Edge-cutting-free plant fiber wet pressing cup forming system and method

Abstract

The invention discloses a plant fiber wet pressing cup forming system free of edge cutting. The plant fiber wet pressing cup forming system comprises a robot forming system, a precision pressing machine, a drying and edge curling all-in-one machine and a forming pulp pool. The robot forming system comprises a multi-axis mechanical arm, a forming mold and a cold pressing mold system, and the processes of wet blank forming and wet blank water content control are completed in the forming pulp chest and the robot forming system through transportation of the multi-axis mechanical arm; the precision press comprises an upper pressing plate, a lower pressing plate, an upper die and a lower die, and wet blanks with qualified water content are transferred into the precision press through a multi-shaft mechanical arm to be dehydrated and shaped; the drying and hemming all-in-one machine comprises a mechanical arm, a hemming mechanism and a heatable hemming template, the mechanical arm grabs the dehydrated and shaped product to a mold of the heatable hemming template for drying and hemming operation, and finally the mechanical arm moves the product out for feeding. The method has the advantages of simple process, neat product edge, stable product quality, and energy consumption and cost reduction.

Description

Technical Field

[0001] The invention belongs to the field of paper mold production equipment and relates to a plant fiber wet-pressed cup forming system and method free of trimming. Background Art

[0002] In the existing "wet pressing" molding manufacturing process of plant fiber pulp molding, the phenomenon of large and small edges of products is inevitable. To solve the problem of large and small edges, the products need to be trimmed manually or automatically to ensure that the edges of the products are consistent in size and stacked neatly.

[0003] The so-called free edge trimming is a process that achieves the same effect as edge trimming without going through the mechanical edge trimming process. This process has resulted in some pulp molded products without edge trimming. The current free edge trimming technology has the following disadvantages: (I) The edge effect of the non-trimming products cannot be relatively neat: any mold using an integral heating plate will have large and small edges of the product. This is due to the thermal expansion and contraction of the mold, and the size and center distance of the product will expand due to thermal expansion; (ii) Expensive molds for trim-free products: In order to obtain a relatively neat trim-free effect, the mold requires a single, independent split heating plate, which is complex to make and has a high cost, almost twice the cost of the overall mold, and is difficult to maintain and replace; (iii) The use of split molds and heating plates will result in a reduction in the number of product arrangements and a decrease in output; (IV) High water vacuum and electricity consumption, high transportation costs: ① Vacuum water consumption: In order to achieve the effect of no trimming, some processes require that the pulp concentration during suction filtration molding be reduced, because if the pulp concentration is high, the no trimming effect will be poor and the burrs will be serious. Once the concentration is reduced, the water displacement during vacuum filtration molding will increase significantly when producing the same 1t product, almost more than 2 times, which means that the water vacuum consumption for the production of no trimming products is much greater than that of trimming products; ② High power consumption: In order to reduce burrs, the trim-free process needs to go through a long period of virtual pressing during hot pressing and mold closing, otherwise there will be "fried edges" or more burrs. The so-called "virtual pressing" means that when hot pressing and mold closing, the upper and lower hot pressing molds are not pressed tightly when closing, and the "wet blank" in the mold is baked for a certain period of time. After the "wet blank" is baked to a certain degree of dryness, the mold clamping force is applied for hot pressing and shaping. This virtual pressing and baking process wastes a lot of heat.

[0004] ③ High transportation cost: Another adverse consequence of the no-cutting process is the low density of the product. For example, if 300 10-inch disc products are stacked together, the no-cutting product will be 30 to 50 cm higher than the normal product, which greatly increases the packaging and transportation costs.

[0005] Due to the above technical defects, the plant fiber pulp molding non-cutting process is only used in a very few fields that do not have high requirements for product edges; and currently the largest global pulp molding is disposable fast-moving consumer goods. It is understood that in the production of disposable fast-moving consumer goods pulp molded products, due to the current non-cutting technology defects and cost issues, this process has not been widely promoted and applied. According to statistics, the production cost of existing non-cutting products is about 20% higher than that of trimmed products. Therefore, there is an urgent need on the market for a non-cutting plant fiber wet pressing cup forming system with more streamlined equipment, simpler production, lower production costs, neat product edges, stable product quality and energy saving. Summary of the invention

[0006] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a plant fiber wet-pressed cup forming system and method which has simple process, neat product edges, stable product quality, and energy and cost savings and does not require trimming.

[0007] In order to achieve the above object, the technical solution of the present invention is as follows: A plant fiber wet-pressed cup forming system without trimming, comprising a robot forming system, a precision press, a drying and curling integrated machine, a forming pulp tank and a PLC control system; The robot forming system includes a multi-axis robotic arm, a forming mold and a cold pressing mold that match each other; the cold pressing mold is provided with a plurality of protruding mold cores, and the forming mold is provided with a plurality of mold cavities, the number of the mold cores and the mold cavities are the same and can be interlocked with each other one by one; the rotating joint of the multi-axis robotic arm is connected to the back of the forming mold, so that the forming mold can rotate in multiple directions and move to the precision press and the cold pressing mold; the forming mold is connected to the vacuum system and the compressed air system through the vacuum pipe and the compressed air pipe respectively, and the plant fibers are uniformly adsorbed in the mold cavity of the forming mold through the vacuum system and the vacuum pipe, and the plant fibers in the mold cavity of the forming mold are squeezed onto the mold core through the compressed air system and the compressed air pipe to form a cup embryo; The cold pressing die is arranged above one side of the forming pulp pool, and the precision press is arranged on the other side. The multi-axis mechanical arm is arranged above the position between the forming pulp pool and the precision press through a supporting frame. The forming pulp pool is a pool body with an opening facing upward and is used to hold pulp containing plant fibers. The forming die is placed in the forming pulp pool by the multi-axis mechanical arm. The precision press comprises an upper pressing plate and a lower pressing plate, wherein an upper pressing plate driving mechanism is provided on the top of the upper pressing plate, a lower pressing plate driving mechanism is provided on the bottom of the lower pressing plate, an upper mold is provided on the bottom of the lower pressing plate, and a lower mold is provided on the top of the lower pressing plate, wherein the upper mold and the lower mold are matched with the cup embryo respectively; the upper pressing plate driving mechanism and the lower pressing plate driving mechanism are used to make the upper pressing plate and the lower pressing plate move toward each other, thereby making the upper mold and the lower mold close together, and the cup embryo is extruded, dehydrated and shaped by closing the upper mold and the lower mold; The drying and curling integrated machine is arranged on one side of the precision press, and a transfer manipulator is provided above the position between the drying and curling integrated machine and the precision press through a supporting frame, a horizontal moving mechanism is provided above the transfer manipulator, a moving seat is provided on the horizontal moving mechanism, a connecting rod is vertically provided at the middle part of the transfer manipulator, the connecting rod passes through the moving seat and is rotatably connected with the moving seat; the moving seat is driven by the horizontal moving mechanism and drives the transfer manipulator to move horizontally; a motor A is provided on the moving seat, and the motor A drives the connecting rod to rotate through the crawler, thereby causing the transfer manipulator to rotate; a plurality of vacuum suction cups are provided at the lower part of one end of the transfer manipulator; The drying and curling machine comprises an upper die pressing plate and a lower die pressing plate, wherein the upper die pressing plate is arranged directly above the lower die pressing plate, and a heating mold cavity is arranged on the upper die pressing plate, and a lower mold lifting mechanism is arranged at the bottom of the lower die pressing plate, and the lower mold lifting mechanism is used to drive the lower die pressing plate to move toward the upper die pressing plate, so that the lower die pressing plate and the upper die pressing plate are combined to curl the cup blank; a heating mold core is arranged on the lower die pressing plate, and the heating mold cavity and the heating mold core are used to heat the cup blank; A discharging conveyor belt is provided below one side of the transfer robot, and the discharging conveyor belt is used to deliver the finished paper cups transported by the transfer robot to the next process; The PLC control system is used to control the operation of the robot forming system, the precision press and the drying and curling machine.

[0008] The method for using the above-mentioned plant fiber wet pressing cup forming system without trimming comprises the following steps: S1, wet embryo molding: add slurry containing plant fiber into the molding slurry pool, then control the multi-axis robot arm to place the molding mold in the molding slurry pool, and then start the vacuum system and vacuum pipeline to absorb the slurry, and absorb the slurry into the mold cavity of the molding mold. When the gram weight reaches the standard, that is, the required thickness of the required product is reached, stop slurry absorption, and at this time, the slurry containing plant fiber is evenly adsorbed in the mold cavity of the molding mold under the action of vacuum; S2. Control of moisture content of wet embryo: The forming mold is taken out from the forming slurry pool by controlling the multi-axis robot arm, and then moved to the cold pressing mold, and then the mold cavity of the forming mold is fitted with the mold core of the cold pressing mold, and then the vacuum system and the vacuum pipeline are stopped, and the compressed air system and the compressed air pipeline are started again, and the plant fiber slurry adsorbed in the mold cavity is squeezed onto the mold core of the cold pressing mold under the action of gas extrusion and external force to form a cup embryo, and the squeezed slurry water is recovered; S3, dehydration and shaping: stop the compressed air system and the compressed air pipeline, then start the vacuum system and the vacuum pipeline to absorb the cup embryo in the mold cavity of the forming mold, then control the multi-axis robot arm to move the forming mold to the lower mold of the precision press, stop the compressed air system and the compressed air pipeline, so that the cup embryo in the forming mold is placed on the lower mold of the precision press, then control the multi-axis robot arm to move the forming mold out of the precision press, and repeat steps S1 to S2; After the multi-axis robot arm and the forming mold are moved out of the precision press, the pressing plate driving mechanism and the lower pressing plate driving mechanism make the upper pressing plate and the lower pressing plate move toward each other, thereby closing the upper mold and the lower mold, and the cup embryo is extruded, dehydrated and shaped by closing the upper mold and the lower mold, and then demolding is performed to separate the upper mold and the lower mold, and then the transfer robot is moved horizontally by the horizontal moving mechanism, and one end of the transfer robot is extended above the lower pressing plate of the precision press, and the vacuum suction cup is started to absorb the demolded cup embryo, and then the transfer robot is moved horizontally out of the precision press, and the transfer robot is driven by motor A to rotate 180 degrees, and the end with the cup embryo adsorbed is moved to one side of the drying and curling machine, and then the transfer robot is moved horizontally so that the end with the cup embryo adsorbed is extended above the lower mold pressing plate of the drying and curling machine; S4, product curling: When the transfer robot extends the end of the cup embryo adsorbed with it into the upper part of the lower mold platen of the drying and curling machine, the vacuum suction cup is stopped and the cup embryo is placed on the lower mold platen, and then the transfer robot is horizontally moved out, and then the lower mold lifting mechanism is controlled to drive the lower mold platen to move to the upper mold platen, so that the lower mold platen and the upper mold platen are combined to curl the cup embryo, and at the same time, the mold cavity and the mold core are heated to heat the cup embryo; When the curling and heat treatment are completed, the lower mold lifting mechanism is controlled to drive the lower mold platen away from the upper mold platen to separate the mold to obtain the finished paper cup. Then the transfer robot is moved horizontally to the top of the lower mold platen, and the finished product is adsorbed by the vacuum suction cup. Then the transfer robot is moved horizontally, and then the motor A is used to drive the transfer robot to rotate 90 degrees, so that the vacuum suction cup with the finished product is located above the discharge conveyor belt on one side. The vacuum suction cup is stopped and the finished product is placed on the discharge conveyor belt, and the finished paper cup is sent to the next process by the discharge conveyor belt.

[0009] As a preferred technical solution of the present invention, a weight sensor or a flow controller is provided at the end of the multi-axis robot arm. The weight sensor or the flow controller monitors the weight change of the forming mold on the multi-axis robot arm, and then monitors the absorption amount of the plant fiber of the cup embryo raw material, so as to judge and analyze whether the raw material amount meets the process requirements.

[0010] As a preferred technical solution of the present invention, a guide column A is respectively provided at the four corners of the upper pressing plate and the lower pressing plate, and the upper pressing plate and the lower pressing plate can slide up and down along the guide column A. The guide column A can make the upper pressing plate and the lower pressing plate move accurately, so that the upper mold and the lower mold can be seamlessly connected.

[0011] As a preferred technical solution of the present invention, the horizontal moving mechanism includes two tracks arranged in parallel, the moving seat is located on the two tracks and can slide relative to the two tracks, one end of one of the tracks is provided with a motor B, a chain is connected between the motor B and the moving seat, and the motor B drives the moving seat to move by driving the chain.

[0012] As a preferred technical solution of the present invention, the lower die lifting mechanism includes a base, a driving electric cylinder is provided on the base, the moving end of the driving electric cylinder is connected to the lower die pressing plate, the driving electric cylinder is used to drive the lower die pressing plate to move up and down, and guide columns B are provided at the four corners of the bottom of the lower die pressing plate, and the guide columns B pass through the base and can move up and down relative to the base. The driving electric cylinder adopts a servo motor driven ball screw structure.

[0013] As a preferred technical solution of the present invention, the upper pressure plate driving mechanism and the lower pressure plate driving mechanism are the same linear driving structure, and the linear driving structure includes a fixed seat, a servo motor, and a driving block. A group of driving rod groups are respectively installed at both ends of the fixed seat, and a servo motor and a driving block are arranged between the two groups of driving rod groups. A servo motor is installed in the middle of the fixed seat, and the output end of the servo motor is connected to an eccentric wheel. The upper part of the driving block is rotatably connected to a driving rod, and the driving rod is rotatably connected to the eccentric wheel; a guide column C is respectively provided on both sides of the driving block, and the guide column C is connected to the fixed seat, and the driving block is sleeved on the guide column C; the driving rod group includes an upper connecting rod, a lower connecting rod and a transmission rod, one end of the upper connecting rod is rotatably connected to the fixed seat, and the other end is rotatably connected to the lower connecting rod and the transmission rod; the transmission rod is rotatably connected to the driving block, and the lower connecting rod is rotatably connected to the upper pressure plate or the lower pressure plate. When in use, the eccentric wheel is rotated by the servo motor, so that the driving rod pushes the driving block downward, the driving block moves downward and pushes the transmission rods on both sides outward, and the transmission rods then push the upper connecting rod and the lower connecting rod outward, so that the upper connecting rod and the lower connecting rod turn from inclined to the same straight line, and then push the lower connecting rod and the connected upper pressure plate or lower pressure plate to move.

[0014] As a preferred technical solution of the present invention, the forming pulp tank is made of stainless steel.

[0015] As a preferred technical solution of the present invention, electromagnetic heaters are installed inside the heating mold cavity and the heating mold core respectively. The electromagnetic heating can achieve rapid temperature rise, which is conducive to rapid drying and molding of the paper mold.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. The device of the present invention has a high degree of overall integration, a refined structure, and simple mold making; 2. The edges of the products produced by the present invention are neat and consistent, and there will be no large or small edge phenomenon; 3. The product quality of the products produced by the present invention is stable and the product strength is enhanced; 4. The use process of the present invention does not require changing the slurry concentration, nor does it require a virtual pressure process, which saves more energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the plant fiber wet-pressed cup forming system without trimming described in Example 1.

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of the precision press described in Example 3.

[0019] Figure ID: 1-Robot forming system, 11-Multi-axis robotic arm, 12-Forming mold, 13-Cold pressing mold, 2-Precision press, 21-Upper pressing plate, 22-Lower pressing plate, 23-Guide column A, 24-Upper pressing plate driving mechanism, 25-Lower pressing plate driving mechanism, 3-Drying and curling machine, 31-Upper mold pressing plate, 32-Lower mold pressing plate, 33-Lower mold lifting mechanism, 331-Driving electric cylinder, 332-Guide column B, 333-Base, 4-Forming slurry pool, 5-Discharging conveyor belt, 6-Transfer robot, 61-Horizontal moving mechanism, 611-Track, 612-Motor B, 62-Moving seat, 63-Motor A, 64-Connecting rod, 65-Vacuum suction cup, 7-Servo motor, 71-Drive rod, 72-Guide column C, 73-Upper connecting rod, 74-Lower connecting rod, 75-Transmission rod, 76-Drive block. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings.

[0021] Embodiment 1: A plant fiber wet-pressed cup forming system without trimming, comprising a robot forming system 1, a precision press 2, a drying and curling machine 3, a forming pulp tank 4 and a PLC control system; The robot forming system 1 includes a multi-axis robot arm 11, a forming mold 12 and a cold pressing mold 13 that match each other; the cold pressing mold 13 is provided with N protruding mold cores, N is a natural number and can be selected according to actual conditions, such as N can be selected as 6, and a mold cavity is provided in the forming mold 12, and the number of the mold cores and the mold cavities is the same and can be interlocked with each other one by one; the rotating joint of the multi-axis robot arm 11 is connected to the back of the forming mold 12, so that the forming mold 12 can rotate in multiple directions and move to the precision press 2 and the cold pressing mold 13; the forming mold 12 is connected to the vacuum system and the compressed air system respectively through the vacuum pipe and the compressed air pipe, and the plant fiber is uniformly adsorbed in the mold cavity of the forming mold 12 through the vacuum system and the vacuum pipe, and the plant fiber in the mold cavity of the forming mold 12 is squeezed onto the mold core through the compressed air system and the compressed air pipe to form a cup embryo; The cold pressing die 13 is arranged above one side of the forming pulp pool 4, and the precision press 2 is arranged on the other side. The multi-axis robot arm 11 is arranged above the position between the forming pulp pool 4 and the precision press 2 through a supporting frame. The forming pulp pool 4 is a pool body with an opening facing upward and is used to hold the pulp containing plant fibers. The forming die 12 is placed in the forming pulp pool 4 by the multi-axis robot arm 11. The precision press 2 comprises an upper pressing plate 21 and a lower pressing plate 22. An upper pressing plate driving mechanism 24 is provided at the top of the upper pressing plate 21, and a lower pressing plate driving mechanism 25 is provided at the bottom of the lower pressing plate 22. An upper mold is provided at the bottom of the lower pressing plate 22, and a lower mold is provided at the top of the lower pressing plate 22. The upper mold and the lower mold are matched with the cup embryo respectively. The upper pressing plate driving mechanism 24 and the lower pressing plate driving mechanism 25 make the upper pressing plate 21 and the lower pressing plate 22 move toward each other, so that the upper mold and the lower mold are closed, and the cup embryo is extruded, dehydrated and shaped by closing the upper mold and the lower mold. The drying and curling integrated machine 3 is arranged on one side of the precision press 2, and a transfer robot 6 is provided above the position between the drying and curling integrated machine 3 and the precision press 2 through a supporting frame, and a horizontal moving mechanism 61 is provided above the transfer robot 6, and a moving seat 62 is provided on the horizontal moving mechanism 61, and a connecting rod 64 is vertically provided in the middle of the transfer robot 6, and the connecting rod 64 passes through the moving seat 62 and is rotatably connected with the moving seat 62; the moving seat 62 is driven by the horizontal moving mechanism 61 and drives the transfer robot 6 to move horizontally; a motor A63 is provided on the moving seat 62, and the motor A63 drives the connecting rod 64 to rotate through the crawler, thereby rotating the transfer robot 6; 6 vacuum suction cups 65 are provided at the lower part of one end of the transfer robot 6; The drying and curling machine 3 includes an upper die pressing plate 31 and a lower die pressing plate 32. The upper die pressing plate 31 is arranged directly above the lower die pressing plate 32, and a heating mold cavity is arranged on the upper die pressing plate 31. A lower die lifting mechanism 33 is arranged at the bottom of the lower die pressing plate 32. The lower die lifting mechanism 33 is used to drive the lower die pressing plate 32 to move toward the upper die pressing plate 31, so that the lower die pressing plate 32 and the upper die pressing plate 31 are combined to curl the cup blank; a heating mold core is arranged on the lower die pressing plate 32, and the heating mold cavity and the heating mold core are used to heat the cup blank; A discharging conveyor belt 5 is provided below one side of the transfer robot 6, and the discharging conveyor belt 5 is used to deliver the finished paper cups transported by the transfer robot 6 to the next process; The PLC control system is used to control the operation of the robot forming system 1, the precision press 2 and the drying and curling machine 3; Electromagnetic heaters are installed inside the heating mold cavity and the heating mold core respectively; the electromagnetic heating can achieve rapid temperature rise, which is conducive to rapid drying and molding of the paper mold.

[0022] The method for using the plant fiber wet pressing cup forming system without trimming described in this embodiment includes the following steps: S1, wet embryo molding: add slurry containing plant fibers into the molding slurry pool 4, then control the multi-axis robot arm 11 to place the molding mold 12 in the molding slurry pool 4, and then start the vacuum system and vacuum pipeline to absorb the slurry, and absorb the slurry into the mold cavity of the molding mold 12. When the gram weight reaches the standard, that is, the required thickness of the required product is reached, the slurry absorption is stopped. At this time, the slurry containing plant fibers is evenly adsorbed in the mold cavity of the molding mold 12 under the action of vacuum; S2, wet embryo moisture content control: the forming mold 12 is taken out from the forming slurry pool 4 by controlling the multi-axis robot arm 11, and then moved to the cold pressing mold 13, and then the mold cavity of the forming mold 12 is fitted with the mold core of the cold pressing mold 13, and then the vacuum system and the vacuum pipeline are stopped, and the compressed air system and the compressed air pipeline are started, and the plant fiber slurry adsorbed in the mold cavity is squeezed onto the mold core of the cold pressing mold 13 under the action of gas extrusion and external force to form a cup embryo, and the squeezed slurry water is recovered; S3, dehydration and shaping: stop the compressed air system and the compressed air pipeline, then start the vacuum system and the vacuum pipeline to absorb the cup embryo in the mold cavity of the forming mold 12, then control the multi-axis robot arm 11 to move the forming mold 12 to the lower mold of the precision press 2, stop the compressed air system and the compressed air pipeline, so that the cup embryo in the forming mold 12 is placed on the lower mold of the precision press 2, then control the multi-axis robot arm 11 to move the forming mold 12 out of the precision press 2, and repeat steps S1 to S2; After the multi-axis robot arm 11 and the forming mold 12 are moved out of the precision press 2, the pressing plate driving mechanism and the lower pressing plate driving mechanism 25 make the upper pressing plate 21 and the lower pressing plate 22 move toward each other, thereby closing the upper mold and the lower mold, and extruding, dehydrating and shaping the cup embryo through the closing of the upper mold and the lower mold, and then demolding is performed to separate the upper mold and the lower mold, and then the transfer robot 6 is horizontally moved by the horizontal moving mechanism 61, and one end of the transfer robot 6 is extended above the lower pressing plate 22 of the precision press 2, and the vacuum suction cup 65 is started to absorb the demolded cup embryo, and then the transfer robot 6 is horizontally moved out of the precision press 2, and the transfer robot 6 is driven by the motor A63 to rotate 180 degrees, and the end with the cup embryo adsorbed is moved to one side of the drying and curling machine 3, and then the transfer robot 6 is horizontally moved so that the end with the cup embryo adsorbed is extended above the lower mold pressing plate 32 of the drying and curling machine 3; S4, product curling: When the transfer robot 6 extends the end of the cup embryo adsorbed with it above the lower mold plate 32 of the drying and curling integrated machine 3, the vacuum suction cup 65 is stopped and the cup embryo is placed on the lower mold plate 32, and then the transfer robot 6 is horizontally moved out, and then the lower mold lifting mechanism 33 is controlled to drive the lower mold plate 32 to move toward the upper mold plate 31, so that the lower mold plate 32 and the upper mold plate 31 are molded together to curl the cup embryo, and at the same time, the mold cavity and the mold core are heated to heat the cup embryo; When the curling and heat treatment are completed, the lower mold lifting mechanism 33 is controlled to drive the lower mold platen 32 away from the upper mold platen 31 to separate the mold to obtain a finished paper cup. Then, the transfer robot 6 is moved horizontally to above the lower mold platen 32, and then the finished product is adsorbed by the vacuum suction cup 65, and then the transfer robot 6 is moved horizontally. Then, the motor A63 drives the transfer robot 6 to rotate 90 degrees, so that the vacuum suction cup 65 with the finished product adsorbed is located above one side of the discharge conveyor belt 5, the vacuum suction cup 65 is stopped and the finished product is placed on the discharge conveyor belt 5, and the finished paper cup is sent to the next process by the discharge conveyor belt 5.

[0023] Embodiment 2: The plant fiber wet pressing cup forming system without trimming described in this embodiment is different from that in Embodiment 1 in that a weight sensor or a flow controller is provided at the end of the multi-axis robot arm 11; the weight change of the forming mold 12 on the multi-axis robot arm 11 is monitored by the weight sensor or the flow controller, and then the absorption amount of the plant fiber of the cup embryo raw material is monitored, so as to judge and analyze whether the raw material amount meets the process requirements; A guide column A23 is respectively provided at the four corners of the upper pressing plate 21 and the lower pressing plate 22, and the upper pressing plate 21 and the lower pressing plate 22 can slide up and down along the guide column A23; the upper pressing plate 21 and the lower pressing plate 22 can move accurately through the guide column A23, so that the upper mold and the lower mold can be seamlessly connected; The horizontal moving mechanism 61 includes two rails 611 arranged in parallel, the moving seat 62 is located on the two rails 611 and can slide relative to the two rails 611, wherein a motor B612 is provided at one end of one rail 611, a chain is connected between the motor B612 and the moving seat 62, and the motor B612 drives the moving seat 62 to move by driving the chain; The lower mold lifting mechanism 33 includes a base 333, on which a driving electric cylinder 331 is provided. The moving end of the driving electric cylinder 331 is connected to the lower mold pressing plate 32. The driving electric cylinder 331 is used to drive the lower mold pressing plate 32 to move up and down. Guide columns B332 are provided at the four corners of the bottom of the lower mold pressing plate 32. The guide columns B332 pass through the base 333 and can move up and down relative to the base 333. The driving electric cylinder 331 adopts a servo motor 7 to drive a ball screw structure.

[0024] Embodiment 3: The plant fiber wet-pressed cup forming system without trimming described in this embodiment is different from that in Embodiment 1 in that the upper pressing plate driving mechanism 24 and the lower pressing plate driving mechanism 25 are the same linear driving structure, which includes a fixed seat, a servo motor 7, and a driving block 76. A group of driving rods 71 ​​are respectively installed at both ends of the fixed seat, and a servo motor 7 and a driving block 76 are arranged between the two groups of driving rods 71. The servo motor 7 is installed in the middle of the fixed seat, and the output end of the servo motor 7 is connected to an eccentric wheel. The upper part of the driving block 76 is rotatably connected to the driving rod 71, and the driving rod 71 is rotatably connected to the eccentric wheel; a guide column C72 is respectively provided on both sides of the driving block 76, and the guide column C72 is connected to the fixed seat, and the driving block 76 is sleeved on the guide column C7 2; the driving rod group 71 includes an upper connecting rod 73, a lower connecting rod 74 and a transmission rod 75, one end of the upper connecting rod 73 is rotatably connected to the fixed seat, and the other end is rotatably connected to the lower connecting rod 74 and the transmission rod 75; the transmission rod 75 is rotatably connected to the driving block 76, and the lower connecting rod 74 is rotatably connected to the upper pressing plate 21 or the lower pressing plate 22; when in use, the servo motor 7 rotates the eccentric wheel so that the driving rod 71 pushes the driving block 76 downward, and the driving block 76 moves downward and pushes the transmission rods 75 on both sides outward, and the transmission rod 75 then pushes the upper connecting rod 73 and the lower connecting rod 74 outward, so that the upper connecting rod 73 and the lower connecting rod 74 are rotated from inclined to the same straight line, thereby pushing the lower connecting rod 74 and the connected upper pressing plate 21 or the lower pressing plate 22 to move; the forming pulp pool 4 is made of stainless steel.

[0025] Obviously, the above embodiments are only examples for clearly explaining the present invention, and are not intended to limit the implementation of the present invention. For ordinary technicians in the relevant technical field, other different forms of changes or modifications can be made based on the above description; it is not necessary and impossible to list all the implementation methods here; and the obvious changes or modifications derived from them are still within the protection scope of the present invention.

Claims

1. A plant fiber wet pressing cup forming system without trimming, characterized in that: It comprises a robot forming system (1), a precision press (2), a drying and curling machine (3), a forming pulp tank (4) and a PLC control system; The robot forming system (1) comprises a multi-axis robot arm (11), a forming mold (12) and a cold pressing mold (13) that match each other; the cold pressing mold (13) is provided with a plurality of protruding mold cores, the forming mold (12) is provided with a plurality of mold cavities, the number of the mold cores and the mold cavities are the same and can be mutually interlocked in a one-to-one correspondence; the rotating joint of the multi-axis robot arm (11) is connected to the back of the forming mold (12), so that the forming mold (12) can rotate in multiple directions and move to the precision press (2) and the cold pressing mold (13); the forming mold (12) is connected to a vacuum system and a compressed air system respectively through a vacuum pipe and a compressed air pipe, the plant fibers are uniformly adsorbed in the mold cavity of the forming mold (12) through the vacuum system and the vacuum pipe, and the plant fibers in the mold cavity of the forming mold (12) are squeezed onto the mold core through the compressed air system and the compressed air pipe to form a cup embryo; The cold pressing die (13) is arranged above one side of the forming pulp pool (4), and the precision press (2) is arranged on the other side; the multi-axis mechanical arm (11) is arranged above a position between the forming pulp pool (4) and the precision press (2) via a support frame; the forming pulp pool (4) is a pool body with an opening facing upward and is used to hold pulp containing plant fibers; the forming die (12) is placed in the forming pulp pool (4) via the multi-axis mechanical arm (11); The precision press (2) comprises an upper pressing plate (21) and a lower pressing plate (22); an upper pressing plate driving mechanism (24) is provided at the top of the upper pressing plate (21); a lower pressing plate driving mechanism (25) is provided at the bottom of the lower pressing plate (22); an upper mold is provided at the bottom of the lower pressing plate (22); a lower mold is provided at the top of the lower pressing plate (22); the upper mold and the lower mold are matched with the cup embryo respectively; the upper pressing plate driving mechanism (24) and the lower pressing plate driving mechanism (25) are used to make the upper pressing plate (21) and the lower pressing plate (22) move towards each other, thereby making the upper mold and the lower mold close together; and the cup embryo is extruded, dehydrated and shaped by closing the upper mold and the lower mold; The drying and curling machine (3) is arranged on one side of the precision press (2); a transfer robot (6) is arranged above the position between the drying and curling machine (3) and the precision press (2) through a support frame; a horizontal moving mechanism (61) is arranged above the transfer robot (6); a moving seat (62) is arranged on the horizontal moving mechanism (61); a connecting rod (64) is vertically arranged in the middle of the transfer robot (6); the connecting rod (64) passes through the moving seat (62) and is rotatably connected to the moving seat (62); the moving seat (62) is driven by the horizontal moving mechanism (61) and drives the transfer robot (6) to move horizontally; a motor A (63) is arranged on the moving seat (62); the motor A (63) drives the connecting rod (64) to rotate through a crawler belt, thereby causing the transfer robot (6) to rotate; a plurality of vacuum suction cups (65) are arranged at the lower part of one end of the transfer robot (6); The drying and curling machine (3) comprises an upper die pressing plate (31) and a lower die pressing plate (32), wherein the upper die pressing plate (31) is arranged directly above the lower die pressing plate (32), and a heating mold cavity is arranged on the upper die pressing plate (31), and a lower mold lifting mechanism (33) is arranged at the bottom of the lower die pressing plate (32), and the lower mold lifting mechanism (33) is used to drive the lower die pressing plate (32) to move toward the upper die pressing plate (31), so that the lower die pressing plate (32) and the upper die pressing plate (31) are combined to curl the cup blank; a heating mold core is arranged on the lower die pressing plate (32), and the heating mold cavity and the heating mold core are used to heat the cup blank; A discharge conveyor belt (5) is provided below one side of the transfer robot (6), and the discharge conveyor belt (5) is used to deliver the finished paper cups transported by the transfer robot (6) to the next process; The PLC control system is used to control the operation of the robot forming system (1), the precision press (2) and the drying and curling machine (3).

2. The plant fiber wet pressing cup forming system without trimming according to claim 1, characterized in that: A weight sensor or a flow controller is provided at the end of the multi-axis mechanical arm (11).

3. The plant fiber wet pressing cup forming system without trimming according to claim 1, characterized in that: A guide column A (23) is provided at each of the four corners of the upper pressing plate (21) and the lower pressing plate (22), and the upper pressing plate (21) and the lower pressing plate (22) can slide up and down along the guide column A (23).

4. The plant fiber wet pressing cup forming system without trimming according to claim 1, characterized in that: The horizontal moving mechanism (61) comprises two rails (611) arranged in parallel, the moving seat (62) is located on the two rails (611) and can slide relative to the two rails (611), wherein a motor B (612) is provided at one end of one of the rails (611), a chain is connected between the motor B (612) and the moving seat (62), and the motor B (612) drives the moving seat (62) to move by driving the chain.

5. The plant fiber wet pressing cup forming system without trimming according to claim 1, characterized in that: The lower die lifting mechanism (33) comprises a base (333), a driving electric cylinder (331) is provided on the base (333), a movable end of the driving electric cylinder (331) is connected to the lower die pressing plate (32), the driving electric cylinder (331) is used to drive the lower die pressing plate (32) to move up and down, and guide columns B (332) are provided at the four corners of the bottom of the lower die pressing plate (32), and the guide columns B (332) pass through the base (333) and can move up and down relative to the base (333).

6. The plant fiber wet pressing cup forming system without trimming according to claim 1, characterized in that: The upper pressure plate driving mechanism (24) and the lower pressure plate driving mechanism (25) are identical linear driving structures, and the linear driving structure comprises a fixed seat, a servo motor (7), and a driving block (76). A group of driving rods (71) are respectively installed at both ends of the fixed seat, and the servo motor (7) and the driving block (76) are arranged between the two groups of driving rods (71). The servo motor (7) is installed in the middle of the fixed seat, and the output end of the servo motor (7) is connected to an eccentric wheel. The upper part of the driving block (76) is rotatably connected to the driving rod (71), and the driving rod (71) is rotatably connected to the eccentric wheel; the driving block A guide column C (72) is provided on both sides of (76), the guide column C (72) is connected to the fixed seat, and the driving block (76) is sleeved on the guide column C (72); the driving rod (71) group includes an upper connecting rod (73), a lower connecting rod (74) and a transmission rod (75), one end of the upper connecting rod (73) is rotatably connected to the fixed seat, and the other end is rotatably connected to the lower connecting rod (74) and the transmission rod (75); the transmission rod (75) is rotatably connected to the driving block (76), and the lower connecting rod (74) is rotatably connected to the upper pressure plate (21) or the lower pressure plate (22).

7. The plant fiber wet pressing cup forming system without trimming according to claim 1, characterized in that: The forming pulp tank (4) is made of stainless steel.

8. The plant fiber wet pressing cup forming system without trimming according to claim 1, characterized in that: Electromagnetic heaters are installed inside the heating mold cavity and the heating mold core respectively.

9. The method for using the plant fiber wet pressing cup forming system without trimming as claimed in claim 1, characterized in that: The following steps are involved: S1, wet embryo molding: adding a slurry containing plant fibers into a molding slurry pool (4), then controlling a multi-axis robot arm (11) to place a molding mold (12) in the molding slurry pool (4), and then starting a vacuum system and a vacuum pipe to suck the slurry into the mold cavity of the molding mold (12). When the gram weight reaches the standard, that is, the required thickness of the product is reached, the slurry suction is stopped. At this time, the slurry containing plant fibers is evenly adsorbed in the mold cavity of the molding mold (12) under the action of vacuum; S2, wet embryo moisture content control: by controlling the multi-axis robot arm (11), the forming mold (12) is taken out from the forming slurry pool (4), and then moved to the cold pressing mold (13), and then the mold cavity of the forming mold (12) is engaged with the mold core of the cold pressing mold (13), and then the vacuum system and the vacuum pipeline are stopped, and the compressed air system and the compressed air pipeline are started again, and the plant fiber slurry adsorbed in the mold cavity is squeezed onto the mold core of the cold pressing mold (13) under the action of gas extrusion and external force to form a cup embryo, and the squeezed slurry water is recovered; S3, dehydration and shaping: stop the compressed air system and the compressed air pipeline, then start the vacuum system and the vacuum pipeline to absorb the cup embryo into the mold cavity of the forming mold (12), then control the multi-axis robot arm (11) to move the forming mold (12) to the lower mold of the precision press (2), stop the compressed air system and the compressed air pipeline, so that the cup embryo in the forming mold (12) is placed on the lower mold of the precision press (2), then control the multi-axis robot arm (11) to move the forming mold (12) out of the precision press (2), and repeat steps S1 to S2; When the multi-axis robot arm (11) and the molding die (12) are moved out of the precision press (2), the pressing plate driving mechanism and the lower pressing plate driving mechanism (25) cause the upper pressing plate (21) and the lower pressing plate (22) to move toward each other, thereby closing the upper mold and the lower mold. The cup embryo is extruded, dehydrated and shaped by closing the upper mold and the lower mold, and then demolded to separate the upper mold and the lower mold. Then, the transfer robot (6) is moved horizontally by the horizontal moving mechanism (61), and the transfer robot (6) is moved horizontally. ) is inserted into the top of the lower pressing plate (22) of the precision press (2), and the vacuum suction cup (65) is started to absorb the demoulded cup embryo, then the transfer robot (6) is horizontally moved out of the precision press (2), and the transfer robot (6) is driven by the motor A (63) to rotate 180 degrees, and the end with the cup embryo absorbed is moved to the side of the drying and curling machine (3), and then the transfer robot (6) is horizontally moved so that the end with the cup embryo absorbed is inserted into the top of the lower mold pressing plate (32) of the drying and curling machine (3); S4, product curling: when the transfer robot (6) extends the end of the cup embryo adsorbed with it above the lower mold plate (32) of the drying and curling machine (3), the vacuum suction cup (65) is stopped and the cup embryo is placed on the lower mold plate (32), and then the transfer robot (6) is horizontally moved out, and then the lower mold lifting mechanism (33) is controlled to drive the lower mold plate (32) to move toward the upper mold plate (31), so that the lower mold plate (32) and the upper mold plate (31) are combined to curl the cup embryo, and at the same time, the mold cavity and the mold core are heated to heat the cup embryo; When the curling and heat treatment are completed, the lower mold lifting mechanism (33) is controlled to drive the lower mold pressing plate (32) away from the upper mold pressing plate (31) to separate the mold to obtain a finished paper cup. Then, the transfer robot (6) is moved horizontally to above the lower mold pressing plate (32). Then, the finished product is adsorbed by the vacuum suction cup (65). Then, the transfer robot (6) is moved horizontally. Then, the transfer robot (6) is driven by the motor A (63) to rotate 90 degrees so that the vacuum suction cup (65) adsorbing the finished product is located above a discharge conveyor belt (5) on one side. Then, the vacuum suction cup (65) is stopped and the finished product is placed on the discharge conveyor belt (5). The discharge conveyor belt (5) then delivers the finished paper cup to the next process.

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