阅读说明：本技术 关节机器人带网转移式纸模生产方法 (Joint robot transfer type paper mold production method with net ) 是由 李学文 于 2021-07-20 设计创作，主要内容包括：本发明公开一种关节机器人带网转移式纸模生产方法,包括步骤：(1)关节机器人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)关节机器人驱使网框上下料机构在湿坯成型机中运动,使得第二真空吸头将捞桨下模上的网框吸走；(3)关节机器人驱使网框上下料机构伸入干坯成型机中并运动,使得第二真空吸头将所吸取网框转移至干坯上模和干坯下模中一者处,还使得第一真空吸头吸走干坯上模和干坯下模中另一者处的带有干坯的网框；以及(4)关节机器人驱使网框上下料机构朝取料机器人处运动,由取料机器人将网框中的干坯取走,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网框可靠顺畅的转移。(The invention discloses a transfer type paper mold production method with a network for a joint robot, which comprises the following steps: (1) the joint robot 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 joint robot drives the screen frame feeding and discharging mechanism to move in the wet blank forming machine, so that the second vacuum suction head sucks the screen frame on the lower drag-out paddle die away; (3) the joint robot drives the screen frame feeding and discharging mechanism to extend into the dry blank forming machine and move, so that the second vacuum suction head transfers the sucked screen frame to one of the upper dry blank mold and the lower dry blank mold, and the first vacuum suction head sucks the screen frame with the dry blank at the other one of the upper dry blank mold and the lower dry blank mold; and (4) the joint robot drives the screen frame loading and unloading mechanism to move towards the material taking robot, and the material taking robot takes the dry blanks in the screen frame away to complete one cycle of screen frame transfer; so as to ensure the reliable and smooth transfer of the screen frame under the condition of reducing the waste of the air source.)

1. A joint robot belt net transfer type paper mold production method is characterized by comprising the following steps:

(1) the joint robot drives the screen frame feeding and discharging mechanism to extend into a wet blank forming machine after the mold is opened, and a screen frame supporting mechanism in a supporting position in the wet blank forming machine supports 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 joint robot drives the screen frame feeding and discharging mechanism to move in a wet blank forming machine after the mould is opened, 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 mould, 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 joint robot drives the screen frame feeding and discharging mechanism to extend into the dry blank forming machine after the mold opening and to do lifting movement in the dry blank forming machine, so that the second vacuum suction head transfers the sucked screen frame with the wet blank to one of a dry blank upper mold and a dry blank lower mold in the dry blank forming machine after the mold opening, and the first vacuum suction head sucks away the screen frame with the dry blank left at the other of the dry blank upper mold and the dry blank lower mold after the mold opening; and

(4) the joint robot drives the screen frame feeding and discharging mechanism to move towards the material taking robot, and the material taking robot takes away the dry blanks in the screen frame with the dry blanks, which are sucked by the first vacuum suction head of the screen frame feeding and discharging mechanism, so as to complete one cycle of screen frame transfer.

2. The articulated robotic web-transferred paper pattern production method of 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.

3. The articulated robotic web-transferred paper pattern production method of 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.

4. The articulated robot web-transferring paper mold production method according to claim 3, wherein in 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.

5. The articulated robot web-transferring paper mold production method according to claim 1, wherein before step (1), the lower slurry bailing mold is driven by a lifting mechanism in the wet blank forming machine to be matched with the 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 bailing mold is formed by the lower slurry bailing mold and the upper wet blank mold together and extrudes excessive slurry, and then the lifting mechanism drives the lower slurry bailing mold together with the wet blank-carrying net frame on the lower slurry bailing mold to descend to a position where the wet blank-carrying net frame is sucked by the second vacuum suction head.

6. The articulated robot web-transferring paper mold production method according to 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 articulated robot drives the web frame loading and unloading mechanism to move towards the dry blank molding machine, and during the movement towards the dry blank molding machine, the lifting mechanism precursor in the wet blank molding machine lifts the lower slurry dragging mold to a position where the lower slurry dragging mold is in contact 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.

7. The articulated robot web-transfer paper mold production method according to claim 1, wherein in step (3), when the dry blank forming machine leaves the web frame with the dry blank on the upper mold of the dry blank after opening the mold, the articulated robot drives the web frame loading and unloading mechanism to extend into the opened dry blank forming machine and to perform a first-descending and then-ascending motion in the dry blank forming machine, so that the second vacuum suction head transfers the sucked web frame with the wet blank to the lower mold of the dry blank in the opened dry blank forming machine, and further causes the first vacuum suction head to suck the web frame with the dry blank left on the upper mold of the dry blank after opening the mold.

8. The articulated robot web-transfer paper mold production method according to claim 1, wherein in step (3), when the dry blank forming machine leaves the web frame with the dry blank on the lower dry blank mold after opening the mold, the articulated robot forerunner turns the web frame loading and unloading mechanism outside the dry blank forming machine to exchange the positions of the first vacuum suction head and the second vacuum suction head, so that the second vacuum suction head faces upward and the first vacuum suction head faces downward, and then the articulated robot drives the web frame loading and unloading mechanism to extend into the opened dry blank forming machine and perform ascending and descending movements in the dry blank forming machine, so that the second vacuum suction head transfers the web frame with the wet blank sucked by the web frame with the wet blank to the upper dry blank mold in the opened dry blank forming machine, and further causes the first vacuum suction head to suck away the web frame with the dry blank left on the lower dry blank mold after opening the mold.

9. The articulated robot web-transferring paper mold production method according to claim 8, wherein after the first vacuum suction head sucks away the web frame with the dry blank left on the dry blank lower mold after mold opening, the articulated robot drives the web frame loading and unloading mechanism to turn over outside the dry blank molding machine to exchange the positions of the second vacuum suction head and the first vacuum suction head, so that the first vacuum suction head faces upward and the second vacuum suction head faces downward.

Technical Field

The invention relates to the field of paper mold (such as but not limited to disposable tableware and disposable kits) production, in particular to a joint robot belt net transfer type paper mold production 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 an articulated robot web transfer type paper mold production method which reduces air source waste to overcome the above-mentioned drawbacks.

Disclosure of Invention

The invention aims to provide a transfer type paper mold production method of an articulated robot with a net, which reduces air source waste.

In order to achieve the purpose, the technical scheme of the invention is as follows: the joint robot web transfer type paper mold production method comprises the following steps:

(1) the joint robot drives the screen frame feeding and discharging mechanism to extend into a wet blank forming machine after the mold is opened, and a screen frame supporting mechanism in a supporting position in the wet blank forming machine supports 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 joint robot drives the screen frame feeding and discharging mechanism to move in a wet blank forming machine after the mould is opened, 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 mould, 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 joint robot drives the screen frame feeding and discharging mechanism to extend into the dry blank forming machine after the mold opening and to do lifting movement in the dry blank forming machine, so that the second vacuum suction head transfers the sucked screen frame with the wet blank to one of a dry blank upper mold and a dry blank lower mold in the dry blank forming machine after the mold opening, and the first vacuum suction head sucks away the screen frame with the dry blank left at the other of the dry blank upper mold and the dry blank lower mold after the mold opening; and

(4) the joint robot drives the screen frame feeding and discharging mechanism to move towards the material taking robot, and the material taking robot takes away the dry blanks in the screen frame with the dry blanks, which are sucked by the first vacuum suction head of the screen frame feeding and discharging mechanism, so as to complete one cycle of screen frame transfer.

Preferably, the method for producing the articulated robot web transfer type paper mold 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 method for producing the articulated robot web transfer type paper mold 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, 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 articulated robot drives the screen frame feeding and discharging mechanism to move towards the dry blank forming machine, and in the process of moving towards the dry blank forming machine, the lifting mechanism precursor in the wet blank forming machine lifts the slurry dredging lower die to a position where the slurry dredging lower die is contacted 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 slurry dredging lower die; 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 the step (3), when the dry blank forming machine leaves the mesh frame with the dry blank on the dry blank upper die after the die opening, the articulated robot drives the mesh frame loading and unloading mechanism to extend into the dry blank forming machine after the die opening and to do descending and ascending motions in the dry blank forming machine, so that the second vacuum suction head transfers the sucked mesh frame with the wet blank to the dry blank lower die in the dry blank forming machine after the die opening, and the first vacuum suction head sucks away the mesh frame with the dry blank left on the dry blank upper die after the die opening.

Preferably, in step (3), when the dry blank forming machine leaves the mesh frame with the dry blank on the lower dry blank die after die opening, the articulated robot forerunner turns the mesh frame loading and unloading mechanism outside the dry blank forming machine to exchange the positions of the first vacuum suction head and the second vacuum suction head, so that the second vacuum suction head faces upwards and the first vacuum suction head faces downwards, and then the articulated robot drives the mesh frame loading and unloading mechanism to extend into the dry blank forming machine after die opening and performs ascending and descending movement in the dry blank forming machine, so that the second vacuum suction head transfers the sucked mesh frame with the wet blank to the upper dry blank die in the dry blank forming machine after die opening, and further enables the first vacuum suction head to suck the mesh frame with the dry blank left on the lower dry blank die after die opening.

Preferably, after the first vacuum suction head sucks away the net frame with the dry blank left on the dry blank lower die after the die is opened, the joint robot drives the net frame feeding and discharging mechanism to turn over outside the dry blank forming machine so as to exchange the positions of the second vacuum suction head and the first vacuum suction head, and the first vacuum suction head faces upwards and the second vacuum suction head faces downwards.

Compared with the prior art, by means of the matching of the steps (1) to (4), the net frame feeding and discharging transfer is carried out in a net frame sucking mode by the joint robot net transfer type paper mold production method, a profiling jig is not needed to carry out vacuum adsorption on wet blanks or dry blanks, and air source waste 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.

Drawings

Fig. 1 is a flow chart of the articulated robot web transfer type paper mold production method of the present invention.

Fig. 2 is a schematic perspective view of a first paper mold production line for implementing the web-transferring paper mold production method of the articulated robot of the present invention.

Fig. 3 is a schematic perspective view of the joint robot in the paper mold production line shown in fig. 2 and the net frame loading and unloading mechanism thereon.

Fig. 4 is a schematic view of the articulated robot and the frame loading and unloading mechanism thereon shown in fig. 3 after the frame is removed.

Fig. 5 is a schematic perspective view of a screen frame loading and unloading mechanism in the paper mold production line shown in fig. 2.

Fig. 6 is a schematic view of the wet blank forming machine in the paper mold manufacturing 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. 7 is a schematic view of the wet blank forming machine in the paper mold production line shown in fig. 2 in a state where the frame supporting mechanism is switched to the retracted position.

Fig. 8 is a schematic perspective view of a second paper mold production line for implementing the web-transfer paper mold production method of the articulated robot of the present invention.

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 7, a paper mold production line 100 for implementing the web-transferring paper mold production method of the articulated robot of the present invention includes an articulated robot 10, a stacking and receiving table 60, a web frame loading and unloading mechanism 20 mounted at a final joint 11 of the articulated robot 10, and a wet blank forming machine 30, a dry blank forming machine 40, and a material taking robot 50 each disposed beside the articulated robot 10. The net frame loading and unloading mechanism 20 is driven by the joint robot 10 to be responsible for loading and unloading transfer of the net frame 200 of the wet blank forming machine 30 and the dry blank forming machine 40; the stacking material receiving platform 60 is located beside the material taking robot 50, 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, and stacking the dry blanks taken out by the material taking robot 50 on the stacking material receiving platform 60 so as to facilitate the subsequent off-line edge cutting operation of the dry blanks and the like.

In fig. 3 to 7, the frame loading and unloading mechanism 20 includes a mechanism frame 21 mounted at the end joint 11 of the articulated robot 10, and a first vacuum suction head 22 and a second vacuum suction head 23 facing opposite to each other on the mechanism frame 21 for vacuum-sucking the frame 200; the wet blank forming machine 30 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 holding mechanism 33 can be switched between a holding position shown in fig. 6 and an avoiding position shown in fig. 7, the articulated robot 10 drives the first vacuum suction head 22 to place the empty frame 200 sucked by the first vacuum suction head 22 on the frame holding mechanism 32 in the holding position (see fig. 6), the articulated robot 10 also drives the second vacuum suction head 23 to suck away the frame 200 with wet blank on the lower paddle mold 35 driven by the lifting mechanism 36, the frame holding mechanism 33 places the empty frame 200 held by the frame holding mechanism 33 on the lower paddle mold 35 driven by the lifting mechanism 36 from above when being switched to the avoiding position, so that the lower bailing die 35 is driven by the lifting mechanism 36 to sink into the slurry tank 34 together with the empty screen frame 200, and the screen frame 200 on the lower bailing die 35 is formed into a wet blank. Specifically, in fig. 2, the wet blank forming machine 30 is aligned with the dry blank forming machine 40 along the left-right direction of the wet blank frame 31, the material taking robot 50 is also located at the side of the dry blank forming machine 40 opposite to the wet blank forming machine 30, the articulated robot 10 is aligned with the wet blank forming machine 30 along the front-back direction of the wet blank frame 31, preferably, the dry blank forming machine 40 is respectively arranged at the left and right sides of the wet blank forming machine 30, and the material taking robot 50 is aligned with the dry blank forming machine 40 along the left-right direction of the wet blank frame 31, so that the arrangement is more reasonable and compact, but not limited thereto. More specifically, the following:

as shown in fig. 4 and 5, the mechanism frame 21 is a frame, and the outer frames 211 of the frame are respectively equipped with the first vacuum suction head 22 and the second vacuum suction head 23, so that the first vacuum suction head 22 and the second vacuum suction head 23 respectively achieve the purpose of grabbing the screen frame 200 by sucking the edge position of the screen frame 200, on one hand, the reliability of grabbing the screen frame 200 is ensured, and on the other hand, the defect that the design of the screen frame 200 is relatively complicated due to the sucking of the first vacuum suction head 22 or the second vacuum suction head 23 to the middle of the screen frame 200 can be avoided. Specifically, in fig. 4 and 5, the number of the first vacuum nozzles 22 is 15 and the first vacuum nozzles are arranged in an n-shape on the outer frame 211, and the number of the second vacuum nozzles 22 is 15 and the second vacuum nozzles are arranged in an n-shape on the outer frame 211, so that the purpose of this design can be further improved to enhance the suction reliability of each pair of the frames 200 of the first vacuum nozzles 22 and the second vacuum nozzles 23; of course, the number of the first vacuum suction head 22 and the second vacuum suction head 23 can be 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 16 or more according to actual needs, which is flexibly selected according to actual needs, so it is not limited thereto; in addition, although fig. 4 and 5 show that the number of both the first vacuum nozzles 22 and the second vacuum nozzles 23 is the same, the number of both the first vacuum nozzles 22 and the second vacuum nozzles 23 may be arranged differently according to actual needs. More specifically, in fig. 4 and 5, 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. 6 to 7, 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 inserted into the wet blank frame 31 along the up-down direction of the wet blank frame 31, the bottom plate 3611 is fixedly connected with the upper and lower rods 3612, the transverse frame 3613 is fixedly connected with the upper and lower rods 3612, the output end of the lifting motor 362 is fixedly connected with an upper and lower screw rod 363, a screw nut 364 is fixed on the transverse frame 3613, the screw nut 364 is slid on the upper and lower screw rod 363, the design enables the lifting motor 362 to be arranged right above the wet blank upper die 32, reduces the space occupation of the lifting motor 362 to the wet blank frame 31 in the left-right direction and the front-back direction, meanwhile, 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 by means of the matching of the upper and lower screw rods 363 and the screw nut 364, the lifting motor 362 can more accurately control the lifting frame 361 and the lower slurry taking die 35 on the lifting frame 361 to do more accurate lifting movement. More specifically, in fig. 6 and 7, the upper and lower rods 3612 are respectively disposed beside opposite sides of the wet blank upper die 32, and the upper and lower screw rods 363 and the transverse frame 3613 are respectively located right above the lifting motor 3612, so that the lifting motor 3612 is surrounded by the lifting frame 361, and the force application position of the lifting motor 3612 to the lifting frame 361 is more reasonable. 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. 6 to 7, the frame holding mechanisms 33 are respectively disposed beside opposite sides of the wet blank upper die 32, so as to increase the reliability of holding 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.

Therefore, in summary and with reference to fig. 1, the method for producing the joint robot with the net transfer type paper mold comprises the following steps:

s001, the joint robot 10 drives the screen frame feeding and discharging mechanism 20 to extend into the wet blank forming machine 30 after the mold is opened, and the screen frame supporting mechanism 33 in the supporting position in the wet blank forming machine 30 supports the empty screen frame 200 sucked by the first vacuum suction head 22 in the screen frame feeding and discharging mechanism 20 from the lower part; 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 joint robot 10 drives the frame loading and unloading mechanism 20 to move down and up in the wet blank forming machine 30 after the mold is opened, 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 paddle scooping lower mold 35, and 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 articulated robot 10 drives the screen frame loading and unloading mechanism 20 to move towards the dry blank forming machine 40, and during the movement towards 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 is in contact 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 joint robot 10 drives the screen frame loading and unloading mechanism 20 to extend into the opened dry blank forming machine 40 and make lifting movement in the dry blank forming machine 40, so that the second vacuum suction head 23 transfers the sucked screen frame 200 with the wet blank to one of a dry blank upper die 41 and 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 in the other of the dry blank upper die 41 and the dry blank lower die 42 after opening the die; specifically, in step S003, when the dry blank forming machine 40 leaves the mesh frame 200 with the dry blank on the dry blank upper die 41 after opening the die, for example, the dry blank upper die 41 leaves the mesh frame 200 with the dry blank on the dry blank upper die 41 by vacuum adsorption, at this time, the joint robot 10 drives the mesh frame loading and unloading mechanism 20 to extend into the dry blank forming machine 40 after opening the die and make a first descending and then ascending movement in the dry blank forming machine 40, so that the second vacuum suction head 23 transfers the sucked mesh frame 200 with the wet blank to the dry blank lower die 42 in the dry blank forming machine 40 after opening the die, and further causes the first vacuum suction head 22 to suck the mesh frame 200 with the dry blank left on the dry blank upper die 41 after opening the die, thereby improving the transfer efficiency of the mesh frame 200; it can be understood that, in step S003, when the dry blank forming machine 40 leaves the frame 200 with the dry blank on the lower dry blank mold 42 after opening the mold, for example, the lower dry blank mold 42 leaves the frame 200 with the dry blank on the lower dry blank mold 42 by vacuum suction, at this time, the articulated robot 10 first turns the frame loading and unloading mechanism 20 outside the dry blank forming machine 40 to exchange the positions of the first vacuum suction head 22 and the second vacuum suction head 23, makes the second vacuum suction head 23 face up and the first vacuum suction head 22 face down, then the articulated robot 10 drives the frame loading and unloading mechanism 20 to extend into the opened dry blank forming machine 40 and makes the first vacuum suction head to move in the dry blank forming machine 40, so that the second vacuum suction head 23 transfers the sucked frame 200 with the wet blank to the upper dry blank mold 41 in the opened dry blank forming machine 40, and further makes the first vacuum suction head 22 suck the frame 200 with the dry blank left on the lower dry blank mold 42 after opening the mold, this makes the frame 200 relatively complex to transfer; after the first vacuum suction head 22 sucks away the net frame 200 with the dry blank left on the dry blank lower die 42 after the die opening, the articulated robot 10 drives the net frame loading and unloading mechanism 20 to turn over outside the dry blank forming machine 40 to exchange the positions of the second vacuum suction head 23 and the first vacuum suction head 22, so that the first vacuum suction head 22 faces upwards and the second vacuum suction head 23 faces downwards, thereby better matching the dry blank sucking operation of the material taking robot 50 on the net frame 200 with the dry blank on the first vacuum suction head 22. And

and S004, the joint robot 10 drives the screen frame loading and unloading mechanism 20 to move towards the material taking robot 50, and the material taking robot 50 takes the dry blanks in the screen frame 200 with the dry blanks sucked by the first vacuum suction head 22 of the screen frame loading and unloading mechanism 20 away, so as to complete one cycle of transferring the screen frame 200. It can be understood that the flow of the feeding and discharging processes of the screen frame 200 can be completed by continuously repeating the steps S001 to S004.

In order to facilitate the subsequent processing of the dry blanks taken away by the material taking robot 50, the method for producing the paper mould with the net transfer by the articulated robot further comprises the step of transferring the taken dry blanks to the stacking material receiving table 60 by the material taking robot 50 for stacking and stacking so as to facilitate the subsequent off-line trimming operation of the stacked dry blanks.

Referring to fig. 8, a second paper mold production line 100' for implementing the web-transferring paper mold production method of the articulated robot of the present invention has substantially the same structure as the first paper mold production line 100, and the differences are as follows:

(1) the second paper mold production 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 material taking robot 50 is responsible for transferring the dry blanks trimmed by the edge trimmer 70 to the stacking material receiving table 60 ', namely the stacking material receiving table 60' is used for stacking the trimmed dry blanks; so as to realize the purpose of online edge cutting of the dry blank by the edge cutting machine 70. When the edge trimmer 70 is introduced, the edge trimmer 70, the stacking and receiving table 60' and the material-taking robot 50 are sequentially aligned along the wet blank frame 31 from front to back (i.e., the direction indicated by the arrow C). In the first paper mold production line 100, the edge trimmer 70 is not included, so the stacking and receiving table 60 is used for stacking dry blanks which are not trimmed and are transferred by the material-taking robot 50, so as to meet the subsequent off-line trimming requirement of the dry blanks.

Except for the above differences, the other parts are the same as the first paper mold manufacturing line 100, and therefore, the description thereof is omitted.

Therefore, the paper mold production method using the second paper mold production line 100' for transferring the web by the articulated robot of the present invention is different from the paper mold production method using the first paper mold production line 100 for transferring the web by the articulated robot of the present invention only in that: the joint robot belt net transfer type paper mold production 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 remainders of the dry blanks, and the material taking robot 50 takes the dry blanks with the remainders cut off on the edge trimmer 70 away and transfers the dry blanks to the stacking material receiving table 60' for stacking and stacking; 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 lower edge trimming die of the edge trimmer 70 to the recycling bin, the material taking robot 50 rises again to take the dry blanks left on the upper edge trimming die of the edge trimmer away, so as to improve the working efficiency. It should be noted that the mode that the dry blank is left on the trimming upper die is realized by the trimming upper die through a vacuum adsorption mode, and the mode that the excess material is left on the trimming lower die can be realized by means of the supporting function of the excess material by the trimming lower die, but not limited to this.

Except for the above differences, the method is the same as the method for producing the paper mold with web transfer by the articulated robot according to the first paper mold production line 100, and therefore, the description thereof is omitted.

Compared with the prior art, by means of the matching of the steps S001 to S004, the method for producing the paper mould with the transfer type of the joint robot with the net carries out feeding and discharging transfer on the net frame 200 in a mode of absorbing the net frame 200, a profiling jig is not needed 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 the feeding and discharging transfer of the screen frame 200 is ensured under the condition of reducing the waste of the air source.

It should be noted that the detailed structure and operation principle of the dry blank forming machine 40, the joint robot 10, 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 articulated 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 (60'), and the edge trimmer 70 are each installed on the outside such as the ground. In addition, the joint robot 10 needs to move the frame loading/unloading mechanism 20 in the front-rear direction of the wet blank frame 31, in the up-down direction of the wet blank frame 31, and in the left-right direction of the wet blank frame 31, and accordingly, the joint robot 10 is a three-joint robot, a four-joint robot, a five-joint robot, or a six-joint robot. In addition, the direction indicated by the arrow a in the drawing is the direction from the top to the bottom of the wet blank frame 31, the direction indicated by the arrow B in the drawing is the direction from the left to the right of the wet blank frame 31, and the direction indicated by the arrow C in the drawing is the direction from the front to the back of the wet blank frame 31. In the first embodiment, the stacking and receiving table 60 may be omitted, and thus the present invention is not limited to the foregoing.

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.