An intelligent truss manipulator for material transportation

Abstract

The present invention discloses an intelligent truss manipulator for material transportation, belonging to the field of truss manipulators, comprising square columns symmetrically distributed on both sides, two X-axis beam frames arranged in parallel are connected between the square columns, a Y-axis beam frame is slidably mounted on the X-axis beam frame, a first walking mechanism is arranged on the Y-axis beam frame, a robot arm Z-axis is vertically arranged on the Y-axis beam frame, and the robot arm Z-axis is adjusted by displacement along the Y-axis beam frame through a second walking mechanism; an internal support and expansion mechanism is installed at the lower end of the robot arm Z-axis; the present invention particularly relates to the handling and transportation of I-shaped wheels, and the internal support and expansion mechanism used can clamp and lift each I-shaped wheel by a preset tightening action, and then correct the preset tightening action based on the load center of gravity of the I-shaped wheel to improve transportation stability.

Description

Technical Field

[0001] The invention belongs to the technical field of truss manipulators, and in particular is an intelligent truss manipulator for material transportation. Background Art

[0002] As an important industrial robot, truss manipulators are widely used in various industrial scenarios such as automobile manufacturing, electronic assembly, logistics warehousing, etc., and perform tasks such as material handling, assembly, and inspection efficiently and accurately. In traditional technologies, truss manipulators are mainly used in material transportation, especially the transportation of I-shaped wheels. Special clamps are inserted into the holes or grooves of the I-shaped wheels for lifting and moving, but the operation is difficult and can easily cause scratches or extrusion damage to the internal structure of the I-shaped wheels. The more common internal support and expansion mechanism currently uses an adjustable tensioning structure to fix the inside of the I-shaped wheel to achieve safer transportation, but the tensioning force is difficult to control. Using an overly strong tensioning method will cause cracks in the inside of the I-shaped wheel, and at the same time cause irreversible plastic deformation of the I-shaped wheel, affecting its subsequent precise positioning and rotation stability, and the tensioning and clamping effect achieved is average.

[0003] Therefore, it is necessary to provide an intelligent truss manipulator for material transportation to solve the problems raised in the above background technology. Summary of the invention

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent truss manipulator for material transportation, comprising square columns symmetrically distributed on both sides, two X-axis beam frames arranged in parallel are connected between the square columns, a Y-axis beam frame is slidably mounted on the X-axis beam frame, a first walking mechanism is arranged on the Y-axis beam frame, the Y-axis beam frame is displaced and adjusted along the X-axis beam frame by the first walking mechanism, a mechanical arm Z-axis is vertically arranged on the Y-axis beam frame, the mechanical arm Z-axis is displaced and adjusted along the Y-axis beam frame by a second walking mechanism, and the mechanical arm Z-axis is vertically slidably connected to the second walking mechanism;

[0005] An internal expansion mechanism is installed at the lower end of the Z axis of the mechanical arm, and the internal expansion mechanism can slide into the middle of each I-shaped wheel through the Z axis of the mechanical arm, and tighten after reaching a preset depth, so as to clamp and transport the I-shaped wheel;

[0006] The inner expansion mechanism comprises a first inner expansion unit, a second inner expansion unit is arranged cocentrically below the first inner expansion unit, a plurality of connecting rods are vertically fixed below the first inner expansion unit, one end of each connecting rod is slidably connected to the second inner expansion unit, a threaded rod is rotatably connected below the first inner expansion unit, and the threaded rod is slidably connected to the second inner expansion unit through threaded meshing;

[0007] An image scanning module is provided on the Z axis of the mechanical arm, and the image scanning module acquires the image of each I-shaped wheel through a visual sensor, thereby obtaining the inner diameter specification and load condition of the current I-shaped wheel; a positioning plate is fixed on the first inner support unit, a connecting column is slidably connected in the positioning plate, and a weighing sensor is distributed between the connecting column and the positioning plate; the inner support mechanism adopts a preset tightening action to clamp and lift each I-shaped wheel, thereby obtaining the weighing data of each I-shaped wheel through the weighing sensor;

[0008] When the weight measurement data of the I-spool is higher than the threshold value, the first inner supporting unit and the second inner supporting unit analyze the center of gravity of the I-spool load based on the weight measurement data of the weighing sensor and the I-spool load image, thereby correcting the preset tensioning action; at this time, the first inner supporting unit or the second inner supporting unit preferentially contacts the center of gravity position of the inner wall of the I-spool, and then the remaining other first inner supporting unit or the second inner supporting unit selects the optimal point for tensioning.

[0009] Further, as a preference, a mounting seat is fixed to the lower end of the Z axis of the mechanical arm, a rotating shaft is rotatably connected in the mounting seat, and one end of the internal expansion mechanism is fixed to the rotating shaft;

[0010] A driving wheel is arranged on the mounting seat, and the driving wheel is connected with the rotating shaft for transmission through a transmission chain.

[0011] Further, preferably, the first inner expansion unit has the same composition structure as the second inner expansion unit, the first inner expansion unit comprises a tube body, a plurality of tensioning plates are arranged on the inner circumference, each of the tensioning plates is radially slidably connected to the tube body, a shaft sleeve is fixed in the center of the tube body, a center tube is slidably connected in the shaft sleeve, a connecting liner 1 is fixed on the shaft sleeve, a plurality of articulated frames corresponding to the tensioning plates are distributed in the tube body, the articulated frames are arranged as X-shaped bracket structures, the articulated frames are all articulated with the connecting liner 1; an inner shaft body is vertically slidably connected in the tube body, a connecting plate is fixed on the center tube, the connecting plate is connected to the inner shaft body via a support rod arranged below, a connecting liner 2 is arranged on the inner shaft body, and the articulated frame is articulated with the connecting liner 2;

[0012] The upper end point of each of the articulated frames away from the center of the tube body is rotatably connected to the tensioning plate, a slide groove is vertically arranged on the tensioning plate, and the lower end point of each of the articulated frames away from the center of the tube body is slidably connected to the slide groove through an axle pin;

[0013] A sealed air chamber is arranged above the tube body, a piston is slidably connected in the sealed air chamber, and the upper end of the central tube is connected to the piston.

[0014] Further, as a preference, the central tube controls the synchronous displacement adjustment of the inner shaft body up and down during the vertical sliding of the central tube, so that the second connecting liner above the inner shaft body approaches or moves away from the first connecting liner;

[0015] The sealed air chamber is externally connected with an air pipe.

[0016] Further, as a preference, the lower end of the central tube is slidably connected to an inner rod, a spring is provided between the inner rod and the central tube, and the second connecting lining is fixed on the inner rod;

[0017] A catheter is rotatably connected to the inner shaft, the lower end of the inner rod is slidably inserted into the catheter, a guide groove is provided on the side wall of the catheter, a positioning pin is fixed on the inner rod, and the positioning pin slides along the guide groove.

[0018] Furthermore, preferably, the catheter controls the fine adjustment of the inner rod up and down through the sliding connection between the positioning pin and the guide groove during rotation adjustment; a bidirectional motor is fixed in the inner shaft, and the output end of the bidirectional motor is connected to the catheter.

[0019] Furthermore, as a preference, the side walls of the tensioning plates are provided with elastic membranes, and the elastic membranes are filled with sand particles;

[0020] A plurality of ultrasonic vibrators are arranged on the tensioning plate.

[0021] Furthermore, preferably, the first internal expansion unit and the second internal expansion unit fine-tune the tensioning strength of the tensioning plate according to the material properties of the I-shaped wheel, the smoothness of the coating and the inner wall structure through the forward and reverse rotation of the bidirectional motor. At this time, each ultrasonic vibrator can provide ultrasonic vibration to the sand particles in the elastic membrane to enable them to fully diffuse.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] In the present invention, for material handling, especially the handling and transportation of I-shaped wheels, the internal support and expansion mechanism used can preferentially adopt a preset tensioning action to clamp and lift each I-shaped wheel, thereby obtaining the load weight of the I-shaped wheel, and then correct the preset tensioning action based on the load center of gravity of the I-shaped wheel, so as to clamp and transport the I-shaped wheel with the load center of gravity of the I-shaped wheel as the clamping center as much as possible, wherein the first internal support and expansion unit and the second internal support and expansion unit mainly arranged can use multiple tensioning plates to contact the inner wall of the I-shaped wheel according to the inner diameter of the I-shaped wheel, and then based on the smoothness of the I-shaped wheel coating and the inner wall structure, the sand particles in the elastic membrane are fully in contact with the inner wall of the I-shaped wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention;

[0025] Figure 2It is a structural schematic diagram of the internal expansion mechanism in the present invention;

[0026] Figure 3 It is a cross-sectional view of the internal expansion mechanism of the present invention;

[0027] Figure 4 It is a structural schematic diagram of the first inner expansion unit in the present invention;

[0028] Figure 5 for Figure 4 The enlarged schematic diagram at A in the middle;

[0029] Figure 6 is a schematic diagram of the structure of the elastic membrane in the present invention;

[0030] Figure 7 It is a structural schematic diagram of the guide groove in the present invention;

[0031] In the figure: 1. square column; 11. X-axis beam frame; 12. second walking mechanism; 13. Z-axis of the robot arm; 14. mounting seat; 15. driving wheel; 2. internal support and expansion mechanism; 21. connecting rod; 22. second internal support and expansion unit; 23. threaded rod; 24. positioning plate; 25. connecting column; 26. weighing sensor; 3. first internal support and expansion unit; 31. tube body; 32. tensioning plate; 33. bushing; 34. center tube; 35. connecting lining 1; 36. articulated frame; 37. connecting plate; 38. slide groove; 39. piston; 4. inner shaft body; 41. inner rod; 42. guide tube; 43. guide groove; 44. bidirectional motor; 5. elastic membrane; 51. ultrasonic vibrator. DETAILED DESCRIPTION

[0032] See also Figure 1-Figure 7 In an embodiment of the present invention, an intelligent truss manipulator for material transportation comprises square columns 1 symmetrically distributed on both sides, two X-axis beam frames 11 arranged in parallel are connected between the square columns 1, a Y-axis beam frame is slidably mounted on the X-axis beam frame 11, a first walking mechanism is arranged on the Y-axis beam frame, the Y-axis beam frame is displaced and adjusted along the X-axis beam frame 11 by the first walking mechanism, a mechanical arm Z-axis 13 is vertically arranged on the Y-axis beam frame, the mechanical arm Z-axis 13 is displaced and adjusted along the Y-axis beam frame by a second walking mechanism 12, and the mechanical arm Z-axis 13 is vertically slidably connected to the second walking mechanism 12; thereby, the displacement adjustment of the mechanical arm Z-axis in the three directions of X, Y, and Z can be realized;

[0033] The lower end of the mechanical arm Z axis 13 is equipped with an internal expansion mechanism 2, which can slide into the middle of each I-shaped wheel through the mechanical arm Z axis 13, and tighten after reaching a preset depth, thereby clamping and transporting the I-shaped wheel;

[0034] The inner expansion mechanism 2 includes a first inner expansion unit 3, a second inner expansion unit 22 is arranged cocentrically below the first inner expansion unit 3, a plurality of connecting rods 21 are vertically fixed below the first inner expansion unit 3, one end of each connecting rod 21 is slidably connected to the second inner expansion unit 22, a threaded rod 23 is rotatably connected below the first inner expansion unit 3, and the threaded rod 23 is slidably connected to the second inner expansion unit 22 through threaded engagement; thereby effectively adjusting the distance between the first inner expansion unit 3 and the second inner expansion unit 22;

[0035] An image scanning module is provided on the Z axis 13 of the mechanical arm, and the image scanning module acquires the image of each I-shaped wheel through a visual sensor, so as to obtain the inner diameter specification and load condition of the current I-shaped wheel. A positioning plate 24 is fixed on the first inner support unit 3, and a connecting column 25 is slidably connected in the positioning plate 24, and a weighing sensor 26 is distributed between the connecting column 25 and the positioning plate 24; the inner support mechanism 2 adopts a preset tightening action to clamp and lift each I-shaped wheel, so as to obtain the weighing data of each I-shaped wheel through the weighing sensor 26; the preset tightening action is mainly used for temporary lifting and clamping of the I-shaped wheel, so as to weigh the load of the I-shaped wheel;

[0036] When the weight measurement data of the I-shaped wheel is higher than the threshold value, the first inner supporting unit 3 and the second inner supporting unit 22 analyze the center of gravity of the I-shaped wheel load according to the weight measurement data of the weighing sensor 26 and the load image of the I-shaped wheel, thereby correcting the preset tightening action; at this time, the first inner supporting unit 3 or the second inner supporting unit 22 preferentially contacts the center of gravity position of the inner wall of the I-shaped wheel, and then the remaining other first inner supporting unit 3 or the second inner supporting unit 22 selects the optimal point for tightening, wherein the optimal point is determined for secondary tightening and clamping, thereby ensuring the overall reliability of the tightening, wherein the method for selecting the optimal point can, on the one hand, determine the position that can provide the maximum stability and load-bearing capacity except the center of gravity as the tightening point through simulation analysis of the stress condition of the I-shaped wheel, that is, select the point with the most uniform stress or the most favorable point for the structure; or use computer-aided design and simulation software (CAE) to simulate the dynamic behavior of the I-shaped wheel under different tightening schemes, evaluate its performance under operation, loading and other conditions, select the tightening point layout with the best comprehensive performance, and combine industry experience and existing engineering practice standards.

[0037] In this embodiment, a mounting seat 14 is fixed to the lower end of the mechanical arm Z axis 13, a rotating shaft is rotatably connected inside the mounting seat 14, and one end of the internal expansion mechanism 2 is fixed to the rotating shaft;

[0038] The mounting seat 14 is provided with a driving wheel 15, and the driving wheel 15 is connected to the rotating shaft through a transmission chain, wherein the inner supporting mechanism can be rotated 90 degrees with the rotating shaft to adjust the movable joint of the inner supporting mechanism.

[0039] As a preferred embodiment, the first inner expansion unit 3 has the same composition structure as the second inner expansion unit 22, the first inner expansion unit 3 comprises a tube body 31, a plurality of tensioning plates 32 are arranged on its inner circumference, each of the tensioning plates 32 is radially slidably connected to the tube body 31, a shaft sleeve 33 is fixed at the center of the tube body 31, a center tube 34 is slidably connected to the shaft sleeve 33, a connecting liner 35 is fixed to the shaft sleeve 33, a plurality of articulated frames 36 corresponding to the tensioning plates 32 are distributed in the tube body 31, the articulated frames 36 are arranged as an X-shaped bracket structure, and the articulated frames 36 are all articulated to the connecting liner 35; an inner shaft body 4 is vertically slidably connected in the tube body 31, a connecting plate 37 is fixed on the center tube 34, the connecting plate 37 is connected to the inner shaft body 4 through a support rod arranged below, a connecting liner 2 is arranged on the inner shaft body 4, and the articulated frame 36 is articulated to the connecting liner 2;

[0040] The upper end of each articulated frame 36 away from the center of the tube body 31 is rotatably connected to the tensioning plate 32, and a slide groove 38 is vertically provided on the tensioning plate 32. The lower end of each articulated frame 36 away from the center of the tube body 31 is slidably connected to the slide groove 38 through an axle pin;

[0041] A sealed air chamber is provided above the tube body 31, and a piston 39 is slidably connected inside the sealed air chamber. The upper end of the center tube 34 is connected to the piston 39, that is, when the piston vertically slides and adjusts in the sealed air chamber, each articulated frame can drive the corresponding tensioning plate to slide radially under the displacement change of the connecting liner, so that the surface of the tensioning plate contacts the inner wall of the I-shaped wheel.

[0042] In this embodiment, the central tube 34 controls the synchronous displacement adjustment of the inner shaft body 4 up and down during the vertical sliding, so that the connecting liner 2 above the inner shaft body 4 approaches or moves away from the connecting liner 1 35;

[0043] The sealed air chamber is externally connected with an air pipe, and the air pipe can effectively regulate the air supply and exhaust in the sealed air chamber.

[0044] In this embodiment, the lower end of the central tube 34 is slidably connected to an inner rod 41, a spring is provided between the inner rod 41 and the central tube 34, and the second connecting liner is fixed on the inner rod 41;

[0045] The inner shaft 4 is rotatably connected with a guide tube 42 , the lower end of the inner rod 41 is slidably inserted into the guide tube 42 , a guide groove 43 is provided on the side wall of the guide tube 42 , a positioning pin is fixed on the inner rod 41 , and the positioning pin slides along the guide groove 43 .

[0046] In this embodiment, the guide tube 42 controls the inner rod 41 to be fine-tuned up and down through the sliding connection between the positioning pin and the guide groove 43 during the rotation adjustment; a bidirectional motor 44 is fixed in the inner shaft body 4, and the output end of the bidirectional motor 44 is connected to the guide tube 42. The bidirectional motor can drive the guide tube 42 to rotate forward and reverse, so that the inner rod 41 in the guide tube 42 controls the inner rod 41 to be adjusted up and down through the sliding action of the positioning pin and the guide groove 43, so as to make radial fine-tuning of each tensioning plate. The fine-tuning function can finely control the distribution of the tensioning force according to actual needs, avoid over-tightening or over-loosening, protect the surface of the I-shaped wheel from damage, and ensure firm clamping.

[0047] As a preferred embodiment, the side walls of the tensioning plate 32 are provided with an elastic membrane 5, and the elastic membrane 5 is filled with sand particles;

[0048] A plurality of ultrasonic vibrators 51 are arranged on the tensioning plate 32 .

[0049] In this embodiment, the first inner expansion unit 3 and the second inner expansion unit 22 fine-tune the tensioning strength of the tensioning plate 32 through the forward and reverse rotation of the bidirectional motor 44 according to the material properties of the I-shaped wheel, the smoothness of the coating and the inner wall structure. At this time, each ultrasonic vibrator 51 can provide ultrasonic vibration to the sand grains in the elastic membrane 5 to make it fully diffused, that is, in the radial fine-tuning process of the tensioning plate, after the tensioning plate contacts the inner wall of the I-shaped wheel, the bidirectional motor can continuously perform forward and reverse high-frequency rotation conversion. At this time, the tensioning plate can achieve continuous radial fine-tuning and expansion, and the sand grains in the elastic membrane can cooperate with the expansion of the tensioning plate during the operation of the ultrasonic vibrator to uniformly fill the sand grains. On the one hand, it can fully fit the special inner wall structure of the I-shaped wheel, and on the other hand, when there are slight differences or changes in the shape of the inner wall of the I-shaped wheel, it can also achieve a close fit with the inner wall through real-time adjustment. This dynamic adaptability greatly improves the stability and consistency during the clamping and transportation process.

[0050] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent truss manipulator for material transportation, characterized in that: It comprises square columns (1) symmetrically distributed on both sides, two X-axis beam frames (11) arranged in parallel are connected between the square columns (1), a Y-axis beam frame is slidably mounted on the X-axis beam frame (11), a first walking mechanism is arranged on the Y-axis beam frame, the Y-axis beam frame is displaced and adjusted along the X-axis beam frame (11) by the first walking mechanism, a mechanical arm Z axis (13) is vertically arranged on the Y-axis beam frame, the mechanical arm Z axis (13) is displaced and adjusted along the Y-axis beam frame by a second walking mechanism (12), and the mechanical arm Z axis (13) is vertically slidably connected to the second walking mechanism (12); An internal expansion mechanism (2) is installed at the lower end of the mechanical arm Z axis (13), and the internal expansion mechanism (2) can slide through the mechanical arm Z axis (13) to penetrate into the middle of each I-shaped wheel and tighten after reaching a preset depth, thereby clamping and transporting the I-shaped wheel; The inner expansion mechanism (2) comprises a first inner expansion unit (3), below which a second inner expansion unit (22) is cocentrically arranged, a plurality of connecting rods (21) are vertically fixed below the first inner expansion unit (3), one end of each connecting rod (21) is slidably connected to the second inner expansion unit (22), a threaded rod (23) is rotatably connected below the first inner expansion unit (3), and the threaded rod (23) is slidably connected to the second inner expansion unit (22) through threaded meshing action; An image scanning module is provided on the Z axis (13) of the mechanical arm, and the image scanning module acquires an image of each I-shaped wheel through a visual sensor, thereby obtaining the inner diameter specification and load condition of the current I-shaped wheel; a positioning plate (24) is fixed on the first inner support unit (3), a connecting column (25) is slidably connected inside the positioning plate (24), and a weighing sensor (26) is distributed between the connecting column (25) and the positioning plate (24); the inner support mechanism (2) adopts a preset tightening action to clamp and lift each I-shaped wheel, thereby obtaining weighing data of each I-shaped wheel through the weighing sensor (26); When the weight measurement data of the I-shaped wheel is higher than the threshold value, the first inner expansion unit (3) and the second inner expansion unit (22) analyze the gravity center of the I-shaped wheel load according to the weight measurement data of the weight measurement sensor (26) and the I-shaped wheel load image, thereby correcting the preset tensioning action; at this time, the first inner expansion unit (3) or the second inner expansion unit (22) preferentially contacts the gravity center position of the inner wall of the I-shaped wheel, and then the remaining other first inner expansion unit (3) or the second inner expansion unit (22) selects the optimal point for tensioning; A mounting seat (14) is fixed to the lower end of the Z axis (13) of the mechanical arm, a rotating shaft is rotatably connected inside the mounting seat (14), and one end of the internal expansion mechanism (2) is fixed to the rotating shaft; A driving wheel (15) is arranged on the mounting seat (14), and the driving wheel (15) is connected to the rotating shaft for transmission via a transmission chain; The first internal expansion unit (3) has the same composition structure as the second internal expansion unit (22). The first internal expansion unit (3) comprises a tube body (31) having a plurality of expansion plates (32) arranged on its inner circumference. Each of the expansion plates (32) is radially slidably connected to the tube body (31). A shaft sleeve (33) is fixed at the center of the tube body (31). A center tube (34) is slidably connected to the shaft sleeve (33). A connecting liner (35) is fixed to the shaft sleeve (33). A plurality of expansion plates (32) are distributed in the tube body (31) and are connected to the tube body (31). The articulated frame (36) corresponding to the tensioning plate (32) is configured as an X-shaped bracket structure, and the articulated frame (36) is hingedly connected to the first connecting lining member (35); an inner shaft body (4) is vertically slidably connected in the tube body (31), a connecting plate (37) is fixed on the central tube (34), and the connecting plate (37) is connected to the inner shaft body (4) via a support rod arranged below; a second connecting lining member is arranged on the inner shaft body (4), and the articulated frame (36) is hingedly connected to the second connecting lining member; An upper end point on each of the articulated frames (36) away from the center of the tube body (31) is rotatably connected to the tensioning plate (32), a slide groove (38) is vertically provided on the tensioning plate (32), and a lower end point on each of the articulated frames (36) away from the center of the tube body (31) is slidably connected to the slide groove (38) via an axle pin; A sealed air chamber is provided above the tube body (31), a piston (39) is slidably connected inside the sealed air chamber, and the upper end of the central tube (34) is connected to the piston (39); The central tube (34) controls the synchronous upward and downward displacement adjustment of the inner shaft body (4) during vertical sliding, so that the second connecting liner above the inner shaft body (4) approaches or moves away from the first connecting liner (35); The sealed air chamber is externally connected with an air pipe; The lower end of the central tube (34) is slidably connected to an inner rod (41), a spring is provided between the inner rod (41) and the central tube (34), and the second connecting lining is fixed on the inner rod (41); The inner shaft (4) is rotatably connected to a guide tube (42), the lower end of the inner rod (41) is slidably connected to the guide tube (42), a guide groove (43) is provided on the side wall of the guide tube (42), a positioning pin is fixed to the inner rod (41), and the positioning pin slides along the guide groove (43); The guide tube (42) controls the inner rod (41) to be finely adjusted up and down through the sliding connection between the positioning pin and the guide groove (43) during rotation adjustment; a bidirectional motor (44) is fixed inside the inner shaft (4), and the output end of the bidirectional motor (44) is connected to the guide tube (42).

2. The intelligent truss manipulator for material transportation according to claim 1, characterized in that: The side walls of the tensioning plates (32) are each provided with an elastic membrane (5), and the elastic membrane (5) is filled with sand particles; A plurality of ultrasonic vibrators (51) are arranged on the tensioning plate (32).

3. The intelligent truss manipulator for material transportation according to claim 2, characterized in that: The first inner expansion unit (3) and the second inner expansion unit (22) finely adjust the tensioning strength of the tensioning plate (32) according to the material properties of the I-shaped wheel, the smoothness of the coating and the inner wall structure through the forward and reverse rotation of the bidirectional motor (44), and at this time, each ultrasonic vibrator (51) can provide ultrasonic vibration to the sand particles in the elastic membrane (5) to fully diffuse them.

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