An automated production line for pulp molding

Abstract

This invention provides an automated pulp molding production line for producing disposable pulp molded tableware and packaging liners. The entire production process is PLC-controlled with digital management, ensuring reliable equipment performance. The produced products are characterized by high yield, uniform thickness, high density, high strength, and good appearance. The high degree of automation ensures stable production operation, improves production efficiency and product quality, significantly reduces labor intensity, and allows one person to operate multiple machines, greatly saving labor costs. This achieves the goals of safety, high efficiency, energy saving, and cost reduction.

Description

Technical Field

[0001] This invention relates to the field of pulp molding production, specifically an automated pulp molding production line. Background Technology

[0002] Pulp molding equipment is classified into semi-automatic and fully automatic types based on its usage. Semi-automatic production equipment has low automation, low production efficiency, high labor intensity, requires a large number of personnel, and has poor safety protection performance: processes such as molding, hot pressing, and trimming are all completed manually. Fully automatic production line equipment can be further divided into two categories. One type of automated production line concentrates all processes on one machine, called "centralized"; the other type of fully automatic production line arranges equipment according to the pulp molding process requirements, which can be called "combined". The main advantages of centralized production lines are higher production efficiency and smaller equipment footprint; the biggest disadvantage is that the equipment is overly concentrated, making equipment installation and debugging relatively difficult, especially since equipment failure may cause the entire line to stop. The advantages of combined lines are: simple and intuitive equipment layout, which is conducive to equipment installation and maintenance. However, if the technical solution is not reasonable and the workstation layout is inappropriate, it will result in a larger footprint, loose layout, and long lines, which will seriously affect production efficiency, increase production costs, and energy consumption. Centralized and combined production lines each have their own characteristics. Pulp molding transfer, loading, and unloading equipment typically includes industrial robots, gantry robots, and non-standard robots. Industrial robots offer good versatility and flexibility, but due to their structural characteristics, they are complex, have limited operating radius, lower load capacity, and higher maintenance and purchase costs. Gantry robots have a simple structure, good intuitiveness, strong load capacity, good stability, high precision, and are suitable for long lines, with good structural combination, but they lack versatility and are not suitable for complex workstation layouts. Non-standard robots, i.e., non-standard indexing and transfer equipment, are custom-made equipment with no versatility. The selection of equipment and the combination of production lines for automated production lines must be based on a comprehensive understanding of the pulp molding product manufacturing process, characteristics, quality requirements, and capacity requirements, combined with the company's operating conditions, to make the right choice.

[0003] For example, Chinese invention patent CN107059491A discloses "A Novel Automated Pulp Molding Production Line". This production line includes a forming zone and a hot-pressing and shaping zone. A transfer device is provided between the forming zone and the hot-pressing and shaping zone. Multiple independently working robotic arms are mounted on the transfer device. Each robotic arm is equipped with an attachment mold. The robotic arms transfer the molded wet product completed on the forming mold in the forming zone to the hot-pressing and shaping mold in the hot-pressing and shaping zone via the attachment mold. A trimming machine is provided between the forming zone and the hot-pressing and shaping zone. The trimming machine has an inlet end and an outlet end. A conveyor belt is installed on one side of the outlet end. Along the conveyor belt's operating direction, a feeding structure, a detection mechanism, a sorting center, and a packaging machine are sequentially arranged. The trimming machine is connected to the conveyor belt structure through the feeding structure, improving work efficiency, ensuring safety and reliability, and effectively reducing production costs in this automated pulp molding production line.

[0004] While the aforementioned production lines have certain advantages in terms of production automation, they still have some drawbacks:

[0005] The aforementioned production line cannot achieve fully automated production, has a rather chaotic layout, low work efficiency, and limited functionality of the robotic arms, making it unsuitable for use. Summary of the Invention

[0006] To address the aforementioned technical problems, the present invention aims to provide an automated pulp molding production line.

[0007] Based on this, the present invention proposes an automated pulp molding production line, including a production unit, an edge trimming machine, an A-type robot, a flipping mechanism, a B-type robot, and an X-axis robot. The production unit has two sets, arranged adjacent to each other from front to back. The edge trimming machine is located at the front end of the production unit. The A-type robot, the flipping mechanism, and the B-type robot each have two sets, arranged symmetrically from left to right with the edge trimming machine as the center. The A-type robot is located at the right end of the edge trimming machine, the flipping mechanism is installed at the left end of the A-type robot, and the B-type robot is located at the rear end of the flipping mechanism. The X-axis robot has two sets, respectively located at the top left and top right of the production unit. The production unit includes a molding machine, a Y-axis robot, and a shaping machine. The molding machine is located at the rear end of the edge trimming machine, the Y-axis robot is located at the top of the molding machine, and the shaping machine has two sets, respectively located at the left and right ends of the molding machine.

[0008] Optionally, the molding machine includes a molding machine housing, a water mold frame, a lower mold screen, a slurry tank, and cylinders. The molding machine housing is located at the rear end of the trimming machine. The water mold frame is located at the middle of the inner side of the top of the molding machine housing. The lower mold screen is located at the bottom end of the water mold frame. The slurry tank is installed at the bottom end of the molding machine housing. Two sets of cylinders are provided and are respectively installed at the left and right ends of the molding machine housing.

[0009] Optionally, the Y-axis manipulator includes a YZ axis, a transfer manipulator, a common mold, a vacuum suction cup, a reinforcing rib, a double beam, and a connecting part. The YZ axis is located at the top of the molding machine housing. The transfer manipulator, the common mold, the vacuum suction cup, and the reinforcing rib are each provided in two sets, and are symmetrically arranged with the YZ axis as the center. The reinforcing rib is fixed to the left and right ends of the YZ axis. The transfer manipulator is located at the rear end of the reinforcing rib. The common mold is located at the bottom end of the transfer manipulator. The vacuum suction cup is installed at the top of the reinforcing rib. The double beam is located between the two sets of molding machines and is connected to the molding machine through the connecting part.

[0010] Optionally, the shaping machine includes a lower shaping mold, an upper shaping mold, and a hydraulic-pneumatic booster cylinder. The lower shaping mold is located at the left end of the shaping machine, the upper shaping mold is located at the top of the lower shaping mold, and the hydraulic-pneumatic booster cylinder is installed at the top of the upper shaping mold and is connected to the upper shaping mold in a transmission manner.

[0011] Optionally, the X-axis manipulator includes an XZ axis and a second vacuum suction cup. The XZ axis is mounted on the top of the double beam, and the second vacuum suction cup is located at the bottom of the XZ axis.

[0012] Optionally, the edge trimming machine is a four-column fully automatic servo hydraulic edge trimming machine, with an independent servo transmission system and servo electrical control system, and is centrally controlled by PLC and touch screen. The equipment is controlled by the servo transmission system and servo hydraulic system, and operates to do work during pressing and return strokes, and is in a stopped state at other times. Therefore, the equipment is highly efficient and energy-saving.

[0013] Optionally, the forming machine is a reciprocating structure forming machine, and is equipped with a vacuum and compressed air system to complete the vacuum adsorption forming of the paper mold wet blank, and increase the pressing and drainage function. Its function is to reduce the moisture content of the paper mold wet blank, shorten the hot pressing and shaping time, and increase the production capacity of the shaping process, thereby reducing energy consumption, creating conditions for balancing the production capacity gap between the forming and shaping processes, and realizing production line matching.

[0014] Optionally, the Y-axis robot is configured as a one-to-two gantry robot, which can simultaneously or separately complete the transfer, loading, unloading and transfer operations of the left and right sections of the production unit and the handover work.

[0015] Optionally, the stenter adopts a four-column, three-beam structure. The transmission assembly, a pneumatic-hydraulic booster cylinder, also adopts a four-column, three-beam structure, which is compact, strong, and rigid. The press runs smoothly, with high precision, accurate positioning, and strong safety. It is convenient to install, debug, and maintain. The pneumatic-hydraulic booster cylinder of the transmission component has an easy-to-find air source, quick response, and low heat generation, thus improving transmission performance, reducing oil and gas leakage, and is convenient to install, debug, and maintain, with good economic efficiency.

[0016] Optionally, the X-axis robot is a one-to-one truss robot, and it is a lightweight positioning robot. The robot is configured according to the workstation layout requirements. The robot operates on a dedicated line, which is unobstructed. It has simple functions, a general-purpose structure, stable quality, and can reduce the design and manufacturing cycle. Standard parts, components and standard parts have stable quality, are easy to install and maintain, and have a higher cost performance.

[0017] Optionally, components can be customized according to production layout design requirements and working conditions. For the selection of general-purpose components for the transportation line, national standard components must be given priority. As for the design of non-standard components, it should be based on relevant national standards and technical conditions. This is the basic condition for ensuring the quality of equipment design and manufacturing.

[0018] Optionally, the production line adopts a computer control system, using PLC programmable control technology, touch screen control operation, digital servo positioning, and photoelectric, electromagnetic, and pressure sensors to monitor the entire process, detect abnormalities and automatically stop the machine, which greatly improves the safety and stability of the equipment, significantly reduces the intensity of manual labor, increases production efficiency, and reduces production costs, resulting in significant economic and social benefits.

[0019] The present invention has the following advantages: The present invention provides an automated pulp molding production line through improvements, which, compared with similar equipment, have the following improvements:

[0020] Advantage 1: This invention provides an automated pulp molding production line. The equipment of this automated production line has a square shape with little variation in length and width, making it suitable for arranging the equipment sequentially according to the pulp molding production process. That is, the molding process and the shaping process are arranged side by side. Based on the principle of capacity balance, an additional shaping machine is added to the combination of the molding and shaping processes to form a production unit. The production unit consists of wet pulp mold blanks produced by one molding machine, which are then supplied to two shaping machines for hot pressing and shaping. By combining the transfer, loading, and unloading times, the molding and shaping processes can achieve the capacity balance requirements.

[0021] Advantage 2: This invention provides an automated pulp molding production line. According to the production line capacity requirements, the production line should be set up with two production units to achieve capacity balance and meet the cutting needs of one cutting machine. The two production units are arranged in parallel, and the cutting machine and the molding machine are installed in the center, thereby realizing the workstation layout design of the pulp molding production line.

[0022] Advantage 3: This invention provides an automated pulp molding production line. This production line features a typical modular structure. The workstations are arranged according to the production flow and capacity balancing principles. Its characteristics include: a modular and clustered layout, which is standardized and reasonable, facilitating safe and civilized production management; a production unit layout, which allows for easy equipment adjustment, adapting to capacity increases and decreases, and promoting expansion; and a distinctive layout, with the production line arranged in a straight line and linear combination, laying an excellent foundation for automated design and facilitating the selection of robotic arms. Design: Based on the principle of smooth flow, a dedicated line and dedicated configuration scheme is formulated for the robotic arms: the dedicated line scheme can achieve the goal of each going its own way, without interfering with each other, and without obstruction; the dedicated configuration scheme, the robotic arms are designed according to their functions and requirements, can meet the needs of robotic arms in different lines, can achieve the purpose of dedicated configuration, reduce costs, and most importantly, have strong applicability; one 1-to-2 robotic arm realizes cyclic operation in the left and right sections of the workstation: its characteristic is that the left and right robotic arms go their own way without interfering with each other, forming an orderly operation cycle, which greatly improves the efficiency of transfer, loading, picking and handover work; the equipment layout of this production line facilitates equipment installation, debugging and maintenance. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the layout of the automated pulp molding production line (equal three axes) of the present invention;

[0024] Figure 2 This is a schematic diagram of the layout of the automated pulp molding production line of the present invention;

[0025] Figure 3 This is a schematic diagram of the production unit layout of the present invention;

[0026] Figure 4 This is a process flow diagram of the present invention;

[0027] Figure 5 This is a diagram of the Y-axis robotic arm's cyclic operation in the production unit of the automated pulp molding production line of the present invention.

[0028] Figure 6 This is a schematic diagram of the enhanced Y-axis robotic arm of the present invention;

[0029] Figure 7 This is a schematic diagram of the connection between the Y-axis robotic arm double beam and the shaping machine of the present invention;

[0030] Figure 8 This is an external view of the molding machine of the present invention.

[0031] Explanation of reference numerals in the attached drawings: Production unit-1, Edge trimming machine-2, A robot-arm-3, Tilting mechanism-4, B robot-arm-5, X-axis robot-arm-6, Forming machine-11, Y-axis robot-arm-12, Shaping machine-13, Forming machine housing-111, Water mold frame-112, Lower mold net-113, Slurry tank-114, Cylinder-115, Robot YZ axis-121, Transfer robot-arm-122, Common mold-123, Vacuum suction cup one-124, Reinforcing rib-125, Double beam-126, Connecting part-127, Lower shaping mold-131, Upper shaping mold-132, Hydraulic-pneumatic booster cylinder-133, Robot XZ axis-61, Vacuum suction cup two-62. Detailed Implementation

[0032] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0035] Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0037] Please refer to Figure 1 and Figure 2This embodiment provides an automated pulp molding production line, including a production unit 1, a trimming machine 2, an A-type robot 3, a flipping mechanism 4, a B-type robot 5, and an X-axis robot 6. The production unit 1 has two sets of robots arranged adjacent to each other from front to back. The trimming machine 2 is located at the front end of the production unit 1. The A-type robot 3, flipping mechanism 4, and B-type robot 5 each have two sets, arranged symmetrically about the trimming machine 2. The A-type robot 3 is located at the right end of the trimming machine 2, the flipping mechanism 4 is installed at the left end of the A-type robot 3, and the B-type robot 5 is located at the rear end of the flipping mechanism 4. The X-axis robot 6 has two sets, each located within the production unit. Production unit 1 includes a forming machine 11, a Y-axis robot 12, and a shaping machine 13 located on the top left and top right sides of the top of the forming machine 2. The forming machine 11 is located at the rear end of the edge trimming machine 2, and the Y-axis robot 12 is located at the top of the forming machine 11. There are two sets of shaping machines 13, which are located at the left and right ends of the forming machine 11, respectively. The edge trimming machine 2 is a four-column fully automatic servo hydraulic edge trimming machine with an independent servo transmission system and servo electrical control system. It is centrally controlled by PLC and touch screen. The equipment is controlled by the servo transmission system and servo hydraulic system. It operates and performs work during pressing and return strokes, and stops at other times. Therefore, the equipment is efficient and energy-saving.

[0038] Please refer to Figure 3-8This embodiment provides an automated pulp molding production line. The molding machine 11 includes a molding machine housing 111, a water mold frame 112, a lower mold screen 113, a pulp tank 114, and cylinders 115. The molding machine housing 111 is located at the rear end of the trimming machine 2. The water mold frame 112 is located at the middle of the inner side of the top of the molding machine housing 111. The lower mold screen 113 is located at the bottom end of the water mold frame 112. The pulp tank 114 is installed at the bottom end of the molding machine housing 111. Two sets of cylinders 115 are provided and are respectively installed at the left and right ends of the molding machine housing 111. The Y-axis manipulator 12 includes a manipulator YZ axis 121, a transfer manipulator 122, a common mold 123, a vacuum suction cup 124, a reinforcing rib 125, a double beam 126, and a connecting part 127. 121 is located at the top of the molding machine housing 111. Two sets of transfer manipulators 122, a common mold 123, a vacuum suction cup 124, and reinforcing ribs 125 are provided, symmetrically arranged around the YZ axis 121 of the manipulator. The reinforcing ribs 125 are fixed to the left and right ends of the YZ axis 121 of the manipulator. The transfer manipulator 122 is located at the rear end of the reinforcing rib 125. The common mold 123 is located at the bottom end of the transfer manipulator 122. The vacuum suction cup 124 is installed at the top of the reinforcing rib 125. A double beam 126 is located between the two sets of setting machines 13 and is connected to the setting machine 13 via a connecting part 127. The setting machine 13 includes a lower setting mold 131, an upper setting mold 132, and a hydraulic-pneumatic booster cylinder 133. The lower setting mold 131 is located at the top of the molding machine housing 111. At the left end of 1, the upper shaping mold 132 is set at the top of the lower shaping mold 131. The hydraulic-pneumatic booster cylinder 133 is installed at the top of the upper shaping mold 132 and is connected to the upper shaping mold 132 in a transmission manner. The X-axis manipulator 6 includes a manipulator XZ axis 61 and a vacuum suction cup 62. The manipulator X-Z axis 61 is installed at the top of the double beam 126, and the vacuum suction cup 62 is set at the bottom end of the manipulator XZ axis 61. The forming machine 11 is a reciprocating structure forming machine and is equipped with a vacuum and compressed air system to complete the vacuum adsorption forming of the paper mold wet blank, increase the pressing and drainage function, reduce the moisture content of the paper mold wet blank, shorten the hot pressing and shaping time, and improve the production capacity of the shaping process, thereby reducing energy consumption. This is to balance the production capacity gap between the forming and shaping processes and to achieve The production line configuration creates conditions for the Y-axis robot 12, which is a one-to-two gantry robot, capable of simultaneously or separately completing the transfer, loading, unloading, and switching operations of the left and right sections of the production unit and the handover work. The shaping machine 13 adopts a four-column, three-beam structure, and the transmission assembly uses a pneumatic-hydraulic booster cylinder. This four-column, three-beam structure is compact, strong, and rigid, ensuring smooth press operation, high precision, accurate positioning, and strong safety. Installation, debugging, and maintenance are convenient. The pneumatic-hydraulic booster cylinder of the transmission component has an easily obtainable air source, quick response, and low heat generation, thus improving transmission performance and reducing oil and gas leakage. Installation, debugging, and maintenance are convenient, and it is economical. The X-axis robot 6 is a one-to-one gantry robot, and is a lightweight positioning robot. The robot configuration is based on the workstation layout requirements.The robotic arm-dedicated production line operates smoothly and without obstruction. Its simple function and universal design ensure stable quality and reduce design and manufacturing cycles. Standard components and parts offer consistent quality, easy installation and maintenance, and higher cost-effectiveness. Custom-designed to meet production layout requirements and adaptable to various working conditions, the selection of general-purpose components for the transport line prioritizes national standard parts. Non-standard parts must be designed according to relevant national standards and technical specifications; this is a fundamental condition for ensuring the quality of equipment design and manufacturing. The production line employs a computer control system, utilizing PLC programmable control technology, touchscreen operation, and digital servo positioning. Photoelectric, electromagnetic, and pressure sensors monitor the entire process, automatically stopping the machine in case of abnormalities. This significantly improves equipment safety and stability, substantially reduces manual labor intensity, increases production efficiency, and lowers production costs, resulting in significant economic and social benefits.

[0039] This invention provides an improved automated pulp molding production line, the working principle of which is as follows;

[0040] First, when using this production line, the slurry is first supplied to the slurry tank in the molding machine 11 through the slurry supply system to prepare the work.

[0041] Second, the forming machine 11 drives the water mold frame 112 to move downward through the cylinder 115, and puts the lower mold net 112 into the slurry tank 114. The paper mold wet blank is vacuum adsorption forming is completed through the vacuum and compressed air system.

[0042] Third, the Y-axis robot 12 then moves along the double beam 126. The Y-axis robot 12 moves to the front of the stenter 13 and places the formed paper mold wet blank between the lower stenter 131 and the upper stenter 132 in the stenter 13. The stenter 13 completes the heating, pressurizing, drainage, exhaust, molding, drying and stenting processes of the paper mold blank in one go through the vacuum system, which can improve the product qualification rate, improve production efficiency and achieve energy saving and cost reduction.

[0043] Fourth, the Y-axis robot 12 completes the left and right sections of the production unit, including the transfer and loading / unloading of wet paper blanks and finished products, and transfers the hot-pressed parts to the X-axis robot 6, and performs extrusion and drainage on the wet paper mold blanks of the forming machine 11.

[0044] Fifth, the Y-axis robot 12 takes the paper mold out of the shaping machine 13, and the transfer robot 122 transfers the paper mold from the vacuum suction cup 124 to the vacuum suction cup 62. Then, the X-axis robot 6 moves along the XZ axis 61 of the robot to send the paper mold to the A robot 3, and then the A robot 3 sends it to the edge trimming machine 2.

[0045] Sixth, when the paper film arrives at the edge trimmer 2, the edge trimmer 2 presses and trims the paper film. During this process, the B robot arm 5 and the flipping mechanism 4 assist in the completion. At the same time, the entire production process of this production line, including the transfer, loading, and unloading of each process, is completed by the gantry robot arm.

[0046] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A pulp molding automated production line, characterized by, The system includes a production unit (1), a trimming machine (2), an A-arm (3), a flipping mechanism (4), a B-arm (5), and an X-axis robot (6). The production unit (1) has two sets of robots arranged adjacent to each other from front to back. The trimming machine (2) is located at the front end of the production unit (1). The A-arm (3), the flipping mechanism (4), and the B-arm (5) each have two sets, arranged symmetrically with the trimming machine (2) as the center. The A-arm (3) is located at the right end of the trimming machine (2). The flipping mechanism (4) is installed at the left end of the A-arm (3). The B-arm (5) is located at the rear end of the flipping mechanism (4). The X-axis robot (6) has two sets, located on the left and right sides of the top of the production unit (1), respectively. The production unit (1) includes a molding machine (11), a Y-axis robot (12) and a shaping machine (13). The molding machine (11) is located at the rear end of the trimming machine (2), the Y-axis robot (12) is located at the top of the molding machine (11), and the shaping machine (13) has two sets, which are respectively located at the left and right ends of the molding machine (11).

2. A pulp molding automated production line according to claim 1, characterized in that, The molding machine (11) includes a molding machine housing (111), a water mold frame (112), a lower mold net (113), a slurry tank (114), and a cylinder (115). The molding machine housing (111) is located at the rear end of the trimming machine (2). The water mold frame (112) is located at the middle of the inner side of the top of the molding machine housing (111). The lower mold net (113) is located at the bottom end of the water mold frame (112). The slurry tank (114) is installed at the bottom end of the molding machine housing (111). There are two sets of cylinders (115), which are respectively installed at the left and right ends of the molding machine housing (111).

3. The automated pulp molding production line according to claim 1, characterized in that, The Y-axis manipulator (12) includes a YZ axis (121), a transfer manipulator (122), a common mold (123), a vacuum suction cup (124), a reinforcing rib (125), a double beam (126), and a connecting part (127). The YZ axis (121) is located at the top of the molding machine housing (111). The transfer manipulator (122), the common mold (123), the vacuum suction cup (124), and the reinforcing rib (125) are each provided in two sets, and the YZ axis (121) is connected to the connecting part (127). 1) The reinforcing rib (125) is fixed to the left and right ends of the YZ axis (121) of the robot arm, the transfer robot arm (122) is located at the rear end of the reinforcing rib (125), the common mold (123) is located at the bottom end of the transfer robot arm (122), the vacuum suction cup (124) is installed at the top end of the reinforcing rib (125), and the double beam (126) is located between the two sets of shaping machines (13) and is connected to the shaping machine (13) through the connecting part (127).

4. The automated pulp molding production line according to claim 1, characterized in that, The shaping machine (13) includes a lower shaping mold (131), an upper shaping mold (132), and a hydraulic-pneumatic booster cylinder (133). The lower shaping mold (131) is located at the left end of the forming machine (11), the upper shaping mold (132) is located at the top of the lower shaping mold (131), and the hydraulic-pneumatic booster cylinder (133) is installed at the top of the upper shaping mold (132) and is connected to the upper shaping mold (132) in a transmission manner.

5. The automated pulp molding production line according to claim 1, characterized in that, The X-axis manipulator (6) includes a manipulator XZ axis (61) and a second vacuum suction cup (62). The manipulator XZ axis (61) is mounted on the top of the double beam (126), and the second vacuum suction cup (62) is located at the bottom of the manipulator XZ axis (61).

6. The automated pulp molding production line according to claim 1, characterized in that, The edge trimming machine (2) is a four-column fully automatic servo hydraulic edge trimming machine, and has an independent servo transmission system and servo electrical control system, and is centrally controlled by PLC and touch screen.

7. The automated pulp molding production line according to claim 2, characterized in that, The molding machine (11) is a reciprocating structure molding machine, and is equipped with a vacuum and compressed air system to complete the vacuum adsorption molding of the paper mold wet blank.

8. The automated pulp molding production line according to claim 3, characterized in that, The Y-axis manipulator (12) is a truss manipulator that carries two other manipulators.

9. The automated pulp molding production line according to claim 4, characterized in that, The stenter (13) adopts a four-column three-beam structure and a transmission assembly with a pneumatic-hydraulic booster cylinder.

10. An automated pulp molding production line according to claim 5, characterized in that, The X-axis manipulator (6) is a one-to-one truss manipulator and is a lightweight positioning manipulator.

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