Double-station molding equipment and molding method for paper pulp molding

Abstract

The double-station forming equipment comprises a first station and a second station which are arranged in parallel, transfer joint robots are arranged at the ends of the first station and the second station, and an edge cutting device and a piece taking / stacking mechanical arm are arranged on the side face of the second station. Each of the first station and the second station comprises a slurry fishing forming device, a hot press forming device and a corresponding wet blank transfer manipulator which operate independently, the production procedures of the first station and the second station are the same, and the difference is that the starting time of slurry fishing forming is different, so that the finishing time of the hot press forming procedure can be staggered; and the transfer robot can be quickly connected to the dry blank taking and transferring of the station II after completing the hot-pressing dry blank taking of the station I and transferring the hot-pressing dry blank to the edge cutting device. The production method comprises the steps of double-station independent slurry suction forming, wet blank transferring, hot-pressing shaping, edge cutting and taking and stacking. The problem that the production cycle is limited by the pulp fishing forming time when a single fishing pool corresponds to single hot pressing or double hot pressing forming is solved, and the productivity is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of paper pulp molding, and particularly relates to a double-station forming device and forming method for paper pulp molding. BACKGROUND

[0002] Paper pulp molding is a three-dimensional papermaking technology. It uses waste paper as raw material to mold paper products of a certain shape on a molding machine by a special mold.

[0003] The comparative document is a cold extrusion tableware production process and production equipment (202211286051.6), which comprises a pulp pool, an extrusion die set, a hot pressing forming machine and a manipulator. The extrusion die set comprises a forming die and an extrusion die. The forming die is immersed in or lifted from the pulp pool through a lifting assembly. The forming die and the extrusion die are combined and extruded. The manipulator moves the wet blank on the extrusion die set to the hot pressing forming machine for hot extrusion and shaping. The manipulator is provided with a wet blank transfer mold for transferring the wet blank. The production process comprises the following steps: step S1, pulp injection; step S2, pulp suction, the forming die is immersed in the pulp pool for pulp suction; step S3, mold pressing, the forming die and the cold extrusion die are combined and extruded for shaping; step S4, wet blank transfer, the manipulator takes out the wet blank; step S5, shaping, the hot pressing forming machine performs hot pressing and shaping on the wet blank; and step S6, mold cutting, a mold cutting machine is used for mold cutting.

[0004] However, it is found in actual use that the forming efficiency is low, the wet blank transfer and the hot pressing and shaping transfer depend on the manipulator, the forming time of each step is wasted, the production capacity cannot be improved, the manipulator takes the finished product from the cutting die after cutting, and there is no corresponding method for the cutting waste. SUMMARY

[0005] In view of the above problems in the prior art, the main purpose of the present application is to provide a double-station forming device and forming method for paper pulp molding.

[0006] The technical scheme of the present application is as follows: a double-station forming device and forming method for paper pulp molding, comprising a first station, wherein the first station is provided with a second station in parallel on one side, the first station comprises a pulp forming device one, a hot pressing forming device one and a corresponding wet blank transfer manipulator one, the second station comprises a pulp forming device two, a hot pressing forming device two and a corresponding wet blank transfer manipulator two, the first station and the second station are provided with a transfer joint taking robot at the end, one side of the hot pressing forming device two is provided with a cutting device, a taking and stacking manipulator and a stacking conveying belt are arranged on one side of the cutting device, and a waste collecting device is arranged on the other side, the transfer joint taking robot is arranged at the center line position of the first station and the second station, and the transfer joint taking robot moves between the first station, the second station and the cutting device to take and transfer.

[0007] As a preferred embodiment, the pulp molding device comprises a pulp tank, a transfer lower mold and a molding upper mold. Both sides of the pulp tank are provided with overflow ports. An overflow pulp water collection area is arranged outside the pulp tank on one side of the overflow ports. A water pumping device is arranged below the overflow pulp water collection area, and the output end of the water pumping device is connected to the pulp tank. The transfer lower mold is arranged inside the pulp tank, and a lower mold air chamber upper portion is arranged below the transfer lower mold.

[0008] As a preferred embodiment, the wet embryo transfer robot comprises a transfer upper mold bracket, a transfer lifting device and a transfer truss. The molding upper mold is mounted below the transfer upper mold bracket, and a cleaning device is arranged on the lower surface of the transfer upper mold bracket.

[0009] As a preferred embodiment, the hot-press molding device comprises a hot-press lower mold and a hot-press upper mold. The hot-press lower mold is arranged below the hot-press lower mold, and heating, vacuum pumping and air blowing devices are arranged in the hot-press lower mold and the hot-press upper mold. A locking force detection device is arranged on the hot-press upper mold.

[0010] As a preferred embodiment, the edge cutting equipment comprises an upper mold plate and a lower mold plate.

[0011] As a preferred embodiment, the piece taking and stacking robot comprises a robot bracket. An edge cutting suction cup device is arranged on one side of the robot bracket. The edge cutting suction cup device comprises a support rod, a suction cup and a cleaning device. The suction cup is arranged according to the shape of the mold product. The cleaning device is a push plate structure arranged at the end of the support rod and opposite to the suction cup. The support rod is connected to the robot bracket through a rotating device.

[0012] As a preferred embodiment, the second pulp molding device, the second hot-press molding device and the corresponding wet embryo transfer robot are the same as the first pulp molding device, the first hot-press molding device and the corresponding wet embryo transfer robot.

[0013] As a preferred embodiment, a double-station molding method for paper pulp molding comprises the following steps:

[0014] S1: suction molding. Pulp water is injected into the pulp tank, and the transfer lower mold is operated. The molding mold is immersed in the pulp tank to suck pulp water. Then the transfer lower mold rises to leave the liquid surface. The lower mold air chamber removes the water in the product cavity of the transfer lower mold through vacuum suction, and the paper pulp solid remains in the mold cavity to form a wet embryo with the shape of the mold on the surface of the mold.

[0015] S2: wet blank transfer, the wet embryo transfer manipulator one is sucked after the wet embryo product on the transfer lower mold, moves to the waiting position along the transfer truss to the hot press forming device, the cleaning device below the transfer upper mold bracket sprays high pressure water flow to the surface of the transfer lower mold during the transfer process, stops spraying water after the transfer mold moves out of the right side area of the transfer lower mold, at this time the transfer lower mold together with the lower mold air chamber is lowered to be immersed below the liquid surface to start the next mold suction forming; repeat S1 step;

[0016] S3: hot press shaping: after the hot press mold is opened, the wet embryo is transferred to the hot press lower mold; the hot press lower mold and the hot press upper mold perform hot press shaping and moisture extraction on the wet embryo product, and the hot press mold is opened to absorb the dry embryo product on the hot press upper mold;

[0017] S4: dry embryo transfer: the transfer joint picking robot absorbs the dry embryo product completed hot press shaping on the work station one and the work station two and transfers to the edge cutting equipment;

[0018] S5: edge cutting: the upper mold plate and the lower mold plate perform mold cutting on the dry embryo product, and the waste is left on the surface of the lower mold plate;

[0019] S6: picking and stacking: the picking and stacking manipulator enters the edge cutting equipment close to the edge cutting lower mold plate, the cleaning device collects the waste on the lower mold plate, then the picking and stacking manipulator rises to use the suction disc to pick the product on the upper mold plate, the manipulator rotates 180 degrees to transfer the product below the manipulator, and the product is placed on the stacking conveying belt to complete the product stacking.

[0020] Compared with the prior art, the advantages and positive effects of the present application are that the work station two and the work station one have the same production process, except that the suction forming start time is different to ensure that the hot press shaping process completion time can be staggered, so that the transfer joint picking robot can quickly connect to the hot press dry embryo picking of the work station two after completing the hot press dry embryo picking of the work station one, so that the dry and wet embryo shaping of the work station one and the work station two realizes double work station parallel production, and the wet embryo and dry embryo yield per unit time is improved; at the same time, if one of the work stations fails, it does not affect the operation and production of the other work station; the hot press equipment has mold locking force detection, which can detect the mold closing pressure of each mold and accurately control the mold closing force to prevent foreign matter from falling into the mold and causing damage; the edge cutting and stacking device of the equipment can be flexibly placed left and right, which is convenient for reasonable layout of the factory building; the pool overflow device adopts an internal circulation system, and the pollution of a single device does not affect the total slurry pool of the factory building; the degree of automation is high, the forming mold cleaning device can significantly improve the wet embryo forming efficiency and quality; the edge cutting waste can be automatically processed at one time, without manual picking and cleaning of the edge cutting waste, which is efficient and safe; the integrated automation is high, the forming, shaping, edge cutting and stacking machines are automatically completed, the robot intelligently connects each process, and management is convenient. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1The application provides a schematic diagram of overall layout structure of a double-station forming equipment for pulp molding

[0022] Figure 2 The application provides a schematic diagram of station structure of a double-station forming equipment for pulp molding

[0023] Figure 3 The application provides a schematic diagram of cutting equipment and taking and cleaning principle of a double-station forming equipment for pulp molding

[0024] Figure 4 The application provides a production process principle diagram of a double-station forming equipment for pulp molding

[0025] Legend: 1, station one; 2, station two; 3, pulp forming device one; 31, pulp pool; 32, overflow port; 33, overflow pulp water collection area; 34, water pumping device; 35, transfer lower mold; 36, forming upper mold; 37, lower mold air chamber; 4, wet embryo transfer manipulator one; 41, transfer lower mold bracket; 42, transfer lifting device; 43, transfer truss; 44, cleaning device; 400, wet embryo product waiting position; 5, pulp forming device two; 6, wet embryo transfer manipulator two; 7, hot-press forming device one; 71, hot-press lower mold; 72, hot-press upper mold; 73, mold locking force detection device; 8, hot-press forming device two; 9, transfer joint taking robot; 10, waste collection device; 11, cutting equipment; 111, upper mold plate; 112, lower mold plate; 12, taking and stacking manipulator; 121, cutting suction cup device; 122, cleaning device; 13, stacking transmission belt. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the application clearer, the technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are some embodiments of the application but not all the embodiments. The components of the embodiments of the application described and shown in the drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the application.

[0027] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "set", "mount", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] The present application will be further described below with reference to the drawings and specific embodiments.

[0031] A pulp molding double-station forming device and forming method, comprising a first station 1, a second station 2 arranged in parallel on one side of the first station 1, the first station 1 comprising a pulp molding device 3, a hot-pressing molding device 7 and a corresponding wet embryo transfer manipulator 4; the second station 2 comprising a pulp molding device 5, a hot-pressing molding device 8 and a corresponding wet embryo transfer manipulator 6; the first station 1 and the second station 2 are provided with a transfer joint taking-out robot 9 at the end; the hot-pressing molding device 8 is provided with a trimming device 11 on one side, a taking-out and stacking manipulator 12 and a stacking transmission belt 13 are arranged on one side of the trimming device 11, and a waste collecting device 10 is arranged on the other side; the transfer joint taking-out robot 9 is arranged at the center line position of the first station 1 and the second station 2, and moves between the first station 1, the second station 2 and the trimming device 11 to take out and transfer; the transfer joint taking-out robot 9 moves according to the program on the first station 1 and the second station 2, and moves into the trimming device 11, the upper die 111 and the lower die 112 of the trimming device 11 cut the wet embryo product, and the waste is left on the lower die plate 112; the taking-out and stacking manipulator 12 enters the trimming device 11 close to the trimming lower die plate 112, the waste on the lower die plate 112 is swept into the waste collecting device 10 by the cleaning device 122, then the taking-out and stacking manipulator 12 rises to take out the product on the upper die plate 111, the manipulator rotates 180 degrees to transfer the product to the lower side of the manipulator, and the product is placed on the stacking transmission belt 13 to complete the product stacking.

[0032] The pulp forming device 3 includes a pulp tank 31, a transfer lower mold 35 and a forming upper mold 36, both sides of the pulp tank 31 are provided with overflow ports 32, one side of the overflow port 32 is located outside the pulp tank 31 and is provided with an overflow pulp water collecting area 33, the lower part of the overflow pulp water collecting area 33 is provided with a water pumping device 34, the output end of the water pumping device 34 is connected with the pulp tank 31; the transfer lower mold 35 is arranged inside the pulp tank 31, the lower part of the transfer lower mold 35 is provided with a lower mold air chamber 37, under normal production conditions, pulp water will be continuously injected into the pulp tank 31, after the pulp water is filled, it will overflow from the two overflow ports 32 and flow into the collecting device 33 outside, the bottom of the collecting device 33 is provided with a water pumping device 34, which continuously pumps the overflowed pulp back into the pulp tank 31, thereby realizing the internal circulation of a single pulp tank, instead of using the pulp overflow to pump the pulp back into the total pulp tank as used in other devices, which can avoid the situation that the overflowed pulp is polluted when the pulp tank 31 of a certain device is polluted and then the overflowed pulp is recovered into the total pulp tank to pollute the entire production line.

[0033] The wet embryo transfer manipulator 4 includes a transfer upper mold bracket 41, a transfer lifting device 42 and a transfer truss 43, the forming upper mold 36 is installed below the transfer upper mold bracket 41, and the lower surface of the transfer upper mold bracket 41 is provided with a cleaning device 44; during the transfer process, the cleaning device 44 sprays high-pressure water flow to the surface of the lower mold 35 to wash the solid substances such as pulp powder on the surface of the mold to prevent the water suction holes of the mold from being blocked, after the transfer mold moves out of the right side area of the lower mold 35, the water spraying is stopped, at this time, the lower mold 35 together with the air chamber 37 is lowered to be immersed below the liquid surface to start the next mold suction forming;

[0034] The hot pressing forming device 7 includes a hot pressing lower mold 71 and a hot pressing upper mold 72, the hot pressing lower mold 71 is installed below the hot pressing lower mold 72, both the hot pressing lower mold 71 and the hot pressing upper mold 72 are provided with heating, vacuum pumping and air blowing devices, the hot pressing upper mold 72 is provided with a mold locking force detection device 73, when the transfer mold runs to the position directly above the hot pressing lower mold 71, the horizontal movement is stopped, at this time, the hot pressing forming device 7 is in the mold opening state, the wet embryo product adsorbed by the forming upper mold 36 is transferred to the mold cavity of the hot pressing lower mold 71 by the wet embryo transfer manipulator 4, then the forming upper mold 36 is lifted and moved to the position directly above the pulp mold by the wet embryo transfer manipulator 4, and waits for the next mold to take the product and transfer; the mold locking force detection device 73 can be the torque value of the servo motor driving the hot pressing lower mold 71 to move, or the pressure value of the oil cylinder driving the hot pressing lower mold 71 to move, etc., which can detect the mold closing force data of each mold and accurately control the mold closing force, so as to prevent the mold from being damaged when foreign matters fall into or remain in the mold during mold closing, after the mold is closed, the heating and moisture absorbing devices in the upper and lower molds rapidly dry the water in the wet embryo, and make it be shaped under the action of the mold locking pressure, after the shaping is completed, the hot pressing lower mold 71 stops the moisture absorbing and air pumping, the hot pressing upper mold 72 pumps air, and the mold is opened, the hot pressing upper mold 72 moves up, at the same time, due to the air pumping of the upper mold, the dry embryo product is adsorbed on the lower surface of the hot pressing upper mold 72, after the mold is opened for a distance, the hot pressing upper mold 72 stops at a set position.

[0035] Trimming device 11 includes an upper die plate 111 and a lower die plate 112. The transfer articulated picking robot 9 enters the mold closing area of the hot press forming device 7, takes off the dry embryo from the hot press upper die 72, and transfers it to the upper die plate 111 of the trimming device 11, and is adsorbed by the upper die plate 111. The transfer articulated picking robot 9 exits the trimming mold closing area and goes to the hot press forming device 8 of the second station 2 to wait for the transfer of the dry embryo.

[0036] The picking and stacking manipulator 12 includes a manipulator bracket, one side of the manipulator bracket is provided with a trimming suction cup device 121, the trimming suction cup device is composed of a support rod, a suction cup and a cleaning device 122. The suction cup is arranged according to the shape of the mold product. The cleaning device 122 is a push plate structure and is arranged at the end of the support rod opposite to the suction cup. The support rod is connected to the manipulator bracket through a rotating device. When the trimming device 11 is closed, the dry embryo periphery waste is trimmed off. At this time, the upper die plate 111 inhales to adsorb the product on the upper die. When the mold is opened, the product moves upward with the upper die to a set position. The trimmed waste is left on the surface of the lower die plate 112. The picking and stacking manipulator 12 starts to operate. The manipulator bracket drives the trimming suction cup device 121 into the trimming mold closing area. The trimming suction cup device pushes outward from the position close to the surface of the trimming lower die plate 112 on one side. The cleaning device 122 pushes the waste on the surface of the lower die plate 112 to one side and finally falls into the waste collection device 10 on one side. The trimming suction cup device 121 moves up to a set position. The product on the surface of the upper die plate 111 is sucked and taken off by the suction cup.

[0037] After trimming, the product is stacked. The trimming manipulator bracket drives the trimming device to run outward along the guide rail to the corresponding position. At this time, the product cannot be stacked above the manipulator suction cup device. The support rod is connected to the bracket through a rotating device. The rotating device drives the suction cup device to rotate 180 degrees. At this time, the product is below the manipulator suction cup device. The manipulator bracket moves down to a position close to the conveying belt. The suction cup breaks the suction to release the product and make it fall onto the conveying belt, completing a stacking. The suction cup device moves up after the product is released, waiting for the next time to enter the trimming mold closing area to pick up the product.

[0038] The pulp forming device two 5, the hot press forming device two 8 and the corresponding wet embryo transfer manipulator two 6 have the same structure as the pulp forming device one 3, the hot press forming device one 7 and the corresponding wet embryo transfer manipulator one 4.

[0039] A paper pulp molding double-station forming method, comprising the following steps:

[0040] S1: suction forming, injecting slurry water in the slurry pool 31, transferring the lower mold 35 to work, the forming mold is immersed in the slurry pool 31 to suck slurry, then the lower mold 35 is transferred to rise to leave the liquid surface, the lower mold air chamber 37 removes the moisture in the product cavity of the transferred lower mold 35 by vacuum suction, and the paper pulp solid is left in the mold cavity to form a wet embryo on the surface of the mold;

[0041] S2: wet blank transfer, the wet embryo product on the transferred lower mold 35 is sucked by the wet embryo transfer manipulator 4, and then moved to the waiting position 400 along the transfer truss 43 to the hot press forming device 7. The cleaning device 44 below the transfer upper mold bracket 41 sprays high-pressure water flow to the surface of the transferred lower mold 35 during the transfer process. The water spraying is stopped when the transferred mold moves out of the right side area of the transferred lower mold 35. At this time, the transferred lower mold 35 is lowered together with the lower mold air chamber 37 below the liquid surface to start the next mold suction forming. Repeat step S1;

[0042] S3: hot press shaping: after the hot press mold is opened, the wet embryo is transferred to the hot press lower mold 71; the hot press lower mold 71 and the hot press upper mold 72 perform hot press shaping and moisture removal on the wet embryo product, and the hot press upper mold 72 is adsorbed by the dry embryo product;

[0043] S4: dry embryo transfer: the dry embryo product completed hot press shaping in the workstations 1 and 2 is adsorbed by the transfer joint picking robot 9 and transferred to the edge cutting equipment 11;

[0044] S5: edge cutting: the dry embryo product is die cut by the upper mold plate 111 and the lower mold plate 112, and the waste is left on the surface of the lower mold plate 112;

[0045] S6: picking and stacking: the picking and stacking manipulator 12 enters the edge cutting equipment 11 close to the edge cutting lower mold plate 112, the waste on the lower mold plate 112 is collected by the cleaning device 122, then the picking and stacking manipulator 12 rises to use the suction cup to take out the product on the upper mold plate 111, the manipulator rotates 180 degrees to transfer the product below the manipulator, and the product is placed on the stacking conveyor belt 13 to complete the product stacking.

[0046] Finally, it should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions described in the foregoing embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A two-station pulp-moulding forming apparatus comprising a first station (1), characterised in that: The side of the first station (1) is provided with the second station (2) in parallel, the first station (1) includes the pulp forming device (3), the hot-pressing forming device (7) and the corresponding wet embryo transfer manipulator (4); The second station (2) includes the pulp forming device (5), the hot-pressing forming device (8) and the corresponding wet embryo transfer manipulator (6); The end of the first station (1) and the second station (2) is provided with a transfer joint taking robot (9); One side of the hot-pressing forming device (8) is provided with an edge cutting device (11), and the other side is provided with a waste collecting device (10). The transfer joint taking robot (9) is arranged at the middle line position of the first station (1) and the second station (2), and the transfer joint taking robot (9) moves between the first station (1), the second station (2) and the edge cutting device (11) to take and transfer.

2. A two-station pulp molded forming apparatus according to claim 1, characterized in that: The pulp forming device (3) includes a pulp tank (31), a transfer lower mold (35) and a forming upper mold (36), both sides of the pulp tank (31) are provided with overflow ports (32), one side of the overflow port (32) is located outside the pulp tank (31) and is provided with an overflow pulp water collecting area (33), and the lower side of the overflow pulp water collecting area (33) is provided with a water pumping device (34), and the output end of the water pumping device (34) is connected with the pulp tank (31). The transfer lower mold (35) is arranged in the pulp tank (31), and the upper part of the transfer lower mold (35) is provided with a lower mold air chamber (37).

3. A two-station pulp molded forming apparatus according to claim 1, characterized in that: The wet embryo transfer manipulator (4) includes a transfer upper mold bracket (41), a transfer lifting device (42) and a transfer truss (43), the forming upper mold (36) is installed below the transfer upper mold bracket (41), and the lower surface of the transfer upper mold bracket (41) is provided with a cleaning device (44).

4. A two-station pulp molded forming apparatus as defined in claim 1, wherein: The hot-pressing forming device (7) includes a hot-pressing lower mold (71) and a hot-pressing upper mold (72), the hot-pressing lower mold (71) is installed below the hot-pressing lower mold (72), heating, vacuumizing and blowing devices are arranged in the hot-pressing lower mold (71) and the hot-pressing upper mold (72), and a mold locking force detection device (73) is arranged on the hot-pressing upper mold (72).

5. A two-station pulp molded forming apparatus as defined in claim 1, wherein: The edge cutting device (11) includes an upper mold plate (111) and a lower mold plate (112).

6. A two-station pulp molded forming apparatus as defined in claim 1, wherein: The taking and stacking manipulator (12) includes a manipulator bracket, one side of the manipulator bracket is provided with an edge cutting suction cup device (121), the edge cutting suction cup device is composed of a supporting rod, a suction cup and a cleaning device (122), the suction cup is arranged according to the shape of the mold product, the cleaning device (122) is a push plate structure, is arranged at the end of the supporting rod and is opposite to the suction cup, and the supporting rod is connected with the manipulator bracket through a rotating device.

7. A two-station pulp molded forming apparatus as defined in claim 1, wherein: The pulp forming device (5), the hot-pressing forming device (8) and the corresponding wet embryo transfer manipulator (6) are the same as the pulp forming device (3), the hot-pressing forming device (7) and the corresponding wet embryo transfer manipulator (4).

8. A paper pulp molded two-station forming method using the paper pulp molded two-station forming apparatus according to claim 1, characterized by: The method comprises the following steps: S1: suction forming, injecting slurry water in the slurry pool (31), transferring the lower mold (35) to work, the forming mold is immersed in the slurry pool (31) to suck slurry, then the lower mold (35) is transferred to rise to leave the liquid surface, the lower mold air chamber (37) removes the moisture in the product cavity of the transferred lower mold (35) by vacuum suction, and the paper pulp solid is left in the mold cavity to form a wet embryo on the mold surface; S2: wet blank transfer, the wet embryo product on the transferred lower mold (35) is sucked by the wet embryo transfer manipulator (4) and moved to the waiting position (400) along the transfer truss (43) to the hot press forming device (7), the cleaning device (44) below the transfer upper mold bracket (41) sprays high-pressure water flow to the surface of the transfer lower mold (35) during the transfer process, and the water spraying is stopped after the transfer mold moves out of the right side area of the transfer lower mold (35), at this time the transfer lower mold (35) and the lower mold air chamber (37) are lowered below the liquid surface to start the next mold suction forming; repeat step S1; S3: hot pressing: after the hot pressing mold is opened, the wet embryo is transferred to the hot pressing lower mold (71); the hot pressing lower mold (71) and the hot pressing upper mold (72) are used to hot press and dry the wet embryo product, and the hot pressing mold is opened to absorb the dry embryo product on the hot pressing upper mold (72); S4: dry embryo transfer: the transfer joint picking robot (9) absorbs the dry embryo product completed by hot pressing in the work station one (1) and the work station two (2) and transfers it to the edge cutting equipment (11); S5: edge cutting: the upper mold plate (111) and the lower mold plate (112) are used to cut the dry embryo product, and the waste is left on the surface of the lower mold plate (112); S6: picking and stacking: the picking and stacking manipulator (12) enters the edge cutting equipment (11) close to the edge cutting lower mold plate (112), the cleaning device (122) collects the waste on the lower mold plate (112), then the picking and stacking manipulator (12) rises to use the suction cup to take out the product on the upper mold plate (111), the manipulator rotates 180 degrees to transfer the product to the lower side of the manipulator, and the product is placed on the stacking conveyor belt (13) to complete the product stacking.

Images