A mechanical gripping mechanism for picking up molded pulp products

Abstract

This invention relates to the field of mechanical gripper technology, specifically a mechanical gripping mechanism for retrieving molded pulp products. It includes a transfer device connecting base plate, with the top of the base plate connected to the transfer device and a mechanical gripping unit at the bottom. The mechanical gripping unit is driven by a main control motor, a power shaft, a transmission belt, and pulleys. The mechanical gripping mechanism includes two parallel swinging main rods, a first swinging main rod and a second swinging main rod. The first and second swinging main rods swing in coordination via connecting plates and side-mounted elastic connecting components, causing the inner fixed base plates on the side swinging base ring and the middle swinging base ring to adhere and position against the inner side of the molded pulp product. The inner fixed base plates provide auxiliary clamping to the upper part of the molded pulp product via side-mounted clamping components. This invention improves the stability of retrieving wet molded pulp products and reduces the risk of product deformation, slippage, and breakage during the retrieving process.

Description

Technical Field

[0001] This invention relates to the field of mechanical gripper technology, specifically a mechanical gripping mechanism for picking up molded pulp products. Background Technology

[0002] Pulp molding products are a type of three-dimensional environmentally friendly packaging material made from waste paper, plant fibers, and other raw materials through processes such as pulping, molding, and drying. They offer advantages such as renewable and biodegradable raw materials, good cushioning performance, and low cost. Products made from pulp, fruit, industrial liners, and disposable tableware are widely used in food packaging, electronic product cushioning, and medical device securing.

[0003] In the manufacturing process of pulp molded products, the part removal stage—that is, the removal of the still fragile wet blank with a moisture content of approximately 60%-70% from the mold and its transfer to the subsequent drying process—requires a mechanical gripping mechanism that balances gentle contact with precise positioning. Existing mechanical gripping mechanisms mostly employ negative pressure adsorption or contour-following grippers. The problem is that if the surface of the pulp molded product is covered with tiny pores, using a vacuum suction cup during gripping can lead to air leakage, preventing the suction cup from establishing sufficient negative pressure, resulting in the product failing to grip or falling off midway. Secondly, simple contour-following gripper structures cannot effectively and stably hold pulp molded wet blanks with thin walls, high moisture content, low edge strength, or curved or concave shapes. These types of pulp molded products have not yet fully developed their overall strength in the wet blank state. Excessive gripping force can easily cause edge crushing, localized deformation, surface indentations, or even tearing; insufficient gripping force can easily lead to slippage or displacement during transfer, resulting in part removal failure.

[0004] In view of this, this technical solution designs a mechanical gripping mechanism for picking up molded pulp products. Summary of the Invention

[0005] The purpose of this invention is to provide a mechanical gripping mechanism for picking up molded pulp products, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a mechanical gripping mechanism for picking up molded pulp products, comprising a transfer device connecting base plate; the top of the transfer device connecting base plate is connected to a transfer device, and a mechanical gripping unit is provided at the bottom of the transfer device connecting base plate. The mechanical gripping unit is driven by a main control motor provided at the top of the transfer device connecting base plate. The mechanical gripping unit includes a mechanical gripping mechanism provided on the lower side of the transfer device connecting base plate. The output end of the main control motor is connected to a power shaft, and the power shaft passes downward through the transfer device connecting base plate and is rotatably connected to the mechanical gripping mechanism via a pulley and a transmission belt. The mechanical gripping mechanism includes two parallel swing main rods, namely swing main rod one and swing main rod two, which are distributed below the connecting base plate of the transfer device. The two ends of swing main rod one and swing main rod two are connected by a side-mounted elastic connecting component. The middle of swing main rod one and swing main rod two are connected by a connecting plate. A pulley is installed on one side of swing main rod one at the position corresponding to the transmission belt.

[0007] As a further embodiment of the present invention: two side swing base rings are symmetrically fixedly installed on both sides of the swing main rod one, and a middle swing base ring is fixedly installed in the middle of the swing main rod two; an inner fixed base plate is extended and installed on the lower part of the side walls of the two side swing base rings and the middle swing base ring that are far apart from each other. When the first and second swing rods rotate in opposite directions simultaneously, they drive the inner fixed base plate to swing synchronously, so that the outer wall of the inner fixed base plate is attached to and positioned against the inner side of the pulp molded product.

[0008] As a further embodiment of the present invention: both sides of the swing main rod one and the swing main rod two are movably mounted with bases, and the bases are fixed upward to the bottom wall of the transfer device connecting base plate via connecting rods; The transfer device connection base plate has mounting holes for connecting to the transfer device.

[0009] As a further embodiment of the present invention: the connecting plate includes a rectangular swing connecting plate, the swing connecting plate has a groove on the side facing the central swing base ring, and the two ends of the groove are connected to a fixed sleeve two through a swing shaft two, and the ends of the fixed sleeve two are fixed to the swing main rod two through a collar. A connecting rod is installed in the middle of the other side of the swing connecting plate. The end of the connecting rod is connected to a fixing sleeve through a swing shaft. The end of the fixing sleeve is fixed to the swing main rod through a collar.

[0010] As a further embodiment of the present invention: the side-mounted elastic connection assembly includes a connecting cylinder installed at the ends of the first and second swing main rods; Swing rod 1 and swing rod 2 are respectively installed on the end of the connecting cylinder on the same side of swing rod 1 and swing rod 2, with the ends of swing rod 1 and swing rod 2 close to each other; One end of the swing rod is connected to a connecting plate via a rotating shaft. A notch is opened at one end of the connecting plate. Telescopic cylinders are installed at both ends of the notch via end plates. The end of the telescopic cylinder closest to the connecting plate is connected to the notch. The telescopic cylinder contains a telescopic rod that can extend into the notch at one end. The other end of the telescopic rod is fixedly connected to an end plate, and a spring is fitted on the telescopic rod between the two end plates. A connecting plate is installed at the end of the end plate located on one side of the swing rod. The end of the connecting plate is connected to the swing rod via a rotating shaft.

[0011] As a further aspect of the present invention: a side-mounted fastening assembly is provided on the upper part of the outer side wall of the inner-attached fixed base plate; the side-mounted fastening assembly moves laterally elastically in a lifting manner, and the lateral movement is controlled by a moving part provided on the lower part of the outer side wall of the inner-attached fixed base plate. The movement of the moving parts is controlled by the degree of contact between the inner fixed base plate and the inner side of the pulp molded product; When the inner fixed base plate is attached to the inner side of the pulp molded product to the maximum extent, the moving part moves to the maximum stroke and controls the side-mounted clamping assembly to cooperate with the outer wall of the inner fixed base plate, clamping it on the upper side of the pulp molded product.

[0012] As a further aspect of the present invention: the side-mounted clamping assembly includes an L-shaped cavity plate fixed to the outer wall of the inner-attached base plate, and a side-mounted clamping plate cavity plate is elastically and telescopically connected to the lower side of the vertical section of the L-shaped cavity plate; an inverted right-angled trapezoidal side-mounted clamping plate is elastically arranged inside the side of the side-mounted clamping plate cavity plate facing the inner-attached base plate; a hydraulic telescopic connector is connected to the top of the side-mounted clamping plate cavity plate, and the power end of the hydraulic telescopic connector is connected to the moving part.

[0013] As a further aspect of the present invention: the moving part includes a plurality of elastic telescopic blocks that are equally spaced along the length of the outer wall of the inner-attached fixed base plate; The elastic telescopic block has a piston channel on the inner side of the inner fixed base plate, and the inner end of the elastic telescopic block is connected to a bottom piston plate, which moves in the piston channel. The piston channel is connected to a large-diameter hydraulic channel with an L-shaped structure inside the inner fixed base plate. The top of the large-diameter hydraulic channel is connected to a small-diameter hydraulic channel through a tightening pipe. A top piston plate slides at the bottom of the small-diameter hydraulic channel, and the bottom of the top piston plate is connected to the hydraulic telescopic connector via a connecting rod. The diameter of a small-diameter hydraulic channel is smaller than that of a large-diameter hydraulic channel.

[0014] As a further aspect of the present invention: the hydraulic telescopic connector includes a connecting post connected to the bottom end of the connecting rod, the bottom of the connecting post being fixedly connected to the top of the side-mounted tension plate cavity, and the two sides of the connecting post being connected to the bottom outer wall of the small-diameter hydraulic channel through multiple evenly distributed return springs; a slider is installed on the top of the side-mounted tension plate, and a groove is provided in the inner top wall of the side-mounted tension plate cavity corresponding to the slider, and the slider slides along the inside of the groove; the side wall of the side-mounted tension plate facing the inside of the side-mounted tension plate cavity is elastically connected to the inner wall of the side-mounted tension plate cavity through multiple evenly distributed return springs.

[0015] As a further embodiment of the present invention: a flexible buffer layer is provided on the outer wall of the side-mounted clamping plate cavity.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: by setting a mechanical gripping unit driven by a main control motor, a power shaft, a transmission belt and a pulley below the connecting base plate of the transfer device, the swing main rod one and the swing main rod two can swing in opposite directions with the cooperation of the connecting plate and the side elastic connecting assembly, thereby driving the inner fixed base plate on the side swing base ring and the middle swing base ring to fit and position with the inner side of the pulp molded product, so as to realize the inner expansion and fastening of the pulp molded product.

[0017] The side-mounted clamping assembly can lower the side-mounted clamping plate cavity through a large-diameter hydraulic channel, a small-diameter hydraulic channel, a top piston plate, a connecting rod, and a connecting column after the moving part is subjected to the inner pressure of the pulp molded product. This allows the side-mounted clamping plate to cooperate with the inner fixed base plate to assist in clamping the upper part of the pulp molded product, thereby improving the stability of wet blank removal and reducing slippage, deformation, and damage to the pulp molded product caused by insufficient negative pressure, unstable clamping, or excessive clamping. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of a mechanical gripping mechanism for picking up molded pulp products.

[0019] Figure 2 This is a partial three-dimensional structural diagram of a mechanical gripping mechanism for picking up molded pulp products.

[0020] Figure 3 This is a front view schematic diagram of a mechanical gripping mechanism for picking up molded pulp products.

[0021] Figure 4 This is a top view schematic diagram of a mechanical gripping mechanism for picking up molded pulp products.

[0022] Figure 5 This is a schematic diagram of a side-mounted elastic connection component used in a mechanical gripping mechanism for picking up molded pulp products.

[0023] Figure 6 This is a schematic diagram of the side-mounted clamping component in a mechanical gripping mechanism for picking up molded pulp products.

[0024] Figure 7 for Figure 6 A magnified structural diagram of A in the middle.

[0025] Figure 8 for Figure 3 A magnified structural diagram of B in the diagram.

[0026] Figure 9 for Figure 2 A magnified structural diagram of C.

[0027] Among them: the transfer device connecting base plate 1, the main control motor 2, the mounting hole 3, the connecting rod 4, the power shaft 5, the transmission belt 6, and the pulley 7; 10. Swinging main rod 1; 11. Swinging main rod 2; 12. Swinging connecting plate; 13. Fixing sleeve 1; 14. Swinging shaft 1; 15. Connecting rod; 16. Side swinging base ring; 17. Middle swinging base ring; 18. Fixing sleeve 2; 19. Swinging shaft 2; 20. Connecting cylinder; 21. Swinging rod 1; 22. Connecting plate 1; 23. Telescopic rod cylinder; 24. Telescopic rod; 25. Spring sleeve; 26. End plate; 27. Connecting plate 2; 28. Swinging rod 2; 29. ​​L-shaped cavity plate; 30. Side-mounted tensioning plate cavity plate; 31. Elastic telescopic block; 32. Corrugated strip; 33. Inner-attached fixed base plate; 35. Large-diameter hydraulic channel; 36. Bottom piston plate; 37. Piston channel; 38. Side-mounted tensioning plate; 39. Sliding block; 40. Slide groove; 41. Return spring 1; 42. Small-diameter hydraulic channel; 43. Top piston plate; 44. Connecting rod; 45. Connecting column; 46. Return spring 2. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and 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, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0030] 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 will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] Please see Figures 1-4 A mechanical gripping mechanism for picking up molded pulp products includes a transfer device connecting base plate 1; the top of the transfer device connecting base plate 1 is connected to the transfer device, and under the control of the transfer device, the transfer device connecting base plate 1 is driven to lift and move; a mechanical gripping unit is provided at the bottom of the transfer device connecting base plate 1, that is, under the operation of the transfer device connecting base plate 1, the mechanical gripping unit is controlled to pick up and transfer the molded pulp products. The mechanical gripping unit is driven by a main control motor 2 located on the top of the transfer device connecting base plate 1. The mechanical gripping unit includes a mechanical gripping mechanism located on the lower side of the transfer device connecting base plate 1. The output end of the main control motor 2 is connected to a power shaft 5. The power shaft 5 passes through the transfer device connecting base plate 1 via a pulley 7 and a transmission belt 6 and is rotatably connected to the mechanical gripping mechanism. This allows the mechanical gripping mechanism to be opened and closed by adjusting the rotation direction and controlling the speed of the main control motor 2, thereby bonding and fastening the inner side of the pulp molded product or clamping and positioning the part.

[0033] The main control motor 2 is preferably a servo motor, a stepper motor, or an AC speed-regulating motor with a reducer; the power of the main control motor 2 is preferably 100W-1500W, and the speed is preferably 300r / min-3000r / min.

[0034] For lightweight pulp molding wet preforms, the preferred power is 100W-400W; for large industrial lining wet preforms, the preferred power is 400W-1500W.

[0035] The drive shaft 5 is preferably made of 45 steel, 40Cr steel or stainless steel. The drive shaft 5 and the output end of the main control motor 2 can be connected by a key, a coupling or a set screw.

[0036] The transmission belt 6 is preferably a synchronous belt, a flat belt, or a V-belt; to reduce slippage and ensure stable opening and closing angles, a synchronous belt is preferred.

[0037] The pulley 7 can be made of aluminum alloy, No. 45 steel or nylon. The pulley 7 and the drive shaft 5 are preferably connected by a key or fixed by a set screw.

[0038] The mechanical gripping mechanism includes two parallel swing main rods 10 and 11 located below the connecting base plate 1 of the transfer device. The two ends of the swing main rod 10 and 11 are connected by a side-mounted elastic connecting component, and the middle part is connected by a connecting plate. A pulley 7 is installed on one side of the swing main rod 10 corresponding to the position of the transmission belt 6. That is, when the power shaft 5 rotates, it drives the swing main rod 10 to rotate synchronously. Then, under the swing cooperation of the connecting plate and the side-mounted elastic connecting component, when the swing main rod 10 rotates, it drives the swing main rod 11 to rotate in the opposite direction to the swing main rod 10. It should be noted that both sides of the swing main rod 10 and the swing main rod 2 are movably mounted with bases, and the bases are fixed upward to the bottom wall of the transfer device connecting base plate 1 via the connecting rod 4. Two side swing base rings 16 are symmetrically fixedly installed on both sides of the swing main rod 10, and a middle swing base ring 17 is fixedly installed in the middle of the swing main rod 2 11. The lower part of the side walls of the two side swing base rings 16 and the middle swing base ring 17 that are far apart from each other are all extended with an inner fixed plate 33. When the swing main rod 10 and the swing main rod 2 11 rotate in opposite directions at the same time, the inner fixed plate 33 is driven to swing synchronously. Then, the outer wall of the inner fixed plate 33 is controlled to fit and position with the inner side of the pulp molded product, so as to realize the inner expansion and fastening of the pulp molded product. Preferably, the swing main rod 10 and the swing main rod 2 11 adopt a round rod, square rod or hollow tube structure, and the material can be 45 steel, stainless steel, 6061 aluminum alloy or 7075 aluminum alloy.

[0039] For mechanisms requiring lightweight construction, hollow aluminum alloy tubes are preferred; for mechanisms requiring greater gripping force, 45# steel round rods or stainless steel round rods are preferred.

[0040] Preferably, the inner-mounted base plate 33 has corrugated strips 32 evenly distributed on the side that contacts the pulp molded product. The corrugated strips 32 increase the friction with the pulp molded product, thereby improving the stability of part removal.

[0041] Among them, the stripe 32 is made of silicone, rubber, polyurethane, foamed rubber or soft polyvinyl chloride material to form a flexible buffer when the inner fixed plate 33 comes into contact with the inner side of the pulp molded product.

[0042] The corrugated strip 32 is configured as a continuous wavy convex strip, an arc convex strip, a semi-circular convex strip, or a rounded trapezoidal convex strip.

[0043] Preferably, the corrugated strip 32 is an arc-shaped convex strip or a semi-circular convex strip, and its top surface has a smooth transition structure to avoid sharp corners being directly pressed into the surface of the wet pulp molded blank, thereby reducing indentation, damage and local tearing of the pulp molded product.

[0044] The corrugated strip 32 is connected to the inner fixed base plate 33 by adhesive bonding, embedding, screw fixing, or integral molding. If the surface of the inner fixed base plate 33 is provided with a flexible contact layer, the corrugated strip 32 can be integrally molded with the flexible contact layer to improve connection stability and prevent detachment.

[0045] To further improve the stability of removing molded pulp products, a side-mounted clamping component is provided on the upper part of the outer wall of the inner-attached base plate 33. The side-mounted clamping component moves laterally elastically in a lifting manner, and its lateral movement is controlled by a moving part located at the lower part of the outer wall of the inner-attached base plate 33. The movement of the moving part is controlled by the degree of contact between the inner-attached base plate 33 and the inner side of the molded pulp product. That is, when the inner-attached base plate 33 is in maximum contact with the inner side of the molded pulp product, the moving part moves to its maximum stroke. At this time, the side-mounted clamping component is controlled to cooperate with the outer wall of the inner-attached base plate 33 and clamp the molded pulp product at the upper position, thereby achieving horizontal clamping and reinforcement. The inner fixed base plate 33 can be configured as an arc-shaped plate, a flat plate, a bent plate, or a contour plate, and its specific shape is determined according to the inner shape of the pulp molded product. For pulp molded products with concave cavities, such as egg trays and fruit trays, the inner fixed base plate 33 is preferably configured as an arc-shaped plate or a contour plate; for box-shaped or tray-shaped pulp molded products, the inner fixed base plate 33 can be configured as a flat plate or a bent plate.

[0046] The internally attached base plate 33 is made of aluminum alloy, stainless steel, nylon, polyoxymethylene (POM), polyurethane, or a metal plate with an outer elastic layer.

[0047] It should be noted that if the upper side of the pulp molded product cannot be clamped by the side-mounted clamping component, the inner fixed base plate 33 can be moved upward to a safe height when it is initially controlled to swing and be positioned on the inner side. That is, after the moving part moves to the maximum stroke, the side-mounted clamping component can always be placed above the pulp molded product.

[0048] In one example of the present invention, such as Figures 1-4 , Figure 9 As shown, the connecting plate includes a rectangular swing connecting plate 12. The swing connecting plate 12 has a slot on one side facing the central swing base ring 17. Both ends of the slot are connected to a fixing sleeve 18 via a second swing shaft 19. The end of the fixing sleeve 18 is fixed to the second swing main rod 11 via a collar. A connecting rod 15 is installed in the middle of the other side of the swing connecting plate 12. The end of the connecting rod 15 is connected to a fixing sleeve 13 via a first swing shaft 14. The end of the fixing sleeve 13 is also fixed to the first swing main rod 10 via a collar. The first swing main rod 10 is in the main control... When the motor 2 rotates, it synchronously drives the fixed sleeve 13 to rotate. At this time, under the rotational connection of the swing shaft 14 and the connecting rod 15, the swing connecting plate 12 is synchronously controlled to swing. Then, under the connection of the fixed sleeve 2 18 and the swing shaft 2 19, the swing main rod 2 11 is driven to rotate in the opposite direction to the swing main rod 10, thereby driving the inner fixed base plate 33 on the side swing base ring 16 and the middle swing base ring 17 to swing at opposite angles, so that the outer wall of the inner fixed base plate 33 is fitted and positioned with the inner side of the pulp molded product. Specifically, such as Figures 1-5 As shown, the side-mounted tensioning assembly includes a connecting tube 20 installed at the ends of the first swing main rod 10 and the second swing main rod 11. Swing rod 1 21 and swing rod 2 28 are respectively installed at the ends of the connecting tube 20 on the same side of the first swing main rod 10 and the second swing main rod 11. The ends of the first swing rod 21 and the second swing rod 28 are close to each other. The end of the first swing rod 21 is connected to a connecting plate 22 via a rotating shaft. A notch is provided at the end of the connecting plate 22, and telescopic rod cylinders 23 are installed at both ends of the notch via end plates 26. The end of the telescopic rod cylinder 23 closest to the connecting plate 22 communicates with the notch. A telescopic rod 24 extends and retracts inside the telescopic rod cylinder 23. The end of the telescopic rod 24 can... Extending into the notch, the telescopic rod 24 is also fixedly connected to an end plate 26 at the other end. A spring 25 is fitted on the telescopic rod 24 between the two end plates 26, and a connecting plate 27 is installed at the end of the end plate 26 located on one side of the swing rod 28. The end of the connecting plate 27 is connected to the swing rod 28 via a rotating shaft. When the inner fixed base plates 33 on both sides swing, the telescopic rod 24 moves in and out of the telescopic rod cylinder 23 and the notch. At the same time, the spring 25 is compressed or extended synchronously, and the swing rod 28 and the connecting plate 27, and the swing rod 21 and the connecting plate 22 swing synchronously, thereby maintaining the stability of the inner fixed base plates 33 on both sides when swinging.

[0049] In this embodiment of the invention, the transfer device includes a lifting mechanism, a translation mechanism, etc. The lifting mechanism and the translation mechanism cooperate with each other and are connected to the transfer device connecting base plate 1, thereby realizing the movement of the mechanical gripping unit. Specifically, the transfer device connecting base plate 1 has a mounting 3. The lifting mechanism can be configured as a cylinder lifting mechanism, a hydraulic cylinder lifting mechanism, a screw lifting mechanism, or an electric push rod lifting mechanism; the translation mechanism can be configured as a linear guide translation mechanism, a synchronous belt translation mechanism, a chain translation mechanism, or a screw translation mechanism. A connecting plate can be provided at the output end of both the lifting mechanism and the translation mechanism. The connecting plate has connecting holes corresponding to the mounting holes 3. The mounting holes 3 and the connecting holes are fixedly connected by bolts, nuts, and washers, enabling the transfer device connecting base plate 1 to move vertically and horizontally under the drive of the lifting mechanism and the translation mechanism.

[0050] Preferably, the lifting mechanism adopts an electric push rod lifting mechanism or a cylinder lifting mechanism. When the pulp molded product is lightweight and the operating frequency is high, a cylinder lifting mechanism is preferred; when higher position control accuracy is required, a screw lifting mechanism or an electric push rod lifting mechanism is preferred. The translation mechanism preferably adopts a linear guide translation mechanism or a synchronous belt translation mechanism. The linear guide translation mechanism is used to improve the movement stability, and the synchronous belt translation mechanism is used to improve the reciprocating movement efficiency.

[0051] The transfer device connecting base plate 1 is made of Q235 steel plate, No. 45 steel plate, 6061 aluminum alloy plate, or 7075 aluminum alloy plate. When it is necessary to reduce the overall weight, it is preferable to use 6061 aluminum alloy plate; when it is necessary to increase the load-bearing rigidity, it is preferable to use Q235 steel plate or No. 45 steel plate. The transfer device connecting substrate 1 has mounting holes 3, which can be round holes, oblong holes, or countersunk holes. The mounting holes 3 are preferably distributed at intervals along the edge and center areas of the transfer device connecting substrate 1 to accommodate transfer devices of different specifications.

[0052] As a preferred embodiment of the present invention, such as Figures 1-4 , Figures 7-8 As shown, the side-mounted clamping assembly includes an L-shaped cavity plate 29 fixed to the outer wall of the inner-attached base plate 33. The lower vertical section of the L-shaped cavity plate 29 is elastically telescopically connected to a side-mounted clamping plate cavity plate 30. An inverted right-angled trapezoidal side-mounted clamping plate 38 is elastically arranged inside the side of the side-mounted clamping plate cavity plate 30 facing the inner-attached base plate 33. A hydraulic telescopic connector is connected to the top of the side-mounted clamping plate cavity plate 30. The power end of the hydraulic telescopic connector is connected to the moving part. That is, under the operation of the moving part, the hydraulic telescopic connector is controlled to drive the side-mounted clamping plate cavity plate 30 to move up and down. Then, with the help of the structural shape of the side-mounted clamping plate 38, as the side-mounted clamping plate cavity plate 30 descends, the side-mounted clamping plate 38 is gradually controlled to contact and fasten to one side of the pulp molded product. Then, it cooperates with the outer wall of the inner-attached base plate 33 to achieve the effect of gradual clamping and fixing.

[0053] Specifically, the moving component includes multiple elastic telescopic blocks 31 evenly distributed along the outer wall of the inner-attached fixed base plate 33. Each elastic telescopic block 31 has a piston channel 37 corresponding to the inner side of the inner-attached fixed base plate 33. A bottom piston plate 36 is connected to the inner end of each elastic telescopic block 31. The bottom piston plate 36 moves within the piston channel 37, thereby controlling the movement of the elastic telescopic blocks 31 within and outside the inner-attached fixed base plate 33. A large-diameter hydraulic channel 35 with an L-shaped structure is connected to the inner side of the piston channel 37. The top of the large-diameter hydraulic channel 35 is connected to a small-diameter hydraulic channel 42 via a tightening pipe. A top piston plate 43 slides at the bottom of the small-diameter hydraulic channel 42. The bottom of the top piston plate 43 is connected to the hydraulic telescopic mechanism via a connecting rod 44. When the inner fixed base plate 33 swings to contact the inner side of the pulp molded product, it will gradually control the elastic telescopic block 31 to be subjected to pressure. At this time, the bottom piston plate 36 moves inward inside the piston channel 37, and then controls the liquid in the large diameter hydraulic channel 35 to flow upward. Then, under the connection of the tightening pipe and the small diameter hydraulic channel 42, it drives the top piston plate 43 to move downward. Moreover, by setting the diameter of the small diameter hydraulic channel 42 to be smaller than that of the large diameter hydraulic channel 35, it can ensure the short-distance liquid flow in the large diameter hydraulic channel 35. Under the tightening of the small diameter hydraulic channel 42, it controls the top piston plate 43 to transfer a longer distance inside the small diameter hydraulic channel 42, thereby driving the large stroke movement of the hydraulic telescopic connector. The elastic expansion block 31 is preferably made of silicone, rubber, polyurethane, or a plastic block with an outer elastic layer. The side of the elastic expansion block 31 facing the pulp molded product is preferably a rounded surface, a hemispherical surface, or a rounded corner plane to avoid local sharp contact.

[0054] The bottom piston plate 36 and the top piston plate 43 are made of rubber piston, polyurethane piston, nylon piston or metal piston with sealing ring.

[0055] To ensure sealing, sealing rings are provided on the outer periphery of the bottom piston plate 36 and the top piston plate 43. The sealing rings are made of rubber or silicone material. The large-diameter hydraulic channel 35 and the small-diameter hydraulic channel 42 can be filled with hydraulic oil, water-based liquid, or silicone oil.

[0056] Considering the high humidity in the production environment of pulp molded products, hydraulic oil or silicone oil with better sealing properties is preferred.

[0057] It should be noted that the diameter of the hydraulic channel 42 is smaller than the diameter of the large-diameter hydraulic channel 35.

[0058] Preferably, the diameter ratio of the small-diameter hydraulic channel 42 to the large-diameter hydraulic channel 35 is 1:1.5-1:5, more preferably 1:2-1:4.

[0059] By setting the diameter of the small-diameter hydraulic channel 42 to be smaller than that of the large-diameter hydraulic channel 35, when multiple elastic telescopic blocks 31 are pressed and push the bottom piston plate 36 to move within the piston channel 37, the liquid in the large-diameter hydraulic channel 35 can be forced into the small-diameter hydraulic channel 42. Because the flow cross-sectional area of ​​the small-diameter hydraulic channel 42 is smaller, the same volume of liquid entering the small-diameter hydraulic channel 42 can push the top piston plate 43 to move a greater distance, thereby driving the connecting rod 44, connecting column 45, and side-mounted clamping plate cavity 30 to complete a larger stroke descent.

[0060] To prevent the side-mounted clamping plate cavity 30 from descending too quickly and impacting the pulp molded product, the tightening pipe between the large-diameter hydraulic channel 35 and the small-diameter hydraulic channel 42 can be set as a tapered structure, and the length of the tightening pipe is preferably 5mm-50mm.

[0061] The hydraulic telescopic connector includes a connecting post 45 connected to the bottom end of the connecting rod 44. The bottom of the connecting post 45 is fixedly connected to the top of the side-positioned tension plate cavity 30. At the same time, the two sides of the connecting post 45 are connected to the bottom outer wall of the small-diameter hydraulic channel 42 through multiple evenly distributed return springs 46. That is, when the return springs 46 are in the free state, the top piston plate 43 is controlled to rise, that is, the side-positioned tension plate cavity 30 is controlled to rise to the highest position. A slider 39 is installed on the top of the side clamping plate 38. The slider 39 is provided with a groove 40 in the inner top wall of the side clamping plate cavity 30. The slider 49 slides along the inside of the groove 40. At the same time, the side clamping plate 38 is elastically connected to the inner wall of the side clamping plate cavity 30 through multiple evenly distributed return springs 41. When the return springs 41 are in the free state, they keep the side clamping plate 38 moving to the maximum position outside the side clamping plate cavity 30, ensuring that the inclined surface of the side clamping plate 38 gradually increases the side clamping force on the pulp molded product as the side clamping plate cavity 30 falls. The slider 39 can be configured as a T-shaped slider, a dovetail slider, or a rectangular slider; the slide groove 40 can be configured as a T-shaped slide groove, a dovetail slide groove, or a rectangular slide groove. Preferably, the slider 39 and the groove 40 adopt a T-shaped fit structure to improve the limiting stability.

[0062] A flexible buffer layer is provided on the outer wall of the side-mounted clamping plate cavity 30. The flexible buffer layer can be made of silicone, rubber, polyurethane or foamed rubber material.

[0063] In a preferred embodiment of the present invention, the side-mounted clamping plate 38 may be made of silicone, rubber, polyurethane, nylon, polyoxymethylene (POM), or aluminum alloy with an outer elastic layer. For molded pulp products, the side of the side-mounted clamping plate 38 that contacts the molded pulp product is preferably made of silicone, rubber, or polyurethane to reduce indentation and breakage.

[0064] The working principle of the present invention is as follows: (1) The transfer device drives the transfer device connecting base plate 1 to lift and move, so that the mechanical gripping unit set at the bottom of the transfer device connecting base plate 1 moves to the corresponding position of the pulp molded product; the transfer device connecting base plate 1 is connected to the transfer device through the mounting hole 3, and the mechanical gripping unit moves synchronously when the transfer device connecting base plate 1 moves.

[0065] (2) Start the main control motor 2. The main control motor 2 drives the power shaft 5 to rotate. The power shaft 5 drives the swing main rod 10 to rotate through the pulley 7 and the transmission belt 6. When the swing main rod 10 rotates, it drives the swing main rod 2 11 to rotate in the opposite direction to the swing main rod 10 through the connecting plate.

[0066] (3) When the swing main rod 10 rotates, the fixed sleeve 13 rotates synchronously and drives the swing connecting plate 12 to swing through the swing shaft 14 and the connecting rod 15; the swing connecting plate 12 drives the swing main rod 11 to rotate in the opposite direction through the swing shaft 19 and the fixed sleeve 18, so that the swing main rod 10 and the swing main rod 11 form a swinging cooperation in opposite directions.

[0067] (4) When the swing main rod 10 and the swing main rod 21 swing in opposite directions, the swing rod 121 swings synchronously with the connecting plate 122, the swing rod 28 swings synchronously with the connecting plate 27, the telescopic rod 24 moves in and out of the telescopic rod cylinder 23 and the notch, and the sleeve spring 25 is compressed or extended synchronously, thereby maintaining the stability of the inner fixed base plate 33 on both sides when swinging.

[0068] (5) When the swing main rod 10 and the swing main rod 21 rotate in opposite directions, the two side swing base rings 16 and the middle swing base ring 17 drive the inner fixed base plate 33 to swing synchronously, so that the outer wall of the inner fixed base plate 33 gradually fits and positions itself with the inner side of the pulp molded product.

[0069] (6) When the inner fixed plate 33 continues to adhere to the inner side of the pulp molded product, the elastic telescopic block 31 is subjected to the inner pressure of the pulp molded product. The elastic telescopic block 31 pushes the bottom piston plate 36 to move inward inside the piston channel 37. The bottom piston plate 36 pushes the liquid in the large diameter hydraulic channel 35 to flow upward. The liquid enters the small diameter hydraulic channel 42 through the tightening pipe and pushes the top piston plate 43 to move downward.

[0070] (7) When the top piston plate 43 moves downward, the connecting rod 44 drives the connecting column 45 to move downward, and the connecting column 45 drives the side clamping plate cavity 30 to descend. During the descent of the side clamping plate cavity 30, the side clamping plate 38 with the inverted right-angled trapezoidal structure gradually contacts and tightens with one side of the pulp molded product, and cooperates with the outer wall of the inner fixed base plate 33 to clamp on the upper side of the pulp molded product to achieve auxiliary clamping and fixing.

[0071] (8) When the inner fixed base plate 33 completes the inner bonding and positioning of the pulp molded product, and the side clamping component completes the auxiliary clamping, the transfer device drives the transfer device connecting base plate 1 to rise and move, and the transfer device connecting base plate 1 drives the mechanical gripping unit and the clamped pulp molded product to pick up and transfer. After the pulp molded product is transferred to the later position, the main control motor 2 rotates in the reverse direction, and the power shaft 5 drives the swing main rod 10 to rotate in the reverse direction through the pulley 7 and the transmission belt 6. The swing main rod 10 drives the swing main rod 2 11 to reset in the reverse direction through the connecting plate, so that the inner fixed base plate 33 is released from the contact and positioning with the inner side of the pulp molded product. After the pressure on the elastic telescopic block 31 is released, the reset spring 2 46 drives the connecting column 45, the connecting rod 44 and the top piston plate 43 to reset, the side fastening plate cavity plate 30 rises, the reset spring 1 41 drives the side fastening plate 38 to reset, and the pulp molded product is released.

[0072] It should be understood that in this application, all rotating, sliding, meshing, belt-driven and other moving parts are well lubricated and not prone to slippage or wear, and each part is provided with a corresponding protective shell. However, in the accompanying drawings of this application, the connection state of each moving part is not shown. It should also be understood that all parts in this application are made of metal or plastic materials with suitable strength in the relevant field to ensure that their structural rigidity meets the actual requirements.

[0073] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A mechanical gripping mechanism for picking up molded pulp products, characterized in that, The system includes a transfer device connecting base plate (1); the top of the transfer device connecting base plate (1) is connected to the transfer device, and a mechanical gripping unit is provided at the bottom of the transfer device connecting base plate (1). The mechanical gripping unit is driven by a main control motor (2) provided at the top of the transfer device connecting base plate (1). The mechanical gripping unit includes a mechanical gripping mechanism provided on the lower side of the transfer device connecting base plate (1). The output end of the main control motor (2) is connected to a power shaft (5). The power shaft (5) passes through the transfer device connecting base plate (1) downwards via a pulley (7) and a transmission belt (6) and is rotatably connected to the mechanical gripping mechanism. The mechanical gripping mechanism includes two parallel swing main rods, a first swing main rod (10) and a second swing main rod (11), which are distributed below the connecting base plate (1) of the transfer device. The two ends of the first swing main rod (10) and the second swing main rod (11) are connected by a side-mounted elastic connecting component. The middle part of the first swing main rod (10) and the second swing main rod (11) are connected by a connecting plate. The pulley (7) is installed on one side of the first swing main rod (10) at the position corresponding to the transmission belt (6).

2. The mechanical gripping mechanism for picking up molded pulp products according to claim 1, characterized in that, Two side swing base rings (16) are symmetrically fixedly installed on both sides of the swing main rod one (10), and a middle swing base ring (17) is fixedly installed in the middle of the swing main rod two (11); an inner fixed base plate (33) is extended and installed on the lower part of the side wall of the two side swing base rings (16) and the middle swing base ring (17) that are far apart from each other. When the first swing rod (10) and the second swing rod (11) rotate in opposite directions at the same time, they drive the inner fixed base plate (33) to swing synchronously, so that the outer wall of the inner fixed base plate (33) is attached to and positioned with the inner side of the pulp molded product.

3. The mechanical gripping mechanism for picking up molded pulp products according to claim 2, characterized in that, Both sides of the swing main rod one (10) and the swing main rod two (11) are movably mounted with bases, and the bases are fixed upward to the bottom wall of the transfer device connecting base plate (1) via connecting rod (4); The transfer device connecting base plate (1) has a mounting hole (3) for connecting to the transfer device.

4. The mechanical gripping mechanism for picking up molded pulp products according to claim 3, characterized in that, The connecting plate includes a rectangular swing connecting plate (12). The swing connecting plate (12) has a slot on one side facing the middle swing base ring (17). The two ends of the slot are connected to a fixed sleeve (18) through a swing shaft (19). The ends of the fixed sleeve (18) are fixed to the swing main rod (11) through a collar. A connecting rod (15) is installed in the middle of the other side of the swing connecting plate (12). The end of the connecting rod (15) is connected to a fixing sleeve (13) through a swing shaft (14). The end of the fixing sleeve (13) is fixed to the swing main rod (10) through a collar.

5. A mechanical gripping mechanism for picking up molded pulp products according to claim 4, characterized in that, The side-mounted elastic connection assembly includes a connecting cylinder (20) installed at the ends of the first swing main rod (10) and the second swing main rod (11). The connecting cylinder (20) ends of the swing main rod one (10) and the swing main rod two (11) on the same side are respectively equipped with swing rod one (21) and swing rod two (28), and the ends of swing rod one (21) and swing rod two (28) are close to each other; The swing rod (21) is connected to a connecting plate (22) via a rotating shaft. The connecting plate (22) has a notch at its end. Telescopic cylinders (23) are installed at both ends of the notch via end plates (26). The end of the telescopic cylinder (23) closest to the connecting plate (22) is connected to the notch. The telescopic cylinder (23) has a telescopic rod (24) inside, and the end of the telescopic rod (24) can extend into the notch. The other end of the telescopic rod (24) is fixedly connected to the end plate (26). A spring (25) is fitted on the telescopic rod (24) between the two end plates (26). A connecting plate (27) is installed at the end of the end plate (26) located on one side of the swing rod (28), and the end of the connecting plate (27) is connected to the swing rod (28) via a rotating shaft.

6. The mechanical gripping mechanism for picking up molded pulp products according to claim 5, characterized in that, A side-mounted fastening assembly is provided on the upper part of the outer wall of the inner-attached fixed base plate (33); the side-mounted fastening assembly moves laterally elastically in a lifting manner, and the lateral movement is controlled by a moving part provided on the lower part of the outer wall of the inner-attached fixed base plate (33). The movement of the moving part is controlled by the degree of contact between the inner fixed base plate (33) and the inner side of the pulp molded product; When the inner fixed base plate (33) is attached to the inner side of the pulp molded product to the maximum extent, the moving part moves to the maximum stroke and controls the side-positioned clamping assembly to cooperate with the outer wall of the inner fixed base plate (33) and clamp it on the upper side of the pulp molded product.

7. A mechanical gripping mechanism for picking up molded pulp products according to claim 6, characterized in that, The side-mounted clamping assembly includes an L-shaped cavity plate (29) fixed on the outer wall of the inner-attached base plate (33), and a side-mounted clamping plate cavity plate (30) is elastically telescopically connected to the lower side of the vertical section of the L-shaped cavity plate (29); an inverted right-angled trapezoidal side-mounted clamping plate (38) is elastically provided inside the side of the side-mounted clamping plate cavity plate (30) facing the inner-attached base plate (33); a hydraulic telescopic connector is connected to the top of the side-mounted clamping plate cavity plate (30), and the power end of the hydraulic telescopic connector is connected to the moving part.

8. A mechanical gripping mechanism for picking up molded pulp products according to claim 7, characterized in that, The movable component includes a plurality of elastic telescopic blocks (31) that are evenly distributed along the length of the outer wall of the inner fixed base plate (33). The elastic telescopic block (31) is provided with a piston channel (37) on the inner side of the inner fixed base plate (33), and the inner end of the elastic telescopic block (31) is connected to a bottom piston plate (36), which is placed in the piston channel (37) and moves. The piston channel (37) is connected to a large-diameter hydraulic channel (35) with an L-shaped structure inside the inner fixed base plate (33). The top of the large-diameter hydraulic channel (35) is connected to a small-diameter hydraulic channel (42) through a tightening pipe. The bottom end of the small-diameter hydraulic channel (42) has a top piston plate (43) that slides, and the bottom of the top piston plate (43) is connected to the hydraulic telescopic connector via a connecting rod (44). The diameter of the small-diameter hydraulic channel (42) is smaller than the diameter of the large-diameter hydraulic channel (35).

9. A mechanical gripping mechanism for picking up molded pulp products according to claim 8, characterized in that, The hydraulic telescopic connector includes a connecting post (45) connected to the bottom end of the connecting rod (44). The bottom of the connecting post (45) is fixedly connected to the top of the side-positioned tension plate cavity (30). The two sides of the connecting post (45) are connected to the bottom outer wall of the small-diameter hydraulic channel (42) through multiple evenly distributed return springs (46). A slider (39) is installed on the top of the side-positioned tension plate (38). The slider (39) is provided with a groove (40) in the inner top wall of the side-positioned tension plate cavity (30). The slider (39) slides along the inside of the groove (40). The side wall of the side-positioned tension plate (38) facing the inside of the side-positioned tension plate cavity (30) is elastically connected to the inner wall of the side-positioned tension plate cavity (30) through multiple evenly distributed return springs (41).

10. A mechanical gripping mechanism for picking up molded pulp products according to claim 9, characterized in that, A flexible buffer layer is provided on the outer wall of the side-mounted clamping plate cavity (30).

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