Truss mechanical equipment for fixed-point transfer of wet blanks

Abstract

The invention discloses truss mechanical equipment for fixed-point transfer of wet blanks. The truss mechanical equipment comprises a supporting truss, a transverse moving module, a lifting module, a transfer manipulator and a controller. The transverse moving module comprises a transverse moving frame assembled on the supporting truss and a transverse moving driving mechanism used for driving the transverse moving frame to move back and forth on the supporting truss in the X-axis direction. The lifting module comprises a lifting frame assembled on the transverse moving frame and a lifting driving mechanism for driving the lifting frame to move back and forth on the transverse moving frame in the Z-axis direction. The transfer manipulator comprises a conveying frame, a transfer conveying belt, a conveying motor and a longitudinal movement driving mechanism for driving the conveying frame to move back and forth on the lifting frame in the Y-axis direction, and the transfer conveying belt can be connected to the conveying frame in a sliding mode in the Y-axis direction. The controller is in control connection with the transverse movement driving mechanism, the lifting driving mechanism, the conveying motor and the longitudinal movement driving mechanism. The degree of freedom is high, the integrity of the wet blank in the transferring process is guaranteed, and the yield and the production efficiency are improved.

Description

Technical Field

[0001] The present application relates to the technical field of wet embryo transfer equipment in the pulp molding industry, and in particular to a truss mechanical equipment for fixed-point transfer of wet embryos. Background Art

[0002] In the pulp molding industry, after the pulp is pressed by a mold, it is formed into a wet embryo. The wet embryo needs to be dried before it can be packaged and transported. At present, most manufacturers use manual transportation of wet embryos to drying racks for drying, which is time-consuming and labor-intensive, and the wet embryos are easily damaged during transportation. Some manufacturers use mesh frames to hold the wet embryos, and then use robots to clamp the mesh frames to transfer the wet embryos. Such robots have low degrees of freedom and require manual intervention when placing the mesh frames on the drying racks, which affects production efficiency and production costs. Summary of the invention

[0003] In order to solve the problems in the prior art of low degree of freedom of the manipulator and easy damage of the wet embryo during the transfer process, the purpose of this application is to provide a truss mechanical equipment for fixed-point transfer of wet embryos with high degree of freedom and ensuring complete transfer of the wet embryos.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical solution: a truss mechanical device for fixed-point transfer of wet embryos, located between a wet embryo forming device and a drying rack, and arranged in sequence with the wet embryo forming device and the drying rack along the Y-axis direction, the wet embryo forming device has a plurality of forming stations arranged side by side along the X-axis direction, the truss mechanical device is used to transfer the wet embryos on the plurality of forming stations to the drying rack in sequence, and the truss mechanical device comprises: Support trusses; A transverse movement module, comprising a transverse movement frame and a transverse movement driving mechanism mounted on the supporting truss, wherein the transverse movement driving mechanism is connected between the transverse movement frame and the supporting truss and is used to drive the transverse movement frame to move back and forth along the X-axis direction on the supporting truss; A lifting module, comprising a lifting frame and a lifting drive mechanism mounted on the transverse frame, wherein the lifting drive mechanism is connected between the transverse frame and the lifting frame to drive the lifting frame to move back and forth along the Z-axis direction on the transverse frame; A transfer robot, comprising a transfer frame, a transfer conveyor belt, a transfer motor and a longitudinal drive mechanism, wherein the transfer conveyor belt can be slidably engaged on the transfer frame along the Y-axis direction, the transfer motor is drivingly connected to the transfer conveyor belt, and the longitudinal drive mechanism is drivingly connected between the transfer frame and the lifting frame to drive the transfer frame to move back and forth on the lifting frame along the Y-axis direction; and The controller is connected to the lateral drive mechanism, the lifting drive mechanism, the transmission motor and the longitudinal drive mechanism.

[0005] In the above technical solution, it is further preferred that the support truss includes a crossbeam extending along the X-axis direction and a pair of support columns extending along the Z-axis direction, and the two ends of the crossbeam are respectively connected to the tops of the pair of support columns.

[0006] In the above technical solution, it is further preferred that the transverse driving mechanism includes a first guide rail and a first rack extending along the X-axis direction, a first slider slidingly matched with the first guide rail, a first gear meshing with the first rack, and a first servo motor transmission-connected to the first gear, the first guide rail and the first rack are both mounted on the crossbeam, the first slider and the first servo motor are both mounted on the transverse frame, the first servo motor is used to drive the first gear to rotate around its own axis, and the first servo motor is connected to the controller signal.

[0007] In the above technical solution, it is further preferred that the lifting drive mechanism includes a second guide rail and a second rack extending along the Z-axis direction, a second slider slidingly matched with the second guide rail, a second gear meshing with the second rack, and a second servo motor transmission connected to the second gear, the second guide rail and the second rack are both installed on the lifting frame, the second slider and the second servo motor are both installed on the transverse frame, the second servo motor is used to drive the second gear to rotate around its own axis, and the second servo motor is connected to the controller signal.

[0008] In the above technical solution, it is further preferred that the longitudinal driving mechanism includes a third guide rail and a third rack extending along the Y-axis direction, a third slider slidingly matched with the third guide rail, a third gear meshing with the third rack, and a third servo motor transmission connected to the third gear, the third guide rail and the third rack are both installed on the conveying frame, the third slider and the third servo motor are both installed on the lifting frame, the third servo motor is used to drive the third gear to rotate around its own axis, and the third servo motor is connected to the controller signal.

[0009] In the above technical solution, it is further preferred that the third rack is installed in the middle of the conveying frame with the tooth surface of the third rack facing downward, two transfer conveyor belts are installed on the conveying frame, the two transfer conveyor belts are spaced apart along the X-axis direction, and there is a gap between the two transfer conveyor belts to expose the third rack, and the third gear is located below the conveying frame and is configured to engage with the third rack from the gap.

[0010] In the above technical solution, it is further preferred that the conveying frame is equipped with an active roller and a driven roller which are relatively arranged along the Y-axis direction, the active roller and the driven roller both extend along the X-axis direction, the transfer conveyor belt bypasses the active roller and the driven roller, and is tightened between the active roller and the driven roller, and the active roller is transmission-connected to the conveying motor so as to rotate around its own axis under the drive of the conveying motor.

[0011] In the above technical solution, it is further preferred that, in the Y-axis direction, the conveying frame has a head end close to the wet embryo forming device and an end close to the drying rack, and the end of the conveying frame has a slope, and the slope has a downwardly inclined slope surface.

[0012] In the above technical solution, it is further preferred that a visual positioning system is installed on the transfer robot, and the visual positioning system is connected to the controller signal.

[0013] In the above technical solution, it is further preferred that it also includes multiple transition mechanisms, each of the above molding stations is equipped with one transition mechanism, the above transition mechanism includes a base and a transition conveying device that can be installed above the base in a liftable manner, and the above transition conveying device includes a transition conveyor belt that can slide along the Y-axis direction.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The truss mechanical equipment of the present application has a high degree of freedom and can transfer wet embryos in the front-to-back, left-to-right, and up-and-down directions, and can transfer the wet embryos to the drying racks at a fixed point through the transfer conveyor belt of the transfer robot, thereby ensuring the integrity of the wet embryos during the transfer process and improving the yield and production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of a three-dimensional structure of a truss mechanical device provided in an embodiment of the present application, in which the truss mechanical device is arranged between a wet embryo forming device and a drying rack; Figure 2 for Figure 1 The main view of the truss mechanical equipment in; Figure 3 for Figure 1 A side view of the truss mechanical equipment in; Figure 4 for Figure 3 A local enlarged schematic diagram of the middle A; Figure 5 for Figure 1 A top view of the truss mechanical equipment in; Figure 6 for Figure 5 A partial enlarged schematic diagram of point B in the middle; Figure 7 for Figure 2 A schematic diagram of a three-dimensional structure in which a transfer robot is assembled on a connecting bracket; Figure 8 for Figure 7 A bottom view of the transfer robot in FIG. Fig. 9 for Figure 7 A front view of the transfer robot in FIG. Fig.10 for Figure 7 Side view of the transfer robot in.

[0016] Among them: 100, truss mechanical equipment; 10, supporting truss; 1, crossbeam; 2, supporting column; 20, transverse module; 3, transverse frame; 4, transverse drive mechanism; 41, first guide rail; 42, first rack; 43, first slider; 45, first servo motor; 14, travel switch; 30, lifting module; 5, lifting frame; 51, lifting column; 52, connecting bracket; 6, lifting drive mechanism; 61, second guide rail; 611, blocking block; 62, second rack; 63, second slider; 64, second gear; 65, second servo motor; 40, transfer machinery hand; 7, longitudinal driving mechanism; 71, the third guide rail; 72, the third rack; 73, the third slider; 74, the third gear; 75, the third servo motor; 8, conveying frame; 81, the head end; 82, the end; 83, the slope surface; 9, the transfer conveyor belt; 11, the conveying motor; 12, the active roller; 13, the driven roller; 50, the transition mechanism; 15, the base; 16, the transition conveyor device; 161, the transition frame; 162, the transition conveyor belt; 163, the conveying motor; 17, the lifting cylinder; 200, the wet embryo molding equipment; 300, the drying rack; 400, the wet embryo. DETAILED DESCRIPTION

[0017] To describe the technical content, structural features, achieved purpose and effect of the application in detail, the technical solutions in the embodiments of the application will be described below in conjunction with the drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all of the embodiments. In the following description, for the purpose of explanation, many specific details are set forth to provide a detailed description of various exemplary embodiments or implementations of the invention. However, various exemplary embodiments may also be implemented without these specific details or in the case of one or more equivalent arrangements. In addition, various exemplary embodiments may be different, but not necessarily exclusive. For example, without departing from the inventive concept, the specific shape, structure and characteristics of the exemplary embodiment may be used or implemented in another exemplary embodiment.

[0018] The present application embodiment provides a truss mechanical device for transferring wet embryos at fixed points, such as Figure 1 As shown, the truss mechanical device 100 is located between the wet embryo forming device 200 and the drying rack 300, and is used to sequentially transfer the wet embryos 400 on the wet embryo forming device 200 to the drying rack 300. The truss mechanical device 100 of the present application has a high degree of freedom and can move the wet embryos 400 in the front-back, up-down and left-right directions to transfer the wet embryos 400 to the drying rack 300 at a fixed point.

[0019] like Figure 1 As shown, the "X-axis direction" mentioned in this application is Figure 1 The left and right directions shown in the figure are referred to as the "Y-axis direction" in this application. Figure 1 The front-to-back direction shown in the figure is the "Z-axis direction" mentioned in the present application. Figure 1 Up and down directions shown.

[0020] The wet embryo forming device 200 is located at the front side of the truss mechanical device 100, and the drying rack 300 is located at the rear side of the truss mechanical device 100. The wet embryo forming device 200 has a plurality of forming stations arranged in sequence along the X-axis direction, each forming station has a forming mold for dropping the wet embryo 400 from top to bottom, and the truss mechanical device 100 receives the wet embryo 400 demolded from each forming station and transfers each wet embryo 400 to the drying rack 300 at a fixed point. The drying rack 300 has a plurality of drying platforms stacked up and down, and each drying platform provides a plurality of empty spaces for a plurality of wet embryos 400 to be placed independently of each other; the drying rack 300 is also provided with a plurality of moving wheels at the bottom, and after the drying rack 300 is filled with wet embryos 400, it is moved away and moved to the rear side of the truss mechanical device 100 by another empty drying rack 300. In the embodiment of the present application, the wet embryo forming device 200 has two forming stations arranged side by side, and the drying rack 300 has nine drying platforms stacked up and down.

[0021] like Figure 2As shown, the truss mechanical device 100 includes a supporting truss 10, a transverse movement module 20 mounted on the supporting truss 10, a lifting module 30 mounted on the transverse movement module 20, a transfer robot 40 mounted on the lifting module 30, and a controller.

[0022] like Figure 1 , 2 As shown, the support truss 10 includes a crossbeam 1 extending along the X-axis direction and a pair of support columns 2 extending along the Z-axis direction. The two ends of the crossbeam 1 are respectively connected to the tops of the pair of support columns 2 to form a stable support structure to support the transfer robot 40 between the wet embryo molding equipment 200 and the drying rack 300.

[0023] The transverse module 20 includes a transverse frame 3 and a transverse driving mechanism 4 mounted on the crossbeam 1. The transverse driving mechanism 4 is transmission-connected between the transverse frame 3 and the supporting truss 10 to drive the transverse frame 3 to move back and forth on the crossbeam 1 along the X-axis direction.

[0024] The lifting module 30 includes a lifting frame 5 and a lifting drive mechanism 6 mounted on the transverse frame 3. The lifting drive mechanism 6 is transmission-connected between the transverse frame 3 and the lifting frame 5 to drive the lifting frame 5 to move back and forth along the Z-axis direction on the transverse frame 3.

[0025] like Figure 7-10 As shown, the transfer robot 40 includes a transfer frame 8, a transfer conveyor belt 9, a transfer motor 11 and a longitudinal drive mechanism 7. The transfer conveyor belt 9 can be slidably engaged on the transfer frame 8 along the Y-axis direction. The transfer motor 11 is transmission-connected to the transfer conveyor belt 9 to drive the transfer conveyor belt 9 to carry the wet embryo 400 and slide along the Y-axis direction. The longitudinal drive mechanism 7 is transmission-connected between the transfer frame 8 and the lifting frame 5 to drive the transfer frame 8 to move back and forth on the lifting frame 5 along the Y-axis direction.

[0026] like Figure 2-Figure 6As shown, the transverse driving mechanism 4 includes a first guide rail 41 and a first rack 42 extending along the X-axis direction, a first slider 43 slidingly matched with the first guide rail 41, a first gear (not shown in the figure) meshing with the first rack 42, and a first servo motor 45 connected to the first gear. The first guide rail 41 and the first rack 42 are both mounted on the crossbeam 1, and the first slider 43 and the first servo motor 45 are both mounted on the transverse frame 3. The first servo motor 45 is used to drive the first gear to rotate around its own axis. The sliding match between the first slider 43 and the first guide rail 41 reduces the friction between the transverse frame 3 and the crossbeam 1, so that the transverse frame 3 can move back and forth smoothly along the X-axis direction on the crossbeam 1; when the first servo motor 45 drives the first gear to rotate, the reaction force formed by the first gear and the first rack 42 pushes the transverse frame 3 to move back and forth along the X-axis direction. In the embodiment of the present application, two first guide rails 41 are installed on the crossbeam 1, and the two first guide rails 41 are arranged relatively up and down on the upper and lower sides of the first rack 42. At least one pair of first sliders 43 are installed on the transverse frame 3, and each first guide rail 41 is configured with at least one first slider 43. The upper and lower relative sliding components ensure the balance of the movement of the transverse frame 3.

[0027] A pair of travel switches 14 are installed on the crossbeam 1, and the pair of travel switches 14 are connected to the first servo motor 45 by signal. The pair of travel switches 14 are respectively arranged near the left and right ends of the first rack 42. When the traverse frame 3 touches the travel switch 14 while moving on the crossbeam 1, the travel switch 14 is triggered to transmit a signal to the first servo motor 45, so that the first servo motor 45 stops working immediately, effectively avoiding excessive movement of the traverse frame 3 and ensuring the safety of the movement of the traverse frame 3.

[0028] The lifting drive mechanism 6 includes a second guide rail 61 and a second rack 62 extending along the Z-axis direction, a second slider 63 slidingly matched with the second guide rail 61, a second gear 64 meshing with the second rack 62, and a second servo motor 65 drivingly connected with the second gear 64. The second guide rail 61 and the second rack 62 are both mounted on the lifting frame 5, and the second slider 63 and the second servo motor 65 are both mounted on the transverse frame 3. The second servo motor 65 is used to drive the second gear 64 to rotate around its own axis. The sliding match between the second slider 63 and the second guide rail 61 reduces the friction between the lifting frame 5 and the transverse frame 3, ensuring that the lifting frame 5 moves back and forth along the Z-axis direction on the transverse frame 3 smoothly; when the second servo motor 65 drives the second gear 64 to rotate, the reaction force formed by the second gear 64 and the second rack 62 pushes the lifting frame 5 to move back and forth along the Z-axis direction.

[0029] The lifting frame 5 includes a lifting column 51 extending along the Z-axis direction and a connecting bracket 52 connected to the bottom of the lifting column 51. The cross section of the lifting column 51 is square. The connecting bracket 52 is mounted on the conveying frame 8, and a passage for the wet embryo 400 to pass through is formed between the connecting bracket 52 and the upper surface of the transfer conveyor belt 9. The lifting drive mechanism 6 includes a pair of second guide rails 61, which are eccentrically mounted on the two side surfaces of the lifting column 51. The second sliders 63 respectively matched with the pair of second guide rails 61 are mounted on the transverse frame 3, so that the transverse frame 3 can slide up and down smoothly. Stop blocks 611 are installed at both ends of each second guide rail 61 to prevent the second slider 63 from moving excessively and falling off from the second guide rail 61.

[0030] Continue to refer to Figure 7-10 The longitudinal driving mechanism 7 includes a third guide rail 71 and a third rack 72 extending along the Y-axis direction, a third slider 73 slidingly matched with the third guide rail 71, a third gear 74 meshing with the third rack 72, and a third servo motor 75 drivingly connected to the third gear 74. The third guide rail 71 and the third rack 72 are both mounted on the conveying frame 8, the third slider 73 and the third servo motor 75 are both mounted on the lifting frame 5, and the third servo motor 75 is used to drive the third gear 74 to rotate around its own axis.

[0031] In the X-axis direction, a third guide rail 71 is respectively installed on the two side edges of the conveying frame 8, and at least one pair of third sliders 73 is installed on the connecting bracket 52. Each pair of third sliders 73 is relatively arranged along the X-axis direction and respectively slides with the third guide rail 71 on the corresponding side. The sliding components on both sides of the conveying frame 8 ensure the stability of the conveying frame 8 when sliding on the connecting bracket 52.

[0032] The third rack 72 is installed in the middle of the conveying frame 8, and the tooth surface of the third rack 72 is arranged downward. Two transfer conveyor belts 9 are installed on the conveying frame 8, and the two transfer conveyor belts 9 are arranged at intervals along the X-axis direction. There is a gap between the two transfer conveyor belts 9 to expose the third rack 72. The third gear 74 is installed below the conveying frame 8. The circumferential teeth of the third gear 74 mesh with the third rack 72 from the gap between the two transfer conveyor belts 9. The third gear 74 is against the tooth surface of the third rack 72 during the rotation process to generate a force that pushes the conveying frame 8 to move back and forth along the Y-axis direction, and the meshing of the third gear 74 and the third rack 72 does not affect the transmission of the wet embryos on the transfer conveyor belt 9.

[0033] The conveying frame 8 is provided with a driving roller 12 and a driven roller 13 which are arranged front and back oppositely. Both the driving roller 12 and the driven roller 13 extend in the X-axis direction. The two transfer conveyor belts 9 simultaneously bypass the driving roller 12 and the driven roller 13 and are tightened between the driving roller 12 and the driven roller 13. The surfaces of the driving roller 12 and the driven roller 13 are coated with a silicone anti-skid layer to prevent the transfer conveyor belts 9 from slipping on the driving roller 12 and the driven roller 13. The driving roller 12 is connected to the conveying motor 11 in a transmission manner so as to rotate around its own axis under the drive of the conveying motor 11. When the driving roller 12 rotates under the drive of the conveying motor 11, the two transfer conveyor belts 9 synchronously slide relative to the conveying frame 8 under the drive thereof, so that the wet embryo 400 carried on the transfer conveyor belt 9 is conveyed relative to the conveying frame 8 along the Y-axis direction. The conveying of the transfer conveyor belt 9 enables the wet embryo 400 to be transferred to the drying rack 300 at a fixed point, and ensures the integrity of the wet embryo 400 during the transfer process, thereby improving the yield rate and production efficiency. Among them, the transfer conveyor belt 9 is provided with a plurality of through holes, so that excess liquid on the wet embryos can drip through the through holes, thereby preventing the liquid from gathering on the surface of the transfer conveyor belt 9 and causing the wet embryos to slip on the transfer conveyor belt 9.

[0034] The first servo motor 45, the second servo motor 65, the third servo motor 75 and the conveying motor 11 are all connected to the controller signal. The transfer robot 40 is equipped with a visual positioning system (not shown in the figure). The visual positioning system records the image of the surrounding environment and transmits the recorded image information to the controller, which quickly analyzes and calculates the image information, and then controls the operation of the first servo motor 45, the second servo motor 65, the third servo motor 75 and the conveying motor 11 according to the calculation results. The conveying motor 11 is also a servo motor. The servo motor is sensitive and accurate, which can improve the timeliness and accuracy of the movement of the transfer robot 40, so that the transfer robot 40 can quickly and accurately transfer the wet embryos to a fixed point.

[0035] like Figure 1As shown, the transfer robot 40 can directly extend to the bottom of the molding mold at each molding station, so as to receive the wet embryo 400 demolded from the molding mold. However, in order to prevent the wet embryo 400 from falling on the transfer robot 40 due to the height difference, it is necessary to constantly correct the position of the transfer robot 40, which reduces production efficiency. Therefore, in the embodiment of the present application, the truss mechanical equipment 100 is provided with two transition mechanisms 50 at the wet embryo molding equipment 200, and each molding station is equipped with a transition mechanism 50. Each transition mechanism 50 includes a base 15 and a transition conveyor 16 that is liftably mounted above the base 15. The transition conveyor 16 includes a transition frame 161, a transition conveyor belt 162 slidably engaged on the transition frame 161 along the Y-axis direction, and a conveying motor 163 that drives the transition conveyor belt 162 to slide. The transition conveyor 16 and the base 15 are connected There are multiple lifting cylinders 17, and the multiple lifting cylinders 17 lift the transition conveyor 16 to the receiving position, so that the upper surface of the transition conveyor belt 162 is close to the lower side of the molding mold to support the bottom surface of the wet embryo 400 to prevent the wet embryo 400 from being broken during the demolding process. After catching the wet embryo 400, the lifting cylinder 17 drives the transition conveyor 16 to descend to the transfer position, so that the transfer conveyor belt 9 of the transfer robot 40 can be quickly aligned with the transition conveyor belt 162, so that the wet embryo can be transferred and transferred in the same plane, effectively ensuring the integrity of the wet embryo during the transfer process.

[0036] In the Y-axis direction, the conveying frame 8 has a head end 81 close to the wet embryo molding device 200 and a tail end 82 close to the drying rack 300. When the transfer robot 40 receives the wet embryo from the wet embryo molding device 200, the head end 81 of the conveying frame 8 is aligned with and close to the molding station. When the upper surface of the transfer conveyor belt 9 and the upper surface of the transition conveyor belt 162 are in the same plane, the two conveyor belts slide synchronously and in the same direction, so that the wet embryo is transferred from the transition conveyor belt 162 to the transfer conveyor belt 9. When the transfer robot 40 transports the wet embryo to the drying rack 300 at a fixed point, the tail end 82 is close to the empty space on the drying rack 300, the transfer conveyor belt 9 is aligned with the empty space on the drying rack 300, and the transfer conveyor belt 9 slides backward along the Y-axis direction. At the same time, the conveying frame 8 is driven by the third servo motor 75 to withdraw from the empty space forward along the Y-axis direction, so that the wet embryo 400 is smoothly transferred to the empty space of the drying rack 300.

[0037] Continue to refer to Figure 1-Figure 6As shown, the transition conveyor 16 receives the demoulded wet embryo and then descends to the transmission position. The controller controls the first servo motor 45 and the second servo motor 65 to operate, so that the transfer robot 40 is aligned with the transition conveyor 16 carrying the wet embryo 400. The controller then controls the third servo motor 75 to operate, so that the transfer robot 40 moves along the Y-axis direction to approach the transition conveyor 16 until the head end 81 of the conveying frame 8 is close to the transition conveyor belt 162 of the molding station. The transition conveyor belt 162 on the molding station and the transfer conveyor belt 9 of the transfer robot 40 slide synchronously to transfer the wet embryo 400 to the transfer robot 40, and the wet embryo 400 is transferred to the transfer robot 40. 0 is transported from the head end 81 to the end 82 to the rear half of the transfer robot 40; then, the controller analyzes and calculates according to the image information of the visual positioning system, and controls the first servo motor 45 and the second servo motor 65 based on the calculation results, so that the transfer robot 40 is aligned with the empty space on the drying rack 300, and then controls the third servo motor 75 to work, so that the robot 40 moves along the Y-axis direction to extend into the empty space on the drying rack 300, and the controller controls the transfer conveyor belt 9 to slide to transport the carried wet embryo backward to the empty space on the drying rack 300, and at the same time, the conveying frame 8 moves forward under the drive of the third servo motor 75 to exit the drying rack 300. After the transfer of the wet embryo 400 is completed, the transfer robot 40 is controlled by the controller to align with another transition conveyor 16 carrying the wet embryo 400 to transfer the next wet embryo, and the above steps are repeated until all wet embryos are transferred.

[0038] The end 82 of the conveying frame 8 has a slope, and the slope has a downwardly inclined slope surface 83. The angle α between the slope surface 83 and the horizontal plane at the bottom of the conveying frame 8 is 15°-40°. The transfer conveyor belt 9 fits the slope surface 83 at the slope. When the transfer conveyor belt 9 slides to transport the wet embryos from front to back, the slope surface 83 acts as a buffer, making it easier for the wet embryos to be transferred from the transfer robot 40 to the drying rack 300, and the wet embryos are not easily damaged.

[0039] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present application. Without departing from the spirit and scope of the present application, the present application may have various changes and improvements, and the scope of protection claimed in the present application is defined by the attached claims, description and their equivalents.

Claims

1. A truss mechanical device for fixed-point transfer of wet embryos, located between a wet embryo forming device and a drying rack, and arranged in sequence with the wet embryo forming device and the drying rack along the Y-axis direction, the wet embryo forming device having a plurality of forming stations arranged side by side along the X-axis direction, characterized in that: The truss mechanical equipment is used to transfer the wet embryos on the multiple forming stations to the drying rack in sequence, and the truss mechanical equipment includes: Support trusses; A transverse movement module, comprising a transverse movement frame and a transverse movement driving mechanism mounted on the supporting truss, wherein the transverse movement driving mechanism is connected between the transverse movement frame and the supporting truss and is used to drive the transverse movement frame to move back and forth along the X-axis direction on the supporting truss; A lifting module, comprising a lifting frame and a lifting drive mechanism mounted on the transverse frame, wherein the lifting drive mechanism is connected between the transverse frame and the lifting frame to drive the lifting frame to move back and forth along the Z-axis direction on the transverse frame; A transfer robot, comprising a transfer frame, a transfer conveyor belt, a transfer motor and a longitudinal drive mechanism, wherein the transfer conveyor belt can be slidably engaged on the transfer frame along the Y-axis direction, the transfer motor is drivingly connected to the transfer conveyor belt, and the longitudinal drive mechanism is drivingly connected between the transfer frame and the lifting frame to drive the transfer frame to move back and forth on the lifting frame along the Y-axis direction; and The controller is connected to the transverse driving mechanism, the lifting driving mechanism, the conveying motor and the longitudinal driving mechanism.

2. The truss mechanical equipment according to claim 1, characterized in that: The supporting truss comprises a crossbeam extending along the X-axis direction and a pair of supporting columns extending along the Z-axis direction, and the two ends of the crossbeam are respectively connected to the tops of the pair of supporting columns.

3. The truss mechanical equipment according to claim 2, characterized in that: The transverse driving mechanism includes a first guide rail and a first rack extending along the X-axis direction, a first slider slidingly matched with the first guide rail, a first gear meshing with the first rack, and a first servo motor transmission-connected to the first gear. The first guide rail and the first rack are both mounted on the crossbeam, the first slider and the first servo motor are both mounted on the transverse frame, the first servo motor is used to drive the first gear to rotate around its own axis, and the first servo motor is connected to the controller signal.

4. The truss mechanical equipment according to claim 1, characterized in that: The lifting drive mechanism includes a second guide rail and a second rack extending along the Z-axis direction, a second slider slidingly matched with the second guide rail, a second gear meshing with the second rack, and a second servo motor transmission-connected to the second gear. The second guide rail and the second rack are both mounted on the lifting frame, the second slider and the second servo motor are both mounted on the transverse frame, the second servo motor is used to drive the second gear to rotate around its own axis, and the second servo motor is connected to the controller signal.

5. The truss mechanical equipment according to claim 1, characterized in that: The longitudinal driving mechanism includes a third guide rail and a third rack extending along the Y-axis direction, a third slider slidingly matched with the third guide rail, a third gear meshing with the third rack, and a third servo motor transmission connected to the third gear. The third guide rail and the third rack are both installed on the conveying frame, the third slider and the third servo motor are both installed on the lifting frame, the third servo motor is used to drive the third gear to rotate around its own axis, and the third servo motor is connected to the controller signal.

6. The truss mechanical device according to claim 5, characterized in that: The third rack is installed in the middle of the conveying frame with the tooth surface of the third rack facing downward. Two transfer conveyor belts are installed on the conveying frame. The two transfer conveyor belts are spaced apart along the X-axis direction. There is a gap between the two transfer conveyor belts to expose the third rack. The third gear is located below the conveying frame and is configured to engage with the third rack from the gap.

7. The truss mechanical device according to claim 1, characterized in that: The conveying frame is provided with a driving roller and a driven roller which are arranged opposite to each other along the Y-axis direction. The driving roller and the driven roller both extend along the X-axis direction. The transfer conveyor belt passes around the driving roller and the driven roller and is tightened between the driving roller and the driven roller. The driving roller is connected to the conveying motor so as to rotate around its own axis under the drive of the conveying motor.

8. The truss mechanical device according to claim 1, characterized in that: In the Y-axis direction, the conveying frame has a head end close to the wet embryo forming device and an end close to the drying rack, and the end of the conveying frame has a slope, and the slope has a downwardly inclined slope surface.

9. The truss mechanical device according to claim 1, characterized in that: The transfer robot is equipped with a visual positioning system, and the visual positioning system is connected with the controller signal.

10. The truss mechanical device according to claim 1, characterized in that: It also includes multiple transition mechanisms, each of the molding stations is equipped with one transition mechanism, the transition mechanism includes a base and a transition conveying device that can be installed above the base in a liftable manner, and the transition conveying device includes a transition conveyor belt that can slide along the Y-axis direction.

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