Articulated robot with net transfer paper mold production line

Abstract

The invention discloses a paper mold production line with a web transfer by an articulated robot, comprising an articulated robot, a web frame loading and unloading mechanism installed at the end joint of the articulated robot, and a wet blank forming machine, a dry blank forming machine and a material taking robot arranged on the side of the articulated robot. The web frame loading and unloading mechanism comprises a mechanism frame, a first vacuum suction head and a second vacuum suction head, the wet blank forming machine comprises a wet blank frame, a lifting mechanism, a wet blank upper mold, a web frame supporting mechanism located on the side of the wet blank upper mold, a pulp pool located directly below the wet blank upper mold, and a pulp scooping lower mold located between the wet blank upper mold and the pulp pool; the articulated robot drives the first vacuum suction head to place an empty web frame on the web frame supporting mechanism at a supporting position, the articulated robot also drives the second vacuum suction head to suck away the web frame on the pulp scooping lower mold, and the web frame supporting mechanism places the empty web frame on the pulp scooping lower mold driven by the lifting mechanism when in the avoidance position, so as to ensure reliable and smooth transfer of the web frame while reducing the waste of air source.

Description

Technical Field

[0001] The present invention relates to the field of paper mold production (such as but not limited to disposable tableware and disposable work bags), and in particular to an articulated robot with a net transfer paper mold production line. Background Art

[0002] With the continuous development of economy and the continuous progress of science and technology, people's lives are provided with extremely rich material consumer goods, and paper molds made of ecological plant fiber pulp are one of the many material consumer goods.

[0003] As we all know, paper molds can be divided into tableware (such as but not limited to disposable fast food boxes), drinkware (such as but not limited to disposable cups) and industrial bags (such as but not limited to disposable packaging containers). Whether it is tableware, drinkware or industrial bags, their production processes are inseparable from the wet blank forming step, the step of drying the wet blank to form a dry blank, the step of trimming the dry blank to form a product, and the step of transferring the wet blank and the dry blank.

[0004] Among them, in the transfer process of wet blanks and dry blanks, the use of transfer manipulators is indispensable. Through the vacuum adsorption of wet blanks by wet blank profiling jigs that match the shape of wet blanks and dry blank profiling jigs that match the shape of dry blanks, the wet blanks are taken away from the wet blank forming machine and placed in the dry blank forming machine. At the same time, the dry blanks at the dry blank forming machine are taken away and transferred to the subsequent places (such as the stacking receiving table or trimming machine). Since the transfer of wet blanks requires the vacuum adsorption of wet blanks by wet blank profiling jigs, and the transfer of dry blanks requires the vacuum adsorption of dry blanks by dry blank profiling jigs, there will be more or less gaps in both wet and dry blanks, which will cause waste of air sources at the wet blank profiling jigs and dry blank profiling jigs.

[0005] Therefore, it is necessary to provide an articulated robot with a net transfer paper mold production line that reduces air source waste to overcome the above-mentioned defects. Summary of the invention

[0006] The purpose of the present invention is to provide an articulated robot with a net transfer type paper mold production line which reduces the waste of air source.

[0007] To achieve the above-mentioned purpose, the technical solution of the present invention is: to provide an articulated robot with a net transfer type paper mold production line, including an articulated robot, a net frame loading and unloading mechanism installed at the end joint of the articulated robot, and a wet blank forming machine, a dry blank forming machine and a material picking robot arranged on the side of the articulated robot. The screen frame loading and unloading mechanism is responsible for the loading and unloading transfer of the screen frames of the wet blank forming machine and the dry blank forming machine under the drive of the articulated robot, and the material taking robot is responsible for taking away the dry blank in the screen frame taken out from the dry blank forming machine by the screen frame loading and unloading mechanism; the screen frame loading and unloading mechanism comprises a mechanism frame mounted at the end joint of the articulated robot and a first vacuum suction head and a second vacuum suction head facing opposite to each other on the mechanism frame for vacuum adsorbing the screen frame; the wet blank forming machine comprises a wet blank frame, a wet blank upper mold mounted on the wet blank frame, a screen frame supporting mechanism mounted on the wet blank frame and located on the side of the wet blank upper mold, a slurry pool mounted on the wet blank frame and located directly below the wet blank upper mold, and a slurry tank aligned along the upper and lower directions of the wet blank frame. The invention relates to a pulp scooping lower mold between the wet blank upper mold and the pulp pool, and a lifting mechanism which is assembled on the wet blank frame and selectively drives the pulp scooping lower mold to sink into the pulp pool or drives the pulp scooping lower mold to move away from the pulp pool and then close together with the wet blank upper mold; the screen frame supporting mechanism can switch between a supporting position and an avoidance position, the articulated robot drives the first vacuum suction head to place the empty screen frame sucked by the first vacuum suction head on the screen frame supporting mechanism in the supporting position, the articulated robot also drives the second vacuum suction head to suck away the screen frame with the wet blank on the pulp scooping lower mold driven by the lifting mechanism, and when the screen frame supporting mechanism switches to the avoidance position, the empty screen frame supported by the screen frame supporting mechanism is placed from above on the pulp scooping lower mold driven by the lifting mechanism.

[0008] Preferably, the mechanism frame is a frame-type frame, and the outer frames of the frame-type frame are each equipped with the first vacuum suction head and the second vacuum suction head.

[0009] Preferably, the number of the first vacuum suction heads is plural and they are arranged in a “ㄇ” shape on the outer frame, and the number of the second vacuum suction heads is plural and they are arranged in a “ㄇ” shape on the outer frame.

[0010] Preferably, the lifting mechanism includes a lifting frame and a lifting motor for driving the lifting frame to move up and down along the wet billet frame, the lifting motor is mounted on the wet billet frame, and the slurry scooping lower mold is mounted on the lifting frame.

[0011] Preferably, the lifting frame includes a bottom plate located directly below the wet blank upper mold, upper and lower rods located on the sides of the wet blank upper mold, and a transverse frame located above the wet blank upper mold, the upper and lower rods are inserted into the wet blank frame along the up and down directions of the wet blank frame, the bottom plate is fixedly connected to the upper and lower rods, the transverse frame is fixedly connected to the upper and lower rods, the output end of the lifting motor is fixedly connected to an upper and lower screw rod, a screw nut is fixed on the transverse frame, and the screw nut slides on the upper and lower screw rods.

[0012] Preferably, the upper and lower rods are respectively arranged beside the opposite sides of the wet blank upper mold, and the upper and lower screw rods and the transverse frame are respectively located directly above the lifting motor.

[0013] Preferably, the screen frame supporting mechanism is respectively arranged beside the opposite sides of the wet blank upper mold, and the screen frame supporting mechanism includes a rotary drive and a supporting block assembled at the output end of the rotary drive, and the rotary drive drives the supporting block to rotate to or away from the bottom of the wet blank upper mold to correspondingly switch to the supporting position or the avoidance position; or, the screen frame supporting mechanism includes a telescopic drive that performs telescopic movement in the horizontal direction, and the telescopic drive switches to the supporting position or the avoidance position accordingly by extending to or retracting from the bottom of the wet blank upper mold.

[0014] Preferably, the wet blank forming machine is arranged in a row with the dry blank forming machine along the left and right direction of the wet blank frame, the material picking robot is also located on the side of the dry blank forming machine facing away from the wet blank forming machine, and the articulated robot is aligned with the wet blank forming machine along the front and back direction of the wet blank frame.

[0015] Preferably, the dry blank forming machine is respectively arranged on the left and right sides of the wet blank forming machine, and the material taking robot is aligned with the dry blank forming machine along the left and right directions of the wet blank frame.

[0016] Preferably, the articulated robot with net transfer type paper mold production line of the present invention also includes a stacking receiving table for stacking the dry blanks picked up by the material picking robot, and the stacking receiving table is located on the side of the material picking robot; or, the articulated robot with net transfer type paper mold production line also includes a trimming machine for trimming the dry blanks picked up by the material picking robot and a stacking receiving table for stacking the dry blanks trimmed by the trimming machine, and the material picking robot is responsible for transferring the dry blanks trimmed by the trimming machine to the stacking receiving table.

[0017] Compared with the prior art, the screen frame loading and unloading mechanism includes a mechanism frame mounted at the end joint of the articulated robot and a first vacuum suction head and a second vacuum suction head facing opposite to each other on the mechanism frame for vacuum adsorbing the screen frame, and the wet blank forming machine includes a wet blank frame, a wet blank upper mold mounted on the wet blank frame, a screen frame supporting mechanism mounted on the wet blank frame and located on the side of the wet blank upper mold, a pulp pool mounted on the wet blank frame and located directly below the wet blank upper mold, a pulp scooping lower mold aligned between the wet blank upper mold and the pulp pool along the up and down direction of the wet blank frame, and a wet blank frame mounted on the wet blank frame and selectively The lifting mechanism drives the slurry lower mold to sink into the slurry pool or drives the slurry lower mold to move away from the slurry pool and then close the mold with the wet blank upper mold. The screen frame supporting mechanism can switch between a supporting position and an avoidance position. Therefore, in the process of the articulated robot driving the screen frame loading and unloading mechanism to load and unload the screen frame of the wet blank forming machine, under the driving action of the articulated robot, the first vacuum suction head places the empty screen frame adsorbed by the first vacuum suction head on the screen frame supporting mechanism in the supporting position, and the screen frame supporting mechanism in the supporting position supports the empty screen frame transferred by the first vacuum suction head from below, and also enables the second vacuum suction head to The vacuum head sucks away the screen frame with the wet blank on the pulp scooping lower mold driven by the lifting mechanism, and the pulp scooping lower mold with the screen frame sucked away is driven by the lifting mechanism to rise to the contact position with the empty screen frame supported by the screen frame supporting mechanism in the supporting position. At this time, when the screen frame supporting mechanism switches to the avoidance position, the empty screen frame supported by the screen frame supporting mechanism is placed on the pulp scooping lower mold from above, so as to realize the smooth transfer of the empty screen frame to the pulp scooping lower mold; and the second vacuum head that sucks the screen frame with the wet blank is driven by the articulated robot to transfer the screen frame with the wet blank to the pulp scooping lower mold. To the dry blank forming machine in the mold opening state, at the same time, the articulated robot also drives the first vacuum suction head to suck away the screen frame with dry blanks on the dry blank forming machine in the mold opening state, and then, the articulated robot drives the first vacuum suction head and the second vacuum suction head to move to the material picking robot, and the material picking robot takes away the dry blanks in the screen frame sucked by the first vacuum suction head, so that the screen frame sucked by the first vacuum suction head with the dry blanks taken away becomes an empty screen frame again, thus completing a process of screen frame loading and unloading transfer, and continuously repeating the above process, that is, the streamlined operation of the screen frame loading and unloading transfer can be completed. Therefore, the articulated robot with net transfer paper mold production line of the present invention transfers the screen frame loading and unloading by sucking the screen frame, and does not need a profiling jig to vacuum adsorb the wet blank or dry blank, thereby reducing the waste of air source; and ensures the smooth reliability of the screen frame loading and unloading transfer while reducing the waste of air source. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of an articulated robot with a net transfer type paper mold production line according to the first embodiment of the present invention.

[0019] Figure 2It is a three-dimensional structural schematic diagram of an articulated robot in an articulated robot belt net transfer type paper mold production line of the present invention and a net frame loading and unloading mechanism thereon.

[0020] Figure 3 yes Figure 2 The shown schematic diagram is a state diagram of the articulated robot and the screen frame loading and unloading mechanism thereon after the screen frame is removed.

[0021] Figure 4 It is a three-dimensional structural schematic diagram of the screen frame loading and unloading mechanism in the articulated robot with screen transfer type paper mold production line of the present invention.

[0022] Figure 5 It is a schematic diagram of the state of the wet blank forming machine in the articulated robot with net transfer paper mold production line of the present invention when the net frame supporting mechanism switches to the supporting position and supports an empty net frame.

[0023] Figure 6 yes Figure 5 The wet blank forming machine shown is a schematic diagram of the state when the lifting mechanism drives the pulp scooping lower mold to rise to a position in contact with the screen frame supported by the screen frame supporting mechanism.

[0024] Figure 7 yes Figure 6 The wet blank forming machine shown is a schematic diagram of the state when the screen frame supporting mechanism is switched to the avoidance position.

[0025] Figure 8 yes Figure 7 The wet blank forming machine shown is a schematic diagram of the state in which the lifting mechanism drives the slurry lower mold to sink into the slurry pool.

[0026] Fig. 9 It is a three-dimensional structural schematic diagram of an articulated robot with a net transfer type paper mold production line according to the second embodiment of the present invention. DETAILED DESCRIPTION

[0027] Embodiments of the present invention will now be described with reference to the accompanying drawings, wherein like reference numerals represent like elements throughout the several views.

[0028] See also Figures 1 to 5The articulated robot with net transfer type paper mold production line 100 of the first embodiment of the present invention comprises an articulated robot 10, a stacking receiving platform 60, a net frame loading and unloading mechanism 20 installed at the end joint 11 of the articulated robot 10, and a wet blank forming machine 30, a dry blank forming machine 40 and a pick-up robot 50 arranged on the side of the articulated robot 10. The net frame loading and unloading mechanism 20 is responsible for loading and unloading and transferring the net frames 200 of the wet blank forming machine 30 and the dry blank forming machine 40 under the drive of the articulated robot 10; the stacking receiving platform 60 is located on the side of the pick-up robot 50, and the pick-up robot 50 is responsible for taking away the dry blanks in the net frame 200 taken out from the dry blank forming machine 40 by the net frame loading and unloading mechanism 20, and stacking the dry blanks taken away by the pick-up robot 50 on the stacking receiving platform 60, so as to facilitate the subsequent dry blank offline trimming operation.

[0029] Among them, Figures 2 to 5 In the invention, the screen frame loading and unloading mechanism 20 comprises a mechanism frame 21 mounted at the end joint 11 of the articulated robot 10 and a first vacuum suction head 22 and a second vacuum suction head 23 facing oppositely to each other on the mechanism frame 21 for vacuum adsorbing the screen frame 200; the wet blank forming machine 30 comprises a wet blank frame 31, a wet blank upper mold 32 mounted at the wet blank frame 31, a screen frame supporting mechanism 33 mounted on the wet blank frame 31 and located beside the wet blank upper mold 32, a pulp pool 34 mounted on the wet blank frame 31 and located directly below the wet blank upper mold 32, a pulp lower mold 35 aligned between the wet blank upper mold 32 and the pulp pool 34 along the up and down direction of the wet blank frame 31, and a lifting mechanism 36 mounted on the wet blank frame 31 and selectively driving the pulp lower mold 35 to sink into the pulp pool 34 or driving the pulp lower mold 35 to move away from the pulp pool 34 and then close the mold with the wet blank upper mold 32; the screen frame supporting mechanism 33 can be in a Figure 5 The support position shown and Figure 7 The articulated robot 10 drives the first vacuum suction head 22 to place the empty screen frame 200 sucked by the first vacuum suction head 22 on the screen frame supporting mechanism 32 in the supporting position (see the state Figure 5 or Figure 6 As shown in the figure, the articulated robot 10 also drives the second vacuum suction head 23 to suck away the screen frame 200 with the wet blank on the pulp-collecting lower mold 35 driven by the lifting mechanism 36. When the screen frame supporting mechanism 33 is switched to the avoidance position, the empty screen frame 200 supported by the screen frame supporting mechanism 33 is placed from above on the pulp-collecting lower mold 35 driven by the lifting mechanism 36, so as to satisfy the pulp-collecting lower mold 35 driven by the lifting mechanism 36 to sink into the pulp pool 34 together with the empty screen frame 200, so that the screen frame 200 on the pulp-collecting lower mold 35 can be formed into a wet blank. Specifically, in Figure 1In the embodiment, the wet blank forming machine 30 is arranged in a row with the dry blank forming machine 40 along the left and right direction of the wet blank frame 31, the material taking robot 50 is also located on the side of the dry blank forming machine 40 facing away from the wet blank forming machine 30, and the articulated robot 10 is aligned with the wet blank forming machine 30 along the front and rear direction of the wet blank frame 31. Preferably, the dry blank forming machine 40 is arranged on the left and right sides of the wet blank forming machine 30, and the material taking robot 50 is aligned with the dry blank forming machine 40 along the left and right direction of the wet blank frame 31. Such a design makes their arrangement more reasonable and compact, but is not limited thereto. More specifically, as follows:

[0030] like Figure 3 and Figure 4 As shown, the mechanism frame 21 is a frame frame, and the outer frame 211 of the frame frame is equipped with a first vacuum suction head 22 and a second vacuum suction head 23, so that the first vacuum suction head 22 and the second vacuum suction head 23 can grasp the screen frame 200 by sucking the edge of the screen frame 200, which ensures the reliability of grasping the screen frame 200, and avoids the defect of relatively complex design of the screen frame 200 caused by the first vacuum suction head 22 or the second vacuum suction head 23 sucking the middle of the screen frame 200. Specifically, in Figure 3 and Figure 4 In the embodiment, there are 15 first vacuum suction heads 22 and they are arranged in a "ㄇ" shape on the outer frame 211, and there are 15 second vacuum suction heads 22 and they are arranged in a "ㄇ" shape on the outer frame 211. The purpose of such design is to further increase the reliability of the first vacuum suction head 22 and the second vacuum suction head 23 in sucking the screen frame 200. Of course, according to actual needs, the number of the first vacuum suction head 22 and the second vacuum suction head 23 can be 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 16 or more, which is flexibly selected according to actual needs, so it is not limited to this. In addition, although Figure 3 and Figure 4 The first vacuum suction head 22 and the second vacuum suction head 23 are shown to have the same number, but the first vacuum suction head 22 and the second vacuum suction head 23 may be arranged in different numbers according to actual needs. Figure 3 and Figure 4 In the embodiment, each first vacuum suction head 22 is aligned with a corresponding second vacuum suction head 23, so that the size of the position where the screen frame 200 is vacuumed is made smaller. It should be noted that since the filtering molding unit 210 in the screen frame 200 is used to deposit ecological plant fibers and finally form the deposited ecological plant fibers into wet blanks in the filtering molding unit 210, and the wet blanks in the filtering molding unit 210 are processed into dry blanks, the screen frame 200 is vacuumed by the first vacuum suction head 22 and the second vacuum suction head 23, and correspondingly, the position where the screen frame 200 is sucked is preferably flat and airtight.

[0031] like Figures 5 to 8 As shown, the lifting mechanism 36 includes a lifting frame 361 and a lifting motor 362 for driving the lifting frame 361 to move up and down along the wet blank frame 31. The lifting motor 362 is mounted on the wet blank frame 31, and the wet blank frame 31 provides support and a mounting place for the lifting motor 362; the pulp scooping lower mold 35 is mounted on the lifting frame 361, and the lifting frame 361 provides support and a mounting place for the pulp scooping lower mold 35, and also allows the pulp scooping lower mold 35 to be lifted and lowered along with the lifting frame 361; therefore, under the drive of the lifting motor 362 to the lifting frame 361, the lifting frame 361 drives the pulp scooping lower mold 35 to be lifted and lowered to any position, so that the pulp scooping lower mold 35 can be successively lifted upward to the position where the second vacuum suction head 23 sucks away the screen frame 200 with the wet blank and the position where it contacts the empty screen frame 200 supported by the screen frame supporting mechanism 33, and also allows the pulp scooping lower mold 35 to descend and sink into the pulp pool 34 after receiving the empty screen frame 200. Specifically, the lifting frame 361 includes a bottom plate 3611 located directly below the wet blank upper mold 32, an upper and lower rod 3612 located on the side of the wet blank upper mold 32, and a horizontal frame 3613 located above the wet blank upper mold 32; the upper and lower rods 3612 are inserted into the wet blank frame 31 along the up and down directions of the wet blank frame 31, the bottom plate 3611 is fixedly connected to the upper and lower rods 3612, the horizontal frame 3613 is fixedly connected to the upper and lower rods 3612, the output end of the lifting motor 362 is fixedly connected to an upper and lower screw rod 363, a screw nut 364 is fixed on the horizontal frame 3613, and the screw nut 364 is slidably sleeved on the upper and lower screw rods 363. This design makes the lifting motor 362 362 is arranged just above the wet blank upper mold 32, reducing the space occupied by the lifting motor 362 on the wet blank frame 31 in the left-right direction and the front-back direction. At the same time, with the help of the upper and lower rods 3612, the bottom plate 3611 and the transverse frame 3613, the arrangement between the lifting frame 361 and the wet blank upper mold 32 and the pulping lower mold 35 is more compact and more reasonable, and the force applied by the lifting motor 362 to the lifting frame 361 is more reasonable. Furthermore, with the help of the cooperation of the upper and lower screw rods 363 and the nut 364, the lifting motor 362 can more accurately control the lifting frame 361 and the pulping lower mold 35 on the lifting frame 361 to make more precise lifting movements. More specifically, in Figures 5 to 8In the figure, the upper and lower rods 3612 are respectively arranged beside the two opposite sides of the wet blank upper mold 32, and the upper and lower screw rods 363 and the horizontal frame 3613 are respectively located directly above the lifting motor 3612. This arrangement makes the lifting motor 3612 surrounded by the lifting frame 361 from all sides, so that the force applied by the lifting motor 3612 to the lifting frame 361 is more reasonable. It is understandable that, according to actual needs, in addition to using the cooperation of the upper and lower screw rods 363 and the nut 364 to drive the lifting frame 361 to rise and fall, the lifting motor 3612 can also use belt drive, chain drive or gear drive to drive the lifting frame 361 to rise and fall. Among them, for belt drive, two pulleys located on the sides of the wet blank upper mold 32 and arranged one above and one below each other and a belt mounted on the two pulleys are provided on the wet blank frame 21, and then one side of the belt is fixedly connected to the lifting frame 361; for chain drive, The wet blank machine frame 21 is provided with two sprockets located on the sides of the wet blank upper mold 32 and arranged one above and one below each other, and a chain mounted on the two sprockets, and then one side of the chain is fixedly connected to the lifting frame 361; for gear transmission, upper and lower spur racks located on the sides of the wet blank upper mold 32 can be fixed on the upper and lower rods 363, and a gear meshing with the upper and lower spur racks can be fixed at the output end of the lifting motor 362; the above methods can achieve the purpose of the lifting motor 362 driving the lifting frame 361 to rise and fall to any position.

[0032] like Figures 5 to 8 As shown, the screen frame supporting mechanism 33 is respectively arranged beside the two opposite sides of the wet blank upper mold 32, so that the reliability of the support of the screen frame 200 is increased; the screen frame supporting mechanism 33 comprises a rotary driver 331 and a supporting block 332 assembled at the output end of the rotary driver 331, the rotary driver 331 switches to the supporting position by driving the supporting block 332 to rotate to the right below the wet blank upper mold 32, and the rotary driver 331 switches to the avoidance position by driving the supporting block 332 to rotate away from the right below the wet blank upper mold 32; with the help of the rotary driver 331 and the supporting block 332, the gap between the screen frame supporting mechanism 33 and the wet blank upper mold 32 is made more compact. For example, the rotary driver 331 can be a rotary cylinder, a rotary oil cylinder or a rotary motor, but is not limited thereto. It should be noted that, according to actual needs, one deformation mode of the screen frame supporting mechanism 33 is: the screen frame supporting mechanism includes a telescopic driver that performs telescopic movement in the horizontal direction, the telescopic driver switches to the supporting position by extending to the bottom of the wet blank upper mold 32, and the telescopic driver switches to the avoidance position by shrinking away from the bottom of the wet blank upper mold 32, thereby achieving the purpose of the screen frame supporting mechanism supporting or releasing the screen frame 200; the telescopic driver can be a telescopic cylinder or a telescopic oil cylinder, etc., but is not limited to this.

[0033] See also Fig. 9The structure of the articulated robot belt net transfer type paper mold production line 100' of the second embodiment of the present invention is basically the same as that of the articulated robot belt net transfer type paper mold production line 100 of the first embodiment, and the differences are as follows:

[0034] (1) The articulated robot with net transfer paper mold production line 100' of the second embodiment of the present invention also includes a trimming machine 70 for trimming the dry blanks taken by the pick-up robot 50 and a stacking receiving table 60' for stacking the dry blanks trimmed by the trimming machine 70. The pick-up robot 50 is responsible for transferring the dry blanks trimmed by the trimming machine 70 to the stacking receiving table 60', that is, the stacking receiving table 60' is used to stack the dry blanks after trimming; with the help of the trimming machine 70, the purpose of trimming the dry blanks online is achieved. When the trimming machine 70 is introduced, the trimming machine 70, the stacking receiving table 60' and the pick-up robot 50 are aligned and arranged in sequence along the wet blank frame 31 from front to back (that is, the direction indicated by arrow C).

[0035] In the first embodiment, the trimmer 70 is not included, so the stacking receiving platform 60 is used to stack the untrimmed dry blanks transferred by the material taking robot 50 to meet the subsequent offline trimming requirements of the dry blanks.

[0036] Except for the above differences, other aspects are the same as those of the first embodiment, and thus will not be described in detail here.

[0037] Compared with the prior art, since the screen frame loading and unloading mechanism 20 includes a mechanism frame 21 mounted at the end joint 11 of the articulated robot 10 and a first vacuum suction head 22 and a second vacuum suction head 23 facing opposite to each other on the mechanism frame 21 for vacuum adsorbing the screen frame 200, the wet blank forming machine 30 includes a wet blank frame 31, a wet blank upper mold 32 mounted at the wet blank frame 31, a screen frame supporting mechanism 33 mounted on the wet blank frame 31 and located beside the wet blank upper mold 32, a slurry pool 34 mounted on the wet blank frame 31 and located directly below the wet blank upper mold 32, a slurry lower mold 35 aligned between the wet blank upper mold 32 and the slurry pool 34 along the upper and lower directions of the wet blank frame 31, and a slurry lower mold 35 mounted on the wet blank frame 31 and selectively driven to sink into the slurry pool 34 (the state is shown in FIG. 2 ). Figure 8 ) or driving the lower mold 35 to move away from the pulp pool 34 and then close the mold with the wet blank upper mold 32 to lift the mechanism 36 (status see Figure 6 As shown), the screen frame supporting mechanism can be Figure 5 or Figure 6 The support position shown and Figure 7 or Figure 8Therefore, in the process that the articulated robot 10 drives the screen frame loading and unloading mechanism 20 to load and unload the screen frame 200 on the wet blank forming machine 30, under the driving action of the articulated robot 10, the first vacuum suction head 22 places the empty screen frame 200 sucked by the first vacuum suction head 22 on the screen frame supporting mechanism 33 in the supporting position, and the screen frame supporting mechanism 33 in the supporting position supports the empty screen frame 200 transferred by the first vacuum suction head 22 from below, as shown in FIG. Figure 5 The second vacuum suction head 23 also sucks away the screen frame 200 with the wet blank on the slurry lower mold 35 driven by the lifting mechanism 36. When the slurry lower mold 35 with the wet blank sucked away is driven by the lifting mechanism 36 to rise to a position of contact with the empty screen frame 200 supported by the screen frame supporting mechanism 33 in the supporting position, the state is shown in FIG. Figure 6 As shown, at this time, when the screen frame supporting mechanism 33 is switched to the avoidance position, the screen frame supporting mechanism 33 places the empty screen frame 200 supported by it on the pulp lower mold 35 from above, so that the empty screen frame 200 is smoothly transferred to the pulp lower mold 35. Figure 7 As shown; the second vacuum suction head 23 that sucks the screen frame 200 with the wet blank is driven by the articulated robot 10 to transfer the screen frame 200 with the wet blank to the dry blank forming machine 40 in the mold opening state. At the same time, the articulated robot 10 also drives the first vacuum suction head 22 to suck away the screen frame 200 with the dry blank on the dry blank forming machine 40 in the mold opening state. Then, the articulated robot 10 drives the first vacuum suction head 22 and the second vacuum suction head 23 to move toward the material picking robot 10, and the material picking robot 10 takes away the dry blank in the screen frame 200 sucked by the first vacuum suction head 22, so that the screen frame 200 with the dry blank taken away by the first vacuum suction head 22 becomes an empty screen frame 200 again, thereby completing a process of loading and unloading transfer of the screen frame 200. By repeating the above process continuously, the streamlined operation of the loading and unloading transfer of the screen frame 200 can be completed. Therefore, the articulated robot with net transfer paper mold production line 100 (100') of the present invention transfers the net frame 200 by sucking the net frame 200, and does not need to vacuum adsorb the wet blank or dry blank by a profiling fixture, thereby reducing the waste of air source; and ensures the smoothness and reliability of the transfer of the net frame 200 while reducing the waste of air source. It should be noted that under the driving of the net frame loading and unloading mechanism 20 by the articulated robot 10, the first vacuum suction head 22 and the second vacuum suction head 23 move together.

[0038] It is worth noting that the specific structures and working principles of the dry blank forming machine 40, the articulated robot 10, the material taking robot 50 and the trimming machine 70 are well known in the art, so they will not be described here. At the same time, the articulated robot 10, the wet blank forming machine 30, the dry blank forming machine 40, the material taking robot 50, the stacking receiving platform 60 (60') and the trimming machine 70 are each installed in the outside, such as on the ground. In addition, the articulated robot 10 needs to make the net frame loading and unloading mechanism 20 move along the front and rear direction of the wet blank frame 31, the up and down direction of the wet blank frame 31, and the left and right direction of the wet blank frame 31. Correspondingly, the articulated robot 10 is a three-joint robot, a four-joint robot, a five-joint robot or a six-joint robot. In addition, the direction indicated by the arrow A in the accompanying drawings is the direction from top to bottom of the wet blank frame 31, the direction indicated by the arrow B in the accompanying drawings is the direction from left to right of the wet blank frame 31, and the direction indicated by the arrow C in the accompanying drawings is the direction from front to back of the wet blank frame 31. It should be noted that in the first embodiment, the stacking receiving station 60 can be deleted, so it is not limited to the above.

[0039] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A paper mold production line with a web transfer by an articulated robot, comprising an articulated robot, a web frame loading and unloading mechanism mounted at the end joint of the articulated robot, and a wet blank forming machine, a dry blank forming machine and a material taking robot arranged on the side of the articulated robot. The web frame loading and unloading mechanism is responsible for loading and unloading the web frames of the wet blank forming machine and the dry blank forming machine under the drive of the articulated robot, and the material taking robot is responsible for taking away the dry blank in the web frame taken out by the web frame loading and unloading mechanism from the dry blank forming machine, characterized in that: The screen frame loading and unloading mechanism comprises a mechanism frame mounted at the end joint of the articulated robot and a first vacuum suction head and a second vacuum suction head on the mechanism frame facing opposite to each other for vacuum adsorbing the screen frame. The wet blank forming machine comprises a wet blank frame, a wet blank upper mold mounted on the wet blank frame, a screen frame supporting mechanism mounted on the wet blank frame and located on the side of the wet blank upper mold, a pulp pool mounted on the wet blank frame and located directly below the wet blank upper mold, a pulp scooping lower mold aligned between the wet blank upper mold and the pulp pool along the up and down direction of the wet blank frame, and a pulp scooping lower mold mounted on the wet blank frame and selectively driving the pulp scooping lower mold to sink into the pulp The articulated robot drives the first vacuum suction head to place the empty screen frame sucked by the first vacuum suction head on the screen frame supporting mechanism at the supporting position; the articulated robot also drives the second vacuum suction head to suck away the screen frame with the wet blank on the slurry scooping lower mold driven by the lifting mechanism; when the screen frame supporting mechanism switches to the avoiding position, the empty screen frame supported by the screen frame supporting mechanism is placed from above on the slurry scooping lower mold driven by the lifting mechanism; Among them, the lifting mechanism includes a lifting frame and a lifting motor for driving the lifting frame to move up and down along the wet blank frame, the lifting motor is installed on the wet blank frame, and the pulp scooping lower mold is installed on the lifting frame; the net frame supporting mechanism is respectively arranged next to the opposite sides of the wet blank upper mold.

2. The articulated robot with net transfer paper mold production line according to claim 1 is characterized in that: The mechanism frame is a frame-type frame, and the outer frames of the frame-type frame are each equipped with the first vacuum suction head and the second vacuum suction head.

3. The articulated robot with net transfer paper mold production line according to claim 2 is characterized in that: The first vacuum suction heads are in plurality and are arranged in a "ㄇ" shape on the outer frame, and the second vacuum suction heads are in plurality and are arranged in a "ㄇ" shape on the outer frame.

4. The articulated robot with net transfer paper mold production line according to claim 1, characterized in that: The lifting frame includes a bottom plate located directly below the wet blank upper mold, upper and lower rods located on the sides of the wet blank upper mold, and a transverse frame located above the wet blank upper mold. The upper and lower rods are inserted into the wet blank frame along the up and down directions of the wet blank frame. The bottom plate is fixedly connected to the upper and lower rods, the transverse frame is fixedly connected to the upper and lower rods, the output end of the lifting motor is fixedly connected to an upper and lower screw rod, a screw nut is fixed on the transverse frame, and the screw nut slides on the upper and lower screw rods.

5. The articulated robot with net transfer paper mold production line according to claim 4, characterized in that: The upper and lower rods are respectively arranged beside the two opposite sides of the wet blank upper mold, and the upper and lower screw rods and the transverse frame are respectively located directly above the lifting motor.

6. The articulated robot with net transfer paper mold production line according to claim 1, characterized in that: The screen frame supporting mechanism includes a rotary drive and a supporting block mounted on the output end of the rotary drive, and the rotary drive drives the supporting block to rotate to or away from the bottom of the wet blank upper mold to switch to the supporting position or the avoidance position accordingly; or, the screen frame supporting mechanism includes a telescopic drive that performs telescopic movement in the horizontal direction, and the telescopic drive switches to the supporting position or the avoidance position accordingly by extending to or retracting from the bottom of the wet blank upper mold.

7. The articulated robot with net transfer paper mold production line according to claim 1, characterized in that: The wet blank forming machine is arranged in a row with the dry blank forming machine along the left and right direction of the wet blank frame, the material picking robot is also located on the side of the dry blank forming machine facing away from the wet blank forming machine, and the articulated robot is aligned with the wet blank forming machine along the front and back direction of the wet blank frame.

8. The articulated robot with net transfer paper mold production line according to claim 7, characterized in that: The dry blank forming machines are respectively arranged on the left and right sides of the wet blank forming machine, and the material taking robot is aligned with the dry blank forming machine along the left and right directions of the wet blank frame.

9. The articulated robot with net transfer paper mold production line according to claim 7, characterized in that: It also includes a stacking receiving table for stacking the dry blanks picked up by the material picking robot, and the stacking receiving table is located on the side of the material picking robot; or, the articulated robot with net transfer paper mold production line also includes a trimming machine for trimming the dry blanks picked up by the material picking robot and a stacking receiving table for stacking the dry blanks trimmed by the trimming machine, and the material picking robot is responsible for transferring the dry blanks trimmed by the trimming machine to the stacking receiving table.

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