Truss mechanical equipment for wet embryo fixed-point transfer

Abstract

The present application discloses a truss mechanical device for fixed-point transfer of wet embryos, comprising: a support truss, a transverse movement module, a lifting module, a transfer manipulator and a controller; the transverse movement module includes a transverse movement frame assembled on the support truss and a transverse movement driving mechanism for driving the transverse movement frame to move back and forth along the X-axis direction on the support truss; the lifting module includes a lifting frame assembled on the transverse movement frame and a lifting driving mechanism for driving the lifting frame to move back and forth along the Z-axis direction on the transverse movement frame; the transfer manipulator includes a conveying frame, a transfer conveyor belt, a conveying motor and a longitudinal movement driving mechanism for driving the conveying frame to move back and forth along the Y-axis direction on the lifting frame, and the transfer conveyor belt is slidably engaged on the conveying frame along the Y-axis direction; the controller is control-connected to the transverse movement driving mechanism, the lifting driving mechanism, the conveying motor and the longitudinal movement driving mechanism. The present application has a high degree of freedom, ensures the integrity of the wet embryos during the transfer process, and improves the finished product rate and production efficiency.

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:

[0005] Support trusses;

[0006] 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;

[0007] 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;

[0008] The transfer manipulator includes a transfer frame, a transfer conveyor belt, a transfer motor, and a longitudinal movement drive mechanism. The transfer conveyor belt is slidably engaged with the transfer frame in the Y-axis direction. The transfer motor is in transmission connection with the transfer conveyor belt. The longitudinal movement drive mechanism is in transmission connection between the transfer frame and the lifting frame to drive the transfer frame to move back and forth in the Y-axis direction on the lifting frame; and

[0009] A controller is in control connection with the lateral movement drive mechanism, the lifting drive mechanism, the transfer motor, and the longitudinal movement drive mechanism.

[0010] In the above technical solution, further preferably, the support truss includes a cross beam extending in the X-axis direction and a pair of support columns extending in the Z-axis direction. The two end portions of the cross beam are respectively connected to the tops of the pair of support columns.

[0011] In the above technical solution, further preferably, the lateral movement drive mechanism includes a first guide rail and a first rack extending in the X-axis direction, a first slider slidably engaged with the first guide rail, a first gear meshing with the first rack, and a first servo motor in transmission connection with the first gear. The first guide rail and the first rack are both installed on the cross beam. The first slider and the first servo motor are both installed on the lateral movement frame. The first servo motor is used to drive the first gear to rotate around its own axis. The first servo motor is in signal connection with the controller.

[0012] In the above technical solution, further preferably, the lifting drive mechanism includes a second guide rail and a second rack extending in the Z-axis direction, a second slider slidably engaged with the second guide rail, a second gear meshing with the second rack, and a second servo motor in transmission connection with 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 lateral movement frame. The second servo motor is used to drive the second gear to rotate around its own axis. The second servo motor is in signal connection with the controller.

[0013] In the above technical solution, further preferably, the longitudinal movement driving mechanism includes a third guide rail and a third rack extending in the Y-axis direction, a third slider slidably engaged with the third guide rail, a third gear meshed with the third rack, and a third servo motor drivingly connected to the third gear. The third guide rail and the third rack are both installed on the transfer 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 signal-connected to the controller.

[0014] In the above technical solution, further preferably, the third rack is installed in the middle of the transfer frame and the tooth surface of the third rack faces downward. Two transfer conveyor belts are installed on the transfer frame. The two transfer conveyor belts are spaced apart in the X-axis direction, and there is a gap exposing the third rack between the two transfer conveyor belts. The third gear is located below the transfer frame and is configured to mesh with the third rack from the gap.

[0015] In the above technical solution, further preferably, a driving roller and a driven roller are oppositely installed on the transfer frame in the Y-axis direction. The driving roller and the driven roller both extend in the X-axis direction. The transfer conveyor belt bypasses the driving roller and the driven roller and is tensioned between the driving roller and the driven roller. The driving roller is drivingly connected to the transfer motor to rotate around its own axis under the drive of the transfer motor.

[0016] In the above technical solution, further preferably, in the Y-axis direction, the transfer frame has a head end close to the green embryo forming device and a tail end close to the drying rack. The tail end of the transfer frame has a slope, and the slope has a downward-sloping slope surface.

[0017] In the above technical solution, further preferably, a vision positioning system is installed on the transfer manipulator, and the vision positioning system is signal-connected to the controller.

[0018] In the above technical solution, further preferably, it further includes a plurality of transition mechanisms. Each forming station is configured with one transition mechanism. The transition mechanism includes a base and a transition conveying device that can be lifted above the base. The transition conveying device includes a transition conveyor belt that can slide in the Y-axis direction.

[0019] The present application obtains the following beneficial effects compared with the prior art:

[0020] The truss mechanical equipment of the present application has a high degree of freedom and can transfer wet embryos in the front-back, left-right, and up-down directions. Moreover, the transfer conveyor belt of the transfer manipulator transfers the wet embryos to the drying racks at fixed points, ensuring the integrity of the wet embryos during the transfer process and improving the finished product rate and production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 FIG. is a schematic three-dimensional structure diagram of a truss mechanical equipment provided by an embodiment of the present application arranged between a wet embryo forming equipment and a drying rack;

[0022] Figure 2 is Figure 1 the front view of the truss mechanical equipment in;

[0023] Figure 3 is Figure 1 the side view of the truss mechanical equipment in;

[0024] Figure 4 is Figure 3 the partial enlarged schematic view of part A in;

[0025] Figure 5 is Figure 1 the top view of the truss mechanical equipment in;

[0026] Figure 6 is Figure 5 the partial enlarged schematic view of part B in;

[0027] Figure 7 is Figure 2 the schematic three-dimensional structure diagram of the transfer manipulator assembled on the connecting bracket in;

[0028] Figure 8 is Figure 7 the bottom view of the transfer manipulator in;

[0029] Figure 9 is Figure 7 the front view of the transfer manipulator in;

[0030] Figure 10 is Figure 7 the side view of the transfer manipulator in.

[0031] Wherein: 100, truss mechanical equipment; 10, support truss; 1, cross beam; 2, support column; 20, transverse movement module; 3, transverse movement frame; 4, transverse movement 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 manipulator; 7, longitudinal movement drive mechanism; 71, third guide rail; 72, third rack; 73, third slider; 74, third gear; 75, third servo motor; 8, transfer frame; 81, head end; 82, tail end; 83, inclined plane; 9, transfer conveyor belt; 11, conveyor motor; 12, driving roller; 13, driven roller; 50, transition mechanism; 15, base; 16, transition conveying device; 161, transition frame; 162, transition conveyor belt; 163, conveyor motor; 17, lifting cylinder; 200, green blank forming equipment; 300, drying rack; 400, green blank. Detailed implementation manners

[0032] To describe in detail the technical content, structural features, achieved objectives and effects of the application, the technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all 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 can also be implemented without these specific details or in the case of one or more equivalent arrangements. In addition, various exemplary embodiments can be different, but not necessarily exclusive. For example, without departing from the inventive concept, the specific shapes, structures and characteristics of the exemplary embodiments can be used or implemented in another exemplary embodiment.

[0033] The embodiment of the present application provides a truss mechanical equipment for fixed-point transfer of green blanks, as Figure 1 shown. The truss mechanical equipment 100 is located between the green blank forming equipment 200 and the drying rack 300, and is used to sequentially transfer the green blanks 400 on the green blank forming equipment 200 to the drying rack 300. The truss mechanical equipment 100 of the present application has a high degree of freedom and can move the green blanks 400 in the front-back, up-down and left-right directions to transfer the green blanks 400 to the drying rack 300 at a fixed point.

[0034] As Figure 1 shown, the "X-axis direction" described in the present application is the Figure 1 left-right direction shown, and the "Y-axis direction" described in the present application is the Figure 1The 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.

[0035] 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.

[0036] like Figure 2 As 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] like Figures 7 - 10As shown, the transfer manipulator 40 includes a transfer frame 8, a transfer conveyor belt 9, a transfer motor 11, and a longitudinal movement drive mechanism 7. The transfer conveyor belt 9 is slidably engaged with the transfer frame 8 in the Y-axis direction. The transfer motor 11 is drivingly connected to the transfer conveyor belt 9 to drive the transfer conveyor belt 9 to carry the wet embryo 400 and slide in the Y-axis direction. The longitudinal movement drive mechanism 7 is drivingly connected between the transfer frame 8 and the lifting frame 5 to drive the transfer frame 8 to move back and forth in the Y-axis direction on the lifting frame 5.

[0041] As Figures 2 - 6 shown, the lateral movement drive mechanism 4 includes a first guide rail 41 and a first rack 42 extending in the X-axis direction, a first slider 43 slidably engaged 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 drivingly connected to the first gear. Both the first guide rail 41 and the first rack 42 are installed on the cross beam 1. Both the first slider 43 and the first servo motor 45 are installed on the lateral movement frame 3. The first servo motor 45 is used to drive the first gear to rotate around its own axis. The sliding fit between the first slider 43 and the first guide rail 41 reduces the friction between the lateral movement frame 3 and the cross beam 1, enabling the lateral movement frame 3 to move smoothly back and forth in the X-axis direction on the cross beam 1. When the first servo motor 45 drives the first gear to rotate, the reaction force formed by the first gear against the first rack 42 pushes the lateral movement frame 3 to move back and forth in the X-axis direction. In the embodiment of the present application, two first guide rails 41 are installed on the cross beam 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 lateral movement frame 3, and each first guide rail 41 is configured with at least one first slider 43. The vertically opposite sliding components ensure the balance of the movement of the lateral movement frame 3.

[0042] A pair of travel switches 14 are installed on the cross beam 1. The pair of travel switches 14 are signal-connected to the first servo motor 45 and are respectively arranged adjacent to the left and right ends of the first rack 42. When the lateral movement frame 3 touches the travel switch 14 during its movement on the cross beam 1, the travel switch 14 is triggered to transmit a signal to the first servo motor 45, causing the first servo motor 45 to immediately stop working, effectively avoiding excessive movement of the lateral movement frame 3 and ensuring the safety of the movement of the lateral movement frame 3.

[0043] The lifting drive mechanism 6 includes a second guide rail 61 and a second rack 62 extending in the Z-axis direction, a second slider 63 slidably engaged with the second guide rail 61, a second gear 64 meshed with the second rack 62, and a second servo motor 65 drivingly connected to the second gear 64. Both the second guide rail 61 and the second rack 62 are mounted on the lifting frame 5, and both the second slider 63 and the second servo motor 65 are mounted on the transverse movement frame 3. The second servo motor 65 is used to drive the second gear 64 to rotate about its own axis. The sliding fit between the second slider 63 and the second guide rail 61 reduces the friction between the lifting frame 5 and the transverse movement frame 3, ensuring that the lifting frame 5 moves smoothly back and forth in the Z-axis direction on the transverse movement frame 3. When the second servo motor 65 drives the second gear 64 to rotate, the reaction force formed by the second gear 64 against the second rack 62 pushes the lifting frame 5 to move back and forth in the Z-axis direction.

[0044] The lifting frame 5 includes a lifting column 51 extending in 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 erected on the conveying frame 8, forming a passage for the wet embryo 400 to pass through between it and the upper surface of the transfer conveyor belt 9. The lifting drive mechanism 6 includes a pair of second guide rails 61, and the pair of second guide rails 61 are installed on two sides of the lifting column 51 in different planes. Second sliders 63 respectively cooperating with the pair of second guide rails 61 are installed on the transverse movement frame 3, enabling the transverse movement frame 3 to slide smoothly up and down. Blocking 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 the second guide rail 61.

[0045] Continue to refer to Figures 7 - 10 , the longitudinal movement drive mechanism 7 includes a third guide rail 71 and a third rack 72 extending in the Y-axis direction, a third slider 73 slidably engaged with the third guide rail 71, a third gear 74 meshed with the third rack 72, and a third servo motor 75 drivingly connected to the third gear 74. Both the third guide rail 71 and the third rack 72 are mounted on the conveying frame 8, and both the third slider 73 and the third servo motor 75 are mounted on the lifting frame 5. The third servo motor 75 is used to drive the third gear 74 to rotate about its own axis.

[0046] In the X-axis direction, one third guide rail 71 is installed on each of the two sides of the conveying frame 8. At least one pair of third sliders 73 are installed on the connecting bracket 52. Each pair of third sliders 73 are arranged oppositely in the X-axis direction and are respectively slidably engaged with the corresponding third guide rail 71 on one side. The sliding components on both sides of the conveying frame 8 ensure the smoothness of the conveying frame 8 when sliding on the connecting bracket 52.

[0047] The third rack 72 is installed in the middle of the transfer frame 8, and the tooth surface of the third rack 72 is arranged downward. Two transfer conveyor belts 9 are installed on the transfer frame 8. 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 that exposes the third rack 72. The third gear 74 is installed below the transfer frame 8. The teeth on the circumference of the third gear 74 mesh with the third rack 72 from the gap between the two transfer conveyor belts 9. When the third gear 74 rotates, it abuts against the tooth surface of the third rack 72 to generate a force that pushes the transfer frame 8 to move back and forth along the Y-axis direction. Moreover, the meshing of the third gear 74 and the third rack 72 does not affect the conveyance of the wet embryos on the transfer conveyor belts 9.

[0048] A driving roller 12 and a driven roller 13 are installed on the transfer frame 8 and are arranged opposite to each other front and back. Both the driving roller 12 and the driven roller 13 extend along the X-axis direction. The two transfer conveyor belts 9 simultaneously bypass the driving roller 12 and the driven roller 13 and are tensioned 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 silica gel anti-slip 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 in transmission connection with the transfer motor 11 and rotates around its own axis under the drive of the transfer motor 11. When the driving roller 12 rotates under the drive of the transfer motor 11, the two transfer conveyor belts 9 slide synchronously relative to the transfer frame 8 under its drive, so that the wet embryos 400 carried on the transfer conveyor belts 9 are conveyed relative to the transfer frame 8 along the Y-axis direction. The conveyance of the transfer conveyor belts 9 enables the wet embryos 400 to be transferred to the drying racks 300 at fixed points and ensures the integrity of the wet embryos 400 during the transfer process, improving the finished product rate and production efficiency. Among them, a number of through holes are provided on the transfer conveyor belts 9, so that the excess liquid on the wet embryos can drip through the through holes, preventing the liquid from accumulating on the surface of the transfer conveyor belts 9 and causing the wet embryos to slip on the transfer conveyor belts 9.

[0049] The first servo motor 45, the second servo motor 65, the third servo motor 75, and the transfer motor 11 are all in signal connection with the controller. A vision positioning system (not shown in the figure) is installed on the transfer manipulator 40. The vision positioning system performs image recording on the surrounding environment and transmits the recorded image information to the controller. The controller 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 transfer motor 11 according to the calculation results. The transfer motor 11 is also a servo motor. The servo motor is sensitive and precise, which can improve the timeliness and accuracy of the movement of the transfer manipulator 40, enabling the transfer manipulator 40 to quickly and accurately perform fixed-point transfer of the wet embryos.

[0050] As 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.

[0051] 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.

[0052] Continue to refer to Figures 1 - 6As shown, after the transfer conveyor 16 receives the demolded wet blank, it descends to the transmission position. The controller controls the operation of the first servo motor 45 and the second servo motor 65, so that the transfer manipulator 40 aligns with the transfer conveyor 16 carrying the wet blank 400. Then, it controls the operation of the third servo motor 75, so that the transfer manipulator 40 moves along the Y-axis direction to approach the transfer conveyor 16 until the front end 81 of the transfer frame 8 is adjacent to the transfer conveyor 162 at the molding station. The transfer conveyor 162 at this molding station and the transfer conveyor 9 of the transfer manipulator 40 slide synchronously to transfer the wet blank 400 onto the transfer manipulator 40, and convey the wet blank 400 from the front end 81 to the rear end 82 to the rear half of the transfer manipulator 40. Then, the controller analyzes and calculates based on the image information of the vision positioning system. Based on the calculation results, it controls the first servo motor 45 and the second servo motor 65, so that the transfer manipulator 40 aligns with the empty space on the drying rack 300. Then, it controls the operation of the third servo motor 75, so that the manipulator 40 moves along the Y-axis direction to extend into the empty space on the drying rack 300. The controller controls the transfer conveyor 9 to slide to convey the carried wet blank backward to the empty space on the drying rack 300. At the same time, the transfer frame 8 moves forward under the drive of the third servo motor 75 to withdraw from the drying rack 300. After the transfer of the wet blank 400 is completed, the transfer manipulator 40 aligns with another transfer conveyor 16 carrying the wet blank 400 under the control of the controller for the next wet blank transfer. Repeat the above steps until all wet blanks are transferred.

[0053] The rear end 82 of the transfer frame 8 has a slope. The slope has a downward-sloping slope surface 83. The included angle α between the slope surface 83 and the horizontal plane at the bottom of the transfer frame 8 is 15° - 40°. The transfer conveyor 9 fits the slope surface 83 at the slope. When the transfer conveyor 9 slides to convey the wet blank from front to back, the slope surface 83 plays a buffering role, making it easier for the wet blank to be transferred from the transfer manipulator 40 to the drying rack 300, and the wet blank is not easily damaged.

[0054] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art of this industry should understand that the present application is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present application. Without departing from the spirit and scope of the present application, the present application will have various changes and improvements. The scope of protection required by the present application is defined by the appended claims, the specification 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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