Servo wire pulling type wet blank synchronous transfer mechanical arm

Abstract

The utility model relates to the technical field of wet blank transfer, in particular to a servo wire pulling type wet blank synchronous transfer mechanical arm which comprises a wet blank transfer arm, an arc-shaped guide follow-up mechanism, a wet blank adsorption mold and a lifting driving mechanism. The arc-shaped guide follow-up mechanism comprises an arc-shaped guide plate and a lifting mounting plate; the device further comprises a transition adjusting mechanism and a motor driving mechanism. A plurality of first locking threaded holes are formed in the arc-shaped guide plate; a plurality of second locking threaded holes are formed in the wet blank adsorption mold; the transition adjusting mechanism comprises an adjusting plate, a plurality of first locking screws and a plurality of second locking screws; and the motor driving mechanism drives the arc-shaped guide plate to horizontally translate relative to the wet blank transfer arm according to the track of the arc-shaped track in a linear pulling manner. According to the utility model, the transition adjusting mechanism is additionally arranged, so that not only is the flexible connection between the wet blank adsorption mold and the arc-shaped guide plate realized, but also the position of the wet blank adsorption mold is allowed to be finely adjusted when necessary, and great flexibility is provided for the position adjustment of the wet blank adsorption mold.

Description

Technical Field

[0001] The utility model relates to the technical field of wet embryo transfer, in particular to a servo wire-pull type wet embryo synchronous transfer mechanical arm. Background Art

[0002] At present, pulp molding is a green and environmentally friendly product made from plant fiber pulp or waste paper products that can be completely naturally degraded and recycled as basic materials. The production process of pulp molding is completed by pulping, adsorption molding, wet embryo transfer, hot pressing and shaping. It is widely used in food and medicine storage, electrical appliance packaging, planting and seedling cultivation, medical utensils, handicraft bases and fragile goods cushioning packaging.

[0003] In the related technology, the invention patent number CN202010641726.9 discloses a fully automatic rotary pulp molding and hot pressing shaping integrated production equipment, including a pulping wet embryo forming device, a rotary pulp molding and hot pressing shaping device, and a rotary wet embryo transfer device; the rotary wet embryo transfer device is arranged between the wet embryo forming device and the hot pressing shaping device, and the multiple wet embryo synchronous transfer robotic arms of the rotary wet embryo transfer device respectively complete the work of adsorbing the wet embryos in the pulping wet embryo forming device and synchronously transferring the wet embryos to the hot pressing shaping mold in uniform rotation during the rotation process. When one of the wet embryo synchronous transfer robotic arms sends the wet embryo into the rotary pulp molding and hot pressing shaping device, another wet embryo synchronous transfer robotic arm adsorbs the wet embryo in the pulping forming device, and the remaining wet embryo synchronous transfer robotic arms wait to send the wet embryos into the hot pressing shaping device or wait to enter the pulping station. This invention features a rational layout, compact structure, small footprint, stable and reliable operation, low energy consumption, and high production efficiency, enabling continuous automated production of wet embryo molding, wet embryo transfer, and hot pressing processes. A follower push rod is fixedly mounted vertically on one side of each hot pressing lower mold structure, and a follower pulley capable of contacting the follower push rod is fixedly mounted on each wet embryo adsorption mold assembly. The first curved track, the second curved track, and the rotating frame are cocentric. A return spring is also included, one end of which is fixedly connected to the curved guide plate and the other end to the lifting mounting plate. During the working process, when the wet embryo adsorption mold assembly rotates to the second position, the wet embryo adsorption mold assembly is located just above the hot pressing lower mold structure, the follower push rod contacts the follower pulley, and the lifting drive mechanism drives the wet embryo adsorption mold assembly to descend in the vertical direction, and the wet embryo adsorption mold assembly and the hot pressing lower mold structure are molded together. Since the follower push rod rotates at a uniform speed following the hot pressing lower mold structure, the follower push rod applies a horizontal driving force to the follower pulley and the wet embryo adsorption mold assembly. When the follower push rod wet embryo adsorption mold assembly is subjected to the horizontal driving force of the follower push rod, the wet embryo adsorption mold assembly is horizontally translated relative to the wet embryo transfer arm according to the trajectory of the arc guide rail under the constraint of the arc guide follower mechanism, so that the wet embryo adsorption mold assembly follows the hot pressing lower mold structure. The lower mold structure rotates at a uniform speed to ensure that the wet embryo adsorption mold assembly is always located directly above the hot pressing lower mold structure during the wet embryo transfer process, ensuring the function of the wet embryo adsorption mold assembly to accurately transfer the wet embryo to the hot pressing lower mold structure; when the wet embryo adsorption mold assembly is molded with the hot pressing lower mold structure, the wet embryo adsorption mold assembly releases the wet embryo, allowing the wet embryo to fall into the hot pressing lower mold, and then the wet embryo adsorption mold assembly is driven by the lifting drive mechanism to rise in the vertical direction and return to the preset height position. At the same time, all wet embryo transfer robotic arms rotate to the next workstation; the follow-up push rod is separated from the follow-up pulley, the horizontal driving force on the wet embryo adsorption mold assembly disappears, and the reset spring pulls the wet embryo adsorption mold back to the initial centering locking position.However, the above structure still has the following problems: 1. Because the synchronous movement of the arc-shaped guide follower mechanism is completely passively driven by the follower push rod, it is inevitably susceptible to mechanical shock, poor stability, and poor reliability. 2. Because the wet embryo adsorption mold assembly is directly fixed to the bottom surface of the arc-shaped guide plate, the inevitable processing and installation errors of the various components in the wet embryo adsorption mold assembly inevitably lead to the wet embryo adsorption mold assembly not being able to accurately align with the wet embryo forming mold after being fixed. In addition, because the width of the arc-shaped guide plate is much smaller than that of the wet embryo adsorption mold assembly, direct installation results in large cantilevers at the front and rear ends of the wet embryo adsorption mold assembly, resulting in poor force and connection stability. 3. Because the arc-shaped guide plate needs to switch between the synchronous follower initial position, the centering lock position, and the synchronous follower end position during movement, and the above structure lacks a limit mechanism and positioning control signal at these positions, it can cause inaccurate positioning and movement, and even loss of control. Utility Model Content

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a servo-wire-pull wet embryo synchronous transfer robot arm. By adding a transition adjustment mechanism, the robot arm not only achieves a flexible connection between the wet embryo adsorption mold assembly and the arc-shaped guide plate, but also allows for fine-tuning of the position of the wet embryo adsorption mold assembly when necessary, providing great flexibility in adjusting the position of the wet embryo adsorption mold assembly.

[0005] The first aspect of the present invention provides a servo wire-pull type wet embryo synchronous transfer robot arm, comprising a wet embryo transfer arm, an arc-shaped guide follower mechanism, a wet embryo adsorption mold assembly and a lifting drive mechanism; the arc-shaped guide follower mechanism comprises an arc-shaped guide plate and a lifting mounting plate; a first arc-shaped track is provided on one side wall of the arc-shaped guide plate, and a second arc-shaped track is provided on the other opposite side wall; the first arc-shaped track and the second arc-shaped track are cocentric; a first guide wheel and a second guide wheel are provided on the bottom surface of the lifting mounting plate, and the first guide wheel and the second guide wheel respectively cooperate with the first arc-shaped track and the second arc-shaped track to form an arc-shaped motion pair; it is characterized in that

[0006] It also includes a transition adjustment mechanism and a motor drive mechanism;

[0007] The arc-shaped guide plate is provided with a plurality of first locking threaded holes; the wet embryo adsorption mold assembly is provided with a plurality of second locking threaded holes;

[0008] The transition adjustment mechanism includes an adjustment plate, a plurality of first locking screws and a plurality of second locking screws; a plurality of first connecting holes are provided in the middle of the adjustment plate, and a plurality of second connecting holes are provided at both ends of the adjustment plate; the aperture of the second connecting hole is larger than the aperture of the second locking threaded hole; the plurality of first locking screws respectively pass through the plurality of first connecting holes and are threadedly connected to the plurality of first locking threaded holes in a one-to-one correspondence, so that the adjustment plate is fixedly connected to the arc-shaped guide plate; the plurality of second locking screws respectively pass through the plurality of second connecting holes and are threadedly connected to the plurality of second locking threaded holes in a one-to-one correspondence, so that the wet embryo adsorption mold assembly is fixedly connected to the adjustment plate;

[0009] The motor drive mechanism is installed on the lifting installation plate, and the motor drive mechanism drives the arc guide plate to move horizontally relative to the wet embryo transfer arm along the trajectory of the arc track through a wire pull method.

[0010] In the first aspect of the present utility model, as a preferred embodiment, the width of the adjustment plate is greater than the width of the arc-shaped guide plate.

[0011] In the first aspect of the present invention, as a preferred embodiment, it further includes a limiting mechanism, which includes a first limiting member, a second limiting member, a third limiting member and a telescopic assembly;

[0012] The first limiting member and the second limiting member are respectively installed at two ends of the arc-shaped guide plate;

[0013] The third limiting member is installed at the middle position of one side of the adjustment plate;

[0014] The telescopic assembly is installed in the middle of the lifting mounting plate; the telescopic assembly includes a telescopic rod and a telescopic driving mechanism for driving the telescopic rod to extend or retract;

[0015] When the arc guide plate is driven by the motor, it will move smoothly strictly along the trajectory of the arc track, and can switch between the synchronous follow-up initial position, the intermediate locking position and the synchronous follow-up termination position. When the arc guide plate is in the synchronous follow-up initial position, the first limit member abuts against the first end of the lifting mounting plate; when the arc guide plate is in the intermediate locking position, the telescopic drive mechanism drives the telescopic rod to extend so that the telescopic rod abuts against the third limit member; when the arc guide plate is in the synchronous follow-up termination position, the second limit member abuts against the second end of the lifting mounting plate.

[0016] In the first aspect of the present invention, as a preferred embodiment, it further includes a first position sensor, a second position sensor, and a third position sensor;

[0017] The first position sensor and the second position sensor are respectively installed at two ends of the lifting installation plate;

[0018] The third position sensor is installed at the middle position of one side of the lifting installation plate;

[0019] When the first position sensor detects the first limiter, the arc guide plate is at the synchronous follow-up initial position, and sends a corresponding signal to the control system to adjust the next action of the drive motor;

[0020] When the third position sensor detects the third limiter, the arc guide plate is in the middle locking position, and a corresponding signal is sent to the control system to adjust the next action of the drive motor;

[0021] When the second position sensor detects the second limit member, the arc guide plate is at the synchronous follow-up end position, and a corresponding signal is sent to the control system to adjust the next action of the drive motor.

[0022] In the first aspect of the present utility model, as a preferred embodiment, the motor drive mechanism includes a motor mounting plate, a drive motor, a drive wheel, a double-groove guide wheel, and a traction rope;

[0023] One end of the motor mounting plate is mounted on the lifting mounting plate;

[0024] The drive motor is mounted on the motor mounting plate, and the output shaft of the drive motor passes through the bottom surface of the motor mounting plate and extends vertically downward;

[0025] The driving wheel is mounted on the output shaft of the driving motor, and a curved groove is formed on the outer surface of the driving wheel;

[0026] The double-groove guide wheel is mounted on the bottom surface of the lifting mounting plate and is located in the middle of one side of the first arc-shaped track. A first annular guide groove and a second annular guide groove are formed on the outer surface of the double-groove guide wheel, and the first annular guide groove and the second annular guide groove are identical in shape and diameter.

[0027] The first end of the traction rope is connected to the first end of the arc-shaped guide plate, and the second end of the traction rope enters the first arc-shaped track from the left end, then passes through the middle position of the first arc-shaped track, and successively passes around the first circular guide groove of the double-groove guide wheel, the curved groove of the driving wheel, and the second circular guide groove of the double-groove guide wheel and then enters the first arc-shaped track again, and finally passes through the right end of the first arc-shaped track and is connected to the second end of the arc-shaped guide plate.

[0028] In the first aspect of the present invention, as a preferred embodiment, the first annular guide groove and the second annular guide groove are staggered in the axial direction of the double-groove guide wheel, and both have the same shape and diameter; the curved groove includes all continuous curved grooves without mutation points, such as sinusoidal grooves or wavy grooves.

[0029] In the first aspect of the present invention, as a preferred embodiment, it further includes a spline shaft and a limit plate;

[0030] A flat key is provided on the output shaft of the driving motor;

[0031] The limiting plate is locked to the bottom of the output shaft of the driving motor by connecting screws;

[0032] A flat keyway is formed in the central mounting hole of the spline shaft, and an external spline is formed on its outer surface; the spline shaft cooperates with the flat key of the output shaft through the flat keyway; the spline shaft is locked to the limit plate by a connecting screw;

[0033] An inner spline hole is formed in the middle of the driving wheel, and the driving wheel forms a clearance fit with the outer spline of the spline shaft through the inner spline hole. The driving wheel can move freely up and down along the axial direction of the spline shaft and is restricted from escaping from the spline shaft by the limiting plate.

[0034] In the first aspect of the present invention, as a preferred embodiment, it also includes two traction rope fixing seats, which are respectively installed on the two side walls of the arc guide plate adjacent to the first arc track; the two ends of the traction rope are respectively connected to the two traction rope fixing seats.

[0035] In the first aspect of the present invention, as a preferred embodiment, it further includes an adjustment assembly, the adjustment assembly including a fixing plate, a plurality of connecting screws and a tensioning cam;

[0036] One end of the motor mounting plate is provided with a plurality of long waist holes;

[0037] The lifting mounting plate is provided with a plurality of threaded holes;

[0038] The fixing plate is provided with a plurality of nail through holes;

[0039] The connecting screws pass through the nail through holes and the long waist holes in sequence and are threadedly connected to the holes. A plurality of the connecting screws, a plurality of nail through holes, a plurality of long waist holes and threaded holes are arranged in a one-to-one correspondence;

[0040] The tensioning cam is mounted on the lifting mounting plate with a fastening screw, and the tensioning cam is in contact with the motor mounting plate. By adjusting the eccentricity of the tensioning cam, the tensioning cam drives the motor mounting plate to move along the length direction of the long waist hole, so as to adjust the tension of the traction rope.

[0041] In the first aspect of the present utility model, as a preferred embodiment, the tensioning cam is fixedly mounted on the lifting mounting plate by a fastening screw.

[0042] Compared with the prior art, the beneficial effects of the present invention are:

[0043] In this utility model, when the wet embryo adsorption mold assembly is subjected to a horizontal external force, it is constrained by a curved kinematic pair, moving horizontally relative to the wet embryo transfer arm along the trajectory of a curved track. A lifting drive mechanism is mounted on the wet embryo transfer arm and is used to drive a lifting mounting plate for vertical lifting and lowering motion. The lifting mounting plate, via first and second guide wheels, drives the curved guide plate, adjustment plate, and wet embryo adsorption mold assembly for vertical lifting and lowering motion. Horizontally, the horizontal translation of the curved guide plate is precisely controlled by a servo motor driven by a wire-pull mechanism. When driven by the motor, the curved guide plate smoothly moves along the trajectory of the curved track, thereby driving the adjustment plate and wet embryo adsorption mold assembly, which are fixed to it, to move together. Because the adjustment plate and wet embryo adsorption mold assembly are securely connected via a second locking screw, the wet embryo adsorption mold assembly maintains synchronized movement with the curved guide plate.

[0044] The adjustment plate of this embodiment is fixedly connected to the curved guide plate via a first locking screw and to the wet embryo adsorption mold assembly via a second locking screw. The difference in aperture between the second connection hole and the second locking threaded hole on the adjustment plate provides great flexibility in adjusting the position of the wet embryo adsorption mold assembly. Even if the installation position of the wet embryo adsorption mold assembly varies by several millimeters, the adjustment plate can easily adapt and ensure a secure and accurate connection between the wet embryo adsorption mold assembly and the curved guide plate. This design not only enables a flexible connection between the wet embryo adsorption mold assembly and the curved guide plate, but also allows for fine-tuning of the position of the wet embryo adsorption mold assembly when necessary, providing great flexibility in adjusting the position of the wet embryo adsorption mold assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic diagram of the split structure of the servo wire-pull type wet embryo synchronous transfer robot arm of the present utility model;

[0046] Figure 2 This is a schematic diagram of the split structure of the servo wire-pull wet embryo synchronous transfer robot arm of the present invention from another angle;

[0047] Figure 3 This is a structural diagram of the servo wire-pull wet embryo synchronous transfer robot arm of the present invention located at the synchronous follow-up initial position;

[0048] Figure 4 This is a structural diagram of the servo wire-pull wet embryo synchronous transfer robot arm of the present invention in the middle locking position;

[0049] Figure 5This is a structural diagram of the servo wire-pull wet embryo synchronous transfer robot arm of the utility model being located in the middle locking position and the mold descending to the bottom;

[0050] Figure 6 This is a structural diagram of the servo wire-pull wet embryo synchronous transfer robot arm of the present invention located at the synchronous follow-up end position;

[0051] Figure 7 This is a structural diagram of the arc-shaped guide follower mechanism of the present invention located at the synchronous follower initial position;

[0052] Figure 8 This is a structural diagram of the arc-shaped guide follower mechanism of the present invention located in the middle locking position;

[0053] Figure 9 This is a structural diagram of the arc-shaped guide follower mechanism of the present invention located at the synchronous follower end position;

[0054] Figure 10 This is a schematic structural diagram of the transition adjustment mechanism of the present utility model;

[0055] Figure 11 This is a structural diagram of the transition adjustment mechanism of the present invention from another angle;

[0056] Figure 12 It is a three-dimensional diagram of the arc-shaped guide follower mechanism and the motor drive mechanism of the utility model;

[0057] Figure 13 A three-dimensional diagram of the arc-shaped guide follower mechanism and the motor drive mechanism of the present invention from another angle;

[0058] Figure 14 This is a schematic top view of the arc-shaped guide follower mechanism and the motor drive mechanism of the present invention;

[0059] Figure 15 It is a side structural diagram of the arc-shaped guide follower mechanism and the motor drive mechanism of the present utility model;

[0060] Figure 16 This is a schematic structural diagram of the motor drive mechanism of the present utility model;

[0061] Figure 17 This is a structural diagram of the motor mounting plate of the present utility model;

[0062] Figure 18 This is a schematic structural diagram of the driving wheel of the present utility model;

[0063] Figure 19 This is a schematic structural diagram of the spline shaft of the utility model;

[0064] Figure 20This is a schematic structural diagram of the double-groove guide wheel of the present utility model;

[0065] Figure 21 This is a schematic structural diagram of a rotary wet embryo transfer device of the present invention;

[0066] Figure 22 This is a structural schematic diagram of the rotary wet embryo transfer device of the present invention from another angle;

[0067] Figure 23 It is a structural schematic diagram of the rotary wet embryo transfer device and the pulping wet embryo forming device of the utility model;

[0068] Figure 24 This is a structural schematic diagram of the rotary wet embryo transfer device and the pulping wet embryo forming device of the utility model from another angle;

[0069] Figure 25 This is a structural schematic diagram of a fully automatic rotary pulp molding, hot pressing and shaping integrated production equipment of the present utility model.

[0070] In the picture:

[0071] 100. Rotary wet embryo transfer device;

[0072] 110. Servo-wire-pull wet embryo synchronous transfer robot arm; 10. Arc-shaped guide follower mechanism; 11. Arc-shaped guide plate; 111. First arc track; 112. Second arc track; 12. Lifting mounting plate; 121. First guide wheel; 122. Second guide wheel; 20. Motor drive mechanism; 21. Motor mounting plate; 211. Long waist hole; 22. Drive motor; 221. Output shaft; 23. Drive wheel; 231. Curved groove; 232. Internal spline hole; 24. Double-groove guide wheel; 241. First annular guide groove; 242. Second annular guide groove; 25. Pull rope; 26. Spline shaft; 261. Flat keyway; 262. External spline; 27. Limit plate; 28. Traction rope fixing seat; 30. Adjustment assembly; 31. Fixing plate; 32. Connecting screw; 33. Tensioning cam; 34. Fastening screw; 40. Wet embryo transfer arm; 50. Wet embryo adsorption mold assembly; 60. Lifting drive mechanism; 70. Transition adjustment mechanism; 71. Adjustment plate; 711. First connecting hole; 712. Second connecting hole; 72. First locking screw; 73. Second locking screw; 81. First stopper; 82. Second stopper; 83. Third stopper; 841. Telescopic rod; 842. Telescopic drive mechanism; 85. First position sensor; 86. Second position sensor; 87. Third position sensor; 91. Plate chain assembly; 92. Anti-fall mechanism;

[0073] 120. Wet embryo transfer support frame;

[0074] 130, rotating arm mounting seat;

[0075] 200. Slurry-removing wet embryo forming device;

[0076] 300. Rotary pulp molding hot pressing and shaping device;

[0077] 400. Hot pressing and shaping mechanism. DETAILED DESCRIPTION

[0078] Below, in conjunction with the accompanying drawings and specific embodiments, the utility model is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Unless otherwise specified, the materials and equipment used in this embodiment can be purchased from the market. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar numbers throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and cannot be understood as limiting this application.

[0079] In the description of this application, it should be understood that the terms "upper," "lower," "front," "back," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting this application. In the description of this application, "plurality" means two or more, unless otherwise specifically specified.

[0080] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "connected," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, a connection through an intermediary medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0081] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. In addition, the terms "including," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to the process, method, product, or apparatus.

[0082] Example 1:

[0083] Please refer to Figure 1-25 As shown, this embodiment provides a servo wire-pull type wet embryo synchronous transfer robot arm 110, comprising a wet embryo transfer arm 40, an arc-shaped guide follower mechanism 10, a wet embryo adsorption mold assembly 50 and a lifting drive mechanism 60;

[0084] Specifically, the arc-shaped guide follower mechanism 10 includes an arc-shaped guide plate 11 and an elevating mounting plate 12. A first arc-shaped track 111 is provided on one side wall of the arc-shaped guide plate 11, and a second arc-shaped track 112 is provided on the other opposite side wall. The first arc-shaped track 111 and the second arc-shaped track 112 are cocentric. A first guide wheel 121 and a second guide wheel 122 are provided on the bottom surface of the elevating mounting plate 12. The first guide wheel 121 and the second guide wheel 122 cooperate with the first arc-shaped track 111 and the second arc-shaped track 112, respectively, to form an arc-shaped kinematic pair.

[0085] Specifically, it also includes a transition adjustment mechanism 70 and a motor drive mechanism 20;

[0086] The arc-shaped guide plate 11 is provided with a plurality of first locking threaded holes; the wet embryo adsorption mold assembly 50 is provided with a plurality of second locking threaded holes;

[0087] The transition adjustment mechanism 70 includes an adjustment plate 71, a plurality of first locking screws 72, and a plurality of second locking screws 73. A plurality of first connecting holes 711 are provided in the middle of the adjustment plate 71, and a plurality of second connecting holes 712 are provided at both ends of the adjustment plate 71. The aperture of the second connecting hole 712 is larger than that of the second locking threaded hole. The plurality of first locking screws 72 pass through the plurality of first connecting holes 711 and are threadedly connected to the plurality of first locking threaded holes in a one-to-one correspondence, so that the adjustment plate 71 is fixedly connected to the arc-shaped guide plate 11. The plurality of second locking screws 73 pass through the plurality of second connecting holes 712 and are threadedly connected to the plurality of second locking threaded holes in a one-to-one correspondence, so that the wet embryo adsorption mold assembly 50 is fixedly connected to the adjustment plate 71.

[0088] The motor drive mechanism 20 is mounted on the lifting mounting plate 12 . The motor drive mechanism 20 drives the arc guide plate 11 to move horizontally relative to the wet embryo transfer arm 40 along the trajectory of the arc track through a wire pull method.

[0089] Based on the above structure, when the wet embryo adsorption mold assembly 50 is subjected to a horizontal external force, it is constrained by the arcuate kinematic pair and moves horizontally relative to the wet embryo transfer arm 40 along the arcuate track. A lifting drive mechanism 60 is mounted on the wet embryo transfer arm 40 and is used to drive the lifting mounting plate 12 to move vertically. The lifting mounting plate 12, via the first and second guide wheels 121 and 122, drives the curved guide plate 11, the adjustment plate 71, and the wet embryo adsorption mold assembly 50 in the vertical direction. Horizontally, the horizontal movement of the curved guide plate 11 is precisely controlled by a wire pull mechanism. When driven by the motor, the curved guide plate 11 moves smoothly and strictly along the arcuate track, thereby driving the adjustment plate 71 and the wet embryo adsorption mold assembly 50, which are fixed to it, to move together. Since the adjustment plate 71 and the wet embryo adsorption mold assembly 50 are firmly connected via the second locking screw 73 , the wet embryo adsorption mold assembly 50 can always maintain synchronous movement with the arc-shaped guide plate 11 .

[0090] The adjustment plate 71 of this embodiment is fixedly connected to the curved guide plate 11 via a first locking screw 72 and to the wet embryo adsorption mold assembly 50 via a second locking screw 73. The difference in diameter between the second connection hole 712 and the second locking threaded hole on the adjustment plate 71 provides great flexibility in adjusting the position of the wet embryo adsorption mold assembly 50. Even if the installation position of the wet embryo adsorption mold assembly 50 varies by several millimeters, the adjustment plate 71 can easily adapt and ensure a secure and accurate connection between the wet embryo adsorption mold assembly 50 and the curved guide plate 11. This design not only provides a flexible connection between the wet embryo adsorption mold assembly 50 and the curved guide plate 11, but also allows for fine-tuning of the installation position of the wet embryo adsorption mold assembly 50 when necessary, providing great flexibility in adjusting the position of the wet embryo adsorption mold assembly 50.

[0091] In a preferred embodiment of the present invention, the width of the adjustment plate 71 is greater than the width of the arc-shaped guide plate 11 .

[0092] Based on the above structure, because the width of the adjustment plate 71 is greater than that of the curved guide plate 11, it can disperse the stress and load from the wet embryo adsorption mold assembly 50 over a larger area. In other words, by shortening the length of the force-bearing arm, the force condition of the wet embryo adsorption mold assembly is improved, effectively enhancing the installation rigidity of the wet embryo adsorption mold assembly, reducing the risk of damage, and extending the service life of the robot arm. At the same time, it ensures that the wet embryo adsorption mold assembly 50 can be stably and accurately connected to the curved guide plate 11. In summary, through the transition design of the adjustment plate 71 in this embodiment, the servo wire-pull wet embryo synchronous transfer robot arm 110 not only improves the connection stability and flexibility, but also enhances the structural rigidity, improves adaptability, and facilitates maintenance.

[0093] In a preferred embodiment of the present invention, a limiting mechanism is further included, which includes a first limiting member 81, a second limiting member 82, a third limiting member 83 and a telescopic assembly;

[0094] The first limiting member 81 and the second limiting member 82 are respectively installed at both ends of the arc-shaped guide plate 11;

[0095] The third limiting member 83 is installed at the middle position of one side of the adjustment plate 71;

[0096] The telescopic assembly is installed in the middle of the lifting mounting plate 12; the telescopic assembly includes a telescopic rod 841 and a telescopic drive mechanism 842 that drives the telescopic rod 841 to extend or retract;

[0097] When the arc guide plate 11 is driven by the motor, it will move smoothly strictly along the trajectory of the arc track, and can switch between the synchronous follow-up initial position, the intermediate locking position and the synchronous follow-up end position. When the arc guide plate 11 is in the synchronous follow-up initial position, the first limit member 81 abuts against the first end of the lifting mounting plate 12; when the arc guide plate 11 is in the intermediate locking position, the telescopic drive mechanism 842 drives the telescopic rod 841 to extend, so that the telescopic rod 841 abuts against the third limit member 83; when the arc guide plate 11 is in the synchronous follow-up end position, the second limit member 82 abuts against the second end of the lifting mounting plate 12.

[0098] Based on the above structure, when the curved guide plate 11 needs to remain in the synchronous follow-up initial position, the first limiter 81 will tightly abut the first end of the lifting mounting plate 12, thereby ensuring that the curved guide plate 11 remains stable in the starting position. As the task progresses, when the curved guide plate 11 needs to move to the intermediate locking position, the telescopic drive mechanism 842 will drive the telescopic rod 841 to extend and tightly abut the third limiter 83. This step achieves precise positioning of the curved guide plate 11, thereby accurately receiving the wet embryos from the wet embryo forming mold. The support of the telescopic rod 841 also enhances the stability of the robotic arm. When the curved guide plate 11 completes the transfer task and remains in the synchronous follow-up end position, the second limiter 82 will tightly abut the second end of the lifting mounting plate 12. This design ensures the stability, safety, and accuracy of the curved guide plate 11 in the three extreme positions, providing a strong guarantee for the smooth completion of the entire transfer process. Thus, by introducing a limiting mechanism, this embodiment allows the curved guide plate 11 to be precisely positioned at preset positions during movement, using these three preset positions as reference points for movement. This significantly improves the accuracy of the wet embryo transfer process. The first, second, and third limiting members 81, 82, and 83 work together to provide stable support and restraint for the curved guide plate 11, effectively preventing positional deviation and deviation from the track during movement, thereby ensuring stable transfer of the wet embryo. In a preferred embodiment of the present invention, a first position sensor 85, a second position sensor 86, and a third position sensor 87 are also included.

[0099] The first position sensor 85 and the second position sensor 86 are respectively installed at both ends of the lifting installation plate 12;

[0100] The third position sensor 87 is installed at the middle position of one side of the lifting installation plate 12;

[0101] When the first position sensor 85 detects the first limiter 81, the arc-shaped guide plate 11 is at the synchronous follow-up initial position, and sends a corresponding signal to the control system to adjust the next action of the drive motor 22;

[0102] When the third position sensor 87 detects the third limiter 83, the arc-shaped guide plate 11 is in the middle locking position, and sends a corresponding signal to the control system to adjust the next action of the drive motor 22;

[0103] When the second position sensor 86 detects the second limit member 82 , the arc-shaped guide plate 11 is at the synchronous follow-up end position, and sends a corresponding signal to the control system to adjust the next action of the drive motor 22 .

[0104] When the curved guide plate 11 moves to the synchronous follow-up initial position, the first position sensor 85 detects the first stopper 81 and immediately sends a corresponding signal to the control system to adjust the next movement of the drive motor 22. As the task progresses, when the curved guide plate 11 moves to the intermediate locking position, the third position sensor 87 detects the third stopper 83 and similarly sends a corresponding signal to the control system to adjust the next movement of the drive motor 22. Finally, when the curved guide plate 11 completes the transfer task and moves to the synchronous follow-up end position, the second position sensor 86 detects the second stopper 82 and sends a corresponding signal to the control system to adjust the next movement of the drive motor 22. In this way, the first, second, and third position sensors 85, 86, and 87 of this embodiment work closely together with the stopper mechanism to ensure that the robotic arm can accurately, smoothly, and stably complete the wet embryo transfer task. Furthermore, the accurate position signals provided by these three sensors to the control system reliably ensure the intelligent monitoring and diagnostic capabilities of the entire machine control. This allows operators to monitor the robotic arm's operating status in real time and make interventions and adjustments when necessary.

[0105] Specifically, the motor drive mechanism 20 includes a motor mounting plate 21, a drive motor 22, a drive wheel 23, a double-groove guide wheel 24, and a traction rope 25;

[0106] One end of the motor mounting plate 21 is mounted on the lifting mounting plate 12;

[0107] The driving motor 22 is mounted on the motor mounting plate 21 , and the output shaft 221 of the driving motor 22 passes through the bottom surface of the motor mounting plate 21 and extends vertically downward;

[0108] The driving wheel 23 is mounted on the output shaft 221 of the driving motor 22 , and a curved groove 231 is formed on the outer surface of the driving wheel 23 ;

[0109] The double-groove guide wheel 24 is mounted on the bottom surface of the lifting mounting plate 12 and is located in the middle of one side of the first arc-shaped track 111. A first annular guide groove 241 and a second annular guide groove 242 are formed on the outer surface of the double-groove guide wheel 24.

[0110] The first end of the traction rope 25 is connected to the first end of the arc-shaped guide plate 11, and the second end thereof enters the first arc-shaped track 111 from the left end, then passes through the middle position of the first arc-shaped track 111, and successively passes around the first circular guide groove 241, the curved groove 231, and the second circular guide groove 242 before entering the first arc-shaped track 111 again, and finally passes through the right end of the first arc-shaped track 111 and is connected to the second end of the arc-shaped guide plate 11.

[0111] Based on the above structure, when the drive motor 22 is started and operates at the speed and acceleration specified for the hot-pressing mold's motion, its output shaft 221 drives the drive wheel 23 to rotate. The wavy grooves on the outer surface of the drive wheel 23 generate friction with the traction rope 25, thereby driving the traction rope 25. The first end of the traction rope 25 is connected to the first end of the curved guide plate 11, while the second end is connected to the second end of the curved guide plate 11 through a series of paths (including the first curved track 111, the guide grooves of the double-grooved guide wheel 24, and the curved groove 231). Therefore, as the ends of the traction rope 25 extend and retract left and right, they drive the curved guide plate 11 to move synchronously along the curved track. Simultaneously, the first and second guide wheels 121, 122 on the elevating mounting plate 12 slide along the first and second curved tracks 111, 112, respectively, ensuring the relative stability between the elevating mounting plate 12 and the curved guide plate 11. Compared with the gear transmission method, the utility model shows significant advantages in the process of servo synchronous following of the curved guide rail by driving the curved guide plate 11 by the traction rope 25 line pulling method, and has the characteristics of strong environmental adaptability, no need for lubrication, no pollution, stable and reliable synchronous transmission, high motion accuracy, light motion mass (weight), low consumption and high efficiency, convenient manufacturing, installation and maintenance, and low cost, as follows:

[0112] 1. The 25-wire pull system is highly adaptable to the harsh environments inevitably encountered in pulp molding, such as humidity, splashing wet pulp, and dust from pulp drying. This is because the 25-wire pull system itself is unaffected by these environmental factors, ensuring long-term maintenance-free stability and reliability, while maintaining transmission performance that meets precision requirements. Gear transmissions, on the other hand, can be subject to wear, seizure, or even failure due to humidity and dust.

[0113] 2. The 25-wire pulling method of the traction rope does not require oiling or lubrication, thus avoiding machine and product contamination.

[0114] 3. A soft, high-tension traction rope 25 precisely converts the servo motor's motion into synchronized movement, with the wet mold following the shaping mold. This transmission method offers the same precision as traditional gears, ensuring stability and reliability during production.

[0115] 4. Compared to gear transmission, the traction rope 25 wire-pull method can significantly reduce the weight of the entire system, especially the motion system. This is because the traction rope 25 itself is lightweight and does not require complex components such as gearboxes and drive shafts. This weight reduction not only reduces system energy consumption but also reduces or eliminates shock and vibration during movement, further improving system efficiency, reliability, and stability.

[0116] 5. The components of the wire-pull traction rope 25 are relatively simple, resulting in low manufacturing difficulty and cost. Due to the small number of components and simple structure, the installation process is more convenient, shortening the manufacturing and installation cycle. Maintenance of the traction rope 25 is relatively simple, with very low operating and maintenance costs. Cleaning and maintenance are also extremely convenient. In a preferred embodiment of the present invention, the first annular guide groove 241 and the second annular guide groove are staggered along the axis of the double-grooved guide wheel 24 and have the same shape and diameter.

[0117] Based on the above structure, when the traction rope 25 passes around the double-grooved guide wheel 24, because the first annular guide groove 241 and the second annular guide groove are offset in the axial direction, the two ends of the traction rope 25 enter these two guide grooves respectively and move in the same direction and at the same speed on the double-grooved guide wheel 24. This staggered design ensures that the traction rope 25 will not become entangled or knotted when passing around the double-grooved guide wheel 24. The staggered guide groove design reduces friction during the transmission of the traction rope 25, reduces energy loss, and thus improves transmission efficiency. At the same time, this design also reduces wear on the traction rope 25 and extends its service life.

[0118] In a preferred embodiment of the present invention, the curved groove 231 includes all continuous curved grooves without abrupt points, such as a sinusoidal groove or a wavy groove.

[0119] In a preferred embodiment of the present invention, the curved grooves 231 are shallow, wavy grooves evenly and symmetrically distributed along the circumference of the drive wheel. The wavy grooves have smooth peaks and troughs, adapting to traction ropes 25 of varying diameters and materials, improving the versatility of the device. The smooth peaks and troughs increase the contact area with the traction rope 25, thereby enhancing the contact friction between the drive wheel and the traction rope, and improving transmission stability and reliability.

[0120] In a preferred embodiment of the present utility model, a spline shaft 26 and a limit plate 27 are also included;

[0121] A flat key is provided on the output shaft 221 of the driving motor 22;

[0122] The limiting plate 27 is locked to the end of the output shaft 221 of the driving motor 22 by means of a connecting screw 32;

[0123] A flat keyway 261 is formed in the middle of the spline shaft 26, and an external spline 262 is formed on its outer surface. The spline shaft 26 engages with the flat key of the output shaft 221 through the flat keyway 261. The spline shaft 26 is locked to the limit plate 27 by a connecting screw 32.

[0124] An inner spline hole 232 is formed in the middle of the driving wheel 23, and the driving wheel 23 forms a clearance fit with the outer spline 262 of the spline shaft 26 through the inner spline hole 232. The driving wheel 23 can move freely up and down along the axial direction of the spline shaft 26, and is restricted from escaping the spline shaft 26 by the limit plate 27.

[0125] Based on the above structure, the drive wheel 23 is not rigidly fixed in a certain position, but can float freely up and down along the axis of the spline shaft 26. This design gives the drive wheel 23 a certain degree of freedom, allowing it to adaptively adjust its position to match the actual position of the two ends of the traction rope 25 when entering and exiting the curved groove 231. When there is a slight up and down position difference between the two ends of the traction rope 25 when entering and exiting the curved groove 231, the drive wheel 23 will immediately sense this deviation and automatically adjust its position by moving up and down along the spline shaft 26. This adaptive adjustment can ensure that the traction rope 25 always maintains optimal contact with the curved groove 231, thereby reducing or avoiding mechanical shock and vibration. The spline connection between the spline shaft 26 and the drive wheel 23 not only transmits torque, but also allows this slight axial movement, ensuring the stability and reliability of the transmission. The presence of the limit plate 27 not only limits the axial movement of the spline shaft 26, but also prevents the drive wheel 23 from escaping from the spline shaft 26. The entire design adopts a modular structure, and the connections between the various components are simple and clear, which facilitates quick installation, disassembly and daily maintenance.

[0126] In a preferred embodiment of the present invention, the axial length of the spline shaft 26 is greater than the axial length of the drive wheel 23. This extended spline shaft 26 design allows the device to more flexibly accommodate drive wheels 23 of varying sizes and shapes. Even if the axial length of the drive wheel 23 varies, the spline shaft 26 still provides sufficient support and a sufficient length to ensure reliable and accurate transmission.

[0127] In a preferred embodiment of the present invention, two traction rope fixing seats 28 are further included. The two traction rope fixing seats 28 are respectively installed on the two side walls of the arc guide plate 11 adjacent to the first arc track 111; the two ends of the traction rope 25 are respectively connected to the two traction rope fixing seats 28.

[0128] Based on the above structure, the traction rope fixing base 28 provides a stable support point for the traction rope 25, ensuring the stability and reliability of the traction rope 25 during the power transmission process. No matter how the curved guide plate 11 moves, the traction rope 25 can maintain a constant tension, thereby achieving stable traction force transmission.

[0129] In a preferred embodiment of the present invention, an adjustment assembly 30 is further included. The adjustment assembly 30 includes a fixing plate 31, a plurality of connecting screws 32 and a tensioning cam 33;

[0130] One end of the motor mounting plate 21 is provided with a plurality of long waist holes 211;

[0131] The lifting mounting plate 12 is provided with a plurality of threaded mounting holes;

[0132] The fixing plate 31 is provided with a plurality of nail through holes corresponding one to one with the plurality of threaded mounting holes on the lifting mounting plate 12;

[0133] The connecting screws 32 pass through the above-mentioned nail through holes, the long waist holes 211 and are threadedly connected to the threaded mounting holes in sequence. Multiple connecting screws 32, multiple nail through holes, multiple long waist holes 211 and multiple threaded mounting holes are arranged in a one-to-one correspondence;

[0134] The tensioning cam 33 is installed on the lifting mounting plate 12 by a fastening screw 34. The tensioning cam 33 is in contact with the motor mounting plate 21. By adjusting the eccentricity of the tensioning cam 33, the tensioning cam 33 drives the motor mounting plate 21 to move along the length direction of the long waist hole 211 to adjust the tension of the traction rope 25.

[0135] On the basis of the above structure, by adjusting the eccentricity of the tensioning cam 33, the movement of the motor mounting plate 21 along the length direction of the long waist hole 211 can be accurately controlled, and then the motor can be driven to move through the motor mounting plate 21. This fine-tuning capability allows the tension of the traction rope 25 to be adjusted very finely, thereby meeting the strict tension requirements of different application scenarios. The tight connection between the connecting screws 32, the fixing plate 31, the motor mounting plate 21 and the lifting mounting plate 12 forms a stable overall structure. This design not only enhances the stability of the system, but also ensures the accuracy and reliability during the transmission process. The design of the long waist hole 211 provides a certain amount of movement space for the motor mounting plate 21, making the installation and debugging process more flexible. Users can easily adjust the position of the motor mounting plate 21 according to actual needs to achieve the best transmission effect.

[0136] Based on the above structure, after the eccentricity of the tensioning cam 33 is adjusted to a preset value, the tensioning cam 33 is fastened to the lifting mounting plate 12 by means of the fastening screw 34. This prevents changes in the tension due to vibration or external force during operation, thereby maintaining the stability and consistency of the tension of the traction rope 25.

[0137] In a preferred embodiment of the present invention, the wet embryo adsorption mold assembly 50 includes a mounting mold frame with a ventilation duct, an adsorption mold core disposed thereunder, and a vacuum chamber structure fixedly mounted on the top surface of the mounting mold frame. The servo wire-pull wet embryo synchronous transfer robot arm 110 also includes no less than three plate chain assemblies 91 and an anti-fall mechanism 92.

[0138] The servo line-pull type wet embryo synchronous transfer robot 110 of this embodiment is applied to a fully automatic rotary pulp molding, hot pressing and shaping integrated production equipment; except for the servo line-pull type wet embryo synchronous transfer robot 110, the specific structure of other parts of the fully automatic rotary pulp molding, hot pressing and shaping integrated production equipment is the same as the patent number CN202010641726.9 disclosed in the name of a fully automatic rotary pulp molding, hot pressing and shaping integrated production equipment.

[0139] Specifically, a fully automatic rotary pulp molding hot pressing and shaping integrated production equipment includes:

[0140] The wet embryo forming device 200 includes a pulp box and a wet embryo forming mold arranged in the pulp box;

[0141] A rotary pulp molding hot pressing and shaping device 300 comprises a hot pressing and shaping base and a rotating frame rotatably mounted on the hot pressing and shaping base; a plurality of hot pressing and shaping mechanisms 400 are evenly distributed along the circumference of the rotating frame.

[0142] The hot pressing shaping mechanism 400 includes a hot pressing upper mold structure, a hot pressing lower mold structure, and a power mechanism for driving the hot pressing upper mold structure and the hot pressing lower mold structure to achieve mold closing or mold opening;

[0143] The rotary wet embryo transfer device 100 includes a wet embryo transfer support frame 120 and a rotating arm mounting base 130 rotatably mounted on the wet embryo transfer support frame 120; a plurality of servo wire-pull wet embryo synchronous transfer robotic arms 110 are evenly mounted on the rotating arm mounting base 130 along its circumference;

[0144] One end of the wet embryo transfer arm 40 is fixedly mounted on the rotating arm mounting base 130, and the other end thereof extends outward from the rotating arm mounting base 130 to form an extended end;

[0145] The wet embryo adsorption mold assembly 50 is disposed below the extended end of the wet embryo transfer arm 40; the lifting drive mechanism 60 is mounted on the wet embryo transfer arm 40, and the lifting drive mechanism 60 is used to drive the wet embryo adsorption mold assembly 50 to move up and down in the vertical direction;

[0146] The rotary wet embryo transfer device 100 is disposed between the wet embryo forming device and the hot pressing and shaping device. The wet embryo adsorption mold assembly 50 can be switched between a first position and a second position. When the wet embryo adsorption mold assembly 50 rotates to the first position, the wet embryo adsorption mold assembly 50 is located directly above the wet embryo forming mold. The lifting drive mechanism 60 drives the wet embryo adsorption mold assembly 50 to descend in the vertical direction. After the wet embryo adsorption mold assembly 50 is closed with the wet embryo forming mold, the wet embryo adsorption mold assembly 50 adsorbs the wet embryo. The lifting drive mechanism 60 drives the wet embryo adsorption mold assembly 50 to ascend in the vertical direction and return to a preset height position.

[0147] When the wet embryo adsorption mold assembly 50 rotates to the second position, the wet embryo adsorption mold assembly 50 is located directly above the hot pressing lower mold structure, and the wet embryo adsorption mold assembly 50 is driven by the lifting drive mechanism 60 to descend in the vertical direction. After the wet embryo adsorption mold assembly 50 is molded with the hot pressing lower mold structure, the wet embryo adsorption mold assembly 50 releases the wet embryo, allowing the wet embryo to fall into the hot pressing lower mold structure. The lifting drive mechanism 60 drives the wet embryo adsorption mold assembly 50 to rise in the vertical direction and return to the preset height position.

[0148] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be envisioned by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, use of materials, color, orientation, etc.

[0149] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A servo wire-pull type wet embryo synchronous transfer robot arm, comprising a wet embryo transfer arm, an arc-shaped guide follower mechanism, a wet embryo adsorption mold assembly and a lifting drive mechanism; the arc-shaped guide follower mechanism comprises an arc-shaped guide plate and a lifting mounting plate; a first arc-shaped track is provided on one side wall of the arc-shaped guide plate, and a second arc-shaped track is provided on the other opposite side wall; the first arc-shaped track and the second arc-shaped track are cocentric; a first guide wheel and a second guide wheel are provided on the bottom surface of the lifting mounting plate, and the first guide wheel and the second guide wheel cooperate with the first arc-shaped track and the second arc-shaped track respectively to form an arc-shaped motion pair; characterized in that It also includes a transition adjustment mechanism and a motor drive mechanism; The arc-shaped guide plate is provided with a plurality of first locking threaded holes; the wet embryo adsorption mold assembly is provided with a plurality of second locking threaded holes; The transition adjustment mechanism includes an adjustment plate, a plurality of first locking screws and a plurality of second locking screws; a plurality of first connecting holes are provided in the middle of the adjustment plate, and a plurality of second connecting holes are provided at both ends of the adjustment plate; the aperture of the second connecting hole is larger than the aperture of the second locking threaded hole; the plurality of first locking screws respectively pass through the plurality of first connecting holes and are threadedly connected to the plurality of first locking threaded holes in a one-to-one correspondence, so that the adjustment plate is fixedly connected to the arc-shaped guide plate; the plurality of second locking screws respectively pass through the plurality of second connecting holes and are threadedly connected to the plurality of second locking threaded holes in a one-to-one correspondence, so that the wet embryo adsorption mold assembly is fixedly connected to the adjustment plate; The motor drive mechanism is installed on the lifting installation plate, and the motor drive mechanism drives the arc guide plate to move horizontally relative to the wet embryo transfer arm along the trajectory of the arc track through a wire pull method.

2. The servo wire-pull wet embryo synchronous transfer robot arm according to claim 1, characterized in that: The width of the adjustment plate is greater than the width of the arc-shaped guide plate.

3. The servo wire-pull wet embryo synchronous transfer robot arm according to claim 1, characterized in that: It also includes a limiting mechanism, which includes a first limiting member, a second limiting member, a third limiting member and a telescopic assembly; The first limiting member and the second limiting member are respectively installed at two ends of the arc-shaped guide plate; The third limiting member is installed at the middle position of one side of the adjustment plate; The telescopic assembly is installed in the middle of the lifting mounting plate; the telescopic assembly includes a telescopic rod and a telescopic driving mechanism for driving the telescopic rod to extend or retract; When the arc guide plate is driven by the motor, it will move smoothly strictly along the trajectory of the arc track, and can switch between the synchronous follow-up initial position, the intermediate locking position and the synchronous follow-up termination position. When the arc guide plate is in the synchronous follow-up initial position, the first limit member abuts against the first end of the lifting mounting plate; when the arc guide plate is in the intermediate locking position, the telescopic drive mechanism drives the telescopic rod to extend so that the telescopic rod abuts against the third limit member; when the arc guide plate is in the synchronous follow-up termination position, the second limit member abuts against the second end of the lifting mounting plate.

4. The servo wire-pull wet embryo synchronous transfer robot arm according to claim 3, characterized in that: Also includes a first position sensor, a second position sensor, and a third position sensor; The first position sensor and the second position sensor are respectively installed at two ends of the lifting installation plate; The third position sensor is installed at the middle position of one side of the lifting installation plate; When the first position sensor detects the first limiter, the arc guide plate is at the synchronous follow-up initial position, and sends a corresponding signal to the control system to adjust the next action of the drive motor; When the third position sensor detects the third limiter, the arc guide plate is in the middle locking position, and a corresponding signal is sent to the control system to adjust the next action of the drive motor; When the second position sensor detects the second limit member, the arc guide plate is at the synchronous follow-up end position, and a corresponding signal is sent to the control system to adjust the next action of the drive motor.

5. The servo wire-pull wet embryo synchronous transfer robot arm according to claim 1, characterized in that: The motor drive mechanism includes a motor mounting plate, a drive motor, a drive wheel, a double-groove guide wheel, and a traction rope; One end of the motor mounting plate is mounted on the lifting mounting plate; The drive motor is mounted on the motor mounting plate, and the output shaft of the drive motor passes through the bottom surface of the motor mounting plate and extends vertically downward; The driving wheel is mounted on the output shaft of the driving motor, and a curved groove is formed on the outer surface of the driving wheel; The double-groove guide wheel is mounted on the bottom surface of the lifting mounting plate and is located in the middle of one side of the first arc-shaped track. A first annular guide groove and a second annular guide groove are formed on the outer surface of the double-groove guide wheel, and the first annular guide groove and the second annular guide groove are identical in shape and diameter. The first end of the traction rope is connected to the first end of the arc-shaped guide plate, and the second end of the traction rope enters the first arc-shaped track from the left end, then passes through the middle position of the first arc-shaped track, and successively passes around the first circular guide groove of the double-groove guide wheel, the curved groove of the driving wheel, and the second circular guide groove of the double-groove guide wheel and then enters the first arc-shaped track again, and finally passes through the right end of the first arc-shaped track and is connected to the second end of the arc-shaped guide plate.

6. The servo wire-pull wet embryo synchronous transfer robot arm according to claim 5, characterized in that: The first annular guide groove and the second annular guide groove are staggered in the axial direction of the double-groove guide wheel, and both have the same shape and diameter; the curved groove includes a sinusoidal groove or a wavy groove or all continuous curved grooves without mutation points.

7. The servo wire-pull wet embryo synchronous transfer robot arm according to claim 5, characterized in that: Also includes a spline shaft and a limit plate; A flat key is provided on the output shaft of the driving motor; The limiting plate is locked to the end of the output shaft of the driving motor by connecting screws; A flat keyway is formed in the middle of the spline shaft, and an external spline is formed on its outer surface; the spline shaft cooperates with the flat key of the output shaft through the flat keyway; the spline shaft is locked to the limit plate by a connecting screw; An inner spline hole is formed in the middle of the driving wheel, and the driving wheel forms a clearance fit with the outer spline of the spline shaft through the inner spline hole. The driving wheel can move freely up and down along the axial direction of the spline shaft and is restricted from escaping from the spline shaft by the limiting plate.

8. The servo wire-pull wet embryo synchronous transfer robot arm according to claim 5, characterized in that: It also includes two traction rope fixing seats, which are respectively installed on two side walls of the arc-shaped guide plate adjacent to the first arc-shaped track; the two ends of the traction rope are respectively connected to the two traction rope fixing seats.

9. The servo wire-pull wet embryo synchronous transfer robot arm according to claim 5, characterized in that: Also included is an adjustment assembly comprising a fixing plate, a plurality of connecting screws, and a tensioning cam; One end of the motor mounting plate is provided with a plurality of long waist holes; The lifting mounting plate is provided with a plurality of threaded holes; The fixing plate is provided with a plurality of nail through holes; The connecting screws pass through the above-mentioned nail through holes and the long waist holes in sequence and are threadedly connected to the threaded holes. A plurality of the connecting screws, a plurality of nail through holes, a plurality of long waist holes and a plurality of threaded holes are arranged in a one-to-one correspondence; The tensioning cam is mounted on the lifting mounting plate with a fastening screw, and the tensioning cam is in contact with the motor mounting plate. By adjusting the eccentricity of the tensioning cam, the tensioning cam drives the motor mounting plate to move along the length direction of the long waist hole, so as to adjust the tension of the traction rope.

10. The servo wire-pull wet embryo synchronous transfer robot arm according to claim 9, characterized in that: The driving motor is a high-performance servo motor or a stepping motor with complete servo functions.

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