Mould pressing feeding and discharging system of tray embedded with rib plate

Abstract

The mold pressing feeding and discharging system comprises a mold pressing machine for opening and closing a mold pressing mold up and down, a mechanical arm is arranged on the feeding and discharging side of the mold pressing machine, the connecting end of the mechanical arm is detachably and fixedly connected with a mechanical arm chuck, and a rib plate positioning frame and a finished product containing frame are arranged on the two opposite sides of the mechanical arm correspondingly. The molding press, the rib plate positioning frame and the finished product placing frame are all within the movement range of a manipulator chuck connected with the manipulator, and the rotation angle of the manipulator between the molding press and the rib plate positioning frame is equal to the rotation angle of the manipulator between the molding press and the finished product placing frame. According to the mold pressing feeding and discharging system for the tray embedded with the rib plate, the rib plate which is positioned on the rib plate positioning frame can be automatically clamped, fed and fixed to the corresponding position of the mold pressing mold, and the tray in the mold pressing mold can be automatically sucked and discharged to the finished product containing frame.

Description

Technical Field

[0001] This invention relates to the technical field of an efficient auxiliary device for the production of plastic pallets, specifically to a molding and unloading system for a pallet with embedded ribs. Background Technology

[0002] Plastic pallets, as an indispensable tool in modern logistics and transportation, possess numerous advantages. They are generally manufactured using a molding process, allowing for the easy production of pallets in various sizes and models. Through structural design, plastic pallets can minimize weight while maintaining high strength, thereby maximizing material turnover efficiency and facilitating pallet handling and transportation.

[0003] The applicant previously submitted a pallet with an internal rib structure, which further enhances the pallet's strength. To prevent the rib structure from being exposed and rusting, thus affecting its service life, the ribs are pre-embedded in the molding die during production, so that the ribs are encased within the molded pallet plate.

[0004] This necessitates that operators must pre-place the reinforcing ribs in their corresponding positions within the mold each time it is opened. Operators must place multiple ribs one by one accurately, with each rib requiring at least 5 seconds to place. Errors significantly increase placement time. If the mold opening time is prolonged due to rib placement, the mold's internal temperature may drop, affecting molding quality. This necessitates reheating the closed mold to the required temperature before molding can proceed, increasing energy consumption and further reducing production efficiency.

[0005] In addition, the current operation of placing the reinforcing plate on the molding die is done manually by the operator. Every time this is done manually, there is a risk of being burned. Moreover, if the reinforcing plate is not placed in place, the molded tray will be a defective product, and it may even directly damage the inner wall of the mold, causing the mold to be scrapped.

[0006] The applicant needs to develop a device that can accurately position multiple stiffening plates required during pallet molding in advance, so that a robot can be used to transfer the positioned stiffening plates to the pallet molding die and fix them in the stiffening plate placement slot of the molding die, and then transfer the molded pallet from the molding die to the finished product unloading rack of the pallet. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide a molding loading and unloading system with an embedded rib plate tray. This system ensures that multiple rib plates can be accurately placed simultaneously, improving production efficiency. Multiple rib plates are positioned during molding, and the rib plates positioned by the rib plate positioning frame are automatically clamped, loaded, and fixed at the corresponding position in the molding die. Furthermore, the system automatically picks up the tray from the molding die and unloads it onto the finished product placement rack. This further reduces the labor required for rib plate positioning, reduces safety hazards when placing rib plates in the die, and ensures the accuracy of rib plate placement.

[0008] The technical solution adopted in this invention is: The molding and unloading system with an embedded rib plate tray includes a molding press with an upper and lower opening and closing molding die. A robot arm is provided on the unloading side of the molding press. A robot arm chuck is detachably fixed to the connecting end of the robot arm. Rib plate positioning frames and finished product placement frames are respectively provided on two opposite sides of the robot arm. The molding press, rib plate positioning frames, and finished product placement frames are all within the movement range of the robot arm chuck connected to the robot arm. The rotation angle of the robot arm between the molding press and the rib plate positioning frames is equal to the rotation angle of the robot arm between the molding press and the finished product placement frames.

[0009] A further improvement of the present invention is that the robotic gripper includes a mounting plate for fixing to the connecting end of the robotic arm. A connecting base frame is fixed to one end face of the mounting plate, and the plane of the connecting base frame is parallel to the plane of the mounting plate. A connecting base plate A is also provided within the range of the connecting base frame, moving between the mounting plate and the connecting base frame along a path facing or away from the mounting plate. Three rows of negative pressure suction nozzles are adjustablely fixed to the side of the connecting base frame away from the mounting plate, with the suction cup openings of the negative pressure suction nozzles facing away from the mounting plate. The connecting base plate A is located on the side facing away from the mounting plate. Three rows of rib clamps are adjustablely fixed to the end face. The position of the rib clamp held by each row of rib clamps corresponds to the position of the rib covered in the tray that is sucked up by the negative pressure nozzle. The connecting base plate A is connected to the mounting connecting plate through the telescopic cylinder A. When the telescopic cylinder A moves the connecting base plate A towards the mounting connecting plate to the maximum stroke, the rib clamp is located between the suction cup opening of the negative pressure nozzle and the mounting connecting plate. When the telescopic cylinder A moves the connecting base plate A away from the mounting connecting plate to the maximum stroke, the rib clamp is located on the side of the suction cup opening of the negative pressure nozzle away from the mounting connecting plate.

[0010] A further improvement of the present invention is that each column of negative pressure suction nozzles is fixedly connected to a longitudinal plate, and the two ends of the longitudinal plate are fixedly connected to the corresponding side frame of the connecting base frame. The connecting base frame is connected to the edge of the longitudinal plate, and a strip groove is provided along the extension direction of the edge. The two ends of the longitudinal plate are adjustablely fixedly connected to the connecting base frame along the strip groove. Each row of stiffener clamps is connected to the side face of the transverse plate facing away from the mounting connecting plate, and the transverse plate is connected to the connecting base plate A.

[0011] A further improvement of the present invention is that the end face of the connecting substrate A with the horizontal plate is provided with a plurality of strip rails A respectively arranged parallel to the vertical plate. The end face of the horizontal plate facing the connecting substrate A is provided with matching track grooves A at the positions of the strip rails A. The middle horizontal plate is fixedly connected to the connecting substrate A, and the horizontal plates on both sides are slidably connected to the strip rails A of the connecting substrate A through the track grooves A, and are synchronously and reversibly adjustable along the strip rails A and the connecting substrate A.

[0012] A further improvement of the present invention is that the connecting base plate A has a transverse plate end face located between two adjacent longitudinal plates, and also has longitudinal top plates arranged parallel to the longitudinal plates. The longitudinal top plates are respectively connected to corresponding positions of the transverse plates via telescopic cylinders B. A strip track B or track groove B is provided on the top of the longitudinal top plate along its length. The piston rod B end of the telescopic cylinder B has a connector that matches and connects to the strip track B or track groove B. The connector at the end of the piston rod B of the telescopic cylinder B in the middle of the transverse plate is connected to the strip track B or track groove B. The groove B is fixedly connected, and the connecting head strip rail B or rail groove B at the end of the piston rod B of the telescopic cylinder B of the transverse plates on both sides is limited and fixed along the direction facing or away from the longitudinal top plate, and is slidably connected along the extension direction of the strip rail B or rail groove B; when the piston rod B retracts to the telescopic cylinder B to the maximum stroke, the end face of the longitudinal top plate away from the connecting base plate A is located on the side of the rib clamp facing the connecting base plate A; when the piston rod B extends out of the telescopic cylinder B to the maximum stroke, the end face of the longitudinal top plate away from the connecting base plate A is located on the side of the rib clamp away from the connecting base plate A.

[0013] A further improvement of the present invention is that the rib plate positioning frame includes a horizontal base frame with support frames at the four corners of the bottom. Each horizontal base frame includes two parallel horizontal support rods, which are fixedly connected by multiple fixed connecting rods. Positioning connecting plates, adjustable and fixedly connected along the extension direction of the horizontal support rods, are respectively mounted on the top surface of each end of the horizontal support rods. Rib plate end positioning blocks A are symmetrically fixed to the middle portion of the top surface of each positioning connecting plate. Rib plate end positioning blocks B, adjustable and movable along the extension direction of the positioning connecting plate, are located on both sides of the top surface of the positioning connecting plate on the rib plate end positioning blocks A. A rotating rod B is rotatably connected to the top surface. Both ends of the rotating rod B are rotatably connected to the positioning connecting plate via connecting seats B. The middle of the rotating rod B is rotatably connected to the end positioning block A of the stiffener plate. The rotating rod B is a threaded rod B located between the end positioning block A of the stiffener plate and the connecting seat B. The end positioning blocks B of the stiffener plate on both sides of the end positioning block A of the stiffener plate move simultaneously and in opposite directions at the same speed via the threaded rod B. One end of the rotating rod B is driven to rotate by a driving device. The top surface of the positioning connecting plate is also fixed with a scale for indicating the spacing of the reinforcing ribs placed on the end positioning blocks A and B of the stiffener plate, respectively. The scale is set parallel to the rotating rod B.

[0014] A further improvement of the present invention is that the rib plate end positioning block A includes an end positioning base A, and the end positioning base A is fixedly connected to a connecting block A for rotatable connection with the rotating rod B. The rib plate end positioning block B includes an end positioning base B, and the end positioning base B is fixedly connected to a connecting block B for threaded transmission with the threaded rod B. The tops of the end positioning bases A and the corresponding end positioning bases B of the two positioning connecting plates are symmetrically fixed with end positioning blocks. The opposing side edges of the tops of the corresponding end positioning blocks of the two positioning connecting plates are respectively provided with end positioning grooves. The end positioning grooves penetrate the top surface and the opposing side end surfaces of the end positioning blocks. The bottoms of all end positioning grooves are located on the same horizontal plane, and the side walls of the groove ends of the end positioning grooves provided on the same positioning connecting plate are located on the same vertical plane.

[0015] A further improvement of the present invention is that a central connecting rod is fixedly connected between the horizontal support rods and at the position between the two positioning connecting plates. The central connecting rod is arranged parallel to the rotating rod B. The top surface of the central connecting rod is provided with matching stiffener plate central limiting block A and stiffener plate central limiting block B corresponding to the stiffener plate end positioning block A and stiffener plate end positioning block B, respectively. The stiffener plate central limiting block A is fixed to the central connecting rod, and the stiffener plate central limiting block B is adjustablely fixedly connected to the central connecting rod. The stiffener plate central limiting block A is connected to the stiffener plate end positioning block A at both ends, and the stiffener plate central limiting block B is connected to the stiffener plate end positioning block B at both ends. The cross-section of the central connecting rod is a "U" shaped groove. The top edges of the two sides of the "U" shaped groove are symmetrically folded inward to the horizontal and then folded downward, thereby forming a slide rail top plate and a slide groove wall symmetrically arranged on both sides. A slide groove is formed between the slide groove walls. The middle limiting block B of the stiffener plate is adjustablely fixedly connected to the slide groove.

[0016] A further improvement of the present invention is that the middle limiting block A of the rib plate includes a limiting groove A located on the outer side of the groove edge at the middle position of the middle connecting rod. The bottom plate A of the limiting groove A is horizontally fixedly connected to the groove edge on the side where the middle connecting rod is located. The groove wall plate A of the limiting groove A is vertically connected to the two sides of the top surface of the bottom plate A. The spacing between the groove wall plates A is greater than or equal to the thickness of the limiting rib plate. The top surface of the bottom plate A is flush with the bottom of the limiting rib plate and higher than the top surface of the slide rail top plate. The middle limiting block B of the rib plate includes a slider that matches the slide groove. At the top of the slider, corresponding to the middle position of the edge of the slide groove wall, there are groove wall plates B arranged in parallel to each other on the outer side of the slide groove wall. A limiting gap A is formed between the groove wall plates B. The spacing between the limiting gaps A is greater than or equal to the thickness of the limiting rib plate. The groove wall plate B is perpendicular to the middle connecting rod, and the bottom of the groove wall plate B facing the slide groove is fixedly connected to the corresponding side of the top of the slider. The slider can be adjusted and fixed in the slide groove along the extension direction of the slide groove. The slider includes sliding units symmetrically fixedly connected to both ends of the connecting base plate B. Each sliding unit includes a vertical plate base fixedly connected to the connecting base plate B. The two sides of the vertical plate base are symmetrically provided with snap-fit ​​side plates that can be snapped into the slide wall on the corresponding side, facing away from the connecting base plate B. One side of the top edge of the vertical plate base is provided with a connecting plate fixedly connected to the snap-fit ​​side plate. The snap-fit ​​side plate is parallel to the slide wall on the corresponding side. An expansion sleeve is vertically fixedly connected to the bottom surface of the middle part of the connecting plate. The top surface of the connecting plate is coaxially provided with a rod hole for passing through the connecting rod at the position of the top opening of the expansion sleeve. The top edge of the vertical plate base extends upward to the groove opening of the slide. The top edge of the vertical plate base extends outward to the bottom edge of the slide wall plate B at the corresponding end. When the upright is connected to the expansion sleeve through the through hole, the upright pushes the expansion sleeve outward, and the expansion sleeve expands radially outward to press the snap-fit ​​side plate into clamp and fix it to the sliding groove wall on the side where it is located. When the upright is removed from the expansion sleeve, the restoring force of the snap-fit ​​side plate will restore the expansion sleeve to its initial position and lose friction with the sliding groove wall on the same side.

[0017] A further improvement of the present invention is that a strip guide rail D or a track groove D is provided in the middle of the top surface of the horizontal support rod along the extension direction of the horizontal support rod, and a tightening bolt A is threadedly connected to both ends of the top surface of the positioning connecting plate at the positions corresponding to the strip guide rail D or the track groove D.

[0018] The beneficial effects of this invention are as follows: First, the molding and unloading system of the embedded rib plate tray of this application ensures that multiple rib plates can be accurately placed at the same time, which improves production efficiency. It utilizes the positioning and placement of multiple rib plates during molding, and automatically clamps and loads the rib plates positioned by the rib plate positioning frame and fixes them in the corresponding position of the molding die. It can also automatically pick up the tray in the molding die and unload it to the finished product placement rack, thereby further reducing the labor intensity of rib plate positioning and placement, reducing the safety hazards when placing rib plates in the die, and ensuring the accuracy of rib plate placement.

[0019] Secondly, the molding and unloading system of the embedded rib plate tray of this application can ensure that the clamped rib plate can be completely fixed in the rib plate placement groove of the molding die through the action of the longitudinal top plate, thus ensuring the feeding effect of the rib plate and the subsequent molding effect of the tray.

[0020] Third, the molding and unloading system of the embedded rib plate tray of this application drives the connecting base plate A to connect the rib plate clamp and the top plate to move up and down relative to the negative pressure suction nozzle at the same time through the telescopic cylinder A. This makes it easy for the clamping plate to be unaffected by the rib plate being clamped when picking up the tray, and also ensures that the rib plate is not interfered with by the negative pressure suction nozzle when clamping or placing the tray.

[0021] Fourth, the molding and unloading system of the embedded rib plate tray of this application drives the relative movement between the transverse plates on both sides and the transverse plate in the middle in a synchronous reverse motion through the threaded rod A of the rotating rod A, thereby facilitating the adaptive adjustment of the rib plate positioning position corresponding to different models of trays.

[0022] Fifth, the molding and unloading system of the embedded stiffener tray of this application, through the connection structure between the negative pressure suction nozzle and the longitudinal rod, enables the negative pressure suction nozzle to be distributed more evenly and set at a relatively denser density, thereby ensuring that the negative pressure suction nozzle can effectively pick up and fix the tray, and ensure that the tray will not fall off during turnover.

[0023] Sixth, the molding and unloading system of the embedded stiffener tray of this application can pre-position the required stiffener according to the size and model of the tray, so that the gripping device can directly grip the positioned stiffener into the molding die to realize the molding production of the embedded stiffener tray, thereby improving production quality and efficiency and reducing safety hazards.

[0024] Seventh, the molding loading and unloading system of the embedded stiffener tray of this application, through the setting of the strip guide rail C or the track groove C, facilitates the movement of the stiffener end positioning block B along the direction facing or away from the stiffener end positioning block A.

[0025] Eighth, in the molding loading and unloading system of the embedded stiffener tray of this application, the top of the end positioning base A and the top of the corresponding end positioning base B of the two positioning connecting plates are respectively symmetrically fixed with end positioning blocks, and the opposite side edges of the top are respectively provided with end positioning grooves, so as to facilitate the positioning and placement of the two ends of the stiffener.

[0026] Ninth, the molding loading and unloading system of the embedded stiffener tray of this application connects to the limiting through groove set at the top of the upright plate corresponding to the positioning groove, so that the two ends of the stiffener can be locked and fixed to ensure the uprightness of the stiffener and facilitate the subsequent gripping and turnover of the stiffener by the robotic arm chuck.

[0027] Tenth, in the molding loading and unloading system of the embedded stiffener tray of this application, the limiting through groove is provided on the top of the limiting upright plate which is detachably and fixedly connected to the connecting upright plate, so that the limiting through groove can be replaced according to the thickness or material of different stiffeners, and the limiting through groove of the limiting upright plate is used as a consumable part, thereby reducing production costs.

[0028] Eleventh, in the molding loading and unloading system of the embedded stiffener tray of this application, the bottom of the connecting upright plate of the stiffener end positioning block B is also provided with a pointer corresponding to the scale, so as to facilitate the operator to accurately read the position between the stiffeners positioned by the stiffener end positioning block B, thereby improving the accuracy of stiffener positioning.

[0029] Twelfth, the molding loading and unloading system of the embedded stiffener tray of this application fixes the scale by the connecting protrusion provided at the bottom of the positioning base A, ensuring that the scale is fixed to the positioning connecting plate at the end, and ensuring the positioning accuracy of the stiffener positioned by the positioning block B at the end of the stiffener.

[0030] Thirteenth, in the molding loading and unloading system of the embedded rib plate tray of this application, the connecting block A is fixedly connected to the connecting groove A provided on the top of the positioning base A by the connecting bolt A. The bottom of the connecting groove A is provided with an arc-shaped noodle-shaped through groove A that matches the lower side wall of the rotating rod B. The bottom surface of the connecting block A is provided with an arc-shaped noodle-shaped through groove B that matches the upper side wall of the rotating rod B, thereby facilitating the disassembly, assembly and rotation connection of the connecting block A and the rotating rod B.

[0031] Fourteenth, the molding loading and unloading system of the embedded stiffener tray of this application has a stiffener middle limiting block A and a stiffener middle limiting block B respectively set on the top surface of the middle connecting rod corresponding to the stiffener end positioning block A and stiffener end positioning block B, thereby further avoiding the deformation of the middle of the positioned stiffener due to gravity, playing a corrective role for the stiffener, ensuring the accuracy of the position and posture of the stiffener after positioning, and further ensuring that the robotic arm gripper can accurately grasp the positioned stiffener.

[0032] Fifteenth, in the molding and unloading system of the embedded rib plate tray of this application, the middle limiting block A of the rib plate is directly formed by bending the middle connecting rod structure, thus eliminating the need for additional mechanisms. This ensures that the middle position of the middle connecting rod will not bend downward due to gravity, thus ensuring the accuracy of the middle connecting rod. Consequently, it ensures the positional accuracy of the middle limiting block A and the middle limiting block B of the rib plate, thereby guaranteeing the positioning effect of the rib plate.

[0033] Sixteenth, the molding loading and unloading system of the embedded stiffener tray of this application has a structure in the middle connecting rod that ensures that the middle connecting rod is lightweight and strong, and will not bend due to its own weight or the weight or force of other structures. This further ensures the accuracy of the middle connecting rod and the position accuracy of the middle limiting block A and the middle limiting block B of the stiffener, thus ensuring the positioning effect of the stiffener.

[0034] Seventeenth, the molding loading and unloading system of the embedded rib plate tray of this application, through the structural setting of the limiting block B in the middle of the rib plate, ensures the positioning effect of the corresponding rib plate, and also facilitates the reciprocating adjustment and movement of the limiting block B in the middle of the rib plate along the slide groove and the fixing after adjustment and movement.

[0035] Eighteenth, the molding loading and unloading system of the embedded rib plate tray of this application, through the limit strip A and limit strip B connecting the corresponding positioning rib plate with the latch tongue, further ensures the posture of the positioned rib plate and the fixing effect after positioning, and avoids the rib plate from shaking, swaying or swinging during the gripping process, which would cause the gripping of the rib plate to not meet the gripping requirements or even be unable to be gripped directly, thus ensuring the subsequent operation of the rib plate.

[0036] Nineteenth, the molding loading and unloading system of the embedded stiffener tray of this application has a structure in which the sliding units at both ends of the connecting base plate B are fixedly connected by a slider, thereby ensuring that the locking bolt can fix the sliding unit to the slide groove and ensure the positioning and fixing effect of the middle limiting block B of the stiffener relative to the slide groove.

[0037] Twentieth, the molding loading and unloading system of the embedded stiffener tray of this application, through the elastic deformation zone and raised vertical strip formed by the folding and snapping side plate, facilitates the force of the expansion sleeve on the elastic deformation zone, so that the elastic deformation zone amplifies the deformation of the expansion sleeve, thereby enabling the raised vertical strip to achieve more effective limiting and fixing with the side sliding groove wall, ensuring that the sliding unit can effectively take into account both the limiting and fixing efficiency and the limiting and fixing effect with the sliding groove.

[0038] Twenty-first, the molding loading and unloading system of the embedded stiffener tray of this application ensures the structural stability of the sliding unit by fixing the side plate and the connecting plate away from the vertical plate substrate, thereby ensuring the smooth guiding movement of the sliding unit and the slide groove, as well as the fixing effect of the sliding unit being limited and fixed between the slide groove.

[0039] 22. The molding loading and unloading system of the embedded stiffener tray of this application, through the bottom protrusion provided at the connection between the connecting base plate B and the upright base plate, not only ensures the connection effect between the connecting base plate B and the upright base plate, but also eliminates the connection stress generated when the connecting base plate B and the upright base plate are connected and the stress generated when under force, further ensuring the positioning accuracy of the middle part of the stiffener. Attached Figure Description

[0040] Figure 1 This is a top view of the present application.

[0041] Figure 2 This is a magnified 3D diagram showing the upward view when the clamp is placed horizontally.

[0042] Figure 3 Enlarged front sectional view of the preparation for clamping the stiffening plate.

[0043] Figure 4 This is an enlarged front view sectional diagram of the clamping plate when it is gripping the stiffening plate.

[0044] Figure 5 Enlarged front sectional view of the tray being prepared to pick up the molded tray product.

[0045] Figure 6 This is an enlarged front sectional view of the clamping tray when it picks up the finished product from the molded tray.

[0046] Figure 7 Enlarged front sectional view of the finished molded pallet being unloaded using a clamping plate.

[0047] Figure 8 This is an enlarged front sectional view of the clamping plate as it is about to complete the loading of the reinforcing plate.

[0048] Figure 9 This is a top-view enlarged schematic diagram of the stiffener positioning device.

[0049] Figure 10 This is an enlarged three-dimensional schematic diagram of the positioning block A at the end of the stiffener plate.

[0050] Figure 11 This is an enlarged three-dimensional schematic diagram of the positioning block B at the end of the stiffener plate.

[0051] Figure 12 This is an enlarged front sectional view of the position corresponding to the location of the middle limiting block A of the stiffener plate after the middle connecting rod is concealed (after the middle limiting block B of the stiffener plate is removed).

[0052] Figure 13 This is a top view of a partially enlarged cross-sectional diagram of the limiting block B in the middle of the stiffening plate.

[0053] Figure 14 This is a magnified front view sectional view of the limiting block B in the middle of the stiffening plate.

[0054] Figure 15 This is an enlarged side sectional view of the limiting block B in the middle of the stiffening plate.

[0055] Figure 16 This is a magnified side view of the limiting block B in the middle of the stiffening plate.

[0056] Figure 17 This is an enlarged front sectional view of the central connecting rod at the position of the limiting block A in the middle of the stiffener plate. Detailed Implementation

[0057] Combination Figure 1 , Figure 2 , Figures 9-17 It is known that the molding and unloading system of the embedded rib plate tray includes a molding machine 1 with an upper and lower opening and closing molding die. A robot arm 2 is provided on the unloading side of the molding machine 1. The connecting end of the robot arm is detachably fixedly connected to a robot arm chuck 3. Rib plate positioning frame 4 and finished product placement frame 5 are respectively provided on two opposite sides of the robot arm 2. The molding machine 1, rib plate positioning frame 4 and finished product placement frame 5 are all within the movement range of the robot arm chuck 3 connected to the robot arm. The rotation angle of the robot arm 2 between the molding machine 1 and the rib plate positioning frame 4 is equal to the rotation angle of the robot arm 2 between the molding machine 1 and the finished product placement frame 5.

[0058] The robotic gripper 3 includes a mounting plate 301 for fixing to the connecting end of the robotic arm 2. A connecting base frame 302 is fixed to one end face of the mounting plate 301. The plane of the connecting base frame 302 is parallel to the plane of the mounting plate 301. A connecting base plate A303 is also provided within the range of the connecting base frame 302, which moves between the mounting plate 301 and the connecting base frame 302 along the direction facing or away from the mounting plate 301. Three rows of negative pressure suction nozzles 306 are adjustablely fixed to the side of the connecting base frame 302 away from the mounting plate 301. The suction cup openings of the negative pressure suction nozzles 306 face away from the mounting plate 301. The end face of the connecting base plate A303 facing away from the mounting plate 301 is adjustablely fixed. The device is equipped with three rows of rib clamps 309. The position of the rib 6 clamped and fixed by each row of rib clamps 309 corresponds to the position of the rib 6 covered in the tray 7 sucked and fixed by the negative pressure suction nozzle 306. The connecting base plate A303 is connected to the mounting connecting plate 301 through a telescopic cylinder A305. When the telescopic cylinder A305 moves the connecting base plate A303 towards the mounting connecting plate 301 to the maximum stroke, the rib clamps 309 are located between the suction cup opening of the negative pressure suction nozzle 306 and the mounting connecting plate 301. When the telescopic cylinder A305 moves the connecting base plate A303 away from the mounting connecting plate 301 to the maximum stroke, the rib clamps 309 are located on the side of the suction cup opening of the negative pressure suction nozzle 306 away from the mounting connecting plate 301.

[0059] Each row of negative pressure suction nozzles 306 is fixedly connected to the longitudinal plate 307, and the two ends of the longitudinal plate 307 are fixedly connected to the corresponding side frame of the connecting base frame 302.

[0060] The connecting base frame 302 is connected to the edge of the longitudinal plate 307, which has a strip groove along the extension direction of the edge. The two ends of the longitudinal plate 307 are adjustablely fixedly connected to the connecting base frame 302 along the strip groove.

[0061] Each row of stiffener clamps 309 is connected to the side end face of the transverse plate 310 facing away from the mounting connecting plate 301, and the transverse plate 310 is connected to the connecting base plate A303.

[0062] The connecting base plate A303 has a plurality of strip guide rails A317 arranged parallel to the longitudinal plate 307 on the end face of the transverse plate 310. The end face of the transverse plate 310 facing the connecting base plate A303 is provided with matching track grooves A318 at the positions of the strip guide rails A317. The transverse plate 310 in the middle is fixedly connected to the connecting base plate A303, and the transverse plates 310 on both sides are slidably connected to the strip guide rails A317 of the connecting base plate A303 through the track grooves A318, and are synchronously and reversibly adjustable along the strip guide rails A317 and the connecting base plate A303. A further improvement of the present invention is that the end face of the transverse plate 310 of the connecting base plate A303 is rotatably connected to a rotating rod A314 parallel to the connecting base plate A303. The middle part of the rotating rod A314 is rotatably connected to the transverse plate 310 at the position corresponding to the middle transverse plate 310 through a fixedly connected connecting seat A315. The two sides of the rotating rod A314 on the middle transverse plate 310 are threaded rods A, and the transverse plates 310 on both sides are threadedly connected to the threaded rods A through the fixedly connected connecting seats A315. The rotation of the rotating rod A314 drives the transverse plates 310 on both sides to move towards each other or away from each other at the same speed.

[0063] One end of the rotating rod A314 is fixedly connected to a hand-cranked turntable A316.

[0064] The transverse plate 310 is provided with clamping cylinders 311 at the outer positions of each row of negative pressure suction nozzles 306. The rib clamps 309 are connected to the transverse plate 310 through the clamping cylinders 311. The clamping cylinders 311 control the rib clamps 309 to clamp or open.

[0065] The connecting base plate A303 has a transverse plate 310 at one end face located between two adjacent longitudinal plates 307, and also has longitudinal top plates 312 arranged parallel to the longitudinal plates 307. The longitudinal top plates 312 are connected to the corresponding positions of the transverse plates 310 via telescopic cylinders B313. The top of the longitudinal top plate 312 has a strip track B or track groove B along the length direction of the longitudinal top plate 312. The piston rod B end of the telescopic cylinder B313 has a connector that matches and connects to the strip track B or track groove B. The connector at the piston rod B end of the telescopic cylinder B313 of the transverse plate 310 in the middle is fixedly connected to the strip track B or track groove B. The connecting head strip rail B or rail groove B at the end of the piston rod B of the telescopic cylinder B313 of the transverse plates 310 on both sides is limited and fixed along the direction facing or away from the longitudinal top plate 312, and is slidably connected along the extension direction of the strip rail B or rail groove B; when the piston rod B retracts to the telescopic cylinder B313 to the maximum stroke, the end face of the longitudinal top plate 312 away from the connecting base plate A303 is located on the side of the rib clamp 309 facing the connecting base plate A303; when the piston rod B extends out of the telescopic cylinder B313 to the maximum stroke, the end face of the longitudinal top plate 312 away from the connecting base plate A303 is located on the side of the rib clamp 309 away from the connecting base plate A303.

[0066] The four corners of the connecting base frame 302 are fixedly connected to the corresponding positions of the mounting connecting plate 301 via connecting posts 304.

[0067] Multiple transverse support plates 308 are fixedly connected at equal intervals along the extension direction of the longitudinal plate 307 and are perpendicular to the longitudinal plate 307. Negative pressure suction nozzles 306 are fixedly connected to both ends of the transverse support plates 308 respectively.

[0068] The transverse support plates 308 are symmetrically distributed along the vertical line of the longitudinal plate 307, and each transverse support plate 308 is symmetrically distributed along the axis of the longitudinal plate 307. The negative pressure suction nozzles 306 fixed to each transverse support plate 308 are symmetrically distributed along the axis of the longitudinal plate 307.

[0069] The longitudinal top plates 312 are symmetrically arranged on both sides of the longitudinal plate 307 in the middle, and the stiffener clamps 309 are symmetrically arranged on both sides of the longitudinal plate 307 in the middle.

[0070] Multiple telescopic cylinders A305 are provided, and the four corners of the connecting base plate A303 are respectively connected to the ends of the telescopic rods A of the telescopic cylinders A305 at the corresponding positions.

[0071] The rib positioning frame 4 includes a horizontal base frame 401 with support frames 404 at its four corners. Each horizontal base frame 401 includes two parallel horizontal support rods 402, which are fixedly connected by multiple fixed connecting rods 403. Positioning connecting plates 406, adjustable and fixedly connected along the extension direction of each horizontal support rod 402, are respectively mounted across the top surface of each end of the horizontal support rod 402. Rib end positioning blocks A409 are symmetrically fixed to the center of the top surface of each positioning connecting plate 406. Rib end positioning blocks B410, adjustable and movable along the extension direction of the positioning connecting plate 406, are located on both sides of the rib end positioning blocks A409 on the top surface of the positioning connecting plate 406. A rotating rod B414 is rotatably connected to the top surface of the positioning connecting plate 406. Both ends of the rotating rod B414 are rotatably connected to the positioning connecting plate 406 via connecting seats B415. The middle of the rotating rod B414 is rotatably connected to the end positioning block A409 of the rib plate. The rotating rod B414 is a threaded rod B416 located between the end positioning block A409 of the rib plate and the connecting seat B415. The end positioning blocks B410 on both sides of the end positioning block A409 of the rib plate are simultaneously adjusted and moved in opposite directions at the same speed via the threaded rod B416. One end of the rotating rod B414 is driven to rotate by the driving device 417. The top surface of the positioning connecting plate 406 is also fixedly provided with a scale 425 for indicating the spacing of the reinforcing ribs placed on the end positioning blocks A409 and B410 of the rib plate, respectively. The scale 425 is arranged parallel to the rotating rod B414.

[0072] The top surface of the positioning connecting plate 406 is provided with a strip guide rail C424 or track groove C arranged parallel to the rotating rod B414, and the positioning block B410 at the end of the rib plate is slidably connected to the positioning connecting plate 406 through the strip guide rail C424 or track groove C.

[0073] The top surface of the positioning connecting plate 406 is provided with a strip guide rail C424 parallel to the rotating rod B414. The strip guide rail C424 passes through the groove A460 at the bottom of the rib end positioning block A409 and the groove B468 at the bottom of the rib end positioning block B410, respectively. The rib end positioning block B410 is slidably connected through the groove B468.

[0074] The rib plate end positioning block A409 includes an end positioning base A418, which is fixedly connected to a connecting block A419 for rotatably connecting with the rotating rod B414. The rib plate end positioning block B410 includes an end positioning base B420, which is fixedly connected to a connecting block B421 for threaded transmission with the threaded rod B416. The tops of the end positioning bases A4418 and the corresponding end positioning bases B420 of the two positioning connecting plates 406 are symmetrically fixed with end positioning blocks 422. The opposing side edges of the tops of the corresponding end positioning blocks 422 of the two positioning connecting plates 406 are respectively provided with end positioning grooves 450. The end positioning grooves 450 penetrate the top surface and the opposing side end surface of the end positioning blocks 422. The bottom of all end positioning grooves 450 are located on the same horizontal plane, and the side walls of the groove ends of the end positioning grooves 450 provided on the same positioning connecting plate 406 are located on the same vertical plane.

[0075] Two positioning connecting plates 406 have a connecting plate 423 fixedly installed on the opposite side end face of the end positioning base A4418 and the opposite side end face of the corresponding end positioning base B420. The top of the connecting plate 423 is provided with a limiting groove 451 that penetrates the connecting plate 423 and faces away from the end face of the connected end positioning block 422 at the position corresponding to the positioning groove 450. The width of the limiting groove 451 matches the thickness of the positioning rib plate, and the height of the bottom of the limiting groove 451 is lower than or equal to the height of the bottom of the positioning groove 450.

[0076] The top of the connecting plate 423 is detachably fixedly connected to a limiting plate 453, which is a hard rubber plate, a hard silicone plate, or a hard plastic plate, and the limiting through groove 451 is provided on the top of the limiting plate 453.

[0077] The top of the connecting plate 423 is provided with a fixing groove B454, and the limiting plate 453 is detachably fixedly connected to the connecting plate 423 through the fixing groove B454.

[0078] The projection of the connecting plate 423 onto the positioning connecting plate 406 is within the range of the scale 425. The bottom of the connecting plate 423 of the rib end positioning block B410, corresponding to the bottom of the limiting through groove 451, is provided with a pointer 462 for reading the scale 425.

[0079] The bottom of the opposite end face of the end positioning base A418 is provided with a connecting protrusion 452. The connecting protrusion 452 extends above the scale 425. The connecting protrusion 452 fixes the scale 425 to the positioning connecting plate 406 by connecting bolt D459.

[0080] The bottom edge of the opposite end face of the end positioning base A418 is provided with a notch A461. The top surface of the notch A461 is flush with the bottom surface of the connecting protrusion 452 and fits against the top surface of the scale 425. The side wall of the notch A461 is in contact with the corresponding side of the scale 425.

[0081] The positioning base B420 has a notch B69 at the bottom edge of the opposite end face. The top surface of the notch B69 is in contact with the top surface of the scale 425, and the side wall of the notch B69 is in contact with the corresponding side of the scale 425.

[0082] The connecting plate 423 is fixedly connected to the opposite end faces of the corresponding end positioning base A418 by connecting bolt C458, or fixedly connected to the opposite end faces of the corresponding end positioning base B420 by connecting bolt G467.

[0083] The connecting plate 423 is fixedly connected to the end positioning block 422 fixed to the end positioning base A418 by connecting bolt C458, or fixedly connected to the end positioning block 422 fixed to the positioning base B420 by connecting bolt G467.

[0084] The end positioning block 422 is fixedly connected to the end positioning base A418 by connecting bolt B457, or fixedly connected to the positioning base B420 by connecting bolt F466.

[0085] The top of the end positioning base A418 and the top of the positioning base B420 are respectively provided with fixing grooves A449. The fixing grooves A449 of the end positioning base A418 pass through the opposite end faces of the end positioning base A418, and the fixing grooves A449 of the positioning base B420 pass through the opposite end faces of the positioning base B420. The end positioning blocks 422 are fixedly connected to the fixing grooves A449 by connecting bolts B457.

[0086] The connecting block A419 is fixedly connected to the connecting groove A455 on the top of the end positioning base A418 by connecting bolt A456. The bottom of the connecting groove A455 is provided with an arc-shaped noodle-shaped through groove A that matches the lower side wall of the rotating rod B414. The bottom surface of the connecting block A419 is provided with an arc-shaped noodle-shaped through groove B that matches the upper side wall of the rotating rod B414. When the connecting block A419 is fixedly connected to the connecting groove A455, the arc-shaped noodle-shaped through groove B is located directly above the arc-shaped noodle-shaped through groove A.

[0087] The connecting bolt A456 simultaneously fixes the connecting block A419 and the end positioning base A418 to the corresponding positioning connecting plate 406.

[0088] The connecting block B421 is fixedly connected to the top surface of the connecting boss 463 located in the middle of the end face of the positioning base B420 on the side opposite to the connecting plate 423 by connecting bolt E465. The connecting block B421 is provided with a matching threaded hole A through the threaded rod B416.

[0089] The top surface of the connecting boss 463 is lower than the top surface of the connecting block B421, and the top surface of the connecting boss 463 and the side wall end face of the connecting block B421 where the connecting boss 463 is located form a connecting groove B64.

[0090] The drive device 417 includes a hand-cranked turntable B or a drive motor.

[0091] The drive motor is synchronously and at the same speed connected to the rotating rod B414 of the two positioning connecting plates 406.

[0092] A central connecting rod 405 is fixedly connected between the horizontal support rods 402 and between the two positioning connecting plates 406. The central connecting rod 405 is arranged parallel to the rotating rod B414. The top surface of the central connecting rod 405 is provided with matching rib plate central limiting blocks A407 and B408 corresponding to the rib plate end positioning blocks A409 and B410, respectively. The rib plate central limiting block A407 is fixed to the central connecting rod 405. The rib plate central limiting block B408 is adjustablely fixed to the central connecting rod 405. The rib plate central limiting block A407, which is limited and connected to the rib plate end positioning blocks A409 at both ends, is connected to the rib plate central limiting block A407. The rib plate central limiting block B408, which is limited and connected to the rib plate end positioning blocks B410 at both ends, is connected to the rib plate central limiting block B408.

[0093] The cross-section of the central connecting rod 405 is a "U" shaped groove. The top edges of the two sides of the "U" shaped groove are symmetrically folded inward to the horizontal and then folded downward, thereby forming a slide rail top plate 412 and a slide groove wall 432 symmetrically arranged on both sides. A slide groove 413 is formed between the slide groove walls 432. The middle limiting block B408 of the stiffener plate is adjustablely fixedly connected to the slide groove 413.

[0094] The middle limiting block A407 of the rib plate includes a limiting groove A located on the outer side of the groove edge at the middle position of the middle connecting rod 405. The bottom plate A429 of the limiting groove A is horizontally fixed to the groove edge on the side where the middle connecting rod 405 is located. The groove wall plate A430 of the limiting groove A is vertically connected to the two sides of the top surface of the bottom plate A429. The spacing between the groove wall plates A430 is greater than or equal to the thickness of the limiting rib plate. The top surface of the bottom plate A429 is flush with the bottom of the limiting rib plate and is higher than the top surface of the slide rail top plate 412.

[0095] The top edge of the groove wall plate A430 is folded inward to form a limiting strip A431, which is engaged and connected to the two opposite end faces of the limiting rib plate.

[0096] The middle limiting block B408 of the rib plate includes a slider that matches the slide groove 413. The top of the slider is provided with groove wall plates B435 arranged in parallel on the outer side of the slide groove wall 432 at the middle position of the edge of the slide groove wall 432. The groove wall plates B435 form a limiting gap A437 between them. The spacing of the limiting gaps A437 is greater than or equal to the thickness of the limiting rib plate. The groove wall plates B435 are perpendicular to the middle connecting rod 405. The bottom of the groove wall plate B435 facing the slide groove 413 is fixedly connected to the corresponding side of the top of the slider. The slider can be adjusted and fixed in the slide groove 413 along the extension direction of the slide groove 413.

[0097] The top edge of the groove wall plate B435 is folded inward to form a limiting strip B436, which is engaged and connected to the two opposite end faces of the limiting rib plate.

[0098] The slider includes sliding units 433 symmetrically fixedly connected to both ends of the connecting base plate B439. Each sliding unit 433 includes a vertical plate base plate 434 fixedly connected to the connecting base plate B439. The two sides of the vertical plate base plate 434, facing away from the connecting base plate B439, are symmetrically provided with snap-fit ​​side plates 438 that can be snapped into the sliding groove wall 432 on their respective sides. One side of the top edge of the vertical plate base plate 434 is provided with a connecting plate 440 whose direction is fixedly connected to the snap-fit ​​side plate 438. The snap-fit ​​side plate 438 and the sliding groove wall 432 on their respective sides... Parallel to the side chute wall 432, the bottom surface of the middle part of the connecting plate 440 is vertically fixedly connected to the expansion sleeve 441. The top surface of the connecting plate 440 is coaxially provided with a rod hole 442 for passing through the connecting rod at the top opening position of the expansion sleeve 441. The top edge of the upright plate base 434 extends upward to the groove opening of the chute 413, and the top edge of the upright plate base 434 facing the chute wall 432 on the same side extends outward to be fixedly connected to the bottom edge of the groove wall plate B435 at the same end. When the upright rod passes through the rod hole 442 and is connected to the expansion sleeve 441, the upright rod pushes the expansion sleeve 441 outward, and the expansion sleeve 441 expands radially outward to press the snap-fit ​​side plate 438 to be clamped and fixed with the sliding groove wall 432 on the side where it is located. When the upright pole leaves the expansion sleeve 441, the restoring force of the snap-fit ​​side plate 438 restores the expansion sleeve 441 to its initial position, and the friction between it and the sliding groove wall 432 on the same side is lost.

[0099] The rod body is a tightening bolt B, and the inner wall of the expansion sleeve 41 is provided with an internal thread that matches the tightening bolt B.

[0100] The top edge of the upright plate base plate 434 extends outward to form a connecting strip 47 facing the slide wall 432 on the same side. The bottom edge of the connecting strip 47 is in contact with the top surface of the slide rail top plate 412, and the end of the connecting strip 47 extends to the end of the slide wall plate B435 away from the slider. The bottom of the slide wall plate B435 is fixedly connected to the top of the connecting strip 47 as a whole.

[0101] The snap-fit ​​side plate 438, corresponding to the position of the expansion sleeve 441, folds towards the side where the expansion sleeve 441 is located to form an elastic deformation zone 443. The side of the elastic deformation zone 443 away from the vertical plate base 434 folds towards the side facing the slide wall 432 to form a raised strip 444. The minimum distance between the raised strip 444 and the slide wall 432 on the side is equal to the distance between the snap-fit ​​side plate 438 and the slide wall 432 on the side. The edges of the snap-fit ​​side plate 438 away from the vertical plate base 434 are folded towards each other to form a connecting flange A445. The edge of the connecting plate 440 away from the vertical plate base 434 is folded downward to form a connecting flange B446. The two ends of the connecting flange B446 are fixedly connected to the connecting flange A445.

[0102] The bottom edge of the snap-fit ​​side plate 438 is flush with the bottom edge of the slide wall 432.

[0103] The bottom opening height of the expansion sleeve 441 is higher than or equal to the bottom edge height of the snap-fit ​​side plate 438.

[0104] The end edge of the connecting substrate B439 connected to the upright substrate 434 is fixedly connected to the bottom edge of the upright substrate 434 at the same end via a bottom protrusion 448, and the bottom protrusion 448 is arranged parallel to the upright substrate 434.

[0105] When the slider is connected to the groove 413, the bottom edge of the bottom protrusion 448 contacts the bottom of the groove in the "U" shaped groove of the middle connecting rod 405.

[0106] The bottom protrusion 448 is a curved structure formed by folding the corresponding edge of the connecting substrate B439 to the vertical substrate 434 downward and then upward.

[0107] The connecting substrate B439 and the upright substrate 434 are integrated through the bottom protrusion 448.

[0108] The horizontal support rod 402 has a strip guide rail D or track groove D at the middle of its top surface along the extension direction of the horizontal support rod 402. The two ends of the top surface of the positioning connecting plate 406 are respectively threaded with tightening bolts A411 at the positions corresponding to the strip guide rail D or track groove D.

[0109] The rib positioning frame 4 is equipped with a signal switch 427 for controlling the robotic arm 2 and the robotic arm gripper 3 to grasp the rib 6 positioned on the rib positioning frame 4. The rib positioning frame 4 is also equipped with a warning light 428, which is electrically connected to the signal switch 427. The rib positioning frame 4 is also equipped with positioning sensors at the positions where the rib 6 is positioned to identify whether the rib 6 is positioned.

[0110] One side of the horizontal base frame 401 is also provided with a signal switch 427 for controlling the robotic arm gripper to grasp the reinforcing plate 6.

[0111] A warning light 428 is also provided on one side of the horizontal base frame 1, and the warning light 428 is electrically connected to the signal switch 427.

[0112] The bottom of the U-shaped groove in the middle connecting rod 405 corresponds to the position of the middle limiting block A407 of the rib plate. Sensor A is fixed therefor identifying the inner rib plate 6 of the limiting groove A. Sensor B is fixed on the top surface of the connecting base plate B439 for identifying the inner rib plate 6 of the limiting gap A437. Sensor A and sensor B are electrically connected to the warning light 428 and the signal switch 427, respectively.

[0113] Combination Figures 1-17 It is understood that when this application is used, the positions of the longitudinal plates 307 on both sides relative to the connecting base frame 302 and the position of the negative pressure suction nozzle 306 relative to the longitudinal plates 307 are adjusted and fixed according to the size and structure of the tray 7 to be molded, and the positions of the transverse plates 310 on both sides relative to the middle transverse plate 310 are adjusted and fixed.

[0114] Based on the dimensions and structure of pallet 7, select a rib plate 6 of the corresponding size. Then, based on the dimensions of the rib plate 6, select appropriate end positioning blocks 422 and limiting uprights 453, respectively, and fix them to end positioning bases A418 and B420, so that the end positioning groove 450 of the appropriate end positioning block 422 and the limiting through groove 451 of the limiting upright 453 match the end of the rib plate 6. Next, loosen the tightening bolts A411 and B, and then move along the horizontal support rod 402. The position of the symmetrically adjusted positioning connecting plate 406 relative to the middle connecting rod 405 is such that the distance between the end positioning grooves 450 of the corresponding stiffener end positioning blocks A409 on the positioning connecting plates 406 on both sides of the middle connecting rod 405 and the distance between the end positioning grooves 450 of the corresponding stiffener end positioning blocks B410 are respectively matched with the length of the stiffener 6; then the tightening bolts A411 are tightened to fix the positioning connecting plate 406 to the horizontal support rod 402.

[0115] Based on the dimensions and structure of the pallet 7, the positions to be embedded in the reinforcing plates 6 on both sides of the pallet 7 are determined. Then, the distance between the end positioning block B410 of the reinforcing plate and the end positioning block A409 of the reinforcing plate is adjusted by the drive device 417, so that the distance between the end positioning groove 450 of the end positioning block B410 and the end positioning groove 450 of the end positioning block A409 is equal to the distance between adjacent reinforcing plates 6. Then, the middle limit of the reinforcing plate is adjusted along the sliding groove 413 of the middle connecting rod 405. The position of block B408 is adjusted so that the limiting gap A437 of the middle limiting block B408 of the stiffener plate is approximately matched with the position of the end positioning groove 450 of the corresponding end positioning block B410 of the stiffener plate; then the bottom edges of both ends of the stiffener plate 6 are placed at the top opening of the end positioning groove 450 of the end positioning block B410 of the two positioning connecting plates 406; then the middle limiting block B408 of the stiffener plate between the two end positioning blocks B410 is precisely adjusted and moved to the stiffener plate. The limiting gap A437 of the middle limiting block B408 matches the bottom edge of the stiffening plate placed in the end positioning groove 450 at both ends, and the middle limiting block B408 of the stiffening plate is fixed to the sliding groove 413 of the middle connecting rod 405 by tightening the tightening bolt B; then the stiffening plate 6 is pressed down and fixed in the end positioning groove 450 of the end positioning block B410 of the stiffening plate and in the corresponding limiting gap A437 of the middle limiting block B408 of the stiffening plate. At this time, the two sides of the end of the stiffening plate 6 are locked by the limiting through groove 451. The stiffener 6 is fixed by the limiting strips B436 provided on the groove wall plates B435 on both sides of the limiting gap A437 on both sides of the middle part of the stiffener 6; in addition, the stiffener 6 is pressed down and fixed in the end positioning groove 450 of the end positioning block A409 of the stiffener 6 and the limiting groove A of the corresponding middle limiting block A407 of the stiffener 6. At this time, the two ends of the stiffener 6 are fixed by the limiting through groove 451, and the two sides of the middle part of the stiffener 6 are fixed by the limiting strips A431 provided on the groove wall plates A430 on both sides of the limiting groove A. Before all stiffening plates 6 are positioned, the warning light 428 indicates that the robotic gripper 3 is not ready to grasp the stiffening plates 6. After all stiffening plates 6 are positioned, the warning light 428 indicates that the robotic gripper 3 is ready to grasp the stiffening plates 6. Then, the signal switch 427 is operated to send a signal to the robotic gripper 3 to simultaneously grasp all stiffening plates 6 on the horizontal base frame 1. The robotic gripper 3 then proceeds normally to grasp all stiffening plates 6 on the horizontal base frame 1. Throughout the entire process of gripping and transferring the rib plate 6 to the molding machine 1 to complete the placement of the rib plate 6 and returning to the starting position, the warning light 428 displays a normal gripping operation indicator light; from the time the robotic arm chuck 319 returns to the starting position until all the rib plates 6 on the horizontal base frame 1 are positioned and placed, the warning light 428 again displays a warning light indicating that the robotic arm chuck 3 is not ready to perform the rib plate 6 gripping action; when a problem occurs during the operation of the robotic arm chuck 3, the warning light 428 displays an alarm indicator light.

[0116] When it is necessary to adjust to position another stiffener 6 for a pallet 7 of another size, first replace it with an end positioning block 422 and a limiting plate 453 that match the other stiffener 6; then loosen the tightening bolt A411, and adjust the position of the positioning connecting plate 406 relative to the middle connecting rod 405 symmetrically along the horizontal support rod 402, so that the distance between the end positioning grooves 450 of the corresponding stiffener end positioning blocks A409 on the positioning connecting plates 406 on both sides of the middle connecting rod 405 and the distance between the end positioning grooves 450 of the corresponding stiffener end positioning blocks B410 are respectively matched with the length of the other stiffener 6; then tighten the tightening bolt A411 to fix the positioning connecting plate 406 to the horizontal support rod 402; by pressing the other stiffener 6 downwards and fixing it in the end positioning groove 450 of the stiffener end positioning block B410 and the limiting gap A437 of the corresponding stiffener middle limiting block B408. And the end positioning groove 450 of the end positioning block A409 of the rib plate and the limiting groove A of the corresponding middle limiting block A407 of the rib plate are fixed in the rib plate end positioning block; then loosen the tightening bolt B respectively, and then determine the pre-embedded position of the other rib plate 6 on both sides of the other pallet 7 according to the size and structure of the other pallet 7. Then, adjust the distance between the end positioning block B410 of the rib plate end positioning block and the end positioning groove 450 of the rib plate end positioning block B410 and the end positioning groove 450 of the rib plate end positioning block A409 respectively through the drive device 417, so that the distance between the end positioning groove 450 of the rib plate end positioning block B410 and the end positioning groove 450 of the rib plate end positioning block A409 is equal to the distance between the adjacent rib plates 6. At this time, the movement of the rib plate end positioning block B410 will drive the fixed other rib plate 6 and the corresponding middle limiting block B408 of the rib plate 6 to move together to the corresponding position. Then tighten the tightening bolt B and then operate the signal switch 427 to send a signal to the robotic arm chuck 3 to simultaneously grab all the rib plates 6 on the horizontal base frame 1.

[0117] For some special pallets 7, the aforementioned stiffener positioning frame 4 can be used to position only one or two stiffeners 6, thereby gripping the positioned stiffeners 6.

[0118] Then, the mounting connection plate 301 of the robotic arm gripper 3 is connected and fixed to the connecting end of the robotic arm 2, and the motion parameters of the robotic arm 2 are set according to the position of the rib plate 6 of the rib plate positioning frame 4, the position of the pallet molding die of the molding machine 1, and the position of the finished product placement rack 5 of the pallet 7.

[0119] After the ribs 6 on the rib positioning frame 4 are positioned, the robot arm 2 first moves the mounting connecting plate 301 to the position of the rib positioning frame 4. Then, the robot arm 2 moves the mounting connecting plate 301, along with the rib clamp 309, to the corresponding position directly above the ribs 6 on the rib positioning frame 4, and makes the negative pressure suction nozzle 306 and the rib clamp 309 face downwards. Then, all the clamping cylinders 311 control the rib clamp 309 to open, so that the opening of the rib clamp 309 on each transverse plate 310 is respectively located directly above each rib 6 positioned on the rib positioning frame 4. Then, the telescopic cylinder A305 extends and retracts. When rod A extends to its maximum stroke, the stiffeners 6 positioned by the stiffener positioning frame 4 are respectively located in the openings of the stiffener clamps 309 provided on the corresponding transverse plates 310. Then, all clamping cylinders 311 simultaneously control the stiffener clamps 309 to close, so that the stiffener clamps 309 are clamped and fixed at the corresponding positions of the corresponding stiffeners 6. Then, the telescopic rod A of the telescopic cylinder A305 retracts to its maximum stroke, so that the stiffener clamps 309 drive the clamped stiffeners 6 to separate upward from the stiffener positioning frame 4. At this time, the bottom of the stiffeners 6 clamped by the stiffener clamps 309 is located above the suction cup opening of the negative pressure suction nozzle 306.

[0120] After the molding die of the molding machine 1 is opened, if there is a completed molding tray 7 inside the molding die, the robot arm 2 moves the mounting connecting plate 301 to directly above the molding die, and uses the negative pressure generated by the negative pressure suction nozzle 306 to suck and fix the completed molding tray 7 inside the molding die; then, the mounting connecting plate 301 is moved directly above the corresponding position of the tray 7 on the finished product placement rack 5, and the bottom of the tray 7 contacts the finished product placement rack 5. The negative pressure is then removed by the negative pressure suction nozzle 306, causing the tray 7, which was originally sucked and fixed to the negative pressure suction nozzle 306, to separate from the negative pressure suction nozzle 306 and be placed on the finished product placement rack 5; then, the mounting connecting plate 301 is moved directly above the molding die. At this time, the rib clamp 309 drives the clamped rib 6 to correspond to the rib placement groove inside the molding die. Directly above, the telescopic rod A of the telescopic cylinder A305 extends to its maximum stroke, causing the rib clamp 309 to move the clamped rib 6 downwards until the bottom edge of the rib 6 is inserted into the upper part of the rib placement groove of the molding die. Then, the clamping cylinder 311 simultaneously controls the rib clamp 309 to open, and the telescopic rod B of the telescopic cylinder B313 extends to its maximum stroke, causing the rib 6, which is separated from the rib clamp 309, to be inserted downwards into the rib placement groove until the bottom of the rib 6 is in complete contact with the bottom of the rib placement groove. During this process, the rib 6 of the rib positioning frame 4 has been repositioned. Repeating the previous steps, the robot arm 2 moves the mounting connecting plate 301 to the position of the rib positioning frame 4 again, ready to clamp the repositioned rib 6, and the molding die closes to perform molding of the tray 7.

[0121] After the molding die of the molding machine 1 is opened, if there is no tray 7 inside the molding die, the robot arm 2 will move the mounting connecting plate 301 to directly above the molding die. At this time, the rib clamp 309 will move the clamped rib 6 to be positioned directly above the rib placement groove inside the molding die. Then, the telescopic rod A of the telescopic cylinder A305 will extend to its maximum stroke, so that the rib clamp 309 will move the clamped rib 6 downwards until the bottom edge of the rib 6 is inserted into the upper part of the rib placement groove of the molding die. Then, the clamping cylinder 311 will simultaneously control... The stiffener clamp 309 opens, and the telescopic rod B of the telescopic cylinder B313 extends to its maximum stroke, so that the stiffener 6, which is separated from the stiffener clamp 309, is inserted downward into the stiffener placement groove until the bottom of the stiffener 6 is in complete contact with the bottom of the groove. During this process, the stiffener 6 of the stiffener positioning frame 4 has been repositioned. Repeating the previous steps, the robot arm 2 moves the mounting connecting plate 301 to the position of the stiffener positioning frame 4 again, ready to clamp the repositioned stiffener 6 again, and the molding die closes to perform molding of the tray 7.

Claims

1. A molding loading and unloading system for an embedded stiffener tray, characterized in that: A molding press (1) includes an upper and lower opening and closing molding die. A robot arm (2) is provided on the loading and unloading side of the molding press (1). A robot arm chuck (3) is detachably fixed to the connecting end of the robot arm. A rib plate positioning frame (4) and a finished product placement frame (5) are respectively provided on the two opposite sides of the robot arm (2). The molding press (1), the rib plate positioning frame (4) and the finished product placement frame (5) are all within the movement range of the robot arm chuck (3) connected to the robot arm. The rotation angle of the robot arm (2) between the molding press (1) and the rib plate positioning frame (4) is equal to the rotation angle of the robot arm (2) between the molding press (1) and the finished product placement frame (5).

2. The molding and unloading system for the embedded stiffener tray as described in claim 1, characterized in that: The robotic gripper chuck (3) includes a mounting plate (301) for fixing to the connecting end of the robotic arm (2). A connecting base frame (302) is fixed to one end face of the mounting plate (301). The plane of the connecting base frame (302) is parallel to the plane of the mounting plate (301). A connecting base A (303) is also provided within the range of the connecting base frame (302) and moves between the mounting plate (301) and the connecting base frame (302) along the direction facing or away from the mounting plate (301). Three rows of negative pressure suction nozzles (306) are adjustablely fixed to the side of the connecting base frame (302) away from the mounting plate (301). The suction cup openings of the negative pressure suction nozzles (306) face away from the mounting plate (301). The end face of the connecting base A (303) facing away from the mounting plate (301) is adjustablely fixed to... There are three rows of rib clamps (309). The position of the rib (6) clamped and fixed by each row of rib clamps (309) corresponds to the position of the rib (6) covered in the tray (7) sucked and fixed by the negative pressure suction nozzle (306). The connecting base plate A (303) is connected to the mounting connecting plate (301) through the telescopic cylinder A (305). When the telescopic cylinder A (305) moves the connecting base plate A (303) towards the mounting connecting plate (301) to the maximum stroke, the rib clamp (309) is located between the suction cup opening of the negative pressure suction nozzle (306) and the mounting connecting plate (301). When the telescopic cylinder A (305) moves the connecting base plate A (303) away from the mounting connecting plate (301) to the maximum stroke, the rib clamp (309) is located on the side of the suction cup opening of the negative pressure suction nozzle (306) away from the mounting connecting plate (301).

3. The molding and unloading system for the embedded stiffener tray as described in claim 2, characterized in that: Each row of negative pressure suction nozzles (306) is fixedly connected to the longitudinal plate (307), and the two ends of the longitudinal plate (307) are fixedly connected to the corresponding side frame of the connecting base frame (302); The connecting base frame (302) is connected to the edge of the longitudinal plate (307), which is provided with a strip groove along the extension direction of the edge. The two ends of the longitudinal plate (307) are adjustablely fixedly connected to the connecting base frame (302) along the strip groove. Each row of stiffener clamps (309) is connected to the side face of the transverse plate (310) facing away from the mounting connecting plate (301), and the transverse plate (310) is connected to the connecting base plate A (303).

4. The molding and unloading system for the embedded stiffener tray as described in claim 3, characterized in that: The connecting base plate A (303) has a plurality of strip rails A (317) arranged parallel to the longitudinal plate (307) on the end face of the transverse plate (310). The end face of the transverse plate (310) facing the connecting base plate A (303) is provided with matching track grooves A (318) at the positions of the strip rails A (317). The transverse plate (310) in the middle is fixedly connected to the connecting base plate A (303), and the transverse plates (310) on both sides are slidably connected to the strip rails A (317) of the connecting base plate A (303) through the track grooves A (318), and are synchronously and in reverse adjustablely connected to the connecting base plate A (303) along the strip rails A (317).

5. The molding and unloading system for the embedded stiffener tray as described in claim 3, characterized in that: The connecting base plate A (303) has a transverse plate (310) with its end face located between two adjacent longitudinal plates (307), and also has a longitudinal top plate (312) arranged parallel to the longitudinal plates (307). The longitudinal top plates (312) are connected to the corresponding positions of the transverse plates (310) through telescopic cylinders B (313). The top of the longitudinal top plate (312) has a strip track B or track groove B along the length direction of the longitudinal top plate (312). The piston rod B end of the telescopic cylinder B (313) has a connector that matches and connects to the strip track B or track groove B. The connector at the end of the piston rod B of the telescopic cylinder B (313) of the transverse plate (310) in the middle is fixedly connected to the strip track B or track groove B. The connecting head strip rail B or rail groove B at the end of the piston rod B of the telescopic cylinder B (313) of the transverse plates (310) on both sides is limited and fixed along the direction facing or away from the longitudinal top plate (312), and is slidably connected along the extension direction of the strip rail B or rail groove B; when the piston rod B retracts to the telescopic cylinder B (313) to the maximum stroke, the end face of the longitudinal top plate (312) facing away from the connecting base plate A (303) is located on the side of the rib clamp (309) facing the connecting base plate A (303); when the piston rod B extends out of the telescopic cylinder B (313) to the maximum stroke, the end face of the longitudinal top plate (312) facing away from the connecting base plate A (303) is located on the side of the rib clamp (309) facing away from the connecting base plate A (303).

6. The molding and unloading system for the embedded stiffener tray as described in claim 1, characterized in that: The rib positioning frame (4) includes a horizontal base frame (401) with support frames (404) at the four corners of the bottom. The horizontal base frame (401) includes two parallel horizontal support rods (402). The horizontal support rods (402) are fixedly connected by multiple fixed connecting rods (403). The top surface of each end of the horizontal support rod (402) is also provided with a positioning connecting plate (406) that can be adjusted and fixedly connected along the extension direction of the horizontal support rod (402). Rib end positioning blocks A (409) are symmetrically fixed in the middle of the top surface of the positioning connecting plate (406). Rib end positioning blocks B (410) are located on both sides of the top surface of the positioning connecting plate (406) and can be adjusted and moved along the extension direction of the positioning connecting plate (406). A rotating rod B (414) is rotatably connected to the top surface of the positioning connecting plate (406). The two ends of the rotating rod B (414) are rotatably connected to the positioning connecting plate (406) through the connecting seat B (415). The middle of the rotating rod B (414) is rotatably connected to the end positioning block A (409) of the rib plate. The rotating rod B (414) is located between the end positioning block A (409) of the rib plate and the connecting seat B (415) as a threaded rod B (416). The end positioning blocks B (410) of the rib plate on both sides of the end positioning block A (409) of the rib plate move in opposite directions at the same speed through the threaded rod B (416). One end of the rotating rod B (414) is driven to rotate by the driving device (417). The top surface of the positioning connecting plate (406) is also fixed with a scale (425) for indicating the spacing of the reinforcing ribs placed on the end positioning blocks A (409) and B (410) of the rib plate respectively. The scale (425) is set parallel to the rotating rod B (414).

7. The molding and unloading system for the embedded stiffener tray as described in claim 6, characterized in that: The rib end positioning block A (409) includes an end positioning base A (418), which is fixedly connected to a connecting block A (419) for rotatably connecting with the rotating rod B (414). The rib end positioning block B (410) includes an end positioning base B (420), which is fixedly connected to a connecting block B (421) for threaded transmission with the threaded rod B (416). The top of the end positioning base A (418) of the two positioning connecting plates (406) and the corresponding The top of the end positioning base B (420) is symmetrically fixed with end positioning blocks (422). The opposing side edges of the top of the end positioning blocks (422) of the two positioning connecting plates (406) are respectively provided with end positioning grooves (450). The end positioning grooves (450) penetrate the top surface and the opposing side end surface of the end positioning blocks (422). The bottom of all end positioning grooves (450) are located on the same horizontal plane, and the side walls of the end positioning grooves (450) provided on the same positioning connecting plate (406) are located on the same vertical plane.

8. The molding and unloading system for the embedded stiffener tray as described in claim 6, characterized in that: A central connecting rod (405) is fixedly connected between the horizontal support rods (402) and between the two positioning connecting plates (406). The central connecting rod (405) is arranged parallel to the rotating rod B (414). The top surface of the central connecting rod (405) is provided with matching central limiting blocks A (407) and B (408) of the rib plate, corresponding to the end positioning blocks A (409) and B (410) of the rib plate, respectively. 8) The middle limiting block A (407) of the rib plate is fixed to the middle connecting rod (405), the middle limiting block B (408) of the rib plate is adjustablely fixed to the middle connecting rod (405), the middle limiting block of the rib plate connected to the end positioning block A (409) of the rib plate at both ends is connected to the middle limiting block A (407), and the middle limiting block of the rib plate connected to the end positioning block B (410) of the rib plate at both ends is connected to the middle limiting block B (408). The cross-section of the central connecting rod (405) is a "U" shaped groove. The top edges of the two sides of the "U" shaped groove are symmetrically folded inward to the horizontal and then folded downward, thereby forming a slide rail top plate (412) and a slide groove wall (432) symmetrically arranged on both sides. A slide groove (413) is formed between the slide groove walls (432). The middle limiting block B (408) of the stiffener plate is adjustablely fixedly connected to the slide groove (413).

9. The molding and unloading system for the embedded stiffener tray as described in claim 8, characterized in that: The middle limiting block A (407) of the rib plate includes a limiting groove A located on the outer side of the groove edge at the middle position of the middle connecting rod (405). The bottom plate A (429) of the limiting groove A is horizontally fixed to the groove edge on the side where the middle connecting rod (405) is located. The groove wall plate A (430) of the limiting groove A is vertically connected to the two sides of the top surface of the bottom plate A (429). The spacing between the groove wall plates A (430) is greater than or equal to the thickness of the limiting rib plate. The top surface of the bottom plate A (429) is flush with the bottom of the limiting rib plate and is higher than the top surface of the slide rail top plate (412). The middle limiting block B (408) of the rib plate includes a slider that matches the slide groove (413). The top of the slider is provided with parallel groove wall plates B (435) at the middle position of the edge of the slide groove wall (432) on the side of the slide groove wall (432). A limiting gap A (437) is formed between the groove wall plates B (435). The spacing between the limiting gaps A (437) is greater than or equal to the thickness of the limiting rib plate. The groove wall plates B (435) are perpendicular to the middle connecting rod (405). The bottom of the groove wall plate B (435) facing the slide groove (413) is fixedly connected to the corresponding side of the top of the slider. The slider can be adjusted and fixed in the slide groove (413) along the extension direction of the slide groove (413). The slider includes sliding units (433) symmetrically fixedly connected to both ends of the connecting base plate B (439). Each sliding unit (433) includes a vertical plate base plate (434) fixedly connected to the connecting base plate B (439). The two sides of the vertical plate base plate (434) facing away from the connecting base plate B (439) are symmetrically provided with snap-fit ​​side plates (438) that can be snapped into the sliding groove wall (432) on the corresponding side. One side of the top edge of the vertical plate base plate (434) is provided with a connecting plate (440) that is fixedly connected to the snap-fit ​​side plate (438). Parallel to the chute wall (432) on the side, the bottom surface of the middle part of the connecting plate (440) is vertically fixedly connected to an expansion sleeve (441). The top surface of the connecting plate (440) is coaxially provided with a rod hole (442) for passing through the connecting rod at the top opening position of the expansion sleeve (441). The top edge of the upright plate base (434) extends upward to the groove opening of the chute (413), and the top edge of the upright plate base (434) facing the chute wall (432) on the side extends outward to be fixedly connected to the bottom edge of the groove wall plate B (435) at the end. When the upright rod passes through the rod hole (442) and is connected to the expansion sleeve (441), the upright rod pushes the expansion sleeve (441) outward, and the expansion sleeve (441) expands radially outward to press the snap-fit ​​side plate (438) to be clamped and fixed with the sliding groove wall (432) on the side where it is located. When the upright rod leaves the expansion sleeve (441), the restoring force of the snap-fit ​​side plate (438) restores the expansion sleeve (441) to the starting position and loses friction with the groove wall (432) on the side where it is located.

10. The molding and unloading system for the embedded stiffener tray as described in claim 6, characterized in that: The top surface of the horizontal support rod (402) is provided with a strip guide rail D or a track groove D along the extension direction of the horizontal support rod (402). The two ends of the top surface of the positioning connecting plate (406) are respectively threaded with a tightening bolt A (411) at the position corresponding to the strip guide rail D or the track groove D.

Images