 drives the vertical beam 24 to move horizontally to the farthest end of the load-bearing beam 21, the cantilever 19 is in the initial position, and the driving gripper 18 is in the grasping state, which is the starting state of the work.

[0067] The starting state of each operation cycle is: the lower workbench 4 and the middle workbench 3 are at the lowest position of their travel, the vertical beam 24 is at the farthest end of the load-bearing beam 21, the cantilever is at the starting position, which is parallel to the cantilever and inserted between the upper workbench 2 and the middle workbench 3, the gripper 18 grabs the first set position of the semi-finished product 14, and the starting position is the blanking waiting position.

[0068] A working cycle process is described below.

[0069] 1) The operator places the foaming material sheet 13 between the upper die 10 and the lower die 11 of the shaping die. At this time, the punching die 12 is in the open state and the cantilever 19 stays in the starting position. Fig. 11C , Figure 7 shown.

[0070] 2) Start the equipment, the horizontal moving device 9 drives the vertical beam 24 to move horizontally, and moves the semi-finished product 14 after shaping to the first set position between the intermediate workbench 3 and the upper workbench 2. The intermediate workbench moving device 15 drives the intermediate workbench 3 to move upward, so that the punching die 12 locks the semi-finished product 14 after shaping. Fig.11D shown.

[0071] 3) The power system 5 drives the lower workbench 4 to move upward. After the upper and lower molds 10 and 11 are closed, the lower workbench 4 continues to move upward to push the middle workbench 3 upward, so that the punching die 12 moves to punch out the burrs 17 of the semi-finished product 14 after shaping, and obtain the finished product 16. Fig.11E , Figure 8 .

[0072] 4) The shaping mold is in a pressure-holding state, during which the gripper 18 is opened to release the semi-finished product 14, and then the horizontal moving device 9 drives the vertical beam 24 to move outward to reach the starting position away from the interference of the intermediate workbench 3, such as Fig.11F As shown, the up-down moving device 22 then drives the crossbeam 20 and the gripper 18 to move downward to the second set position, and the horizontal moving device 9 drives the cantilever 19 to move toward the workbench, so that the gripper 18 moves to the empty product grabbing position 25 of the shaping mold, and the gripper 18 closes to grab the semi-finished product 14 being shaped, and waits for the shaping holding time to reach the set value, as shown in FIG. Fig.11G shown.

[0073] 5) When the holding time of the shaping mold reaches the set value, the power system 5 drives the lower workbench 4 to move downward, and the lower mold 11 of the shaping mold moves downward accordingly, the shaping mold is opened, the upper mold 10 of the shaping mold does not move, the gripper 18 grabs the semi-finished product 14, and the semi-finished product 14 is separated from the lower mold 11. Fig.11H , Fig. 9 shown.

[0074] 6) After the lower mold of the shaping mold moves downward to the right position, the demoulding drive device 23 drives the crossbeam 20 and the cantilever 19 to move downward, and the gripper 18 grabs the semi-finished product 14 after shaping and separates it from the upper mold 10, as shown in FIG. Fig.11I shown.

[0075] 7) The horizontal moving device 9 drives the gripper 18 holding the semi-finished product 14 to move outward to the second set position where the gripper 18 is not interfered by the intermediate workbench 3, and the up-down moving device 22 drives the semi-finished product 14 after shaping to move upward to the starting position, waiting for the next cycle, such as Fig.11J , Fig.10 shown.

[0076] 8) The intermediate workbench 3 moves downward under the drive of the intermediate workbench moving device 15, and the punching die 12 opens. Figure 11K shown.

[0077] 9) After the punching die 12 is opened in place, the operator takes away the punched product 16 and the burr 17, such as Fig.11L shown.

[0078] Note that when the machine is turned on for the first working cycle, there is no semi-finished product between the upper and middle workbenches, the punching die 12 is in the open state, and there is no semi-finished product on the gripper 18, but the gripper is still in the gripping state. In addition, when the machine suddenly loses power, the cylinder and oil pump can be braked and can remain in the position when the power is off. This needs to be set in the control system.

[0079] Embodiment 2

[0080] Compared with the first embodiment, in this embodiment, the power system 5 is installed on the upper part of the machine body 1, the upper workbench 2 and the power system 5 are connected together, and the power system 5 can drive the upper workbench 2 to move up and down. The middle workbench 3 is located between the upper workbench 2 and the lower workbench 4, the lower ends of the two suspension arms 26 are fixed to the lower part of the machine body 1, and the two ends of the middle workbench 3 are installed on the upper part of the two suspension arms 26 through the middle workbench moving device 15, so that the middle workbench 3 can move up and down. The lower workbench 2 is installed at the lower part of the machine body 1 and is fixed and cannot move. It can withstand the pressure transmitted from the middle workbench 3. The workbench moving device includes a cylinder and a slide rail.

[0081] The manipulator is installed below the processing equipment, the punching die is installed at the lower working position between the lower working table 4 and the middle working table 3, and the shaping die is installed at the upper working position between the middle working table 3 and the upper working table 2.

[0082] That is, in Example 2, relative to Example 1, the installation positions of the shaping die and the punching die are interchanged up and down, and the action parts are correspondingly placed up and down, and the action control is also adjusted up and down relative to Example 1.

[0083] In the present invention, the operator only needs to send the foaming raw materials into the shaping mold and take the finished product and the rough edges back from the workbench for sorting, and the finished product can be obtained. With the same labor intensity and time of the operator, one process is reduced, and a large amount of time cost and labor cost are saved.

[0084] Embodiment 3

[0085] Compared with the first embodiment, in this embodiment, the intermediate workbench moving device 15 adopts a hydraulic structure and is arranged on the machine body 1, which drives the intermediate workbench to move up and down.

[0086] Embodiment 4

[0087] Compared with the second embodiment, in this embodiment, the intermediate workbench moving device 15 adopts a hydraulic structure and is arranged on the machine body 1, which drives the intermediate workbench to move up and down.

[0088] Embodiment 5

[0089] Compared with the first embodiment, in this embodiment, the intermediate worktable moving device 15 adopts a mold lock and a sliding member structure, and does not require a special power structure. The mold lock is installed at a relatively upper position of the suspension arm 26, and the limit device is installed at a relatively lower position. The slide is installed between the mold lock and the limit device. The rise of the intermediate worktable 3 depends on the driving force of the lower worktable 4, and its descent depends on gravity. During processing, the lower worktable 4 moves upward, and after contacting the intermediate worktable 3, it continues to rise, driving the intermediate worktable 3 to rise along the slide until the punching die on the intermediate worktable 3 is tightly closed, and the mold lock locks the intermediate worktable 3 to stop it from moving. When the molding and holding time is reached, the lower worktable 4 moves downward. At this time, the intermediate worktable 4 is locked by the mold lock and will not fall, nor will it affect the demoulding of the manipulator 6. When the manipulator 6 completes the demoulding action and leaves the molding position, the mold lock is opened, and the intermediate worktable 3 descends along the slide under the action of gravity, descends to the contact limit device, and stops.

[0090] The above description is only a preferred embodiment of the present invention, and therefore cannot be used to limit the scope of implementation of the present invention. Equivalent changes and modifications made according to the scope of the patent application of the present invention and the contents of the specification should still fall within the scope covered by the patent of the present invention.

Claims

1. A vertical foam product shaping machine with automatic punching function, comprising a machine body, a workbench, a power system and a control system, characterized in that: The workbench forms two working positions, on which a shaping die and a punching die are installed respectively, for shaping and punching, and also includes a manipulator for moving the semi-finished product between the two working positions. The workbench includes a shaping workbench (4), an intermediate workbench (3) and a punching workbench (2), and the center lines of the three workbench are on the same vertical line. The shaping die is installed at the working position formed between the shaping workbench (4) and the intermediate workbench (3) for shaping the sheet material (13); the punching die is installed at the working position formed between the punching workbench (2) and the intermediate workbench (3) for punching the shaped semi-finished product into a finished product. The intermediate workbench (3) is installed on the machine body (1), and is driven by the intermediate workbench moving device (15). The intermediate worktable moving device (15) adopts a cylinder and slide rail structure, a hydraulic structure or a mold lock and sliding member structure. When the cylinder and slide rail structure is adopted, the intermediate worktable is installed on the machine body (1) through the suspension arm (26), and the intermediate worktable moving device (15) is installed on the suspension arm (26), driving the intermediate worktable (3) to move up and down along the suspension arm (26); when the hydraulic structure is adopted, the intermediate worktable moving device (15) is installed on the machine body (1), and the intermediate worktable (3) is driven by the hydraulic structure to move up and down; when the mold lock and sliding member structure is adopted, the upward movement of the intermediate worktable (3) is driven by the shaping worktable (4) located below it, and when it is pushed into place, it is locked by the mold lock. When the intermediate worktable (3) When downward movement is required, the mold lock is unlocked and gravity drives it to move downward. The manipulator (6) includes a horizontal moving part, an up-down moving part and a grasping part, wherein the horizontal moving part drives the grasping part to enter a working position or move out of the working position, and the up-down moving part drives the grasping part to move up and down to move the semi-finished product from a shaping position to a punching position. The horizontal moving part includes a load-bearing beam (21) and a horizontal moving device (9); the horizontal moving device (9) is installed on the load-bearing beam (21) to drive the up-down moving part and the grasping part to move horizontally; the up-down moving part includes a vertical beam (24) and an up-down moving device (22), and the vertical beam (24) is installed on the load-bearing beam (21) through the horizontal moving device (9) so that the vertical beam (24) can move along the load-bearing beam (21). The beam (21) moves horizontally, and the up-down moving device (22) can move up-down along the vertical beam (24); the grabbing part comprises a cross beam (20), a cantilever (19), a gripper (18) and a demoulding driving device (23); the cross beam (20) is installed on the up-down moving device (22) through the demoulding driving device (23); the two ends of the cross beam (20) are connected with the cantilever (19); the gripper (18) which can be opened and closed is installed on the cantilever (19); the installation position of the cantilever (19) at the two ends of the cross beam (20) can be adjusted, and the position of the gripper (18) on the cantilever (19) can also be adjusted; the demoulding driving device (23) can drive the cross beam (20) and the cantilever (19) to move up-down along the up-down moving device (22).

2. The machine according to claim 1, characterized in that: The punching workbench (2) is fixedly mounted on the machine body (1) and cannot be moved; the shaping workbench (4) is connected to the power system (5) and can move up and down driven by the power system (5).

3. The machine according to claim 2, characterized in that: The horizontal moving device (9), the up-and-down moving device (22) and the demoulding driving device (23) adopt a cylinder and a slide rail structure.

4. The machine according to any one of claims 1 to 3, characterized in that: The control system (7) is connected to the power system (5) and the manipulator (6) via a connecting line (8) and is used to control the actions of the power system (5) and the manipulator (6); the gripper (18) of the manipulator (6) is one or more power structures that can be opened and closed, and is controlled by the control system. When it moves to a specified position, it opens or clamps according to a set action, grasps or releases the semi-finished product; when the machine suddenly loses power, the control system controls all the power systems to remain in the position at the time of the power failure.

5. A method for shaping a foamed product using the machine according to any one of claims 1 to 4, characterized in that: The sheet is placed at the shaping position where the shaping die is installed, and the semi-finished product after the last shaping is placed at the punching position of the punching die; Perform shaping and blanking at the same time; Move the semi-finished products that have been finalized to the position where they are waiting for punching; Remove the finished part and the rough edges.

6. The method according to claim 5, characterized in that: The specific steps include: 1) placing a foaming material sheet (13) between an upper die (10) and a lower die (11) of a shaping die, and a robot (6) holding a semi-finished product (14) after the last shaping, in a position waiting for punching; 2) The robot (6) moves the semi-finished product (14) that has been shaped last time to the punching position between the punching table (2) and the intermediate table (3), and drives the intermediate table (3) to move, so that the punching die (12) locks the semi-finished product (14) that has been shaped; 3) the shaping workbench (4) moves toward the middle workbench (3), and after the upper die (10) and the lower die (11) of the shaping die are closed, the shaping workbench (4) continues to move, driving the middle workbench (3) to move toward the punching workbench (2), so that the punching die (12) moves, punches out the burrs (17) of the semi-finished product (14) after shaping, and obtains the finished product (16); 4) The molding die is maintained under pressure, the manipulator (6) drives the gripper (18) to move to the molding and pressure maintaining position, the gripper (18) grasps the semi-finished product (14) being molded, and waits for the molding and pressure maintaining time to reach the set value; 5) When the holding time of the shaping mold reaches the set value, the shaping workbench (4) moves away from the intermediate workbench (3), and the shaping mold opens; the gripper (18) grabs the semi-finished product (14) and separates it from the lower mold (11); 6) After the lower mold of the shaping mold moves into place, the robot (6) drives the shaped semi-finished product (14) to separate from the upper mold (10); 7) The robot (6) drives the semi-finished product (14) after shaping to move upward to the waiting position for blanking, waiting for the next cycle; 8) The intermediate workbench (3) moves away from the punching workbench (2), and the punching die (12) opens; 9) After the punching die (12) is opened in place, the punched finished product (16) and the burr (17) are taken away, completing one working cycle.

7. The method according to claim 6, characterized in that: During the first working cycle, there is no finished product between the punching workbench (2) and the intermediate workbench (3), the punching die (12) is in an open state, and there is no finalized semi-finished product (14) on the gripper (18), but the gripper is still in a gripping state.

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