Novel foaming clamp box opening and closing manipulator

Abstract

The invention relates to a novel foaming clamp box opening and closing manipulator which is used for opening and closing an outer clamp for clamping a refrigerator box shell during foaming, the outer clamp comprises a lower clamping plate, two end clamping plates, a front clamping plate, a rear clamping plate, an upper clamping plate and a locking block, and the manipulator comprises main frame bodies symmetrically and vertically arranged on the two sides of an outer clamp conveying channel. Main sliding tables are horizontally arranged on the top face of the main frame body in a sliding mode in the short edge direction of the main frame body, rear driving mechanisms used for driving the rear clamping plates to tilt are symmetrically arranged at one ends of the top faces of the two main sliding tables correspondingly, and upper driving mechanisms used for driving the upper clamping plates to tilt are further arranged on the rear driving mechanisms. A tripping mechanism for driving the locking block to tilt is arranged at the end part of the upper driving mechanism; end driving mechanisms for driving the corresponding end clamping plates to tilt are symmetrically arranged in the middles of the top surfaces of the two main sliding tables respectively; and the other end part of the top surface of one main sliding table is provided with a front driving mechanism for driving the front clamping plate to tilt. According to the invention, the design and installation work of complex air pipe arrangement on each outer clamp is eliminated.

Description

Technical Field

[0001] This invention belongs to the field of refrigerator body foaming technology, and specifically relates to a novel foaming clamp opening and closing robot arm. Background Technology

[0002] During the production of a freezer, a layer of rigid polyurethane foam needs to be foamed and filled between the outer shell and the inner liner as a thermal insulation material. During the foaming process, the foaming liquid expands, requiring external clamping and internal support. This means the outer shell of the freezer needs to be clamped within an openable external clamp, while the inner liner needs to be supported by internal supports placed within the external clamp. The number of internal supports is the same as the number of cavities in the inner liner of the freezer, and their corresponding dimensions are compatible.

[0003] Currently, the external clamp adopts a box-type structure, which mainly includes a lower clamping plate, two end clamping plates hinged to the lower clamping plate, a front clamping plate and a rear clamping plate, an upper clamping plate hinged to the top edge of the rear clamping plate, and a locking block hinged to the outer edge of the upper clamping plate and rollingly engaged with the top edge of the front clamping plate. The lower clamping plate is similar to a pallet structure and is relatively large, so it can be transported to the foaming conveyor line by forklift. Roller-type buckles are symmetrically set at both ends of the locking block so that the locking block can be flipped inward to roll and engage with the top edge of the front clamping plate or flipped outward to roll and disengage from the top edge of the front clamping plate.

[0004] In existing technologies, the opening and closing of external clamps is mainly accomplished by a cylinder drive system integrated on them. This not only involves considering the complexity of the air pipe layout design on a single external clamp, but also, with numerous external clamps on the entire foaming line, equipping each clamp with a cylinder drive system would inevitably increase the equipment and maintenance costs of the entire foaming line. To address this, we provide a novel foaming clamp opening and closing robot. This robot is only installed at the mold opening, mold closing, and mold changing stations on the foaming line, and can continuously complete the opening and closing actions of all external clamps on the entire foaming line. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies by providing a novel foam-clamped box opening and closing robot, the specific technical solution of which is as follows: This invention provides a novel robotic arm for opening and closing foamed container boxes. This robotic arm is used to open and close an outer clamp that holds the outer shell of a refrigerator during foaming. The outer clamp includes a lower clamping plate, two end clamping plates hinged to the lower clamping plate, a front clamping plate, a rear clamping plate, an upper clamping plate hinged to the top edge of the rear clamping plate, and a locking block hinged to the outer edge of the upper clamping plate and rollingly engaged with the top edge of the front clamping plate. The robotic arm includes a main frame symmetrically erected on both sides of the outer clamping plate's conveying channel. The top surface of the main frame is horizontally oriented along its short side. The slide has two main slides, each with a rear drive mechanism symmetrically arranged at one end of its top surface for tilting the rear clamping plate. Each rear drive mechanism also has an upper drive mechanism for tilting the upper clamping plate, and the upper drive mechanism has an unlocking mechanism at its end for tilting the locking block. The top surfaces of the two main slides have end drive mechanisms symmetrically arranged in the middle for tilting the corresponding end clamping plates. The other end of the top surface of one of the main slides has a front drive mechanism for tilting the front clamping plate.

[0006] As a preferred embodiment of the present invention, the rear drive mechanism includes a cantilever 1, the bottom of which is pivotally connected to the top surface of the corresponding main slide, and a suspension block 2 is vertically connected to the middle of its inner side. The end faces of the suspension block 2 are respectively horizontally and vertically connected to clamping wheels 2, which can be horizontally clamped and sleeved with pull rings 2 that are vertically connected to the end of the outer plate of the rear clamping plate. The cantilever 1 is driven to tilt by two cylinders 4 that are longitudinally and relatively arranged on its outer side.

[0007] As a preferred embodiment of the present invention, the upper drive mechanism includes a second cantilever, the outer end of which is pivotally connected to the top of a first cantilever, and the outer end of the second cantilever is respectively connected to an inclined upward bending block in a lateral direction; the piston rod end of the fourth cylinder is hinged to the corresponding bending block, and its cylinder rear end cover is hinged to the top surface of the corresponding main slide; a third suspension block is vertically connected to the inner side end of the second cantilever, and a pin is vertically connected to the end face of the third suspension block, which can be inserted into the elliptical slot correspondingly opened on the end face of the upper clamping plate.

[0008] As a preferred embodiment of the present invention, the unfastening mechanism includes a swing block, one end of which is pivotally connected to the inner end of the second cantilever, and the other end of which is vertically suspended by a swing column. The end face of the swing column is axially connected to a circular groove, which can be axially and interlocked with a corresponding pin vertically connected to the end face of the locking block. A cylinder five is laterally arranged on the top surface of the second cantilever, the piston rod end of the cylinder five is hinged to the top surface of the swing block, and the rear end cap of the cylinder is hinged to the top surface of the second cantilever.

[0009] As a preferred embodiment of the present invention, the front drive mechanism includes a bracket connected vertically to the top surface of the corresponding main slide. A secondary slide is horizontally slidably arranged on the top surface of the bracket along the long side of the main frame. A suspension rod is horizontally suspended inward along the short side of the main frame on the top surface of the secondary slide. A suspension block is vertically connected to the inner end face of the suspension rod. A clamping wheel is horizontally and vertically connected to the end face of the suspension block. The two clamping wheels can be horizontally clamped and sleeved with a pull ring that is vertically connected to the end of the outer plate of the front clamping plate.

[0010] As a preferred embodiment of the present invention, the end drive mechanism includes a second bracket vertically connected to the top surface of the corresponding main slide. A second suspension rod is horizontally suspended inward along the short side of the main frame on the top surface of the second bracket. A U-shaped frame is vertically connected to the end face of the second suspension rod. A swing rod is pivotally connected inside the U-shaped frame. A hook-shaped groove is provided on the lower side of the outer end of the swing rod, and a wedge-shaped surface is provided on the front side of the hook-shaped groove. The hook-shaped groove can be hooked with a pull rod that is horizontally suspended on the outer plate of the end clamp. A sixth cylinder is vertically connected to the top surface of the top surface of the U-shaped frame. The piston rod end of the sixth cylinder is hinged to the top surface of the inner end of the swing rod.

[0011] As a preferred embodiment of the present invention, a booster mechanism is longitudinally arranged on one side of the end drive mechanism; the booster mechanism includes a support rod vertically connected to the top surface of the main slide, and a cylinder seven is vertically connected to the top end of the support rod. The piston rod end of the cylinder seven is horizontally rotatably provided with a support roller along the short side of the main frame.

[0012] As a preferred embodiment of the present invention, the first bracket is a U-shaped structure, with two sliding pairs symmetrically arranged on its two top surfaces, and the auxiliary slides are arranged on the two sliding pairs; a cylinder is laterally suspended on the inner side of the first bracket, the rear end cap of the cylinder barrel of the cylinder is fixedly suspended to the first bracket, and the end of its piston rod is suspended to the bottom surface of the outer end of the auxiliary slide.

[0013] As a preferred embodiment of the present invention, at least two sliding pairs are arranged laterally at intervals along the short side of the top surface of the main frame, and the main slide is arranged on the sliding pairs. Cylinders are symmetrically installed laterally on both ends of the main frame. A square support block is vertically connected to the piston rod end of the cylinder. The inner side of the support block is connected to a sliding pair arranged laterally on the corresponding end face of the main frame. A cylinder is vertically inserted through the support block with the same orientation as the cylinder. The piston rod of the cylinder is connected to the bottom edge of the inner side of the corresponding main slide.

[0014] As a preferred embodiment of the present invention, the external clamp further includes an internal support disposed therein for supporting the inner liner of the freezer during foaming; the number of cavities of the internal support is the same as that of the inner liner of the freezer, and the corresponding dimensions of the two are compatible. The internal support includes a top support plate and a bottom support plate that are fixedly fixed to each other in parallel, and four movable side support plates that enclose the opposite sides of the top and bottom support plates. The four side support plates of each internal support in the cavity of the refrigerator's inner liner are synchronously expanded outward or contracted inward through the same expansion and contraction mechanism. The top surfaces of the lower clamping plate are symmetrically arranged laterally along their long axes with elastic rods that pass through the bottom of the corresponding end clamping plates. The elastic rods cooperate with the internal drive mechanism located on the outside of the main frame to trigger the expansion and contraction mechanism to make the four side support plates of the internal support expand outward or contract inward.

[0015] The beneficial effects of this invention are: 1. The robotic arm of this invention serves as a centralized drive device for fixed workstations, replacing the original independent cylinder drive system that needed to be installed on each external fixture. The various drive mechanisms of the robotic arm are integrated on the main slide; when operation is required, the main slide moves, engaging these drive mechanisms with the corresponding parts of any external fixture arriving on the conveyor line. This drive mode allows only three such robotic arms to be equipped at the mold opening, mold closing, and mold changing stations along the entire foaming line to complete the opening and closing actions of all external fixtures; thereby reducing the number of pneumatic components required and eliminating the need for complex air pipe layout design and installation work on each external fixture, significantly reducing initial equipment investment and maintenance costs.

[0016] 2. The robotic arm of the present invention allows the external clamp to be integrated without any power source or control pipeline, becoming a purely mechanical frame structure connected by hinges; by removing the cylinder system, the structure of the external clamp is simplified, the weight is reduced, and the manufacturing cost is reduced; at the same time, by avoiding the wear and failure of the pneumatic components themselves, the mechanical reliability and service life of the external clamp as the tooling body are improved. Attached Figure Description

[0017] Figure 1 A three-dimensional structural schematic diagram of the robotic arm of the present invention is shown; Figure 2 It shows Figure 1 Enlarged view of the structure at part A in the middle; Figure 3 This shows a three-dimensional structural schematic diagram of the robotic arm of the present invention from another perspective; Figure 4 A side view of the structure of the robotic arm of the present invention is shown; Figure 5 This diagram shows the structure of the robotic arm and external clamp of the present invention in the closed mold state; Figure 6 This shows a schematic diagram of the robot arm and external clamp of the present invention in a closed mold state from another perspective; Figure 7 This diagram shows the structure of the robotic arm and external clamp of the present invention in the mold-opening state; Figure 8 This shows a schematic diagram of the robot arm and external clamp of the present invention in the mold-opening state from another perspective; Figure 9 A cross-sectional view of the structure of the refrigerator cabinet body in this invention is shown. Figure 10 A cross-sectional view of the assembly of the inner support and the expansion and contraction mechanism in this invention is shown. The diagram shows: 1. Main frame; 2. Main slide; 21. Sliding pair one; 22. Cylinder one; 221. Support block; 222. Sliding pair two; 23. Cylinder two; 24. Buffer rod; 3. Front drive mechanism; 31. Bracket one; 32. Suspension rod one; 33. Suspension block one; 34. Clamping wheel one; 35. Secondary slide; 36. Sliding pair three; 37. Cylinder three; 4. Rear drive mechanism; 41. Cantilever one; 42. Suspension block two; 43. Clamping wheel two; 44. 5. Upper drive mechanism; 51. Cantilever II; 511. Bending block; 52. Suspension block III; 53. Insert column; 6. Unlocking mechanism; 61. Swing block; 62. Swing column; 63. Circular groove; 64. Cylinder V; 7. End drive mechanism; 71. Bracket II; 72. Suspension rod II; 721. U-shaped frame; 73. Swing rod; 731. Hook-shaped groove; 74. Cylinder VI; 8. Boosting mechanism; 81. Support rod; 82. Cylinder VII; 83. Support roller; 9. External clamp; 91. Lower clamping plate; 92. End clamping plate; 921. Pull rod; 93. Front clamping plate; 931. Pull ring one; 94. Rear clamping plate; 941. Pull ring two; 95. Upper clamping plate; 951. Slot; 96. Locking block; 961. Pin; 97. Internal support; 971. Top support plate; 972. Bottom support plate; 973. Side support plate; 98. Expansion and contraction mechanism; 981. Platform; 982. Push rod; 983. Limiting block; 9831. Z-groove; 9832. Roller; 984. Vertical rod; 985. Guide rod; 986. Square plate; 987. Connecting rod one; 9871. Roller; 988. Connecting rod two; 989. Linkage rod; 99. Elastic rod; 10. Internal drive mechanism; 101. Stand; 102. Cylinder eight; 1021. Impact column; 11. Refrigerator cabinet. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] Example 1 To address the technical problems in the background section, a novel foam clamping box opening and closing robot is proposed as follows: Combination Figures 1-9As shown, a novel foaming clamp opening and closing robot is used to open and close the outer clamp 9 that clamps the outer shell of the freezer 11 during foaming. The outer clamp 9 includes a lower clamping plate 91, two end clamping plates 92 hinged to the lower clamping plate 91, a front clamping plate 93 and a rear clamping plate 94, an upper clamping plate 95 hinged to the top edge of the rear clamping plate 94, and a locking block 96 hinged to the outer edge of the upper clamping plate 95 and rollingly engaged with the top edge of the front clamping plate 93. The robot includes a main frame 1 symmetrically erected on both sides of the conveying channel of the outer clamp 9. The top surface of the main frame 1 is oriented along its short side. A main slide 2 is horizontally slidable. A rear drive mechanism 4 for driving the rear clamping plate 94 to tilt is symmetrically arranged at one end of the top surface of the two main slides 2. The rear drive mechanism 4 is also provided with an upper drive mechanism 5 for driving the upper clamping plate 95 to tilt. The upper drive mechanism 5 is provided with an unlocking mechanism 6 for driving the locking block 96 to tilt. An end drive mechanism 7 for driving the corresponding end clamping plate 92 to tilt is symmetrically arranged in the middle part of the top surface of the two main slides 2. A front drive mechanism 3 for driving the front clamping plate 93 to tilt is provided at the other end of the top surface of one of the main slides 2.

[0020] By adopting the above technical solution, the robotic arm, as a centralized drive device for fixed workstations, replaces the original independent cylinder drive system that needed to be installed on each external clamp 9. The various drive mechanisms of the robotic arm are integrated on the main slide 2; when operation is required, the main slide 2 moves, engaging these drive mechanisms with the corresponding parts of any external clamp 9 arriving on the conveyor line. This drive mode allows only three such robotic arms to be equipped at the mold opening, mold closing, and mold changing stations along the entire foaming line to complete the opening and closing actions of all external clamps 9. This reduces the number of pneumatic components required and eliminates the need for complex air pipe layout design and installation work on each external clamp 9, significantly reducing initial investment and maintenance costs.

[0021] This robotic arm allows the external clamp 9 to function without integrating any power source or control piping, transforming it into a purely mechanical frame structure connected by hinges. By eliminating the cylinder system, the structure of the external clamp 9 is simplified, its weight is reduced, and its manufacturing cost decreases. At the same time, by avoiding the wear and failure of pneumatic components, the mechanical reliability and service life of the external clamp as the tooling body are improved.

[0022] When the outer clamp 9 is opened, the conveyor line of the foaming line transports the outer clamp 9 to the mold opening station. The robot first starts the two main slides 2, which simultaneously drive the mechanisms on them to move in opposite directions, so that each drive mechanism engages with the corresponding part on the outer clamp 9. Then, the release mechanism 6 is started to drive the locking block 96 to tilt outward and release. Next, the upper drive mechanism 5 and the rear drive mechanism 4 are started at the same time, which drive the upper clamping plate 95 and the rear clamping plate 94 to tilt outward and open. Then, the front drive mechanism 3 is started to drive the front clamping plate 93 to tilt outward and open. Finally, the end clamping plates 92 on both sides are started at the same time, which drive the two end clamping plates 92 to tilt outward and open. When the outer clamp 9 is closed, the reverse operation is performed, which tilts each clamping plate inward and finally tilts the locking block 96 inward to complete the locking.

[0023] like Figure 1 as well as Figures 3-8 As shown, the rear drive mechanism 4 includes a cantilever 41, the bottom of which is pivotally connected to the top surface of the corresponding main slide 2. A suspension block 42 is vertically connected to the middle of its inner side. The end faces of the suspension block 42 are respectively horizontally and vertically connected to clamping wheels 43. The two clamping wheels 43 can be horizontally clamped and sleeved with the pull ring 941 that is vertically connected to the end of the outer plate of the rear clamping plate 94. The cantilever 41 is driven to tilt by two cylinders 44 that are longitudinally and relatively arranged on its outer side.

[0024] like Figure 1 as well as Figures 3-8 As shown, the upper drive mechanism 5 includes a second cantilever 51, the outer end of which is pivotally connected to the top of the first cantilever 41, and the outer end of the second cantilever 51 is respectively connected to an inclined upward bending block 511 in a horizontally relative vertical manner; the piston rod end of the cylinder 44 is hinged to the corresponding bending block 511, and its cylinder rear end cover is hinged to the top surface of the corresponding main slide 2; the inner side end of the second cantilever 51 is vertically connected to a third suspension block 52, and the end face of the third suspension block 52 is vertically connected to a post 53, which can be intermittently inserted into the elliptical slot 951 correspondingly opened on the end face of the upper clamping plate 95.

[0025] Using the above technical solution, the rear drive mechanism 4 and the upper drive mechanism 5 are designed in a coordinated manner; two cylinders 44 simultaneously drive the rear drive mechanism 4 and the upper drive mechanism 5; when cylinder 44 is activated, it first drives the second cantilever 51 to move, and then the first cantilever 41 is linked through the pivot. This design achieves the purpose of sequentially driving two related components with one power source, with a compact structure, simple control, and savings in drive components.

[0026] The rear clamping plate 94 is connected to the clamping wheel 43 via a lateral clamping sleeve connection using a pull ring 941; the upper clamping plate 95 is connected to the elliptical slot 951 via a gap insertion connection using a pin 53. Both of these connection methods involve rigid or semi-rigid physical engagement, which, compared to the point contact drive of a pure pneumatic push rod, provides more direct and stable force transmission, ensuring the reliability of the opening and closing action and preventing slippage or disengagement.

[0027] The elliptical slot 951 on the upper clamping plate 95 and the insertion post 53 are connected by a gap. This design allows for alignment deviations during the drive process, avoiding jamming or damage caused by rigid connections, and improving the adaptability of the robot to different batches of external grippers 9. Preferably, the insertion post 53 and the suspension block 52 are connected by a bearing rotation.

[0028] like Figure 1 as well as Figures 3-8 As shown, the unfastening mechanism 6 includes a swing block 61. One end of the swing block 61 is pivotally connected to the inner end of the cantilever 51, and the inner side of its other end is vertically suspended by a swing column 62. The end face of the swing column 62 is axially connected to a circular groove 63, which can be axially and gappedly inserted into the corresponding pin 961 vertically connected to the end face of the locking block 96. A cylinder 64 is laterally arranged on the top surface of the cantilever 51. The piston rod end of the cylinder 64 is hinged to the top surface of the swing block 61, and the rear end cap of its cylinder is hinged to the top surface of the cantilever 51.

[0029] By adopting the above technical solution and setting up an independent unlocking mechanism, the accuracy and controllability of the unlocking / locking action are ensured. Cylinder 5 64 drives the swing block 61 to rotate around the axis, realizing the action of flipping the locking block 96 during unlocking / locking.

[0030] The circular groove 63 and the pin 961 are connected axially, allowing for a certain degree of radial float during mating, which facilitates alignment. During operation, this connection method can transmit rotational torque without generating radial interference force, protecting the hinge point and roller structure of the locking block 96 and extending the service life of the outer clamp 9.

[0031] like Figure 1 as well as Figures 3-8 As shown, the front drive mechanism 3 includes a bracket 31 vertically connected to the top surface of the corresponding main slide 2. The top surface of the bracket 31 is horizontally slidably provided with a secondary slide 35 along the long side of the main frame 1. The top surface of the secondary slide 35 is horizontally suspended inward along the short side of the main frame 1 with a suspension rod 32. The inner end face of the suspension rod 32 is vertically connected with a suspension block 33. The end faces of the suspension block 33 are respectively horizontally and vertically connected with clamping wheels 34. The two clamping wheels 34 can be horizontally clamped and sleeved with the pull ring 931 correspondingly vertically connected to the end of the outer plate of the front clamping plate 93.

[0032] like Figure 1 , Figure 3 and Figure 4 As shown, the bracket 31 has a U-shaped structure, with two sliding pairs 36 arranged symmetrically on its two top surfaces, and the auxiliary slides 35 are arranged on the two sliding pairs 36; a cylinder 37 is suspended laterally on the inner side of the bracket 31, the rear end cap of the cylinder barrel of the cylinder 37 is fixedly suspended to the bracket 31, and the end of its piston rod is suspended to the bottom surface of the outer end of the auxiliary slide 35.

[0033] Using the above technical solution, the auxiliary slide 35 can slide laterally along the sliding auxiliary 36 and be driven and positioned by the cylinder 37; this allows the clamping wheel 34 holding the front clamping plate 93 to both drive the front clamping plate 93 to tilt and to make its lateral position adaptively adjustable according to the actual position of the pull ring 931 on the outer clamping fixture 9 of different models.

[0034] The design employs two clamping rollers (34) to laterally clamp the pull ring (931), resulting in a large contact area, stable force transmission, and effective drive of the front clamping plate (93) to complete the opening and closing. Because the front clamping plate (93) experiences relatively light force, only one front drive mechanism (3) is needed for operation.

[0035] like Figures 1-8 As shown, the end drive mechanism 7 includes a second bracket 71 vertically connected to the top surface of the corresponding main slide 2. A second suspension rod 72 is horizontally suspended inward along the short side of the main frame 1 on the top surface of the second bracket 71. A U-shaped frame 721 is vertically connected to the end face of the second suspension rod 72. A swing rod 73 is pivotally connected inside the U-shaped frame 721. A hook-shaped groove 731 is provided on the lower side of the outer end of the swing rod 73, and a wedge-shaped surface is provided on the front side of the hook-shaped groove 731. The hook-shaped groove 731 can hook with the pull rod 921 that is horizontally suspended on the outer plate surface of the end clamp 92. A sixth cylinder 74 is vertically connected to the top surface of the top surface of the top surface of the bottom surface of the swing rod 73.

[0036] Using the above technical solution, the end of the swing rod 73 is provided with a hook-shaped groove 731 with a wedge-shaped surface, which is driven by cylinder 74 to swing and hook or release the pull rod 921 on the end clamping plate 92. The wedge-shaped surface on the front side of the hook-shaped groove 731 can act as a guide, guiding the pull rod 921 to slide into the hook-shaped groove 731. Similarly, when the mold is opened, the rotation of the swing rod 73 can smoothly throw the pull rod 921 out of the hook-shaped groove 731, realizing disengagement. The hook-shaped groove 731 and the pull rod 921 have a long lever arm and a large driving torque, which can drive the end clamping plate 92 with a large area with a small cylinder thrust, resulting in high transmission efficiency.

[0037] like Figure 1 and Figure 4As shown, a booster mechanism 8 is longitudinally arranged on one side of the end drive mechanism 7; the booster mechanism 8 includes a support rod 81 vertically connected to the top surface of the main slide table 2, and a cylinder 82 is vertically connected to the top end of the support rod 81. The piston rod end of the cylinder 82 is horizontally rotatably arranged with a support roller 83 along the short side of the main frame 1.

[0038] Using the above technical solution, cantilever 51 is the lever arm that drives the upper clamping plate 95. Cylinder 7 82 drives the support roller 83 to move upward, directly acting on the lower surface of cantilever 51. During mold opening, the upper clamping plate 95 and the rear clamping plate 94 open in conjunction; this process requires overcoming a large force, and the upward direct thrust provided by the booster mechanism 8 provides an auxiliary starting torque for the initial movement of cantilever 51, ensuring that the upper clamping plate 95 can smoothly begin to rotate and open. During mold closing, this booster force can help the upper clamping plate 95 overcome its motion inertia, achieving a more controllable and gentle closing, and avoiding impact.

[0039] When the support roller 83 contacts and pushes the cantilever 2 51 upwards, its rolling characteristics cause rolling friction between it and the lower surface of the cantilever 2 51. This reduces wear in the contact area, protects the surface of the cantilever 2 51, and extends the life of the support roller 83 itself.

[0040] like Figure 1 and Figure 4 As shown, at least two sliding pairs 21 are arranged laterally at intervals along the short side of the top surface of the main frame 1, and the main slide 2 is arranged on the sliding pairs 21. Cylinders 22 are symmetrically installed laterally on both ends of the main frame 1. A square support block 221 is vertically connected to the piston rod end of the cylinder 22. The inner side of the support block 221 is connected to the sliding pair 222 arranged laterally on the corresponding end face of the main frame 1. A cylinder 23 with the same orientation as cylinder 22 is vertically inserted through the support block 221. The piston rod of the cylinder 23 is connected to the bottom edge of the inner side of the corresponding main slide 2.

[0041] Using the above technical solution, the piston rod of cylinder 22 drives the entire support block 221, cylinder 23, and main slide 2 to move a certain distance; the piston rod of cylinder 23 is directly connected to the main slide 2, which can push the main slide 2 to move a further distance. The extended-stroke design of cylinders 22 and 23 avoids the positioning inaccuracies or end-of-stroke vibration problems that may exist with a single long-stroke cylinder.

[0042] like Figure 1 As shown, preferably, buffer rods 24 are symmetrically arranged at both ends of the long edge of the outer side of the top surface of the main frame 1; the buffer rod 24 includes a suspension plate that is vertically arranged at the end of the long edge of the outer side of the top surface of the corresponding main frame 1, and an elastic telescopic rod is vertically connected in the suspension plate, with the inner end of the elastic telescopic rod being arranged opposite to the outer side of the corresponding main slide 2.

[0043] Using the above technical solution, when the main slide 2 completes its work and quickly returns to its original position, the elastic telescopic rod of the buffer rod 24 can effectively absorb the kinetic energy of the main slide 2, allowing it to decelerate smoothly to a stop.

[0044] Example 2 Combination Figure 1 , Figure 3 , Figure 9 and Figure 10 As shown, based on the above embodiments, this embodiment further provides the following: In this embodiment, as Figure 9 and Figure 10 As shown, the external clamp 9 also includes an internal support 97 disposed inside it for supporting the inner liner of the freezer body 11 during foaming; the number of cavities of the internal support 97 is the same as that of the inner liner of the freezer body 11, and the corresponding dimensions of the two are compatible. The inner support 97 includes a top support plate 971 and a bottom support plate 972 fixedly arranged in parallel, and four movable side support plates 973 enclosing each other along the opposite sides of the top support plate 971 and the bottom support plate 972. The four side support plates 973 of each inner support 97 in the cavity of the refrigerator body 11 are all synchronously expanded outward or contracted inward through the same expansion and contraction mechanism 98. The two ends of the top surface of the lower clamping plate 91 are symmetrically arranged laterally along its long axis with elastic rods 99 passing through the bottom of the corresponding end clamping plate 92. The elastic rods 99 cooperate with the inner drive mechanism 10 correspondingly arranged on the outside of the main frame 1 to trigger the expansion and contraction mechanism 98 to make the four side support plates 973 of the inner support 97 expand outward or contract inward.

[0045] The above technical solution solves the dual requirements of the foaming process for the inner liner of the freezer body 11: strong support to prevent deformation and easy demolding for removal. The inner support 97 adopts a modular design, with each inner liner cavity of the freezer body 11 corresponding to an independent inner support unit, which is surrounded by a fixed top support plate 971, a bottom support plate 972, and four radially movable side support plates 973.

[0046] The four side support plates 973 can expand outwards simultaneously to fit the profile of each side wall of the inner liner of the freezer body 11, forming uniform and comprehensive support inside the inner liner. This provides all-round radial resistance to the inner liner when the foaming liquid expands, effectively preventing the inner liner from bulging, denting and other deformations under non-uniform pressure, and ensuring the uniformity of the thickness of the foam insulation layer of the freezer body 11 and the product dimensional accuracy.

[0047] The four side support plates 973 can also retract inward simultaneously, so that their outer surfaces are completely separated from the inner wall of the liner, which may slightly adhere after foaming, thus eliminating the large static friction force during demolding. This avoids damage to the inner liner or tearing of the foam layer caused by forced pulling when taking out the finished product, which protects the product and reduces wear on the inner support 97 itself.

[0048] like Figure 10 As shown, the expansion and contraction mechanism 98 includes a frame 981 disposed in the middle of the top surface of the lower clamping plate 91. The bottom support plate 972 of the inner support 97 is horizontally installed on the top surface of the frame 981. Guide rods 985 are vertically and symmetrically arranged along the center line on the top surface of the bottom support plate 972. The top surfaces of the two guide rods 985 are vertically connected to the top support plate 971. A push rod 982 is horizontally slidably connected between the two end faces of the frame 981, and the end of the push rod 982 is axially opposite to the corresponding elastic rod 99. A limiting block 983 corresponding to the inner support 97 is longitudinally fixed to one side of the push rod 982. A Z-shaped groove 9831 is opened inward on the outer surface of the limiting block 983. A roller 9832 is rolled and engaged in the Z-shaped groove 9831. A vertical rod 98 is vertically arranged on the outer end of the roller 9832. 4. The vertical rod 984 slides longitudinally through the frame 981 and the bottom support plate 972; three square plates 986 slide parallel to each other from top to bottom between the two guide rods 985; a connecting rod 987 is vertically fixed between the middle of the same side of the three square plates 986; a connecting rod 988 is arranged parallel to each other on the outer side of the connecting rod 987; the outer side of the connecting rod 988 is vertically fixed to the corresponding side support plate 973; and the connecting rod 988 is connected to the top surface of the corresponding bottom support plate 972 by a roller 9871 at its bottom end; at least two linkage rods 989 are hinged longitudinally at equal intervals between the connecting rod 988 and the connecting rod 987; the vertical rod 984 slides longitudinally through the lower square plate 986, and its top is fixedly connected to the middle square plate 986. When the roller 9832 is located at the top of the Z-shaped groove 9831, the four side support plates 973 of the inner support 97 expand outward; when the roller 9832 is located at the bottom of the Z-shaped groove 9831, the four side support plates 973 of the inner support 97 contract inward.

[0049] Using the above technical solution, the expansion and contraction mechanism 98 takes the linear motion of the horizontal push rod 982 as input, which is converted into the lifting and lowering of the vertical rod 984 through the Z-shaped groove 9831 and the roller 9832. Then, through the planar linkage mechanism composed of the square plate 986, connecting rod one 987, connecting rod two 988, and linkage rod 989, the longitudinal motion of the vertical rod 984 is synchronously converted into the radial expansion and contraction motion of the four side support plates 973. By pushing only one push rod 982, the four side support plates 973 can be forcibly driven to achieve synchronous radial motion through the above linkage system. This mechanical forced synchronization ensures the consistency of displacement of each side support plate 973, thereby ensuring uniform force on the inner liner and avoiding uneven loading and torsional deformation of the box caused by asynchronous support.

[0050] When the roller 9832 moves to the horizontal section at the top or bottom of the Z-groove 9831, the mechanism can form a mechanical self-locking mechanism. This allows the side support plate 973 to be better locked in its expanded state when the foam is subjected to expansion force, preventing it from easily retracting; it also remains stable in the contracted state without the need for continuous external power, effectively improving the reliability of the support and the safety of the system.

[0051] The roller 9832 rolls in the Z-shaped groove 9831, and the bottom end of the connecting rod 988 contacts the bottom support plate 972 through the roller 9871. These designs all use rolling friction instead of sliding friction, reducing resistance and wear during the movement of the mechanism.

[0052] like Figure 1 and Figure 3 As shown, the internal drive mechanism 10 includes a stand 101, on which a cylinder 102 is horizontally mounted on the top surface. The piston rod end of the cylinder 102 is axially and detachably connected to a striker 1021, which passes through the middle of the top surface of the main slide 2. The striker 1021 can be axially opposite to the corresponding elastic rod 99.

[0053] like Figure 9 As shown, preferably, the elastic rod 99 includes a mounting block, in which a horizontal bar is horizontally connected. The inner end of the horizontal bar is axially opposite to the end face of the corresponding push rod 982, and its outer end is axially opposite to the end face of the corresponding impact post 1021. Each end of the horizontal bar is axially symmetrically sleeved with a return spring. One end of the return spring is connected to the end face of the corresponding mounting block, and the other end is connected to a limiting cap that is axially fixedly sleeved at the end of the horizontal bar.

[0054] Using the above technical solution, the elastic rod 99 is installed on the outer clamp 9, serving as the power transmission interface between the internal and external parts. While the main slide 2 of the robot arm drives the various mechanisms to reset, the striker 1021 of the inner drive mechanism 10 extends, pushing the crossbar corresponding to the elastic rod 99, thereby triggering the expansion and contraction mechanism 98 to expand and support the side support plate 973. Before mold opening, the striker 1021 can move first, triggering the expansion and contraction mechanism 98 through the elastic rod 99 to contract the side support plate 973, and then the outer clamp 9 opens; or the outer clamp 9 can open first, and then the striker 1021 moves, triggering the expansion and contraction mechanism 98 through the elastic rod 99 to contract the side support plate 973. The entire process is controlled by a unified robot program, resulting in a high degree of automation.

[0055] The two return springs in the elastic member 99 provide axial tolerance space for the engagement of the impact post 1021 and the crossbar. Simultaneously, the cushioning effect of the return springs protects the impact post 1021 and the end of the push rod 982 from impact damage. After the power is released, the return springs ensure that the crossbar and push rod 982 return to their original positions, preparing for the next cycle.

[0056] Working principle and usage process of this invention: In use, the present invention firstly transports the outer clamp 9 to the mold opening or closing station via the foaming line. The robot arm is started, and the two main slides 2 slide towards each other along the main frame 1, driving the rear drive mechanism 4, upper drive mechanism 5, unhooking mechanism 6, end drive mechanism 7 and front drive mechanism 3 to move, so that the clamping wheel 43, insert post 53, circular groove 63, hook groove 731 and clamping wheel 34 respectively engage with the corresponding pull ring 941, elliptical slot 951, pin 961, pull rod 921 and pull ring 931 on the outer clamp (9).

[0057] During mold opening, cylinder 64 of the unlocking mechanism 6 drives the swing block 61, causing the circular groove 63 to rotate the pin 961 of the locking block 96, thus unlocking the latch. Simultaneously, cylinder 44 of the rear drive mechanism 4 pulls the bending block 511, driving cantilever 51 and cantilever 41 to move in tandem, causing the insert 53 to flip the upper clamping plate 95 upwards, and clamping wheel 43 to flip the rear clamping plate 94 backwards. The auxiliary slide 35 of the front drive mechanism 3 can be laterally displaced by cylinder 37, driving clamping wheel 34 to pull the pull ring 931, causing the front clamping plate 93 to flip forward. Cylinder 74 of the end drive mechanism 7 drives the swing rod 73, using the hook groove 731 to hook and pull the pull rod 921, causing the corresponding clamping plate 92 to flip outwards. During this process, the cylinder 8 102 of the inner drive mechanism 10 at the mold opening station drives the impact column 1021 to extend, pushes the corresponding elastic rod 99, and then pushes the push rod 982 of the expansion and contraction mechanism 98, so that the roller 9832 slides along the Z-shaped groove 9831 to the bottom end, and drives all the side support plates 973 to retract inward synchronously through the vertical rod 984 and the connecting rod system, making it easier to take out the refrigerator body 11.

[0058] During mold closing, the sequence of actions is reversed. The end drive mechanism 7 pushes the end clamping plate 92 to close. The front drive mechanism 3 pushes the front clamping plate 93 to close. The upper drive mechanism 5 and the rear drive mechanism 4 work together to close the upper clamping plate 95 and the rear clamping plate 94. The unlocking mechanism 6 drives the locking block 96 to engage. During or after the mold closing action, the cylinder 8 102 of the inner drive mechanism 10 at the mold closing station drives the impact column 1021 to extend, pushing the corresponding elastic rod 99, which in turn pushes the push rod 982 of the expansion and contraction mechanism 98, causing the roller 9832 to move along the Z-shaped groove 9831 to the top. Through the vertical rod 984 and the linkage system, all the side support plates 973 are forced to expand outward synchronously, tightening the inner liner of the refrigerator body 11 to resist the foaming pressure. The entire process is centrally controlled by a robot and is completed automatically and continuously.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A novel foaming clamp opening and closing box mechanical hand, which is used for opening and closing the outer clamp (9) wrapped around the outer shell of the refrigerator box (11) during foaming, the outer clamp (9) comprises a lower clamp plate (91), two end clamp plates (92) hinged around the lower clamp plate (91), a front clamp plate (93) and a rear clamp plate (94), an upper clamp plate (95) hinged to the top edge of the rear clamp plate (94), and a locking block (96) hinged to the outer edge of the upper clamp plate (95) and rollingly buckled with the top edge of the front clamp plate (93), characterized in that: The mechanical hand comprises main frames (1) symmetrically arranged on both sides of the conveying channel of the outer clamp (9), the top surface of the main frame (1) is horizontally slidably provided with main sliding tables (2) along the short edge direction, the top surface of the two main sliding tables (2) is symmetrically provided with rear drive mechanisms (4) for driving the rear clamping plates (94) to tilt at one end, and the rear drive mechanisms (4) are further provided with upper drive mechanisms (5) for driving the upper clamping plates (95) to tilt, the end of the upper drive mechanism (5) is provided with a tripping mechanism (6) for driving the locking block (96) to tilt, the top surface of the two main sliding tables (2) is symmetrically provided with end drive mechanisms (7) for driving the corresponding end clamping plates (92) to tilt at the middle part, and the top surface of one of the main sliding tables (2) is provided with a front drive mechanism (3) for driving the front clamping plate (93) to tilt at the other end.

2. A novel foaming fixture opening and closing box mechanical hand according to claim 1, characterized in that: The rear drive mechanism (4) comprises a cantilever (41), the bottom of the cantilever (41) is pivotally connected with the top surface of the corresponding main sliding table (2), the inner side surface of the cantilever (41) is vertically connected with a suspension block (42) at the middle part, the end surface of the suspension block (42) is vertically connected with clamping wheels (43) transversely and oppositely, the two clamping wheels (43) can be transversely clamped and sleeved with the pull ring (941) vertically connected with the end surface of the rear clamping plate (94), and the cantilever (41) is driven to tilt by the two cylinders (44) longitudinally and oppositely arranged on the outer side of the cantilever (41).

3. A novel foaming fixture opening and closing box mechanical hand according to claim 2, characterized in that: The upper drive mechanism (5) comprises a cantilever (51), the outer end of the cantilever (51) is pivotally connected with the top of the cantilever (41), and the outer end of the cantilever (51) is vertically connected with a bent block (511) transversely and oppositely, the end of the piston rod of the cylinder (44) is hinged with the corresponding bent block (511), and the rear end cover of the cylinder barrel is hinged with the top surface of the corresponding main sliding table (2), the inner side surface of the cantilever (51) is vertically connected with a suspension block (52) at the end, the end surface of the suspension block (52) is vertically connected with a plug column (53), and the plug column (53) can be clearance fitted with the corresponding oval-shaped insertion slot (951) formed on the end surface of the upper clamping plate (95).

4. A novel foaming fixture opening and closing box mechanical hand according to claim 3, characterized in that: The tripping mechanism (6) comprises a swing block (61), one end of the swing block (61) is pivotally connected with the inner end of the cantilever (51), the other end of the swing block (61) is vertically suspended with a swing column (62), the end surface of the swing column (62) is axially connected with a circular groove (63), the circular groove (63) can be axially clearance fitted with the corresponding pin shaft (961) vertically connected with the end surface of the locking block (96), the top surface of the cantilever (51) is transversely provided with a cylinder (64), the end of the piston rod of the cylinder (64) is hinged with the top surface of the swing block (61), and the rear end cover of the cylinder barrel is hinged with the top surface of the cantilever (51).

5. A novel foaming fixture opening and closing box mechanical hand according to claim 1, characterized in that: The front drive mechanism (3) comprises a support I (31) vertically connected to the top surface of the corresponding main slide (2), the top surface of the support I (31) is provided with a sub slide (35) horizontally sliding along the long edge direction of the main frame body (1), the top surface of the sub slide (35) is suspended with a suspension rod I (32) horizontally and inward along the short edge direction of the main frame body (1), the inner end surface of the suspension rod I (32) is vertically connected with a suspension block I (33), the end surface of the suspension block I (33) is vertically connected with a clamping wheel I (34) respectively and transversely opposite, and the two clamping wheels I (34) can be transversely clamped with the corresponding pull ring I (931) vertically connected to the outer surface end of the front clamping plate (93).

6. A novel foamed gripper opening and closing box mechanical hand according to claim 1, characterized in that: The end drive mechanism (7) comprises a support II (71) vertically connected to the top surface of the corresponding main slide (2), the top surface of the support II (71) is suspended with a suspension rod II (72) horizontally and inward along the short edge direction of the main frame body (1), the end surface of the suspension rod II (72) is vertically connected with a U-shaped frame (721), the U-shaped frame (721) is pivotally connected with a swing rod (73), the outer end portion of the swing rod (73) is provided with a hook-shaped groove (731) on the lower side, and the front side of the hook-shaped groove (731) is provided with a wedge surface, and the hook-shaped groove (731) can be hooked with the corresponding pull rod (921) transversely suspended on the outer surface of the end clamping plate (92); the top surface of the U-shaped frame (721) is vertically connected with a cylinder six (74), and the piston rod end of the cylinder six (74) is hinged with the inner end portion top surface of the swing rod (73).

7. A novel foaming fixture opening and closing box mechanical hand according to claim 3, characterized in that: The end drive mechanism (7) is longitudinally provided with a boosting mechanism (8) on one side; the boosting mechanism (8) comprises a support rod (81) vertically connected to the top surface of the main slide (2), and the top end of the support rod (81) is vertically connected with a cylinder seven (82), and the piston rod end of the cylinder seven (82) is horizontally rotatably provided with a supporting roller (83) along the short edge direction of the main frame body (1).

8. A novel foaming fixture opening and closing box mechanical hand according to claim 5, characterized in that: The support I (31) is a U-shaped structure, and the two top surfaces thereof are respectively and transversely symmetrically provided with sliding pairs III (36), and the two sliding pairs III (36) are provided with the sub slide (35); the inner side of the support I (31) is transversely suspended with a cylinder three (37), the rear end cover of the cylinder three (37) is fixedly suspended with the support I (31), and the piston rod end thereof is suspended with the outer end portion bottom surface of the sub slide (35).

9. A novel foaming fixture opening and closing box mechanical hand according to claim 1, characterized in that: The top surface of the main frame body (1) is transversely spaced apart along the short edge thereof and provided with at least two sliding pairs I (21), and the main slide (2) is arranged on the sliding pair I (21); the two end surfaces of the main frame body (1) are respectively and symmetrically mounted with a cylinder I (22), the piston rod end of the cylinder I (22) is vertically connected with a square support block (221), the inner side surface of the support block (221) is connected with a sliding pair II (222) transversely arranged on the corresponding end surface of the main frame body (1), a cylinder II (23) with the same direction as the cylinder I (22) is vertically penetrated in the support block (221), and the piston rod of the cylinder II (23) is connected with the inner side surface bottom of the corresponding main slide (2).

10. A novel foamed gripper opening and closing box mechanical hand according to claim 1, characterized in that: The outer clamp (9) further comprises an inner support (97) arranged inside for supporting the inner container of the refrigerator box (11) during foaming; the inner support (97) is the same in number as the cavities of the inner container of the refrigerator box (11), and the corresponding sizes are matched; The inner support (97) comprises a top support plate (971) and a bottom support plate (972) fixed in parallel and oppositely, and four movable side support plates (973) enclosed along the opposite sides of the top support plate (971) and the bottom support plate (972); the four side support plates (973) of each inner support (97) in the cavities of the inner container of the refrigerator box (11) are realized to be expanded outward or contracted inward synchronously through the same expansion and contraction mechanism (98); the top surface of the lower clamp plate (91) is respectively provided with an elastic rod (99) passing through the bottom of the corresponding end clamp plate (92) along the long axis at both ends in transverse symmetry, and the elastic rod (99) is matched with the inner drive mechanism (10) arranged correspondingly on the outside of the main frame (1) to trigger the expansion and contraction mechanism (98) to realize the outward expansion or inward contraction of the four side support plates (973) of the inner support (97).

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