CN112123423A - Automatic trimming and stacking system and method for robot transfer of pulp molded products - Google Patents
Automatic trimming and stacking system and method for robot transfer of pulp molded products Download PDFInfo
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- CN112123423A CN112123423A CN202011044111.4A CN202011044111A CN112123423A CN 112123423 A CN112123423 A CN 112123423A CN 202011044111 A CN202011044111 A CN 202011044111A CN 112123423 A CN112123423 A CN 112123423A
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- 238000012546 transfer Methods 0.000 title claims abstract description 134
- 238000009966 trimming Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000000465 moulding Methods 0.000 claims abstract description 84
- 238000004519 manufacturing process Methods 0.000 claims abstract description 54
- 230000009471 action Effects 0.000 claims abstract description 44
- 238000005520 cutting process Methods 0.000 claims abstract description 11
- 238000001179 sorption measurement Methods 0.000 claims description 40
- 230000007306 turnover Effects 0.000 claims description 7
- 230000000630 rising effect Effects 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims 1
- 229920001131 Pulp (paper) Polymers 0.000 abstract description 22
- 238000010586 diagram Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001035 drying Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000003490 calendering Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000007723 die pressing method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009740 moulding (composite fabrication) Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004537 pulping Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/005—Computer numerical control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/27—Means for performing other operations combined with cutting
- B26D7/32—Means for performing other operations combined with cutting for conveying or stacking cut product
Abstract
The invention provides a robot transfer automatic trimming and stacking system and method for a pulp molding product. According to the invention, the paper pulp molding product which is not subjected to edge cutting is taken out from the paper pulp molding automatic edge cutting machine production equipment through the transfer robot and is automatically transferred into the edge cutting machine for automatic edge cutting, then the paper pulp molding product which is subjected to edge cutting is taken out and is calculated and stacked on the stacking platform for centralized collection, and the PLC is coordinated and controlled to automatically complete a whole set of actions by the paper pulp molding automatic production equipment, the transfer robot and the edge cutting machine, so that the purpose of automatic edge cutting and stacking after paper pulp molding is achieved, the labor intensity can be reduced, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of paper pulp molding, in particular to a robot transfer automatic trimming and stacking system and method for paper pulp molded products.
Background
The pulp molded product is a product which is made by using a mold to carry out vacuum adsorption molding, drying and processing on pulp and can replace metal or plastic for people to use. The existing production process links of the pulp molding product mainly comprise: pulping, forming, die pressing (drying) and shaping (trimming). In the whole production link, the pulp molding product is pressurized and shaped by a hot die, and is calendered, so that the front side of the tableware is flat and smooth; meanwhile, the excess parts such as burr and rim charge at the edge of the pulp molded product need to be cut off, and the production of the product is finally finished. However, the conventional method for putting the pulp molded product into the edge trimmer and taking the pulp molded product out of the edge trimmer are manually completed by an operator, so that the method has the defects of heavy burden on the operator, low efficiency and poor safety.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a robot transfer automatic trimming and stacking system for pulp molding products and a method thereof, so as to overcome the defects in the prior art.
In order to achieve the purpose, the invention provides a robot transfer automatic trimming and stacking system for pulp molding products, which comprises pulp molding automatic production equipment, a transfer robot, a full-automatic trimming machine, a stacking platform and a PLC (programmable logic controller), wherein the full-automatic trimming machine is arranged right in front of the transfer robot, the pulp molding automatic production equipment is arranged on the left side of the transfer robot, the stacking platform is arranged on the right side of the transfer robot, and the pulp molding automatic production equipment, the transfer robot and the full-automatic trimming machine are respectively electrically connected and in signal connection with the PLC; wherein, the transfer robot is including turning to the base, flexible arm, the lifing arm and adsorb the carousel of turning over, turn to base fixed connection subaerial, flexible arm hub connection turns to on the base, so that flexible arm is at paper pulp molding automatic production equipment, it is rotatory between full-automatic edge trimmer and the pile-up platform, lifing arm hub connection is at the tip of flexible arm, so that the lifing arm uses the tip of flexible arm as epaxial pendulum or lower hem, adsorb the tip of turning over the dish hub connection at the lifing arm, so that adsorb the carousel and use the tip of lifing arm as the axle and overturn, and adsorb the carousel of turning over resets when flexible arm contracts, get into paper pulp molding automatic production equipment or full-automatic edge trimmer when flexible arm stretches out, adsorb the carousel of turning over and rise when the lifing arm is put on the lifing arm, descend when the lifing arm lower hem, adsorb the carousel and overturn when removing to pile.
According to the technical scheme, the pulp molding products without trimming are taken out from the pulp molding automatic production equipment through the transfer robot and automatically transferred to the full-automatic edge trimmer for automatic trimming, then the pulp molding products after trimming are taken out and stacked on the stacking platform to be collected in a centralized manner, and the PLC coordinates and controls the pulp molding automatic production equipment, the transfer robot and the full-automatic edge trimmer to automatically finish a whole set of actions so as to achieve the purpose of automatic trimming and stacking after pulp molding products are formed, so that the labor intensity can be reduced, and the production efficiency can be improved.
As a further explanation of the robot transfer automatic trim stacking system for pulp molded products according to the present invention, it is preferable that a first I/O terminal of the PLC controller is connected to the pulp molded automatic production apparatus so that the PLC controller receives a first signal from the pulp molded automatic production apparatus through the first I/O terminal; the first signal is a signal that the pulp molding automatic production equipment finishes producing pulp molding products; a second I/O end of the PLC controller is connected with the transfer robot, so that when the PLC controller receives the first signal through the first I/O end, the PLC controller outputs a second signal to the transfer robot through the second I/O end; the second signal is an action signal for triggering the transfer robot to turn and extend into the pulp molding automatic production equipment so as to vacuum adsorb the pulp molding product.
By the technical scheme, the paper pulp molding automatic production equipment is facilitated to complete the vacuum adsorption of the paper pulp molding product by the transfer robot after the paper pulp molding product is produced.
As a further explanation of the robot transfer automatic trimming stacking system for pulp molded products according to the present invention, preferably, a third I/O terminal of the PLC controller is connected to the full automatic trimming machine, so that the PLC controller receives a third signal from the full automatic trimming machine through the third I/O terminal; the third signal is a signal for resetting an adsorption mould of the full-automatic edge trimmer; a fourth I/O end of the PLC is connected with the transfer robot, so that when the PLC receives the third signal through the third I/O end, the PLC outputs a fourth signal to the transfer robot through the fourth I/O end; the fourth signal is an action signal for triggering the transfer robot to turn and extend into the full-automatic edge trimmer so as to transfer and adsorb the pulp molded product to the full-automatic edge trimmer, and the transfer robot contracts outside the full-automatic edge trimmer to wait for edge trimming to be completed.
Through the technical scheme, the transfer robot is favorable for transferring and adsorbing the pulp molded product to the adsorption mold of the full-automatic edge trimmer after the adsorption mold of the full-automatic edge trimmer is reset.
As a further explanation of the robot transfer automatic trim stacking system for pulp molded products according to the present invention, it is preferable that a fifth I/O terminal of the PLC controller is connected to the transfer robot so that the PLC controller receives a fifth signal from the transfer robot through the fifth I/O terminal; the fifth signal is a signal for contraction and reset of the transfer robot; a sixth I/O end of the PLC is connected with the full-automatic edge trimmer, so that the PLC outputs a sixth signal to the full-automatic edge trimmer through the sixth I/O end; and the sixth signal is an action signal for triggering the adsorption mould of the full-automatic edge trimmer to descend, finish the edge cutting action and ascend.
Through the technical scheme, the adsorption mould of the full-automatic edge trimmer can descend after the transfer robot contracts and resets, and the edge trimming action and the ascending of the pulp molded product can be completed.
As a further explanation of the robot transfer automatic trimming stacking system for pulp molded products according to the present invention, preferably, a seventh I/O terminal of the PLC controller is connected to the full automatic edge trimmer so that the PLC controller receives a seventh signal from the full automatic edge trimmer through the seventh I/O terminal; the seventh signal is a signal for rising and resetting the adsorption mould of the full-automatic edge trimmer after the edge trimming action is finished; the eighth I/O end of the PLC controller is connected with the transfer robot, so that when the PLC controller receives the seventh signal through the seventh I/O end, the PLC controller outputs an eighth signal to the transfer robot through the eighth I/O end; and the eighth signal is an action signal for triggering the transfer robot to extend into the full-automatic edge trimmer to vacuum adsorb the pulp molding products and the transfer robot to retract outside the full-automatic edge trimmer and turn to the stacking platform.
Through the technical scheme, the adsorption mould of the full-automatic edge trimmer is beneficial to lifting and resetting after finishing edge trimming action, then the transfer robot stretches into the full-automatic edge trimmer to adsorb pulp molded products in vacuum, and the adsorption mould shrinks to the outside of the full-automatic edge trimmer and turns to the stacking platform to stack the pulp molded products on the stacking platform for centralized collection.
In order to achieve another object of the present invention, the present invention also provides a method for using the robot transfer automatic trim stacking system for pulp molded products, the method comprising the steps of:
step S1), the PLC receives a signal of finishing the production of the pulp molding product from the pulp molding automatic production equipment;
step S2), the PLC controller outputs action signals to the transfer robot, and the transfer robot turns and extends into the pulp molding automatic production equipment so as to enable the transfer robot to absorb pulp molding products in vacuum;
step S3), the PLC receives a signal for resetting the adsorption mould from the full-automatic edge trimmer;
step S4), the PLC controller outputs action signals to the transfer robot, and the transfer robot turns and extends into the full-automatic edge trimmer to transfer the pulp molding products to the full-automatic edge trimmer;
step S5), the PLC receives an adsorption die adsorption completion signal from the full-automatic edge trimmer;
step S6), the PLC controller outputs an action signal to the transfer robot, and the transfer robot contracts to the outside of the full-automatic edge trimmer;
step S7), the PLC receives a signal from the transfer robot for shrinkage reset;
step S8), the PLC controller outputs an action signal to the full-automatic edge trimmer, and an adsorption mould of the full-automatic edge trimmer descends to finish edge cutting action and ascends;
step S9), the PLC receives a signal of rising and resetting an adsorption mould from the full-automatic edge trimmer after the edge trimming action is finished;
step S10), the PLC controller outputs action signals to the transfer robot, the transfer robot extends into the full-automatic edge trimmer to vacuum adsorb the pulp molded products, and the transfer robot contracts outside the full-automatic edge trimmer and turns to the stacking platform to stack the pulp molded products after edge trimming on the stacking platform for centralized collection.
The invention has the following beneficial effects:
the automatic trimming and stacking device comprises automatic pulp molding production equipment, a transfer robot, a full-automatic edge trimmer, a stacking platform and a PLC (programmable logic controller), wherein the transfer robot is used for taking out pulp molding products without trimming edges from the automatic pulp molding production equipment and automatically transferring the pulp molding products into the full-automatic edge trimmer for automatic trimming, then the pulp molding products after trimming are taken out and stacked on the stacking platform for centralized collection, and the PLC is used for coordinately controlling the automatic pulp molding production equipment, the transfer robot and the full-automatic edge trimmer to automatically finish a whole set of actions so as to achieve the purpose of automatic trimming and stacking after pulp molding products are formed, so that the labor intensity can be reduced, and the production efficiency can be improved.
Drawings
Fig. 1 is a schematic diagram of the mechanical structure of the robot transfer automatic trimming stacking system for pulp molded products of the present invention.
Fig. 2 is an electrical configuration diagram of a robot transfer automatic trimming stacking system for pulp molded products according to the present invention.
Fig. 3 is a flow chart of a method of the present invention for a robotic transfer automated trim stacking system for pulp molded products.
Detailed Description
To further understand the structure, characteristics and other objects of the present invention, the following detailed description is given with reference to the accompanying preferred embodiments, which are only used to illustrate the technical solutions of the present invention and are not to limit the present invention.
As shown in fig. 1 and 2, fig. 1 is a mechanical structure schematic diagram of a robot transfer automatic trimming stacking system for pulp molded products of the present invention, and fig. 2 is an electrical structure schematic diagram of the robot transfer automatic trimming stacking system for pulp molded products of the present invention; the utility model provides a be used for paper pulp molding product robot to shift automatic side cut system of piling up, including paper pulp molding automatic production equipment 1, shift robot 2, full-automatic edge trimmer 3, pile up platform 4 and PLC controller 5, full-automatic edge trimmer 3 sets up in the dead ahead of shifting robot 2, paper pulp molding automatic production equipment 1 sets up in the left side of shifting robot 2, pile up platform 4 and set up the right side (being full-automatic edge trimmer 3's side) at shifting robot 2, paper pulp molding automatic production equipment 1, shift robot 2 and full-automatic edge trimmer 3 are connected with PLC controller 5 electricity respectively and signal connection.
Wherein, the transfer robot 2 comprises a steering base 21, a telescopic arm 22, a lifting arm 23 and an adsorption turning plate 24, the steering base 21 is fixedly connected on the ground, the telescopic arm 22 is connected on the steering base 21 by a shaft, so that the telescopic arm 22 is rotated among the pulp molding automatic production apparatus 1, the full-automatic edge trimmer 3 and the stacking platform 4, the lifting arm 23 is pivotally connected to the end of the telescopic arm 22, so that the lifting arm 23 can be swung up or down by using the end portion of the telescopic arm 22 as a shaft, the adsorption turnover table 24 is connected with the end portion of the lifting arm 23 by a shaft, so that the adsorption turnover table 24 is turned over with the end of the lifting arm 23 as an axis, and the adsorption turnover table 24 is reset when the telescopic arm 22 is contracted, when the telescopic arm 22 extends out, the pulp molding automatic production equipment 1 or the full-automatic edge trimmer 3 is entered, the adsorption turnover disc 23 rises when swinging on the lifting arm 23, when the lifting arm 23 swings down, the suction turning plate 23 turns over when moving to the stacking platform 4. The paper pulp molding automatic production equipment takes out paper pulp molding products without trimming edges through the transfer robot and automatically transfers the paper pulp molding products to the full-automatic edge trimmer for automatic trimming, then the paper pulp molding products after trimming are taken out and stacked on the stacking platform for centralized collection, and the PLC controller is coordinated to control the paper pulp molding automatic production equipment, the transfer robot and the full-automatic edge trimmer to automatically finish a whole set of actions so as to achieve the purpose of automatic trimming and stacking after the paper pulp molding products are formed, so that the labor intensity can be reduced, and the production efficiency can be improved.
A first I/O terminal of the PLC controller 5 is connected with the pulp molding automatic production equipment 1, so that the PLC controller 5 receives a first signal from the pulp molding automatic production equipment 1 through the first I/O terminal; the first signal is a signal that the pulp molding automatic production equipment 1 finishes producing pulp molding products; a second I/O terminal of the PLC controller 5 is connected to the transfer robot 2, so that when the PLC controller 5 receives the first signal through the first I/O terminal, the PLC controller 5 outputs a second signal to the transfer robot 2 through the second I/O terminal; the second signal is an action signal for triggering the transfer robot 2 to turn and extend into the pulp molding automatic production equipment 1 so as to vacuum adsorb pulp molding products.
A third I/O end of the PLC controller 5 is connected with the full-automatic edge trimmer 3, so that the PLC controller 5 receives a third signal from the full-automatic edge trimmer 3 through the third I/O end; the third signal is a signal for resetting the adsorption mould of the full-automatic edge trimmer 3; a fourth I/O terminal of the PLC controller 5 is connected to the transfer robot 2, so that when the PLC controller 5 receives the third signal through the third I/O terminal, the PLC controller 5 outputs a fourth signal to the transfer robot 2 through the fourth I/O terminal; the fourth signal is an action signal for triggering the transfer robot 2 to turn and extend into the full-automatic edge trimmer 3 so as to transfer and adsorb the pulp molding product to the full-automatic edge trimmer 3, and the transfer robot 2 retracts outside the full-automatic edge trimmer 3 to wait for the edge trimming to be finished;
a fifth I/O terminal of the PLC controller 5 is connected to the transfer robot 2 so that the PLC controller 5 receives a fifth signal from the transfer robot 2 through the fifth I/O terminal; the fifth signal is a signal for contraction and reset of the transfer robot 2; a sixth I/O end of the PLC controller 5 is connected with the full-automatic edge trimmer 3, so that the PLC controller 5 outputs a sixth signal to the full-automatic edge trimmer 3 through the sixth I/O end; the sixth signal is an action signal for triggering the adsorption mould of the full-automatic edge trimmer 3 to descend, finish the edge trimming action and ascend.
A seventh I/O terminal of the PLC controller 5 is connected to the full-automatic edge trimmer 3, so that the PLC controller 5 receives a seventh signal from the full-automatic edge trimmer 3 through the seventh I/O terminal; the seventh signal is a signal for rising and resetting the adsorption mould of the full-automatic edge trimmer 3 after the edge trimming action is finished; an eighth I/O terminal of the PLC controller 5 is connected to the transfer robot 2, so that when the PLC controller 5 receives the seventh signal through the seventh I/O terminal, the PLC controller 5 outputs an eighth signal to the transfer robot 2 through the eighth I/O terminal; the eighth signal is an action signal for triggering the transfer robot 2 to extend into the full-automatic edge trimmer 3 to vacuum adsorb the pulp molded product, and the transfer robot 2 contracts to the outside of the full-automatic edge trimmer 3 and turns to the stacking platform 4. The transfer robot 2 performs an inverting action and then stacks the pulp molded product on the stacking platform 4.
The PLC controller 5 uses eight I/O terminals, and more than eight I/O terminals available in the prior art can realize the coordination control of the pulp molding automatic production equipment, the transfer robot and the full-automatic edge trimmer.
FIG. 3 is a flow chart of the method of the present invention for a robotic transfer automated trim stacking system for pulp molded products, as shown in FIG. 3; a method for utilizing the robotic transfer automated trim stacking system for pulp molded products, the method comprising the steps of:
step S1), the PLC controller 5 receives a signal from the pulp molding automatic production apparatus 1 that the production of the pulp molded product is completed.
Step S2), the PLC 5 outputs action signals to the transfer robot 2, and the transfer robot 2 turns and extends into the pulp molding automatic production equipment 1, so that the transfer robot 2 can absorb pulp molding products in vacuum.
Step S3), the PLC controller 5 receives a signal for resetting the adsorption mold from the full-automatic edge trimmer 3.
Step S4), the PLC controller 5 outputs an action signal to the transfer robot 2, and the transfer robot 2 turns and extends into the full-automatic edge trimmer 3 to transfer the pulp molded product to the full-automatic edge trimmer 3.
Step S5), the PLC controller 5 receives the suction die suction completion signal from the full-automatic edge trimmer 3.
Step S6), the PLC controller 5 outputs an operation signal to the transfer robot 2, and the transfer robot 2 retracts outside the full-automatic edge trimmer 3.
Step S7), the PLC controller 5 receives a signal from the transfer robot 2 to retract reset.
Step S8), the PLC controller 5 outputs an action signal to the full-automatic edge trimmer 3, and the adsorption mold of the full-automatic edge trimmer 3 descends to complete the edge trimming action and ascends.
Step S9), the PLC controller 5 receives a signal from the full-automatic edge trimmer 3 that the adsorption die is lifted and reset after finishing the edge trimming operation.
Step S10), the PLC 5 outputs action signals to the transfer robot 2, the transfer robot 2 extends into the full-automatic edge trimmer 3 to vacuum adsorb the pulp molded products, and the transfer robot 2 contracts to the outside of the full-automatic edge trimmer 3 and turns to the stacking platform 4 to stack the pulp molded products after edge cutting on the stacking platform 4 for centralized collection.
It should be noted that the above summary and the detailed description are intended to demonstrate the practical application of the technical solutions provided by the present invention, and should not be construed as limiting the scope of the present invention. Various modifications, equivalent substitutions, or improvements may be made by those skilled in the art within the spirit and principles of the invention. The scope of the invention is to be determined by the appended claims.
Claims (6)
1. The robot transfer automatic trimming and stacking system for the pulp molding products is characterized by comprising pulp molding automatic production equipment (1), a transfer robot (2), a full-automatic trimming machine (3), a stacking platform (4) and a PLC (programmable logic controller) (5), wherein the full-automatic trimming machine (3) is arranged right in front of the transfer robot (2), the pulp molding automatic production equipment (1) is arranged on the left side of the transfer robot (2), the stacking platform (4) is arranged on the right side of the transfer robot (2), and the pulp molding automatic production equipment (1), the transfer robot (2) and the full-automatic trimming machine (3) are respectively electrically connected with the PLC (5) and are in signal connection; wherein the content of the first and second substances,
the transfer robot (2) comprises a steering base (21), a telescopic arm (22), a lifting arm (23) and an adsorption turning disc (24), the steering base (21) is fixedly connected to the ground, the telescopic arm (22) is connected to the steering base (21) in a shaft mode so that the telescopic arm (22) can rotate between the pulp molding automatic production equipment (1), the full-automatic edge trimmer (3) and the stacking platform (4), the lifting arm (23) is connected to the end portion of the telescopic arm (22) in a shaft mode so that the lifting arm (23) can swing up or down with the end portion of the telescopic arm (22) as the shaft, the adsorption turning disc (24) is connected to the end portion of the lifting arm (23) in a shaft mode so that the adsorption turning disc (24) can turn over with the end portion of the lifting arm (23) as the shaft, the adsorption turning disc (24) resets when the telescopic arm (22) contracts, and enters the pulp molding automatic production equipment (1) or the full-automatic edge trimmer (3) when the telescopic arm (22) extends out, the adsorption turnover table (23) ascends when the lifting arm (23) swings upwards, descends when the lifting arm (23) swings downwards, and overturns when the adsorption turnover table (23) moves to the stacking platform (4).
2. The robot transfer automatic trim stacking system for pulp molded products according to claim 1, wherein a first I/O terminal of the PLC controller (5) is connected to the pulp molding automatic production apparatus (1) so that the PLC controller (5) receives a first signal from the pulp molding automatic production apparatus (1) through the first I/O terminal; the first signal is a signal that the pulp molding automatic production equipment (1) finishes producing pulp molding products;
a second I/O end of the PLC (5) is connected with the transfer robot (2), so that when the PLC (5) receives the first signal through the first I/O end, the PLC (5) outputs a second signal to the transfer robot (2) through the second I/O end; the second signal is an action signal for triggering the transfer robot (2) to turn and extend into the pulp molding automatic production equipment (1) so as to vacuum adsorb the pulp molding product.
3. The robotic transfer automated trim stacking system for pulp molded products according to claim 2, characterized in that a third I/O terminal of the PLC controller (5) is connected to the fully automatic edge trimmer (3) such that the PLC controller (5) receives a third signal from the fully automatic edge trimmer (3) through the third I/O terminal; the third signal is a signal for resetting an adsorption mould of the full-automatic edge trimmer (3);
a fourth I/O end of the PLC (5) is connected with the transfer robot (2), so that when the PLC (5) receives the third signal through the third I/O end, the PLC (5) outputs a fourth signal to the transfer robot (2) through the fourth I/O end; the fourth signal is an action signal for triggering the transfer robot (2) to turn and extend into the full-automatic edge trimmer (3) so as to transfer and adsorb the pulp molding product to the full-automatic edge trimmer (3), and the transfer robot (2) retracts outside the full-automatic edge trimmer (3) to wait for edge trimming to be completed.
4. The robotic transfer automated trim stacking system for pulp molded products according to claim 3,
a fifth I/O terminal of the PLC controller (5) is connected with the transfer robot (2) so that the PLC controller (5) receives a fifth signal from the transfer robot (2) through the fifth I/O terminal; the fifth signal is a signal for contraction resetting of the transfer robot (2);
a sixth I/O end of the PLC (5) is connected with the full-automatic edge trimmer (3) so that the PLC (5) outputs a sixth signal to the full-automatic edge trimmer (3) through the sixth I/O end; and the sixth signal is an action signal for triggering the adsorption mould of the full-automatic edge trimmer (3) to descend, finish the edge trimming action and ascend.
5. The robotic transfer automated trim stacking system for pulp molded products of claim 4,
a seventh I/O end of the PLC (5) is connected with the full-automatic edge trimmer (3) so that the PLC (5) receives a seventh signal from the full-automatic edge trimmer (3) through the seventh I/O end; the seventh signal is a signal for lifting and resetting the adsorption mould of the full-automatic edge trimmer (3) after the edge trimming action is finished;
an eighth I/O end of the PLC (5) is connected with the transfer robot (2), so that when the PLC (5) receives the seventh signal through the seventh I/O end, the PLC (5) outputs an eighth signal to the transfer robot (2) through the eighth I/O end; and the eighth signal is an action signal for triggering the transfer robot (2) to extend into the full-automatic edge trimmer (3) to vacuum adsorb the pulp molding product, and the transfer robot (2) contracts to the outside of the full-automatic edge trimmer (3) and turns to the stacking platform (4).
6. A method for a pulp moulded product robot transfer automated trim stacking system according to any of claims 1-5, characterized in that the method comprises the steps of:
step S1), the PLC (5) receives a signal of finishing the production of the pulp molding product from the pulp molding automatic production equipment (1);
step S2), the PLC (5) outputs an action signal to the transfer robot (2), and the transfer robot (2) turns and extends into the pulp molding automatic production equipment (1) so that the transfer robot (2) can adsorb pulp molding products in vacuum;
step S3), the PLC (5) receives a signal for resetting the adsorption mould from the full-automatic edge trimmer (3);
step S4), the PLC (5) outputs action signals to the transfer robot (2), and the transfer robot (2) turns and extends into the full-automatic edge trimmer (3) to transfer the pulp molding products to the full-automatic edge trimmer (3);
step S5), the PLC (5) receives an adsorption die adsorption completion signal from the full-automatic edge trimmer (3);
step S6), the PLC (5) outputs an action signal to the transfer robot (2), and the transfer robot (2) retracts to the outside of the full-automatic edge trimmer (3);
step S7), the PLC controller (5) receives a signal from the transfer robot (2) for shrinkage reset;
step S8), the PLC (5) outputs an action signal to the full-automatic edge trimmer (3), and an adsorption mould of the full-automatic edge trimmer (3) descends to finish edge trimming action and ascends;
step S9), the PLC (5) receives a signal of rising and resetting an adsorption mould from the full-automatic edge trimmer (3) after the edge trimming action is finished;
and step S10), the PLC (5) outputs action signals to the transfer robot (2), the transfer robot (2) extends into the full-automatic edge trimmer (3) to absorb pulp molded products in vacuum, and the transfer robot (2) contracts to the outside of the full-automatic edge trimmer (3) and turns to the stacking platform (4) so as to stack the pulp molded products after edge cutting on the stacking platform (4) for centralized collection.
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| CN202011044111.4A CN112123423A (en) | 2020-09-28 | 2020-09-28 | Automatic trimming and stacking system and method for robot transfer of pulp molded products |
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| CN202011044111.4A CN112123423A (en) | 2020-09-28 | 2020-09-28 | Automatic trimming and stacking system and method for robot transfer of pulp molded products |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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