阅读说明：本技术 龙门机械手带网转移式纸模成型方法 (Transfer type paper mold forming method for gantry manipulator with net ) 是由 李学文 于 2021-07-20 设计创作，主要内容包括：本发明公开一种龙门机械手带网转移式纸模成型方法,包括步骤：(1)三轴移载机构驱使网框上下料机构伸入湿坯成型机中,由网框承托机构承托空的网框；(2)三轴移载机构驱使网框上下料机构在湿坯成型机中平移,由第二真空吸头将捞桨下模上的带湿坯的网框吸走；(3)三轴移载机构驱使网框上下料机构于伸入干坯成型机中平移,使得第二真空吸头将带湿坯的网框转至干坯下模处,还使得第一真空吸头吸走干坯上模处的带有干坯的网框；以及(4)三轴移载机构驱使网框上下料机构朝取料机器人处平移,由取料机器人将第一真空吸头所吸取的网框中的干坯取走,以完成网框转移的一个周期；以在减少气源浪费的情况下确保于狭空间中网框可靠顺畅的转移。(The invention discloses a transfer type paper mold forming method for a gantry manipulator with a mesh, which comprises the following steps: (1) the three-axis transfer mechanism drives the screen frame feeding and discharging mechanism to extend into the wet blank forming machine, and the screen frame supporting mechanism supports the empty screen frame; (2) the three-shaft transfer mechanism drives the screen frame feeding and discharging mechanism to move horizontally in the wet blank forming machine, and the second vacuum suction head sucks away the screen frame with the wet blank on the lower drag-out paddle die; (3) the three-shaft transfer mechanism drives the screen frame feeding and discharging mechanism to move horizontally after extending into the dry blank forming machine, so that the second vacuum suction head rotates the screen frame with the wet blank to the lower die of the dry blank, and the first vacuum suction head sucks the screen frame with the dry blank on the upper die of the dry blank; and (4) the three-axis transfer mechanism drives the screen frame feeding and discharging mechanism to move horizontally towards the material taking robot, and the material taking robot takes the dry blanks in the screen frame sucked by the first vacuum suction head away to complete one period of screen frame transfer; so as to ensure the reliable and smooth transfer of the net frame in the narrow space under the condition of reducing the waste of the air source.)

1. A gantry manipulator web transfer type paper mold forming method is characterized by comprising the following steps:

(1) the three-axis transfer mechanism in the gantry manipulator drives the screen frame feeding and discharging mechanism to perform adaptive XYZ-axis translation on a gantry in the gantry manipulator, so that the screen frame feeding and discharging mechanism extends into a wet blank forming machine after mold opening along the Y-axis direction, and a screen frame bearing mechanism in a bearing position in the wet blank forming machine bears an empty screen frame sucked by a first vacuum suction head in the screen frame feeding and discharging mechanism from the lower part;

(2) the three-axis transfer mechanism drives the screen frame feeding and discharging mechanism to perform translation of descending and ascending along the Z-axis direction in the wet blank forming machine after die opening, so that a second vacuum suction head in the screen frame feeding and discharging mechanism sucks away a screen frame with wet blanks on a lower drag-out die, and meanwhile, a first vacuum suction head in the screen frame feeding and discharging mechanism moves away from an empty screen frame supported by the screen frame supporting mechanism;

(3) the three-axis transfer mechanism enables the screen frame feeding and discharging mechanism to stretch into the dry blank forming machine after die opening along the Y-axis direction and perform lifting translation in the dry blank forming machine along the Z-axis direction by driving the screen frame feeding and discharging mechanism to perform adaptive XYZ-axis translation on a portal frame, so that the second vacuum suction head transfers the sucked screen frame with the wet blank to a dry blank lower die in the dry blank forming machine after die opening, and the first vacuum suction head sucks the screen frame with the dry blank left on a dry blank upper die after die opening; and

(4) the three-axis transfer mechanism drives the screen frame feeding and discharging mechanism to move horizontally towards the material taking robot, and the material taking robot takes away dry blanks in the screen frame with the dry blanks, which are absorbed by a first vacuum suction head of the screen frame feeding and discharging mechanism, so as to complete one period of screen frame transfer.

2. The method as claimed in claim 1, wherein in the three-axis transfer mechanism, the frame loading/unloading mechanism is driven to move in a Y-axis direction by Y-axis transfer modules disposed beside the left and right sides of the frame loading/unloading mechanism.

3. The method as claimed in claim 2, wherein a synchronization shaft is used between the left and right Y-axis transfer modules to enable the left and right Y-axis transfer modules to synchronously drive the web frame loading and unloading mechanism to perform telescopic translation along the Y-axis direction.

4. The gantry manipulator web transfer type paper mold forming method as claimed in claim 1, further comprising the steps of:

(5) the material taking robot transfers the taken dry blank to a stacking material receiving table for stacking.

5. The gantry manipulator web transfer type paper mold forming method as claimed in claim 1, further comprising the steps of:

(5) transferring the dry blank to an edge trimmer by a material taking robot, and cutting off the residual material of the dry blank by the edge trimmer; and

(6) and the material taking robot takes the dry blanks with the excess materials cut off on the edge cutting machine away and transfers the dry blanks to a stacking material receiving platform for stacking.

6. The gantry manipulator web-transferring paper mold forming method as claimed in claim 5, wherein in step (6), the material-taking robot pushes the excess material left on the lower trimming die in the edge trimmer to the recycling bin, and then ascends to take the dry blank left on the upper trimming die in the edge trimmer away.

7. The gantry manipulator web-transferring paper mold forming method as claimed in claim 6, wherein the upper trimming die retains the dry blanks on the upper trimming die through vacuum adsorption during the die opening process of the edge trimmer.

8. The gantry manipulator web-transferring paper mold forming method according to claim 1, wherein before step (1), the lower slurry dragging mold is driven by a lifting mechanism in the wet blank forming machine to be matched with an upper wet blank mold in the wet blank forming machine, so that the wet blank in the wet blank-carrying net frame on the lower slurry dragging mold is formed by the lower slurry dragging mold and the upper wet blank mold together and extrudes excessive slurry, and then the lifting mechanism drives the lower slurry dragging mold together with the wet blank-carrying net frame on the lower slurry dragging mold to descend to a position where a second vacuum suction head sucks the wet blank-carrying net frame.

9. The gantry manipulator web-transferring paper mold forming method of claim 1, wherein in step (2), when the second vacuum suction head sucks the web frame with the wet blank and the first vacuum suction head moves away from the empty web frame supported by the web frame supporting mechanism, the three-axis transfer mechanism drives the web frame loading and unloading mechanism to translate towards the dry blank forming machine, and during the translation towards the dry blank forming machine, the lifting mechanism precursor in the wet blank forming machine lifts the lower slurry dragging mold to a position where the lower slurry dragging mold contacts with the empty web frame supported by the web frame supporting mechanism, and the supported empty web frame is placed on the lower slurry dragging mold by the web frame supporting mechanism; then, the lifting mechanism drives the lower slurry fishing die and the empty screen frame on the lower slurry fishing die to move downwards and sink into a slurry pool of the wet blank forming machine.

10. The method as claimed in claim 1, wherein in step (3), the upper mold for dry blank leaves the frame with dry blank on the upper mold for dry blank by vacuum adsorption during the mold opening process of the dry blank forming machine, the three-axis transfer mechanism drives the frame loading and unloading mechanism to extend into the dry blank forming machine after mold opening and perform a first-descending and then-ascending translation in the dry blank forming machine, so that the second vacuum suction head transfers the sucked frame with wet blank to the lower mold for dry blank in the dry blank forming machine after mold opening, and further the first vacuum suction head sucks the frame with dry blank left on the upper mold for dry blank after mold opening.

Technical Field

The invention relates to the field of paper mold (such as but not limited to disposable tableware and disposable bags) production, in particular to a gantry manipulator web transfer type paper mold forming method.

Background

With the continuous development of economy and the continuous progress of science and technology, the paper mould made of ecological plant fiber paper pulp is one of a plurality of material consumer products, and provides abundant material consumer products for the life of people.

As is well known, paper molds can be divided into tableware (such as, but not limited to, disposable snack boxes), drinking utensils (such as, but not limited to, disposable cups), and kits (such as, but not limited to, disposable packaging containers), whether tableware, drinking utensils, or kits, without departing from the steps of wet-blank forming, drying the wet blank to form a dry-blank, trimming the dry blank to form a product, and handling the transfer of the wet and dry blanks.

The wet blank profiling jig matched with the wet blank in shape and the dry blank profiling jig matched with the dry blank in shape are arranged at the tail end of the transfer manipulator to carry out vacuum adsorption on the wet blank and carry out vacuum adsorption on the dry blank, so that the wet blank is taken away from the wet blank forming machine and is placed into the dry blank forming machine, and meanwhile, the dry blank at the dry blank forming machine is taken away and is transferred to a subsequent position (such as a stacking material receiving table or a trimming machine). Because the transfer of wet base needs the vacuum adsorption to wet base with the help of wet base profile modeling tool to and the transfer of dry base needs the vacuum adsorption to dry base with the help of dry base profile modeling tool, no matter be wet base or dry base, all can have the gap more or less, can cause the air supply waste of wet base profile modeling tool and dry base profile modeling tool department like this.

Therefore, there is a need to provide a paper mold forming method with a gantry robot and web transfer, which can ensure the reliable and smooth transfer of the web frame in a narrow space while reducing the waste of air sources, so as to overcome the above-mentioned drawbacks.

Disclosure of Invention

The invention aims to provide a gantry manipulator web transfer type paper mold forming method which can ensure reliable and smooth transfer of a web frame in a narrow space under the condition of reducing waste of an air source.

In order to achieve the purpose, the technical scheme of the invention is as follows: the method for forming the paper mold by transferring the gantry manipulator with the web comprises the following steps:

(1) the three-axis transfer mechanism in the gantry manipulator drives the screen frame feeding and discharging mechanism to perform adaptive XYZ-axis translation on a gantry in the gantry manipulator, so that the screen frame feeding and discharging mechanism extends into a wet blank forming machine after mold opening along the Y-axis direction, and a screen frame bearing mechanism in a bearing position in the wet blank forming machine bears an empty screen frame sucked by a first vacuum suction head in the screen frame feeding and discharging mechanism from the lower part;

(2) the three-axis transfer mechanism drives the screen frame feeding and discharging mechanism to perform translation of descending and ascending along the Z-axis direction in the wet blank forming machine after die opening, so that a second vacuum suction head in the screen frame feeding and discharging mechanism sucks away a screen frame with wet blanks on a lower drag-out die, and meanwhile, a first vacuum suction head in the screen frame feeding and discharging mechanism moves away from an empty screen frame supported by the screen frame supporting mechanism;

(3) the three-axis transfer mechanism enables the screen frame feeding and discharging mechanism to stretch into the dry blank forming machine after die opening along the Y-axis direction and perform lifting translation in the dry blank forming machine along the Z-axis direction by driving the screen frame feeding and discharging mechanism to perform adaptive XYZ-axis translation on a portal frame, so that the second vacuum suction head transfers the sucked screen frame with the wet blank to a dry blank lower die in the dry blank forming machine after die opening, and the first vacuum suction head sucks the screen frame with the dry blank left on a dry blank upper die after die opening; and

(4) the three-axis transfer mechanism drives the screen frame feeding and discharging mechanism to move horizontally towards the material taking robot, and the material taking robot takes away dry blanks in the screen frame with the dry blanks, which are absorbed by a first vacuum suction head of the screen frame feeding and discharging mechanism, so as to complete one period of screen frame transfer.

Preferably, in the three-axis transfer mechanism, the screen frame loading and unloading mechanism is driven to perform telescopic translation along the Y-axis direction synchronously by the Y-axis transfer modules arranged beside the left side and the right side of the screen frame loading and unloading mechanism opposite to each other.

Preferably, the Y-axis transfer modules on the left and right sides are driven by a synchronization shaft to synchronously extend and retract the screen frame loading and unloading mechanism along the Y-axis direction.

Preferably, the gantry manipulator web transfer type paper mold forming method further comprises the following steps:

(5) the material taking robot transfers the taken dry blank to a stacking material receiving table for stacking.

Preferably, the gantry manipulator web transfer type paper mold forming method further comprises the following steps:

(5) transferring the dry blank to an edge trimmer by a material taking robot, and cutting off the residual material of the dry blank by the edge trimmer; and

(6) and the material taking robot takes the dry blanks with the excess materials cut off on the edge cutting machine away and transfers the dry blanks to a stacking material receiving platform for stacking.

Preferably, in the step (6), after the material taking robot pushes the excess material left on the lower trimming die in the edge trimmer to the recycling bin, the material taking robot ascends again to take away the dry blank left on the upper trimming die in the edge trimmer.

Preferably, the edge-cutting upper die is used for retaining the dry blank on the edge-cutting upper die through the vacuum adsorption effect in the die opening process of the edge-cutting machine.

Preferably, before the step (1), the lower slurry bailing die is driven by a lifting mechanism in the wet blank forming machine to be matched with an upper wet blank die in the wet blank forming machine, so that the wet blank in the mesh frame with the wet blank on the lower slurry bailing die is formed by the lower slurry bailing die and the upper wet blank die together and the excess slurry is squeezed off, and then the lifting mechanism drives the lower slurry bailing die and the mesh frame with the wet blank on the lower slurry bailing die to descend to a position where the second vacuum suction head sucks the mesh frame with the wet blank.

Preferably, in the step (2), when the second vacuum suction head sucks the screen frame with the wet blank and the first vacuum suction head moves away from the empty screen frame supported by the screen frame supporting mechanism, the three-axis transfer mechanism drives the screen frame feeding and discharging mechanism to translate towards the dry blank forming machine, and in the process of translating towards the dry blank forming machine, the lifting mechanism precursor in the wet blank forming machine lifts the lower slurry dredging mold to a position where the lower slurry dredging mold is in contact with the empty screen frame supported by the screen frame supporting mechanism, and the screen frame supporting mechanism places the supported empty screen frame on the lower slurry dredging mold; then, the lifting mechanism drives the lower slurry fishing die and the empty screen frame on the lower slurry fishing die to move downwards and sink into a slurry pool of the wet blank forming machine.

Preferably, in step (3), the upper dry blank mold leaves the mesh frame with the dry blank on the upper dry blank mold through vacuum adsorption during mold opening of the dry blank molding machine, the three-axis transfer mechanism drives the feeding and discharging mechanism of the mesh frame to extend into the opened dry blank molding machine and perform first-descending and then-ascending translation in the dry blank molding machine, so that the second vacuum suction head transfers the sucked mesh frame with the wet blank to the lower dry blank mold in the opened dry blank molding machine, and the first vacuum suction head sucks away the mesh frame with the dry blank left on the upper dry blank mold after mold opening.

Compared with the prior art, by means of the matching of the steps (1) to (4), the gantry manipulator web transfer type paper mold forming method disclosed by the invention has the advantages that the feeding and discharging transfer of the web frame is carried out in a web frame absorbing manner, a profiling jig is not required to carry out vacuum adsorption on wet blanks or dry blanks, and the waste of an air source is reduced; and the smooth reliability of feeding and discharging transfer of the screen frame is ensured under the condition of reducing air source waste. Simultaneously, move the mechanism through the triaxial and order about the net frame and go up unloading mechanism and do the removal of XYZ triaxial for the last unloading mechanism of net frame can stretch out and draw back the translation in Y axle direction, so be applicable to and shift the net frame in narrow space.

Drawings

FIG. 1 is a flow chart of the gantry manipulator web transfer type paper mold forming method.

Fig. 2 is a schematic perspective view of a paper mold forming line for implementing the gantry manipulator web transfer type paper mold forming method of the present invention.

Fig. 3 is a schematic perspective view of the paper mold forming line shown in fig. 2, in which the screen frame loading/unloading mechanism and the Y-axis transfer module are mounted at the output end of the Z-axis transfer module.

Fig. 4 is a schematic view of the state shown in fig. 3 after the frame has been removed.

Fig. 5 is a schematic view of the wet blank forming machine in the paper mold forming line shown in fig. 2 in a state where the screen frame holding mechanism is switched to the holding position and holds the empty screen frame.

Fig. 6 is a schematic view of the wet blank forming machine in the paper mold forming line shown in fig. 2 in a state where the frame supporting mechanism is switched to the retracted position.

Detailed Description

Embodiments of the present invention will now be described with reference to the drawings, wherein like element numerals represent like elements.

Referring to fig. 2 to 5, a paper mold forming line 100 for implementing the gantry robot web transfer type paper mold forming method of the present invention includes a gantry robot 10, a web frame loading and unloading mechanism 20, a wet blank forming machine 30, a dry blank forming machine 40, and a material taking robot 50. The gantry manipulator 10 comprises a gantry 11 extending along the X-axis direction and a three-axis transfer mechanism 12 assembled on the gantry 11, so that the connection strength of the gantry 11 and the ground is increased, and a reliable supporting function is provided for the three-axis transfer mechanism 12; the wet blank forming machine 30 and the dry blank forming machine 40 are arranged along the X-axis direction and are positioned beside the same side of the portal frame 11 along the Y-axis direction, preferably, the dry blank forming machines 40 are respectively arranged beside the left side and the right side of the wet blank forming machine 30, and all the dry blank forming machines 40 are arranged in a line with the wet blank forming machine 30 along the X-axis direction, so that the dry blank processing efficiency is improved, and the dry blank forming and the wet blank forming are more harmoniously matched in speed, but not limited by the above; the screen frame feeding and discharging mechanism 20 is assembled on the three-axis transfer mechanism 12, the three-axis transfer mechanism 12 drives the screen frame feeding and discharging mechanism 20 to move in three axes of XYZ, and the screen frame feeding and discharging mechanism 20 is driven by the three-axis transfer mechanism 12 to be responsible for feeding and discharging transfer of the screen frame 200 of both the wet blank forming machine 30 and the dry blank forming machine 40; the material taking robot 50 is located beside the gantry 11 along the X-axis direction, and the material taking robot 50 is responsible for taking the dry blanks in the net frame 200 taken out from the dry blank forming machine 40 by the net frame loading and unloading mechanism 20.

In fig. 2 to 5, the frame loading and unloading mechanism 20 includes a mechanism frame 21 mounted on the three-axis transfer mechanism 12, and a first vacuum nozzle 22 and a second vacuum nozzle 23 facing opposite directions on an outer frame 211 of the mechanism frame 21, respectively, for vacuum-sucking the frame 200; the first vacuum cleaner head 22 is preferably arranged in a "port" shape on the outer frame 211, and the second vacuum cleaner head 23 is preferably arranged in a "port" shape on the outer frame 211, so that the first vacuum cleaner head 22 and the second vacuum cleaner head 23 are arranged at respective positions on the outer frame 211, and the purpose of designing such that the suction reliability of each pair of frames 200 of the first vacuum cleaner head 22 and the second vacuum cleaner head 23 can be further increased, but not limited thereto. The wet blank forming machine 360 comprises a wet blank frame 31, an upper wet blank die 32 assembled at the wet blank frame 31, a screen frame supporting mechanism 33 assembled at the wet blank frame 31 and positioned beside the upper wet blank die 32, a slurry tank 34 assembled at the wet blank frame 31 and positioned right below the upper wet blank die 32, a lower slurry scooping die 35 aligned in the vertical direction of the wet blank frame 31 and positioned between the upper wet blank die 32 and the slurry tank 34, and a lifting mechanism 36 assembled at the wet blank frame 31 and selectively driving the lower slurry scooping die 35 to sink into the slurry tank 34 or driving the lower slurry scooping die 35 to move away from the slurry tank 34 and then to be matched with the upper wet blank die 32; the frame supporting mechanism 33 is switchable between a supporting position shown in fig. 5 and an escape position shown in fig. 6. The three-axis transfer mechanism 12 drives the first vacuum suction head 22 to place the empty screen frame 200 adsorbed by the first vacuum suction head 22 on the screen frame holding mechanism 33 in the holding position (see the state shown in fig. 5), the three-axis transfer mechanism 12 also drives the second vacuum suction head 23 to suck the screen frame 200 with the wet blank on the lower scooping die 35 driven by the lifting mechanism 36, and when the screen frame holding mechanism 33 is switched to the avoiding position, the empty screen frame 200 held by the screen frame holding mechanism 33 is placed at the lower scooping die 35 driven by the lifting mechanism 36 from above, so that the lower scooping die 35 driven by the lifting mechanism 36 and the empty screen frame 200 together sink into the slurry tank 34, thereby forming the wet blank on the screen frame 200 on the lower scooping die 35. More specifically, the following:

as shown in fig. 2, the three-axis transfer mechanism 12 includes an X-axis transfer module 12a, a Y-axis transfer module 12b, and a Z-axis transfer module 12 c. The X-axis transfer module 12a is assembled on the portal frame 11, and the portal frame 11 provides a supporting function and an assembling place for the X-axis transfer module 12 a; the Z-axis transfer module 12c is mounted at the output end 12a1 of the X-axis transfer module 12a, so that the X-axis transfer module 12a drives the Z-axis transfer module 12c to move along the X-axis direction, the Y-axis transfer module 12b is mounted at the output end 12c1 of the Z-axis transfer module 12c, so that the Z-axis transfer module 12c drives the Y-axis transfer module 12b to move along the Z-axis direction, the mechanism frame 21 is mounted at the output end of the Y-axis transfer module 12b, and the Y-axis transfer module 12b drives the frame loading/unloading mechanism 20 to move along the Y-axis direction, so that the frame loading/unloading mechanism 20 can move along the three-axis directions, namely XYZ-axis directions, under the cooperation of the X-axis transfer module 12a, the Y-axis transfer module 12b and the Z-axis transfer module 12 c. Specifically, in fig. 3 and 4, the Y-axis transfer modules 12b are respectively disposed beside the left and right sides of the mechanism frame 21 along the X-axis direction, so that the telescopic movement of the frame loading and unloading mechanism 20 along the Y-axis is more reliable; the Y-axis transfer module 12b includes a rotating motor 121, a belt 122, and a first pulley 123 and a second pulley 124 disposed in tandem along the Y-axis direction, the belt 122 is sleeved on the first pulley 123 and the second pulley 124, one side of the belt 122 is fixedly connected to the mechanism frame 21, the first pulley 123 on the left side and the first pulley 123 on the right side are fixedly connected together by a synchronizing shaft 125, the rotating motor 121 on the left side drives the belt 122 on the left side to rotate around the first pulley 123 and the second pulley 124 on the same side, the rotating motor 121 on the right side drives the belt 122 on the right side to rotate around the first pulley 123 and the second pulley 124 on the same side, so that the belts 122 on the left side and the right side which do rotation drive the frame loading and unloading mechanism 20 from the left side and the right side to do more reliable telescopic movement, and the synchronization of the rotation of the first pulleys 123 on the left side and the right side is ensured by the synchronizing shaft 125, therefore, the defects of the belts 122 on the left and right sides are effectively avoided, so that the telescopic movement of the screen frame loading and unloading mechanism 20 along the Y-axis direction is more flexible and smooth. More specifically, the output shafts of the left and right rotating motors 121 are respectively and fixedly sleeved with a driving synchronizing wheel 126, the driving synchronizing wheel 126 on the same side (i.e., the left side or the right side) is located right below the first belt wheel 123, the belt 122 on the same side is further sleeved on the driving synchronizing wheel 126, meanwhile, the output end 12c1 of the Z-axis transfer module 12c is provided with a tension wheel 127, and the tension wheel 127 clamps the belt 122 between the tension wheel 127 and the first belt wheel 123 from the outside of the belt 122, so as to increase the reliability of the rotation motion of the belt 122, and further, the rotating motors 121 are arranged in a staggered manner upward relative to the first belt wheel 123, but not limited thereto. When the Y-axis transfer module 12b includes the rotating motor 121, the belt 122, and the first pulley 123 and the second pulley 124 which are disposed in tandem along the Y-axis direction, the belt 122 at this time forms the output end of the Y-axis transfer module 12 b; the rotary motor 121, the first pulley 123 and the second pulley 124 are mounted on the output end 12c1 of the Z-axis transfer module 12 c; as shown in fig. 3 and 4, the rotating motor 121 and the first pulley 123 are located at the front and back, and the second pulley 124 is located at the back, so that the frame loading and unloading mechanism 20 extends backward and retracts forward, thereby preventing the synchronizing shaft 125 from affecting the telescopic movement of the frame loading and unloading mechanism 20 due to being located at one side of the second pulley 124. In addition, the X-axis transfer module 12a and the Z-axis transfer module 12c may each adopt a combination of a motor, a lead screw, a nut, and a movable base for forming an output end, or a combination of a motor, a pulley, a belt, and a movable base for forming an output end, or a combination of a motor, a gear, a linear gear, and a movable base for forming an output end, which are well known in the art and are not improvements of the present application, and therefore, are not described herein again.

As shown in fig. 4, each of the first vacuum nozzles 22 and a corresponding one of the second vacuum nozzles 23 are aligned with each other, so that the size of a position where the screen frame 200 is vacuum-sucked is made smaller. It should be noted that, since the filter forming unit 210 in the net frame 200 is used for depositing the ecological plant fiber and finally forming the deposited ecological plant fiber into a wet blank in the filter forming unit 210, and the wet blank in the filter forming unit 210 is processed into a dry blank, the net frame 200 is further vacuum sucked by the first vacuum suction head 22 and the second vacuum suction head 23, and accordingly, the sucked position of the net frame 200 is preferably a flat and airtight structure.

As shown in fig. 5 to 6, the lifting mechanism 36 includes a lifting frame 361 and a lifting motor 362 for driving the lifting frame 361 to move up and down along the wet blank frame 31. The lifting motor 362 is assembled on the wet blank frame 31, and the wet blank frame 31 provides a supporting function and an assembling place for the lifting motor 362; the lower slurry fishing die 35 is assembled on the lifting frame 361, the lifting frame 361 provides a supporting function and an assembling place for the lower slurry fishing die 35, and the lower slurry fishing die 35 can lift along with the lifting frame 361; therefore, under the driving of the lifting motor 362 to the lifting frame 361, the lifting frame 361 drives the lower slurry salvaging mold 35 to lift to any position, so that the lower slurry salvaging mold 35 can sequentially lift upwards to the position of the screen frame 200 with the wet blank sucked by the second vacuum suction head 23 and the position of contacting with the empty screen frame 200 supported by the screen frame supporting mechanism 33, and the lower slurry salvaging mold 35 can also descend downwards to sink into the slurry tank 34 after receiving the empty screen frame 200. Specifically, the lifting frame 361 comprises a bottom plate 3611 positioned right below the wet blank upper die 32, an upper and lower rod 3612 positioned beside the wet blank upper die 32 and a transverse frame 3613 positioned above the wet blank upper die 32; the upper and lower rods 3612 are respectively arranged beside two opposite sides of the wet blank upper die 32, the upper and lower rods 3612 penetrate through the wet blank rack 31 along the up-down direction of the wet blank rack 31, and the bottom plate 3611 is fixedly connected with the upper and lower rods 3612; the transverse frame 3613 is positioned right above the lifting motor 362, and the transverse frame 3613 is fixedly connected with the upper and lower rods 3612, so that the lifting frame 361 is in a shape of a Chinese character 'Ruo' and surrounds the lifting motor 362 and the upper wet blank die 32 from the periphery, and the arrangement is more compact; the output end of the lifting motor 362 is fixedly connected with an upper and lower screw rod 363, a screw 364 is fixed on the transverse frame 3613, the screw 364 is sleeved on the upper and lower screw rod 363, and the upper and lower screw rod 363 is positioned right above the lifting motor 362. By means of the upper and lower rods 3612, the bottom plate 3611 and the transverse frame 3613, the arrangement between the lifting frame 361 and the wet blank upper die 32 and the slurry fishing lower die 35 is more compact and reasonable, the force application position of the lifting motor 362 to the lifting frame 361 is more reasonable, and in addition, by means of the matching of the upper and lower screw rods 363 and the screw 364, the lifting motor 362 can more accurately control the lifting frame 361 and the slurry fishing lower die 35 on the lifting frame 361 to do more accurate lifting movement. It can be understood that, according to the actual requirement, the lifting motor 3612 can drive the lifting frame 361 to lift by adopting the matching of the upper and lower screw rods 363 and the screw 364, and can also drive the lifting frame 361 to lift by adopting belt transmission, chain transmission or gear transmission, wherein for the belt transmission, two belt wheels which are positioned beside the wet blank upper die 32 and are arranged in a pair one above the other and a belt sleeved on the two belt wheels are arranged on the wet blank frame 21, and then one side of the belt is fixedly connected with the lifting frame 361; for chain transmission, two chain wheels which are positioned beside the wet blank upper die 32 and are arranged in a pair of up and down and a chain sleeved on the two chain wheels are arranged on the wet blank frame 21, and one side of the chain is fixedly connected with the lifting frame 361; for the gear transmission, an upper spur rack and a lower spur rack which are positioned beside the upper wet blank die 32 are fixed on the upper rod 363 and the lower rod 363, and a gear which is in meshing transmission with the upper spur rack and the lower spur rack is fixed at the output end of the lifting motor 362; the above manner can achieve the purpose that the lifting motor 362 drives the lifting frame 361 to lift to any position.

As shown in fig. 5 to 6, the frame supporting mechanisms 33 are respectively disposed beside opposite sides of the wet blank upper die 32, so as to increase the reliability of supporting the frame 200; the frame supporting mechanism 33 comprises a rotary driver 331 and a supporting block 332 mounted at the output end of the rotary driver 331, the rotary driver 331 is switched to the supporting position by driving the supporting block 332 to rotate to the position right below the wet blank upper die 32, and the rotary driver 331 is switched to the avoiding position by driving the supporting block 332 to rotate away from the position right below the wet blank upper die 32; so that the gap between the frame holding mechanism 33 and the wet blank upper die 32 can be made more compact by the rotary driver 331 and the holding block 332. For example, the rotation driver 331 can be a rotary cylinder, or a rotary motor, but not limited thereto. Note that, according to actual needs, a modification of the frame supporting mechanism 33 is: the screen frame supporting mechanism comprises a telescopic driver which does telescopic motion along the horizontal direction, the telescopic driver is switched to a supporting position by extending to the position right below the wet blank upper die 32, and the telescopic driver is switched to an avoiding position by retracting to the position right below the wet blank upper die 32, so that the purpose of supporting or releasing the screen frame 200 by the screen frame supporting mechanism is achieved; the telescopic actuator may be a telescopic cylinder or a telescopic oil cylinder, but not limited thereto.

As shown in fig. 2, the paper mold forming line 100 further includes an edge trimmer 70 for trimming the dry blanks taken by the material taking robot 50, and a stacking material receiving table 60 for stacking the dry blanks trimmed by the edge trimmer 70, wherein the edge trimmer 70 is located beside the side of the dry blank forming machine 40 away from the wet blank forming machine 30, the edge trimmer 70 is aligned with the dry blank forming machine 40 along the X-axis direction, the stacking material receiving table 60 is located between the edge trimmer 70 and the material taking robot 50 along the Y-axis direction, and the material taking robot 50 is responsible for transferring the dry blanks trimmed by the edge trimmer 70 to the stacking material receiving table 60, so as to achieve the purpose of stacking the dry blanks by performing online edge trimming and edge trimming on the dry blanks. It can be understood that, when off-line trimming is to be performed, the paper mold forming line 100 further includes a stacking material receiving table 60 for stacking and stacking the dry blanks taken by the material taking robot 50, and the stacking material receiving table 60 is located beside the front side of the material taking robot 50, so the above is not limited.

Therefore, in summary, with reference to fig. 1, the method for forming a paper mold by transferring a web by a gantry manipulator of the present invention comprises the following steps:

s001, driving the frame loading and unloading mechanism 20 to perform adaptive XYZ-z axis translation on the gantry 11 of the gantry manipulator 10 by the three-axis transfer mechanism 12 of the gantry manipulator 10, so that the frame loading and unloading mechanism 20 extends into the wet blank forming machine 30 after mold opening along the Y axis direction, and supporting the empty frame 200 sucked by the first vacuum suction head 22 in the frame loading and unloading mechanism 20 from below by a frame supporting mechanism 33 in a supporting position in the wet blank forming machine 30; specifically, before step S001, the slurry fishing lower die 35 is driven by the lifting mechanism 36 in the wet blank forming machine 30 to be matched with the wet blank upper die 32 in the wet blank forming machine 30, so that the wet blank in the wet blank-carrying frame 200 on the slurry fishing lower die 35 is formed by the slurry fishing lower die 35 and the wet blank upper die 32 together and the excess slurry is squeezed out, and then the lifting mechanism 36 drives the slurry fishing lower die 35 together with the wet blank-carrying frame 200 on the slurry fishing lower die 35 to be lowered to a position where the second vacuum nozzle 23 sucks the wet blank-carrying frame 200, that is, the position may be referred to as a loading position of the wet blank-carrying frame 200 on the slurry fishing lower die 35, but is not limited thereto.

S002, the three-axis transfer mechanism 12 drives the frame loading and unloading mechanism 20 to move in a Z-axis direction in a first-descending and then-ascending manner in the wet blank forming machine 30 after mold opening, so that the second vacuum suction head 23 in the frame loading and unloading mechanism 20 sucks away the frame 200 with the wet blank on the lower drag-out mold 35, and at the same time, the first vacuum suction head 22 in the frame loading and unloading mechanism 20 moves away from the empty frame 200 supported by the frame supporting mechanism 33; specifically, in step S002, when the second vacuum suction head 23 sucks the screen frame 200 with the wet blank and the first vacuum suction head 22 moves away from the empty screen frame 200 supported by the screen frame supporting mechanism 33, the three-axis transfer mechanism 12 drives the screen frame loading and unloading mechanism 20 to translate toward the dry blank forming machine 40, and during the translation toward the dry blank forming machine 40, the lifting mechanism 36 precursor in the wet blank forming machine 30 lifts the slurry fishing lower mold 35 to a position where the slurry fishing lower mold contacts with the empty screen frame 200 supported by the screen frame supporting mechanism 33, and the screen frame supporting mechanism 33 places the supported empty screen frame 200 on the slurry fishing lower mold 35; then, the lifting mechanism 36 drives the lower bailing mold 35 and the empty net frame 200 on the lower bailing mold 35 to move downward and sink into the slurry tank 34 of the wet blank forming machine 30, so as to meet the requirement that the wet blank is redeposited on the empty net frame 200 on the lower bailing mold 35, but the description is not limited thereto.

S003, the three-axis transfer mechanism 12 drives the screen frame feeding and discharging mechanism 20 to perform adaptive XYZ-axis translation on the portal frame 11, so that the screen frame feeding and discharging mechanism 20 extends into the opened dry blank forming machine 40 along the Y-axis direction and performs lifting translation in the dry blank forming machine 40, the second vacuum suction head 23 transfers the sucked screen frame 200 with the wet blank to a dry blank lower die 42 in the opened dry blank forming machine 40, and the first vacuum suction head 22 sucks the screen frame 200 with the dry blank left on a dry blank upper die 41 after opening the die; specifically, in step S003, the upper dry blank mold 41 leaves the frame 200 with the dry blank on the upper dry blank mold 41 by vacuum adsorption during the mold opening process of the dry blank molding machine 40, the three-axis transfer mechanism 12 drives the frame loading and unloading mechanism 20 to extend into the opened dry blank molding machine 40 and perform a translation movement in the dry blank molding machine 40 that is ascending and descending first, so that the second vacuum suction head 23 transfers the sucked frame 200 with the wet blank to the lower dry blank mold 42 of the opened dry blank molding machine 40, and the first vacuum suction head 22 sucks the frame 200 with the dry blank left on the upper dry blank mold 41 after mold opening, thereby improving the transfer efficiency of the frame 200. And

s004, the three-axis transfer mechanism 12 drives the frame loading and unloading mechanism 20 to move horizontally toward the material-taking robot 50, and the material-taking robot 50 takes away the dry blanks in the frame 200 with the dry blanks sucked by the first vacuum suction head 22 of the frame loading and unloading mechanism 20, so as to complete a cycle of transferring the frame 200.

Wherein, in the mechanism 12 is moved in the triaxial, move with the help of arranging the Y axle that the unloading mechanism 20 is relative left and right sides next door in the screen frame and move and carry module 12b and order about the unloading mechanism 20 of screen frame and do flexible translation along the Y axle direction in step, in order to improve the ability of unloading mechanism 20 in the screen frame to the 200 bearings of screen frame that shift, it is more excellent, the Y axle of the left and right sides moves and carries and order about unloading mechanism 20 in the screen frame and do flexible translation along the Y axle direction in step with the help of synchronizing shaft 125 between the module 12b, in order to ensure the smoothness nature of the unloading mechanism 20 flexible translation in the screen frame, concrete theory of operation is: the left rotary motor 121 drives the belt 122 on the same side to rotate around the first belt wheel 123, the second belt wheel 124 and the driving synchronizing wheel 126 by driving the synchronizing wheel 126, and meanwhile, the right rotary motor 121 drives the belt 122 on the same side to rotate around the first belt wheel 123, the second belt wheel 124 and the driving synchronizing wheel 126 by driving the synchronizing wheel 126, and since the first belt wheels 123 on the left and right sides are fixed together by the synchronizing shaft 125, the synchronization of the stretching and the translation of the frame feeding and discharging mechanism 20 driven by the Y-axis transferring modules 12b on the left and right sides by the synchronizing shaft 125 is ensured. More specifically, the following:

the gantry manipulator web-carrying transfer type paper mold forming method further comprises the steps that the material taking robot 50 transfers the taken dry blanks to the edge trimmer 70, and the edge trimmer 70 cuts off the surplus materials of the dry blanks, and the material taking robot 50 takes the dry blanks with the surplus materials cut off on the edge trimmer 70 away and transfers the dry blanks to the stacking material receiving table 60 for stacking and stacking, so that the requirement of online edge cutting of the dry blanks is met; specifically, in the step of taking the dry blanks with the excess materials cut off from the edge trimmer 70 away by the material taking robot 50 and transferring the dry blanks to the stacking material receiving table 60 for stacking, after the material taking robot 50 pushes the excess materials left on the edge trimming lower die 72 in the edge trimmer 70 to the recycling bin 80, the material taking robot 50 rises again to take the dry blanks left on the edge trimming upper die 71 in the edge trimmer 70 away, so as to improve the working efficiency. It should be noted that the manner in which the dry blank is left on the edge-cutting upper die 71 is realized by the edge-cutting upper die 71 through vacuum adsorption, that is, the edge-cutting upper die 71 makes the dry blank remain on the edge-cutting upper die 71 through vacuum adsorption in the die opening process of the edge-cutting machine 70, and the remaining material remains on the edge-cutting lower die 72 can be realized by the supporting function of the remaining material by the edge-cutting lower die 72, but not limited thereto. It can be understood that the edge trimmer 70 can be eliminated according to actual needs, and at this time, the gantry manipulator web transfer type paper mold forming method further includes transferring the taken dry blanks onto the stacking and receiving table 60 by the material taking robot 50 for stacking and stacking, so as to meet the needs of subsequent off-line edge trimming.

Compared with the prior art, by means of the matching of the steps S001 to S004, the gantry manipulator belt mesh transfer type paper mold forming method disclosed by the invention has the advantages that the feeding and discharging transfer of the mesh frame 200 is carried out in a manner of absorbing the mesh frame 200, a profiling jig is not required for carrying out vacuum adsorption on wet blanks or dry blanks, and the waste of an air source is reduced; and the smooth reliability of the feeding and discharging transfer of the screen frame 200 is ensured under the condition of reducing the waste of the air source. Meanwhile, the three-axis transfer mechanism 12 drives the screen frame loading and unloading mechanism 20 to move in three axes of XYZ and XYZ, so that the screen frame loading and unloading mechanism 20 can perform telescopic translation in the Y-axis direction, and is suitable for transferring the screen frame 200 in a narrow space.

It should be noted that the detailed structure and operation principle of the dry blank forming machine 40, the material taking robot 50 and the edge trimmer 70 are well known in the art, and therefore, the detailed description thereof is omitted. Meanwhile, the gantry robot 10, the wet blank forming machine 30, the dry blank forming machine 40, the material taking robot 50, the stacking material receiving table 60 and the edge trimmer 70 are respectively installed outside, such as on the ground. In addition, in fig. 1, the positive direction of the X axis is the left-to-right direction of the wet blank frame 31, the positive direction of the Y axis is the front-to-back direction of the wet blank mechanism 31, and the positive direction of the Z axis is the bottom-to-top direction of the wet blank mechanism 31.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, therefore, the present invention is not limited by the appended claims.