CN113699833B - Gantry manipulator belt mesh transfer type paper mold forming method - Google Patents
Gantry manipulator belt mesh transfer type paper mold forming method Download PDFInfo
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- CN113699833B CN113699833B CN202110823275.5A CN202110823275A CN113699833B CN 113699833 B CN113699833 B CN 113699833B CN 202110823275 A CN202110823275 A CN 202110823275A CN 113699833 B CN113699833 B CN 113699833B
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- D—TEXTILES; PAPER
- D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
- D21J—FIBREBOARD; MANUFACTURE OF ARTICLES FROM CELLULOSIC FIBROUS SUSPENSIONS OR FROM PAPIER-MACHE
- D21J7/00—Manufacture of hollow articles from fibre suspensions or papier-mâché by deposition of fibres in or on a wire-net mould
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Abstract
The application discloses a gantry manipulator belt mesh transfer type paper mold forming method, which comprises the following steps: (1) The triaxial transfer mechanism drives the net frame feeding and discharging mechanism to extend into the wet blank forming machine, and the net frame supporting mechanism supports the empty net frame; (2) The triaxial transfer mechanism drives the net frame feeding and discharging mechanism to translate in the wet blank forming machine, and the net frame with the wet blank on the lower mould of the fishing paddle is sucked away by the second vacuum suction head; (3) The three-axis transfer mechanism drives the net frame feeding and discharging mechanism to translate in the dry blank forming machine, so that the second vacuum suction head rotates the net frame with the wet blank to the dry blank lower die, and the first vacuum suction head sucks the net frame with the dry blank at the dry blank upper die; the three-axis transfer mechanism drives the net frame feeding and discharging mechanism to translate towards the material taking robot, and the material taking robot takes away the dry blanks in the net frame sucked by the first vacuum suction head to finish one period of net frame transfer; to ensure reliable and smooth transfer of the screen frame in a narrow space with reduced waste of air source.
Description
Technical Field
The application relates to the field of paper mould (such as, but not limited to, disposable tableware and disposable work bags) production, in particular to a gantry manipulator belt mesh transfer type paper mould forming method.
Background
With the continuous development of economy and the continuous progress of scientific technology, extremely rich substance consumer products are provided for the life of people, and paper molds made of ecological plant fiber pulp are one of a plurality of substance consumer products.
As is well known, paper molds can be classified into tableware (such as, but not limited to, disposable snack boxes), drinking tools (such as, but not limited to, disposable cups), and kits (such as, but not limited to, disposable packaging containers), which are produced without separating from the wet blank forming step, the step of drying the wet blank to form a dry blank, the step of trimming the dry blank to form a product, and the step responsible for wet blank and dry blank transfer.
In the transferring process of the wet blank and the dry blank, the wet blank is taken away from the wet blank forming machine and put into the dry blank forming machine, and meanwhile, the dry blank at the dry blank forming machine is taken away and transferred to the subsequent (for example, a stacking receiving table or an edge cutter) by the vacuum adsorption of the wet blank by the wet blank profiling jig matched with the wet blank in shape and the vacuum adsorption of the dry blank by the dry blank profiling jig matched with the dry blank in shape, which are arranged at the tail end of the transferring manipulator. Because the transfer of wet blank needs to be by means of the vacuum adsorption of wet blank profiling jig to wet blank and the transfer of dry blank needs to be by means of the vacuum adsorption of dry blank profiling jig to dry blank, no matter wet blank or dry blank, gaps exist more or less, and thus the waste of air sources at the wet blank profiling jig and the dry blank profiling jig can be caused.
Therefore, it is necessary to provide a molding method of a gantry manipulator belt net transfer type paper mold to ensure reliable and smooth transfer of a net frame in a narrow space with reduced waste of air source, so as to overcome the above-mentioned drawbacks.
Disclosure of Invention
The application aims to provide a gantry manipulator belt mesh transfer type paper mold forming method which can ensure that a mesh frame is reliably and smoothly transferred in a narrow space under the condition of reducing air source waste.
In order to achieve the above purpose, the technical scheme of the application is as follows: the method for forming the gantry manipulator belt mesh transfer type paper mold comprises the following steps:
(1) The three-axis transfer mechanism in the gantry manipulator drives the net frame feeding and discharging mechanism to make adaptive XYZ-axis translation on the gantry in the gantry manipulator, so that the net frame feeding and discharging mechanism extends into the wet blank forming machine after die opening along the Y-axis direction, and the net frame supporting mechanism in the supporting position in the wet blank forming machine supports an empty net frame sucked by the first vacuum suction head in the net frame feeding and discharging mechanism from below;
(2) The triaxial transfer mechanism drives the net frame feeding and discharging mechanism to make descending and lifting translation in the wet blank forming machine after the die opening along the Z-axis direction, so that a second vacuum suction head in the net frame feeding and discharging mechanism sucks the net frame with the wet blank on the lower die of the fishing paddle, and simultaneously, a first vacuum suction head in the net frame feeding and discharging mechanism is also moved away from an empty net frame supported by the net frame supporting mechanism;
(3) The three-axis transfer mechanism drives the net frame feeding and discharging mechanism to perform adaptive XYZ-axis translation on the portal frame, so that the net frame feeding and discharging mechanism extends into the dried blank forming machine after die opening along the Y-axis direction and performs lifting translation in the dried blank forming machine along the Z-axis direction, the second vacuum suction head transfers the sucked net frame with wet blanks to a dried blank lower die in the dried blank forming machine after die opening, and the first vacuum suction head sucks the net frame with the dried blanks left at the dried blank upper die after die opening; and
(4) The three-axis transfer mechanism drives the net frame feeding and discharging mechanism to translate towards the material taking robot, and the material taking robot takes away the dry blanks in the net frame with the dry blanks sucked by the first vacuum suction head of the net frame feeding and discharging mechanism so as to finish one period of net frame transfer.
Preferably, in the three-axis transfer mechanism, the Y-axis transfer modules arranged beside the left side and the right side opposite to the feeding mechanism of the net frame synchronously drive the feeding mechanism of the net frame to do telescopic translation along the Y-axis direction.
Preferably, the Y-axis transferring modules on the left side and the right side synchronously drive the screen frame feeding and discharging mechanism to do telescopic translation along the Y-axis direction by means of a synchronous shaft.
Preferably, the method for forming the gantry manipulator belt net transfer type paper mold further comprises the following steps:
(5) And the material taking robot transfers the taken dry blanks to a stacking material receiving table for stacking and stacking.
Preferably, the method for forming the gantry manipulator belt net transfer type paper mold further comprises the following steps:
(5) Transferring the dried blank to an edge cutter by a material taking robot, and cutting off the residual material of the dried blank by the edge cutter; and
(6) And the material taking robot takes away the dried blanks from which the excess materials are cut off on the edge cutter and transfers the dried blanks to the stacking material receiving table for stacking.
Preferably, in the step (6), after the material taking robot pushes the remainder left on the trimming lower die in the trimming machine to the recovery box, the material taking robot ascends again to take away the dry blank left on the trimming upper die in the trimming machine.
Preferably, the upper trimming die is used for keeping the dry blank on the upper trimming die through vacuum adsorption in the die opening process of the edge trimmer.
Preferably, before the step (1), the pulp dragging lower die is driven by a lifting mechanism in the wet blank forming machine to be matched with a wet blank upper die in the wet blank forming machine in a die clamping manner, so that the wet blank in the wet blank-carrying net frame on the pulp dragging lower die is jointly formed by the pulp dragging lower die and the wet blank upper die and the redundant pulp is squeezed out, and then the lifting mechanism drives the pulp dragging lower die and the wet blank-carrying net frame on the pulp dragging lower die to descend downwards to a position for a second vacuum suction head to suck the wet blank-carrying net frame.
Preferably, in the step (2), when the second vacuum suction head sucks the net frame with the wet blank and the first vacuum suction head moves away from the empty net frame supported by the net frame supporting mechanism, the three-axis transfer mechanism drives the net frame feeding and discharging mechanism to translate towards the dry blank forming machine, and in the process of translating towards the dry blank forming machine, the lifting mechanism in the wet blank forming machine drives the pulp dragging lower die to be lifted to a position in contact with the empty net frame supported by the net frame supporting mechanism, and the net frame supporting mechanism places the supported empty net frame on the pulp dragging lower die; then, the lifting mechanism drives the pulp dragging lower die to move downwards together with the empty net frame on the pulp dragging lower die to sink into the pulp pool of the wet blank forming machine.
Preferably, in the step (3), the upper dry blank mold makes the net frame with the dry blank remain on the upper dry blank mold through vacuum adsorption in the mold opening process of the dry blank molding machine, the three-axis transfer mechanism drives the net frame feeding and discharging mechanism to extend into the opened dry blank molding machine and make descending-up translation in the dry blank molding machine, so that the second vacuum suction head transfers the sucked net frame with the wet blank to the lower dry blank mold in the opened dry blank molding machine, and the first vacuum suction head sucks the net frame with the dry blank left on the upper dry blank mold after mold opening.
Compared with the prior art, the method for forming the gantry manipulator with the net transfer paper mold has the advantages that the net frame feeding and discharging transfer is carried out in a net frame sucking mode by means of the cooperation of the steps (1) to (4), the vacuum adsorption of a profiling jig on wet blanks or dry blanks is not needed, and the waste of air sources is reduced; and ensure smooth and reliable transfer of the material on and off the net frame under the condition of reducing air source waste. Meanwhile, the three-axis transfer mechanism drives the net frame feeding and discharging mechanism to move in the XYZ three axes, so that the net frame feeding and discharging mechanism can stretch and translate in the Y axis direction, and the net frame feeding and discharging mechanism is suitable for transferring the net frame in a narrow space.
Drawings
Fig. 1 is a flow chart of a method for forming a gantry manipulator belt-net transfer type paper mold according to the present application.
Fig. 2 is a schematic perspective view of a paper mold forming line for implementing the method for forming a mesh-transfer paper mold of a gantry robot according to the present application.
Fig. 3 is a schematic perspective view showing a structure in which the frame loading and unloading mechanism and the Y-axis transfer module in the paper mold forming line shown in fig. 2 are assembled at the output end of the Z-axis transfer module.
Fig. 4 is a schematic view of the screen frame shown in fig. 3 after being removed.
Fig. 5 is a schematic view showing a wet blank forming machine in the paper mold line shown in fig. 2 when the frame support mechanism is switched to the support position and supports an empty frame.
Fig. 6 is a schematic view showing a wet blank forming machine in the paper mold line shown in fig. 2 when the frame support mechanism is switched to the retracted position.
Detailed Description
Embodiments of the present application will now be described with reference to the drawings, wherein like reference numerals represent like elements throughout.
Referring to fig. 2 to 5, a paper mold forming line 100 for implementing the gantry manipulator belt mesh transfer type paper mold forming method of the present application includes a gantry manipulator 10, a frame loading and unloading mechanism 20, a wet blank forming machine 30, a dry blank forming machine 40, and a material taking robot 50. The gantry manipulator 10 comprises a gantry 11 extending along the X-axis direction and a three-axis transfer mechanism 12 assembled on the gantry 11, so as to increase the connection strength of the gantry 11 and the ground, thereby providing reliable supporting function for the three-axis transfer mechanism 12; the wet blank forming machine 30 and the dry blank forming machine 40 are arranged along the X-axis direction and are positioned beside the same side of the portal frame 11 along the Y-axis direction, preferably, the dry blank forming machines 40 are respectively arranged beside the left side and the right side of the wet blank forming machine 30, and all the dry blank forming machines 40 are arranged in a line with the wet blank forming machine 30 along the X-axis direction, so that the processing efficiency of the dry blank is improved, and the dry blank forming and the wet blank forming are more coordinated and matched in speed, but the method is not limited to the method; the net frame loading and unloading mechanism 20 is assembled on the three-axis transfer mechanism 12, the three-axis transfer mechanism 12 drives the net frame loading and unloading mechanism 20 to move in XYZ three axes, and the net frame loading and unloading mechanism 20 is driven by the three-axis transfer mechanism 12 to take charge of loading and unloading transfer of the net frame 200 of the wet blank forming machine 30 and the dry blank forming machine 40; the material taking robot 50 is located beside the portal frame 11 along the X-axis direction, and the material taking robot 50 is responsible for taking out the dry blanks in the net frame 200 taken out from the dry blank forming machine 40 by the net frame feeding and discharging mechanism 20.
In fig. 2 to 5, the frame loading and unloading mechanism 20 includes a mechanism frame 21 mounted on the triaxial transfer mechanism 12, and a first vacuum suction head 22 and a second vacuum suction head 23 for vacuum suction of the frame 200, which are opposite to each other on an outer frame 211 of the mechanism frame 21; the first vacuum suction heads 22 are plural and arranged along the outer frame 211, and the second vacuum suction heads 23 are plural and arranged along the outer frame 211, so that the first vacuum suction heads 22 and the second vacuum suction heads 23 are respectively arranged at each position of the outer frame 211, preferably, the first vacuum suction heads 22 are arranged in a shape of a Chinese character 'ri' on the outer frame 211, and the second vacuum suction heads 22 are arranged in a shape of a Chinese character 'ri' on the outer frame 211, and the purpose of the design can further increase the reliability of suction of each pair of the net frames 200 by the first vacuum suction heads 22 and the second vacuum suction heads 23, but the application is not limited thereto. The wet blank forming machine 360 comprises a wet blank frame 31, a wet blank upper die 32 assembled at the wet blank frame 31, a net frame supporting mechanism 33 assembled at the wet blank frame 31 and positioned beside the wet blank upper die 32, a slurry tank 34 assembled at the wet blank frame 31 and positioned right below the wet blank upper die 32, a slurry taking-out lower die 35 aligned between the wet blank upper die 32 and the slurry tank 34 along the up-down direction of the wet blank frame 31, and a lifting mechanism 36 assembled at the wet blank frame 31 and selectively driving the slurry taking-out lower die 35 to sink into the slurry tank 34 or driving the slurry taking-out lower die 35 to move away from the slurry tank 34 and then to be matched with the wet blank upper die 32; the frame support mechanism 33 is switchable between a support position as shown in fig. 5 and a retracted position as shown in fig. 6. The three-axis transfer mechanism 12 drives the first vacuum suction head 22 to place the empty net frame 200 absorbed by the first vacuum suction head 22 on the net frame supporting mechanism 33 at the supporting position (the state is shown in fig. 5), the three-axis transfer mechanism 12 also drives the second vacuum suction head 23 to suck the net frame 200 with wet blanks on the lower net frame mold 35 driven by the lifting mechanism 36, and the net frame supporting mechanism 33 places the empty net frame 200 supported by the net frame supporting mechanism 33 at the lower net frame mold 35 driven by the lifting mechanism 36 from above when being switched to the avoiding position, so that the lower net frame mold 35 is driven by the lifting mechanism 36 to sink into the slurry pool 34 together with the empty net frame 200, and the net frame 200 on the lower net frame mold 35 is formed to take out the wet blanks. More specifically, the following is:
as shown in fig. 2, the three-axis transfer mechanism 12 includes an X-axis transfer module 12a, a Y-axis transfer module 12b, and a Z-axis transfer module 12c. The X-axis transfer module 12a is assembled on the portal frame 11, and the portal frame 11 provides a supporting function and an assembling place for the X-axis transfer module 12 a; the Z-axis transfer module 12c is assembled at the output end 12a1 of the X-axis transfer module 12a, so that the X-axis transfer module 12a drives the Z-axis transfer module 12c to move along the X-axis direction, the Y-axis transfer module 12b is assembled at the output end 12c1 of the Z-axis transfer module 12c, so that the Z-axis transfer module 12c drives the Y-axis transfer module 12b to move along the Z-axis direction, the mechanism frame 21 is assembled at the output end of the Y-axis transfer module 12b, and the Y-axis transfer module 12b drives the frame feeding and discharging mechanism 20 to move along the Y-axis direction, so that the frame feeding and discharging mechanism 20 moves along the XYZ-axis direction under the cooperation of the X-axis transfer module 12a, the Y-axis transfer module 12b and the Z-axis transfer module 12c. Specifically, in fig. 3 and 4, the Y-axis transfer modules 12b are disposed beside the left and right sides of the mechanism frame 21, respectively, in the X-axis direction, so that the telescopic movement of the frame loading and unloading mechanism 20 along the Y-axis is more reliable; the Y-axis transferring module 12b includes a rotating motor 121, a belt 122, and a first belt wheel 123 and a second belt wheel 124 disposed in front of and behind the belt 122 in the Y-axis direction, the belt 122 is sleeved on the first belt wheel 123 and the second belt wheel 124, one side of the belt 122 is fixedly connected with the mechanism frame 21, and the first belt wheel 123 on the left side and the first belt wheel 123 on the right side are fixedly connected together through a synchronizing shaft 125, the rotating motor 121 on the left side drives the belt 122 on the left side to perform a rotary motion around the first belt wheel 123 and the second belt wheel 124 on the same side, and the rotating motor 121 on the right side drives the belt 122 on the right side to perform a rotary motion around the first belt wheel 123 and the second belt wheel 124 on the same side, so that the belt 122 on the left side and the right side of the rotary motion drives the net frame feeding and discharging mechanism 20 from the left side and the right side to perform a smooth and reliable telescopic motion. More specifically, the output shafts of the rotating motors 121 on the left and right sides are respectively fixedly sleeved with a driving synchronizing wheel 126, the driving synchronizing wheel 126 on the same side (i.e. the left side or the right side) is located under the first belt wheel 123, the belt 122 on the same side is sleeved on the driving synchronizing wheel 126, meanwhile, the output end 12c1 of the Z-axis transferring module 12c is provided with a tensioning wheel 127, and the tensioning wheel 127 clamps the belt 122 between the tensioning wheel 127 and the first belt wheel 123 from the outside of the belt 122, so that the reliability of the rotation movement of the belt 122 is improved, and the rotating motors 121 are arranged in an upward staggered manner relative to the first belt wheel 123, but not limited thereto. When the Y-axis transfer module 12b includes the rotating motor 121, the belt 122, and the first belt wheel 123 and the second belt wheel 124 disposed in tandem along the Y-axis direction, the belt 122 forms the output end of the Y-axis transfer module 12 b; in addition, the rotating motor 121, the first pulley 123 and the second pulley 124 are mounted at the output end 12c1 of the Z-axis transfer module 12 c; as shown in fig. 3 and 4, the rotating motor 121 and the first pulley 123 are located at the front and rear and the second pulley 124 is located at the rear, so that the frame feeding and discharging mechanism 20 extends backward and retracts forward, and the telescopic movement of the frame feeding and discharging mechanism 20 can be prevented from being affected by the synchronizing shaft 125 located at one side of the second pulley 124. In addition, each of the X-axis transfer module 12a and the Z-axis transfer module 12c may use a combination of a motor, a screw, a nut, and a movable base for forming an output end, or a combination of a motor, a belt, and a movable base for forming an output end, or a combination of a motor, a gear, a linear gear, and a movable base for forming an output end, which are well known in the art, and are not modifications of the present application, and therefore will not be described herein.
As shown in fig. 4, each first vacuum nozzle 22 and a corresponding one of the second vacuum nozzles 23 are aligned with each other, so that the size of the position where the frame 200 is vacuum sucked is made smaller. It should be noted that, since the filter forming unit 210 in the frame 200 is used for depositing the ecological plant fibers and finally forming the deposited ecological plant fibers into wet blanks in the filter forming unit 210, and the wet blanks in the filter forming unit 210 become dry blanks after being processed, the frame 200 is vacuum sucked by the first vacuum suction head 22 and the second vacuum suction head 23, and correspondingly, the sucked position of the frame 200 is preferably in a flat and airtight structure.
As shown in fig. 5 to 6, the lifting mechanism 36 includes a lifting frame 361 and a lifting motor 362 for driving the lifting frame 361 to lift 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 supporting function and assembly place for the lifting motor 362; the pulp dragging lower die 35 is assembled on the lifting frame 361, and the lifting frame 361 provides a supporting function and an assembling place for the pulp dragging lower die 35, so that the pulp dragging lower die 35 lifts along with the lifting frame 361; so, under the driving of the lifting motor 362 to the lifting frame 361, the lifting frame 361 drives the lower pulp dragging mold 35 to lift to any position, so that the lower pulp dragging mold 35 can sequentially lift up to the position where the second vacuum suction head 23 sucks the net frame 200 with wet blank and the position where the second vacuum suction head 23 contacts the empty net frame 200 supported by the net frame supporting mechanism 33, and the lower pulp dragging mold 35 can descend downwards to sink into the pulp pool 34 after receiving the empty net frame 200. Specifically, the lifting frame 361 includes a bottom plate 3611 located directly below the wet blank upper die 32, upper and lower bars 3612 located beside the wet blank upper die 32, and a lateral frame 3613 located above the wet blank upper die 32; the upper and lower rods 3612 are respectively arranged beside two opposite sides of the wet blank upper die 32, the upper and lower rods 3612 penetrate through the wet blank frame 31 along the up-down direction of the wet blank frame 31, and the bottom plate 3611 is fixedly connected with the upper and lower rods 3612; the transverse frame 3613 is positioned right above the lifting motor 362, and the transverse frame 3613 is fixedly connected with the upper rod 3612 so that the lifting frame 361 is in a shape of a Chinese character 'kou' and surrounds the lifting motor 362 and the wet blank upper die 32 from the periphery, thereby being more compact in arrangement; the output end of the lifting motor 362 is fixedly connected with an upper lead screw 363, a nut 364 is fixed on the transverse frame 3613, the nut 364 is slid on the upper lead screw 363, and the upper lead screw 363 is located right above the lifting motor 362. By means of the upper and lower rods 3612, the bottom plate 3611 and the transverse frames 3613, the arrangement between the lifting frames 361 and the wet blank upper die 32 and the pulp dragging lower die 35 is more compact and reasonable, the force application position of the lifting motor 362 to the lifting frames 361 is reasonable, and furthermore, by means of the cooperation of the upper and lower screw rods 363 and the screw nuts 364, the lifting motor 362 can accurately control the lifting frames 361 and the pulp dragging lower die 35 on the lifting frames 361 to do more accurate lifting motion. It can be understood that, according to actual needs, the lifting motor 3612 can drive the lifting frame 361 to lift by adopting the cooperation of the upper and lower screw rods 363 and the screw nut 364, and can 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 upper wet blank mold 32 and are arranged in a top-bottom pair with each other and a belt sleeved on the two belt wheels are arranged on the wet blank frame 21, and one side of the belt is fixedly connected with the lifting frame 361; for chain transmission, two chain wheels which are positioned beside the upper die 32 of the wet blank and are arranged in a top-to-bottom manner 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 gear transmission, an upper straight rack and a lower straight rack which are positioned beside the upper die 32 of the wet blank and a gear meshed with the upper straight rack and the lower straight rack for transmission are fixed on the upper rod 363 and the lower rod 363; the purpose that the lifting motor 362 drives the lifting frame 361 to lift to any position can be achieved in the above mode.
As shown in fig. 5 to 6, the frame support mechanisms 33 are respectively arranged beside two opposite sides of the upper wet blank mold 32, so that the reliability of the frame 200 support is improved; the screen frame supporting mechanism 33 comprises a rotary driver 331 and a supporting block 332 assembled at the output end of the rotary driver 331, the rotary driver 331 is switched to a supporting position by driving the supporting block 332 to rotate to be right below the wet blank upper die 32, and the rotary driver 331 is switched to an avoiding position by driving the supporting block 332 to rotate to be right below the wet blank upper die 32; so that the gap between the frame support mechanism 33 and the wet blank upper die 32 is made more compact by means of the rotary drive 331 and the support block 332. For example, the rotary driver 331 may be a rotary cylinder, a rotary cylinder or a rotary motor, but is not limited thereto. It should be noted that, according to actual needs, a deformation manner of the frame support mechanism 33 is: the net frame supporting mechanism comprises a telescopic driver which stretches along the horizontal direction and moves in a telescopic mode, the telescopic driver is switched to a supporting position by stretching to the position right below the wet blank upper die 32, and the telescopic driver is switched to an avoiding position by shrinking away from the position right below the wet blank upper die 32, so that the purpose that the net frame supporting mechanism supports or releases the net frame 200 is achieved; the telescopic driver may be a telescopic cylinder or a telescopic cylinder, but is not limited thereto.
As shown in fig. 2, the paper mold forming line 100 further includes an edge cutter 70 for cutting the dried blanks obtained by the material taking robot 50 and a stacking receiving table 60 for stacking the dried blanks cut by the edge cutter 70, the edge cutter 70 is located beside one side of the dried blank forming machine 40 away from the wet blank forming machine 30, the edge cutter 70 is aligned with the dried blank forming machine 40 along the X axis direction, the stacking receiving table 60 is located between the edge cutter 70 and the material taking robot 50 along the Y axis direction, and the material taking robot 50 is responsible for transferring the dried blanks cut by the edge cutter 70 to the stacking receiving table 60 so as to realize the purpose of stacking the dried blanks on-line type edge cutting and the dried blanks cut after edge cutting. It should be understood that, when the offline trimming is to be performed, the paper forming line 100 further includes a stacking receiving table 60 for stacking the dry blanks taken by the material taking robot 50, and the stacking receiving table 60 is located beside the front side of the material taking robot 50, which is not limited thereto.
Therefore, in summary and referring to fig. 1, the method for forming the transfer paper mold with the mesh of the gantry manipulator of the present application includes the steps of:
s001, the three-axis transfer mechanism 12 in the gantry manipulator 10 drives the net frame feeding and discharging mechanism 20 to translate along the XYZ axes adapted to the gantry 11 in the gantry manipulator 10, so that the net frame feeding and discharging mechanism 20 extends into the wet blank forming machine 30 after mold opening along the Y axis direction, and the net frame supporting mechanism 33 in a supporting position in the wet blank forming machine 30 supports the empty net frame 200 sucked by the first vacuum suction head 22 in the net frame feeding and discharging mechanism 20 from below; specifically, before step S001, the lower pulp-scooping die 35 is driven by the lifting mechanism 36 in the wet blank forming machine 30 to be matched with the upper wet blank die 32 in the wet blank forming machine 30 in a die-closing manner, so that the wet blank in the wet blank-carrying net frame 200 on the lower pulp-scooping die 35 is formed together with the lower pulp-scooping die 35 and the upper wet blank die 32 and the excess pulp is squeezed out, and then the lifting mechanism 36 drives the lower pulp-scooping die 35 to descend downwards along with the wet blank-carrying net frame 200 on the lower pulp-scooping die 35 to a position where the second vacuum suction head 23 sucks the wet blank-carrying net frame 200, that is, a position which can be referred to as a loading position of the wet blank-carrying net frame 200 on the lower pulp-scooping die 35, but is not limited thereto.
S002, the triaxial transfer mechanism 12 drives the net frame loading and unloading mechanism 20 to make descending and lifting translation in the wet blank forming machine 30 after die opening along the Z-axis direction, so that the second vacuum suction head 23 in the net frame loading and unloading mechanism 20 sucks the net frame 200 with the wet blank on the drag-out lower die 35, and simultaneously, the first vacuum suction head 22 in the net frame loading and unloading mechanism 20 is also moved away from the empty net frame 200 supported by the net frame supporting mechanism 33; specifically, in step S002, when the second vacuum suction head 23 sucks the net frame 200 with the wet blank and the first vacuum suction head 22 moves away from the empty net frame 200 supported by the net frame supporting mechanism 33, the triaxial transfer mechanism 12 drives the net frame loading and unloading mechanism 20 to translate towards the dry blank forming machine 40, and during the translation towards the dry blank forming machine 40, the lifting mechanism 36 in the wet blank forming machine 30 drives the pulp dragging lower die 35 to be lifted to a contact position with the empty net frame 200 supported by the net frame supporting mechanism 33, and the supported empty net frame 200 is placed on the pulp dragging lower die 35 by the net frame supporting mechanism 33; next, the lifting mechanism 36 drives the lower pulp dragging mold 35 and the empty net frame 200 on the lower pulp dragging mold 35 to move downwards to sink into the pulp tank 34 of the wet blank forming machine 30, so as to meet the requirement of redeposition of the empty net frame 200 on the lower pulp dragging mold 35 to form wet blanks, but the application is not limited thereto.
S003, the triaxial transfer mechanism 12 drives the screen frame feeding and discharging mechanism 20 to make adaptive XYZ axis translation on the portal frame 11, so that the screen frame feeding and discharging mechanism 20 extends into the opened dry blank forming machine 40 along the Y axis direction and makes lifting translation in the dry blank forming machine 40, the second vacuum suction head 23 transfers the sucked screen frame 200 with wet blanks to the 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 dry blanks left at the dry blank upper die 41 after the die opening; specifically, in step S003, the upper dry blank mold 41 leaves the dry blank-carrying net frame 200 on the upper dry blank mold 41 by vacuum adsorption during the mold opening process of the dry blank molding machine 40, the triaxial transfer mechanism 12 drives the net frame loading and unloading mechanism 20 to extend into the opened dry blank molding machine 40 and make a descending-lifting translation in the dry blank molding machine 40, so that the second vacuum suction head 23 transfers the sucked net frame 200 with wet blank to the lower dry blank mold 42 in the opened dry blank molding machine 40, and the first vacuum suction head 22 sucks the net frame 200 with dry blank left on the upper dry blank mold 41 after the mold opening, thereby improving the transfer efficiency of the net frame 200. And
s004, the triaxial transfer mechanism 12 drives the net frame feeding and discharging mechanism 20 to translate towards the material taking robot 50, and the material taking robot 50 takes away the dry blanks in the net frame 200 with the dry blanks sucked by the first vacuum suction head 22 of the net frame feeding and discharging mechanism 20, so as to complete one period of transferring the net frame 200.
In the triaxial transfer mechanism 12, the Y-axis transfer modules 12b disposed beside the opposite left and right sides of the frame loading and unloading mechanism 20 synchronously drive the frame loading and unloading mechanism 20 to make telescopic translation along the Y-axis direction, so as to improve the capability of the frame loading and unloading mechanism 20 to support the transferred frame 200, preferably, the Y-axis transfer modules 12b on the left and right sides synchronously drive the frame loading and unloading mechanism 20 to make telescopic translation along the Y-axis direction by means of the synchronizing shaft 125, so as to ensure the smoothness of the telescopic translation of the frame loading and unloading mechanism 20, and the specific working principle is that: the rotary motor 121 on the left drives the belt 122 on the same side to do rotary motion around the first belt pulley 123, the second belt pulley 124 and the driving synchronizing wheel 126 through the driving synchronizing wheel 126, meanwhile, the rotary motor 121 on the right drives the belt 122 on the same side to do rotary motion around the first belt pulley 123, the second belt pulley 124 and the driving synchronizing wheel 126 through the driving synchronizing wheel 126, and the first belt pulleys 123 on the left side and the right side are fixed together through the synchronizing shaft 125, so that the synchronism of telescopic translation of the net frame feeding and discharging mechanism 20 is ensured by the Y-axis transferring modules 12b on the left side and the right side through the synchronizing shaft 125. More specifically, the following is:
the method for forming the gantry manipulator with the net transfer paper mould further comprises the steps that the taking robot 50 transfers the taken dry blanks to the edge cutter 70, the edge cutter 70 cuts off the residual materials of the dry blanks, and the taking robot 50 takes the dry blanks cut off the residual materials on the edge cutter 70 and transfers the dry blanks to the stacking receiving table 60 for stacking and stacking so as to meet the requirement of online edge cutting of the dry blanks; specifically, in the step of taking away the dried blanks of the cut off residues on the edge cutter 70 by the material taking robot 50 and transferring the dried blanks to the stacking receiving table 60 for stacking, the material taking robot 50 pushes the residues left on the edge cutting lower die 72 in the edge cutter 70 to the recovery box 80, and then the material taking robot 50 ascends to take away the dried blanks left on the edge cutting upper die 71 in the edge cutter 70, so as to improve the working efficiency. It should be noted that, the manner of leaving the dry blank on the upper trimming die 71 is realized by vacuum adsorption of the upper trimming die 71, that is, the upper trimming die 71 leaves the dry blank on the upper trimming die 71 by vacuum adsorption during the die opening process of the edge cutter 70, and the remainder left on the lower trimming die 72 can be realized by the supporting effect of the remainder by the lower trimming die 72, but not limited thereto. It will be appreciated that the edge trimmer 70 may be deleted according to actual needs, and at this time, the method for forming the gantry manipulator with net transfer type paper mold of the present application further includes the material taking robot 50 transferring the dry blank to the stacking receiving table 60 for stacking and stacking, so as to meet the requirement of subsequent off-line trimming.
Compared with the prior art, the method for forming the gantry manipulator with the net transfer paper mold has the advantages that the net frame 200 is fed and discharged in a manner of absorbing the net frame 200 by means of the cooperation of the steps S001 to S004, so that a profiling jig is not required to carry out vacuum adsorption on wet blanks or dry blanks, and air source waste is reduced; and ensures smooth and reliable feeding and discharging transfer of the net frame 200 under the condition of reducing air source waste. Meanwhile, the three-axis transfer mechanism 12 drives the net frame feeding and discharging mechanism 20 to move in the XYZ three axes, so that the net frame feeding and discharging mechanism 20 can stretch and translate in the Y axis direction, and the net frame feeding and discharging mechanism is suitable for transferring the net frame 200 in a narrow space.
It should be noted that the specific structure and operation of the dry blank forming machine 40, the material taking robot 50 and the edge trimmer 70 are well known in the art, and will not be described herein. Meanwhile, the gantry manipulator 10, the wet blank forming machine 30, the dry blank forming machine 40, the material taking robot 50, the stacking receiving table 60 and the edge cutter 70 are respectively installed on the outside such as the ground. In fig. 1, the forward direction of the X axis is the left-to-right direction of the green body frame 31, the forward direction of the Y axis is the front-to-rear direction of the green body mechanism 31, and the forward direction of the Z axis is the bottom-to-top direction of the green body mechanism 31.
The foregoing description of the preferred embodiments of the present application is not intended to limit the scope of the claims, which follow, as defined in the claims.
Claims (6)
1. The molding method of the gantry manipulator belt mesh transfer type paper mold is characterized by comprising the following steps of:
(1) The three-axis transfer mechanism in the gantry manipulator drives the net frame feeding and discharging mechanism to make adaptive XYZ-axis translation on the gantry in the gantry manipulator, so that the net frame feeding and discharging mechanism extends into the wet blank forming machine after die opening along the Y-axis direction, and the net frame supporting mechanism in the supporting position in the wet blank forming machine supports an empty net frame sucked by the first vacuum suction head in the net frame feeding and discharging mechanism from below;
(2) The three-axis transfer mechanism drives the net frame feeding and discharging mechanism to make descending and lifting translation in the wet blank forming machine after the die opening along the Z-axis direction, the three-axis transfer mechanism also drives a second vacuum suction head in the net frame feeding and discharging mechanism to suck the net frame with the wet blank on the drag-out lower die driven by the lifting mechanism, and simultaneously, the first vacuum suction head in the net frame feeding and discharging mechanism is also driven to move away from the empty net frame supported by the net frame supporting mechanism;
(3) The three-axis transfer mechanism drives the net frame feeding and discharging mechanism to perform adaptive XYZ-axis translation on the portal frame, so that the net frame feeding and discharging mechanism extends into the dried blank forming machine after die opening along the Y-axis direction and performs lifting translation in the dried blank forming machine along the Z-axis direction, the second vacuum suction head transfers the sucked net frame with wet blanks to a dried blank lower die in the dried blank forming machine after die opening, and the first vacuum suction head sucks the net frame with the dried blanks left at the dried blank upper die after die opening; and
(4) The three-axis transfer mechanism drives the net frame feeding and discharging mechanism to translate towards the material taking robot, and the material taking robot takes away the dry blanks in the net frame with the dry blanks sucked by the first vacuum suction head of the net frame feeding and discharging mechanism so as to finish one period of net frame transfer;
(5) Transferring the dried blank to an edge cutter by a material taking robot, and cutting off the residual material of the dried blank by the edge cutter; and
(6) The material taking robot takes away the dried blanks from the edge cutter, which are cut off the residual materials, and transfers the dried blanks to the stacking material receiving table for stacking;
in the step (2), when the second vacuum suction head sucks the net frame with the wet blank and the first vacuum suction head moves away from the empty net frame supported by the net frame supporting mechanism, the three-shaft transfer mechanism drives the net frame feeding and discharging mechanism to translate towards the dry blank forming machine, and in the process of translating towards the dry blank forming machine, the lifting mechanism in the wet blank forming machine drives the pulp dragging lower die to be lifted to a position in contact with the empty net frame supported by the net frame supporting mechanism, and the net frame supporting mechanism places the supported empty net frame at the pulp dragging lower die driven by the lifting mechanism from above when the net frame supporting mechanism is switched to the avoiding position; then, the lifting mechanism drives the pulp dragging lower die and the empty net frame on the pulp dragging lower die to move downwards so as to sink into a pulp pool of the wet blank forming machine;
the net frame supporting mechanisms are respectively arranged beside two opposite sides of the wet blank upper die and comprise a rotary driver and supporting blocks assembled at the output ends of the rotary driver, the rotary driver is switched to a supporting position by driving the supporting blocks to rotate to be right below the wet blank upper die, and the rotary driver is switched to an avoiding position by driving the supporting blocks to rotate away from right below the wet blank upper die;
in the step (6), the material taking robot pushes the residual materials left on the trimming lower die in the trimming machine to the recovery box, and then the material taking robot ascends to take away the dry blanks left on the trimming upper die in the trimming machine.
2. The method for forming a paper mold with a net transfer type gantry manipulator according to claim 1, wherein in the three-axis transfer mechanism, the frame loading and unloading mechanism is synchronously driven to make telescopic translation along the Y-axis direction by means of Y-axis transfer modules arranged beside the left side and the right side opposite to the frame loading and unloading mechanism.
3. The method for forming a paper mold with a net transfer by a gantry manipulator according to claim 2, wherein a synchronizing shaft is used between the Y-axis transfer modules on the left and right sides to enable the Y-axis transfer modules on the left and right sides to synchronously drive the feeding and discharging mechanisms of the net frame to make telescopic translation along the Y-axis direction.
4. The method for forming a transfer paper mold with a mesh of a gantry manipulator according to claim 1, wherein the upper trimming mold is configured to retain the dry blank on the upper trimming mold by vacuum suction during the mold opening process of the edge trimmer.
5. The method for forming a paper mold with a net transfer by a gantry manipulator according to claim 1, wherein before the step (1), the lower mold for taking out the pulp is driven by a lifting mechanism in the wet blank forming machine to be matched with the upper mold for the wet blank in the wet blank forming machine in a mold closing manner, so that the wet blank in the net frame with the wet blank on the lower mold for taking out the pulp is jointly formed by the lower mold for taking out the pulp and the upper mold for the wet blank and the excessive pulp is squeezed out, and then the lifting mechanism drives the lower mold for taking out the pulp and the net frame with the wet blank on the lower mold for taking out the pulp are driven by the lifting mechanism to descend downwards to a position for sucking the net frame with the wet blank by the second vacuum suction head.
6. The method for forming the paper mold with the net transfer type gantry manipulator according to claim 1, wherein in the step (3), the upper mold of the dry blank is left on the upper mold of the dry blank through vacuum adsorption in the mold opening process of the dry blank forming machine, the three-axis transfer mechanism drives the upper and lower mold frame mechanisms to extend into the opened dry blank forming machine and make descending and lifting translation in the dry blank forming machine, so that the second vacuum suction head transfers the sucked screen frame with the wet blank to the lower mold of the opened dry blank forming machine, and the first vacuum suction head sucks the screen frame with the dry blank left on the upper mold of the dry blank after the mold opening.
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