A reciprocating mobile mold clamping and opening manipulator

Abstract

The present invention discloses a reciprocating mobile mold clamping and opening manipulator, which includes a translation table arranged on a translation track and a mold opening arm mechanism arranged on the translation table. The translation table can be translated on the translation track under the drive of a translation motor. The mold opening arm mechanism includes a mold frame arm and a swing arm motor. The mold frame arm is arranged on the translation table through a swing shaft. The axial direction of the swing shaft is parallel to the direction in which the translation track is arranged, so that the mold frame arm can swing around the swing shaft in a vertical plane perpendicular to the direction in which the translation track is arranged under the drive of the swing arm motor. A mold clamping mechanism for grasping the mold frame is arranged on the mold frame arm. In the reciprocating mobile mold clamping and opening manipulator of the present invention, the mold opening arm mechanism can move synchronously with the foaming mold frame on the mold frame transmission mechanism under the drive of the translation motor along with the translation table, so as to realize the mold opening operation when the foaming mold frame moves.

Description

Technical Field

[0001] The present invention relates to a manipulator for opening and closing the upper and lower die carriers of a foaming die carrier. Background Art

[0002] Patent document CN 206170488 U discloses a manipulator for opening a door body foaming die carrier. This manipulator needs to be fixed on the die carrier conveying mechanism. The foaming die carrier needs to be conveyed to a specified position on the die carrier conveying mechanism before it can be opened by this manipulator. At this time, the entire die carrier conveying mechanism needs to stop operating. Every time the foaming die carrier undergoes the die opening operation of this manipulator, the entire die carrier conveying mechanism needs to stop and start once, that is, the conveying mechanism needs to stop and start frequently. On the one hand, this operation process is inefficient. On the other hand, the frequent stop and start of the conveying mechanism cause very large losses to the conveying mechanism and high energy consumption. In addition, the manipulator disclosed in patent document CN 206170488 U has a slow die opening speed because it needs to accurately align the pin on the manipulator with the pin hole on the foaming die carrier. Summary of the Invention

[0003] The problem to be solved by the present invention: Under the prior art, the die opening manipulator fixed on the die carrier conveying mechanism has low die opening efficiency, and requires the conveying mechanism to stop and start frequently, resulting in large equipment losses and high energy consumption.

[0004] To solve the above problems, the following solution is adopted in the present invention:

[0005] A reciprocating mobile die carrier opening and closing manipulator, including a translation table arranged on a translation track and a die opening arm mechanism arranged on the translation table; the translation table can be translated on the translation track under the drive of a translation motor; the die opening arm mechanism includes a die carrier arm and a swing arm motor; the die carrier arm is arranged on the translation table through a swing shaft; the axial direction of the swing shaft is parallel to the direction of the translation track, so that the die carrier arm can swing around the swing shaft in a vertical plane perpendicular to the direction of the translation track under the drive of the swing arm motor; a die grasping mechanism for grasping the die carrier is arranged on the die carrier arm.

[0006] Further, a half-moon gear is arranged on the die carrier arm; the swing arm motor is connected with a transmission gear meshing with the half-moon gear; the swing arm motor drives the die carrier arm to swing through the meshing of the transmission gear and the half-moon gear.

[0007] Furthermore, the translation track includes two mutually parallel first linear guide rails arranged on both sides of the base tabletop and a second linear guide rail arranged between the two first linear guide rails; the second linear guide rail is arranged on the side surface of the first square beam and is parallel to the first linear guide rail; the first square beam is arranged on the base tabletop, between the two first linear guide rails, and is parallel to the first linear guide rail; the translation table is arranged on the first linear guide rail and the second linear guide rail through sliders.

[0008] Furthermore, the translation track further includes a rack parallel to the first linear guide rail; the rack is arranged on the side surface of the second square beam such that the tooth surface of the rack is vertical; the second square beam is arranged on the base tabletop, between the two first linear guide rails, and is parallel to the first linear guide rail; the translation motor is arranged on the translation table and is connected with a translation gear meshing with the rack; the translation motor drives the translation table to translate along the translation track through the meshing of the translation gear and the rack.

[0009] Furthermore, the mold gripping mechanism includes a connected mold clamping tongue plate and a cylinder; the mold clamping tongue plate is arranged on the mold frame arm through a first linear positioning and guiding mechanism, such that the mold clamping tongue plate linearly expands and contracts under the positioning and guiding action of the first linear positioning and guiding mechanism and the driving of the cylinder.

[0010] Furthermore, there are two cylinders, namely a first cylinder and a second cylinder; the mold gripping mechanism further includes an intermediate translation plate; the first cylinder and the second cylinder are arranged back to back on the intermediate translation plate; the piston rod of the first cylinder is connected to the mold clamping tongue plate; the piston rod of the second cylinder is connected to the mold frame arm; the intermediate translation plate is arranged on the mold frame arm through a second linear positioning and guiding mechanism, such that the intermediate translation plate linearly expands and contracts under the driving of the second cylinder and the positioning and guiding action of the second linear positioning and guiding mechanism.

[0011] Furthermore, the mold frame arm includes two oppositely arranged and parallel arm side plates and several arm beams connecting the two arm side plates; the second linear positioning and guiding mechanism includes two parallel first translation clamping bars arranged on the intermediate translation plate and second translation clamping bars respectively arranged on both sides of the intermediate translation plate; the first translation clamping bars are closely attached to the arm side plates and are engaged with the arm side plates, so that the first translation clamping bars can translate relative to the arm side plates; the first translation clamping bars and the second translation clamping bars are longer than the intermediate translation plate, so that the front ends extend beyond the intermediate translation plate; a first clamping platform is arranged on the inner side of the part where the first translation clamping bar extends forward beyond the intermediate translation plate; a second sliding groove is arranged on the inner side of the part where the second translation clamping bar extends forward beyond the intermediate translation plate; the first linear positioning and guiding mechanism includes two parallel first L-shaped buckles arranged on the mold clamping tongue plate and first sliding bars respectively arranged on both sides of the mold clamping tongue plate; the first L-shaped buckles are in an L-shaped structure; the two first L-shaped buckles are respectively closely attached to the first translation clamping bars, are respectively buckled on the first clamping platforms, and can slide relative to the first translation clamping bars; the first sliding bars are stuck in the second sliding grooves, so that the first sliding bars can slide relative to the second translation clamping bars.

[0012] Furthermore, the mold frame arm further includes a root connecting plate; the root connecting plate is fixedly connected to the arm side plates through two parallel and oppositely arranged second L-shaped buckles; second sliding bars are respectively arranged on both sides of the root connecting plate; the rear ends of the first translation clamping bar and the second translation clamping bar extend beyond the intermediate translation plate; a second clamping platform is arranged on the inner side of the part where the first translation clamping bar extends backward beyond the intermediate translation plate; a third sliding groove is arranged on the inner side of the part where the second translation clamping bar extends backward beyond the intermediate translation plate; the second L-shaped buckles are in an L-shaped structure; the two second L-shaped buckles are respectively closely attached and buckled on the second clamping platforms, so that the rear end part of the first translation clamping bar is stuck between the second L-shaped buckles and the arm side plates, is located on the root connecting plate, and can slide relative to the root connecting plate; the second sliding bars are stuck in the third sliding grooves, so that the second translation clamping bar can slide relative to the second sliding bars.

[0013] Furthermore, a number of linearly arranged bolt holes are arranged on the arm side plates; plugs are arranged in the bolt holes; a first sliding groove is arranged on the outer side of the first translation clamping bar; by inserting the plugs into the first sliding groove, the first translation clamping bar is engaged with the arm side plates.

[0014] Further, the first translation bar includes an inner attaching plate and a bottom bar; the inner attaching plate and the bottom bar form an L-shaped structure; the inner attaching plate is closely attached to the inner side of the boom side plate; the bottom bar is closely attached to the bottom of the boom side plate; the first chute is arranged on the outer side of the inner attaching plate; the first platform is arranged on the inner side of the front end of the inner attaching plate.

[0015] The technical effects of the present invention are as follows: The mold opening arm mechanism can move synchronously with the foaming mold on the mold frame conveying mechanism under the drive of the translation motor along with the translation table, so as to realize the mold opening operation when the foaming mold moves. Description of the Drawings

[0016] Figure 1 is the overall structural schematic diagram of the embodiment of the present invention.

[0017] Figure 2 is Figure 1 the partial structural schematic diagram after hiding the structure of the perspective view pointed by arrow B.

[0018] Figure 3 is the overall structural schematic diagram of the mold opening arm mechanism.

[0019] Figure 4 is the structural schematic diagram of the upper perspective view of the mold frame arm.

[0020] Figure 5 is the structural schematic diagram of the lower perspective view of the mold frame arm.

[0021] Figure 6 is the structural schematic diagram of the first translation bar engaged with the boom side plate, and is the partial cross-sectional view along the center of the pin hole pointed by arrow A in Figure 5 the figure.

[0022] Figure 7 is the overall structural schematic diagram of the first translation bar.

[0023] Figure 8 is the structural schematic diagram of the foaming mold.

[0024] Among them,

[0025] 1 is the base, 2 is the translation track, 21 is the first linear guide rail, 211 is the limit block, 22 is the second linear guide rail, 23 is the first square beam, 24 is the rack, 25 is the second square beam;

[0026] 3 is the translation table, 31 is the slider, 32 is the translation motor, 33 is the translation gear, 34 is the manipulator bracket, 341 is the bracket plate, 342 is the bracket bottom plate, 343 is the bracket cross beam;

[0027] 4 is the mold opening arm mechanism, 41 is the mold base arm, 411 is the side plate of the arm, 412 is the arm beam, 413 is the root connecting plate, 414 is the second L-shaped buckle, 415 is the second slide bar, 416 is the pin hole, 419 is the strengthening beam, 42 is the swing arm motor, 421 is the motor bracket, 43 is the swing shaft, 44 is the semi-circular gear, 45 is the transmission gear;

[0028] 5 is the mold grasping mechanism, 501 is the first linear positioning and guiding mechanism, 502 is the second linear positioning and guiding mechanism, 51 is the mold clamping tongue plate, 511 is the first L-shaped buckle, 512 is the first slide bar, 518 is the cylinder connecting block, 519 is the guiding chamfer, 52 is the cylinder, 521 is the first cylinder, 522 is the second cylinder, 53 is the intermediate translation plate, 531 is the first translation clamping strip, 5311 is the inner attaching plate, 5312 is the bottom clamping strip, 5313 is the first sliding groove, 5314 is the second clamping platform, 5315 is the first clamping platform, 532 is the second translation clamping strip, 5321 is the second sliding groove, 5322 is the third sliding groove, 54 is the plug;

[0029] 9 is the foaming mold base, 91 is the lower mold base, 92 is the upper mold base, 93 is the mold base handle mechanism, 931 is the handle bracket, 932 is the clamping plate roller, 933 is the clamping plate gap. Specific embodiments

[0030] The present invention will be further described in detail below with reference to the accompanying drawings.

[0031] As Figure 1 , Figure 2 shown, a reciprocating mobile mold opening and closing manipulator is arranged on the side of the mold base conveying mechanism and is used for performing mold opening operations on the foaming mold base conveyed on the mold base conveying mechanism, and includes a base 1, a translation track 2, a translation table 3 and a mold opening arm mechanism 4. Among them, the base 1 is in a long strip shape and is arranged along the side of the mold base conveying mechanism; the translation track 2 is arranged on the table surface of the base 1 and is parallel to the conveying direction of the foaming mold base 9 on the mold base conveying mechanism; the translation table 3 is arranged on the translation track 2 and can move along the translation track 2; the mold opening arm mechanism 4 is arranged on the translation table 3 and can move along with the movement of the translation table 3.

[0032] The translation track 2 includes a first linear guide rail 21, a second linear guide rail 22 and a rack 24 that are parallel to each other. Among them, there are two first linear guide rails 21; the two first linear guide rails 21 are respectively arranged on both sides of the tabletop of the base 1. Limit blocks 211 are respectively arranged at both ends of the first linear guide rail 21. The second linear guide rail 22 is arranged on the first beam 23 and is located on the side of the first beam 23. The rack 24 is arranged on the side of the second beam 25, so that the tooth surface of the rack 24 is vertical. The first beam 23 and the second beam 25 are parallel to the first linear guide rail 21 and are arranged between the two first linear guide rails 21. Both the first linear guide rail 21 and the second linear guide rail 22 are slide rails. The translation table 3 is arranged on the first linear guide rail 21 and the second linear guide rail 22 through the sliders 31 at the bottom. The rack 24 meshes with the translation gear 33. The translation gear 33 is connected to the translation motor 32 through a speed reducer. The translation motor 32 and the translation gear 33 are arranged on the translation table 3. Thus, driven by the translation motor 32, the translation table 3 is driven to translate along the translation track 2 through the meshing of the translation gear 33 and the rack 24. The translation direction of the translation table 3 is the same as the conveying direction of the foaming mold base on the mold conveying mechanism.

[0033] Refer to Figure 3 , the mold opening arm mechanism 4 is arranged on the translation table 3 through the manipulator bracket 34. The manipulator bracket 34 includes two parallel and oppositely arranged bracket plates 341. The two bracket plates 341 are vertically arranged on the translation table 3 through the bracket bottom plate 342. The plate surface of the bracket plate 341 is perpendicular to the conveying direction on the mold conveying mechanism, that is, the plate surface of the bracket plate 341 is perpendicular to the first linear guide rail 21. A number of bracket cross beams 343 are arranged between the two bracket plates 341 for fixation.

[0034] Refer to Figure 4 and Figure 5, the mold opening arm mechanism 4 includes a mold frame arm 41 and a swing arm motor 42. The mold frame arm 41 is arranged on the translation table 3 through a swing shaft 43. Specifically, the mold frame arm 41 is arranged on the swing shaft 43, and the swing shaft 43 is arranged at the top of two support plates 341 through bearings. The mold frame arm 41 can swing around the swing shaft 43. The axis of the swing shaft 43 is perpendicular to the plate surface of the support plate 341, which also means that the axis of the swing shaft 43 is parallel to the direction in which the foam mold frame is conveyed on the mold frame conveying mechanism and the direction in which the translation track 2 is arranged. Thus, when the mold frame arm 41 swings around the swing shaft 43, the mold frame arm 41 swings in a vertical plane perpendicular to the direction in which the translation track 2 is arranged. A semi-circular gear 44 with the swing shaft 43 as the axis is arranged on the mold frame arm 41. The swing arm motor 42 is arranged on the translation table 3. Specifically, the swing arm motor 42 is arranged on a motor support 421, and the motor support 421 is arranged on the translation table 3. The swing arm motor 42 is connected with a transmission gear 45 through a reducer. The transmission gear 45 meshes with the semi-circular gear 44. Thus, driven by the swing arm motor 42, through the meshing transmission of the transmission gear 45 and the semi-circular gear 44, the mold frame arm 41 is driven to swing around the swing shaft 43 in a vertical plane perpendicular to the direction in which the translation track 2 is arranged.

[0035] The mold frame arm 41 includes two arm frame side plates 411. The arm frame side plates 411 are long strip-shaped plates, and one end is connected to the swing shaft 43. The two arm frame side plates 411 are parallel to each other and vertically opposite. A number of arm frame beams 412 are connected between the two arm frame side plates 411, and a root connecting plate 413 is connected to the bottom of the two arm frame side plates 411. Through the connection of the root connecting plate 413 and the arm frame beams 412, the two arm frame side plates 411 form a long strip-shaped arm body frame with a square cross-section.

[0036] A mold grasping mechanism 5 for grasping the mold is arranged on the mold frame arm 41. The mold grasping mechanism 5 includes a mold clamping tongue plate 51 and a cylinder 52. The mold clamping tongue plate 51 is connected to the cylinder 52 and is arranged on the mold frame arm 41 through a first linear positioning and guiding mechanism 501, so that the mold clamping tongue plate 51 can perform linear translation and telescoping under the drive of the cylinder 52 and the positioning and guiding action of the first linear positioning and guiding mechanism 501. In this embodiment, there are two cylinders 52, namely a first cylinder 521 and a second cylinder 522. After the two cylinders 52 are connected in series, a two-end telescopic movement of the mold clamping tongue plate 51 is formed.

[0037] Specifically, the mold gripping mechanism 5 further includes an intermediate translation plate 53. The intermediate translation plate 53 is arranged on the mold frame arm 41 through a second linear clamping and guiding mechanism 502 and can be translated under the clamping and guiding action of the second linear clamping and guiding mechanism 502. The mold clamping tongue plate 51 is connected to the intermediate translation plate 53 through a first linear clamping and guiding mechanism 501. The translation and telescopic direction of the mold clamping tongue plate 51 is the same as the translation direction of the intermediate translation plate 53. The first air cylinder 521 and the second air cylinder 522 are both arranged on the intermediate translation plate 53. The first air cylinder 521 and the second air cylinder 522 are arranged on the same central axis and are arranged back to back. Among them, the piston rod of the first air cylinder 521 is connected to the mold clamping tongue plate 51 through an air cylinder connection block 518, and the piston rod of the second air cylinder 522 is connected to the mold frame arm 41. Thus, the intermediate translation plate 53 can be linearly translated and telescoped under the drive of the second air cylinder 522 and the clamping and guiding action of the second linear clamping and guiding mechanism 502, and the mold clamping tongue plate 51 can be linearly translated and telescoped relative to the intermediate translation plate 53 under the drive of the first air cylinder 521 and the clamping and guiding action of the first linear clamping and guiding mechanism 501.

[0038] More specifically, the mold clamping tongue plate 51 and the intermediate translation plate 53 are plate bodies with the same width and thickness as the root translation plate 413. The root translation plate 413, the intermediate translation plate 53, and the mold clamping tongue plate 51 are arranged in sequence on the same plane below the mold frame arm 41, with their side edges flush. The root translation plate 413, the intermediate translation plate 53, and the mold clamping tongue plate 51 are perpendicular to the arm frame side plates 411, and the central axis of the arrangement direction of the root translation plate 413, the intermediate translation plate 53, and the mold clamping tongue plate 51 is located on the central plane between the two arm frame side plates 411. The widths of the root translation plate 413, the intermediate translation plate 53, and the mold clamping tongue plate 51 are greater than that of the mold frame arm 41, so that the root translation plate 413, the intermediate translation plate 53, and the mold clamping tongue plate 51 all protrude from the arm frame side plates 411. The second linear clamping and guiding mechanism 502 includes two first translation clamping bars 531 and two second translation clamping bars 532. The two first translation clamping bars 531 are arranged on the intermediate translation plate 53, parallel to each other and arranged back to back. The two second translation clamping bars 532 are respectively arranged on the two side edges of the intermediate translation plate 53. The first translation clamping bar 531 and the second translation clamping bar 532 are both longer than the intermediate translation plate 53. Thus, both the front and rear ends extend beyond the intermediate translation plate 53. The first translation clamping bar 531 is slidably clamped with the arm frame side plate 411, and the part of the first translation clamping bar 531 that extends beyond the intermediate translation plate 53 at the rear end is slidably clamped with the root translation plate 413, and the part of the first translation clamping bar 531 that extends beyond the intermediate translation plate 53 at the front end is slidably clamped with the mold clamping tongue plate 51. The part of the second translation clamping bar 532 that extends beyond the intermediate translation plate 53 at the rear end is slidably clamped with the side edge of the root translation plate 413. The part of the second translation clamping bar 532 that extends beyond the intermediate translation plate 53 at the front end is slidably clamped with the side edge of the mold clamping tongue plate 51.

[0039] The sliding engagement between the first translation strip 531 and the boom side plate 411 can be achieved through the structure of the sliding strip and the sliding groove. In this embodiment, the sliding engagement between the first translation strip 531 and the boom side plate 411 adopts the Figure 6 shown structure. Refer to Figure 6 and Figure 7 . The first translation strip 531 includes an inner attaching plate 5311 and a bottom strip 5312. The inner attaching plate 5311 and the bottom strip 5312 form an L-shaped structure. The inner attaching plate 5311 is closely attached to the inner side of the boom side plate 411. The bottom strip 5312 is closely attached to the bottom of the boom side plate 411. A first sliding groove 5313 is arranged on the outer side of the inner attaching plate 5311. The first sliding groove 5313 is parallel to the intermediate parallel plate 53. A number of bolt holes 416 arranged in a straight line are provided on the boom side plate 411. A plug 54 is arranged in the bolt hole 416. Through a number of plugs 54 arranged in a straight line extending into the first sliding groove 5313, the first translation strip 531 is slidably engaged with the boom side plate 411. In this embodiment, the plug 54 adopts a bolt with a flattened end. That is, the plug 54 is a bolt with the thread in the part extending into the first sliding groove 5313 being flattened.

[0040] For the structure of the sliding engagement between the rear end of the first translation strip 531 and the root translation plate 413, refer to Figure 5 . The root connecting plate 413 is fixedly connected to the boom side plate 411 through two second L-shaped buckles 414 arranged in parallel and facing away from each other. Refer to Figure 7 . On the inner side of the inner attaching plate 5311 of the first translation strip 531 that extends beyond the intermediate parallel plate 53 backward, a second clamping platform 5314 that cooperates with the second L-shaped buckle 414 is provided. The second L-shaped buckle 414 has an L-shaped structure. The two second L-shaped buckles 414 are respectively closely attached and buckled on the second clamping platform 5314, so that the rear end part of the first translation strip 531 is clamped between the second L-shaped buckle 414 and the boom side plate 411 and is located on the root connecting plate 413. That is, the second L-shaped buckle 414 forms a front-back sliding channel between the boom side plate 411 and the root translation plate 413, and the rear end of the first translation strip 531 is clamped in the sliding channel and slides.

[0041] For the structure of the sliding engagement between the part of the second translation strip 532 that extends beyond the intermediate parallel plate 53 and the side of the root translation plate 413, refer to Figure 5 . A second sliding strip 415 is provided on the side of the root translation plate 413. On the inner side of the part of the second translation strip 532 that extends beyond the intermediate parallel plate 53, a third sliding groove 5322 that cooperates with the second sliding strip 415 is provided. The second sliding strip 415 is clamped in the third sliding groove 5322, so that the second translation strip 532 can slide relative to the second sliding strip 415.

[0042] The portions of the front ends of the first translation card strip 531 and the second translation card strip 532 that extend beyond the middle translation plate 53 are slidably engaged with the card die tongue plate 51 through the first linear card position guiding mechanism 501. Refer to Figure 4 and Figure 7 The first linear card position guiding mechanism 501 includes two first L-shaped fastening strips 511 and two first sliding strips 512. The two first L-shaped fastening strips 511 are arranged in parallel and opposite to each other on the card die tongue plate 51, and the two first sliding strips 512 are respectively arranged on the two side edges of the card die tongue plate 51. An inner side of the inner attachment plate 5311 of the front end of the first translation card strip 531 that extends beyond the middle translation plate 53 is provided with a first card table 5315 that cooperates with the first L-shaped fastening strip 511. An inner side of the portion of the front end of the second translation card strip 532 that extends beyond the middle translation plate 53 is provided with a second sliding groove 5321 that cooperates with the first sliding strip 512. The first L-shaped fastening strip 511 has an L-shaped structure. The two first L-shaped fastening strips 511 are respectively closely attached and buckled on the first card table 5315, so that the front end portion of the first translation card strip 531 is stuck between the second L-shaped fastening strip 414 and the boom side plate 411, and is located on the card die tongue plate 51 and can slide relative to the first translation card strip 531. The first sliding strip 512 is stuck in the second sliding groove 5321, so that the card die tongue plate 51 can slide relative to the second translation card strip 532.

[0043] The card die tongue plate 51 is matched with the die frame handle mechanism. As Figure 8 shown, the foaming die frame 9 includes an upper die frame 92 and a lower die frame 91. The upper die frame 92 and the lower die frame 91 are connected by a hinge. A die frame handle mechanism 93 is arranged on the upper die frame 92. The die frame handle mechanism 93 includes a handle bracket 931 and a card plate roller 932. The two handle brackets 931 are arranged opposite to each other on the upper die frame 92. The two card plate rollers 932 are respectively arranged on the inner sides of the tops of the two handle brackets 931, and a card plate gap 933 is formed between the card plate roller 932 and the upper die frame 92. The card die tongue plate 51 is matched with the die frame handle mechanism 93. In this embodiment, it means that the widths of both sides of the card die tongue plate 51 are matched with the distance between the two handle brackets 931, so that the card die tongue plate 51 can be inserted into the card plate gap 933, and the upper sides of both sides of the card die tongue plate 51 are respectively stuck by the card plate rollers 932. In this embodiment, in order to facilitate the card die tongue plate 51 to be inserted into the card plate gap 933, guiding chamfers 519 are arranged at positions corresponding to the card plate rollers 932 on both sides of the card die tongue plate 51.

[0044] When the reciprocating mobile mold clamping and opening manipulator of this embodiment performs the mold opening operation, the mold opening arm mechanism 4 can move synchronously with the foaming mold 9 on the mold transfer mechanism as the translation table 3 is driven by the translation motor 32. When the translation table 3 moves from one end of the translation track 2 to the other end, at least one complete mold opening action can be completed, causing the upper mold 92 of the corresponding foaming mold 9 to flip open. After the upper mold 92 of the foaming mold 9 is opened, the translation table 3 returns to the starting end of the translation track 2 to prepare for the mold opening operation on the next foaming mold. Thus, during mold opening, the mold transfer mechanism for conveying the foaming mold 9 does not need to start or stop. For the mold opening operation, first, the clamping tongue plate 51 is extended by a certain distance through the first cylinder 521 to facilitate alignment with the mold handle mechanism 93. When the clamping tongue plate 51 and the mold handle mechanism 93 are aligned, the clamping tongue plate 51 is inserted into the clamping plate gap 933 through the second cylinder 522.

[0045] Furthermore, in this embodiment, a reinforcing beam 419 is provided on the outer side of the boom side plate 411 to strengthen the physical strength of the mold arm 41.

[0046] In addition, in this embodiment, the clamping tongue plate 51 and the root connecting plate 413 are symmetric front and back, and their mating structures with the intermediate translation plate 53 are also symmetric. That is, the first L-shaped buckle 511 corresponds to the second L-shaped buckle 414, the first slide bar 512 corresponds to the second slide bar 415, and the connection structure between the first cylinder 521 and the clamping tongue plate 51 is symmetric with the connection structure between the second cylinder 522 and the mold arm 41. Specifically, a second cylinder connection block corresponding to the cylinder connection block 518 is provided on the root connecting plate 413. Through this second cylinder connection block, the piston rod of the second cylinder 522 is connected to the root connecting plate 413. The second cylinder connection block is not shown in each figure, but it does not prevent those skilled in the art from understanding. Thus, through this symmetric structural design in the front and back directions, the assembly complexity of the entire mold grasping mechanism 5 can be simplified.

Claims

1. A reciprocating mobile mold clamping and opening manipulator, characterized in that, It includes a translation stage (3) arranged on a translation track (2) and a mold opening arm mechanism (4) arranged on the translation stage (3); the translation stage (3) can be translated on the translation track (2) under the drive of a translation motor (32); the mold opening arm mechanism (4) includes a mold frame arm (41) and a swing arm motor (42); the mold frame arm (41) is arranged on the translation stage (3) through a swing shaft (43); the axial direction of the swing shaft (43) is parallel to the direction in which the translation track (2) is arranged, so that the mold frame arm (41) can swing around the swing shaft (43) in a vertical plane perpendicular to the direction in which the translation track (2) is arranged under the drive of the swing arm motor (42); a mold gripping mechanism (5) for gripping the mold frame is arranged on the mold frame arm (41); a half-moon gear (44) is arranged on the mold frame arm (41); the swing arm motor (42) is connected with a transmission gear (45) meshing with the half-moon gear (44); the swing arm motor (42) drives the mold frame arm (41) to swing through the meshing of the transmission gear (45) and the half-moon gear (44); the translation track (2) includes two mutually parallel first linear guide rails (21) arranged on both sides of the tabletop of the base (1) and a second linear guide rail (22) arranged between the two first linear guide rails (21); the second linear guide rail (22) is arranged on the side of a first square beam (23) and is parallel to the first linear guide rail (21); the first square beam (23) is arranged on the tabletop of the base (1), located between the two first linear guide rails (21) and is parallel to the first linear guide rail (21); the translation stage (3) is arranged on the first linear guide rail (21) and the second linear guide rail (22) through sliders (31); the mold gripping mechanism (5) includes a mold clamping tongue plate (51) and a cylinder (52) connected to each other; the mold clamping tongue plate (51) is arranged on the mold frame arm (41) through a first linear positioning and guiding mechanism (501), so that the mold clamping tongue plate (51) linearly expands and contracts under the positioning and guiding action of the first linear positioning and guiding mechanism (501) and the drive of the cylinder (52); there are two cylinders (52), namely a first cylinder (521) and a second cylinder (522); the mold gripping mechanism (5) further includes an intermediate translation plate (53); the first cylinder (521) and the second cylinder (522) are arranged back to back on the intermediate translation plate (53); the piston rod of the first cylinder (521) is connected to the mold clamping tongue plate (51); the piston rod of the second cylinder (522) is connected to the mold frame arm (41); the intermediate translation plate (53) is arranged on the mold frame arm (41) through a second linear positioning and guiding mechanism (502), so that the intermediate translation plate (53) linearly expands and contracts under the drive of the second cylinder (522) and the positioning and guiding action of the second linear positioning and guiding mechanism (502).The die carrier arm (41) includes two relatively arranged and parallel arm side plates (411), and a number of arm beams (412) connecting the two arm side plates (411); the second linear position-limiting and guiding mechanism (502) includes two parallel first translation clamping bars (531) arranged on the intermediate translation plate (53) and second translation clamping bars (532) respectively arranged on both sides of the intermediate translation plate (53); the first translation clamping bar (531) is in close contact with the arm side plate (411) and engages with the arm side plate (411), so that the first translation clamping bar (531) can translate relative to the arm side plate (411); the first translation clamping bar (531) and the second translation clamping bar (532) are longer than the intermediate translation plate (53), so that the front end extends beyond the intermediate translation plate (53); a first clamping platform (5315) is arranged on the inner side of the part where the first translation clamping bar (531) extends forward beyond the intermediate translation plate (53); a second sliding groove (5321) is arranged on the inner side of the part where the second translation clamping bar (532) extends forward beyond the intermediate translation plate (53); the first linear position-limiting and guiding mechanism (501) includes two parallel first L-shaped fastening bars (511) arranged on the die clamping tongue plate (51) and first sliding bars (512) respectively arranged on both sides of the die clamping tongue plate (51); the first L-shaped fastening bar (511) has an L-shaped structure; the two first L-shaped fastening bars (511) are respectively in close contact with the first translation clamping bar (531), and are respectively buckled on the first clamping platform (5315) and can slide relative to the first translation clamping bar (531); the first sliding bar (512) is stuck in the second sliding groove (5321), so that the first sliding bar (512) can slide relative to the second translation clamping bar (532).; 2. The reciprocating mobile mold clamping and opening manipulator according to claim 1, characterized in that, The translation track (2) further includes a rack (24) parallel to the first linear guide rail (21); the rack (24) is arranged on the side surface of the second square beam (25) such that the tooth surface of the rack (24) is vertical; the second square beam (25) is arranged on the table surface of the base (1), between the two first linear guide rails (21), and parallel to the first linear guide rail (21); the translation motor (32) is arranged on the translation table (3) and is connected with a translation gear (33) meshing with the rack (24); the translation motor (32) drives the translation table (3) to translate along the translation track (2) through the meshing of the translation gear (33) and the rack (24).

3. The reciprocating mobile mold clamping and opening manipulator according to claim 1, characterized in that, The mold clamping arm (41) further includes a root connecting plate (413); the root connecting plate (413) is fixedly connected with the arm side plate (411) through two second L-shaped fastening strips (414) arranged in parallel and facing away from each other; second sliding strips (415) are respectively arranged on both sides of the root connecting plate (413); the rear ends of the first translation clamping strip (531) and the second translation clamping strip (532) extend beyond the intermediate translation plate (53); a second clamping platform (5314) is arranged on the inner side of the part where the first translation clamping strip (531) extends rearward beyond the intermediate translation plate (53); a third sliding groove (5322) is arranged on the inner side of the part where the second translation clamping strip (532) extends rearward beyond the intermediate translation plate (53); the second L-shaped fastening strip (414) has an L-shaped structure; the two second L-shaped fastening strips (414) are respectively closely buckled and inverted on the second clamping platform (5314), so that the rear end part of the first translation clamping strip (531) is clamped between the second L-shaped fastening strip (414) and the arm side plate (411), is located on the root connecting plate (413), and can slide relative to the root connecting plate (413); the second sliding strip (415) is clamped in the third sliding groove (5322), so that the second translation clamping strip (532) can slide relative to the second sliding strip (415).

4. The reciprocating mobile mold clamping and opening manipulator according to claim 1, characterized in that, A number of bolt holes (416) arranged in a straight line are arranged on the arm side plate (411); plugs (54) are arranged in the bolt holes (416); a first sliding groove (5313) is arranged on the outer side of the first translation clamping strip (531); by inserting the plug (54) into the first sliding groove (5313), the first translation clamping strip (531) is clamped with the arm side plate (411).

5. The reciprocating mobile mold clamping and opening manipulator according to claim 4, characterized in that, The first translation strip (531) includes an inner attaching plate (5311) and a bottom strip (5312); the inner attaching plate (5311) and the bottom strip (5312) form an L-shaped structure; the inner attaching plate (5311) is closely attached to the inner side of the boom side plate (411); the bottom strip (5312) is closely attached to the bottom of the boom side plate (411); the first chute (5313) is arranged on the outer side of the inner attaching plate (5311); the first clamping platform (5315) is arranged on the inner side of the forward end of the inner attaching plate (5311).

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