阅读说明：本技术 一种往返移动式模架开合机械手 (Reciprocating movable type die carrier opening and closing manipulator ) 是由 冯逍 钱思圣 周鑫 于 2021-01-22 设计创作，主要内容包括：本发明公开了一种往返移动式模架开合机械手,包括设置在平移轨道上的平移台和设置在平移台上的开模臂机构。平移台在平移电机的驱动下能够在平移轨道平移。开模臂机构包括模架臂和摆臂电机。模架臂通过摆动轴设置在平移台上。摆动轴的轴向与平移轨道设置的方向相平行,使得模架臂能够在摆臂电机的驱动下围绕摆动轴在垂直于平移轨道设置的方向的竖直平面上摆动。模架臂上设置有用于抓取模架的抓模机构。本发明的往返移动式模架开合机械手中,开模臂机构能够随着平移台在平移电机的驱动下与模架传送机构上的发泡模架同步移动,从而实现发泡模架移动时开模作业。(The invention discloses a reciprocating moving type die carrier opening and closing manipulator which comprises a translation table arranged on a translation track and a die opening arm mechanism arranged on the translation table. The translation platform can be translated on the translation track under the driving of the translation motor. The die sinking arm mechanism comprises a die sinking arm and a swing arm motor. The module arm is arranged on the translation table through a swing shaft. The axial direction of the swing shaft is parallel to the arrangement direction of the translation track, so that the module arm can swing on a vertical plane perpendicular to the arrangement direction of the translation track around the swing shaft under the driving of the swing arm motor. And a mold grabbing mechanism for grabbing the mold frame is arranged on the mold frame arm. In the reciprocating moving type mold frame opening and closing manipulator, the mold opening arm mechanism can move synchronously with the foaming mold frame on the mold frame conveying mechanism under the driving of the translation motor along with the translation platform, so that the mold opening operation is realized when the foaming mold frame moves.)

1. A reciprocating movable type die carrier opening and closing mechanical arm is characterized by comprising a translation table (3) arranged on a translation track (2) and a die opening arm mechanism (4) arranged on the translation table (3); the translation table (3) can translate on the translation track (2) under the driving of a translation motor (32); the mold opening arm mechanism (4) comprises a mold frame arm (41) and a swing arm motor (42); the module arm (41) is arranged on the translation table (3) through a swinging shaft (43); the axial direction of the swing shaft (43) is parallel to the arrangement direction of the translation track (2), so that the module arm (41) can swing on a vertical plane perpendicular to the arrangement direction of the translation track (2) around the swing shaft (43) under the driving of the swing arm motor (42); and a mold grabbing mechanism (5) for grabbing the mold frame is arranged on the mold frame arm (41).

2. The manipulator for opening and closing a mould carrier moving to and fro according to claim 1, characterized in that the mould carrier arm (41) is provided with a half-moon gear (44); the swing arm motor (42) is connected with a transmission gear (45) meshed with the half-moon gear (44); the swing arm motor (42) drives the die frame arm (41) to swing through the meshing of the transmission gear (45) and the half-moon gear (44).

3. The reciprocating-moving type formwork opening and closing manipulator as claimed in claim 1, wherein the translation rail (2) comprises two first linear guide rails (21) arranged on two sides of the table-board of the base (1) and parallel to each other, and a second linear guide rail (22) arranged between the two first linear guide rails (21); the second linear guide rail (22) is arranged on the side surface of the first square beam (23) and is parallel to the first linear guide rail (21); the first square beam (23) is arranged on the table top of the base (1), is positioned between the two first linear guide rails (21), and is parallel to the first linear guide rails (21); the translation table (3) is arranged on the first linear guide rail (21) and the second linear guide rail (22) through a sliding block (31).

4. The manipulator for opening and closing the mould carriers moving to and fro according to claim 3, characterized in that the translation rail (2) further comprises a rack (24) parallel to the first linear guide (21); the rack (24) is arranged on the side surface of the second square beam (25) so that the tooth surface of the rack (24) is vertical; the second square beam (25) is arranged on the table top of the base (1), is positioned between the two first linear guide rails (21), and is parallel to the first linear guide rails (21); the translation motor (32) is arranged on the translation table (3) and is connected with a translation gear (33) meshed with the rack (24); the translation motor (32) drives the translation table (3) to translate along the translation track (2) through the meshing of the translation gear (33) and the rack (24).

5. The reciprocating mould frame opening and closing manipulator as claimed in claim 1, 2, 3 or 4, characterized in that the mould gripping mechanism (5) comprises a connected mould clamping tongue plate (51) and a cylinder (52); the mould clamping tongue plate (51) is arranged on the mould frame arm (41) through a first linear clamping guide mechanism (501), so that the mould clamping tongue plate (51) linearly extends and retracts under the clamping guide action of the first linear clamping guide mechanism (501) and the driving of the air cylinder (52).

6. The reciprocating-moving type formwork opening and closing manipulator as claimed in claim 5, wherein the number of the air cylinders (52) is two, namely a first air cylinder (521) and a second air cylinder (522); the mold grabbing mechanism (5) further comprises an intermediate translation plate (53); the first cylinder (521) and the second cylinder (522) are arranged on the middle translation plate (53) in an opposite way; a piston rod of the first cylinder (521) is connected with the die clamping tongue plate (51); the piston rod of the second air cylinder (522) is connected with the module arm (41); the middle translation plate (53) is arranged on the module arm (41) through a second linear clamping mechanism (502), so that the middle translation plate (53) linearly extends and retracts under the driving of the second air cylinder (522) and the clamping guiding action of the second linear clamping mechanism (502).

7. The reciprocating movable type formwork opening and closing manipulator as claimed in claim 6, wherein the formwork arm (41) comprises two oppositely arranged and parallel arm support side plates (411), and a plurality of arm support beams (412) connecting the two arm support side plates (411); the second linear clamping mechanism (502) comprises two parallel first translation clamping strips (531) arranged on the middle translation plate (53) and second translation clamping strips (532) respectively arranged on two sides of the middle translation plate (53); the first translation clamping strip (531) is tightly attached to the arm support side plate (411) and clamped with the arm support side plate (411), so that the first translation clamping strip (531) translates relative to the arm support side plate (411); the first translation click strip (531) and the second translation click strip (532) are longer than the intermediate translation plate (53) so that the front ends exceed the intermediate translation plate (53); a first clamping table (5315) is arranged on the inner side of the part, which is forwards beyond the middle translation plate (53), of the first translation clamping strip (531); a second sliding groove (5321) is formed in the inner side of the part, which is forwards beyond the middle translation plate (53), of the second translation clamping strip (532); the first linear clamping mechanism (501) comprises two parallel first L-shaped buckle strips (511) arranged on the die tongue plate (51) and first sliding strips (512) respectively arranged on two sides of the die tongue plate (51); the first L-shaped buckling strip (511) is of an L-shaped structure; the two first L-shaped buckling strips (511) are respectively tightly attached to the first translation clamping strip (531), are respectively buckled on the first clamping platform (5315) in an inverted mode, and can slide relative to the first translation clamping strip (531); the first slide bar (512) is captured within the second runner (5321) such that the first slide bar (512) is slidable relative to the second translating capture bar (532).

8. The reciprocating-moving type formwork opening and closing robot as claimed in claim 7, wherein the formwork arm (41) further comprises a root connection plate (413); the root connecting plate (413) is fixedly connected with the arm support side plate (411) through two second L-shaped buckle strips (414) which are parallel to each other and arranged oppositely; two sides of the root connecting plate (413) are respectively provided with a second sliding strip (415); the rear ends of the first translation clamping strip (531) and the second translation clamping strip (532) exceed the middle translation plate (53); a second clamping table (5314) is arranged on the inner side of the part, which exceeds the middle translation plate (53), behind the first translation clamping strip (531); a third sliding groove (5322) is formed in the rear part of the second translation clamping strip (532) and exceeds the inner side of the middle translation plate (53); the second L-shaped buckling strip (414) is of an L-shaped structure; two second L-shaped buckling strips (414) are respectively clung to the second clamping platform (5314) in an inverted manner, so that the rear end part of the first translation clamping strip (531) is clamped between the second L-shaped buckling strips (414) and the arm frame side plate (411), is positioned on the root connecting plate (413), and can slide relative to the root connecting plate (413); the second slide bar (415) is captured within the third runner (5322) such that the second translating capture bar (532) is slidable relative to the second slide bar (415).

9. The reciprocating movable type formwork opening and closing manipulator as claimed in claim 7, wherein a plurality of bolt pin holes (416) arranged in a straight line are arranged on the arm support side plate (411); a plug (54) is arranged in the plug pin hole (416); a first sliding groove (5313) is formed in the outer side of the first translation clamping strip (531); the plug (54) extends into the first sliding groove (5313), so that the first translation clamping strip (531) is clamped with the arm support side plate (411).

10. The reciprocating mold frame opening and closing manipulator as claimed in claim 9, wherein the first translational clamping bar (531) comprises an inner flitch plate (5311) and a bottom clamping bar (5312); the inner side flitch (5311) and the bottom clamping strip (5312) form an L-shaped structure; the inner side pasting plate (5311) is tightly pasted on the inner side of the arm support side plate (411); the bottom clamping strip (5312) is tightly attached to the bottom of the arm support side plate (411); the first sliding groove (5313) is arranged on the outer side of the inner flitch plate (5311); the first clamping platform (5315) is arranged on the inner side of the forward end of the inner side flitch plate (5311).

Technical Field

The invention relates to a manipulator for opening and closing a foaming mould frame and an upper mould frame.

Background

Patent document CN 206170488U discloses a robot for opening a door foaming mold frame. The manipulator needs to be fixed on the mould frame conveying mechanism. The foaming mould frame is conveyed to a designated position on the mould frame conveying mechanism to be opened by the manipulator, and at the moment, the whole mould frame conveying mechanism needs to stop running. The foaming mould frame is subjected to mould opening operation of the manipulator each time, the whole mould frame conveying mechanism needs to be stopped and started once, namely the conveying mechanism needs to be frequently started and stopped. On the one hand, this operation is inefficient. On the other hand, the loss of the conveying mechanism caused by frequent starting and stopping of the conveying mechanism is very large, and the energy consumption is high. In addition, the manipulator disclosed in patent document CN 206170488U requires the pins to be precisely aligned with the pin holes on the foaming mold frame, so that the mold opening speed is slow.

Disclosure of Invention

The problems to be solved by the invention are as follows: in the prior art, the die opening manipulator fixed on the die carrier conveying mechanism has low die opening efficiency, needs the conveying mechanism to be started and stopped frequently, and has high equipment loss and high energy consumption.

In order to solve the problems, the invention adopts the following scheme:

a reciprocating moving type mould frame opening and closing manipulator comprises a translation table arranged on a translation track and a mould opening arm mechanism arranged on the translation table; the translation table can translate on the translation track under the driving of the translation motor; the die sinking arm mechanism comprises a die frame arm and a swing arm motor; the module arm is arranged on the translation table through a swing shaft; the axial direction of the swing shaft is parallel to the arrangement direction of the translation track, so that the module arm can swing on a vertical plane perpendicular to the arrangement direction of the translation track around the swing shaft under the driving of the swing arm motor; and the mould grabbing mechanism for grabbing the mould frame is arranged on the mould frame arm.

Further, the die carrier arm is provided with a half-moon gear; the swing arm motor is connected with a transmission gear meshed with the half-moon gear; the swing arm motor drives the die carrier arm to swing through the meshing of the transmission gear and the half-moon gear.

Further, the translation track comprises two parallel first linear guide rails arranged on two sides of the base table-board and a second linear guide rail arranged between the two first linear guide rails; the second linear guide rail is arranged on the side surface of the first square beam and is parallel to the first linear guide rail; the first square beam is arranged on the table top of the base, is positioned between the two first linear guide rails and is parallel to the first linear guide rails; the translation table is arranged on the first linear guide rail and the second linear guide rail through sliding blocks.

Further, the translation rail further comprises a rack parallel to the first linear guide; the rack is arranged on the side surface of the second square beam, so that the tooth surface of the rack is vertical; the second square beam is arranged on the table top of the base, is positioned between the two first linear guide rails and is parallel to the first linear guide rails; the translation motor is arranged on the translation table and is connected with a translation gear meshed with the rack; the translation motor drives the translation table to translate along the translation track through the meshing of the translation gear and the rack.

Further, the mold grabbing mechanism comprises a mold clamping tongue plate and an air cylinder which are connected; the mould clamping tongue plate is arranged on the mould frame arm through a first linear clamping and guiding mechanism, so that the mould clamping tongue plate can linearly stretch under the clamping and guiding action of the first linear clamping and guiding mechanism and the driving of the cylinder.

Further, the number of the cylinders is two, namely a first cylinder and a second cylinder; the mold grabbing mechanism further comprises a middle translation plate; the first cylinder and the second cylinder are arranged on the middle translation plate in a back-to-back manner; a piston rod of the first cylinder is connected with the die clamping tongue plate; a piston rod of the second air cylinder is connected with the module arm; the middle translation plate is arranged on the framework arm through a second linear clamping mechanism, so that the middle translation plate is driven by the second cylinder to linearly extend under the clamping guiding action of the second linear clamping mechanism.

Further, the formwork arm comprises two oppositely arranged and parallel arm support side plates and a plurality of arm support beams for connecting the two arm support side plates; the second linear clamping mechanism comprises two parallel first translation clamping strips arranged on the middle translation plate and second translation clamping strips respectively arranged on two sides of the middle translation plate; the first translation clamping strip is tightly attached to the arm support side plate and clamped with the arm support side plate, so that the first translation clamping strip is translated relative to the arm support side plate; the first translation clamping strip and the second translation clamping strip are longer than the middle translation plate, so that the front ends of the first translation clamping strip and the second translation clamping strip exceed the middle translation plate; a first clamping table is arranged on the inner side of the part, exceeding the middle translation plate, of the first translation clamping strip in the front direction; a second sliding groove is formed in the inner side of the part, which exceeds the middle translation plate, of the second translation clamping strip in the front direction; the first straight line clamping mechanism comprises two parallel first L-shaped buckling strips arranged on the die clamping tongue plate and first sliding strips respectively arranged on two sides of the die clamping tongue plate; the first L-shaped buckling strip is of an L-shaped structure; the two first L-shaped buckling strips are respectively tightly attached to the first translation clamping strips, are respectively buckled on the first clamping table in an inverted mode, and can slide relative to the first translation clamping strips; the first slide bar is clamped in the second sliding groove, so that the first slide bar can slide relative to the second translation card bar.

Further, the module arm also comprises a root connecting plate; the root connecting plate is fixedly connected with the arm support side plate through two second L-shaped buckling strips which are parallel to each other and arranged oppositely; two sides of the root connecting plate are respectively provided with a second sliding strip; the rear ends of the first translation clamping strip and the second translation clamping strip exceed the middle translation plate; a second clamping table is arranged at the inner side of the part, which exceeds the middle translation plate, behind the first translation clamping strip; a third sliding groove is formed in the inner side of the part, exceeding the middle translation plate, behind the second translation clamping strip; the second L-shaped buckling strip is of an L-shaped structure; the two second L-shaped buckling strips are respectively clung to the second clamping table in an inverted manner, so that the rear end part of the first translation clamping strip is clamped between the second L-shaped buckling strips and the arm support side plate, is positioned on the root connecting plate and can slide relative to the root connecting plate; the second slide bar is clamped in the third slide groove, so that the second translation clamping bar can slide relative to the second slide bar.

Furthermore, a plurality of pin holes which are arranged in a straight line are arranged on the arm support side plate; a plug is arranged in the plug pin hole; a first sliding groove is formed in the outer side of the first translation clamping strip; the plug extends into the first sliding groove, so that the first translation clamping strip is clamped with the arm support side plate.

Further, the first translation clamping strip comprises an inner side flitch and a bottom clamping strip; the inner side flitch and the bottom clamping strip form an L-shaped structure; the inner side flitch is tightly attached to the inner side of the arm support side plate; the bottom clamping strip is tightly attached to the bottom of the arm support side plate; the first sliding groove is arranged on the outer side of the inner side flitch; the first clamping table is arranged on the inner side of the forward end of the inner side flitch.

The invention has the following technical effects: the mould opening arm mechanism can move synchronously with a foaming mould frame on the mould frame conveying mechanism under the driving of the translation motor along with the translation platform, so that mould opening operation is realized when the foaming mould frame moves.

Drawings

Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.

Fig. 2 is a partial structural diagram of the hidden partial structure of the viewing angle pointed by the arrow B in fig. 1.

Fig. 3 is a schematic view of the entire structure of the mold opening arm mechanism.

Fig. 4 is a schematic view of the scaffold arm from an upper perspective.

Fig. 5 is a schematic view of the structure of the module arm from a lower perspective.

Fig. 6 is a schematic view of the engagement between the first translational clamping strip and the arm side plate, and a partial cross-sectional view of the center of the latch hole pointed by arrow a in fig. 5.

Fig. 7 is a schematic view of the overall structure of the first translating card strip.

Fig. 8 is a schematic view of the structure of the foaming mold frame.

Wherein the content of the first and second substances,

1 is a base, 2 is a translation track, 21 is a first linear guide rail, 211 is a limiting block, 22 is a second linear guide rail, 23 is a first square beam, 24 is a rack, and 25 is a second square beam;

3 is a translation table, 31 is a sliding block, 32 is a translation motor, 33 is a translation gear, 34 is a manipulator support, 341 is a support plate, 342 is a support bottom plate, 343 is a support cross beam;

4, a mold opening arm mechanism, 41, a mold frame arm, 411, an arm frame side plate, 412, an arm frame beam, 413, a root connecting plate, 414, a second L-shaped buckle strip, 415, a second slide strip, 416, a bolt pin hole, 419, a reinforcing beam, 42, a swing arm motor, 421, a motor support, 43, a swing shaft, 44, a half-moon gear and 45, wherein the mold opening arm mechanism is a mold frame arm, the second slide strip, the bolt pin hole, the reinforcing beam, the swing arm motor, the swing;

5 is a mold grasping mechanism, 501 is a first linear clamping guide mechanism, 502 is a second linear clamping guide mechanism, 51 is a mold clamping tongue plate, 511 is a first L-shaped buckle bar, 512 is a first slide bar, 518 is a cylinder connecting block, 519 is a guide chamfer, 52 is a cylinder, 521 is a first cylinder, 522 is a second cylinder, 53 is a middle translation plate, 531 is a first translation clamping bar, 5311 is an inner side pasting plate, 5312 is a bottom clamping bar, 5313 is a first sliding groove, 5314 is a second clamping table, 5315 is a first clamping table, 532 is a second translation clamping bar, 5321 is a second sliding groove, 5322 is a third sliding groove, and 54 is a plug;

reference numeral 9 denotes a foaming mold frame, 91 denotes a lower mold frame, 92 denotes an upper mold frame, 93 denotes a mold frame handle mechanism, 931 denotes a handle holder, 932 denotes a chuck roller, and 933 denotes a chuck gap.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 and 2, the reciprocating mold frame opening and closing manipulator is arranged on the side of a mold frame conveying mechanism and used for opening a mold of a foaming mold frame conveyed by the mold frame conveying mechanism, and comprises a base 1, a translation rail 2, a translation table 3 and a mold opening arm mechanism 4. The base 1 is in a long strip shape and is arranged along the side edge of the die carrier conveying mechanism; the translation track 2 is arranged on the table surface of the base 1 and is parallel to the conveying direction of the foaming mould base 9 on the mould base conveying mechanism; the translation table 3 is arranged on the translation track 2 and can move along the translation track 2; the mold opening arm mechanism 4 is provided on the translation stage 3 and is movable in accordance with the movement of the translation stage 3.

The translation rail 2 comprises a first linear guide 21, a second linear guide 22 and a rack 24 parallel to each other. Wherein, there are two first linear guide rails 21; two first linear guide rails 21 are respectively arranged on two sides of the table-board of the base 1. Both ends of the first linear guide 21 are respectively provided with a stopper 211. The second linear guide 22 is disposed on the first square beam 23 and on a side of the first square beam 23. The rack 24 is provided on the side of the second square beam 25 such that the tooth surface of the rack 24 is vertical. The first square beam 23 and the second square beam 25 are parallel to the first linear guide 21 and are disposed between the two first linear guide 21. The first linear guide 21 and the second linear guide 22 are both slide rails. The translation stage 3 is arranged on the first linear guide 21 and the second linear guide 22 by means of a bottom slide 31. The rack 24 is engaged with the translation gear 33. The translation gear 33 is connected to the translation motor 32 through a reduction gear. A translation motor 32 and a translation gear 33 are provided on the translation stage 3. Thereby, the translation stage 3 is caused to translate along the translation rail 2 by the engagement of the translation gear 33 and the rack 24, driven by the translation motor 32. The translation direction of the translation table 3 is the same as the direction of the foaming mould frame conveyed on the mould frame conveying mechanism.

Referring to fig. 3, the mold opening arm mechanism 4 is provided on the translation stage 3 via a robot holder 34. The robot holder 34 includes two holder plates 341 arranged in parallel and opposite to each other. The two bracket plates 341 are vertically arranged on the translation stage 3 through a bracket bottom plate 342. The plate surface of the support plate 341 is perpendicular to the conveying direction of the mold frame conveying mechanism, that is, the plate surface of the support plate 341 is perpendicular to the first linear guide rail 21. A plurality of bracket beams 343 are arranged between the two bracket plates 341 and are fixed with each other.

Referring to fig. 4 and 5, the mold opening arm mechanism 4 includes a mold frame arm 41 and a swing arm motor 42. The frame arm 41 is arranged on the translation table 3 via a swing shaft 43, specifically, the frame arm 41 is arranged on the swing shaft 43, and the swing shaft 43 is arranged on the top ends of the two support plates 341 via bearings. The module arm 41 can swing about a swing shaft 43. The axis of the swing shaft 43 is perpendicular to the plate surface of the support plate 341, which also means that the axis of the swing shaft 43 is parallel to the direction of the foaming mold frame conveyed on the mold frame conveying mechanism and the direction of the translation track 2. Thereby, when the mold frame arm 41 swings around the swing shaft 43, the mold frame arm 41 swings on a vertical plane perpendicular to the direction in which the translation rail 2 is disposed. The frame arm 41 is provided with a half-moon gear 44 having the swing shaft 43 as an axis. The swing arm motor 42 is provided on the translation stage 3. Specifically, the swing arm motor 42 is provided on the motor mount 421, and the motor mount 421 is provided on the translation stage 3. The swing arm motor 42 is connected with a transmission gear 45 through a speed reducer. The transmission gear 45 meshes with the half-moon gear 44. Thus, the movable rack arm 41 is driven by the swing arm motor 42 to swing on a vertical plane perpendicular to the direction in which the translation rail 2 is disposed, about the swing shaft 43, by meshing transmission of the transmission gear 45 and the half-moon gear 44.

The frame arm 41 includes two arm frame side plates 411. The arm frame side plate 411 is a strip-shaped plate body, and one end of the arm frame side plate is connected with the swinging shaft 43. The two arm support side plates 411 are parallel to each other and are vertically arranged oppositely. A plurality of arm support beams 412 are connected between the two arm support side plates 411, and root connecting plates 413 are connected to the bottoms of the two arm support side plates 411. Through the connection between the root connecting plate 413 and the arm support beam 412, the two arm support side plates 411 form a long strip-shaped arm body frame with a square cross section.

The mould frame arm 41 is provided with a mould gripping mechanism 5 for gripping the mould frame. The mold gripping mechanism 5 comprises a mold clamping tongue plate 51 and a cylinder 52. The die clamping tongue plate 51 is connected with the air cylinder 52 and is arranged on the die carrier arm 41 through the first linear clamping guide mechanism 501, so that the die clamping tongue plate 51 can linearly translate and stretch under the driving of the air cylinder 52 and the clamping guide effect of the first linear clamping guide mechanism 501. In this embodiment, there are two cylinders 52, namely a first cylinder 521 and a second cylinder 522. Two cylinders 52 are connected in series to form the telescopic movement of the two ends of the tongue-clamping plate 51.

Specifically, the mold gripping mechanism 5 further includes an intermediate translation plate 53. The intermediate translation plate 53 is disposed on the module arm 41 via the second linear detent mechanism 502 and can translate under the detent guidance of the second linear detent mechanism 502. The die tongue 51 is connected with the middle translation plate 53 through a first linear position-retaining guide mechanism 501. The translation and extension directions of the die clamping tongue plate 51 are the same as the translation direction of the middle translation plate 53. The first cylinder 521 and the second cylinder 522 are both provided at the intermediate translation plate 53. The first cylinder 521 and the second cylinder 522 are disposed on the same central axis and are disposed opposite to each other. Wherein, the piston rod of the first cylinder 521 is connected with the die tongue plate 51 through the cylinder connecting block 518, and the piston rod of the second cylinder 522 is connected with the die frame arm 41. Therefore, the intermediate translation plate 53 can linearly translate and stretch under the driving of the second air cylinder 522 and the clamping guiding action of the second linear clamping mechanism 502, and the die clamping tongue plate 51 can linearly translate and stretch relative to the intermediate translation plate 53 under the driving of the first air cylinder 521 and the clamping guiding action of the first linear clamping mechanism 501.

More specifically, the tongue plate 51 and the intermediate translating plate 53 are plate bodies having the same width and thickness as the root translating plate 413. The root translation plate 413, the middle translation plate 53 and the die clamping tongue plate 51 are sequentially arranged on the same plane below the die frame arm 41, and the side edges of the root translation plate, the middle translation plate and the die clamping tongue plate are flush. The root translation plate 413, the middle translation plate 53, the die tongue plate 51 and the arm support side plates 411 are perpendicular to each other, and the central axis of the arrangement direction of the root translation plate 413, the middle translation plate 53 and the die tongue plate 51 is located on the central plane between the two arm support side plates 411. The width of the root translation plate 413, the width of the middle translation plate 53 and the width of the die tongue plate 51 are larger than that of the module arm 41, so that the root translation plate 413, the width of the middle translation plate 53 and the width of the die tongue plate 51 are all protruded out of the arm frame side plate 411. The second linear detent mechanism 502 includes two first translational detents 531 and two second translational detents 532. Two first translation strips 531 are arranged on the intermediate translation plate 53 parallel to and facing away from each other. Two second translation strips 532 are respectively arranged on two side edges of the middle translation plate 53. The first translation gib 531 and the second translation gib 532 are both longer than the intermediate translation plate 53, and thus both front and rear ends are beyond the intermediate translation plate 53. The first translation clamping strip 531 is slidably engaged with the arm frame side plate 411, and a portion of the rear end of the first translation clamping strip 531, which exceeds the middle translation plate 53, is slidably engaged with the root translation plate 413, and a portion of the front end, which exceeds the middle translation plate 53, is slidably engaged with the tongue plate 51. The rear end of the second translational slip 532 beyond the middle translational plate 53 is slidably engaged with the side of the root translational plate 413. The part of the front end exceeding the middle translation plate 53 is in sliding clamping with the side edge of the die clamping tongue plate 51.

The sliding engagement between the first translation strip 531 and the arm frame side plate 411 may be through a matching structure of a slide strip and a slide groove. In this embodiment, the sliding engagement between the first translation strip 531 and the arm frame side plate 411 adopts the structure shown in fig. 6. Referring to fig. 6 and 7, the first translational snap strip 531 includes an inner flitch plate 5311 and a bottom snap strip 5312. The inner attachment plate 5311 and the bottom clamping strip 5312 form an L-shaped structure. The inner side pasting plate 5311 is tightly pasted on the inner side of the arm support side plate 411. The bottom clamping strip 5312 is tightly attached to the bottom of the arm support side plate 411. The outer side of the inner attachment plate 5311 is provided with a first sliding groove 5313. The first runner 5313 is parallel to the intermediate parallel plate 53. The arm frame side plate 411 is provided with a plurality of bolt pin holes 416 which are arranged in a straight line. A plug 54 is disposed within the plug pin aperture 416. The plugs 54 arranged in a straight line extend into the first sliding groove 5313, so that the first translational clamping strip 531 is slidably clamped with the arm support side plate 411. The plug 54 is a flat-ended bolt used in this embodiment. That is, the plug 54 is a bolt with a flattened thread that extends into a portion of the first runner 5313.

Referring to fig. 5, the root connecting plate 413 is fixedly connected to the arm support side plate 411 through two second L-shaped buckles 414 that are parallel to each other and are arranged opposite to each other, and referring to fig. 7, a second clamping platform 5314 that is matched with the second L-shaped buckle 414 is arranged on the inner side of the inner side attachment plate 5311 that is beyond the middle translation plate 53 behind the first translation clamping strip 531. The second L-shaped buckle 414 is in an L-shaped configuration. The two second L-shaped buckles 414 are respectively tightly and inversely buckled on the second clamping platform 5314, so that the rear end part of the first translational buckle 531 is clamped between the second L-shaped buckle 414 and the arm frame side plate 411 and is positioned on the root connecting plate 413. That is, the second L-shaped buckle 414 encloses a front-back sliding channel between the arm frame side plate 411 and the root translation plate 413, and the rear end of the first translation clamping strip 531 is clamped in the sliding channel to slide.

Referring to fig. 5, a second slide bar 415 is disposed on a side of the root translation plate 413, and a third slide groove 5322 engaged with the second slide bar 415 is disposed on an inner side of a portion of the rear end of the second translation bar 532 beyond the middle translation plate 53. Second slide bar 415 is captured within third slide slot 5322 such that second translating capture bar 532 can slide relative to second slide bar 415.

The parts of the front ends of the first translation card bar 531 and the second translation card bar 532, which exceed the middle translation plate 53, are slidably engaged with the tongue plate 51 through the first linear locking mechanism 501. Referring to fig. 4 and 7, the first linear locking mechanism 501 includes two first L-shaped buckles 511 and two first slides 512. The two first L-shaped buckles 511 are disposed on the tongue-shaped card 51 in parallel and opposite to each other, and the two first sliding strips 512 are disposed on two side edges of the tongue-shaped card 51 respectively. The first translational clamping strip 531 is provided with a first clamping platform 5315 which is matched with the first L-shaped buckle strip 511 and extends forwards beyond the inner side attachment plate 5311 of the middle translational plate 53. The inner side of the part of the front end of the second translational clamping strip 532 exceeding the middle translational plate 53 is provided with a second sliding groove 5321 matched with the first sliding strip 512. The first L-shaped buckle 511 is an L-shaped structure. The two first L-shaped buckles 511 are respectively tightly and reversely buckled on the first clamping platform 5315, so that the front end part of the first translational buckle 531 is clamped between the second L-shaped buckle 414 and the arm frame side plate 411, is positioned on the die tongue plate 51, and can slide relative to the first translational buckle 531. The first slide bar 512 is caught in the second slide groove 5321 so that the die tongue plate 51 can slide relative to the second translation slide bar 532.

The die clamping tongue plate 51 is matched with the die carrier handle mechanism. As shown in fig. 8, the foaming mold frame 9 includes an upper mold frame 92 and a lower mold frame 91. The upper mold frame 92 and the lower mold frame 91 are connected by a hinge. The upper mold frame 92 is provided with a mold frame handle mechanism 93. The mould carrier handle mechanism 93 comprises a handle bracket 931 and a catch roller 932. Two handle holders 931 are oppositely disposed on the upper mold frame 92. Two catch rollers 932 are respectively provided inside the top ends of the two handle brackets 931, and a catch gap 933 is formed between the catch rollers 932 and the upper mold frame 92. The die tongue plate 51 is matched with the die carrier handle mechanism 93, in this embodiment, the width of the two sides of the die tongue plate 51 is matched with the distance between the two handle brackets 931, so that the die tongue plate 51 can be clamped into the clamping plate gap 933, and the upper parts of the two sides of the die tongue plate 51 are respectively clamped by the clamping plate rollers 932. In this embodiment, in order to facilitate the insertion of the die tab 51 into the card gap 933, guide chamfers 519 are provided on both sides of the die tab 51 corresponding to the card rollers 932.

When the reciprocating mold frame opening and closing manipulator of the embodiment performs mold opening operation, the mold opening arm mechanism 4 can move synchronously with the foaming mold frame 9 on the mold frame conveying mechanism under the driving of the translation motor 32 along with the translation table 3. When the translation table 3 moves from one end of the translation track 2 to the other end, at least one complete die opening action can be completed, so that the upper die frame 92 of the corresponding foaming die frame 9 is turned over and opened. After the upper mold frame 92 of the foaming mold frame 9 is opened, the translation table 3 returns to the start end of the translation rail 2 to prepare for the mold opening operation of the next foaming mold frame. Therefore, when the mold is opened, the mold frame conveying mechanism for conveying the foaming mold frame 9 does not need to be started or stopped. In the die opening operation, firstly, the die tongue plate 51 is extended by a section through the first air cylinder 521 so as to be aligned with the die carrier handle mechanism 93, and after the die tongue plate 51 is aligned with the die carrier handle mechanism 93, the die tongue plate 51 is inserted into the clamping plate gap 933 through the second air cylinder 522.

Further, in this embodiment, a reinforcing beam 419 is disposed outside the arm frame side plate 411 for reinforcing the physical strength of the module arm 41.

In addition, in the embodiment, the die tongue plate 51 and the root connecting plate 413 are symmetrical front and back, and the matching structures of the middle translation plate 53 are also symmetrical, that is, the first L-shaped buckle 511 corresponds to the second L-shaped buckle 414, the first slide bar 512 corresponds to the second slide bar 415, and the connecting structure of the first cylinder 521 and the die tongue plate 51 is symmetrical to the connecting structure of the second cylinder 522 and the die carrier arm 41. Specifically, the root connecting plate 413 is provided with a second cylinder connecting block corresponding to the cylinder connecting block 518. Through this second cylinder connection block, the piston rod of the second cylinder 522 is connected to the root connection plate 413. The second cylinder connecting block is not shown on the figures, but does not hinder the understanding of the person skilled in the art. Therefore, the assembly complexity of the whole mold grasping mechanism 5 can be simplified through the front-back symmetrical structural design.