A production line for forming, stacking and trimming plant fiber products

Abstract

The invention provides a plant fiber product forming, stacking and trimming production line, comprising a forming machine provided with a screen frame transfer workpiece for placing an empty screen frame, a hot press, a stacking and trimming machine and a linked screen frame transfer robot, a material taking and preparation mechanical tooling, a feeding robot, a material taking robot and a stacking robot edge transfer assembly, wherein the screen frame transfer robot is located between the forming machine and the hot press to transfer the empty screen frame and the wet embryo screen frame and obtain the dry embryo plant fiber product formed by the hot press; the material taking and preparation mechanical tooling absorbs the plant fiber product on the screen frame with the dry embryo plant fiber product, and transfers at least two plant fiber products to a stacking and feeding mold through a displacement material taking driving component; the feeding robot transports the stacked plant fiber products on the stacking and feeding mold to the trimming machine for stacking and trimming through the displacement feeding driving component, thereby realizing efficient forming, stacking and trimming.

Description

Technical Field

[0001] The invention relates to the field of plant fiber products, and in particular to a plant fiber product forming, stacking and trimming production line. Background Art

[0002] Plant fiber products refer to various products made from plant fibers as raw materials, which have the advantages of environmental protection and biodegradability. Take pulp products as an example. In the production process of pulp products, pulp is first prepared into wet embryos in the molding workpiece, and then the wet embryos are transported to the mold and transferred to the hot pressing molding workpiece for processing. After hot pressing and hot pressing, dry embryos are obtained, and then the excess waste of the dry embryos is cut off by trimming equipment and stacked in sequence.

[0003] At present, the pulp product production line mostly uses suction cups to transfer wet or dry embryos of different processing workpieces. For example, the wet embryo on the molded workpiece is transferred to the hot press molded workpiece by suction cups. However, this method requires an additional power source and pressure to provide suction, and the wet embryo will also cause a certain degree of deformation and damage during the transfer process due to excessive or uneven suction. In addition, the current pulp product production and processing lines all transfer a single dry embryo to the trimming equipment for trimming and then stack them in sequence. Each time the trimming is done, the trimming upper mold and the trimming lower mold of the trimming equipment must be driven to perform the trimming work. This production method makes the trimming of multiple pulp products take a long time and has a high power consumption cost. In addition, the current pulp product production line also has the problem of low coordination between multiple processing workpieces, especially when the arrangement directions of multiple pulp products on the whole page are different, it is difficult to efficiently realize the processing of such a whole page. Summary of the invention

[0004] The purpose of the present invention is to provide a plant fiber product forming, stacking and trimming production line, which improves the production efficiency and quality of plant fiber products by arranging a screen frame to transfer workpieces and cooperating with a transfer robot to achieve efficient transfer of the entire version, arranging an edge transfer assembly to achieve efficient flow between different processed workpieces, and arranging a stacking trimming machine to achieve single-time multi-stack trimming.

[0005] To achieve the above objectives, the present technical scheme provides a plant fiber product forming, stacking and trimming production line, comprising: a forming machine for forming plant fiber products, wherein the forming machine is provided with a screen frame transfer workpiece for placing an empty screen frame; a hot press machine for hot pressing forming; and a stacking trimming machine for stacking and trimming, wherein the stacking trimming machine comprises a product support structure that drives the extension and contraction and a trimming upper die and a trimming lower die that cooperate with each other for trimming, and when the stacking trimming machine is in a trimming state, the product support structure extends to support the stacked pulp products in the trimming position area of ​​the trimming upper die and drives the trimming lower die to move toward the trimming position area; and comprises a linked screen frame transfer robot, a material picking and preparation mechanical tooling, a feeding robot, a material picking robot and a stacking robot edge transfer assembly, wherein the screen frame transfer robot comprises a displacement transfer drive component and a clamping claw assembly for clamping the screen frame, and the material picking and preparation mechanical tooling comprises a displacement picking drive component and a and a rotatably arranged suction cup body, the feeding robot comprises a displacement feeding drive and a stacking feeding mold located on the displacement feeding drive, the picking robot comprises a displacement picking drive and a stacking picking mold located on the displacement picking drive, the stacking robot comprises a displacement stacking drive and a stacking clamp for clamping plant fiber products; the net frame transfer robot is located between the molding machine and the hot press to transfer empty net frames and wet embryo net frames and obtain dry embryo plant fiber products hot-pressed by the hot press; the picking and preparation mechanical tooling absorbs the plant fiber products on the net frame containing dry embryo plant fiber products through a rotatably arranged suction cup, and transfers at least two plant fiber products to the stacking feeding mold through the displacement picking drive; the feeding robot transports the stacked plant fiber products on the stacking feeding mold to the trimming machine for stacking and trimming through the displacement feeding drive; the picking robot picks up the stacked plant fiber products after trimming through the stacking picking mold.

[0006] Compared with the prior art, this technical solution has the following characteristics and beneficial effects:

[0007] 1. In this solution, a screen frame transfer workpiece for transferring empty screen frames is arranged on the forming machine. The forming machine is equipped with a transfer robot designed in this solution to realize efficient transfer of wet embryos. After the transfer robot takes away the wet embryo screen frame, the forming machine uses the set transfer empty screen frame to realize fast and efficient conversion of the wet embryo screen frame. The transfer robot transfers the wet embryo screen frame by clamping rather than sucking, which does not require the setting of additional power source and suction space, and also reduces the loss of wet embryos.

[0008] 2. This solution sets up a transfer assembly between different processing workpieces, which is composed of a frame transfer robot, a material picking and preparation mechanical tooling, a feeding robot, a stacking robot and a material picking robot. The edge transfer assembly can realize the rapid and efficient transfer of semi-finished pulp products on different workpieces.

[0009] Moreover, the edge transfer assembly can also realize the uniform transfer of paper plant fiber products with different arrangement directions on the same page, further improving the production efficiency of plant fiber products.

[0010] 3. This solution is equipped with a stacking and trimming machine that can stack multiple plant pulp products at one time and then trim them uniformly. Multiple pulp products can be stacked and trimmed uniformly in a single operation, greatly improving the production efficiency of plant fiber products. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall structure of the plant fiber product forming, stacking and trimming production line provided by this solution.

[0012] Figure 2 It is a structural schematic diagram of the molding machine provided in this scheme.

[0013] Figure 3 It is a structural schematic diagram of the screen frame transfer robot provided in this solution.

[0014] Figure 4 It is a schematic diagram of the clamping claw assembly of the screen frame transfer robot provided in this solution for clamping the screen frame.

[0015] Figure 5 It is a structural schematic diagram of the edge transfer assembly and stacking trimming machine provided by this solution.

[0016] Figure 6 It is a structural schematic diagram of the stacking feeding die provided in this solution.

[0017] Figure 7 It is a schematic diagram of the stacking feeding process provided by this solution.

[0018] Figure 8 to Figure 9 It is a schematic diagram of the working process of the stacking edge machine provided in this scheme.

[0019] Figure 10 to Figure 11 This is a schematic diagram of the working process of the material retrieving robot and the stacking robot provided in this solution.

[0020] In the figure: forming machine 10, pulp scooping assembly 11, pulp pool 111, pulp scooping device 112, pulp scooping fixed frame 1121, pulp scooping movable member 1122, wet embryo transfer assembly 12, translation track 121, wet embryo transfer member 122, screen frame transfer assembly 13, screen frame transfer workpiece 131, empty screen frame clamping member 1311, wet screen frame transfer workpiece 132, transfer fixed frame 133, hot press 20, stacking trimming machine 30, trimming upper die 31, trimming lower die 32, product support structure 33, product support fixed rod 331, product support movable rod 332, trimming drive device 34, screen frame transfer manipulator 40, displacement transfer drive member 41, drive base 411, Z-axis displacement member 412, rotating shaft 413, Transverse displacement member 414, translation member 415, clamping jaw assembly 42, clamping jaw main frame 421, clamping jaw structure 422, upper clamping jaw 4221, lower clamping jaw 4222, fixed support member 4223, material picking and preparation mechanical tooling 50, displacement material picking drive member 51, material picking and preparation manipulator 52, lifting mechanism 521, material preparation structure 522, material preparation plate 5221, suction cup body 5222, feeding manipulator 60, displacement feeding drive member 61, feeding track 611, stacking feeding mold 62, first half feeding mold 621, second half feeding mold 622, material picking manipulator 70, displacement material picking drive member 71, stacking material picking mold 72, stacking manipulator 80, displacement stacking drive member 81, stacking clamping jaw 82. DETAILED DESCRIPTION

[0021] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0022] Those skilled in the art should understand that, in the disclosure of the present invention, the orientation or position relationship indicated by the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0023] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0024] like Figure 1 As shown, this solution provides a plant fiber product forming, stacking and trimming production line, including:

[0025] A molding machine 10 for molding plant fiber products, wherein the molding machine 10 is provided with a screen frame transfer workpiece 131 for placing an empty screen frame;

[0026] A heat press 20 for heat press molding;

[0027] A stacking trimming machine 30 for stacking and trimming, wherein the stacking trimming machine 30 comprises a product supporting structure 33 that is driven to extend and retract, and a trimming upper die 31 and a trimming lower die 32 that cooperate with each other for trimming. When the stacking trimming machine 30 is in a trimming state, the product supporting structure 33 is extended to support the stacked pulp products in the trimming position area of ​​the trimming upper die 31 and drives the trimming lower die 32 to move toward the trimming position area;

[0028] The invention comprises a linked edge transfer assembly of a mesh frame transfer robot 40, a material picking and preparation mechanical tooling 50, a feeding robot 60, a material picking robot 70 and a stacking robot 80, wherein the mesh frame transfer robot 40 comprises a displacement transfer driving member 41 and a clamping claw assembly 42 for clamping the mesh frame, the material picking and preparation mechanical tooling 50 comprises a displacement picking driving member 51 and a rotatably arranged suction cup body 5222, the feeding robot 60 comprises a displacement feeding driving member 61 and a stacking feeding mold 62 located on the displacement feeding driving member 61, the picking robot 70 comprises a displacement picking driving member 71 and a stacking picking mold 72 located on the displacement picking driving member 71, and the stacking robot 80 comprises a displacement stacking driving member 81 and a stacking claw 82 for clamping plant fiber products;

[0029] The screen frame transfer robot 40 is located between the molding machine 10 and the hot press 20 to transfer the empty screen frames and the wet embryo screen frames and obtain the dry embryo plant fiber products formed by the hot press 20; the material picking and preparation mechanical tooling 50 sucks the plant fiber products on the screen frame with the dry embryo plant fiber products through the rotating suction cup 52, and transfers at least two plant fiber products to the stacking feeding mold 62 through the displacement material picking drive 51; the feeding robot 60 transports the stacked plant fiber products on the stacking feeding mold 62 to the trimming machine 10 for stacking and trimming through the displacement feeding drive 61; the material picking robot 70 picks up the stacked plant fiber products after trimming through the stacking material picking mold 72.

[0030] About Molding Machine 10:

[0031] like Figure 2As shown, the forming machine 10 provided by the present scheme includes a pulp scooping component 11, a wet embryo transfer component 12 and a screen frame transfer component 13, wherein the pulp scooping component 11 includes a pulp pool 111 and a pulp scooping device 112 which moves up and down relative to the pulp pool 111, the wet embryo transfer component 12 includes a translation track 121 located between the pulp scooping component 11 and the screen frame transfer component 13 and a wet embryo transfer member 122 which is slidably arranged on the translation track 121, the wet embryo transfer member 122 switches its position between a wet embryo taking position and a wet embryo discharging position along the translation track 121, the screen frame transfer component 13 includes a wet screen frame transfer workpiece 132 and an empty screen frame transfer workpiece 131, the empty screen frame transfer workpiece 131 is located between the wet screen frame transfer workpiece 132 and the wet embryo transfer member 122 which is at the wet embryo discharging position, and the wet screen frame transfer workpiece 132 is arranged to move up and down relative to the empty screen frame transfer workpiece 131 and the wet embryo discharging position.

[0032] The pulp pool 111 in the pulp scooping assembly 11 provided in the present solution contains raw material pulp of plant fiber products, the pulp scooping device 112 clamps the forming mold of the plant fiber product and immerses the forming mold in the pulp pool 111 to realize wet embryo forming through vacuum suction, and then the pulp scooping device 112 takes out the formed wet embryo and moves in the direction of the wet embryo taking position. Specifically, the pulp scooping device 112 provided in the present solution includes a pulp scooping fixed frame 1121 fixed above the pulp pool 111 and a pulp scooping movable part 1122 connected to the pulp scooping fixed frame 1121 through a driving source, and a clamping part for clamping the pulp scooping forming mold is provided at the bottom of the pulp scooping movable part 1122, wherein the pulp scooping movable part 1122 moves along the pulp scooping fixed frame 1121 to change position between the first pulp scooping station, the second pulp scooping station and the third pulp scooping station.

[0033] Specifically, when the pulping movable part 1122 is in the first pulping station, the pulping forming mold clamped by the pulping movable part 1122 is immersed in the pulp pool 111; when the pulping movable part 1122 is in the third pulping station, the pulping movable part 1122 is arranged near the position where the wet embryo material taking position is located; when the pulping movable part 1122 is in the second pulping station, the pulping movable part 1122 is located in the space between the first pulping station and the third pulping station. When the pulping assembly 11 performs pulping and forming, the pulping movable part 1122 is driven to move to the first pulping station to form the wet embryo, and then the pulping movable part 1122 is driven to rise to the second pulping station to wait for suction, and after the suction is completed, the pulping movable part 1122 is driven to continue to rise to the first pulping station to extrude the wet embryo and transfer the wet embryo to the wet embryo material taking position, and then the pulping movable part 1122 is driven to descend to the first pulping station in a cycle to perform the next round of pulping and forming. It should be noted that when the pulp scooping device 112 starts working for the first time, the pulp scooping movable member 1122 is initially located at the second pulp scooping station.

[0034] The wet embryo transfer member 122 on the wet embryo transfer assembly 12 provided in the present solution is driven by a motor to slide on the translation track 121, and switches positions between the wet embryo taking position and the wet embryo discharging position. It should be noted that the bottom surface of the wet embryo transfer member 122 provided in the present solution forms a transfer position that matches the wet embryo on the current pulping forming mold. When the wet embryo transfer member 122 is in the wet embryo taking position, the wet embryo transfer member 122 is located above the third pulping station and the transfer position fits the wet embryo setting of the pulping forming mold on the third pulping station. The wet embryo transfer member 122 absorbs the corresponding wet embryo on the pulping forming mold through suction to achieve the transfer of the wet embryo; when the wet embryo transfer member 122 is in the wet embryo discharging position, the wet embryo transfer member 122 is located in the same vertical direction as the empty mesh frame clamped on the empty mesh frame transfer workpiece 131. When the wet embryo transfer assembly 12 is transferred to the wet embryo taking position, it absorbs the wet embryo on the third pulping station, and then transfers to the discharging and taking position to wait for the transfer of the mesh frame transfer assembly 13.

[0035] The screen frame transfer component 13 provided in the present solution is arranged relative to the position of the wet embryo transfer component 12 at the wet embryo discharge position, the empty screen frame transfer workpiece 131 is located directly below the wet embryo discharge position and an empty screen frame clamping member 1311 for clamping the empty screen frame is provided on the empty screen frame transfer workpiece 131, the upper surface of the wet screen frame transfer workpiece 132 forms a wet embryo screen frame transfer space matching the current screen frame and the wet screen frame transfer workpiece 132 moves up and down relative to the wet embryo transfer component 20 at the wet embryo discharge position.

[0036] Specifically, at least one empty net frame clamping member 1311 provided on the empty net frame transfer workpiece 131 provided in the present solution is placed in different corners to surround an empty net frame placement area for placing the empty net frame, and each empty net frame clamping member 1311 is switched between a clamping state and a loose state by a pneumatic control, and the shape and size of the wet embryo net frame transfer space formed on the wet net frame transfer workpiece 132 match the shape and size of the empty net frame. It should be noted that the transfer position formed on the wet embryo transfer component 12 also matches the shape and size setting of the current empty net frame.

[0037] In addition, in some embodiments, the screen frame transfer assembly 13 includes a transfer fixing frame 133 fixedly arranged at the material discharging and taking position, the empty screen frame clamping member 1311 is fixed on the transfer fixing frame 133, and the wet screen frame transfer workpiece 132 is slidably arranged on the transfer fixing frame 133. During the rising process, the wet screen frame transfer workpiece 132 passes through the empty screen frame placement area of ​​the empty screen frame transfer workpiece 131 to drive the empty screen frame to move toward the position where the transfer position is located. In the embodiment of this scheme, the transfer fixing frame 133 is four transfer fixing rods placed in four directions.

[0038] The screen frame transfer robot 40 transfers the empty screen frame and places it in the empty screen frame where the transfer workpiece 131 is clamped. When the wet screen frame transfer workpiece 132 rises to the position of the transfer workpiece 131 in the empty screen frame, the empty screen frame clamping piece 1311 of the transfer workpiece 131 in the empty screen frame releases the clamping of the empty screen frame and the wet screen frame transfer workpiece 132 drives the empty screen frame to continue to rise. When the wet screen frame transfer workpiece 132 rises to the wet embryo discharge position, it takes out the wet embryo and obtains the wet embryo screen frame and then falls back to the initial position. The screen frame transfer robot 40 clamps and transfers the wet embryo screen frame and places the empty screen frame to the empty screen frame where the transfer workpiece 131 is clamped to complete a cycle.

[0039] About Heat Press 20:

[0040] In this solution, two heat presses 20 are respectively arranged on both sides of the forming machine 10. The two heat presses 20 and the forming machine 10 form a triangle layout. The screen frame transfer robot 40 is located between the two heat presses 20 to realize the rapid transfer of the screen frame. The specific structure of the heat press 20 is the existing technology and will not be described here in detail.

[0041] About the frame transfer robot 40:

[0042] like Figure 3 As shown, the screen frame transfer robot 40 includes a displacement transfer driving member 41 for realizing three-axis displacement drive, and a clamping claw assembly 42 connected to the displacement transfer driving member 41, wherein the displacement transfer driving member 41 includes a driving base 411, a Z-axis displacement member 412 that varies in stroke along the Z-axis direction relative to the driving base 411, a transverse displacement member 414 connected to the Z-axis displacement member 412 through a rotating shaft 413, and a translation member 415 slidably disposed on the transverse displacement member 414, and the clamping claw assembly 42 is located on the translation member 415. Specifically, the displacement of the screen frame transfer robot 40 in the Z-axis direction is realized by driving the Z-axis displacement member 412 to vary relative to the driving base 411, the transverse displacement member 414 is driven to rotate by the driving shaft 413 to realize the position conversion of the screen frame robot 40 between the hot press 20 and the molding machine 10, and the translation member 415 is driven to translate relative to the transverse displacement member 414 to realize the translation of the screen frame robot 40 in the horizontal direction.

[0043] This solution realizes the simplification of the structure of the screen frame transfer robot through the displacement transfer driving member 41 with three-axis displacement changes. Specifically, a Z-axis sliding track is provided on the side of the driving base 411, and the Z-axis displacement member 412 is slidably set on the Z-axis sliding track by a motor drive to achieve displacement in the Z-axis direction. The top of the Z-axis displacement member 412 is connected to the lateral displacement member 414 through a rotating shaft 413 driven by a motor. In a preferred embodiment, the rotating shaft 413 is connected to the middle position of the lateral displacement member 413 to further reduce the floor space of the screen frame transfer robot. A lateral displacement track is set on the lateral displacement member 414, and the translation member 415 is movably connected to the lateral displacement track of the lateral displacement member 414 through a driving belt to cause displacement changes along the setting direction of the lateral displacement track.

[0044] like Figure 4 As shown, the clamp assembly 42 of the present scheme includes a clamp body frame 421 and a clamp structure 422 arranged on the clamp body frame 421, wherein the clamp structure 422 includes an upper clamp 4221 and a lower clamp 4222 arranged back to back and driven by a motor, the upper clamp 4221 is located above the clamp body frame 421, and the lower clamp 4222 is located below the clamp body frame 421.

[0045] In the embodiment of the present scheme, the upper clamping jaw 4221 is composed of a first upper clamping jaw and a second upper clamping jaw arranged oppositely. When the first upper clamping jaw and the second upper clamping jaw are close to each other, the upper clamping jaw 4221 is in a clamping state, and when the first upper clamping jaw and the second upper clamping jaw are relatively far away from each other, the upper clamping jaw 4221 is in a non-clamping state. Similarly, the lower clamping jaw 4222 is composed of a first lower clamping jaw and a second lower clamping jaw arranged oppositely. When the first lower clamping jaw and the second lower clamping jaw are close to each other, the lower clamping jaw 4222 is in a clamping state, and when the first lower clamping jaw and the second lower clamping jaw are relatively far away from each other, the lower clamping jaw 4222 is in a non-clamping state.

[0046] In addition, in some embodiments, the clamp structure 422 additionally includes a fixed support 4223 located between the upper clamp 4221, and the first upper clamp and the second upper clamp are designed as L-shaped bars. When the upper clamp 4221 is in a clamping state, the empty net frame is positioned on the fixed support 4223 and the first upper clamp and the second upper clamp are against both sides of the empty net frame to cooperate to achieve the clamping of the empty net frame. The advantage of such a design is that the structure of the net frame will not be damaged. In some embodiments, the first lower clamp and the second lower clamp are also designed as L-shaped bar structures. When the lower clamp 4222 is in a clamping state, the first lower clamp and the second lower clamp cooperate to form a space for placing the wet embryo net frame. In other words, at this time, the bottom of the wet embryo net frame is supported by the first lower clamp and the second lower clamp to achieve the clamping and fixing effect.

[0047] In addition, in some embodiments, the upper clamping jaw 4221 and the lower clamping jaw 4222 on the clamping jaw structure 422 are located on the upper and lower sides of the middle piece and are independently controlled by motors. The advantage of such a design is that the size of the screen frame transfer robot 40 can be further reduced.

[0048] Specifically, in an embodiment of the present scheme, the upper clamping jaw 4221 of the screen frame transfer robot is driven to obtain the screen frame containing the dry embryo plant fiber product from the hot press, and the empty screen frame is obtained after the plant fiber product on the screen frame is transferred by the material preparation mechanical tooling, and then the screen frame transfer robot is driven to transfer the empty screen frame to the transfer workpiece 131 in the empty screen frame, and is placed at the transfer workpiece 131 in the empty screen frame to be clamped; then the screen frame transfer robot is moved downward to the position of the wet screen frame transfer workpiece 132, and the lower clamping jaw 4222 is driven to be converted into a clamping state to clamp the wet embryo screen frame and then exit, and then the screen frame transfer robot is driven to transfer the wet embryo screen frame to the hot press 20 for hot pressing treatment.

[0049] About the material handling and preparation mechanical tooling 50:

[0050] The material picking and preparation mechanical tooling 50 of the present scheme includes a material picking and preparation track 51 located above the screen frame transfer robot 40 and a material picking and preparation robot 52 slidably set on the material picking and preparation track 51, wherein the material picking and preparation robot 52 slides along the material picking and preparation track 51 to switch positions between a material preparation position and a material discharge position. When the material picking and preparation robot 52 is in the material preparation position, the material picking and preparation robot 52 is set in the direction of the screen frame with plant fiber products of the screen frame transfer robot, and when the material picking and preparation robot 52 is in the material discharge position, the material picking and preparation robot 52 is set in the direction of the stacking feeding mold 62 of the feeding robot 60.

[0051] In the embodiment of the present scheme, the material picking and preparing robot 52 is movably connected to the material picking and preparing track 51 through a driving belt to switch between the material preparing position and the material discharging position. Specifically, the material picking and preparing robot 52 includes a lifting mechanism 521 that can change its stroke along the Z-axis direction and a material preparing structure 522 connected to the bottom of the lifting structure 521. The material preparing structure 522 includes a material preparing plate 5221 rotatably connected to the lifting structure 521 and a plurality of suction cups 5222 arranged at the bottom of the material preparing plate 5221. The plurality of suction cups 5222 form a material preparing area that matches the screen frame.

[0052] The lifting mechanism 521 of the material picking and preparation robot 52 is driven by a motor to drive the material preparation structure 522 to change its stroke up and down in the direction of the position where the screen frame is located. In some specific embodiments, the lifting mechanism 521 is a lifting movable rod driven by a motor, and the bottom of the lifting movable rod rotates the material preparation plate 5221. When the motor drives the lifting movable rod to extend outward to increase the stroke, the lifting mechanism 521 changes its stroke in the direction of the position where the screen frame is located. When the motor drives the lifting movable rod to retract inward to reduce the stroke, the lifting mechanism 521 changes its stroke in the direction away from the screen frame.

[0053] The material preparation plate 5221 of the present solution is movably connected to the bottom of the lifting mechanism 521 through a rotating shaft, and the rotation of the rotating shaft is controlled by the main control device. Since the arrangement of the plant fiber products on the screen frame processed each time is the same, the rotating shaft is set to rotate according to the set rules to absorb all the plant fiber products on the screen frame. Specifically, the material preparation plate 5221 is set to rotate to a specific direction and use the suction cup body 5222 to absorb a certain number of plant fiber products. After the absorption of the plant fiber products is completed, the material preparation plate 5221 is rotated so that the plant fiber products are arranged in the stacking direction, and the material preparation manipulator 52 is driven to move along the material preparation track 51 to the discharge position to complete a single material preparation and discharge, and the material preparation and discharge are repeated multiple times to complete the stacking of plant fiber products.

[0054] After the material taking and preparing robot 52 of this scheme sucks a certain amount of plant fiber products through the suction cup body 5222, the motor drives each suction cup body 5222 to switch between the suction state and the relaxation state. When the suction cup body 5222 is in the suction state, the suction cup body can suck the corresponding pulp product.

[0055] The specific working process is as follows: drive the material picking and preparation robot 52 to move to the material picking position and adjust the material picking and preparation robot 52 to move in the direction of the mesh frame equipped with plant fiber products, drive the preparation plate 5221 to rotate to a position matching the current plant fiber products based on the arrangement position of the plant fiber products, and control the suction cup body 5222 of the corresponding preparation position to be in a suction state to complete the suction of the corresponding plant fiber products, then drive the material picking and preparation robot 52 to move in a direction away from the mesh frame and rotate the preparation plate 5221 to a specific stacking direction, drive the material picking and preparation robot 52 to move to the material discharging position and move toward the stacking feeding mold 62 at the material discharging position, and control the corresponding suction cup body 5222 to be in a relaxed state to release the suction of the plant fiber products. The specific stacking direction mentioned here refers to the arrangement direction of the plant fiber products on the stacking feeding mold 62.

[0056] About feeding robot 60:

[0057] The feeding manipulator 60 of the present solution includes a displacement feeding drive 61 located below the material picking and preparing manipulator 52 and a stacking feeding die 62 arranged on the displacement feeding drive 61. Specifically, the displacement feeding drive 61 of the present solution includes a feeding track 611 arranged toward the stacking trimming machine 30, and a displacement feeding member 612 driven by a motor to move along the direction of the feeding track 611, and the stacking feeding die 62 is arranged above the displacement feeding member 612 to switch positions between the stacking preparation position and the stacking feeding position. When the stacking feeding die 62 is located at the stacking preparation position, the stacking feeding die 62 is arranged in the same axial direction as the feeding position and is located below the material picking and preparing manipulator 52; when the stacking feeding die 62 is located at the stacking feeding position, the stacking feeding die 62 is located at the trimming preparation position in the stacking trimming machine 30.

[0058] like Figure 6 As shown, the present solution optimizes the design of the structure of the stacking feeding mold 62 to adapt to the subsequent stacking edge. The stacking feeding mold 62 includes a first half feeding mold 621 and a second half feeding mold 622 that are relatively symmetrically arranged, wherein the first half feeding mold 621 and the second half feeding mold 622 are both driven by a motor to change positions between a first material receiving position and a second material receiving position, and when the first half feeding mold 621 and the second half feeding mold 622 are in the first material receiving position, the first half feeding mold 621 and the second half feeding mold 622 are close to each other to form a material receiving space that matches the shape and size of the plant fiber product, and the first half feeding mold 621 and the second half feeding mold 622 are still spaced apart to form a support area at the bottom of the material receiving space; and when the first half feeding mold 621 and the second half feeding mold 622 are in the second material receiving position, the first half feeding mold 621 and the second half feeding mold 622 are far away from each other. Specifically, as Figure 6 As shown in (A) in the figure, at this time, the first half feeding mold 621 and the second half feeding mold 622 are in the first material receiving position. At this time, the material taking and preparing manipulator can stack multiple plant fiber products on the stacking feeding mold 62 to obtain stacked plant fiber products, and it can be seen that there is still a spaced support area between the first half feeding mold 621 and the second half feeding mold 622; Figure 6 As shown in (B) in FIG. 1 , at this time, the first half feeding mold 621 and the second half feeding mold 622 are in the second material receiving position. Figure 7 As shown, the material taking and preparing robot 62 in the feeding position stacks a plurality of groups of plant fiber products in sequence on the stacking feeding mold 62 in the stacking and preparing position to obtain a plurality of stacked plant fiber products.

[0059] About Stacking Edger 30:

[0060] The stacking trimming machine 30 of the present solution includes a product supporting structure 33 that is driven to be telescopic and an upper trimming mold 31 and a lower trimming mold 32 that cooperate with each other for trimming. When the stacking trimming machine 30 is in the trimming state, the product supporting structure 33 is extended to support the stacked pulp products in the trimming position area of ​​the upper trimming mold 31 and drives the lower trimming mold 32 to move toward the trimming position area.

[0061] Specifically, the trimming upper die 31 and the trimming lower die 32 in the stack trimming machine 30 are arranged in the same axial direction, the lower surface of the trimming upper die 31 forms a trimming position area that matches the shape and size of the plant fiber product to be trimmed, and the upper surface of the trimming lower die 32 is provided with a trimming station area that matches the trimming position area, and the trimming lower die 32 is driven by the trimming drive device 34 to move toward the direction where the trimming upper die 31 is located. When the trimming lower die 32 is close to the trimming upper die 31, the trimming of the plant fiber product is achieved through the cooperation of the trimming work area and the trimming position area.

[0062] It should be noted that, since the stacking trimming machine 30 of the present solution is suitable for stacking and trimming stacked plant fiber products, the stacking trimming machine 30 of the present solution does not suck the plant fiber products by suction, but supports the stacked plant fiber products to be trimmed from bottom to top through the product support structure 33. The product support structure 33 of the present solution includes a fixed product support fixing rod 331 and a product support movable rod 332 movably arranged on the product support fixing rod 331, wherein the extension direction of the product support movable rod 332 is located on the same axis as the trimming preparation position and the trimming position area. Specifically, when the stacking feeding mold 62 is located at the trimming preparation position in the stacking trimming machine 30, the product support movable rod 332 is driven to move toward the trimming position area. At this time, the product support movable rod 332 passes through the waiting support area of ​​the stacking feeding mold on the trimming position area, and drives the stacked plant fiber products to be trimmed to continue to move toward the trimming position area and match and fit in the trimming position area; then the trimming lower mold 32 is driven to move toward the trimming upper mold 31, so that the trimming working area fits the plant fiber products to be trimmed located in the trimming position area to achieve stacking trimming. It should be noted that a channel space for the product support movable rod 332 to pass through is provided on the trimming lower mold 32, so that the trimming lower mold 32 can freely move in the direction of the trimming upper mold 31.

[0063] The specific working process is as follows Figure 8-9 As shown:

[0064] First, the stacking feeding mold 62 of the feeding robot 60 carries the plant fiber product to be trimmed and is driven to be located in the trimming preparation position in the stacking trimming machine 30, and then the product supporting movable rod 332 is driven to move toward the trimming upper mold 31 to drive the plant fiber product to be trimmed to move toward the trimming position area on the trimming upper mold 31, wherein the trimming preparation position is located between the trimming position area and the product supporting fixed rod 331, and at the same time, the stacking feeding mold 62 is driven to exit the stacking trimming machine 30; when the plant fiber product to be trimmed is located in the trimming position area, the trimming lower mold 32 is driven to move toward the trimming upper mold 31 to realize stacking trimming.

[0065] In addition, it should be noted that since this solution realizes the stacking and trimming of plant fiber products: a single trimming corresponds to multiple plant fiber products, in order to ensure that the total quantity of each package, the number of trimming times and the number of mesh frames are matched, this solution designs a stacking quantity calculation method.

[0066] The calculation method for the stacking quantity of this solution is as follows:

[0067] The total number of packages and the number of trimming units of the trimming units on the screen frame are obtained, wherein the trimming unit refers to the minimum trimming unit composed of at least one plant fiber product on the screen frame, wherein the number of packages refers to the quotient of the total number of plant fiber products in each package and the number of plant fiber products in each trimming unit. The smallest integer among the lowest common divisors of the number of packages except 1 is taken as the number of trimming layers, and the minimum integer value is obtained by reverse calculation based on the principle that the number of trimming layers is the common divisor of the number of trimming units and the number of screen frames as the number of screen frames. The number of material discharge cycles is calculated based on the number of screen frames, the number of trimming units and the number of trimming layers, and the stacking scheme is determined according to the number of trimming units, the number of trimming layers and the number of material discharge cycles, wherein the stacking scheme records the material preparation data in each material discharge. It should be noted that the number of trimming layers in this scheme refers to the number of stacking times for single stacking trimming, the number of screen frames refers to the number of screen frames that complete a number of packages, and the number of material discharge cycles refers to the total number of times the trimming units in the screen frame are transferred to the stacking trimming machine to complete a single trimming.

[0068] Specifically, the number of unloading cycles is calculated as a positive integer of the product of the number of screen frames and the number of trimming units and the number of trimming layers. This has the advantage of ensuring that the total number of trimming units in multiple screen frames matches the packaging number.

[0069] The rules for obtaining material preparation data are as follows:

[0070] The remaining trimming units on the screen frame each time the material is taken are set as the remaining quantity, and the absolute value of the difference between the trimming units obtained each time the material is taken and the number of trimming layers is set as the difference quantity;

[0071] If the remaining number of the current screen frame is greater than the difference number, the trimming units of the difference number are taken from the current screen frame as the preparation data for the current material discharge; if the remaining number of the current screen frame is not greater than the difference number, the remaining number of trimming units are taken from the current screen frame, and trimming units are taken from the next screen frame until the total number of all trimming units currently taken is equal to the number of trimming layers, then all the trimming units are taken to form the preparation data for the current material discharge, and the preparation data for each material discharge is calculated cyclically until the number of material discharge cycles is reached.

[0072] For example, taking the packaging quantity N as 125 and the trimming unit number n of the trimming unit of the screen frame as 4, the lowest common divisor of the packaging quantity N divided by 1 is calculated as 5 as the trimming layer number m, and according to the trimming layer number being the lowest common divisor of the trimming unit number and the whole page number (y=n / m, y is an integer), the screen frame number y is calculated to be 5, and at this time, the material discharge cycle number z is a positive integer of the product of the screen frame number and the trimming unit number and the quotient of the trimming layer number (z=y*n / m), and the material discharge cycle number is calculated to be 4, so it is determined that the screen frame number is 5 and the material discharge cycle number is 4. Since the trimming unit number 4 of the trimming unit of the first screen frame is less than the trimming layer number, 4 trimming units are taken from the first screen frame at this time, and the corresponding current difference number is 1, then 1 trimming unit is taken from the second screen frame to form a stack of 5 trimming units to complete one material discharge; continue to calculate to obtain the stacking scheme at this time:

[0073] First feeding: 4 trimming units of the first screen frame + 1 trimming unit of the second screen frame;

[0074] Second feeding: the remaining 3 trimming units of the second screen frame + the 2 trimming units of the third screen frame;

[0075] The third feeding: the remaining 2 trimming units of the third screen frame + the 3 trimming units of the fourth screen frame;

[0076] The fourth unloading: the remaining 1 unit of the fourth screen frame + the 4 trimming units of the fifth screen frame.

[0077] The above is a stacking solution obtained after automatic calculation based on the total number of packages being 125 and the number of trimming units being 4. The following table 1 shows examples of stacking solutions obtained by calculating different total number of packages and number of trimming units:

[0078] Table 1 Stacking solution example

[0079]

[0080]

[0081] About Reclaimer 70:

[0082] The material picking robot 70 of the present scheme includes a displacement material picking drive 71 and a stacking material picking mold 72 arranged on the displacement material picking drive 71, wherein the displacement material picking drive 71 can drive the stacking material picking mold 72 to move close to the trimming position area and away from the trimming position area, and the shape and size of the stacking material picking mold 72 match the shape and size of the plant fiber product after trimming to carry the plant fiber product after trimming.

[0083] It should be noted that the stacked feeding mold 72 includes a first half feeding mold and a second half feeding mold that are relatively symmetrically arranged, wherein the first half feeding mold and the second half feeding mold are both driven by a motor to change their positions between a first feeding position and a second feeding position. When the first half feeding mold and the second half feeding mold are in the first feeding position, the first half feeding mold and the second half feeding mold are close to each other to form a feeding space that matches the shape and size of the plant fiber product, and the first half feeding mold and the second half feeding mold are still arranged at intervals to form a support area at the bottom of the feeding space; and when the first half feeding mold and the second half feeding mold are in the second feeding position, the first half feeding mold and the second half feeding mold are far away from each other.

[0084] like Figure 10 to Figure 11 As shown, when the stacking trimming machine 30 completes the stacking trimming, the trimming lower mold 32 moves away from the trimming upper mold 31, driving the displacement material picking drive 71 to drive the stacking material picking mold 72 close to the trimming position area, at this time the stacking material picking mold 72 is in the second material picking position; when the stacking material picking mold 72 is against and matched with the trimming position area, the stacking material picking mold 72 is driven to be in the first material picking position and the product supporting movable rod 332 is driven to descend, at this time the trimmed plant fiber product falls into the stacking material picking mold 72, driving the displacement material picking drive 71 to exit the stacking trimming machine 30.

[0085] About the stacking robot 80 of this solution:

[0086] The stacking manipulator 80 provided in this solution includes a displacement stacking drive 81 and a stacking clamp 82 located below the displacement stacking drive 81. The displacement stacking drive 81 is displaced along a set stroke, and the stacking clamp 82 switches between a clamping state and a non-clamping state. Specifically, when the material taking manipulator 70 withdraws from the stacking trimmer 30, the clamp of the stacking manipulator 80 is driven to clamp the stacked plant fiber products, and the displacement stacking drive 81 is driven to drive the plant fiber products to the packaging position.

[0087] Relying on the above-mentioned plant fiber product forming, stacking and trimming production line, the production method of the plant fiber product forming, stacking and trimming production line provided by this solution is as follows:

[0088] The forming machine 10 completes the forming of the plant fiber product to obtain a wet embryo mesh frame;

[0089] The mesh frame transfer robot 40 completes the cyclic mesh frame transfer, wherein in each cycle, the mesh frame transfer robot transfers the wet embryo mesh frame to the hot press 10 and obtains the dry embryo mesh frame obtained after hot pressing in the hot press 10, and the material preparation mechanical tooling 50 obtains the plant fiber product from the dry embryo mesh frame to obtain an empty mesh frame, and the mesh frame transfer robot 40 places the empty mesh frame in the empty mesh frame in the forming machine 10 to transfer the workpiece 131 while clamping the wet embryo mesh frame;

[0090] The material taking and preparing mechanical tooling 50 obtains the plant fiber product from the mesh frame robot 40, and transfers it to the stacking feeding mold 62 of the feeding robot 60 to stack multiple plant fiber products to obtain the stacked plant fiber products to be trimmed;

[0091] The feeding robot 60 transfers the stacked plant fiber products to the stacking trimming machine 30 for stacking and trimming;

[0092] The material taking robot 70 takes the stacked plant fiber products after trimming through the stacking material taking mold 72 .

[0093] It should be noted that other contents about the production method of the plant fiber product forming, stacking and trimming production line are as described above. This solution realizes fast and efficient stacking and trimming through the plant fiber product forming, stacking and trimming production line.

[0094] The present invention is not limited to the above-mentioned optimal implementation mode. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that are the same or similar to those of the present application fall within the protection scope of the present invention.

Claims

1. A plant fiber product forming, stacking and trimming production line, characterized in that: include: A molding machine for molding plant fiber products, wherein the molding machine includes a pulp scooping component, a wet embryo transfer component and a screen frame transfer component, the wet embryo transfer component includes a translation track located between the pulp scooping component and the screen frame transfer component and a wet embryo transfer member slidably arranged on the translation track, the wet embryo transfer member switches positions between a wet embryo material taking position and a wet embryo material discharge position along the translation track, the screen frame transfer component includes a transfer fixing frame fixedly arranged at the material discharge and scooping position, a wet screen frame transfer workpiece and an empty screen frame transfer workpiece, the empty screen frame transfer workpiece is located between the wet screen frame transfer workpiece and the wet embryo transfer member at the wet embryo material discharge position, the wet screen frame transfer workpiece is arranged to move up and down relative to the empty screen frame transfer workpiece and the wet embryo material discharge position, the wet screen frame transfer workpiece is slidably arranged on the transfer fixing frame, and the wet screen frame transfer workpiece passes through the empty screen frame transfer workpiece placement area in the empty screen frame during the rising process to drive the empty screen frame to move toward the position where the transfer position is located; Heat press for thermoforming; A stacking trimming machine for stacking and trimming, wherein the stacking trimming machine comprises a product supporting structure that drives to extend and retract, and a trimming upper die and a trimming lower die that cooperate with each other for trimming, and when the stacking trimming machine is in a trimming state, the product supporting structure extends to support the stacked pulp products in the trimming position area of ​​the trimming upper die and drives the trimming lower die to move toward the trimming position area; The invention comprises a mesh frame transfer robot, a material picking and preparation mechanical tooling, a feeding robot, a material picking robot and a stacking robot, wherein the mesh frame transfer robot comprises a displacement transfer drive and a clamping claw assembly for clamping the mesh frame, the material picking and preparation mechanical tooling comprises a material picking and preparation robot and a rotatably arranged suction cup body, the feeding robot comprises a displacement feeding drive and a stacking feeding mold located on the displacement feeding drive, the material picking robot comprises a displacement picking drive and a stacking picking mold located on the displacement picking drive, and the stacking robot comprises a displacement stacking drive and a stacking claw for clamping plant fiber products; The screen frame transfer robot is located between the molding machine and the hot press to transfer the empty screen frame and the wet embryo screen frame and obtain the dry embryo plant fiber product formed by the hot press; The screen frame transfer robot transfers the empty screen frame and places it at the transfer workpiece in the empty screen frame to be clamped. When the wet screen frame transfer workpiece rises to the position of the transfer workpiece in the empty screen frame, the empty screen frame clamping member of the transfer workpiece in the empty screen frame releases the clamping of the empty screen frame and the wet screen frame transfer workpiece drives the empty screen frame to continue to rise. When the wet screen frame transfer workpiece rises to the wet embryo discharge position, the wet embryo is taken out and the wet embryo screen frame is obtained and then falls back to the initial position. The screen frame transfer robot clamps and transfers the wet embryo screen frame and places the empty screen frame at the transfer workpiece in the empty screen frame to be clamped to complete one cycle. The material taking and preparing mechanical tooling sucks the plant fiber products on the net frame with the dry embryo plant fiber products through a rotating suction cup, and transfers at least two plant fiber products to the stacking and feeding mold through the material taking and preparing mechanical arm; the feeding mechanical arm conveys the stacked plant fiber products on the stacking and feeding mold to the trimming machine for stacking and trimming through the displacement feeding driving member; The material taking robot takes the stacked plant fiber products after trimming through the stacking material taking die; Obtain the number of packages and the number of trimming units of the trimming units on the screen frame, wherein the trimming unit refers to the smallest trimming unit composed of at least one plant fiber product on the screen frame, wherein the number of packages refers to the quotient of the total number of plant fiber products in each package and the number of plant fiber products in each trimming unit, calculate the number of material discharge cycles based on the number of screen frames, the number of trimming units and the number of trimming layers, determine the stacking scheme according to the number of trimming units, the number of trimming layers and the number of material discharge cycles, wherein the stacking scheme records the material preparation data in each material discharge, wherein the number of trimming layers refers to the number of stacking times during single stacking trimming, the number of material discharge cycles refers to the total number of material discharges from the trimming unit stack transferred from the screen frame to the stacking trimming machine to complete single trimming, calculate the number of material discharge cycles according to the number of material discharge cycles being a positive integer of the product of the number of screen frames and the number of trimming units and the quotient of the number of trimming layers, ensure that the total number of trimming units in multiple screen frames matches the number of packages, and ensure that the number of packages, the number of trimming times and the number of screen frames are matched each time; The rules for obtaining material preparation data are as follows: The remaining trimming units on the screen frame each time the material is taken are set as the remaining quantity, and the absolute value of the difference between the trimming units obtained each time the material is taken and the number of trimming layers is set as the difference quantity; If the remaining number of the current screen frame is greater than the difference number, the trimming units of the difference number are taken from the current screen frame as the preparation data for the current material discharge; if the remaining number of the current screen frame is not greater than the difference number, the remaining number of trimming units are taken from the current screen frame, and trimming units are taken from the next screen frame until the total number of all trimming units currently taken is equal to the number of trimming layers, then all the trimming units are taken to form the preparation data for the current material discharge, and the preparation data for each material discharge is calculated cyclically until the number of material discharge cycles is reached.

2. The plant fiber product forming, stacking and trimming production line according to claim 1, characterized in that: The screen frame transfer robot includes a displacement transfer drive member for realizing three-axis displacement drive, and a clamping jaw assembly connected to the displacement transfer drive member, wherein the clamping jaw assembly includes a clamping jaw main frame and a clamping jaw structure arranged on the clamping jaw main frame, wherein the clamping jaw structure includes an upper clamping jaw and a lower clamping jaw arranged back to back and driven by a motor, wherein the upper clamping jaw is located above the clamping jaw main frame, and the lower clamping jaw is located below the clamping jaw main frame.

3. The plant fiber product forming, stacking and trimming production line according to claim 1, characterized in that: The material picking and preparation mechanical tooling includes a material picking and preparation track located above the screen frame transfer robot and a material picking and preparation robot slidably set on the material picking and preparation track, wherein the material picking and preparation robot slides along the material picking and preparation track to switch between a material preparation position and a material discharge position, when the material picking and preparation robot is in the material preparation position, the material picking and preparation robot is set in the direction of the screen frame with plant fiber products of the screen frame transfer robot, and when the material picking and preparation robot is in the material discharge position, the material picking and preparation robot is set in the direction of the stacking feeding mold of the feeding robot.

4. The plant fiber product forming, stacking and trimming production line according to claim 3, characterized in that: The material picking and preparation robot includes a lifting mechanism that can change its stroke along the Z-axis direction and a material preparation structure connected to the bottom of the lifting mechanism. The material preparation structure includes a material preparation plate rotatably connected to the lifting mechanism and multiple suction cups arranged at the bottom of the material preparation plate. The multiple suction cups form a material preparation area that matches the screen frame.

5. The plant fiber product forming, stacking and trimming production line according to claim 1, characterized in that: The stacked feeding mold includes a first half feeding mold and a second half feeding mold that are relatively symmetrically arranged, wherein the first half feeding mold and the second half feeding mold are both driven by a motor to change their positions between a first material receiving position and a second material receiving position, and when the first half feeding mold and the second half feeding mold are in the first material receiving position, the first half feeding mold and the second half feeding mold are close to each other to form a material receiving space that matches the shape and size of the plant fiber product, and the first half feeding mold and the second half feeding mold are still spaced apart to form a support area at the bottom of the material receiving space; when the first half feeding mold and the second half feeding mold are in the second material receiving position, the first half feeding mold and the second half feeding mold are far away from each other.

6. The plant fiber product forming, stacking and trimming production line according to claim 1, characterized in that: The stacking trimming machine includes a product supporting structure that is driven to be telescopic and an upper trimming mold and a lower trimming mold that cooperate with each other for trimming. When the stacking trimming machine is in the trimming state, the product supporting structure extends to support the stacked pulp products in the trimming position area of ​​the upper trimming mold and drives the lower trimming mold to move toward the trimming position area.

7. A production method of a plant fiber product forming, stacking and trimming production line according to any one of claims 1 to 6, characterized in that: include: The forming machine completes the forming of plant fiber products to obtain a wet embryo mesh frame; The screen frame transfer robot completes the cyclic screen frame transfer, wherein in each cycle, the screen frame transfer robot transfers the wet embryo screen frame to the hot press and obtains the dry embryo screen frame obtained after hot pressing in the hot press, and the material preparation mechanical tooling obtains the plant fiber product from the dry embryo screen frame to obtain an empty screen frame, and the screen frame transfer robot places the empty screen frame in the empty screen frame of the forming machine to transfer the workpiece and clamps the wet embryo screen frame at the same time; The material taking and preparing mechanical tooling obtains the plant fiber product from the screen frame transfer robot, and transfers it to the stacking feeding mold of the feeding robot to stack multiple plant fiber products to obtain the stacked plant fiber products to be trimmed; The feeding robot transfers the stacked plant fiber products to the stacking and trimming machine for stacking and trimming; The material taking robot takes the stacked plant fiber products after trimming through the stacking material taking mold.

8. The production method of the plant fiber product forming, stacking and trimming production line according to claim 7, characterized in that: The stacking feeding mold of the feeding robot carries the plant fiber product to be trimmed and is driven to be located in the trimming preparation position in the stacking trimming machine, and then drives the product supporting movable rod to move toward the trimming upper mold to drive the plant fiber product to be trimmed to move toward the trimming position area on the trimming upper mold, wherein the trimming preparation position is located between the trimming position area and the product supporting fixed rod, and at the same time drives the stacking feeding mold to exit the stacking trimming machine; when the plant fiber product to be trimmed is located in the trimming position area, drives the trimming lower mold to move toward the trimming upper mold to realize stacking trimming.

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