Stacking manipulator for waterproof material production

Abstract

The invention discloses a stacking manipulator for waterproof material production, which relates to the technical field of stacking equipment, and comprises a base fixed on an industrial manipulator, an outer cylinder body is fixedly connected on the base, a middle cylinder body and an inner cylinder body are sequentially connected in the outer cylinder body in a sliding manner, expansion rings are respectively fixed at the tail ends of the outer cylinder body, and inner expansion cylinders and inner expansion blocks are arranged on the expansion rings; the inner expansion block is pushed by hydraulic pressure or air pressure to move outwards to achieve expansion clamping of the inner wall of the material winding drum, a clamping cylinder body and a clamping piston are arranged on the outer side of the outer cylinder body, the clamping piston drives a clamping rod to move inwards to clamp the outer wall of the material winding drum, and the adjusting device comprises an adjusting pipe, an adjusting sleeve, an adjusting ball and a conical spring. According to the invention, the connection pressure and the clamping force of the clamping mechanism can be adjusted, the requirements of different materials and specifications are met, the inside and the outside of a material reel can be clamped simultaneously, the material is prevented from being scattered or damaged, the device is suitable for material reels with different lengths, and the automation degree and the production efficiency of waterproof material production are improved.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing equipment, in particular to a palletizing robot for waterproof material production. Background Art

[0002] Waterproof materials, especially waterproof membranes, need to go through winding, handling and stacking during the production process. Traditional waterproof membrane stacking methods mostly rely on manual or simple mechanical equipment, which has problems such as low efficiency, high labor intensity and unstable clamping. In order to improve production efficiency and automation, robots are increasingly used in the production of waterproof materials. However, existing waterproof membrane stacking robots still have some shortcomings in terms of clamping method and applicability.

[0003] The specification of Chinese invention patent CN105151807B discloses a clamping and upright mechanism for stacking waterproof coiled materials, including a main column, which is fixedly connected to a mounting base below, an upright cylinder is arranged below the mounting base, the tail end of the upright cylinder is hinged to one end of the mounting base, the front end of the upright cylinder is hinged to the grabbing base below, the other end of the mounting base is rotatably arranged on the grabbing base through a rotating center seat, a grabbing spindle is arranged below the grabbing base, the grabbing spindle is rotatably arranged on the grabbing base through a bearing, a fixed clamping claw is arranged on one side of the grabbing spindle, a movable clamping claw is fixedly connected to the grabbing spindle, the movable clamping claw and the fixed clamping claw form a clamping cooperation, a grabbing cylinder is fixed on the grabbing base, the cylinder rod of the grabbing cylinder is hinged and drives the grabbing spindle to rotate, the invention has a simple and economical structure, and a buffer can be arranged to prevent the coiled material packaging from being damaged due to excessive clamping claw force.

[0004] The specification of Chinese invention patent application CN118683983A discloses a stacking fixture and robot for waterproof membranes, comprising a top plate and oppositely arranged side plates, wherein a clamping space is formed between the inner sides of the two side plates; a driving member for driving the two side plates to move closer to or away from each other; a clamping device, comprising a plurality of clamping members parallel to each other, wherein the distances between adjacent clamping members are kept equal, the clamping members comprising oppositely arranged load-bearing columns and a fixed separation portion, the clamping members having a first position and a second position, the fixed separation portion being used to fix or separate the load-bearing columns and the side plates before the side plates approach each other and the clamping members transition from the first position to the second position. Through this invention, a plurality of tireless waterproof membranes can be clamped at one time according to the number of waterproof membranes required for the stacking layers, thereby greatly improving the stacking efficiency.

[0005] The above design clamps the waterproof membrane by claws or side plates to achieve the stacking function of the waterproof membrane, but there are still certain limitations, such as: single clamping method: only clamping the outside of the membrane, it is easy to cause uneven force on the surface of the membrane, which may damage the material, especially during the transportation process, the membrane may spread or slide, poor adaptability: for membranes of different lengths and specifications, the equipment has poor adaptability and needs to adjust or replace the clamps, affecting production efficiency, insufficient clamping stability: the clamping mechanism is difficult to ensure the stability of the membrane under the requirements of efficient and stable stacking. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a stacking robot for waterproof material production to solve the above-mentioned problems.

[0007] The objective of the present invention is achieved through the following technical solutions: a stacking robot for waterproof material production, comprising an industrial robot, and the industrial robot is fixedly connected to a base, the base is fixedly connected to an outer cylinder, the outer cylinder is slidably connected to a middle cylinder, the middle cylinder is slidably connected to an inner cylinder, the outer cylinder, the middle cylinder and the inner cylinder are respectively fixedly connected to expansion rings 1, 2 and 3 at one end away from the base, the expansion rings 1, 2 and 3 are respectively connected to the inner parts of the corresponding outer cylinder, the middle cylinder and the inner cylinder at one end away from the base, and the outer cylinder is connected to an external hydraulic cylinder through a pipeline at one end close to the base. Or connected to the pneumatic system, a plurality of clamping cylinder bodies 1 are fixedly connected to the outer end of the outer cylinder near the base, a clamping cylinder body 2 is provided on the side of each clamping cylinder body 1 away from the base, clamping pistons are slidably connected in the clamping cylinder bodies 1 and 2, the clamping pistons in the clamping cylinder bodies 1 and 2 are fixedly connected to the same clamping rod at the end away from the outer cylinder body, an adjusting device is fixedly connected to the end of the clamping cylinder bodies 1 and 2 away from the outer cylinder body, the adjusting device includes an adjusting tube, an adjusting sleeve is threadedly connected to the adjusting tube, a boss is provided in the adjusting sleeve, and an adjusting ball is provided in the adjusting sleeve at a position corresponding to the adjusting sleeve.

[0008] The present invention provides a clamping mechanism that clamps both inside and outside at the same time, adopts a telescopic structure of an outer cylinder body, a middle cylinder body and an inner cylinder body, and expansion rings are fixed to the ends respectively. The expansion rings are provided with an inner expansion cylinder and an inner expansion block. The inner expansion block is pushed by hydraulic pressure or pneumatic pressure to move outward to achieve expansion clamping of the inner wall of the material roll. A clamping cylinder body and a clamping piston are provided on the outside of the outer cylinder body. The clamping piston drives the clamping rod to move inward to clamp the outer wall of the material roll. The adjusting device includes an adjusting tube, an adjusting sleeve, an adjusting ball and a conical spring, which can adjust the conduction pressure and clamping force of the clamping mechanism to meet the needs of different materials and specifications.

[0009] The present invention can clamp the inside and outside of the material roll at the same time, with high clamping stability, avoiding the material from spreading or sliding during transportation, and protecting the quality of the material. Through the telescopic cooperation of the outer cylinder body, the middle cylinder body and the inner cylinder body, it can adapt to material rolls of different lengths. It is flexible to use, and the setting of the adjustment device makes the action time and clamping force of the clamping mechanism adjustable. The operation is convenient, the overall structure is optimized, the response speed is fast, the reliability is high, and the automation degree and production efficiency of the waterproof material production are improved.

[0010] Both ends of the adjusting ball along the axis direction of the adjusting sleeve are fixedly connected with springs, both springs are conical springs, and the end with a smaller diameter of the conical spring is fixedly connected to the adjusting ball.

[0011] The inner wall of the adjusting sleeve away from the boss end is threadedly connected with an adjusting plug, one of the springs is located between the adjusting ball and the adjusting plug and is fixedly connected to the adjusting plug, a retaining ring is provided on the inner wall of the adjusting sleeve away from the adjusting plug, and another spring is abutted against the retaining ring in the adjusting sleeve at the end away from the adjusting ball.

[0012] The expansion ring 1, the expansion ring 2 and the expansion ring 3 all include a fixed ring, and a plurality of inner expansion cylinders are fixedly connected to the fixed ring, and an inner expansion block is slidably connected in each inner expansion cylinder.

[0013] The ends of the multiple inner expansion cylinders close to each other are connected to the interior of the corresponding expansion rings 1, 2 and 3 close to the base through the adjustment device, and the ends of the inner expansion blocks away from the inner expansion cylinders are all arc structures.

[0014] The clamping rods are fixedly connected to the clamping pistons on the corresponding clamping cylinder bodies 1 and 2 by bolts, the top and bottom ends of the fixed rings on the expansion ring 1, the expansion ring 2 and the expansion ring 3 are fixedly connected with guide plates, and the multiple internal expansion blocks are slidably connected to the guide plates on the corresponding expansion rings 1, the expansion ring 2 and the expansion ring 3.

[0015] A plurality of through holes are provided on the adjusting sleeve at a position between the boss and the adjusting plug, and an annular groove is provided at the outer end of the adjusting sleeve at positions corresponding to the plurality of through holes.

[0016] A connecting pipe is fixedly connected at the corresponding positions of the regulating pipe and the annular groove of the regulating sleeve, and one end of the connecting pipe away from the regulating pipe is fixedly connected to the outer cylinder body.

[0017] The connecting pipe connects the inner wall of the outer cylinder with the adjusting sleeve, the outer diameter of the adjusting ball is smaller than the inner diameter of the boss, and a breathing hole for communicating with the outside is opened at one end of the adjusting pipe close to the outer cylinder.

[0018] The beneficial effects of the present invention are: 1. Simultaneous clamping inside and outside to improve clamping stability. The manipulator clamps the outer wall and inner wall of the material roll synchronously through the external clamping rod and the internal expansion block. The clamping rod is driven by the clamping piston, and the internal expansion block is pushed by the internal expansion cylinder, realizing double clamping inside and outside the material roll, effectively preventing the material from scattering or sliding during the transfer process, and ensuring the integrity and stability of the material.

[0019] 2. It can adapt to material rolls of different lengths and has strong applicability. The outer cylinder, middle cylinder and inner cylinder are connected by sliding and can be extended or retracted step by step. By controlling the extension length of the inner cylinder and the middle cylinder, the manipulator can be adjusted according to material rolls of different lengths. It has strong adaptability and flexible use to meet various production needs.

[0020] 3. The regulating device has adjustable conduction pressure and flexible operation. The regulating device consists of an adjusting tube, an adjusting sleeve, an adjusting ball, a conical spring and an adjusting plug. By rotating the adjusting sleeve and the adjusting plug, the compression degree of the conical spring can be changed, thereby adjusting the opening pressure of the adjusting ball. In this way, the operator can flexibly control the action time and clamping force of the clamping mechanism according to the characteristics of the material and the clamping requirements, ensuring that the material is not damaged during handling and stacking.

[0021] 4. Structural optimization to improve response speed and reliability. In Example 3, by setting a through hole and an annular groove on the adjusting sleeve and adding a connecting pipe, the flow path of the hydraulic oil or compressed air is smoother, reducing the pressure loss. The outer diameter of the adjusting ball is smaller than the inner diameter of the boss, ensuring the flexible movement of the adjusting ball in the adjusting sleeve. The breathing hole at one end of the adjusting tube close to the outer cylinder body ensures the pressure balance between the inside of the adjusting device and the outside world, thereby improving the response speed and reliability of the clamping mechanism.

[0022] 5. Avoid damage to materials and protect material quality. The far end of the inner expansion block is an arc structure, which can fit closely with the inner wall of the material roll, making the clamping more stable and less likely to damage the material. The design of the clamping rod also avoids excessive pressure on the material and prevents damage to the material. It is particularly suitable for the production and handling of waterproof materials with high surface quality requirements.

[0023] 6. Improve production efficiency and reduce labor intensity. The automated clamping and stacking functions of the manipulator reduce manual operations, improve production efficiency, and reduce the labor intensity of workers, which is beneficial for enterprises to reduce production costs and improve production benefits.

[0024] 7. It can clamp eccentric materials and has a wide range of applications. By adjusting the action time and pressure of the clamping mechanism through the adjustment device, the manipulator can clamp eccentric material rolls, which is more adaptable and can meet the needs of different production conditions. It has a wide range of applicability.

[0025] 8. Easy maintenance and high reliability. The connection of each component is made by bolt or thread connection, which is convenient for disassembly and maintenance. The top and bottom ends of the fixed ring on the expansion ring are fixedly connected with guide plates. The inner expansion block is slidably connected with the guide plate to ensure the stability of the inner expansion block during radial movement, reduce mechanical wear, and improve the reliability and service life of the equipment.

[0026] 9. Compact structure, small space occupation, the various components of the manipulator are compactly and reasonably designed. When installed on the industrial manipulator, it occupies a small space and does not affect the layout of the production line. It is convenient to transform and upgrade the existing production line, thereby improving the automation level of waterproof material production. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is the overall structure diagram of the present invention; Figure 2 It is an overall exploded view of the present invention; Figure 3 It is a usage state diagram of the present invention; Figure 4 The local explosion of the present invention Figure 1 ; Figure 5 The local explosion of the present invention Figure 2 ; Figure 6 It is a partial structural diagram of the regulating device of the present invention; Figure 7 It is a front view of the present invention; Figure 8 For the present invention Figure 7 Middle AA section view; Fig. 9 For the present invention Figure 8 Middle BB section view; Fig.10 For the present invention Figure 8 Middle CC section view; Fig.11 For the present invention Figure 8 Enlarged view of point D in the middle; Fig.12 For the present invention Fig. 9 Enlarged view of point E in the middle; Fig.13 It is the appearance structure diagram of the present invention.

[0028] Description of the symbols in the figure 1. Base; 2. Outer cylinder; 3. Middle cylinder; 4. Inner cylinder; 5. Expansion ring 1; 6. Expansion ring 2; 7. Expansion ring 3; 8. Clamping cylinder 1; 9. Clamping cylinder 2; 10. Clamping piston; 11. Clamping rod; 12. Adjusting tube; 13. Adjusting sleeve; 14. Boss; 15. Adjusting ball; 16. Spring; 17. Adjusting plug; 18. Inner expansion cylinder; 19. Inner expansion block; 20. Connecting pipe; 21. Adjusting device. DETAILED DESCRIPTION

[0029] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0030] It is to be noted that the concepts of directions “left”, “right”, “up”, “down”, “front”, “back”, “inside” and “outside” in the following schemes are all relative directions and will not be listed one by one here.

[0031] Example 1 like Figures 1 to 13 As shown, this embodiment provides a stacking robot for waterproof material production, including an industrial robot, the industrial robot is fixedly connected to a base 1, the base 1 is fixedly connected to an outer cylinder body 2, the outer cylinder body 2 is slidably connected to a middle cylinder body 3, the middle cylinder body 3 is slidably connected to an inner cylinder body 4, the outer cylinder body 2, the middle cylinder body 3 and the inner cylinder body 4 are fixedly connected to an expansion ring 1 5, an expansion ring 2 6 and an expansion ring 3 7 at one end away from the base 1, respectively, and the expansion ring 1 5, the expansion ring 2 6 and the expansion ring 3 7 are respectively connected to the interior of the corresponding outer cylinder body 2, the middle cylinder body 3 and the inner cylinder body 4 at one end away from the base 1.

[0032] One end of the outer cylinder body 2 close to the base 1 is connected to the external hydraulic or pneumatic system through a pipeline, and a plurality of clamping cylinder bodies 8 are fixedly connected to the position of the outer end of the outer cylinder body 2 close to the base 1, and each clamping cylinder body 8 is provided with a clamping cylinder body 2 9 on the side away from the base 1, and clamping pistons 10 are slidably connected in the clamping cylinder bodies 18 and the clamping cylinder bodies 2 9, and the clamping pistons 10 in the clamping cylinder bodies 18 and the clamping cylinder bodies 2 9 are fixedly connected to the same clamping rod 11 at the end away from the outer cylinder body 2, and the clamping cylinder bodies 18 and the clamping cylinder bodies 2 9 are fixedly connected to the end away from the outer cylinder body 2 with an adjusting device 21.

[0033] The adjusting device 21 includes an adjusting tube 12, an adjusting sleeve 13 is connected to the adjusting tube 12 through an internal thread, a boss 14 is provided in the adjusting sleeve 13, an adjusting ball 15 is provided in the adjusting sleeve 13 at a position corresponding to the adjusting sleeve 13, and springs 16 are fixedly connected to the adjusting ball 15 at both ends along the axial direction of the adjusting sleeve 13. Both springs 16 are conical springs, and the end with a smaller diameter of the conical spring is fixedly connected to the adjusting ball 15. An adjusting plug 17 is threadedly connected to the inner wall of the adjusting sleeve 13 at one end away from the boss 14, one of the springs 16 is located between the adjusting ball 15 and the adjusting plug 17 and is fixedly connected to the adjusting plug 17, a retaining ring is provided on the inner wall of the adjusting sleeve 13 at one end away from the adjusting plug 17, and the other spring 16 is against the retaining ring in the adjusting sleeve 13 at one end away from the adjusting ball 15.

[0034] Working process: When in use, first fix the base 1 to the industrial manipulator. When it is necessary to clamp the material, the outer cylinder 2, the middle cylinder 3 and the inner cylinder 4 are sequentially extended into the material reel, and the external hydraulic or pneumatic system is started. The hydraulic oil or compressed air enters the outer cylinder 2 through the pipeline. Under the action of pressure, the inner cylinder 4 and the middle cylinder 3 are extended step by step. When the inner cylinder 4 and the middle cylinder 3 are extended to the predetermined position, the hydraulic oil or compressed air enters the clamping cylinder 1 8 and the clamping cylinder 2 9 through the adjusting device 21.

[0035] Under the action of pressure, the clamping pistons 10 in the clamping cylinders 1 8 and 9 slide inward, driving the clamping rod 11 to move toward the direction close to the outer cylinder 2. The movement of the clamping rod 11 makes it close to the outer wall of the material roll, thereby achieving a stable clamping of the material. The adjusting ball 15 in the adjusting device 21 is pushed under the action of pressure, compressing the spring 16, so that the hydraulic oil or compressed air can smoothly enter the clamping cylinders 1 8 and 9, thereby controlling the moving speed and strength of the clamping piston 10.

[0036] When it is necessary to release the material, the hydraulic or pneumatic system is turned off to release the pressure in the outer cylinder 2. The elastic action of the spring 16 restores the adjusting ball 15 to its original position, preventing the hydraulic oil or compressed air from continuing to enter the clamping cylinder 1 8 and the clamping cylinder 2 9. The clamping piston 10 is reset in the direction away from the outer cylinder 2 under the action of its own structure or the external spring, and the clamping rod 11 releases the clamping of the material. Subsequently, the inner cylinder 4 and the middle cylinder 3 gradually retract under the action of gravity or reverse pressure to complete the entire working cycle.

[0037] This embodiment achieves a firm clamping of the outer wall of the material roll by setting up clamping cylinder body 1 8 and clamping cylinder body 2 9, and the cooperation of clamping piston 10 and clamping rod 11. The introduction of the adjusting device 21 makes the entry of hydraulic oil or compressed air controlled by the adjusting ball 15 and spring 16, and the clamping force and speed can be adjusted according to actual needs to adapt to material rolls of different materials and specifications.

[0038] The design of the adjusting sleeve 13, the adjusting plug 17 and the spring 16 allows the conduction pressure of the adjusting device 21 to be easily adjusted. By rotating the adjusting sleeve 13 and the adjusting plug 17, the compression degree of the spring 16 can be changed, thereby adjusting the opening pressure of the adjusting ball 15. In this way, the operator can flexibly control the action of the clamping mechanism according to the characteristics of the material and the clamping requirements, thereby ensuring that the material is not damaged during the handling and stacking process.

[0039] The use of the conical spring 16 improves the sensitivity and response speed of the adjustment device 21. Since the conical spring has nonlinear elastic characteristics, it can respond quickly when the pressure changes, ensuring the timely action of the clamping mechanism. The design of the clamping rod 11 enables it to apply pressure evenly to avoid local damage to the material roll.

[0040] The overall structural design is compact, and the telescopic cooperation of the outer cylinder 2, the middle cylinder 3 and the inner cylinder 4 is utilized to adapt to material rolls of different lengths. The manipulator is easy to operate, and the clamping and releasing processes are fast and efficient, thereby improving the automation level and production efficiency of the waterproof material production.

[0041] Example 2 like Figures 1 to 13 As shown, based on Example 1, this embodiment further adds an internal expansion mechanism to achieve reliable clamping of the inner wall of the material roll.

[0042] The industrial robot is fixedly connected to a base 1, to which an outer cylinder body 2 is fixedly connected, a middle cylinder body 3 is slidably connected inside the outer cylinder body 2, an inner cylinder body 4 is slidably connected inside the middle cylinder body 3, and an expansion ring 1 5, an expansion ring 2 6 and an expansion ring 3 7 are fixedly connected to the ends of the outer cylinder body 2, the middle cylinder body 3 and the inner cylinder body 4 away from the base 1 respectively.

[0043] Expansion ring 1 5, expansion ring 2 6 and expansion ring 3 7 all include a fixed ring, to which a plurality of inner expansion cylinders 18 are fixedly connected, each inner expansion cylinder 18 is slidably connected with an inner expansion block 19, and expansion ring 1 5, expansion ring 2 6 and expansion ring 3 7 are respectively connected to the interior of the corresponding outer cylinder body 2, middle cylinder body 3 and inner cylinder body 4 away from the base 1.

[0044] The ends of the multiple internal expansion cylinders 18 that are close to each other are connected to the interior of the corresponding expansion ring 1 5, expansion ring 2 6 and expansion ring 3 7 close to the base 1 through the adjustment device 21, and the ends of the internal expansion blocks 19 that are away from the internal expansion cylinders 18 are all arc structures to facilitate close contact with the inner wall of the material roll.

[0045] The end of the outer cylinder body 2 close to the base 1 is connected to the external hydraulic or pneumatic system through a pipeline, and a plurality of clamping cylinder bodies 8 are fixedly connected to the position of the outer end of the outer cylinder body 2 close to the base 1, and each clamping cylinder body 8 is provided with a clamping cylinder body 2 9 on the side away from the base 1, and clamping pistons 10 are slidably connected in the clamping cylinder bodies 18 and the clamping cylinder bodies 2 9, and the ends of the clamping pistons 10 away from the outer cylinder body 2 are fixedly connected to the same clamping rod 11 by bolts, and the ends of the clamping cylinder bodies 18 and the clamping cylinder bodies 2 9 away from the outer cylinder body 2 are fixedly connected with adjusting devices 21.

[0046] The top and bottom ends of the fixed rings on the expansion ring 1 5, the expansion ring 2 6 and the expansion ring 3 7 are fixedly connected with guide plates, and the multiple internal expansion blocks 19 are slidingly connected with the guide plates on the corresponding expansion rings 1 5, the expansion ring 2 6 and the expansion ring 3 7 to ensure the stable movement of the internal expansion blocks 19 in the radial direction.

[0047] Working process: When in use, the base 1 is fixedly connected to the industrial manipulator. When the material needs to be clamped, the outer cylinder 2, the middle cylinder 3 and the inner cylinder 4 are extended into the material roll, and the external hydraulic or pneumatic system is started. The hydraulic oil or compressed air enters the outer cylinder 2 through the pipeline. Under the action of pressure, the inner cylinder 4 and the middle cylinder 3 are extended step by step to adapt to material rolls of different lengths.

[0048] When the inner cylinder body 4 and the middle cylinder body 3 are extended to the predetermined position, the hydraulic oil or compressed air enters the expansion ring 1 5, the expansion ring 2 6 and the expansion ring 3 7 through the regulating device 21, and further enters the inner expansion cylinder 18. The hydraulic oil or compressed air in the inner expansion cylinder 18 pushes the inner expansion block 19 to move outward. The end of the inner expansion block 19 away from the inner expansion cylinder 18 is an arc structure, which contacts the inner wall of the material roll, thereby achieving expansion and clamping of the inner wall of the material roll.

[0049] At the same time, hydraulic oil or compressed air enters the clamping cylinder 1 8 and the clamping cylinder 2 9 through the regulating device 21, pushing the clamping piston 10 to drive the clamping rod 11 to move toward the direction close to the outer cylinder 2, thereby clamping the outer wall of the material roll.

[0050] With the joint action of the inner and outer clamping mechanisms, the material roll is firmly clamped to prevent it from sliding or loosening during transportation.

[0051] When the material needs to be released, the hydraulic or pneumatic system is turned off to release the pressure in the outer cylinder 2. The inner expansion block 19 retracts to the initial position under the action of the elastic element or its own weight. The clamping piston 10 is reset under the action of the spring or external force. The clamping rod 11 releases the clamping of the material. The inner cylinder 4 and the middle cylinder 3 gradually retract under the action of gravity or reverse pressure to complete the placement of the material and the resetting of the manipulator.

[0052] In this embodiment, an inner expansion cylinder 18 and an inner expansion block 19 are arranged on expansion ring 1 5, expansion ring 2 6 and expansion ring 3 7, thereby achieving expansion and clamping of the inner wall of the material roll. The inner expansion block 19 is an arc structure at one end away from the inner expansion cylinder 18, which makes closer contact with the inner wall of the material roll and more stable clamping.

[0053] The top and bottom ends of the fixed ring on the expansion ring are fixedly connected with guide plates, and the inner expansion block 19 is slidably connected to the guide plates to ensure the stability of the inner expansion block 19 when moving radially and avoid uneven clamping due to offset.

[0054] The clamping rod 11 is fixedly connected to the clamping piston 10 by bolts, which is convenient for disassembly and maintenance and improves the reliability of the device.

[0055] Through the cooperation of the inner and outer clamping mechanisms, the inner and outer walls of the material roll are clamped at the same time to prevent the material from spreading, thus ensuring the safety and stability of the handling process.

[0056] The application of the adjusting device 21 enables the actions of the inner expansion cylinder 18 and the clamping cylinder body 1 8 and the clamping cylinder body 2 9 to be adjusted as needed, thereby controlling the clamping force and the clamping speed, and improving the applicability and flexibility of the manipulator.

[0057] This embodiment can adapt to material rolls of different lengths. The inner cylinder body 4 and the middle cylinder body 3 are conveniently telescopically adjusted to meet various production needs, thereby improving the automation level and production efficiency of waterproof material production.

[0058] Example 3 like Figures 1 to 13 As shown, based on Embodiment 1 and Embodiment 2, this embodiment further optimizes the structure and function of the adjustment device 21, thereby improving the performance and applicability of the palletizing robot.

[0059] The stacking robot for waterproof material production includes an industrial robot, which is fixedly connected to a base 1, to which an outer cylinder body 2 is fixedly connected, to which a middle cylinder body 3 is slidably connected inside the outer cylinder body 2, to which an inner cylinder body 4 is slidably connected inside the middle cylinder body 3, and to which an expansion ring 1 5, an expansion ring 2 6 and an expansion ring 3 7 are respectively fixedly connected at one end of the outer cylinder body 2, the middle cylinder body 3 and the inner cylinder body 4 away from the base 1, and the expansion ring 1 5, the expansion ring 2 6 and the expansion ring 3 7 are respectively connected to the interior of the corresponding outer cylinder body 2, the middle cylinder body 3 and the inner cylinder body 4 away from the base 1.

[0060] Expansion ring 1 5, expansion ring 2 6 and expansion ring 3 7 all include a fixed ring, to which a plurality of inner expansion cylinders 18 are fixedly connected, and each inner expansion cylinder 18 is slidably connected with an inner expansion block 19. The ends of the plurality of inner expansion cylinders 18 close to each other are connected to the interior of the corresponding expansion ring 1 5, expansion ring 2 6 and expansion ring 3 7 close to the base 1 through an adjusting device 21, and the ends of the inner expansion blocks 19 away from the inner expansion cylinders 18 are all arc structures so as to fit closely with the inner wall of the material roll.

[0061] One end of the outer cylinder body 2 close to the base 1 is connected to an external hydraulic or pneumatic system through a pipeline, and a plurality of clamping cylinder bodies 8 are fixedly connected to the outer end of the outer cylinder body 2 close to the base 1, and each clamping cylinder body 8 is provided with a clamping cylinder body 2 9 on the side away from the base 1, and clamping pistons 10 are slidably connected in the clamping cylinder bodies 18 and the clamping cylinder bodies 2 9, and the clamping pistons 10 are fixedly connected to the same clamping rod 11 at the end away from the outer cylinder body 2 by bolts.

[0062] The ends of the clamping cylinder body 1 8 and the clamping cylinder body 2 9 away from the outer cylinder body 2 are fixedly connected with an improved adjusting device 21, the adjusting device 21 includes an adjusting tube 12, an adjusting sleeve 13 is connected with the inner thread of the adjusting tube 12, a boss 14 is provided in the adjusting sleeve 13, an adjusting ball 15 is provided in the adjusting sleeve 13 at a position corresponding to the adjusting sleeve 13, and the adjusting ball 15 is fixedly connected with conical springs 16 at both ends along the axial direction of the adjusting sleeve 13, both conical springs 16 are conical springs, and the end with a smaller diameter of the conical spring 16 is fixedly connected to the adjusting ball 15.

[0063] An adjusting plug 17 is threadedly connected to the inner wall of the adjusting sleeve 13 at one end away from the boss 14, wherein one conical spring 16 is located between the adjusting ball 15 and the adjusting plug 17 and is fixedly connected to the adjusting plug 17, and a retaining ring is provided on the inner wall of the adjusting sleeve 13 at one end away from the adjusting plug 17, and another conical spring 16 at one end away from the adjusting ball 15 abuts against the retaining ring in the adjusting sleeve 13.

[0064] A plurality of through holes are provided on the adjusting sleeve 13 at positions between the boss 14 and the adjusting plug 17, annular grooves are provided at the outer end of the adjusting sleeve 13 at positions corresponding to the plurality of through holes, a connecting pipe 20 is fixedly connected to the adjusting tube 12 at positions corresponding to the annular grooves of the adjusting sleeve 13, the connecting pipe 20 is fixedly connected to the outer cylinder body 2 at one end away from the adjusting tube 12, the connecting pipe 20 connects the inner wall of the outer cylinder body 2 with the adjusting sleeve 13, the outer diameter of the adjusting ball 15 is smaller than the inner diameter of the boss 14, and a breathing hole for communicating with the outside world is provided at one end of the adjusting tube 12 close to the outer cylinder body 2.

[0065] The top and bottom ends of the fixed rings on the expansion ring 1 5 , the expansion ring 2 6 and the expansion ring 3 7 are fixedly connected with guide plates, and the multiple internal expansion blocks 19 are slidably connected to the guide plates on their corresponding expansion rings to ensure the stability of the internal expansion blocks 19 when moving radially.

[0066] Working process: When in use, the base 1 is fixedly connected to the industrial manipulator. When the material needs to be clamped, the industrial manipulator is controlled to extend the outer cylinder 2, the middle cylinder 3 and the inner cylinder 4 into the material reel in sequence, and the external hydraulic or pneumatic system is started, and the hydraulic oil or compressed air enters the outer cylinder 2 through the pipeline.

[0067] Under the action of pressure, the inner cylinder body 4 and the middle cylinder body 3 extend step by step, and the expansion ring 1 5, the expansion ring 2 6 and the expansion ring 3 7 are unfolded in sequence to adapt to material rolls of different lengths. When the inner cylinder body 4 and the middle cylinder body 3 are extended to the predetermined position, as the pressure increases, the hydraulic oil or compressed air enters the adjusting device 21 through the connecting pipe 20.

[0068] Since the adjusting sleeve 13 is provided with a plurality of through holes and annular grooves, hydraulic oil or compressed air enters the adjusting sleeve 13 through the through holes. When the pressure reaches the opening pressure of the adjusting ball 15, the adjusting ball 15 is pushed by the conical spring 16 to open the channel, allowing the hydraulic oil or compressed air to enter the clamping cylinder body 1 8, the clamping cylinder body 2 9 and the inner expansion cylinder 18.

[0069] The clamping piston 10 in the clamping cylinder body 1 8 and the clamping cylinder body 2 9 slides under the action of pressure, driving the clamping rod 11 to move toward the direction close to the outer cylinder body 2, thereby clamping the outer wall of the material roll. At the same time, the hydraulic oil or compressed air in the inner expansion cylinder 18 pushes the inner expansion block 19 to move outward, and the arc structure of the inner expansion block 19 is in close contact with the inner wall of the material roll, thereby achieving expansion clamping of the inner wall of the material roll.

[0070] Under the joint action of the inner and outer clamping mechanisms, the material roll is firmly clamped to prevent sliding or loosening during transportation. The breathing hole of the adjustment device 21 balances the internal pressure to ensure the stable operation of the clamping mechanism.

[0071] When it is necessary to put down the material, the hydraulic or pneumatic system is turned off, and the hydraulic oil or compressed air in the outer cylinder 2 flows back through the adjusting device 21 and the connecting pipe 20. Due to the pressure reduction, the conical spring 16 pushes the adjusting ball 15 to reset, closing the channel to prevent the hydraulic oil or compressed air from continuing to enter the clamping cylinder and the inner expansion cylinder. The clamping piston 10 and the inner expansion block 19 retract to the initial position under the action of the elastic element or their own weight, the clamping rod 11 releases the clamping of the material, and the inner expansion block 19 leaves the inner wall of the material roll. Subsequently, the inner cylinder 4 and the middle cylinder 3 gradually retract under the action of gravity or reverse pressure, and the manipulator resets to complete the entire working cycle.

[0072] This embodiment improves the structure of the adjustment device 21, adds through holes and annular grooves on the connecting pipe 20 and the adjustment sleeve 13, so that hydraulic oil or compressed air can enter the clamping cylinder body and the inner expansion cylinder more efficiently, thereby improving the response speed and reliability of the clamping mechanism.

[0073] The design that the outer diameter of the adjusting ball 15 is smaller than the inner diameter of the boss 14 ensures the flexible movement of the adjusting ball 15 in the adjusting sleeve 13. The application of the conical spring 16 allows the opening pressure of the adjusting device 21 to be accurately adjusted. By rotating the adjusting sleeve 13 and the adjusting plug 17, the compression degree of the conical spring 16 can be changed, thereby adjusting the opening pressure of the adjusting ball 15 and controlling the timing and speed of the hydraulic oil or compressed air entering the clamping cylinder and the inner expansion cylinder.

[0074] The connecting pipe 20 connects the inner wall of the outer cylinder body 2 with the adjusting sleeve 13, making the flow path of the hydraulic oil or compressed air more direct and reducing the pressure loss. The breathing hole at one end of the adjusting pipe 12 close to the outer cylinder body 2 ensures the pressure balance between the inside of the adjusting device 21 and the outside world, preventing abnormal operation caused by pressure difference.

[0075] The overall structure is optimized to make the clamping mechanism move more coordinated. The internal and external clamping mechanisms work synchronously to clamp the material roll more firmly, preventing the material from sliding or loosening during transportation. The arc structure of the internal expansion block 19 and the cooperation of the guide plate ensure the stability and accuracy of the internal expansion block 19 during radial movement.

[0076] This embodiment can adapt to material rolls of different lengths and specifications, is flexible in operation, and has reliable clamping, thereby improving the degree of automation and production efficiency of waterproof material production. The improvement of the adjustment device 21 enables the clamping force and clamping speed to be adjusted according to actual needs to meet the requirements of different materials and working conditions, and has high practical value.

[0077] The above is only a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein and should not be regarded as excluding other embodiments. It can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, and should all be within the scope of protection of the claims attached to the present invention.

Claims

1. A palletizing robot for waterproof material production, comprising an industrial robot, and a base (1) is fixedly connected to the industrial robot, characterized in that: The base (1) is fixedly connected to an outer cylinder (2), a middle cylinder (3) is slidably connected inside the outer cylinder (2), an inner cylinder (4) is slidably connected inside the middle cylinder (3), an expansion ring (5) (6) (7) is fixedly connected to the ends of the outer cylinder (2), the middle cylinder (3) and the inner cylinder (4) away from the base (1), respectively, and the expansion ring (5), the expansion ring (6) (6) and the expansion ring (7) are respectively connected to the interior of the ends of the outer cylinder (2), the middle cylinder (3) and the inner cylinder (4) away from the base (1), and the end of the outer cylinder (2) close to the base (1) is connected to an external hydraulic or pneumatic system through a pipeline, and a plurality of clamping cylinders (8) are fixedly connected to the outer end of the outer cylinder (2) close to the base (1), each of which is connected to a plurality of clamping cylinders (8) at a position close to the base (1). A clamping cylinder body (2) (9) is provided on the side of each clamping cylinder body (8) away from the base (1), and a clamping piston (10) is slidably connected in each of the clamping cylinder bodies (8) and the clamping cylinder body (9). The clamping pistons (10) in the clamping cylinder bodies (8) and the clamping cylinder body (9) are fixedly connected to the same clamping rod (11) at one end away from the outer cylinder body (2), and an adjusting device (21) is fixedly connected to the one end of each of the clamping cylinder bodies (8) and the clamping cylinder body (9) away from the outer cylinder body (2). The adjusting device (21) comprises an adjusting tube (12), and an adjusting sleeve (13) is internally threadedly connected to the adjusting tube (12), and a boss (14) is provided in the adjusting sleeve (13), and an adjusting ball (15) is provided in the adjusting sleeve (13) at a position corresponding to the adjusting sleeve (13).

2. A stacking robot for waterproof material production according to claim 1, characterized in that: The adjusting ball (15) is fixedly connected to springs (16) at both ends along the axis of the adjusting sleeve (13); both springs (16) are conical springs, and the end with the smaller diameter of the conical spring is fixedly connected to the adjusting ball (15).

3. A stacking robot for waterproof material production according to claim 2, characterized in that: The inner wall of the end of the adjusting sleeve (13) away from the boss (14) is threadedly connected to an adjusting plug (17), one of the springs (16) is located between the adjusting ball (15) and the adjusting plug (17) and is fixedly connected to the adjusting plug (17), a retaining ring is provided on the inner wall of the end of the adjusting sleeve (13) away from the adjusting plug (17), and the retaining ring in the adjusting sleeve (13) is abutted against at the end of the other spring (16) away from the adjusting ball (15).

4. A stacking robot for waterproof material production according to claim 3, characterized in that: The expansion ring 1 (5), the expansion ring 2 (6) and the expansion ring 3 (7) all comprise a fixed ring, and a plurality of inner expansion cylinders (18) are fixedly connected to the fixed ring, and an inner expansion block (19) is slidably connected to each of the inner expansion cylinders (18).

5. A stacking robot for waterproof material production according to claim 4, characterized in that: The ends of the plurality of inner expansion cylinders (18) that are close to each other are connected to the interior of the corresponding expansion ring 1 (5), expansion ring 2 (6) and expansion ring 3 (7) close to the base (1) through the adjustment device (21), and the ends of the inner expansion blocks (19) that are away from the inner expansion cylinders (18) are all arc structures.

6. A stacking robot for waterproof material production according to claim 5, characterized in that: The clamping rods (11) are fixedly connected to the clamping pistons (10) on the corresponding clamping cylinders 1 (8) and 2 (9) by bolts, and the top and bottom ends of the fixed rings on the expansion rings 1 (5), 2 (6) and 3 (7) are fixedly connected to guide plates, and the plurality of inner expansion blocks (19) are slidably connected to the guide plates on the corresponding expansion rings 1 (5), 2 (6) and 3 (7).

7. A stacking robot for waterproof material production according to claim 6, characterized in that: The adjusting sleeve (13) is provided with a plurality of through holes at a position between the boss (14) and the adjusting plug (17), and an annular groove is provided at the outer end of the adjusting sleeve (13) at positions corresponding to the plurality of through holes.

8. The stacking robot for waterproof material production according to claim 7, characterized in that: A connecting pipe (20) is fixedly connected to the corresponding positions of the annular grooves of the adjusting pipe (12) and the adjusting sleeve (13); one end of the connecting pipe (20) away from the adjusting pipe (12) is fixedly connected to the outer cylinder body (2).

9. A stacking robot for waterproof material production according to claim 8, characterized in that: The connecting pipe (20) connects the inner wall of the outer cylinder (2) with the adjusting sleeve (13); the outer diameter of the adjusting ball (15) is smaller than the inner diameter of the boss (14); and a breathing hole for communicating with the outside is provided at one end of the adjusting pipe (12) close to the outer cylinder (2).

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