A mold opening control system for continuous movement of foaming mold frame

Abstract

This invention discloses a continuous mold opening control system for a foaming mold frame, comprising an opening action mechanism, an opening maintenance mechanism, and a mold frame handle mechanism. The opening action mechanism opens the upper mold mechanism of the foaming mold frame moving on the conveyor line to a fully open state, and includes a gripper mechanism capable of rotating or swinging around the hinge axis of the upper mold mechanism on the conveyor line. The gripper mechanism includes two long, horizontally arranged clamping arms parallel to the transmission direction of the foaming mold frame on the conveyor line. The opening maintenance mechanism maintains the fully open foaming mold frame in this state as it moves on the conveyor line, and includes two clamping beams that connect to the two clamping arms and are parallel to the conveyor line. The mold frame handle mechanism includes an opening handle disposed on the upper mold mechanism of the foaming mold frame that can engage between the two clamping arms and the two clamping beams. This invention provides seamless execution and maintenance of the opening action, and features a small footprint, low cost, and low control complexity.

Description

Technical Field

[0001] This invention relates to the continuous opening and closing of the foaming mold frame on a foaming production line. Background Technology

[0002] Patent document CN 112848029 A discloses a reciprocating mold frame opening and closing robot. This robot includes a translation stage and an opening arm mechanism mounted on the translation stage that can move along with it. By translating the stage on a track, it adapts to the movement of the foam mold frame, thus enabling continuous opening and closing operations of the foam mold frame. This avoids the problem of traditional opening mechanisms requiring the stopping of the foam mold frame's transmission line, thereby saving time in the opening and closing operations and avoiding energy consumption from starting and stopping the transmission line. However, this reciprocating mold frame opening and closing robot has the following problems:

[0003] When the robot performs mold opening and closing operations, the translation speed of the translation table needs to match the movement speed of the foam mold frame on the foam mold frame transmission line, which brings about control complexity.

[0004] When the translation stage returns from the endpoint to the mold opening starting point, the movement takes time. This objectively requires that the movement speed of the foam mold frame on the foam mold frame conveyor line cannot be too fast, and the distance between the two mold frames on the conveyor line must be relatively large. This essentially limits the production efficiency of the foaming operation.

[0005] When the mold opening arm mechanism grabs the mold frame handle mechanism on the upper mold mechanism of the foaming mold frame, the position between the mold opening arm mechanism and the foaming mold frame is precisely positioned, which brings about the control complexity of the positioning problem.

[0006] When the mold opening arm mechanism is mounted on the translation table, it requires an independent motor drive, which leads to increased costs and additional energy consumption.

[0007] A translation track is needed, as it would take up too much space on the ground. Summary of the Invention

[0008] The problem that this invention aims to solve is:

[0009] To solve the above problems, the present invention adopts the following solution:

[0010] A continuous mold opening control system for a foaming mold frame includes a mold opening action mechanism, a mold opening maintenance mechanism, and a mold frame handle mechanism. The mold opening action mechanism is used to open the upper mold mechanism of the foaming mold frame moving on the transmission line to a fully open state, and includes a gripper mechanism capable of rotating or swinging around the hinge axis of the upper mold mechanism of the foaming mold frame on the transmission line. The gripper mechanism includes two long strips of horizontally arranged clamping arms parallel to the transmission direction of the foaming mold frame on the transmission line. A clamping arm gap is provided between the two clamping arms. The mold opening maintenance mechanism is used to continuously maintain the fully open state of the foaming mold frame as it moves on the transmission line, and includes two clamping beams that can connect with the two clamping arms and are parallel to the transmission line and are arranged above the transmission line. The mold frame handle mechanism includes a mold opening handle disposed on the upper mold mechanism of the foaming mold frame that can be engaged between the two clamping arms and between the two clamping beams.

[0011] Furthermore, the mold opening handle is a rolling circular roller structure; the clamping arms and clamping beams both have circular cross-sections.

[0012] Furthermore, the clamping arms are mounted on the support; the support includes a movable frame and two support arms connected to the movable frame; the movable frame is connected to an arc-shaped moving drive mechanism; the two support arms are arranged opposite to each other and form a U-shaped structure with a receiving cavity with the movable frame; the two clamping arms are respectively located at the ends of the two support arms, so that the gap between the clamping arms becomes the opening of the receiving cavity facing the inner side of the arc; the arc-shaped moving drive mechanism is used to drive the gripper mechanism to rotate or swing around the hinge axis of the upper mold mechanism of the foaming mold frame on the transmission line.

[0013] Furthermore, the clamping arm is divided into a connecting section and a trailing section along the direction of travel of the foaming mold frame, and the connection between the clamping arm and the support is located in the connecting section.

[0014] Furthermore, the gripper mechanism also includes a detection sensor mounted on the bracket for detecting the position of the foam mold holder opening handle entering the clamping arm gap and / or within the clamping arm gap.

[0015] Furthermore, the detection sensor includes a sensor body and a swing rod. The swing rod is mounted on the sensor body via a swing shaft and is connected to a torsion spring. The swing rod is perpendicular to the clamping arm, located inside the arc-shaped movement direction of the clamping arm, and inserted into the gap between the clamping arms in a direction parallel to the plane of the two clamping arms. The sensor body determines whether the mold opening handle is located at the position of the detection sensor by detecting whether the swing rod swings or the angle of its swing.

[0016] Furthermore, there are several detection sensors arranged inside the arc-shaped movement direction of the gripper mechanism along the travel direction of the foaming mold frame, and one of the detection sensors is set at the entrance of the clamping arm gap facing the travel direction of the foaming mold frame.

[0017] Furthermore, one of the detection sensors is located at the exit of the foaming mold frame in the direction of travel of the clamping arm gap.

[0018] Furthermore, it also includes a controller; the controller is connected to the detection sensor and the arc-shaped moving drive mechanism; the detection sensor sends the detected information to the controller; the controller is used to: when the detection sensor at the entrance of the foam mold frame in the direction of travel of the clamping arm gap detects the mold opening handle, instruct the arc-shaped moving drive mechanism to perform the mold opening action.

[0019] Furthermore, one of the detection sensors is located at the exit of the foaming mold frame in the travel direction of the clamping arm gap; the controller is also used to: send a signal to the arc-shaped moving drive mechanism after the mold opening action is executed to determine whether the mold opening action has been correctly executed based on the status of each detection sensor and whether the arc-shaped moving drive mechanism returns a signal indicating that the mold opening action is complete, and instruct the arc-shaped moving drive mechanism to perform a return action based on the signal indicating that the mold opening action is complete returned by the arc-shaped moving drive mechanism and the status returned by the detection sensor at the exit of the foaming mold frame in the travel direction of the clamping arm gap.

[0020] The technical effects of this invention are as follows:

[0021] This invention eliminates the need for a moving mechanism that moves horizontally in sync with the foaming mold frame to perform the mold opening action, thereby reducing costs and additional energy consumption, minimizing floor space required, and reducing control complexity.

[0022] The foam mold holder handle is automatically attached to the gripper mechanism, eliminating the need for precise positioning of the foam mold holder during mold opening operations.

[0023] The mold opening action of the foaming mold frame of the present invention can be independently controlled and is adaptive. It does not need to be coordinated and synchronized with other workstations on the production line, which greatly reduces the complexity of control.

[0024] The mechanism for performing the mold opening action in this invention has a high tolerance for error, so that precise positioning is not required when it is installed on the foaming mold frame transmission line.

[0025] After the mold opening action is executed, it seamlessly connects with the mold opening holding mechanism used to maintain the fully open mold state. The structure of the mold opening holding mechanism is very simple, and it is located above the transmission line, so it does not occupy ground space. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention.

[0027] Figure 2 This is a schematic diagram of the forward structure of the gripper mechanism in an embodiment of the present invention.

[0028] Figure 3 This is a schematic diagram of the side structure of the gripper mechanism according to an embodiment of the present invention.

[0029] Figure 4 This is a schematic diagram of electrical connections according to an embodiment of the present invention.

[0030] Figure 5 This is a schematic diagram illustrating the assembly error tolerance principle of an embodiment of the present invention.

[0031] In the above figures,

[0032] 1 is the gripper mechanism, 11 is the bracket, 111 is the movable frame, 112 is the bracket arm, 113 is the receiving cavity, 12 is the clamping arm, 121 is the connecting section, 122 is the trailing section, 123 is the clamping arm gap, 14 is the detection sensor, 141 is the sensor body, 142 is the swing rod, 143 is the swing shaft, 149 is the sensor bracket, 1491 is the connecting frame rod, and 1492 is the mounting rod.

[0033] 2 is the arc-shaped moving drive mechanism, 81 is the transmission line, 82 is the clamping beam, 9 is the foaming mold frame, 91 is the upper mold mechanism, 911 is the mold opening handle, and 912 is the hinge shaft.

[0034] R is the direction of movement of the gripper mechanism when performing the mold opening action; M is the direction of movement of the foaming mold frame on the transmission line. Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings.

[0036] like Figure 1 As shown, a continuous mold opening control system for a foaming mold frame includes an opening action mechanism, an opening maintenance mechanism, and a mold frame handle mechanism. The opening action mechanism performs the opening action on the foaming mold frame 9, that is, it opens the upper mold mechanism 91 of the foaming mold frame 9, which is moving on the transmission line 81, to a fully opened state. The opening maintenance mechanism maintains the foaming mold frame 9 in the fully opened state; specifically, it keeps the foaming mold frame 9 in the fully opened state continuously as the transmission line 81 moves. The mold frame handle mechanism means that the foaming mold frame 9 needs to have an opening handle 911 that matches the aforementioned opening action mechanism and opening maintenance mechanism, so that the opening action mechanism and opening maintenance mechanism can engage with the foaming mold frame 9 when performing their respective functions. The aforementioned fully open state of the foaming mold frame 9 refers to a state in which the opening angle of the upper mold mechanism 91 of the foaming mold frame 9 is large enough to not hinder the unloading of the foamed finished product inside the foaming mold frame 9, as well as the loading of the pre-foaming liner and foaming material. In the fully open state of the foaming mold frame 9, the opening angle of the upper mold mechanism 91 is generally not less than 90 degrees.

[0037] In this invention, the mold opening mechanism includes a gripper mechanism 1. The gripper mechanism 1 can rotate or swing around the hinge axis 912 of the upper mold mechanism 91 of the foam mold frame 9 on the transmission line 81. Alternatively, the gripper mechanism 1 can move back and forth along an arc centered on the hinge axis 912. Specifically, when the foam mold frame 9 moves to the position of the gripper mechanism 1 in the closed state, the gripper mechanism 1 grasps the mold opening handle 911 and moves along an arc-shaped direction (referring to the direction indicated by arrow R). When it reaches the fully opened state, it is accepted by the mold opening holding mechanism, and then returns to the initial state along the arc (referring to the opposite direction indicated by arrow R). The arc-shaped reciprocating movement of the gripper mechanism 1 implies that the gripper mechanism 1 is connected to an arc-shaped movement drive mechanism 2. The arc-shaped movement drive mechanism 2 is used to drive the gripper mechanism 1 to rotate or swing around the hinge axis 912 of the upper mold mechanism 91 of the foam mold frame 9 on the transmission line 81. Figure 1 For example, the arc-shaped movement drive mechanism 2 obviously includes an arc-shaped track and a power mechanism for driving the gripper mechanism 1 to move on the arc-shaped track. Those skilled in the art will understand that the arc-shaped movement of the gripper mechanism 1 can also be driven in a swinging manner by a mold-opening arm mechanism similar to that exemplified in patent document CN 112848029 A. Therefore, there are many implementations for driving the arc-shaped movement of the gripper mechanism 1, and these are well known to those skilled in the art, and need not be elaborated upon here.

[0038] Reference Figure 2 and Figure 3 The gripper mechanism 1 includes a support 11 and two long clamping arms 12. The support 11 includes a movable frame 111 and two support arms 112 connected to the movable frame 111. The movable frame 111 is connected to the arc-shaped moving drive mechanism 2. The two support arms 112 are arranged opposite to each other and form a U-shaped structure with the movable frame 111 having a receiving cavity 113. The two clamping arms 12 are respectively located at the ends of the two support arms 112. The two clamping arms 12 are arranged opposite to each other and horizontally, and are parallel to the conveying direction of the foaming mold frame on the conveyor line 81, and maintain a certain distance between them. The long strip gap between the two clamping arms 12 is the clamping arm gap 123, and at the same time, the clamping arm gap 123 is also the opening of the receiving cavity 113 facing the arc-shaped inner side. Here, the inner side of the arc or the inner side of the arc movement direction refers to the side in the direction toward the center or axis of the arc movement of the gripper mechanism 1. Correspondingly, the outer side of the arc or the outer side of the arc movement direction is the side away from the center or axis of the arc movement of the gripper mechanism 1.

[0039] The mold opening and holding mechanism includes two clamping beams 82. The two clamping beams 82 are positioned above the transmission line 81 and parallel to the transmission line 81, and can be connected to the two clamping arms 12.

[0040] When the gripper mechanism 1 grips the mold opening handle 911, the mold opening handle 911 is clamped between the two clamping arms 12. After the mold opening holding mechanism receives the mold opening handle 911, the mold opening handle 911 is clamped between the two clamping beams 82. Specifically, refer to... Figure 2 and Figure 3 When the foaming mold frame 9 in its closed state moves horizontally along the direction of arrow M on the transmission line 81, the mold opening handle 911 can enter the clamping arm gap 123 from one end and extend into the receiving cavity 113. After the mold opening handle 911 enters the clamping arm gap 123, if the gripper mechanism 1 remains stationary, the mold opening handle 911 will leave the clamping arm gap 123 from the other end. After the mold opening handle 911 enters the clamping arm gap 123, if the gripper mechanism 1 moves in an arc-shaped direction, one of the two clamping arms 12 presses against the mold opening handle 911, pushing the upper mold mechanism 91 to rotate around its hinge and open the upper mold mechanism. When the gripper mechanism 1 pushes the upper mold mechanism 91 around its hinge, the foaming mold frame 9 maintains a horizontally moving state on the transmission line 81. Correspondingly, the mold opening handle 911 in the clamping arm gap 123 moves synchronously along the horizontal elongated direction of the clamping arm gap 123. Once the upper mold mechanism 91 is fully opened, the gripper mechanism 1 stops moving. The mold opening handle 911 within the clamping arm gap 123 moves away from the clamping arm gap 123 along the horizontal elongated direction of the clamping arm gap 123 and is received by the mold opening holding mechanism. Afterward, the gripper mechanism 1 returns to its initial state, waiting for the mold opening handle 911 of the next closed foaming mold frame 9 on the transmission line 81 to enter the clamping arm gap 123. Here, the initial state of the gripper mechanism 1 is the state of waiting for the closed foaming mold frame 9 to move on the transmission line 81 until its mold opening handle 911 enters the clamping arm gap 123.

[0041] This process repeats continuously to achieve the uninterrupted mold opening operation of the foaming mold frame 9 on the transmission line 81. The mold opening handle 911 is received by the mold opening holding mechanism, that is, the mold opening handle 911 is held by two clamping beams 82. Then, as the foaming mold frame 9 moves on the transmission line 81, the mold opening handle 911 moves along the gap between the two clamping beams 82, and is kept in a fully open state by the constraint of the clamping beams 82. The aforementioned clamping beams 82 can connect with the clamping arms 12, meaning that when the upper mold mechanism 91 is fully opened, the mold opening handle 911 moves from the gap between the two clamping arms 12 into the gap between the two clamping beams 82 as the foaming mold frame 9 moves on the transmission line 81.

[0042] Based on the above mold opening process, it is obvious that when the mold opening handle 911 is pressed and pushed by the clamping arm 12, the mold opening handle 911 moves relative to the clamping arm 12. In the fully opened state, the mold opening handle 911 moves relative to the clamping beam 82. Therefore, in order to reduce the relative movement friction between the mold opening handle 911, the clamping arm 12, and the clamping beam 82, the mold opening handle 911 in this embodiment is preferably designed as a rolling roller structure, and its rolling axis is perpendicular to the clamping arm 12 and the clamping beam 82. The clamping arm 12 and the clamping beam 82 are preferably designed as long cylindrical rods, that is, the cross-section of the clamping arm 12 and the clamping beam 82 are both circular. Thus, when the mold opening handle 911 moves under the pressure of the clamping arm 12, the rolling of the roller will reduce the friction between the clamping arm 12, the clamping beam 82, and the mold opening handle 911. Of course, if friction is not considered, the mold opening handle 911 can also be designed as a square fixed structure, or the clamping arm 12 and the clamping beam 82 can be square fixed structures. It should be noted that, generally speaking, the clamping arm 12 requires a straight, elongated shape, while the clamping beam 82 does not necessarily need to be a straight, elongated shape. The clamping beam 82 can bend along with the bending of the transmission line 81, and even when closing the foaming mold frame station, the clamping beam 82 can be gradually bent and its height reduced, finally releasing the mold opening handle 911, and the mold closing operation is completed by the gravity of the upper mold mechanism 91 itself. The above-described process and structure for completing the mold closing operation are not within the scope of this invention and need not be elaborated upon here.

[0043] According to the above mold opening process, the matching of the mold opening handle 911 with the mold opening action mechanism and the mold opening holding mechanism means that the mold opening handle 911 can be engaged between the two clamping arms 12 and the two clamping beams 82. This requires that the distance between the two clamping arms 12 and the distance between the two clamping beams 82 be greater than the size of the mold opening handle 911. The distance between the two clamping arms 12 is the width of the clamping arm gap 123, which is usually the same as the distance between the two clamping beams 82. The size of the mold opening handle 911 corresponds to the diameter of the circular roller structure in this embodiment, or simply put, the diameter of the mold opening handle 911. Considering the error redundancy and the stability of the upper mold mechanism 91 during the mold opening process, the diameter of the mold opening handle 911 is 40% to 60% of the width of the clamping arm gap 123.

[0044] Based on the above mold-opening process, it is obvious that the length of the clamping arm 12 must match the moving speed of the foaming mold frame 9 on the transmission line 81 and the time required for the mold-opening operation. Specifically, L>=V*T. Where L is the length of the clamping arm 12, V is the moving speed of the foaming mold frame 9 on the transmission line, and T is the time required for the mold-opening mechanism to perform the mold-opening action. For example, on a refrigerator door foaming line, if the mold-opening mechanism takes 4 seconds to perform the mold-opening action, the moving speed of the foaming mold frame 9 on the transmission line is 150 mm / s, and the length of the clamping arm 12 is at least 600 mm.

[0045] Obviously, the length of the aforementioned clamping arm 12 is generally greater than the length of the connection portion required for the clamping arm 12 to connect with the bracket 11. (Refer to...) Figure 3 In this embodiment, the clamping arm 12 is logically divided into a connecting section 121 and a trailing section 122 along the travel direction of the foaming mold frame. The connection between the clamping arm 12 and the support 11 is located at the connecting section 121, and the length of the trailing section 122 is 50% to 70% of the length of the clamping arm 12. Therefore, a certain error is allowed between the axis of the arc-shaped reciprocating movement of the gripper mechanism 1 and the hinge axis of the upper mold mechanism 91. This allowed error means that when the gripper mechanism 1 of the mold opening mechanism moves from the initial state to the fully open state, the depth to which the mold opening handle 911 is inserted into the clamping arm gap 123 is allowed to change. (Refer to...) Figure 5 S_A represents the initial state of the gripper mechanism 1, S_B represents the fully open state of the gripper mechanism 1, D_A represents the depth to which the opening handle 911 of the gripper mechanism 1 inserts into the clamping arm gap 123 in the initial state S_A, and D_B represents the depth to which the opening handle 911 of the gripper mechanism 1 inserts into the clamping arm gap 123 in the fully open state S_B. It is obvious that D_A is less than the depth D_H of the receiving cavity 113 because, initially, the depth to which the opening handle 911 inserts into the clamping arm gap 123 is limited by the bracket 11. D_B is allowed to be greater than D_A, and even greater than the depth D_H of the receiving cavity 113, because at this time the opening handle 911 moves to the trailing section 122, in which the depth to which the opening handle 911 inserts into the clamping arm gap 123 is not limited by the bracket 11. The aforementioned permissible errors mean that precise positioning is not required when the opening mechanism is installed on the foaming mold frame transmission line. Specifically, in the process of the aforementioned gripper mechanism 1 rotating or swinging around the hinge axis 912 of the upper mold mechanism 91 of the foaming mold frame 9 on the transmission line 81, the actual swinging or rotating axis of the gripper mechanism 1 is not required to be completely coaxial with the hinge axis 912 of the upper mold mechanism 91 of the foaming mold frame 9, and errors are allowed.

[0046] Furthermore, to ensure the control independence of the mold opening control system, in this embodiment, the mold opening control system also includes an independent controller 3, and the gripper mechanism 1 also includes a detection sensor 14 mounted on the bracket 11. The detection sensor 14 is used to detect whether the mold opening handle 911 of the foam mold frame enters the clamping arm gap 123 or to detect the position of the mold opening handle 911 within the clamping arm gap 123. (Refer to...) Figure 4 The controller 3 is connected to the detection sensor 14 and the arc-shaped movement drive mechanism 2. There may be one or more detection sensors 14.

[0047] In the case where there is only one detection sensor 14, the only detection sensor 14 is preferably arranged at the entrance of the gripper arm gap 123 facing the traveling direction of the foaming mold holder 9. In this case, the moving speed V of the foaming mold holder 9 on the transmission line 81 must be fixed in advance. Thus, when the foaming mold holder 9 in the closed state moves on the transmission line 81 and its mold opening handle 911 enters the gripper arm gap 123, the detection sensor 14 can detect the state that the mold opening handle 911 enters the gripper arm gap 123 and send this state information to the controller 3. After receiving this state information, the controller 3 instructs the arc-shaped movement driving mechanism 2 to perform the mold opening action, and after the arc-shaped movement driving mechanism 2 performs the mold opening action T + T_a, it instructs the arc-shaped movement driving mechanism 2 to perform the return action. Here, instructing the arc-shaped movement driving mechanism 2 to perform the return action means making the gripper mechanism 1 return to the initial state. Where T is the time for the arc-shaped movement driving mechanism 2 to perform the mold opening action, that is, the time required for the mold opening action mechanism to perform mold opening; T_a is the time required for the gripper arm 12 to be transferred to the clamping beam 82 after the gripper mechanism 1 moves to the fully opened state. Generally, T < L / V < T + T_a, where L is the length of the gripper arm 12.

[0048] In the case of multiple detection sensors 14, the multiple detection sensors 14 are arranged along the traveling direction of the foaming mold holder on the inner side of the arc-shaped movement direction of the gripper mechanism 1. Specifically, referring to Figure 2 and Figure 3 , the support 11 further includes a sensor support 149. The sensor support 149 includes two connecting rod members 1491 respectively connected to the moving frame 111 and a mounting rod 1492 mounted on the ends of the two connecting rod members 1491. The mounting rod 1492 is parallel to the gripper arm 12. Each detection sensor 14 is arranged in a row on the mounting rod 1492, so that the detection sensors 14 are arranged along the traveling direction of the foaming mold holder on the inner side of the arc-shaped movement direction of the gripper mechanism 1. In the case of multiple detection sensors 14, the detection sensors 14 are generally 2 or 3.

[0049] In the case of two detection sensors 14, typically one sensor 14 is located at the entrance of the clamping arm gap 123 facing the travel direction of the foaming mold frame 9, and the other is located at the exit of the clamping arm gap 123 facing the travel direction of the foaming mold frame. Thus, when the closed foaming mold frame 9 moves on the transmission line 81, and its mold opening handle 911 enters the clamping arm gap 123, the detection sensor 14 at the entrance facing the travel direction of the foaming mold frame 9 can detect the state of the mold opening handle 911 entering the clamping arm gap 123 and send this status information to the controller 3. Upon receiving this status information, the controller 3 instructs the arc-shaped moving drive mechanism 2 to perform the mold opening action. After issuing the signal to the arc-shaped moving drive mechanism 2 indicating that the mold opening action is complete, the controller 3, based on the signal from the arc-shaped moving drive mechanism 2 indicating that the mold opening action is complete and the status returned by the detection sensor 14 at the exit of the clamping arm gap 123 facing the travel direction of the foaming mold frame, instructs the arc-shaped moving drive mechanism 2 to perform a return action. Here, the detection sensor 14 has two states: in position and out of position. The presence of sensor 14 indicates that the mold opening handle 911 is located at the position of sensor 14; otherwise, it indicates that the mold opening handle 911 is not located at the position of sensor 14. The state of the mold opening handle 911 entering the clamping arm gap 123 by the aforementioned sensor 14 at the entrance of the foam mold frame 9 in the direction of travel refers to the state information formed by the change of its own state from an inactive state to an active state. For the sensor 14 at the exit of the clamping arm gap 123 in the direction of travel of the foam mold frame, after the mold opening handle 911 enters the clamping arm gap 123, it will remain in an inactive state until the mold opening handle 911 moves to the exit of the clamping arm gap 123 and changes to an active state. Then, as the mold opening handle 911 moves, it continues to change to an inactive state. At this time, the inactive state indicates that the mold opening handle 911 leaves the clamping arm gap 123 and is received by the clamping beam 82. The state returned by the detection sensor 14 at the exit of the aforementioned foaming mold frame travel direction refers to the state change of the detection sensor 14 from an off-site state to an on-site state and then back to an off-site state.

[0050] In the case of three detection sensors 14, typically one detection sensor 14 is located at the entrance of the clamping arm gap 123 facing the travel direction of the foaming mold holder 9, another is located at the exit of the clamping arm gap 123 facing the travel direction of the foaming mold holder, and a third is located in the middle, especially typically at the dividing point between the connecting section 121 and the trailing section 122. The state changes of the middle detection sensor 14 are typically used by the controller 3 to detect and verify whether the mold opening action is executed correctly.

[0051] In this embodiment, the detection sensor 14 includes a sensor body 141 and a swing rod 142. The swing rod 142 is mounted on the sensor body 141 via a swing shaft 143 and is connected to a torsion spring. The swing rod 142 is perpendicular to the clamping arms 12, located inside the arcuate movement direction of the clamping arms 12, and inserted into the clamping arm gap 123 in a direction parallel to the plane containing the two clamping arms 12. The insertion depth into the clamping arm gap 123 generally satisfies: D_2 > D_W - D_1. Wherein, D_2 is the depth of the swing rod 142 inserted into the clamping arm gap 123; D_W is the width of the clamping arm gap 123; and D_1 is the diameter of the mold opening handle 911. The sensor body 141 determines whether the mold opening handle 911 is located at the position of the detection sensor 14 by detecting whether the swing rod 142 swings or its swing angle. Whether the mold opening handle 911 is located at the position of the detection sensor 14 is the aforementioned in-position and out-of-position states.

Claims

1. A mold opening control system for continuous movement of a foaming mold frame, characterized in that, The system includes an opening mechanism, an opening maintenance mechanism, and a mold holder handle mechanism. The opening mechanism is used to open the upper mold mechanism of the foam mold holder moving on the transmission line to a fully open state, and includes a gripper mechanism (1) capable of rotating or swinging around the hinge axis of the upper mold mechanism of the foam mold holder on the transmission line. The gripper mechanism includes two long, horizontally arranged clamping arms (12) parallel to the transmission direction of the foam mold holder on the transmission line. A clamping arm gap (123) is provided between the two clamping arms (12). The opening maintenance mechanism is used to continuously maintain the fully open state of the foam mold holder as it moves on the transmission line. The system includes two clamping beams (82) that can connect to the two clamping arms (12) and are parallel to the transmission line, positioned above the transmission line; the mold frame handle mechanism includes an opening handle (911) positioned on the upper mold mechanism of the foaming mold frame, capable of engaging between the two clamping arms (12) and between the two clamping beams (82); the clamping arms (12) are mounted on the support (11); the support (11) includes a movable frame (111) and two support arms (112) connected to the movable frame (111); the movable frame (111) is connected to an arc-shaped moving drive mechanism (2); the two support arms (112) are arranged opposite to each other and are positioned relative to the movable frame (111). A U-shaped structure with a receiving cavity (113) is formed; two clamping arms (12) are respectively set at the ends of the two support arms (112), so that the clamping arm gap (123) becomes the opening of the receiving cavity (113) facing the inner side of the arc; the arc-shaped moving drive mechanism (2) is used to drive the gripper mechanism to rotate or swing around the hinge axis of the upper mold mechanism of the foaming mold frame on the transmission line; the gripper mechanism (1) also includes a detection sensor (14) set on the support (11) for detecting the position of the mold opening handle (911) of the foaming mold frame entering the clamping arm gap (123) and / or within the clamping arm gap (123); the detection sensor The device (14) includes a sensor body (141) and a swing rod (142). The swing rod (142) is mounted on the sensor body (141) via a swing shaft (143) and is connected to a torsion spring. The swing rod (142) is perpendicular to the clamping arm (12), located inside the arc-shaped movement direction of the clamping arm (12), and inserted into the clamping arm gap (123) in a direction parallel to the plane where the two clamping arms (12) are located. The sensor body (141) determines whether there is a mold opening handle (911) located at the position of the detection sensor (14) by detecting whether the swing rod (142) swings or the angle of its swing.

2. The mold opening control system for continuous movement of the foaming mold frame as described in claim 1, characterized in that, The mold opening handle (911) is a rolling circular roller structure; the clamping arm (12) and the clamping beam (82) both have circular cross-sections.

3. The mold opening control system for continuous movement of the foaming mold frame as described in claim 1, characterized in that, Along the direction of travel of the foaming mold frame, the clamping arm (12) is divided into a connecting section (121) and a trailing section (122). The connection between the clamping arm (12) and the bracket (11) is located in the connecting section (121).

4. The mold opening control system for continuous movement of the foaming mold frame as described in claim 1, characterized in that, There are several detection sensors (14), which are arranged inside the arc-shaped movement direction of the gripper mechanism (1) along the direction of travel of the foam mold frame, and one of the detection sensors (14) is set at the entrance of the clamping arm gap (123) facing the direction of travel of the foam mold frame.

5. The mold opening control system for continuous movement of the foaming mold frame as described in claim 4, characterized in that, One of the detection sensors (14) is located at the exit of the clamping arm gap (123) in the direction of travel of the foaming mold frame.

6. The mold opening control system for continuous movement of the foaming mold frame as described in claim 4, characterized in that, It also includes a controller (3); the controller (3) is connected to the detection sensor (14) and the arc-shaped moving drive mechanism (2); the detection sensor (14) sends the detected information to the controller (3); the controller (3) is used to: when the detection sensor (14) at the entrance of the foam mold frame in the direction of travel of the clamping arm gap (123) detects the mold opening handle (911), instruct the arc-shaped moving drive mechanism (2) to perform the mold opening action.

7. The mold opening control system for continuous movement of the foaming mold frame as described in claim 6, characterized in that, One of the detection sensors (14) is set at the exit of the clamping arm gap (123) in the direction of travel of the foaming mold frame; the controller (3) is also used to: send a signal to the arc-shaped moving drive mechanism (2) after the mold opening action is performed, based on the status of each detection sensor (14) and whether the arc-shaped moving drive mechanism (2) returns a signal indicating that the mold opening action is completed, and instruct the arc-shaped moving drive mechanism (2) to perform a return action based on the signal indicating that the mold opening action is completed returned by the arc-shaped moving drive mechanism (2) and the status returned by the detection sensor (14) at the exit of the clamping arm gap (123) in the direction of travel of the foaming mold frame.

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