WO2020155947A1 - 一种应用于纸浆模塑机械手的转移装置及生产线 - Google Patents

一种应用于纸浆模塑机械手的转移装置及生产线 Download PDF

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Publication number
WO2020155947A1
WO2020155947A1 PCT/CN2019/128103 CN2019128103W WO2020155947A1 WO 2020155947 A1 WO2020155947 A1 WO 2020155947A1 CN 2019128103 W CN2019128103 W CN 2019128103W WO 2020155947 A1 WO2020155947 A1 WO 2020155947A1
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WO
WIPO (PCT)
Prior art keywords
wet blank
transfer device
matching cavity
cavity
mold
Prior art date
Application number
PCT/CN2019/128103
Other languages
English (en)
French (fr)
Inventor
陈舒
岑刚
陈维民
Original Assignee
浙江舒康科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=67822258&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2020155947(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by 浙江舒康科技有限公司 filed Critical 浙江舒康科技有限公司
Priority to US17/427,517 priority Critical patent/US12031271B2/en
Priority to JP2021544750A priority patent/JP2022524924A/ja
Priority to EP19912437.1A priority patent/EP3919241A4/en
Priority to KR1020217024377A priority patent/KR20210145721A/ko
Priority to CA3128269A priority patent/CA3128269A1/en
Priority to MX2021009214A priority patent/MX2021009214A/es
Priority to AU2019426695A priority patent/AU2019426695A1/en
Publication of WO2020155947A1 publication Critical patent/WO2020155947A1/zh

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
    • B25J15/0633—Air-flow-actuated valves
    • D—TEXTILES; PAPER
    • D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
    • D21F—PAPER-MAKING MACHINES; METHODS OF PRODUCING PAPER THEREON
    • D21F2/00—Transferring continuous webs from wet ends to press sections
    • D—TEXTILES; PAPER
    • D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
    • D21J—FIBREBOARD; MANUFACTURE OF ARTICLES FROM CELLULOSIC FIBROUS SUSPENSIONS OR FROM PAPIER-MACHE
    • D21J3/00—Manufacture of articles by pressing wet fibre pulp, or papier-mâché, between moulds
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
    • D—TEXTILES; PAPER
    • D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
    • D21F—PAPER-MAKING MACHINES; METHODS OF PRODUCING PAPER THEREON
    • D21F13/00—Making discontinuous sheets of paper, pulpboard or cardboard, or of wet web, for fibreboard production
    • D21F13/10—Making discontinuous sheets of paper, pulpboard or cardboard, or of wet web, for fibreboard production using board presses
    • D—TEXTILES; PAPER
    • D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
    • D21F—PAPER-MAKING MACHINES; METHODS OF PRODUCING PAPER THEREON
    • D21F3/00—Press section of machines for making continuous webs of paper
    • D21F3/02—Wet presses
    • D—TEXTILES; PAPER
    • D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
    • D21F—PAPER-MAKING MACHINES; METHODS OF PRODUCING PAPER THEREON
    • D21F7/00—Other details of machines for making continuous webs of paper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles

Definitions

  • the invention belongs to the technical field of pulp molding machinery, and particularly relates to a transfer device and a production line applied to a pulp molding manipulator.
  • a Chinese patent discloses a handling manipulator for a pulp molding machine, application number 201320735610.7.
  • the manipulator has three degrees of freedom and can move in the three directions of X, Y and Z, and the movement in the X direction ( Side shift) is realized by two rodless cylinders and linear guide rails, which can accurately realize the positioning in three states.
  • Y-direction movement (translation) and Z-direction movement (vertical lifting) are realized by motors and screw rods, which can achieve the stroke range Accurate positioning at any position.
  • the grabbing and lowering of the steel pallet is realized by the power on and off of the electromagnet.
  • the manipulator can use the pallet to directly catch the goods produced by the pulp molding machine from the mold, and then place them in order. Put it on the trolley and perform uniform drying treatment on the goods.
  • the manipulator has the characteristics of simple structure, easy manufacture, low cost and stable performance, which can replace labor and save labor and production costs.
  • the purpose of the present invention is to solve the above problems and provide a transfer device and a production line for pulp molding robots that can greatly improve production efficiency.
  • a transfer device applied to a pulp molding manipulator includes a wet blank transfer mold with a closed air chamber inside.
  • the front of the wet blank transfer mold is provided with at least one that can be sheathed outside the wet pulp container and recessed toward the closed air chamber.
  • the inner matching cavity is matched with the wet pulp container, and the inner wall of each inner matching cavity and the bottom of the inner matching cavity are used to connect the inner matching cavity and the sealed air chamber respectively Several communicating small holes, the communicating small holes arranged on the inner wall of the concave matching cavity are evenly distributed on the circumference and forming at least one circle, the communicating small holes arranged on the bottom of the concave matching cavity are evenly distributed around the circumference and forming at least In one circle, a movable frame parallel to the wet blank transfer mold is connected to the back of the wet blank transfer mold through a guide mechanism, and a driver is connected between the back of the wet blank transfer mold and the movable frame, and the driver drives the movable frame relative to the wet blank transfer mold.
  • a number of evenly spaced vacuum suction cups are arranged on the moving rack, and the vacuum suction cups and the closed air chamber are respectively connected with the vacuum pumping system.
  • each circle is respectively formed by a plurality of connected small holes uniformly distributed on the circumference.
  • the center of the bottom of the concave matching cavity is provided with a central small hole for connecting the concave matching cavity with the closed air chamber.
  • the wet blank transfer mold includes a main template with a cavity on the back, and the cavity has an opening communicating with the outside.
  • On the front of the main template there are a number of concave matching cavities distributed in an array.
  • the inner walls of the inner concave matching cavity and the bottom of the inner concave matching cavity are respectively used to connect the inner concave matching cavity and the airtight chamber with a number of communicating holes, and the inner bottom of the cavity is provided with a number of communicating holes
  • the concave matching cavity has one-to-one corresponding inner convex part, and the communicating hole penetrates the inner convex part.
  • the wet blank transfer mold also includes a closed template for closing the opening of the cavity, and the main template and the closed template Form the above-mentioned closed air chamber.
  • the bottom of the chamber is provided with a reinforced support structure contacting a surface of the closed template close to the chamber.
  • the reinforced support structure includes a plurality of evenly spaced reinforcing support protrusions 1 in the transverse direction, and a plurality of evenly spaced reinforcing support protrusions in the longitudinal direction, and the reinforcing support protrusions 1 are located on the same straight line and located at the transverse center of the chamber.
  • the second reinforcing support protrusions are located on the same straight line and are located at the longitudinal center of the chamber, the first reinforcing support protrusions and the second reinforcing support protrusions form a cross shape, and the end of the first reinforcing support protrusions away from the bottom of the chamber abuts On a surface of the closed template close to the chamber, the end of the two reinforcing support protrusions away from the bottom of the chamber abuts against a surface of the closed template close to the chamber.
  • a supporting plane 1 is provided at the end of each reinforcing support protrusion 1 which abuts against the closed template
  • a supporting plane 2 is provided at the end of each reinforcing support protrusion 2 abutting against the closing template.
  • One and the supporting plane two are located in the same horizontal plane.
  • the inner wall of the cavity is provided with a plurality of arc-shaped concave surfaces connected in sequence, and the inner convex portion located at the outermost of the inner convex portions corresponds to the arc-shaped concave surface one-to-one.
  • the guide mechanism includes a plurality of guide posts parallel to each other and one end fixed on the back of the wet blank transfer mold, a plurality of guide sleeve fixing holes are provided on the movable frame, and a guide sleeve fixed on the guide sleeve fixing hole, so One set of the mentioned guide sleeve is arranged on the guide post, and the guide sleeve and the guide post are slidingly connected.
  • the concave matching cavity has six areas as one area, and there are four above-mentioned areas on the front of the wet blank transfer mold.
  • two adjacent reinforcing support protrusions are connected by an arc-shaped connecting rib, and there are two reinforcing support protrusions and located outside the middle of the reinforcing support protrusion 1.
  • Each reinforcing support protrusion is two It is connected with the reinforcing support protrusion 1 located in the middle part by the arc-shaped connecting ribs 2.
  • the main template and the closed template are connected by a detachable connection structure.
  • the detachable connection structure includes an annular shoulder provided in the circumferential direction of the main template, the thickness of the annular shoulder is smaller than the thickness of the main template, the back of the main template is flush with the back of the annular shoulder, and each side of the template is closed.
  • Locking bolts are respectively passed through the upper part, and the locking bolt penetrates through the nail hole of the annular shoulder and a locking nut is sleeved on the locking bolt, and the locking nut contacts the front surface of the annular shoulder.
  • a relief gap communicating with the nail hole is provided on the front of the annular shoulder, and the lock nut is located in the relief gap and is in contact with the bottom surface of the relief gap.
  • a pulp molding production line includes a pulp molding manipulator and at least one press.
  • a transfer device is connected to the pulp molding manipulator.
  • the press is provided with an auxiliary frame between a movable lower mold base and an upper mold base,
  • the press is provided with a lifting drive mechanism for driving the auxiliary frame to lift in the vertical direction.
  • the pulp molding manipulator forces the transfer device to extend between the movable lower mold base and the upper mold base, and the lifting drive mechanism drives the auxiliary frame and
  • the transfer device contacts and forces the transfer device to move vertically upward or downward.
  • the transfer of the wet blank and the product can be carried out at the same time, the robot does not need to move, the suction cup is extended to the product mold through the direct-acting device in the device, and the product is taken out, thereby achieving simultaneous transfer of the wet blank and
  • the purpose of the product has greatly improved production efficiency.
  • the transfer device has a simple structure and low manufacturing cost.
  • the production line greatly improves production efficiency.
  • Figure 1 is a schematic diagram of the structure of the transfer device provided by the present invention.
  • Fig. 2 is a schematic diagram of the front structure of the main template of the transfer device provided by the present invention.
  • Fig. 3 is a schematic diagram of the backside structure of the main template of the transfer device provided by the present invention.
  • Fig. 4 is a schematic diagram of the connecting structure of the transfer device and the vacuum provided by the present invention.
  • Fig. 5 is a schematic structural diagram of the transfer device provided by the present invention after being installed on the manipulator.
  • Fig. 6 is a structural diagram of the first state of the transfer device provided by the present invention.
  • Fig. 7 is a schematic structural diagram of the second state of the transfer device provided by the present invention.
  • Figure 8 is a schematic diagram of the production line structure provided by the present invention.
  • Figure 9 is a schematic diagram of the auxiliary frame structure provided by the present invention.
  • Fig. 10 is a structural schematic diagram of the auxiliary frame provided by the present invention installed on the press.
  • Figure 11 is a schematic diagram of the three-dimensional structure of the press provided by the present invention.
  • Figure 12 is a schematic diagram of the structure of the press provided by the present invention.
  • a transfer device applied to a pulp molding manipulator includes a wet blank transfer mold 10 with a closed air chamber 0 inside.
  • the front of the wet blank transfer mold 10 is provided with at least one that can be sleeved outside the wet pulp container and faces the closed air chamber.
  • the concave matching cavity 101 is recessed on the 0 side, and the concave matching cavity 101 is matched with the wet pulp container. This structure can expand the contact surface with the wet pulp container and improve the reclaiming efficiency and stability.
  • each concave matching cavity 101 and the bottom of the concave matching cavity 101 are respectively used to connect the concave matching cavity 101 and the sealed air chamber 0 to connect several communicating holes 102, which are arranged in the concave matching cavity
  • the communicating pores 102 on the inner wall of 101 are evenly distributed on a circumference and form at least one circle.
  • the communicating pores 102 arranged at the bottom of the concave matching cavity 101 are evenly distributed on a circumference and form at least one circle.
  • each circle is formed by a number of interconnected small holes 102 evenly distributed on a circle.
  • a central small hole 103 for connecting the concave matching cavity 101 with the airtight chamber 0.
  • a moving frame 30 parallel to the wet blank transfer mold 10 is connected by a guide mechanism 20.
  • the guide mechanism 20 here includes a plurality of parallel guide posts 201 with one end fixed on the back of the wet blank transfer mold 10.
  • the movable frame 30 is provided with a plurality of guide sleeve fixing holes, and a guide sleeve 202 fixed on the guide sleeve fixing holes.
  • the guide sleeves 202 are set on the guide post 201 one by one, and the guide sleeve 202 and the guide post 201 slide connection.
  • the cooperative cooperation of the guide sleeve 202 and the guide post 201 can further improve the smoothness and stability of lifting.
  • a driver 40 is connected between the back of the wet blank transfer mold 10 and the moving frame 30 and the driver 40 drives the moving frame 30 to move relative to the wet blank transfer mold 10.
  • the driver 40 is any one of an air cylinder, an oil cylinder and a linear motor.
  • a number of vacuum chucks 50 with evenly spaced intervals are provided on the movable frame 30, and the vacuum chucks 50 and the closed air chamber 0 are respectively connected to the vacuum pumping system 60.
  • the vacuum system 60 includes a vacuum pipeline and a vacuum device connected to the vacuum pipeline.
  • the vacuum device is a commercially available product.
  • the vacuum suction cup 50 can be lifted or lowered through the action of the drive to suck the pulp molded product after the molding die is formed, and can complete the transfer and pick-and-place actions at the same time, which greatly improves the production and processing efficiency.
  • the wet blank transfer mold 10 of this embodiment includes a main template 104 with a cavity 1041 on the back.
  • the cavity 1041 has an opening communicating with the outside.
  • the inner wall of each concave matching cavity 101 and the bottom of the concave matching cavity 101 are respectively used to connect the concave matching cavity 101 with the airtight chamber 0.
  • the inner bottom of the chamber 1041 is provided with a number of inner convex portions 1042 corresponding to the inner concave matching cavity 101 one-to-one, and the communicating small hole 102 penetrates the inner convex portion 1042.
  • the wet blank transfer mold 10 also includes a cavity
  • the open and closed closed template 105 of 1041 forms the above-mentioned closed air chamber 0 between the main template 104 and the closed template 105.
  • the inner convex portion 1042 corresponds to the inner concave matching cavity 101, which can facilitate the development of the mold and reduce the manufacturing difficulty.
  • the wet blank is not limited to the upper mold, and the product is not limited to the lower mold, that is, the wet blank can be transferred to the upper mold or the lower mold, and the corresponding product is taken out from the lower mold or the upper mold, and the same device can achieve this
  • wet billet transfer or product transfer is through vacuum suction.
  • the wet billet mold has a closed air chamber, which is then connected to the vacuum pipeline, and the suction cup is connected to the vacuum pipeline. Let go of the wet billet or product and switch the vacuum to blowing
  • the reinforced support structure of this embodiment includes a number of evenly spaced laterally spaced reinforced support protrusions 1043, and a number of evenly spaced longitudinally spaced reinforced support protrusions 1044, and the reinforced support protrusions 1043 are located on the same straight line and located in the chamber.
  • the second reinforcing support protrusion 1044 is located on the same straight line and at the longitudinal center position of the chamber 1041.
  • the first reinforcing support protrusion 1043 and the second reinforcing support protrusion 1044 form a cross shape, and the reinforcing support protrusion One end of a 1043 away from the bottom of the cavity 1041 abuts against a surface of the closed template 105 close to the cavity 1041, and an end of the second reinforcing support protrusion 1044 away from the bottom of the cavity 1041 abuts against a surface of the closed template 105 close to the cavity 1041.
  • the first reinforced support protrusion 1043 and the second reinforced support protrusion 1044 can further improve the structural strength and prolong the service life of the closed template 105.
  • a supporting plane 1045 is provided at the end of each reinforced supporting protrusion 1043 that abuts against the closed template 105, and a supporting plane 1046 is provided at the end of each reinforced supporting protrusion 1044 that abuts against the closed template 105.
  • the supporting plane 1 1045 and the supporting plane 2 1046 are located in the same horizontal plane.
  • the support plane can improve the stability and reliability of the contact.
  • the inner wall of the cavity 1041 is provided with a plurality of arc-shaped concave surfaces 1047 connected in sequence, and the inner convex portion 1042 located at the outermost of the inner convex portions 1042 corresponds to the arc-shaped concave surface 1047 one by one.
  • the concave matching cavity 101 of this embodiment has six areas as one area, and four of the aforementioned areas are provided on the front surface of the wet blank transfer mold 10.
  • the two adjacent reinforcing support protrusions 1043 are connected by arc-shaped connecting ribs 1048, and there are two reinforcing support protrusions 1044 located outside the middle of the reinforcing support protrusions 1043.
  • Each reinforcing support The second protrusion 1044 and the reinforcing support protrusion 1043 located in the middle part are connected by an arc-shaped connecting rib 1049.
  • the main template 104 and the closed template 105 of this embodiment are connected by a detachable connection structure.
  • the detachable connection structure includes an annular shoulder 106 arranged in the circumferential direction of the main template 104.
  • the thickness of the annular shoulder is smaller than that of the main template 104.
  • the back of the main template 104 is flush with the back of the annular shoulder, and the template 105 is closed.
  • a locking bolt is respectively penetrated on each side of the ring, the locking bolt penetrates through the nail hole of the annular shoulder and a locking nut is sleeved on the locking bolt, and the locking nut contacts the front surface of the annular shoulder.
  • a pulp molding production line includes a pulp molding robot 3a and at least one press 2a.
  • the press includes a lower base 2 and four vertical guide posts 21 connected to the top of the lower base 2, and four vertical guide posts 21 connected to the top of the lower base 2.
  • the upper mold base 3 at the upper end of the guide post 21 also includes a movable lower mold base 4 located directly below the upper mold base 3 and movably connected to the vertical guide post 21, and the movable lower mold base 4 is connected to the main cylinder 41 of the press
  • the main cylinder 41 of the press drives the movable lower mold base 4 to move up and down axially along the vertical guide column 21, the main press cylinder 41 is fixed at the center of the lower base 2, while the telescopic rod of the main cylinder 41 of the press faces upward and the movable lower mold
  • the lower surface of the seat 4 is centrally connected.
  • the main cylinder 41 of the press drives the movable lower mold base 4 to move up and down, and cooperates with the vertical guide post 21 to improve the stability and reliability of the lifting.
  • a transfer device Q is connected to the pulp molding robot 3a.
  • the transfer device Q is the above-mentioned "a transfer device applied to a pulp molding robot".
  • the press 2a is provided with a movable lower mold base 4 and an upper mold.
  • the auxiliary frame N between the seats 3 is provided with a lifting drive mechanism 5 for driving the auxiliary frame up and down in the vertical direction on the press, and the pulp molding robot forces the transfer device to extend into the movable lower mold base and the upper mold base
  • the lifting drive mechanism drives the auxiliary frame to contact the transfer device and forces the transfer device to move vertically upward or downward.
  • the auxiliary frame N includes an auxiliary push plate 1 arranged horizontally.
  • the auxiliary push plate 1 is made of metallic or non-metallic materials. Any material that can meet the strength requirements can be used in this embodiment.
  • a polygonal central through hole 11 is provided on the auxiliary push plate 1.
  • the polygonal central through hole 11 in this embodiment is an octagonal through hole.
  • the mold fixture can be placed in and contact with the mold fixture, and the mold fixture is forced to rise and fall under the action of the lifting driving mechanism.
  • auxiliary push plate 1 On the periphery of the auxiliary push plate 1, there are provided outer sides corresponding to the hole walls of the octagonal through holes, and the outer sides form an octagon.
  • the upper orifice and the lower orifice of the octagonal through hole are respectively provided with a circular arc chamfer 111, and the two sides of each outer side are provided with circular arc chamfer 112 respectively.
  • the arc chamfer can avoid squeezing mold jigs or pulp products.
  • Two cantilever bosses 12 are respectively provided at both ends of the auxiliary push plate 1 and each end.
  • Each cantilever boss 12 is respectively provided with a vertical guide hole 121, which is arranged at the same end.
  • a reinforcement structure 13 is provided between the two cantilever bosses 12.
  • the aforementioned reinforcement structure 13 includes a transverse reinforcement rib 131 connected between the two cantilever bosses 12, and the transverse reinforcement rib 131 is connected to the outer wall of the auxiliary push plate 1, and a longitudinal reinforcement is provided in the middle of the transverse reinforcement rib 131.
  • the inner end of the rib 132 and the longitudinal reinforcement rib 132 is connected with the outer wall of the auxiliary push plate 1.
  • the auxiliary push plate 1, the cantilever boss 12, the transverse reinforcement rib 131 and the longitudinal reinforcement rib 132 are integrally formed, which can improve the overall structural strength.
  • the lifting drive mechanism 5 drives the auxiliary push plate 1 to move up and down between the movable lower mold base 4 and the upper mold base 3. At this time, under the action of the auxiliary push plate 1, the mold fixture connected to the manipulator can be forced upward or downward. Lifting movement, the manipulator does not need to perform upward or downward thrust actions, which can ensure the reliability of the manipulator's work, and at the same time, it also prolongs the service life of the manipulator, so that the production can continue and smoothly, and more in line with the production requirements of the enterprise.
  • the lifting drive mechanism 5 includes two fixed frame bodies 51 respectively fixed on the top of the lower base 2.
  • a cylinder 52 is fixed in each fixed frame body 51, and the telescopic rods of the cylinder 52 face upward and are connected one by one in the transverse direction.
  • the fixed frame body 51 includes a rectangular frame and is vertically fixed.
  • a strip hole 511 is provided in the central area of the upper end of the fixed frame body 51, and two strip holes are provided in the central area of the lower end of the fixed frame body 51.
  • the telescopic rod of cylinder one 52 penetrates through strip hole one 511 and a fixing plate 513 is sleeved on the upper end of the cylinder of cylinder one 52.
  • the fixed plate 513 is located on the upper surface of the hole of strip hole one 511 and penetrates through the fixed plate 513 There are a number of first bolts 514, and the first bolt 514 is threadedly connected with the threaded hole on the top of the fixing frame body 51, and the lower end of the first cylinder 52 penetrates the second strip hole 512.
  • the design of the strip hole makes it easy to move and adjust the position.
  • the movable lower mold base 4 moves upward under the drive of the main cylinder 41 of the press, and then the pulp product lower mold on the movable lower mold base 4 and the pulp product upper mold on the upper mold base 3 interact with each other. Cooperate with the processing of pulp products.
  • the manipulator at this time needs to obtain the pulp product. By installing a mold fixture on the manipulator, the pulp product is obtained through the mold fixture and released to the next station.
  • the auxiliary push plate 1 is forced to rise and fall in the vertical direction by the lifting drive mechanism 5, that is, the auxiliary push plate 1 is sleeved on the mold fixture, which can assist the mold fixture to lift, which solves the problem of using a robot to force the mold fixture Alarm phenomenon caused by upward or downward movement.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Making Paper Articles (AREA)
  • Paper (AREA)
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Abstract

一种应用于纸浆模塑机械手的转移装置，包括内部设有密闭气室（0）的湿坯转移模（10），湿坯转移模（10）的正面设有至少一个能够套在纸浆湿坯容器外侧且向密闭气室（0）侧凹陷的内凹匹配型腔（101），内凹匹配型腔（101）与纸浆湿坯容器相匹配，在每个内凹匹配型腔（101）的内壁和内凹匹配型腔（101）的底部分别设有将内凹匹配型腔（101）与密闭气室（0）连通的若干连通小孔（102），设置在内凹匹配型腔（101）内壁的连通小孔（102）呈圆周均匀分布并合围形成至少一圈，设置在内凹匹配型腔（101）底部的连通小孔（102）呈圆周均匀分布并合围形成至少一圈，在湿坯转移模（10）的背面通过导向机构（20）连接有与湿坯转移模（10）平行的移动架（30），在湿坯转移模（10）的背面和移动架（30）之间连接有驱动器（40）且驱动器（40）驱动移动架（30）相对湿坯转移模（10）移动，在移动架（30）上设有若干间隔均匀的真空吸盘（50），真空吸盘（50）和密闭气室（0）分别与抽真空系统（60）连接。这种转移装置提高了生产效率。还涉及一种纸浆模塑生产线。

Description

一种应用于纸浆模塑机械手的转移装置及生产线 技术领域
本发明属于纸浆模塑机械技术领域，尤其涉及一种一种应用于纸浆模塑机械手的转移装置及生产线。
背景技术
纸浆模塑产品，在生产加工过程中，需要进行冷挤压和热成型，冷挤压和热成型之间通过机械手进行运料。
现有的纸浆模塑生产机械手，其一般安装了转移模治具，用于将纸浆模塑湿坯转移至模具上或者压制成型的产品取得和释放。即，每次只能执行一个动作，无法同时完成湿坯转移和产品的取得释放，导致生产效率较低。
为此，例如中国专利公开了一种用于纸浆模塑成型机的搬运机械手，申请号201320735610.7，该机械手具有三自由度，可以在X，Y，Z三个方向进行移动，X方向的移动(侧移)是通过两个无杆气缸和直线导轨实现，可以准确实现三种状态的定位，Y方向移动(平移)和Z方向移动(垂直升降)通过电机和丝杆实现，可以实现行程范围内任意位置的准确定位，钢制托盘的抓取和放下是通过电磁铁的通断电实现，该机械手可以用托盘直接将纸浆模塑成型机生产的货物从模具上接住，然后按照顺序依次摆放至小车上，对货物进行统一的烘干处理，该机械手具有结构简单，易于制造，成本低廉，性能稳定的特点，可以替代人工，节约劳动力和生产成本。
上述的方案虽然有上述的诸多优点，但是，上述的方案其并未解决上述的技术问题。
发明内容
本发明的目的是针对上述问题，提供一种可以大幅提高生产效率的一种应用于纸浆模塑机械手的转移装置及其生产线。
为达到上述目的，本发明采用了下列技术方案：
一种应用于纸浆模塑机械手的转移装置包括内部设有密闭气室的湿坯转移模，湿坯转移模的正面设有至少一个能够套在纸浆湿坯容器外侧且向密闭气室侧凹陷的内凹匹配型腔，内凹匹配型腔与纸浆湿坯容器相匹配，在每个内凹匹配型腔的内壁和内凹匹配型腔的底部分别用于将内凹匹配型腔与密闭气室连通的若干连通小孔，设置在内凹匹配型腔内壁的连通小孔呈圆周均匀分布并合围形成至少一圈，设置在内凹匹配型腔底部的连通小孔呈圆周均匀分布并合围形成至少一圈，在湿坯转移模的背面通过导向机构连接有与湿坯转移模平行的移动架，在湿坯转移模的背面和移动架之间连接有驱动器且驱动器驱动移动架相对湿坯转移模移动，在移动架上设有若干间隔均匀的真空吸盘，所述的真空吸盘和密闭气室分别与抽真空系统连接。
优选地，在内凹匹配型腔底部设有两圈且每圈分别由若干呈圆周均匀分布连通小孔合围形成。
优选地，所述的内凹匹配型腔底部中心设有用于将内凹匹配型腔与密闭气室连通的中心小孔。
优选地，所述的湿坯转移模包括背面设有腔室的主模板，腔室具有与外界连通的敞口，在主模板的正面设有若干呈阵列分布的内凹匹配型腔，在每个内凹匹配型腔的内壁和内凹匹配型腔的底部分别用于将内凹匹配型腔与密闭气室连通的若干连通小孔，在腔室的内底部设有若干与所述的内凹匹配型腔一一对应的内凸部，连通小孔贯穿内凸部，本湿坯转移模还包括用于将腔室的敞 口封闭的封闭模板，所述的主模板和封闭模板之间形成上述的密闭气室。
优选地，所述的腔室底部设有与封闭模板靠近腔室的一表面接触的加强支撑结构。
优选地，所述的加强支撑结构包括若干横向间隔均匀的加强支撑凸起一，以及若干纵向间隔均匀的加强支撑凸起二，加强支撑凸起一位于同一直线上并位于腔室的横向中心位置，加强支撑凸起二位于同一直线上并位于腔室的纵向中心位置，所述的加强支撑凸起一和加强支撑凸起二形成十字形，加强支撑凸起一远离腔室底部的一端抵靠在封闭模板靠近腔室的一表面，加强支撑凸起二远离腔室底部的一端抵靠在封闭模板靠近腔室的一表面。
优选地，在每个加强支撑凸起一与封闭模板抵靠的一端设有支撑平面一，在每个加强支撑凸起二与封闭模板抵靠的一端设有支撑平面二，所述的支撑平面一和支撑平面二位于同一个水平面内。
优选地，所述的腔室内壁设有若干依次连接的弧形凹面，上述内凸部中的位于最外侧的内凸部与弧形凹面一一对应。
优选地，所述的导向机构包括若干相互平行且一端固定在湿坯转移模背面的导柱，在移动架上设有若干导套固定孔，以及固定在导套固定孔上的导套，所述的导套一一套设在导柱上且导套和导柱滑动连接。
优选地，内凹匹配型腔以六个为一个区域且在湿坯转移模的正面设有四个上述的区域。
优选地，相邻的两个加强支撑凸起一之间通过弧形连接筋一连接，加强支撑凸起二有两个且位于最中部的加强支撑凸起一外侧，每个加强支撑凸起二和位于最中部的加强支撑凸起一之间通过弧形连接筋二连接。
优选地，主模板和封闭模板之间通过可拆卸连接结构连接。
优选地，可拆卸连接结构包括设置在主模板周向的环形凸肩，环形凸肩的厚度小于主模板的厚度，主模板的背面与环形凸肩的背面齐平，封闭模板的每一侧边上分别穿设有锁紧螺栓，锁紧螺栓贯穿环形凸肩的过钉孔且在锁紧螺栓上套设有锁紧螺母，锁紧螺母与环形凸肩的正面接触。
优选地，在环形凸肩的正面设有与过钉孔连通的让位缺口，锁紧螺母位于让位缺口内并与让位缺口的底面接触。
一种纸浆模塑生产线包括纸浆模塑机械手和至少一台压机，在纸浆模塑机械手上连接有转移装置，在压机上设有位于活动下模座和上模座之间的辅助架，在压机上设有用于驱动所述辅助架在竖直方向升降的升降驱动机构，纸浆模塑机械手迫使转移装置伸入至活动下模座和上模座之间且升降驱动机构驱动辅助架与转移装置接触并迫使转移装置向上或者向下竖直移动。
与现有的技术相比，本发明的优点在于：
1.与现有技术相比，转移湿坯与取产品可以同时进行，机械手不需要移动，通过装置内的直动装置，将吸盘伸到产品模具上，取出产品，从而达到同时转移湿坯与产品的目的,大幅提高了生产效率。
2、转移装置其结构简单且制造成本低。
3、生产线其大幅提高了生产效率。
附图说明
图1是本发明提供的转移装置结构示意图。
图2是本发明提供的转移装置的主模板正面结构示意图。
图3是本发明提供的转移装置的主模板背面结构示意图。
图4是本发明提供的转移装置与抽真空连接结构示意图。
图5是本发明提供的转移装置安装在机械手上后的结构示意图。
图6是本发明提供的转移装置状态一的结构示意图。
图7是本发明提供的转移装置状态二的结构示意图。
图8是本发明提供的生产线结构示意图。
图9是本发明提供的辅助架结构示意图。
图10是本发明提供的辅助架安装在压机上的结构示意图。
图11是本发明提供的压机立体结构示意图。
图12是本发明提供的压机结构示意图。
图中，密闭气室0、湿坯转移模10、内凹匹配型腔101、连通小孔102、中心小孔103、主模板104、腔室1041、内凸部1042、加强支撑凸起一1043、加强支撑凸起二1044、支撑平面一1045、支撑平面二1046、弧形凹面1047、弧形连接筋一1048、弧形连接筋二1049、封闭模板105、环形凸肩106、让位缺口107、导向机构20、导柱201、导套202、移动架30、驱动器40、真空吸盘50、抽真空系统60、纸浆模塑机械手3a、压机2a、转移装置Q、辅助架N、辅助推板1、多边形中心通孔11、圆弧倒角一111、圆弧倒角二112、悬臂凸台12、导向圆孔121、加强结构13、横向加强筋131、纵向加强筋132、下基座2、竖直导柱21、上模座3、活动下模座4、压机主缸41、升降驱动机构5、固定架体51、条形孔一511、条形孔二512、固定板513、螺栓一514、气缸一52。
具体实施方式
以下是发明的具体实施例并结合附图，对本发明的技术方案作进一步的描述，但本发明并不限于这些实施例。
如图1-4所示，
一种应用于纸浆模塑机械手的转移装置包括内部设有密闭气 室0的湿坯转移模10，湿坯转移模10的正面设有至少一个能够套在纸浆湿坯容器外侧且向密闭气室0侧凹陷的内凹匹配型腔101，内凹匹配型腔101与纸浆湿坯容器相匹配，这种结构可以扩大与纸浆湿坯容器的接触面，可以提高取料效率和稳定性。
在每个内凹匹配型腔101的内壁和内凹匹配型腔101的底部分别用于将内凹匹配型腔101与密闭气室0连通的若干连通小孔102，设置在内凹匹配型腔101内壁的连通小孔102呈圆周均匀分布并合围形成至少一圈，设置在内凹匹配型腔101底部的连通小孔102呈圆周均匀分布并合围形成至少一圈，通过在不同的位置设计至少一圈连通小孔102，其可以确保取料的稳定性。
优化方案，在本实施例的内凹匹配型腔101底部设有两圈且每圈分别由若干呈圆周均匀分布连通小孔102合围形成。
其次，在内凹匹配型腔101底部中心设有用于将内凹匹配型腔101与密闭气室0连通的中心小孔103。
在湿坯转移模10的背面通过导向机构20连接有与湿坯转移模10平行的移动架30，这里的导向机构20包括若干相互平行且一端固定在湿坯转移模10背面的导柱201，在移动架30上设有若干导套固定孔，以及固定在导套固定孔上的导套202，所述的导套202一一套设在导柱201上且导套202和导柱201滑动连接。
导套202和导柱201的协同配合，可以进一步提高升降的平顺性和稳定性。
在湿坯转移模10的背面和移动架30之间连接有驱动器40且驱动器40驱动移动架30相对湿坯转移模10移动，驱动器40为气缸、油缸和直线电机中的任意一种。
在移动架30上设有若干间隔均匀的真空吸盘50，所述的真空吸盘50和密闭气室0分别与抽真空系统60连接。抽真空系统60包括抽真空管路，以及与抽真空管路连接的抽真空设备，抽真 空设备为商购品。
即，抽真空设备抽真空时迫使密闭气室0被抽真空，而此时利用连通小孔102和中心小孔103则可以将纸浆湿坯容器吸住并转移至成型模具内，即，成型模具的上模具或下模具内，同时，真空吸盘50通过驱动器的作用实现升或降从而将成型模具成型后的纸浆模塑产品吸取，可以同时完成转移和取放动作，大幅提高了生产加工效率。
释放时，将真空转为吹气即可。
具体地，本实施例的湿坯转移模10包括背面设有腔室1041的主模板104，腔室1041具有与外界连通的敞口，在主模板104的正面设有若干呈阵列分布的内凹匹配型腔101，在每个内凹匹配型腔101的内壁和内凹匹配型腔101的底部分别用于将内凹匹配型腔101与密闭气室0连通的若干连通小孔102，在腔室1041的内底部设有若干与所述的内凹匹配型腔101一一对应的内凸部1042，连通小孔102贯穿内凸部1042，本湿坯转移模10还包括用于将腔室1041的敞口封闭的封闭模板105，所述的主模板104和封闭模板105之间形成上述的密闭气室0。
内凸部1042和内凹匹配型腔101相对应，可以便于模具的开发，降低了制造难度。
湿坯不局限于上模，产品不局限于下模，就是说，湿坯可转移到上模也可以转移到下模，相应产品就从下模或上模取出，同样的装置就可以达到这个目的，通过装置正装或反装，或者通过机械手末端关节进行翻转，都可以；
湿坯转移或产品转移，是通过真空吸取，湿坯模具内有密闭气室，气室再连接到真空管路，吸盘连接真空管路。放开湿坯或产品，将真空转换为吹气即可
如图2-3所示，在腔室1041底部设有与封闭模板105靠近腔 室1041的一表面接触的加强支撑结构。具体地，本实施例的加强支撑结构包括若干横向间隔均匀的加强支撑凸起一1043，以及若干纵向间隔均匀的加强支撑凸起二1044，加强支撑凸起一1043位于同一直线上并位于腔室1041的横向中心位置，加强支撑凸起二1044位于同一直线上并位于腔室1041的纵向中心位置，所述的加强支撑凸起一1043和加强支撑凸起二1044形成十字形，加强支撑凸起一1043远离腔室1041底部的一端抵靠在封闭模板105靠近腔室1041的一表面，加强支撑凸起二1044远离腔室1041底部的一端抵靠在封闭模板105靠近腔室1041的一表面。
加强支撑凸起一1043和加强支撑凸起二1044可以进一步提高结构强度，以及延长了封闭模板105的使用寿命。
在每个加强支撑凸起一1043与封闭模板105抵靠的一端设有支撑平面一1045，在每个加强支撑凸起二1044与封闭模板105抵靠的一端设有支撑平面二1046，所述的支撑平面一1045和支撑平面二1046位于同一个水平面内。
支撑平面可以提高接触的稳定性和可靠性。
在腔室1041内壁设有若干依次连接的弧形凹面1047，上述内凸部1042中的位于最外侧的内凸部1042与弧形凹面1047一一对应。
还有，本实施例的内凹匹配型腔101以六个为一个区域且在湿坯转移模10的正面设有四个上述的区域。
其次，相邻的两个加强支撑凸起一1043之间通过弧形连接筋一1048连接，加强支撑凸起二1044有两个且位于最中部的加强支撑凸起一1043外侧，每个加强支撑凸起二1044和位于最中部的加强支撑凸起一1043之间通过弧形连接筋二1049连接。
另外，为了便于拆装连接，本实施例的主模板104和封闭模板105之间通过可拆卸连接结构连接。具体地，可拆卸连接结构 包括设置在主模板104周向的环形凸肩106，环形凸肩的厚度小于主模板104的厚度，主模板104的背面与环形凸肩的背面齐平，封闭模板105的每一侧边上分别穿设有锁紧螺栓，锁紧螺栓贯穿环形凸肩的过钉孔且在锁紧螺栓上套设有锁紧螺母，锁紧螺母与环形凸肩的正面接触。
在环形凸肩的正面设有与过钉孔连通的让位缺口107，锁紧螺母位于让位缺口内并与让位缺口的底面接触。
如图1-12所示，
一种纸浆模塑生产线包括纸浆模塑机械手3a和至少一台压机2a，压机包括下基座2和四根连接在下基座2顶部的竖直导柱21，以及连接在四根竖直导柱21上端的上模座3，还包括位于上模座3正下方且与所述的竖直导柱21活动连接的活动下模座4，活动下模座4与压机主缸41连接且压机主缸41驱动活动下模座4沿着竖直导柱21轴向升降，压机主缸41固定在下基座2中心，同时压机主缸41的伸缩杆朝上与活动下模座4的下表面中心连接。
在生产时，压机主缸41驱动活动下模座4上下升降，协同竖直导柱21，可以提高升降的稳定性和可靠性。
在纸浆模塑机械手3a上连接有转移装置Q,转移装置Q即为上述的“一种应用于纸浆模塑机械手的转移装置”，在压机2a上设有位于活动下模座4和上模座3之间的辅助架N，在压机上设有用于驱动所述辅助架在竖直方向升降的升降驱动机构5，纸浆模塑机械手迫使转移装置伸入至活动下模座和上模座之间且升降驱动机构驱动辅助架与转移装置接触并迫使转移装置向上或者向下竖直移动。
辅助架N包括呈水平设置的辅助推板1，辅助推板1其由金属材料制成或者非金属材料制成，只要能够满足强度要求的材料 都可以被本实施例采用。
在辅助推板1上设有多边形中心通孔11，优选方案，本实施例的多边形中心通孔11为八边形通孔。其可以形成模治具的置入并与模治具接触，在升降驱动机构的作用下迫使模治具升降。
其次，在辅助推板1周边设有与所述的八边形通孔的孔壁一一对应的外侧边，且所述的外侧边形成八边形。
其次，在八边形通孔的上孔口和下孔口分别设有圆弧倒角一111，在每个外侧边的两侧分别设有圆弧倒角二112。
圆弧倒角，其可以避免挤伤模治具或者是纸浆产品。
在辅助推板1的两端部且每一个端部分别设有两个悬臂凸台12，在每个悬臂凸台12上分别设有呈竖直设置的导向圆孔121，设置在同一端端的两个悬臂凸台12之间设有加强结构13。
具体地，上述的加强结构13包括连接在上述两个悬臂凸台12之间的横向加强筋131且横向加强筋131与辅助推板1的外壁连接，在横向加强筋131的中部设有纵向加强筋132且纵向加强筋132的内端与辅助推板1的外壁连接。
辅助推板1、悬臂凸台12、横向加强筋131和纵向加强筋132一体成型，其可以提高整体的结构强度。
升降驱动机构5其驱动辅助推板1在活动下模座4和上模座3之间升降，此时，在辅助推板1的作用下可以迫使连接在机械手上的模治具向上或者向下升降运动，机械手其无需再执行向上或者向下的推力动作，可以确保机械手工作的可靠性，同时，也延长了机械手的使用寿命，使得生产能够持续平稳地进行，更加符合企业的生产要求。
升降驱动机构5包括两个分别固定在下基座2顶部的固定架体51，在每个固定架体51内分别固定有气缸一52，且气缸一52的伸缩杆朝上并一一连接在横向加强筋131的下表面中部。
所述的固定架体51包括为矩形框体且呈竖直固定，在固定架体51的上端中心区域设有条形孔一511，在固定架体51的下端中心区域设有条形孔二512，气缸一52的伸缩杆贯穿条形孔一511且在气缸一52的缸体上端套设有固定板513，固定板513位于条形孔一511的孔口上表面且在固定板513上贯穿有若干螺栓一514，所述的螺栓一514与固定架体51的顶部螺纹孔螺纹连接，气缸一52的下端贯穿条形孔二512。
条形孔的设计，其便于位置的移动和调整。
压机作业时，此时的活动下模座4在压机主缸41的驱动下向上运动，然后在活动下模座4上的纸浆产品下模具和上模座3上的纸浆产品上模具相互配合进行纸浆产品的加工，加工完毕之后，此时的机械手其由于需要去取得纸浆产品，通过在机械手上安装模治具从而通过模治具将纸浆产品取得和到下一个工位释放，在取得或者释放的过程中，通过升降驱动机构5迫使辅助推板1在竖直方向升降，即，辅助推板1套在模治具上，可以辅助模治具升降，解决了利用机械手迫使模治具向上或者向下运动导致的报警现象。

Claims (10)

  1. 一种应用于纸浆模塑机械手的转移装置，其特征在于，本装置包括内部设有密闭气室的湿坯转移模，湿坯转移模的正面设有至少一个能够套在纸浆湿坯容器外侧且向密闭气室侧凹陷的内凹匹配型腔，内凹匹配型腔与纸浆湿坯容器相匹配，在每个内凹匹配型腔的内壁和内凹匹配型腔的底部分别用于将内凹匹配型腔与密闭气室连通的若干连通小孔，设置在内凹匹配型腔内壁的连通小孔呈圆周均匀分布并合围形成至少一圈，设置在内凹匹配型腔底部的连通小孔呈圆周均匀分布并合围形成至少一圈，在湿坯转移模的背面通过导向机构连接有与湿坯转移模平行的移动架，在湿坯转移模的背面和移动架之间连接有驱动器且驱动器驱动移动架相对湿坯转移模移动，在移动架上设有若干间隔均匀的真空吸盘，所述的真空吸盘和密闭气室分别与抽真空系统连接。
  2. 根据权利要求1所述的一种应用于纸浆模塑机械手的转移装置，其特征在于，在内凹匹配型腔底部设有两圈且每圈分别由若干呈圆周均匀分布连通小孔合围形成。
  3. 根据权利要求2所述的一种应用于纸浆模塑机械手的转移装置，其特征在于，所述的内凹匹配型腔底部中心设有用于将内凹匹配型腔与密闭气室连通的中心小孔。
  4. 根据权利要求1所述的一种应用于纸浆模塑机械手的转移装置，其特征在于，所述的湿坯转移模包括背面设有腔室的主模板，腔室具有与外界连通的敞口，在主模板的正面设有若干呈阵列分布的内凹匹配型腔，在每个内凹匹配型腔的内壁和内凹匹配型腔的底部分别用于将内凹匹配型腔与密闭气室连通的若干连通小孔，在腔室的内底部设有若干与所述的内凹匹配型腔一一对应的内凸部，连通小孔贯穿内凸部，本湿坯转移模还包括用于将腔室的敞口封闭的封闭模板，所述的主模板和封闭模板之间形成上述的密闭气室。
  5. 根据权利要求4所述的一种应用于纸浆模塑机械手的转移装置，其特征在于，所述的腔室底部设有与封闭模板靠近腔室的一表面接触的加强支撑结构。
  6. 根据权利要求5所述的一种应用于纸浆模塑机械手的转移装置，其特征在于，所述的加强支撑结构包括若干横向间隔均匀的加强支撑凸起一，以及若干纵向间隔均匀的加强支撑凸起二，加强支撑凸起一位于同一直线上并位于腔室的横向中心位置，加强支撑凸起二位于同一直线上并位于腔室的纵向中心位置，所述的加强支撑凸起一和加强支撑凸起二形成十字形，加强支撑凸起一远离腔室底部的一端抵靠在封闭模板靠近腔室的一表面，加强支撑凸起二远离腔室底部的一端抵靠在封闭模板靠近腔室的一表面。
  7. 根据权利要求6所述的一种应用于纸浆模塑机械手的转移装置，其特征在于，在每个加强支撑凸起一与封闭模板抵靠的一端设有支撑平面一，在每个加强支撑凸起二与封闭模板抵靠的一端设有支撑平面二，所述的支撑平面一和支撑平面二位于同一个水平面内。
  8. 根据权利要求6所述的一种应用于纸浆模塑机械手的转移装置，其特征在于，所述的腔室内壁设有若干依次连接的弧形凹面，上述内凸部中的位于最外侧的内凸部与弧形凹面一一对应。
  9. 根据权利要求1所述的一种应用于纸浆模塑机械手的转移装置，其特征在于，所述的导向机构包括若干相互平行且一端固定在湿坯转移模背面的导柱，在移动架上设有若干导套固定孔，以及固定在导套固定孔上的导套，所述的导套一一套设在导柱上且导套和导柱滑动连接。
  10. 一种纸浆模塑生产线，包括纸浆模塑机械手和至少一台压机，其特征在于，所述的纸浆模塑机械手上连接有转移装置，在 压机上设有位于活动下模座和上模座之间的辅助架，在压机上设有用于驱动所述辅助架在竖直方向升降的升降驱动机构，纸浆模塑机械手迫使转移装置伸入至活动下模座和上模座之间且升降驱动机构驱动辅助架与转移装置接触并迫使转移装置向上或者向下竖直移动。
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