A five-motion container thermoforming transfer packaging line and method of operation thereof

Abstract

The application discloses a one-mold-time five-action container thermoforming conveying and boxing production line operation method, which is characterized by the following: the in-mold meeting, taking and unloading manipulator, the lateral joint and stacking conveying manipulator and the alternating joint and unloading device are arranged and improved, and the lower mold lifting driving mechanism is improved, so that the cup making action of the cup making machine is limited to five actions per mold time. The application also discloses a one-mold-time five-action container thermoforming conveying and boxing production line. The one-mold-time five-action container thermoforming conveying and boxing production line and the operation method thereof are characterized by the cooperation of the cup making machine, the in-mold meeting, taking and unloading manipulator and other devices, the time difference in the operation process of the components is fully utilized, the action time of the cup making machine per mold time is compressed to five actions, and other components are synchronously and cooperatively operated, so that all the processes are compressed to the time required by five actions, and the cup making efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of plastic container production and packaging, and particularly relates to a five-action container thermoforming conveying and boxing production line and a running method thereof. BACKGROUND

[0002] Disposable plastic tableware such as disposable cups, bowls, dishes, covers and boxes is commonly used in daily life. There are two main production methods for producing such disposable plastic tableware in the prior art. The first method is injection molding. Although the raw material cannot be fully utilized, the injection molding method has problems such as expensive mold, long mold processing and debugging period, and easy loss of market opportunities. Moreover, the number and speed of each mold are not comparable to sheet air-pressure thermoforming cup machines. The second method is to adopt a sheet thermoforming machine to punch and shear a mold. This method is to complete product forming through the cooperation of the lifting of the lower mold and the upper mold. Although the raw material can save sheet electricity, the injection molding method has problems such as expensive mold, long mold processing and debugging period, and easy loss of market opportunities. Moreover, the number and speed of each mold are not comparable to sheet air-pressure thermoforming cup machines. However, the application of the present inventor has disclosed a connecting and stacking conveying manipulator, which needs eleven actions for each mold and eleven actions for connecting the upper and lower compression thermoforming cup machines to complete one mold action (such as the connecting air-pressure thermoforming machine mold inner labeling container production line disclosed in CN106273375B). Even the advanced multifunctional mold inner labeling manipulator with a turnover mold needs nine actions to complete one mold action, which has the problem of relatively slow efficiency. With the improvement of social consumption level, consumers' demand for product appearance and packaging is gradually increasing. The existing production process of air-pressure thermoforming white cup containers has a large decline in market share due to its low grade. In order to solve the problem of decline in market share of cup products, developed countries have introduced air-pressure thermoforming mold inner labeling production lines, but there are still problems such as high price and inability to use multiple functions, which have not opened up the market.

[0003] Based on the above technical problems, the present inventor has disclosed a thermoforming machine and a three-action mold inner labeling conveying and boxing production line in CN111907044A, which has initially improved the production rate of sheet air-pressure thermoforming cup machines. However, the design of two lower molds makes the structure of the whole device different from the existing devices. In actual application, the cup machine needs to be completely redesigned and assembled, which leads to a large increase in production cost and is not easy to connect with other devices, requiring a lot of time for assembly and debugging. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a one-mold five-action container thermoforming conveying, boxing and sealing production line and a running method thereof, which can be applied to an existing cup making machine and has a low degree of modification to the cup making machine and a certain improvement in production rate.

[0005] The technical solution of the present application to solve the above technical problem is:

[0006] The running method of the one-mold five-action container thermoforming conveying, boxing and sealing production line is characterized in that each mold running method comprises:

[0007] The first action is that the lower mold table in the locked mold state is driven to start descending by the lower mold lifting driving mechanism, and the built-in suction disc of the built-in material taking and unloading device is synchronously lowered at the same time, at this time, the lower mold table is lowered to the specified position, the top and bottom mechanism is started to lift the product bottom, so that the product is separated from the inner wall of the forming mold cavity, at the same time, the air pressure in the built-in suction disc becomes negative pressure to suck the inner bottom surface of the product, then the lower mold table continues to descend while the stretch die head and the built-in material taking and unloading device simultaneously suck the product and synchronously lift to reach the mold unloading station, the first action is completed, and in this process, the material taking and unloading palm disc of the mold meeting material taking and unloading manipulator moves and reaches the material receiving station;

[0008] The second action is that the mold meeting material taking and unloading manipulator is started to translate the material taking and unloading palm disc at the mold front material receiving station into the mold unloading station at the same time when the product reaches the unloading station, in this process, the product continuously stays at the unloading station, the lower mold table continues to descend to the position, and until the material taking and unloading palm disc completely reaches the unloading station, the second action is completed;

[0009] The third action is that the built-in suction disc cancels the negative pressure to make the product separate from the built-in suction disc and descend at the same time, the material taking and unloading suction disc on the material taking and unloading palm disc starts negative pressure and adsorbs the product to complete the product meeting and replacement, then the stretch die head and the built-in material taking and unloading device synchronously rise to reset at the same time, the mold meeting material taking and unloading manipulator synchronously descends to make the built-in suction disc separate from the product top surface, the third action is completed;

[0010] The fourth action is that after the built-in suction disc separates from the product top surface, the mold material taking and unloading manipulator starts to translate out of the unloading station to the unloading station, after the built-in material taking and unloading device completely resets, the sheet feeding driving mechanism is synchronously started and the baked sheet is taken to below the upper mold table while the edge corner is recycled, when the material taking and unloading palm disc completely separates from the lower mold, the lower mold table carried by the lower mold lifting driving mechanism starts to rise, the fourth action is completed;

[0011] The fifth action is that the lower mold is raised to the position of locking the mold, the product forming is completed, then the stretch die is raised, the built-in suction disc of the built-in material taking and unloading device is lowered to the inner bottom of the product, and the inner bottom surface of the product is cooled, the fifth action is completed; in this process, the material taking and unloading palm disc is translated to the unloading station, the lateral stacking and conveying mechanical hand in the unloading station is matched to unload the material and transfer the product, then the mold inner material taking and unloading mechanical hand drives the material taking and unloading palm disc to move to the material receiving station.

[0012] Another technical solution of the present application to solve the above technical problems is:

[0013] The one-time five-action container thermoforming conveying and boxing production line runs the operation method as described above, and comprises a cup making machine, the bottom of the cup making machine is provided with a gantry support seat, the middle of the gantry support seat is provided with a lower mold lifting driving mechanism, the upper side of the lower mold lifting driving mechanism is sequentially provided with an upper mold table and a lower mold table, the two sides of the gantry support seat are provided with gantry columns, the two side edges of the upper mold table and the lower mold table can be slidingly nested on the gantry columns, the lower mold lifting driving mechanism drives the lower mold table to rise and fall along the gantry columns, the upper mold table and the lower mold table are matched and arranged on the upper part of the gantry column, the upper side of the upper mold table is provided with a lifting support frame of a fixed lifting driving mechanism, the feeding side of the upper mold table and the lower mold table is provided with a sheet feeding driving mechanism, the lower mold is arranged on the lower mold table, a top and bottom mechanism is arranged between the lower mold and the lower mold table, and the sheet feeding driving mechanism is used to supply sheets between the upper mold table and the lower mold table.

[0014] The upper mold table is provided with a stretch die corresponding to the forming cavity of the lower mold, the stretch die is provided with a lifting rod, the stretch die is assembled with a built-in material taking and unloading device, the lifting driving mechanism independently drives the stretch die to rise and fall through the lifting rod, the built-in material taking and unloading device comprises an air channel rod and a built-in suction disc, the air channel rod is embedded in the lifting rod, the built-in suction disc is in communication with the air channel in the air channel rod, the air channel rod protrudes downward from the stretch die and makes the built-in suction disc below the stretch die, and the lifting driving mechanism independently drives the built-in suction disc to rise and fall through the air channel rod.

[0015] The top and bottom mechanism is provided with a top rod penetrating into the inner bottom surface of the forming cavity, and the top rod is used to lift the bottom of the product formed in the forming cavity;

[0016] Further comprising a mold inner meeting material taking and unloading mechanical hand and a lateral stacking and conveying mechanical hand, the mold inner meeting material taking and unloading mechanical hand is located on the discharging side of the cup making machine and is used to take the finished product from the cup making machine, and the lateral stacking and conveying mechanical hand is matched with the mold inner meeting material taking and unloading mechanical hand and is used to transfer the product taken out of the cup making machine by the mold inner meeting material taking and unloading mechanical hand.

[0017] The present application has the following advantages:

[0018] (1) By the cooperation of the cup making machine, the in-mold meeting taking and unloading manipulator and other devices, the time difference in the operation process of each component is fully utilized, the action time in each mold cycle during the cup making process is compressed to 5 actions, and other components are synchronized and cooperated, all processes are compressed to the time required for 5 actions, so as to improve the cup making efficiency.

[0019] (2) The small balls installed on both sides of the vertical limiting nut of the lower mold lifting driving mechanism effectively reduce the friction resistance, the push-pull lifting shaft installed at the connection point of the lower hole of the rotating arm and the lower arm maximally shortens the lifting rotation radius, effectively reduces the rotation lifting stroke of the eccentric wheel, and the lifting stroke of the cam is nearly doubled compared with the traditional technology under the cooperation of the folding of the rotating arm before and after.

[0020] (3) The in-mold meeting taking and unloading manipulator is adopted, the longer transportation is effectively shortened to 1.5 actions by double translation, the transportation efficiency is greatly improved, time is reserved for other steps, so that the whole equipment can meet the demand of five-action operation.

[0021] (4) The driving shaft synchronously drives the transmission components fixed in the lifting support frames on both sides, and then synchronously drives the lifting components, effectively improving the lifting synchronization and stability of the lifting components distributed on both sides.

[0022] (5) The sampling station is placed at the alternate loading and unloading device, which can effectively inspect the quality of the products before entering the stacking and boxing process, so as to find the defective products in advance, facilitate the debugging of the equipment and the quality control of the products. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the embodiment of the present application.

[0024] Figure 2 It is a schematic diagram of the structure of the gantry support seat and the components thereon in the embodiment of the present application.

[0025] Figure 3 It is a schematic diagram of the structure of the gantry support seat in the embodiment of the present application.

[0026] Figure 4 It is a schematic diagram of the structure of the lower mold lifting driving mechanism in the embodiment of the present application.

[0027] Figure 5 It is a disassembled structure schematic diagram of the eccentric wheel in the eccentric transmission structure of the embodiment of the present application.

[0028] Figure 6 Structure diagram of clutch power rising and falling buffer device in the embodiment of the application.

[0029] Figure 7 Structure diagram of in-mold meeting taking and unloading manipulator in the embodiment of the application.

[0030] Figure 8 Structure diagram of side-to-side stacking and conveying manipulator in the embodiment of the application.

[0031] Figure 9 Structure diagram of alternate taking and unloading device in the embodiment of the application.

[0032] Figure 10 Structure diagram of alternate taking and unloading process of in-mold meeting taking and unloading manipulator and side-to-side stacking and conveying manipulator after the product is molded out in the embodiment of the application.

[0033] Figure 11 Structure diagram of product conveying to alternate taking and unloading device in the embodiment of the application.

[0034] Figure 12 Structure diagram of product conveying to alternate taking and unloading device in the embodiment of the application.

[0035] Figure 13 Structure diagram of product conveying to alternate taking and unloading device in the embodiment of the application.

[0036] The meanings of the numbers in the drawings are as follows:

[0037] 1, sheet feeding driving mechanism, 2, lifting driving mechanism, 3, lifting support frame, 4, upper mold table, 5, lower mold table, 6, lower mold, 7, molding cavity, 8, gantry support seat, 9, gantry column, 10, lower mold driving device, 11, lower mold driving shaft, 12, upper connecting seat, 13, upper folding arm, 14, rotating arm, 15, lower folding arm, 16, lower connecting seat, 17, positioning lifting shaft, 18, lifting limiting sliding piece, 19, lifting limiting seat, 20, eccentric outer wheel, 21, limiting part, 22, cover plate, 23, eccentric inner wheel, 24, eccentric hole, 25, flange plate, 26, cylindrical roller, 27, ball, 28, lifting support frame, 29, transmission rod, 30, bearing fixing seat, 31, transmission bevel gear, 32, lifting rod, 33, lifting rack, 34, lifting bevel gear, 35, linkage driving shaft, 36, driving bevel gear, 37, driving spur gear, 38, driving chamber;

[0038] A, in-mold meeting taking and unloading manipulator, A1, first translation motor, A2, first translation track, A3, sliding support plate, A4, limiting rod, A5, manipulator lifting motor, A6, manipulator lifting rod, A7, manipulator lifting rack, A8, second translation motor, A9, second translation track frame, A10, taking and unloading palm disc, A11, taking and unloading suction cup;

[0039] B side to side lamination conveying manipulator, B1 lamination lifting frame, B2 lamination lifting motor, B3 second side to side translation slide block seat, B4 lamination lifting rod, B5 first side to side translation rail frame, B6 first side to side lifting translation seat, B7 first side to side translation motor, B8 second side to side translation support frame, B9 second side to side translation motor, B10 second side to side translation transmission support plate, B11 third side to side translation rail, B12 third side to side translation platform, B13 unloading palm disc, B14 unloading suction disc;

[0040] C alternating material loading and unloading device, C1 front translation support seat, C2 front translation sliding pair, C3 front transverse sliding support seat, C4 rear translation support seat, C5 rear translation sliding pair, C6 rear transverse sliding support seat, C7 material loading base, C8 material loading box, C9 upward unloading support seat, C10 vertical lifting pair, C11 fixed support fork, C12 fixed part, C13 rotating support fork, C15 sampling support seat, C16 sampling transverse sliding pair;

[0041] D material loading transfer conveying manipulator;

[0042] E single-row whole lamination side to side conveying device;

[0043] F limiting material loading overturning translation transverse quantitative conveying device;

[0044] G layer-by-layer pushing and boxing device;

[0045] H multi-specification boxing conveying device;

[0046] I product. DETAILED DESCRIPTION

[0047] The application will be described in detail below with reference to the drawings. EMBODIMENT

[0048] The one-mold five-motion container thermoforming conveying and boxing production line of the embodiment of the application is as shown in the accompanying drawings Figures 1-12As shown, including cup making machine, the bottom of the cup making machine is provided with a gantry support seat 8, the middle of the gantry support seat 8 is provided with a lower mold lifting driving mechanism, the upper part of the lower mold lifting driving mechanism is sequentially provided with an upper mold table 4 and a lower mold table 5, both sides of the gantry support seat 8 are provided with gantry columns 9, both sides of the upper mold table 4 and the lower mold table 5 can be slidingly nested on the gantry columns 9, the lower mold lifting driving mechanism drives the lower mold table 5 to ascend and descend along the gantry columns 9, the upper mold table 4 and the lower mold table 5 are matched and arranged on the upper part of the gantry columns 9, the upper part of the upper mold table 4 is provided with a pull-up support frame 3 of a fixed pull-up driving mechanism 2, the feeding side of the upper mold table 4 and the lower mold table 5 is provided with a sheet feeding driving mechanism 1, the lower mold table 5 is provided with a lower mold 6, a top and bottom mechanism is arranged between the lower mold 6 and the lower mold table 5, and the sheet feeding driving mechanism 1 is used to supply sheet materials between the upper mold table 4 and the lower mold table 5.

[0049] Specifically, the lower mold lifting driving mechanism is a rotating push-pull front and rear folding vertical lifting device, which comprises a lower mold driving device 10 and sequentially connected upper connecting seat 12, upper folding arm 13, rotating arm 14, lower folding arm 15 and lower connecting seat 16, the bottom of the lower mold table 5 is connected and fixed with the upper connecting seat 12, the lower mold driving device 10 drives one end of the rotating arm 14 to rotate, and an eccentric transmission structure is further provided, the eccentric transmission structure comprises an eccentric inner wheel 23, an eccentric bearing and an eccentric outer wheel 20, the eccentric inner wheel 23 is provided with an eccentric hole 24, the lower mold driving shaft 11 of the lower mold driving device 10 is assembled in the eccentric hole 24 and drives the eccentric inner wheel 23 to rotate around the eccentric hole 24, the eccentric bearing is arranged between the eccentric outer wheel 20 and the eccentric inner wheel 23, and the eccentric outer wheel 20 drives the rotating arm 14 to rotate; the upper connecting seat 12, the upper folding arm 13, the rotating arm 14, the lower folding arm 15 and the lower connecting seat 16 can be relatively rotatably connected in sequence from top to bottom to form a folding lifting unit, the number of folding lifting units can be set according to actual needs, and in the embodiment, the number of folding lifting units is two.

[0050] The eccentric bearing comprises two flange plates 25, a plurality of cylindrical rollers 26 and a flange connecting piece. The two flange plates 25 are fixedly connected through the flange connecting piece. Two ends of the cylindrical rollers 26 are rotatably installed on the same side of the flange plates 25, and the two end portions of the cylindrical rollers 26 are provided with balls 27 which protrude from the end faces of the end portions of the cylindrical rollers 26. The balls 27 are creatively arranged at the two ends of the cylindrical rollers 26, so as to simultaneously reduce the friction of the eccentric inner wheel 23 in the circumferential direction and on both sides. The flange connecting piece comprises a fastening column and two screws. Two sections of the fastening column are connected with the two flange plates 25 respectively. The two screws are screwed through the flange plates 25 on the same side and the fastening column, so as to fixedly connect the two flange plates 25.

[0051] In order to limit the inner wheel inside the outer wheel, the eccentric transmission structure is further provided with a cover plate 22. One side of the eccentric outer wheel 20 is provided with a limiting portion 21. The eccentric bearing is installed inside the eccentric outer wheel 20 and located inside the limiting portion 21. The eccentric inner wheel 23 is installed on the inner ring of the eccentric bearing. The cover plate 22 is located outside the eccentric inner wheel 23 and the eccentric bearing and is fixedly connected with the eccentric outer wheel 20.

[0052] The positioning lifting shaft 17 passes through the middle portion of the rotating arm 14 and is fixedly connected with the lifting limiting sliding pieces 18 at both ends. The lifting limiting sliding pieces 18 are slidably arranged in the sliding grooves of the lifting limiting seats 19. The sliding grooves of the lifting limiting seats 19 are provided with two rows of roller assemblies on both sides. Each row of roller assemblies is composed of a plurality of rollers which are arranged horizontally and sequentially from top to bottom. Specifically, the sliding grooves are provided with limiting walls and roller fixing plates on both sides. The limiting walls are provided with cavities for accommodating one end of the rollers. The fixing plates are provided with cavities for accommodating the other end of the rollers. The rollers are limited in the cavities of the limiting walls and the cavities of the fixing plates.

[0053] Preferably, the device further comprises a clutching power-assisted lifting and descending buffer device arranged on both sides of the gantry support base 8, the outer side of the gantry support base 8 on both sides is provided with a lifting support frame 28, a transmission assembly and a lifting assembly, and the device further comprises a lifting driving assembly arranged at a position avoiding the lower mold lifting driving mechanism and its movement space, the lifting driving assembly is connected to the lifting support frames 28 on both sides through a linkage driving shaft 35 and drives the lifting assembly through the transmission assembly, the lifting support frame 28 is provided with a transmission connection cavity and a lifting connection cavity, the transmission assembly is arranged between the transmission connection cavity and the lifting connection cavity and is connected to each other, the transmission connection cavity is used for connecting the linkage driving shaft 35 and the transmission assembly, and the lifting connection cavity is used for connecting the transmission assembly and the lifting driving assembly, the lifting assemblies on both sides are arranged at the average lifting point position of the lower mold table 5 and move correspondingly with the lower mold lifting driving mechanism. The transmission assembly is used for linkage, so that the linkage driving shaft 35 penetrating through both sides can transmit power to the lifting assembly, and because the linkage driving shaft 35 is directly driven, the lifting assemblies on both sides are forced to operate in high synchronization, effectively avoiding the situation that the cup making lower film is inclined due to different operation. In addition, the design of the transmission assembly can also ensure that the linkage driving shaft 35 and the lifting driving assembly are arranged at a position that does not affect the operation of the equipment, and the existing gap in the existing equipment can be effectively utilized, thereby avoiding the problem of substantial modification of the equipment, effectively saving the cost and utilizing the space.

[0054] In the embodiment, the driven assembly comprises a bearing fixing seat 30 and a transmission rod 29, the transmission rod is fixed on the lifting support frame 28 through the bearing fixing seat 30, both sides of the transmission rod 29 are respectively provided with a transmission bevel gear 31, the transmission bevel gears 31 are respectively arranged in the driven connection cavities and the lifting connection cavities, both sides of the linkage driving shaft 35 are respectively provided with a driving bevel gear 36, both sides of the driving bevel gears 36 are respectively arranged in the driven connection cavities on both sides and are engaged with the transmission bevel gears 31 in the driven connection cavities, the lifting assembly comprises a lifting transmission shaft for driving the lifting assembly, one side of the lifting transmission shaft is arranged in the lifting connection cavity and is provided with a lifting bevel gear 34 engaged with the transmission bevel gear 31 in the lifting connection cavity. The bevel gears are engaged with each other to form a right-angle transmission, which can ensure that the transmission distance is accurate through one-to-one transmission between the teeth when the device operates. The bearing fixing seat 30 is provided with a bearing for fixing the transmission rod 29, which ensures the stability of the transmission rod 29 during transmission. The transmission rod 29 is used for transmission, and the bevel gears are used for engagement between the linkage driving shaft 35 and the transmission rod 29, the transmission rod 29 and the lifting transmission shaft, which achieves effective transmission and effectively controls the transmission accuracy. The transmission rod 29 has stronger bearing capacity relative to the transmission belt or the transmission chain and is not easy to be damaged, which can further ensure the synchronization of transmission on both sides.

[0055] Preferably, the inner side of the lifting support frame 28 is provided with a lifting movable cavity for accommodating the lifting assembly, the lifting assembly further comprises a lifting rod 32, the other end of the lifting transmission shaft penetrates the lifting support frame 28 into the lifting movable cavity and drives the lifting rod 32 in the lifting movable cavity. The lifting movable cavity can effectively fix the lifting assembly, thereby avoiding the deviation of the lifting assembly. More preferably, corresponding two sides of the lifting rod 32 are respectively provided with a lifting rack 33 and a lifting rail, the lifting movable cavity is provided with a lifting slider matched with the lifting rail, the lifting rail and the lifting slider are matched with each other to relatively fix the horizontal position of the lifting rod 32 during lifting, the other end of the lifting transmission shaft in the lifting movable cavity is provided with a lifting wire gear engaged with the lifting rack 33, the lifting wire gear drives the lifting rack 33 to drive the lifting rod 32 to slide up and down. When the lifting wire gear drives the lifting rack 33 to drive the lifting rod 32, it only has a force in one direction, therefore, the lifting rail and the lifting slider are matched with each other to provide a supporting force, thereby avoiding the inclination of the lifting rod 32.

[0056] Specifically, the lifting driving assembly further comprises a driving source, a driving bin 38 and a driving rod. The linkage driving shaft 35 penetrates the driving bin 38 through a bearing seat arranged in the driving bin 38. The driving bin 38 is fixed on the equipment. The driving source is in the equipment and drives the driving rod. The driving rod enters the driving bin 38 and drives the linkage driving shaft 35 through the driving line gear 37 fixed on the linkage driving shaft 35.

[0057] The upper mold table 4 is provided with a stretching die head corresponding to the forming cavity 7 of the lower mold 6. The stretching die head is provided with a lifting rod. The stretching die head is assembled with an internal material taking and unloading device. The lifting driving mechanism 2 drives the stretching die head to lift or lower through the lifting rod. The internal material taking and unloading device comprises an air channel rod and an internal suction disc. The air channel rod is embedded in the lifting rod. The internal suction disc is in communication with the air channel in the air channel rod. The air channel rod protrudes downward from the stretching die head and makes the internal suction disc below the stretching die head. The lifting driving mechanism drives the internal suction disc to lift or lower through the air channel rod. The internal material taking and unloading device arranged in the stretching die head can realize multi-stage lifting and unloading. The lifting driving mechanism 2 drives the lifting rod, the air channel rod and the stretching die head to lift or lower together. When the cup-making mold is opened, the stretching die head makes the air channel rod protrude out of the stretching die head and contact and suck the product generated by the lower mold 6. The product in the forming cavity 7 needs to be slightly lifted by the top and bottom mechanism on the lower mold table 5 to realize the taking and conveying of the product in the cup-making mold. The principle and use of the internal material taking and unloading device used in the application are basically the same as those in the prior application patent CN112045979A.

[0058] The top and bottom mechanism is provided with a top rod penetrating into the inner bottom surface of the forming cavity 7. The top rod is used to lift the bottom of the product I formed in the forming cavity 7. The product I formed in the forming cavity 7 can be effectively lifted to facilitate the adsorption and taking out of the product I by the internal material taking and unloading device.

[0059] The device further comprises an in-mold meeting material taking and unloading mechanical arm A and a lateral interface stacking conveying mechanical arm B. The in-mold meeting material taking and unloading mechanical arm A is located on the discharge side of the cup-making machine and is used to take out the product I from the cup-making machine. The lateral interface stacking conveying mechanical arm B is matched with the in-mold meeting material taking and unloading mechanical arm A and is used to transfer the product I taken out from the cup-making machine by the in-mold meeting material taking and unloading mechanical arm A.

[0060] In this embodiment, the in-mold meeting and taking-out manipulator A comprises a fixed frame, a first lateral translation mechanism and a second lateral translation mechanism are arranged above the fixed frame, the first lateral translation mechanism and the second lateral translation mechanism are connected through a manipulator lifting mechanism, the first lateral translation mechanism is fixed on the fixed frame, the manipulator lifting mechanism is arranged on the first lateral translation mechanism and can slide on the first lateral translation mechanism, the second lateral translation mechanism is controlled to lift and lower by the manipulator lifting mechanism, a taking-out palm disc A10 is arranged on the moving end of the second lateral translation mechanism, and the taking-out palm disc A10 is used to move between the upper mold table 4 and the lower mold 6, take the product I from the built-in taking-out device, and carry out to the outside of the cup making machine. Through the arrangement of the two-stage translation mechanism, the originally longer stroke in-mold meeting and taking-out manipulator A can be transported to the position faster, and a separate manipulator lifting mechanism is adopted to ensure that the lifting is synchronized during parallel transportation, thereby further improving the running and meeting matching rate. In this embodiment, the transportation process can be effectively reduced to 1.5 action times, and the transfer rate is greatly improved.

[0061] Specifically, the first lateral translation mechanism comprises a first lateral translation motor A1, a first lateral translation rail A2 and a sliding support plate A3, the second lateral translation mechanism comprises a second lateral translation motor A8 and a second lateral translation support frame A9, the manipulator lifting mechanism comprises a manipulator lifting motor A5 and a manipulator lifting rod A6, the sliding support plate A3 is arranged on the first lateral translation rail A2 and is driven to slide by the first lateral translation motor A1, the manipulator lifting motor A5 is fixed at the bottom of the sliding support plate A3, the second lateral translation support frame is connected to the sliding support plate A3 through a plurality of limiting rods A4, the manipulator lifting rod A6 is fixedly connected to the bottom of the second lateral translation support frame A9, the manipulator lifting motor A5 drives the second lateral translation support frame A9 to move up and down, and the taking-out palm disc A10 is arranged on the second lateral translation support frame A9. The second lateral translation motor A8 is fixed at the end of the second lateral translation support frame A9 and drives the taking-out palm disc A10 to slide on the second translation rail frame.

[0062] Specifically, the manipulator lifting rod A6 is provided with a manipulator lifting rack A7, the lifting motor is provided with a manipulator lifting wire gear matched with the manipulator lifting rack A7, and the manipulator lifting rack A7 is engaged with the manipulator lifting wire gear.

[0063] In this embodiment, the stretching die corresponds to the forming cavity 7 and is arranged in multiple groups in a regular arrangement, the take-off palm plate A10 is provided with a plurality of take-off strips, and the take-off strips are provided with a plurality of take-off suction cups A11. The number and position of the corresponding take-off suction cups A11 on the take-off strips match the number and position of the stretching die.

[0064] In this embodiment, the lateral abutting and conveying manipulator B includes a lateral conveying fixed frame, an abutting and conveying lifting structure, a first lateral translation structure, a second lateral translation structure, and a third lateral translation structure. The lateral conveying fixed frame is fixed to the ground. The first lateral translation structure is fixed in the lateral conveying fixed frame. The abutting and conveying lifting structure is arranged on the first lateral translation structure and is driven by the first lateral translation structure. The second lateral translation structure is fixed to the bottom of the abutting and conveying lifting structure and is located below the first lateral translation structure. The third lateral translation structure is arranged below the second lateral translation structure and is driven by the second lateral translation structure. A grabbing and unloading mechanism is fixed below the third lateral translation structure. The grabbing and unloading mechanism is provided with a grabbing and unloading palm plate B13 matched with the product I. The grabbing and unloading palm plate B13 is provided with an unloading suction cup B14 at the bottom. The third lateral translation structure is used to match the grabbing and unloading mechanism to slide between the unloading station of the alternating unloading device C and the alternating sampling mechanism.

[0065] The first lateral translation structure includes a first lateral translation rail frame B5. The first lateral translation rail frame B5 is provided with a first lateral lifting and translating seat B6. The first lateral translation rail frame B5 is provided with a first lateral translation motor B7 at the side. The first lateral translation motor B7 drives the first lateral lifting and translating seat B6 to slide in the first lateral translation rail frame B5.

[0066] The abutting and conveying lifting structure includes an abutting and conveying lifting frame B1, an abutting and conveying lifting motor B2, an abutting and conveying lifting rod B4, and a second lateral translation sliding block seat B3. The abutting and conveying lifting motor B2 is fixed to the first lateral lifting and translating seat B6. The lifting sliding rod of the abutting and conveying lifting frame B1 penetrates the first lateral lifting and translating seat B6 and is fixed and connected with the second lateral translation sliding block seat B3 located below the first lateral translation rail frame B5 through the abutting and conveying lifting rod B4. The abutting and conveying lifting motor B2 drives the abutting and conveying lifting rod B4, so that the second lateral translation sliding block seat B3 vertically lifts. The second lateral translation structure is fixed to the lower surface of the second lateral translation sliding block seat B3.

[0067] The second lateral translation structure comprises a second lateral translation support frame B8, a second lateral translation motor B9 and a second lateral translation transmission support plate B10. The second lateral translation support frame B8 is fixed to the lower surface of the second lateral translation sliding block seat B3. The second lateral translation motor B9 is fixed inside the second lateral translation support frame. The second lateral translation transmission support plate B10 is inversely hung and slidably arranged below the second lateral translation support frame B8. The third lateral translation structure is inversely hung on the lower surface of the second lateral translation transmission support plate B10.

[0068] The third lateral translation structure comprises a third lateral translation rail B11, a third lateral translation motor and a third lateral translation platform B12. The third lateral translation rail B11 is fixed to the back of the second lateral translation transmission support plate B10. The third lateral translation platform is slidably arranged in the third lateral translation rail B11. The third lateral translation motor is arranged on the upper surface of the third lateral translation platform. The third lateral translation platform is fixed with the grabbing and unloading mechanism below. The grabbing and unloading palm disc B13 is inversely hung and fixed below the grabbing and unloading mechanism. The three-stage translation structure and the interlaced lifting structure constitute a structure capable of three-stage simultaneous translation and lifting. The time of product I transfer and transmission process is effectively compressed. Through the arrangement of the third lateral translation structure, it can directly match the stacking station and sampling station of the alternating grabbing and unloading device C.

[0069] The alternating grabbing and unloading device C is matched with the lateral grabbing and stacking conveying manipulator B and used for grabbing the products I on the lateral grabbing and stacking conveying manipulator B. The alternating grabbing and unloading device C comprises a front translation grabbing mechanism, a rear translation grabbing mechanism and an upward unloading mechanism. The front translation grabbing mechanism and the rear translation grabbing mechanism are arranged in parallel and adjacent to each other. The upward unloading mechanism is arranged on the side of the rear translation grabbing mechanism. The front translation grabbing mechanism comprises a front translation support seat C1, a front translation sliding pair C2 arranged in the front translation support seat C1 and a front transverse sliding support seat C3 arranged on the front translation sliding pair. The rear translation grabbing mechanism comprises a rear translation support seat C4, a rear translation sliding pair C5 arranged in the front translation support seat C1 and a rear transverse sliding support seat C6 arranged on the rear translation sliding pair. The front translation support seat C1 and the rear translation support seat C4 are arranged in parallel and adjacent to each other. The rear transverse sliding support seat C6 and the front transverse sliding support seat C3 are both provided with a grabbing base C7. The grabbing base C7 is provided with a grabbing box C8. The upward unloading mechanism comprises an upward unloading support seat C9 and a vertical lifting pair C10 arranged in the upward unloading support seat C9. The vertical lifting pair C10 is provided with a grabbing fork. The grabbing fork is matched with the bottom of the grabbing box C8. The upward unloading support seat C9 is fixed to the end of the rear translation support seat C4.

[0070] Specifically, the receiving fork is composed of a fixed support fork C11, a rotating support fork C13 and a fixed part C12. The fixed part C12 is fixed on the lifting end of the vertical lifting sub C10. The fixed support fork C11 and the rotating support fork C13 are symmetrically and parallelly arranged at the two ends of the fixed part C12. The fixed support fork C11 is fixedly connected with the fixed part C12. The rotating support fork C13 is hingedly connected with the fixed part C12. The rotating support fork C13 is arranged on the side close to the connection between the front translation support base C1 and the rear translation support base C4.

[0071] In the embodiment, an alternate sampling mechanism is further included. The alternate sampling mechanism is arranged adjacent to the front translation receiving mechanism and is symmetrically opposite to the rear translation receiving mechanism. The alternate sampling mechanism includes a sampling support base C14, a sampling transverse sliding sub C15 and a sampling base. The sampling transverse sliding sub is fixed on the sampling support base C14. The sampling base is driven by the sampling transverse sliding sub C15. The sampling support base C14 is arranged adjacent to the front translation support base C1. The sampling base is provided with a receiving box C8 for sampling. The alternate sampling mechanism is matched with the third lateral translation mechanism of the lateral receiving and stacking conveying manipulator B, so as to cooperate with each other to complete sampling of the products I. The sampling station is placed at the alternate receiving and discharging device C, so that the quality of the products I can be inspected in advance before entering the stacking and boxing process, thereby the products I with defects can be found in advance, and the equipment can be conveniently debugged and the quality of the products can be controlled.

[0072] The alternate receiving and discharging device C is provided with three stations, which are a stacking station, a feeding station and a sampling station. The stacking station is located on the front translation support base C1 of the front translation receiving mechanism and is close to the receiving and discharging mechanism. The rear transverse sliding support base C6 is used to push the receiving base C7 on the rear translation receiving mechanism to the stacking station for stacking. The feeding station is located at the lifting corresponding height of the lifting discharging mechanism. The lifting discharging mechanism is used to lift the receiving box C8 after stacking to the corresponding feeding station, so that the receiving and transferring manipulator D can grasp and complete the feeding work. The sampling station is located at the standby position of the front translation moving sub, i.e. the end of the front translation moving sub close to the lifting discharging mechanism. The sampling station and the stacking station are placed in front of and behind each other, so that the lateral receiving and stacking manipulator can match with the sampling station and the stacking station respectively during the linear motion, and the corresponding work of stacking and sampling can be completed by the lateral receiving and stacking manipulator.

[0073] Specifically, it also includes a material receiving transfer manipulator D, a single-row whole stack receiving and stacking lateral conveying device E, a limiting material receiving and overturning translation transverse quantitative conveying device F, a layer-by-layer pushing and boxing device E, and a multi-specification boxing conveying device H. The material receiving transfer manipulator D is used to grasp the stacked products I row by row from the material receiving box C8 lifted from the ascending unloading support seat C9 of the alternating material receiving and unloading device C and place them on the single-row whole stack receiving and stacking lateral conveying device E. The single-row whole stack receiving and stacking lateral conveying device E limits the height of each stack of products. After stacking is completed, the single-row whole stack receiving and stacking lateral conveying device E laterally conveys the products I to the limiting material receiving and overturning translation transverse quantitative conveying device F. In this device, the whole stack is regularized and limited to meet the relative position requirements of boxing. Then, the products I are pushed layer by layer into the boxes in the multi-specification boxing conveying device H by the layer-by-layer pushing and boxing device E. When the boxes are full, the boxes are sent out by the multi-specification boxing conveying device and new boxes are placed, completing the boxing of the products I. This process and the corresponding technical solution are consistent with the technology adopted in the invention patent application with the publication number CN112045978 and the name of One Mold Six Action Hot Forming Mold In-mold Labeling Conveying and Boxing Production Line and Operation Method previously disclosed by the inventor of the present application.

[0074] The operation method of the one mold five action container hot forming conveying and boxing production line includes the following steps:

[0075] First action: The lower mold table 5 in the mold locking state is driven to start descending by the lower mold lifting drive mechanism. At the same time, the built-in suction disc of the built-in material receiving and unloading device is synchronously lowered. At this time, the lower mold table 5 is lowered to the specified position, the product I is lifted by the bottom mechanism, the product I is separated from the inner wall of the forming mold cavity 7, and at the same time, the air pressure in the built-in suction disc becomes negative pressure to suck the inner bottom surface of the product I. Then, the lower mold table 5 continues to descend while the stretch die head and the built-in material receiving and unloading device are simultaneously sucked tightly to synchronously lift the product I to reach the mold unloading station, completing the first action. In this process, the material receiving and unloading hand palm disc A10 of the mold unloading and receiving manipulator A moves and reaches the material receiving station; specifically, the lower mold table 5 is lowered to the specified position, which is 50% of the height of the product I in this embodiment. Then, after the product I is adsorbed by the built-in suction disc, the lower mold table 5 continues to descend while synchronously lifting the product I, so that the product I is completely separated from the forming mold cavity 7. This process only takes 0.6 action time, and the original lower mold descending to the specified position takes one action time. In this process, the material receiving and unloading hand palm disc A10 can complete the corresponding work of the previous mold and return to the material receiving station in time, ensuring that it can interact with the cup making machine quickly and complete the unloading and receiving process.

[0076] Second action: start the in-mold meeting and unloading manipulator A when the product I reaches the unloading station, and translate the unloading palm disc A10 in the mold to the unloading station. During this process, the product I is continuously in the unloading station, and the lower mold table 5 continues to descend to the position until the unloading palm disc A10 completely reaches the unloading station, and the second action is completed. At this step, the unloading palm disc A10 is only about 1 cm away from the bottom of the product I, so that the product I can be quickly caught and sucked by the unloading palm disc A10, thereby meeting the subsequent operation of meeting and unloading.

[0077] Third action: the built-in suction cup cancels the negative pressure to make the product I and the built-in suction cup separate and descend, and the unloading suction cup A11 on the unloading palm disc A10 starts the negative pressure and adsorbs the product I to complete the product I meeting and replacement. Subsequently, the stretching die head and the built-in unloading device are synchronously raised and reset, and the in-mold meeting and unloading manipulator A is synchronously lowered to make the built-in suction cup separate from the top surface of the product I, and the third action is completed. During this process, when the product I completely separates from the built-in suction cup, the in-mold meeting and unloading manipulator can start to drive the unloading palm disc A10 to move out of the unloading station, and the third action actually only needs 0.6 action time.

[0078] Fourth action: after the built-in suction cup separates from the top surface of the product I, the in-mold unloading manipulator starts to translate out of the unloading station and moves to the unloading and connecting station. After the built-in unloading device is completely reset, the sheet feeding driving mechanism 1 is synchronously started and the baked sheet is brought to the lower side of the upper mold table 4 while the edge corners are recycled. When the unloading palm disc A10 completely separates from the lower mold 6, the lower mold lifting driving mechanism drives the lower mold table 5 to start to rise, and the fourth action is completed. When the built-in suction cup of the built-in unloading device completely separates from the top of the product I, the position of the built-in suction cup is the position of the locking mold. At this time, the distance to the completely reset process is extremely short, and the reset time can be quickly reset and basically ignored, so that the sheet feeding driving mechanism 1 can be operated while being quickly reset. When the baked sheet reaches the corresponding position to meet the next locking and molding, the unloading palm disc A10 has completely moved out of the unloading station and is lowered to the outside of the lower mold 6. At this time, the unloading palm disc A10 will not hinder the lifting of the lower mold 6. In order to make the action more compact, the lower mold lifting driving mechanism starts to lift the lower mold table 5 when the tail of the palm disc leaves the position of the lower mold 6. That is, when the action is completed, the lower mold table 5 has been lifted by a certain distance, thereby effectively reducing the time required for locking, and reserving sufficient time for locking and molding.

[0079] The fifth action: the lower mold 6 rises to the position of locking the mold, the product I is formed, and then the built-in suction disc of the built-in stripping device descends to the inner bottom of the product I and starts to cool the inner bottom surface of the product I while the stretching die rises, and the fifth action is completed; in this process, the stripping palm disc A10 translates to the stripping station, and the lateral stacking transfer mechanical hand B at the standby position of the stripping station completes the meeting and stripping of the product I, and then the stripping palm disc A10 is driven by the stripping mechanical hand to move to the receiving station;

[0080] Specifically, during the above-mentioned five actions, the activities of the lateral stacking transfer mechanical hand B also need to be completed during the process, which specifically includes that the lateral stacking transfer mechanical hand B is initially located above the transfer station and waits, when the stripping palm disc A10 moves to the transfer station, the stacking lifting structure of the lateral stacking transfer mechanical hand B is started to lower the stripping mechanism, and at the same time, the stripping palm disc A10 is synchronously lifted by the mechanical hand lifting mechanism, until the stripping disc B14 at the bottom of the stripping mechanism adsorbs the inner bottom of the product I, and at the same time, the stripping disc A11 cancels the negative pressure, the alternating meeting and stripping of the product I is completed, and then the stripping mechanism starts to rise driven by the stacking lifting structure, so that the product I is separated from the stripping palm disc A10, at the same time, the lateral stacking transfer mechanical hand B starts the first lateral translation mechanism, the second lateral translation mechanism and the third lateral translation mechanism to cooperate with the stacking lifting structure to directly transport the stripping mechanism to the alternating stripping device C and complete the alternating meeting and stripping of the product I, and before the stripping palm disc A10 reaches the transfer station again, the lateral stacking transfer mechanical hand B will bring the stripping mechanism back to the standby position above the transfer station, so as to complete the alternating meeting and stripping of the product I with the stripping palm disc. The equipment placed in the alternating stripping device C only needs 2-4 actions per mold process to complete the corresponding operation, which can fully meet the operation requirements of the present application, and will not be described here.

[0081] The above is a further detailed description of the present application in combination with a specific preferred embodiment, and cannot be considered as limiting the specific implementation of the present application to these descriptions. For ordinary skilled persons in the technical field to which the present application belongs, without departing from the concept of the present application, a number of simple deductions or substitutions can be made, which should be considered as belonging to the protection scope of the present application.

Claims

1. Method for operating a thermoforming and transfer packaging line for containers with five actions per mould, characterised in that, Each mode operation method comprises: First action: the lower die lifting driving mechanism drives the lower die table in the mold clamping state to start descending, and the built-in suction disc of the built-in material taking and unloading device is synchronously lowered at the same time. At this time, the lower die table is lowered to the specified position, the top and bottom mechanism is started to lift the product bottom, so that the product is separated from the inner wall of the forming mold cavity. At the same time, the air pressure in the built-in suction disc becomes negative pressure to suck the inner bottom surface of the product. Then, the lower die table continues to descend, and the stretch die head and the built-in material taking and unloading device simultaneously suck the product and synchronously lift to reach the mold unloading station, completing the first action. In this process, the material taking and unloading palm disc of the mold meeting material taking and unloading manipulator moves and reaches the material receiving station; Second action: when the product reaches the unloading station, the mold meeting material taking and unloading manipulator is started to translate the material taking and unloading palm disc at the front of the mold into the mold unloading station. In this process, the product continues to be at the unloading station, and the lower die table continues to descend to the position until the material taking and unloading palm disc completely reaches the unloading station, completing the second action; Third action: the built-in suction disc cancels the negative pressure to make the product separate from the built-in suction disc and descend, and the material taking and unloading suction disc on the material taking and unloading palm disc starts negative pressure and adsorbs the product to complete the product meeting and replacement. Then, the stretch die head and the built-in material taking and unloading device synchronously rise to reset, and the mold meeting material taking and unloading manipulator synchronously descends to make the built-in suction disc separate from the top surface of the product, completing the third action; Fourth action: after the built-in suction disc separates from the top surface of the product, the mold material taking and unloading manipulator starts to translate out of the unloading station to the unloading station. After the built-in material taking and unloading device completely resets, the sheet feeding driving mechanism is synchronously started and the baked sheet is taken to the lower side of the upper die table while recycling the corner. When the material taking and unloading palm disc completely separates from the lower die, the lower die lifting driving mechanism drives the lower die table to start rising, completing the fourth action; Fifth action: the lower die rises to the mold clamping position, completing the product forming. Then, the stretch die head rises, and the built-in suction disc of the built-in material taking and unloading device descends to the inner bottom of the product and starts cooling the inner bottom surface of the product, completing the fifth action. In this process, the material taking and unloading palm disc translates to the unloading station and meets the lateral stacking and conveying manipulator at the unloading station standby to complete the unloading and stacking of the product and transfer the product. Then, the mold material taking and unloading manipulator drives the material taking and unloading palm disc to move to the material receiving station.

2. A thermoforming transfer packing line for containers with five actions per mold, characterized in that: The operation method as claimed in claim 1, comprising a cup making machine, a bottom of the cup making machine is provided with a gantry support seat, a middle part of the gantry support seat is provided with a lower mold lifting driving mechanism, an upper part of the lower mold lifting driving mechanism is sequentially provided with an upper mold table and a lower mold table, both sides of the gantry support seat are provided with gantry columns, both side edges of the upper mold table and the lower mold table can be slidingly nested on the gantry columns, the lower mold lifting driving mechanism drives the lower mold table to ascend and descend along the gantry columns, the upper mold table and the lower mold table are matched and arranged at an upper part of the gantry columns, an upper part of the upper mold table is provided with a pulling-up support frame of a pulling-up driving mechanism, a feeding side of the upper mold table and the lower mold table is provided with a sheet feeding driving mechanism, the lower mold table is provided with a lower mold, a top and bottom mechanism is arranged between the lower mold and the lower mold table, and the sheet feeding driving mechanism is used for supplying a sheet between the upper mold table and the lower mold table. A stretching die head corresponding to a forming cavity of the lower mold is arranged in the upper mold table, the stretching die head is provided with a pulling-up rod, the stretching die head is assembled with an internal taking-out device, the pulling-up driving mechanism independently drives the stretching die head to ascend and descend through the pulling-up rod, the internal taking-out device comprises an air channel rod and an internal suction disc, the air channel rod is embedded in the pulling-up rod, the internal suction disc is in communication with an air channel in the air channel rod, the air channel rod protrudes downward from the stretching die head and makes the internal suction disc located below the stretching die head, and the pulling-up driving mechanism independently drives the internal suction disc to ascend and descend through the air channel rod. A ejector rod is arranged on the top and bottom mechanism and penetrates into an inner bottom surface of the forming cavity, and the ejector rod is used for lifting a bottom of a product formed in the forming cavity. Further comprising an in-mold meeting taking-out mechanical hand and a lateral joint and stacking conveying mechanical hand, the in-mold meeting taking-out mechanical hand is located at a discharging side of the cup making machine and is used for taking out a product from the cup making machine, and the lateral joint and stacking conveying mechanical hand is matched with the in-mold meeting taking-out mechanical hand and is arranged and used for transferring the product taken out from the cup making machine by the in-mold meeting taking-out mechanical hand.

3. A one-mold five-motion container thermoforming transfer packaging line according to claim 2, characterized in that: The in-mold meeting taking-out mechanical hand comprises a fixing frame, a first translation mechanism and a second translation mechanism are arranged above the fixing frame, the first translation mechanism and the second translation mechanism are connected through a mechanical hand lifting mechanism, the first translation mechanism is fixed on the fixing frame, the mechanical hand lifting mechanism is arranged on the first translation mechanism and can slide on the first translation mechanism, the second translation mechanism is controlled to ascend and descend by the mechanical hand lifting mechanism, a taking-out hand palm disc is arranged on a moving end of the second translation mechanism, the taking-out hand palm disc is used for moving to between the upper mold table and the lower mold, taking the product from the internal taking-out device and taking out the product to outside of the cup making machine.

4. The one-mold five-motion container thermoforming transfer packaging line of claim 3, wherein: The first translation mechanism comprises a first translation motor, a first translation track and a sliding support plate, the second translation mechanism comprises a second translation motor and a second translation track frame, the mechanical arm lifting mechanism comprises a mechanical arm lifting motor and a mechanical arm lifting rod, the sliding support plate is arranged on the first translation track and slides by the first translation motor, the mechanical arm lifting motor is fixed at the bottom of the sliding support plate, the second translation track is connected with the sliding support plate through a plurality of limiting rods, the mechanical arm lifting rod is fixedly connected with the bottom of the second translation track frame, the mechanical arm lifting motor drives the mechanical arm lifting rod to drive the second translation track frame to move up and down, the taking and unloading hand palm disc is arranged on the second translation track frame, and the second translation motor is fixed at the end of the second translation track frame and drives the taking and unloading hand palm disc to slide on the second translation track frame. The mechanical arm lifting rod is provided with a mechanical arm lifting rack, and the lifting motor is provided with a mechanical arm lifting wire gear matched with the mechanical arm lifting rack, and the mechanical arm lifting rack is engaged with the mechanical arm lifting wire gear. The stretching die head and the forming die cavity correspond to a plurality of groups and are regularly arranged, the taking and unloading hand palm disc is provided with a plurality of taking and unloading strips, and the taking and unloading strips are provided with a plurality of taking and unloading suction cups, the number and positions of the corresponding taking and unloading suction cups on the taking and unloading strips match the number and positions of the stretching die head.

5. The five-operation-per-revolution container thermoforming and transfer packaging line according to any one of claims 2-4, characterized in that: The clutching power-assisted lifting and descending buffer device is arranged on both sides of the portal support base, the outer sides of the portal support bases on both sides are each provided with a lifting support frame, a driven assembly and a lifting assembly, and the lifting driving assembly is arranged at a position avoiding the lower die lifting driving mechanism and the movement space thereof, the lifting driving assembly is connected with the lifting support frames on both sides through a linkage driving shaft and drives the lifting assembly through the driven assembly, the lifting support frames are provided with a driven connection cavity and a lifting connection cavity, the driven assembly is arranged between the driven connection cavity and the lifting connection cavity and is connected with each other, the driven connection cavity is used for connecting the linkage driving shaft with the driven assembly, and the lifting connection cavity is used for connecting the driven assembly with the lifting driving assembly, and the lifting assemblies on both sides are arranged at the average lifting point positions of the lower die table and move correspondingly with the lower die lifting driving mechanism.

6. The one-mold five-motion container thermoforming transfer packaging line of claim 5, wherein: The driven assembly comprises a bearing fixing seat and a transmission rod, the transmission rod is fixed on the lifting support frame through the bearing fixing seat, both sides of the transmission rod are respectively provided with transmission bevel gears, the transmission bevel gears are respectively arranged in the driven connection cavities and the lifting connection cavities, both sides of the linkage driving shaft are respectively provided with driving bevel gears, the driving bevel gears on both sides are respectively arranged in the driven connection cavities on both sides and are engaged with the transmission bevel gears arranged in the driven connection cavities, the lifting assembly comprises a lifting transmission shaft for driving the lifting assembly, one side of the lifting transmission shaft is arranged in the lifting connection cavity and is provided with a lifting bevel gear engaged with the transmission bevel gear arranged in the lifting connection cavity.

7. The one-mold five-motion container thermoforming transfer packaging line according to any one of claims 2-4, characterized in that: The alternating receiving and discharging device is matched with the lateral receiving and stacking conveying manipulator and is used for receiving the products on the lateral receiving and stacking conveying manipulator, and comprises a front translation receiving mechanism, a rear translation receiving mechanism and an upward discharging mechanism, the front translation receiving mechanism and the rear translation receiving mechanism are arranged in parallel and adjacent to each other, and the upward discharging mechanism is arranged on the side of the rear translation receiving mechanism. The front translation receiving mechanism comprises a front translation support seat, a front translation sliding pair arranged in the front translation support seat and a front transverse sliding support seat arranged on the front translation sliding pair, the rear translation receiving mechanism comprises a rear translation support seat, a rear translation sliding pair arranged in the front translation support seat and a rear transverse sliding support seat arranged on the rear translation sliding pair, the front translation support seat and the rear translation support seat are arranged in parallel and adjacent to each other, and the rear transverse sliding support seat and the front transverse sliding support seat are both provided with receiving bases, and the receiving bases are provided with receiving boxes. The upward discharging mechanism comprises an upward discharging support seat and a vertical lifting pair arranged in the upward discharging support seat, the vertical lifting pair is provided with a receiving fork, the receiving fork is matched with the bottom of the receiving box, and the upward discharging support seat is fixed on the end of the rear translation support seat.

8. The one-mold five-motion container thermoforming transfer packaging line of claim 7, wherein: The receiving fork comprises a fixed support fork, a rotating support fork and a fixed part, the fixed part is fixed on the lifting end of the vertical lifting pair, the fixed support fork and the rotating support fork are arranged in parallel and symmetrically on both ends of the fixed part, the fixed support fork is fixedly connected with the fixed part, the rotating support fork is hingedly connected with the fixed part, and the rotating support fork is arranged on the side close to the connection between the front translation support seat and the rear translation support seat.

9. The one-mold five-motion container thermoforming transfer packaging line of claim 7, wherein: The alternating sampling mechanism is arranged adjacent to the front translation receiving mechanism and is symmetrical to the rear translation receiving mechanism, the alternating sampling mechanism comprises a sampling support seat, a sampling transverse sliding pair and a sampling base, the sampling transverse sliding pair is fixed on the sampling support seat, the sampling base is driven by the sampling transverse sliding pair, the sampling support seat is arranged adjacent to the front translation support seat, and the sampling base is provided with a receiving box for sampling.

10. The one-mold five-motion container thermoforming transfer packaging line of claim 9, wherein: The side transfer and stacking conveying manipulator comprises a side transfer fixing frame, a stacking lifting structure, a first side translation structure, a second side translation structure and a third side translation structure, the side transfer fixing frame is fixed on the ground, the first side translation structure is fixed in the side transfer fixing frame, the stacking lifting structure is arranged on the first side translation structure and is driven by the first side translation structure, the second side translation structure is fixed on the bottom of the stacking lifting structure and is below the first side translation structure, the third side translation structure is arranged below the second side translation structure and is driven by the second side translation structure, the lower side of the third side translation structure is fixed with a grabbing and unloading mechanism, the grabbing and unloading mechanism is provided with a grabbing and unloading palm plate matched with the product, and the bottom of the grabbing and unloading palm plate is provided with an unloading suction cup.

11. The one-mold five-motion container thermoforming transfer packaging line of claim 10, wherein: The first side translation structure comprises a first side translation rail frame, the first side translation rail frame is provided with a first side lifting and translating seat, and the side edge of the first side translation rail frame is provided with a first side translation motor, the first side translation motor drives the first side lifting and translating seat to slide in the first side translation rail frame. The stacking lifting structure comprises a stacking lifting frame, a stacking lifting motor, a stacking lifting rod and a second side translation sliding block seat, the stacking lifting motor is fixed on the first side lifting and translating seat, the lifting sliding rod of the stacking lifting frame penetrates through the first side lifting and translating seat and is fixedly connected with the second side translation sliding block seat below the first side translation rail frame, the stacking lifting motor drives the stacking lifting rod to vertically lift the second side translation sliding block seat, and the second side translation structure is fixed on the lower surface of the second side translation sliding block seat. The second side translation structure comprises a second side translation support frame, a second side translation motor and a second side translation transmission support plate, the second side translation support frame is fixed on the lower surface of the second side translation sliding block seat, the second side translation motor is fixed in the second side translation support frame, and the second side translation transmission support plate is inversely hung and slid below the second side translation support frame, and the third side translation structure is inversely hung on the lower surface of the second side translation transmission support plate. The third side translation structure comprises a third side translation rail, a third side translation motor and a third side translation platform, the third side translation rail is fixed on the back of the second side translation transmission support plate, the third side translation platform is slidably arranged in the third side translation rail, the third side translation motor is arranged on the upper surface of the third side translation platform, the grabbing and unloading mechanism is fixed below the third side translation platform, and the grabbing and unloading palm plate is inversely hung and fixed below the grabbing and unloading mechanism.

12. The five- action-per-revolution container thermoforming transfer and packaging line according to any one of claims 2-4, characterized in that: The lower mold lifting driving mechanism is a rotating push-pull front and back folding vertical lifting device, comprising a lower mold driving device and sequentially connected upper connecting seat, upper folding arm, rotating arm, lower folding arm and lower connecting seat, the bottom of the lower mold table is connected and fixed with the upper connecting seat, the lower mold driving device drives one end of the rotating arm to rotate, and an eccentric transmission structure is further arranged, the eccentric transmission structure comprises an eccentric inner wheel, an eccentric bearing and an eccentric outer wheel, the eccentric inner wheel is provided with an eccentric hole, the lower mold driving shaft of the lower mold driving device is assembled in the eccentric hole and drives the eccentric inner wheel to rotate around the eccentric hole, the eccentric bearing is arranged between the eccentric outer wheel and the eccentric inner wheel, and the eccentric outer wheel drives the rotating arm to rotate; The eccentric bearing comprises two flange plates, a plurality of cylindrical rollers and a flange connecting piece, the two flange plates are fixedly connected through the flange connecting piece, the two ends of the cylindrical roller are rotatably installed on the same side of the flange plate, and the two ends of the cylindrical roller are provided with ball bearings, and the ball bearings protrude from the end face of the end of the cylindrical roller; Further provided are a positioning lifting shaft, a lifting limiting sliding piece and a lifting limiting seat, the positioning lifting shaft penetrates the middle part of the rotating arm and is fixedly connected with the lifting limiting sliding piece at both ends, the lifting limiting sliding piece is slidably arranged in the sliding groove of the lifting limiting seat, and two rows of roller assemblies are arranged on both sides of the sliding groove of the lifting limiting seat.

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