A transfer device and production line for pulp molding manipulator

Abstract

The present invention relates to a transfer device and production line applied to a pulp molding manipulator. It solves the problems of low production efficiency in the prior art. A transfer device applied to a pulp molding manipulator comprises a wet blank transfer mold with a sealed air chamber inside, the front of the wet blank transfer mold is provided with at least one concave matching cavity that can be sleeved on the outside of a pulp wet blank container and is recessed toward the sealed air chamber side, the concave matching cavity matches the pulp wet blank container, and a plurality of connecting small holes are provided on the inner wall and the bottom of each concave matching cavity for connecting the concave matching cavity with the sealed air chamber, a movable frame parallel to the wet blank transfer mold is connected to the back of the wet blank transfer mold through a guide mechanism, and a driver is connected between the back of the wet blank transfer mold and the movable frame. The advantages of the present invention are: improving production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of pulp molding machinery, and in particular relates to a transfer device and a production line applied to a pulp molding robot. Background Art

[0002] Pulp molding products require cold extrusion and hot forming during the production process, and materials are transported between cold extrusion and hot forming by robots.

[0003] The existing pulp molding production robot is generally equipped with a transfer mold fixture to transfer the pulp molding wet blank to the mold or to obtain and release the pressed product. That is, only one action can be performed at a time, and the wet blank transfer and product acquisition and release cannot be completed at the same time, resulting in low production efficiency.

[0004] To this end, for example, a Chinese patent discloses a handling robot for a pulp molding machine, application number 201320735610.7, the robot has three degrees of freedom, can move in three directions of X, Y, and Z, the movement in the X direction (side shift) is achieved by two rodless cylinders and linear guides, and can accurately achieve positioning in three states, the movement in the Y direction (translation) and the movement in the Z direction (vertical lifting) are achieved by a motor and a lead screw, and can achieve accurate positioning at any position within the travel range, the grabbing and putting down of the steel pallet is achieved by turning the power on and off of the electromagnet, the robot can use the pallet to directly catch the goods produced by the pulp molding machine from the mold, and then place them on the trolley in order, and uniformly dry the goods, the robot has the characteristics of simple structure, easy manufacturing, low cost, and stable performance, can replace manual labor, and save labor and production costs.

[0005] Although the above-mentioned scheme has the above-mentioned many advantages, the above-mentioned scheme does not solve the above-mentioned technical problems. Summary of the invention

[0006] The object of the present invention is to solve the above-mentioned problems and provide a transfer device and a production line thereof applied to a pulp molding robot, which can greatly improve production efficiency.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A transfer device used in a pulp molding manipulator includes a wet blank transfer mold with a closed air chamber inside, the front of the wet blank transfer mold is provided with at least one concave matching cavity that can be sleeved on the outside of a pulp wet blank container and is recessed toward the closed air chamber side, the concave matching cavity matches the pulp wet blank container, and a plurality of connecting holes are respectively provided on the inner wall of each concave matching cavity and the bottom of the concave matching cavity for connecting the concave matching cavity with the closed air chamber, the connecting holes arranged on the inner wall of the concave matching cavity are evenly distributed on the circumference and surround at least one circle, the connecting holes arranged on the bottom of the concave matching cavity are evenly distributed on the circumference and surround at least one circle, a moving frame parallel to the wet blank transfer mold is connected to the back of the wet blank transfer mold through a guide mechanism, a driver is connected between the back of the wet blank transfer mold and the moving frame, and the driver drives the moving frame to move relative to the wet blank transfer mold, and a plurality of vacuum suction cups with even intervals are provided on the moving frame, and the vacuum suction cups and the closed air chamber are respectively connected to a vacuum pumping system.

[0009] Preferably, two circles are provided at the bottom of the concave matching cavity, and each circle is formed by a plurality of interconnected small holes evenly distributed in a circumference.

[0010] Preferably, a central small hole for connecting the concave matching cavity with the closed air chamber is provided at the center of the bottom of the concave matching cavity.

[0011] Preferably, the wet blank transfer mold includes a main template with a cavity on the back, the cavity has an opening connected to the outside, a plurality of concave matching cavities distributed in an array are provided on the front of the main template, and a plurality of connecting holes are respectively provided on the inner wall and the bottom of each concave matching cavity for connecting the concave matching cavity with a closed air chamber, a plurality of convex parts corresponding to the concave matching cavities one by one are provided on the inner bottom of the cavity, and the connecting holes penetrate the convex parts. The wet blank transfer mold also includes a closed template for closing the opening of the cavity, and the above-mentioned closed air chamber is formed between the main template and the closed template.

[0012] Preferably, the bottom of the chamber is provided with a reinforcing support structure in contact with a surface of the closed template close to the chamber.

[0013] Preferably, the reinforcing support structure includes a plurality of reinforcing support protrusions 1 with uniform lateral spacing, and a plurality of reinforcing support protrusions 2 with uniform longitudinal spacing, wherein the reinforcing support protrusion 1 is located on the same straight line and at the lateral center of the chamber, and the reinforcing support protrusion 2 is located on the same straight line and at the longitudinal center of the chamber, and the reinforcing support protrusion 1 and the reinforcing support protrusion 2 form a cross shape, and the end of the reinforcing support protrusion 1 away from the bottom of the chamber abuts against a surface of the closed template close to the chamber, and the end of the reinforcing support protrusion 2 away from the bottom of the chamber abuts against a surface of the closed template close to the chamber.

[0014] Preferably, a support plane 1 is provided at one end of each reinforcing support protrusion 1 abutting against the closed template, and a support plane 2 is provided at one end of each reinforcing support protrusion 2 abutting against the closed template, and the support plane 1 and support plane 2 are located in the same horizontal plane.

[0015] Preferably, the inner wall of the chamber is provided with a plurality of arc-shaped concave surfaces connected in sequence, and the inner convex parts located on the outermost sides of the inner convex parts correspond one to one with the arc-shaped concave surfaces.

[0016] Preferably, the guiding mechanism comprises a plurality of guide pillars which are parallel to each other and fixed at one end to the back of the wet blank transfer mold, a plurality of guide sleeve fixing holes and guide sleeves fixed on the guide sleeve fixing holes are provided on the movable frame, the guide sleeves are mounted on the guide pillars one by one and the guide sleeves and the guide pillars are slidably connected.

[0017] Preferably, the concave matching cavities are divided into six areas and four of the above areas are provided on the front side of the wet blank transfer mold.

[0018] Preferably, two adjacent reinforcing support protrusions 1 are connected by an arc-shaped connecting rib 1, there are two reinforcing support protrusions 2 located on the outside of the central reinforcing support protrusion 1, and each reinforcing support protrusion 2 is connected to the central reinforcing support protrusion 1 by an arc-shaped connecting rib 2.

[0019] Preferably, the main template and the closed template are connected via a detachable connecting structure.

[0020] Preferably, the detachable connecting structure includes an annular boss arranged in the circumference of the main template, the thickness of the annular boss is smaller than the thickness of the main template, the back side of the main template is flush with the back side of the annular boss, and locking bolts are respectively passed through each side of the closed template, the locking bolts pass through the nail holes of the annular boss and a locking nut is sleeved on the locking bolt, and the locking nut is in contact with the front side of the annular boss.

[0021] Preferably, a clearance notch communicating with the nail hole is provided on the front surface of the annular boss, and the locking nut is located in the clearance notch and contacts with the bottom surface of the clearance notch.

[0022] A pulp molding production line includes a pulp molding robot and at least one press, wherein a transfer device is connected to the pulp molding robot, an auxiliary frame located between a movable lower mold base and an upper mold base is provided on the press, and a lifting drive mechanism for driving the auxiliary frame to lift and lower in a vertical direction is provided on the press, the pulp molding robot forces the transfer device to extend between the movable lower mold base and the upper mold base, and the lifting drive mechanism drives the auxiliary frame to contact the transfer device and forces the transfer device to move vertically upward or downward.

[0023] Compared with the prior art, the advantages of the present invention are:

[0024] 1. Compared with the existing technology, the transfer of wet blanks and the removal of products can be carried out at the same time. The robot does not need to move. Through the direct-acting device in the device, the suction cup is extended to the product mold to take out the product, thereby achieving the purpose of transferring the wet blanks and products at the same time, greatly improving production efficiency.

[0025] 2. The transfer device has a simple structure and low manufacturing cost.

[0026] 3. The production line has greatly improved production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the transfer device provided by the present invention.

[0028] Figure 2 It is a schematic diagram of the front structure of the main template of the transfer device provided by the present invention.

[0029] Figure 3 It is a schematic diagram of the back structure of the main template of the transfer device provided by the present invention.

[0030] Figure 4 It is a schematic diagram of the transfer device and vacuum connection structure provided by the present invention.

[0031] Figure 5 It is a schematic diagram of the structure of the transfer device provided by the present invention after being installed on a robot.

[0032] Figure 6 It is a structural schematic diagram of state 1 of the transfer device provided by the present invention.

[0033] Figure 7 It is a structural schematic diagram of the transfer device state 2 provided by the present invention.

[0034] Figure 8 It is a schematic diagram of the production line structure provided by the present invention.

[0035] Fig. 9 It is a structural schematic diagram of the auxiliary frame provided by the present invention.

[0036] Fig.10 It is a structural schematic diagram of the auxiliary frame provided by the present invention being installed on a press.

[0037] Fig.11 It is a schematic diagram of the three-dimensional structure of the press provided by the present invention.

[0038] Fig.12 It is a schematic diagram of the structure of the press provided by the present invention.

[0039] In the figure, a closed air chamber 0, a wet blank transfer mold 10, an inner concave matching cavity 101, a connecting small hole 102, a central small hole 103, a main template 104, a chamber 1041, an inner convex portion 1042, a reinforcing support protrusion 1 1043, a reinforcing support protrusion 2 1044, a supporting plane 1 1045, a supporting plane 2 1046, an arc-shaped concave surface 1047, an arc-shaped connecting rib 1 1048, an arc-shaped connecting rib 2 1049, a closed template 105, an annular shoulder 106, a clearance gap 107, a guide mechanism 20, a guide column 201, a guide sleeve 202, a movable frame 30, a driver 40, a true Empty suction cup 50, vacuum system 60, pulp molding robot 3a, press 2a, transfer device Q, auxiliary frame N, auxiliary push plate 1, polygonal center through hole 11, arc chamfer 1 111, arc chamfer 2 112, cantilever boss 12, guide circular hole 121, reinforcement structure 13, transverse reinforcement rib 131, longitudinal reinforcement rib 132, lower base 2, vertical guide column 21, upper die seat 3, movable lower die seat 4, press main cylinder 41, lifting drive mechanism 5, fixed frame 51, strip hole 1 511, strip hole 2 512, fixed plate 513, bolt 1 514, cylinder 1 52. DETAILED DESCRIPTION

[0040] The following are specific embodiments of the invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0041] like Figure 1-4 As shown,

[0042] A transfer device used in a pulp molding robot includes a wet blank transfer mold 10 with a closed air chamber 0 inside. The front of the wet blank transfer mold 10 is provided with at least one concave matching cavity 101 that can be sleeved on the outside of a pulp wet blank container and is recessed toward the closed air chamber 0. The concave matching cavity 101 matches the pulp wet blank container. This structure can expand the contact surface with the pulp wet blank container and improve the material removal efficiency and stability.

[0043] On the inner wall of each concave matching cavity 101 and the bottom of the concave matching cavity 101, there are several connecting holes 102 respectively used to connect the concave matching cavity 101 with the closed air chamber 0. The connecting holes 102 arranged on the inner wall of the concave matching cavity 101 are evenly distributed on the circumference and surround at least one circle, and the connecting holes 102 arranged on the bottom of the concave matching cavity 101 are evenly distributed on the circumference and surround at least one circle. By designing at least one circle of connecting holes 102 at different positions, the stability of material collection can be ensured.

[0044] As an optimization solution, in this embodiment, two circles are provided at the bottom of the concave matching cavity 101 and each circle is formed by a plurality of interconnected small holes 102 evenly distributed in a circle.

[0045] Secondly, a central small hole 103 for connecting the concave matching cavity 101 with the sealed air chamber 0 is provided at the bottom center of the concave matching cavity 101 .

[0046] A movable frame 30 parallel to the wet blank transfer mold 10 is connected to the back side of the wet blank transfer mold 10 through a guide mechanism 20. The guide mechanism 20 here includes a plurality of guide posts 201 which are parallel to each other and fixed at one end to the back side of the wet blank transfer mold 10. The movable frame 30 is provided with a plurality of guide sleeve fixing holes and guide sleeves 202 fixed on the guide sleeve fixing holes. The guide sleeves 202 are mounted one by one on the guide posts 201 and the guide sleeves 202 and the guide posts 201 are slidably connected.

[0047] The coordinated cooperation between the guide sleeve 202 and the guide post 201 can further improve the smoothness and stability of lifting.

[0048] A driver 40 is connected between the back side of the wet blank transfer mold 10 and the moving frame 30 , and the driver 40 drives the moving frame 30 to move relative to the wet blank transfer mold 10 . The driver 40 is any one of an air cylinder, an oil cylinder and a linear motor.

[0049] A plurality of evenly spaced vacuum cups 50 are provided on the mobile frame 30, and the vacuum cups 50 and the closed air chamber 0 are respectively connected to a vacuum pumping system 60. The vacuum pumping system 60 includes a vacuum pumping pipeline and a vacuum pumping device connected to the vacuum pumping pipeline, and the vacuum pumping device is a commercial product.

[0050] That is, when the vacuum equipment is evacuating, the closed air chamber 0 is forced to be evacuated, and at this time, the connecting small hole 102 and the central small hole 103 can be used to suck the wet pulp container and transfer it to the molding mold, that is, the upper mold or the lower mold of the molding mold. At the same time, the vacuum suction cup 50 is lifted or lowered by the driver to absorb the pulp molded product after being molded by the molding mold, and the transfer and pick-up and placement actions can be completed at the same time, which greatly improves the production and processing efficiency.

[0051] To release, just switch the vacuum to air.

[0052] Specifically, the wet blank transfer mold 10 of this embodiment includes a main template 104 having a cavity 1041 on the back, the cavity 1041 has an opening connected to the outside, a plurality of concave matching cavities 101 distributed in an array are provided on the front of the main template 104, and a plurality of connecting holes 102 are respectively provided on the inner wall of each concave matching cavity 101 and the bottom of the concave matching cavity 101 for connecting the concave matching cavity 101 with the closed air chamber 0, a plurality of convex portions 1042 corresponding one-to-one to the concave matching cavities 101 are provided on the inner bottom of the cavity 1041, and the connecting holes 102 penetrate the convex portions 1042. The wet blank transfer mold 10 also includes a closed template 105 for closing the opening of the cavity 1041, and the above-mentioned closed air chamber 0 is formed between the main template 104 and the closed template 105.

[0053] The inner convex portion 1042 corresponds to the inner concave matching cavity 101, which can facilitate the development of the mold and reduce the difficulty of manufacturing.

[0054] The wet blank is not limited to the upper die, and the product is not limited to the lower die. That is to say, the wet blank can be transferred to the upper die or the lower die, and the corresponding product is taken out from the lower die or the upper die. The same device can achieve this purpose, and it can be loaded forward or reversed by the device, or flipped by the end joint of the manipulator.

[0055] Wet blank transfer or product transfer is done by vacuum suction. There is a closed air chamber in the wet blank mold, which is connected to the vacuum pipeline, and the suction cup is connected to the vacuum pipeline. Release the wet blank or product and convert the vacuum into air blowing.

[0056] like Figure 2-3 As shown, a reinforcing support structure is provided at the bottom of the chamber 1041, which contacts a surface of the closed template 105 close to the chamber 1041. Specifically, the reinforcing support structure of this embodiment includes a plurality of reinforcing support protrusions 1043 uniformly spaced laterally, and a plurality of reinforcing support protrusions 2 1044 uniformly spaced longitudinally, the reinforcing support protrusions 1043 are located on the same straight line and at the transverse center of the chamber 1041, the reinforcing support protrusions 2 1044 are located on the same straight line and at the longitudinal center of the chamber 1041, the reinforcing support protrusions 1043 and the reinforcing support protrusions 2 1044 form a cross, the end of the reinforcing support protrusion 1043 away from the bottom of the chamber 1041 abuts against a surface of the closed template 105 close to the chamber 1041, and the end of the reinforcing support protrusion 2 1044 away from the bottom of the chamber 1041 abuts against a surface of the closed template 105 close to the chamber 1041.

[0057] The reinforced support protrusion 1 1043 and the reinforced support protrusion 2 1044 can further improve the structural strength and extend the service life of the closed template 105.

[0058] A support plane 1045 is provided at one end of each reinforcing support protrusion 1043 that abuts against the closed template 105, and a support plane 2 1046 is provided at one end of each reinforcing support protrusion 1044 that abuts against the closed template 105, and the support plane 1045 and the support plane 2 1046 are located in the same horizontal plane.

[0059] The support plane can improve the stability and reliability of the contact.

[0060] A plurality of arc-shaped concave surfaces 1047 connected in sequence are provided on the inner wall of the chamber 1041 , and the outermost inner convex portions 1042 among the inner convex portions 1042 correspond one to one to the arc-shaped concave surfaces 1047 .

[0061] In addition, the concave matching cavities 101 of the present embodiment are divided into six areas and four of the above areas are provided on the front side of the wet blank transfer mold 10 .

[0062] Secondly, two adjacent reinforcing support protrusions 1043 are connected by an arc-shaped connecting rib 1048, and there are two reinforcing support protrusions 1044 located on the outside of the central reinforcing support protrusion 1043, and each reinforcing support protrusion 1044 and the central reinforcing support protrusion 1043 are connected by an arc-shaped connecting rib 1049.

[0063] In addition, in order to facilitate disassembly and assembly, the main template 104 and the closed template 105 of this embodiment are connected by a detachable connection structure. Specifically, the detachable connection structure includes an annular boss 106 arranged in the circumference of the main template 104, the thickness of the annular boss is less than the thickness of the main template 104, the back of the main template 104 is flush with the back of the annular boss, and locking bolts are respectively penetrated on each side of the closed template 105, the locking bolts pass through the nail holes of the annular boss and a locking nut is sleeved on the locking bolt, and the locking nut is in contact with the front of the annular boss.

[0064] A clearance notch 107 communicating with the nail hole is provided on the front side of the annular boss, and the locking nut is located in the clearance notch and contacts with the bottom surface of the clearance notch.

[0065] like Figure 1-12 As shown,

[0066] A pulp molding production line includes a pulp molding robot 3a and at least one press 2a, the press includes a lower base 2 and four vertical guide columns 21 connected to the top of the lower base 2, and an upper mold base 3 connected to the upper ends of the four vertical guide columns 21, and also includes a movable lower mold base 4 located directly below the upper mold base 3 and movably connected to the vertical guide columns 21, the movable lower mold base 4 is connected to a press main cylinder 41 and the press main cylinder 41 drives the movable lower mold base 4 to rise and fall axially along the vertical guide columns 21, the press main cylinder 41 is fixed at the center of the lower base 2, and the telescopic rod of the press main cylinder 41 is connected upward to the center of the lower surface of the movable lower mold base 4.

[0067] During production, the main cylinder 41 of the press drives the movable lower die base 4 to move up and down, and cooperates with the vertical guide column 21 to improve the stability and reliability of the lifting.

[0068] A transfer device Q is connected to the pulp molding robot 3a, and the transfer device Q is the above-mentioned "a transfer device applied to a pulp molding robot". An auxiliary frame N is provided on the press 2a and is located between the movable lower mold base 4 and the upper mold base 3. A lifting drive mechanism 5 for driving the auxiliary frame to rise and fall in the vertical direction is provided on the press. The pulp molding robot forces the transfer device to extend between the movable lower mold base and the upper mold base, and the lifting drive mechanism drives the auxiliary frame to contact the transfer device and forces the transfer device to move vertically upward or downward.

[0069] The auxiliary frame N includes an auxiliary push plate 1 which is arranged horizontally. The auxiliary push plate 1 is made of metal material or non-metal material. Any material that can meet the strength requirement can be adopted in this embodiment.

[0070] A polygonal central through hole 11 is provided on the auxiliary push plate 1. Preferably, the polygonal central through hole 11 of this embodiment is an octagonal through hole, which can be formed to insert and contact the mold jig, and force the mold jig to rise and fall under the action of the lifting drive mechanism.

[0071] Secondly, outer sides corresponding to the hole walls of the octagonal through holes are arranged around the auxiliary push plate 1, and the outer sides form an octagon.

[0072] Secondly, arc chamfers 111 are respectively provided at the upper and lower openings of the octagonal through hole, and arc chamfers 112 are respectively provided at both sides of each outer side.

[0073] Arc chamfers can avoid damaging molds or pulp products.

[0074] Two cantilever bosses 12 are respectively provided at the two ends of the auxiliary push plate 1, and each end is provided with a vertically arranged guide circular hole 121. A reinforcing structure 13 is provided between the two cantilever bosses 12 arranged at the same end.

[0075] Specifically, the above-mentioned reinforcement structure 13 includes a transverse reinforcement rib 131 connected between the above-mentioned two cantilever bosses 12, and the transverse reinforcement rib 131 is connected to the outer wall of the auxiliary push plate 1, and a longitudinal reinforcement rib 132 is provided in the middle of the transverse reinforcement rib 131, and the inner end of the longitudinal reinforcement rib 132 is connected to the outer wall of the auxiliary push plate 1.

[0076] The auxiliary push plate 1, the cantilever boss 12, the transverse reinforcing ribs 131 and the longitudinal reinforcing ribs 132 are integrally formed, which can improve the overall structural strength.

[0077] The lifting drive mechanism 5 drives the auxiliary push plate 1 to rise and fall between the movable lower die base 4 and the upper die base 3. At this time, the auxiliary push plate 1 can force the mold fixture connected to the manipulator to move up or down. The manipulator no longer needs to perform upward or downward thrust movements, which can ensure the reliability of the manipulator's work. At the same time, it also extends the service life of the manipulator, so that production can proceed continuously and smoothly, which is more in line with the production requirements of the enterprise.

[0078] The lifting drive mechanism 5 includes two fixed frames 51 respectively fixed on the top of the lower base 2, and a cylinder 52 is fixed in each fixed frame 51, and the telescopic rod of the cylinder 52 faces upward and is connected one by one to the middle of the lower surface of the transverse reinforcing rib 131.

[0079] The fixed frame body 51 comprises a rectangular frame body and is fixed vertically, a strip hole 1 511 is provided in the central area of ​​the upper end of the fixed frame body 51, a strip hole 2 512 is provided in the central area of ​​the lower end of the fixed frame body 51, the telescopic rod of the cylinder 1 52 passes through the strip hole 1 511 and a fixing plate 513 is sleeved on the upper end of the cylinder body of the cylinder 1 52, the fixing plate 513 is located on the upper surface of the orifice of the strip hole 1 511 and a plurality of bolts 1 514 are penetrated on the fixing plate 513, the bolts 1 514 are threadedly connected with the top threaded holes of the fixed frame body 51, and the lower end of the cylinder 1 52 passes through the strip hole 2 512.

[0080] The design of strip holes makes it easy to move and adjust the position.

[0081] When the press is operating, the movable lower die base 4 moves upward under the drive of the press main cylinder 41, and then the pulp product lower die on the movable lower die base 4 and the pulp product upper die on the upper die base 3 cooperate with each other to process the pulp product. After the processing is completed, the robot arm needs to obtain the pulp product, and the mold jig is installed on the robot arm to obtain the pulp product and release it to the next workstation through the mold jig. In the process of obtaining or releasing, the auxiliary push plate 1 is forced to rise and fall in the vertical direction through the lifting drive mechanism 5, that is, the auxiliary push plate 1 is mounted on the mold jig, which can assist the mold jig in rising and falling, thereby solving the alarm phenomenon caused by using the robot arm to force the mold jig to move upward or downward.

Claims

1. A transfer device for pulp molding manipulator, characterized in that: The device comprises a wet blank transfer mold with a sealed air chamber inside, the front of the wet blank transfer mold is provided with at least one concave matching cavity which can be sleeved on the outside of a wet pulp blank container and is recessed toward the sealed air chamber side, the concave matching cavity matches the wet pulp blank container, a plurality of connecting holes for connecting the concave matching cavity with the sealed air chamber are respectively arranged on the inner wall of each concave matching cavity and the bottom of the concave matching cavity, the connecting holes arranged on the inner wall of the concave matching cavity are evenly distributed on the circumference and surround to form at least one circle, the connecting holes arranged on the bottom of the concave matching cavity are evenly distributed on the circumference and surround to form at least one circle, a moving frame parallel to the wet blank transfer mold is connected to the back of the wet blank transfer mold through a guide mechanism, a driver is connected between the back of the wet blank transfer mold and the moving frame, and the driver drives the moving frame to move relative to the wet blank transfer mold, a plurality of vacuum suction cups with even intervals are arranged on the moving frame, and the vacuum suction cups and the sealed air chamber are respectively connected to a vacuum pumping system; The guide mechanism includes a plurality of guide pillars which are parallel to each other and one end of which is fixed on the back of the wet blank transfer mold. The movable frame is provided with a plurality of guide sleeve fixing holes and guide sleeves fixed on the guide sleeve fixing holes. The guide sleeves are mounted on the guide pillars one by one and the guide sleeves and the guide pillars are slidably connected.

2. The transfer device for pulp molding robot according to claim 1, characterized in that: Two circles are arranged at the bottom of the inner concave matching cavity, and each circle is formed by a plurality of interconnected small holes evenly distributed in a circle.

3. The transfer device for pulp molding robot according to claim 2, characterized in that: A central small hole for connecting the concave matching cavity with the closed air chamber is arranged at the center of the bottom of the concave matching cavity.

4. The transfer device for pulp molding robot according to claim 1, characterized in that: The wet blank transfer mold includes a main template with a cavity on the back, the cavity has an opening connected to the outside, a plurality of concave matching cavities distributed in an array are provided on the front of the main template, a plurality of convex parts corresponding to the concave matching cavities are provided on the inner bottom of the cavity, and connecting holes pass through the convex parts. The wet blank transfer mold also includes a closed template for closing the opening of the cavity, and the above-mentioned closed air chamber is formed between the main template and the closed template.

5. The transfer device for pulp molding robot according to claim 4, characterized in that: The bottom of the chamber is provided with a reinforcing support structure which contacts a surface of the closed template close to the chamber.

6. The transfer device for pulp molding robot according to claim 5, characterized in that: The reinforcing support structure includes a plurality of reinforcing support protrusions 1 with uniform lateral spacing, and a plurality of reinforcing support protrusions 2 with uniform longitudinal spacing. The reinforcing support protrusion 1 is located on the same straight line and at the lateral center of the chamber, and the reinforcing support protrusion 2 is located on the same straight line and at the longitudinal center of the chamber. The reinforcing support protrusion 1 and the reinforcing support protrusion 2 form a cross shape, and the end of the reinforcing support protrusion 1 away from the bottom of the chamber abuts against a surface of the closed template close to the chamber, and the end of the reinforcing support protrusion 2 away from the bottom of the chamber abuts against a surface of the closed template close to the chamber.

7. The transfer device for pulp molding robot according to claim 6, characterized in that: A support plane 1 is provided at one end of each reinforcing support protrusion 1 that abuts against the closed template, and a support plane 2 is provided at one end of each reinforcing support protrusion 2 that abuts against the closed template. The support plane 1 and the support plane 2 are located in the same horizontal plane.

8. The transfer device for pulp molding robot according to claim 6, characterized in that: The inner wall of the chamber is provided with a plurality of arc-shaped concave surfaces connected in sequence, and the inner convex parts located at the outermost sides of the inner convex parts correspond one to one with the arc-shaped concave surfaces.

9. A pulp molding production line, comprising a pulp molding robot and at least one press, characterized in that: The pulp molding robot is connected to the transfer device described in any one of claims 1 to 8, an auxiliary frame located between the movable lower mold base and the upper mold base is provided on the press, and a lifting drive mechanism for driving the auxiliary frame to rise and fall in the vertical direction is provided on the press. The pulp molding robot forces the transfer device to extend between the movable lower mold base and the upper mold base, and the lifting drive mechanism drives the auxiliary frame to contact the transfer device and forces the transfer device to move vertically upward or downward.

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